CN107644273A - A kind of navigation path planning method and equipment - Google Patents
A kind of navigation path planning method and equipment Download PDFInfo
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- CN107644273A CN107644273A CN201710890044.XA CN201710890044A CN107644273A CN 107644273 A CN107644273 A CN 107644273A CN 201710890044 A CN201710890044 A CN 201710890044A CN 107644273 A CN107644273 A CN 107644273A
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- guidance path
- virtual wall
- navigation task
- navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
Abstract
The purpose of the application is to provide a kind of navigation path planning method and equipment, and the application passes through the global geographical environmental information of acquisition and the virtual wall information of user preset；Based on global geographical environmental information structure global context map；The navigation task that user is set on the mobile apparatus is obtained, the navigation task includes destination locations；The initial position of mobile device based on destination locations, default virtual wall information and acquisition, plan for navigation task on global context map and filter out optimal guidance path, enable and collisionless path planning is carried out for navigation task not needing the hardware device aided in outside extra cost amount of production by default virtual wall information, so that using enhanced convenience, flexibly, it is quick, so as to save the costs such as manpower and materials so that navigation is more convenient and intelligent and plans that the optimal guidance path filtered out is more accurate.
Description
Technical field
The application is related to field of computer technology, more particularly to a kind of navigation path planning method and equipment.
Background technology
In the prior art, virtual wall realizes that technology mainly includes the following two kinds situation：
First, active virtual wall, infrared signal or ultrasound letter are launched by active transmitter part, such as by an emitter
Number, mobile robot receives the signal by the infrared or ultrasonic receiver configured, and signal area effect has been avoided in realization.
In the active virtual wall, due to needing additionally to configure active emitter, the device needs external power supply or peace when in use
Packed battery is powered, and increases cost, and (wherein, external power supply needs additional outlet, and may be because of electricity using very inconvenient
Line mops floor the problems such as causing abnormal behavior, and needs periodically to be changed if using battery, labor intensive material resources cost)；Again
Because infrared ray has diffusion problem, distance is more remote, and angular error is bigger, and easily reflects, and behavior is avoided in false triggering,
Influence the normal movement of mobile robot；Again due to can not it is self-defined its by property, its strict difinition virtual wall is by property to prohibit
Only pass through, can not meet due to narrower some reasons of grade of road, the road can allow one direction current to alleviate Multi computer cooperation
Scheduling problem.
2nd, magnetic boundary line virtual wall, by magnetic boundary line, i.e., magnetic stripe is attached on restricted area border, mobile device moves to
When on the border of the restricted area, by the related sensor of carrying, magnetic stripe is detected, region effect is avoided in realization.In magnetic
It is comparatively laborious due to operating in boundary line virtual wall, though magnetic stripe can be cut out, need the artificial restricted area pasted, contact ground
The two on domain border is easily arched upward, it is necessary to which extra purchase magnetic stripe, increases cost；Again due to changing indoor environment, influence attractive in appearance, deposit
Hinder pedestrian walking the problems such as；Again due to same strict limitation No Entry, it is impossible to define Run-time scenario well.
The content of the invention
The purpose of the application is to provide a kind of navigation path planning method and equipment, to solve in the prior art as shifting
The problem of caused error is big, cost is high during dynamic facility planning guidance path.
According to the one side of the application, there is provided a kind of navigation path planning method, wherein, methods described includes：
Obtain global geographical environmental information and the virtual wall information of user preset；
Based on the geographical environmental information structure global context map of the overall situation；
The navigation task that user is set on the mobile apparatus is obtained, wherein, the navigation task includes destination locations；
The initial bit of the mobile device based on the destination locations, the default virtual wall information and acquisition
Put, be that the navigation task is planned and filters out optimal guidance path on the global context map.
Further, it is described to obtain global geographical environmental information and the virtual wall information of user preset, bag in the above method
Include：
The default virtual wall information is stored.
Further, it is described to obtain global geographical environmental information and the virtual wall information of user preset, bag in the above method
Include：
The default virtual wall information is updated.
Further, it is described based on the geographical environmental information structure global context map of the overall situation, bag in the above method
Include：
Using default SLAM algorithms, map structuring is carried out based on the geographical environmental information of the overall situation, obtains global context
Map.
Further, it is described to be based on the destination locations, the default virtual wall information and acquisition in the above method
The mobile device initial position, be that the navigation task is planned and filtered out and most preferably leads on the global context map
Bit path, including：
Obtain the initial geographical environmental information of the mobile device local environment；
The initial geographical environmental information is subjected to location matches in the global context map, the movement is obtained and sets
Standby residing initial position in the global context map；
Based on the destination locations, the default virtual wall information and the initial position, in the global context
It is that the navigation task is planned and filters out optimal guidance path on map.
Further, it is described based on the destination locations, the default virtual wall information and described in the above method
Initial position, it is that the navigation task is planned and filters out optimal guidance path on the global context map, including：
Since the initial position, using default heuristic search algorithm, combined on the global context map
The default virtual wall information, cooked up for the navigation task from the initial position to the destination locations
At least one oriented guidance path；
It is that the navigation task filters out optimal guidance path from described at least one oriented guidance path.
Further, in the above method, described is the navigation task sieve from described at least one oriented guidance path
Optimal guidance path is selected, including：
It is that the navigation task filters out most from described at least one oriented guidance path based on default evaluation function
Good guidance path.
Further, in the above method, described is the navigation task sieve from described at least one oriented guidance path
Optimal guidance path is selected, including：
It is institute from described at least one oriented guidance path according to user's request information corresponding to the user of acquisition
State navigation task and filter out optimal guidance path.
Further, it is described to be based on the destination locations, the default virtual wall information and acquisition in the above method
The mobile device initial position, be that the navigation task is planned and filtered out and most preferably leads on the global context map
After bit path, in addition to：
The real-time geographic environmental information and real time speed information of the mobile device are obtained, and is based on the real-time geographic ring
Environment information and real time speed information, determine that the collisionless when mobile device moves according to the optimal guidance path is moved
Dynamic information；
Mobility model based on the collisionless mobile message and the mobile device, generation collisionless movement control refer to
Order, and send the collisionless to the mobile device and move control instruction.
Further, in the above method, it is steady that the collisionless mobile message includes translational speed, moving direction and movement
It is one or more in degree.
Further, in the above method, the navigation task that the acquisition user is set on the mobile apparatus also includes：
The navigation task is managed.
According to the another aspect of the application, a kind of equipment based on calculating is additionally provided, wherein, the equipment includes：
Processor；And
It is arranged to store the memory of computer executable instructions, the executable instruction makes the place when executed
Manage device：
Obtain global geographical environmental information and the virtual wall information of user preset；
Based on the geographical environmental information structure global context map of the overall situation；
The navigation task that user is set on the mobile apparatus is obtained, wherein, the navigation task includes destination locations；
The initial bit of the mobile device based on the destination locations, the default virtual wall information and acquisition
Put, be that the navigation task is planned and filters out optimal guidance path on the global context map.
According to the another aspect of the application, a kind of non-transient computer readable storage for storing executable instruction is additionally provided
Medium, when the executable instruction is performed by electronic equipment so that the electronic equipment：
Obtain global geographical environmental information and the virtual wall information of user preset；
Based on the geographical environmental information structure global context map of the overall situation；
The navigation task that user is set on the mobile apparatus is obtained, wherein, the navigation task includes destination locations；
The initial bit of the mobile device based on the destination locations, the default virtual wall information and acquisition
Put, be that the navigation task is planned and filters out optimal guidance path on the global context map.
Compared with prior art, the application passes through the global geographical environmental information of acquisition and the virtual wall information of user preset；
Based on the geographical environmental information structure global context map of the overall situation；The navigation task that user is set on the mobile apparatus is obtained,
Wherein, the navigation task includes destination locations；Based on the destination locations, the default virtual wall information and acquisition
The mobile device initial position, be that the navigation task is planned and filtered out and most preferably leads on the global context map
Bit path so that by default virtual wall information can not need the hardware device aided in outside extra cost amount of production come
Carry out path planning for navigation task so that using enhanced convenience, flexibly, it is quick, so as to save the costs such as manpower and materials,
Change actual environment is avoided so that based on default come the barrier of virtual reality by default virtual wall information simultaneously
Virtual wall information plan on global context map for navigation task and filter out the process of optimal guidance path it is more convenient with
It is intelligent so as to plan that the optimal guidance path filtered out is more accurate.
Brief description of the drawings
By reading the detailed description made to non-limiting example made with reference to the following drawings, the application's is other
Feature, objects and advantages will become more apparent upon：
Fig. 1 shows the one side according to the application, there is provided a kind of schematic flow sheet of navigation path planning method；
Fig. 2 shows that navigation path planning method is applied into the default of mobile device according to the one side of the application
The structural representation of formal style virtual wall system.
Same or analogous reference represents same or analogous part in accompanying drawing.
Embodiment
The application is described in further detail below in conjunction with the accompanying drawings.
In one typical configuration of the application, terminal, the equipment of service network and trusted party include one or more
Processor (CPU), input/output interface, network interface and internal memory.
Internal memory may include computer-readable medium in volatile memory, random access memory (RAM) and/or
The forms such as Nonvolatile memory, such as read-only storage (ROM) or flash memory (flash RAM).Internal memory is computer-readable medium
Example.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer-readable instruction, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moved
State random access memory (DRAM), other kinds of random access memory (RAM), read-only storage (ROM), electric erasable
Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only optical disc read-only storage (CD-ROM),
Digital versatile disc (DVD) or other optical storages, magnetic cassette tape, magnetic disk storage or other magnetic storage apparatus or
Any other non-transmission medium, the information that can be accessed by a computing device available for storage.Defined according to herein, computer
Computer-readable recording medium does not include non-temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
Fig. 1 shows the one side according to the application, there is provided a kind of schematic flow sheet of navigation path planning method, should
For based on default virtual wall for navigation avoidance of the mobile device in moving process navigation procedure in, this method include walk
Rapid S11, step S12, step S13 and step S14, specific steps include：
The step S11, obtain global geographical environmental information and the virtual wall information of user preset；Wherein, the overall situation
Geographical environment information can include actual geographic positional information (such as actual geographic position location, longitude and latitude in actual scene
Information etc.) and actual environment information (relative building, barrier and actual road conditions of actual environment etc.) etc., it is described default virtual
Wall information can include the self poisoning position of default virtual wall, relative position (such as relative to the obstacle in global context
Relative position of the objects of reference such as thing etc.) and corresponding virtual wall by property rule etc., wherein, the virtual wall pass through property rule bag
The rule that includes that no thoroughfare and one-way pass through rule.
For example, the laser sensor in mobile device, sonac, infrared biography can be passed through in the step S11
Sensor, camera device and depth transducer etc. obtain the global geographical position in actual environment；User in the step S11
Arbitrary shape can be set, adds or delete by patterned editing environment (such as editing interface of virtual wall information etc.)
The default virtual wall information carried by property rule of shape, and the default virtual wall information is sent to the mobile device
Place, so that mobile device obtains by performing the step S11 virtual wall information of user preset.
The step S12, based on the geographical environmental information structure global context map of the overall situation；For example, according to acquisition
Global geographical environmental information in actual scene can construct global context map, to be subsequently based on the global context map
The planning of guidance path is carried out for the navigation task on mobile device.Further, the step S12 is determined using default synchronization
Positioned at map structuring (Simultanous Localization And Mapping, SLAM) algorithm, based on described global geographical
Environmental information carries out map structuring, obtains global context map, wherein, the SLAM algorithms, which are used for instruction, makes mobile device never
Know that the unknown place of environment is set out, pass through the geographical environment information (such as corner, pillar etc.) of repeated measures in motion process
Self-position and posture are positioned, in the structure map according to self-position increment type, so as to reach while position and map structuring
Purpose.Real time steps S12 is based on global geographical environmental information structure map by default SLAM algorithms and obtains global context
Map, movement is set subsequently to plan guidance path for the navigation task of mobile device based on the global context map and realize
Standby real-time positioning.
The step S13, the navigation task that user is set on the mobile apparatus is obtained, wherein, the navigation task includes
Destination locations；For example, user needs mobile device to arrive at position A, then a navigation task is set on the mobile apparatus
Task1, wherein, navigation task task1 includes the destination locations A that needs are moved to, and navigation task is issued into shifting
Equipment is moved to obtain.Further, the step S13 is after the navigation task that user is set on the mobile apparatus is obtained, also
Including：The navigation task is managed；For example, the distribution of task sequence, task to the navigation task, tasks carrying
Logic and the management for calling path planning service etc., to realize the management to the navigation task.
The step S14, the movement based on the destination locations, the default virtual wall information and acquisition are set
Standby initial position, it is that the navigation task is planned and filters out optimal guidance path on the global context map so that
The hardware device aided in outside extra cost amount of production can not needed come for navigation task by default virtual wall information
Carry out path planning so that using enhanced convenience, flexibly, it is quick, so as to save the costs such as manpower and materials, while by pre-
If virtual wall information carry out the barrier of virtual reality, avoid change actual environment so that based on default virtual wall information
The process planned on global context map for navigation task and filter out optimal guidance path is more convenient and intelligent so that
Plan that the optimal guidance path filtered out is more accurate.
In the embodiment of the application one, the step S11 obtains the virtual wall letter of global geographical environmental information and user preset
Breath, including：The default virtual wall information is stored.I.e. after the virtual wall information of user preset is obtained, need pair
Default virtual wall information is stored, to be mobile on global context map subsequently based on the default virtual wall information
Navigation task in equipment plans collisionless guidance path.
The embodiment of the application one, the virtual wall of the global geographical environmental information of acquisition and user preset in the step S11
Information, including：The default virtual wall information is updated.As different user is to the different demands and reality of navigation task
The change of geographical environment in the scene of border is, it is necessary in real time or regularly to obtaining and storing default in the step S11
Virtual wall information is updated, and specific renewal includes increasing default virtual wall information, delete and virtual wall passes through
Property rule be updated, to realize renewal to default virtual wall information, and then meet different user's requests or difference
The demand of navigation task under the geographical environment of actual scene.
In the embodiment of the application one, the step S14 be based on the destination locations, the default virtual wall information and
The initial position of the mobile device obtained, is that the navigation task is planned and filtered out most on the global context map
Good guidance path, including：
Obtain the initial geographical environmental information of the mobile device local environment；For example, pass through the laser in mobile device
Sensor, sonac, infrared sensor, camera device and depth transducer etc. obtain the mobile device local environment
Initial geographical environmental information；Afterwards, will be described initial geographical using the map-matching algorithm of correlation, path adaptation algorithm etc.
Environmental information carries out location matches in the global context map, obtains the mobile device in the global context map
Residing initial position；Wherein, the initial position is that the mobile device currently itself is determined in the global context map
Position position, to realize the positioning to the mobile device, and then can learn reality of the mobile device residing for oneself in real time
Specific position location in global context：Initial position, reach the purpose that initial positioning is carried out to the mobile device；Connect
, based on the destination locations, the default virtual wall information and the initial position, on the global context map
Planned for the navigation task and filter out optimal guidance path.
In the embodiment of the application one, being believed based on the destination locations, the default virtual wall in the step S14
Breath and the initial position, are that the navigation task is planned and filters out optimal guidance path on the global context map,
Including：
Since the initial position, using default heuristic search algorithm, combined on the global context map
The default virtual wall information, cooked up for the navigation task from the initial position to the destination locations
At least one oriented guidance path；If from needing to live through 3 default void the initial position B to destination locations A
Intend wall information, be followed successively by virtual wall 1 respectively and its by property rule position unidirectionally by, virtual wall 2 and its by property rule to prohibit
Only by being that no thoroughfare with virtual wall 3 and its by property rule, for example, since the initial position B, in the global ring
Default heuristic search algorithm is used on the figure of condition, path planning is carried out to each virtual wall one by one, finally obtained from initial
6 oriented guidance paths between position B to destination locations A, respectively oriented guidance path 1：B-R1-R2-R3-A, guide
Bit path 2：B-R1-R4-R3-A, oriented guidance path 3：B-R1-R5-R3-A, oriented guidance path 4：B-R1-R2-R6-A, have
To guidance path 5：B-R1-R4-R6-A, oriented guidance path 6：B-R1-R5-R6-A；Wherein, advised in virtual wall 2 by property
Then be collision free virtual wall when no thoroughfare, then the collisionless guidance path that selects for the mobile device for R2, R4 or
R5, it is collision free virtual wall when it is that no thoroughfare that virtual wall 3 is by property rule, is then mobile device selection
Collisionless guidance path is R3 or R6, and then default void is combined on the global context map using heuristic search algorithm
Intend wall information, cooking up from the initial position of mobile device at least one between the destination locations of navigation task has guide
Boat task, subsequently to filter out optimal guidance path based at least one navigation task；Finally, have from described at least one
It is that the navigation task filters out optimal guidance path into guidance path, and then enters for the navigation task on mobile device
Professional etiquette draws the purpose for filtering out global collisionless optimal guidance path.
Then in above-described embodiment of the application, in the step S14 from described at least one oriented guidance path
Optimal guidance path is filtered out for the navigation task, including：
It is that the navigation task filters out most from described at least one oriented guidance path based on default evaluation function
Good guidance path.For example, by default evaluation function f (x)=g (x)+h (x), wherein, g (x) is from start node to node
The actual cost that x is paid；H (x) is the estimate cost of the optimal path from node x to destination node, here, the start node
For the initial position B of mobile device itself, node x is path node R1, R2, R3, R4, R5 and R6 during path planning；
Destination node is the destination locations A in navigation task；Based on default evaluation function, respectively to above-mentioned 6 oriented navigation roads
Footpath carries out the calculating of cost value, obtains oriented guidance path 1, oriented guidance path 2, oriented guidance path 3, oriented guidance path
4th, the cost value of oriented guidance path 5 and oriented guidance path 6 be respectively cost value 1, cost value 2, cost value 3, cost value 4,
Cost value 5 and cost value 6, above-mentioned cost value is ranked up respectively according to order from small to large, obtains cost value 4, cost
Value 2, cost value 1, cost value 6, cost value 3 and cost value 5, by oriented guidance path 4 corresponding to the minimum cost value 4 of cost value
It is defined as the optimal guidance path planned and filtered out for the navigation task, the navigation task being reached on mobile device is carried out
Planning filters out the purpose of global collisionless optimal guidance path.
Then in above-described embodiment of the application, in the step S14 from described at least one oriented guidance path
Optimal guidance path is filtered out for the navigation task, including：
It is institute from described at least one oriented guidance path according to user's request information corresponding to the user of acquisition
State navigation task and filter out optimal guidance path.Wherein, the user's request information can include but is not limited to be to include navigation
Time, guidance path mileage, the road conditions of guidance path and navigation procedure convenience etc..For example, user's request information needs
It is most short to consider navigation time, then filters out navigation time most in the 6 oriented guidance paths cooked up from above-mentioned steps S14
Short oriented guidance path, if navigation time corresponding to the oriented guidance path 2 is most short for the time in 6 oriented guidance paths
, then oriented guidance path 2 is defined as to the optimal guidance path planned and filtered out for the navigation task；In another example if
User's request information needs to consider that the road conditions of guidance path for most steady and navigation convenience are that most convenient is quick, then from upper
State and filter out that road conditions are most steady and navigation most convenient efficiently has in the 6 oriented guidance paths cooked up in step S14
To guidance path, if navigation time corresponding to the oriented guidance path 1 is that road conditions are most steady in 6 oriented guidance paths
And navigation most convenient is efficiently, then most preferably led what oriented guidance path 1 was defined as planning and filtering out for the navigation task
Bit path；If user's request information need to consider navigation time, guidance path mileage, guidance path road conditions and lead
All user's request information such as boat process convenience, then sieve in the 6 oriented guidance paths cooked up from above-mentioned steps S14
The oriented guidance path for best suiting user's request information is selected, is had if navigation time corresponding to the oriented guidance path 4 is 6
The oriented guidance path of user's request information is best suited into guidance path, then is defined as leading to be described by oriented guidance path 4
Boat mission planning and the optimal guidance path that filters out, the navigation task being reached on mobile device carry out planning and filter out the overall situation
The purpose of collisionless optimal guidance path.
In the embodiment of the application one, the step S14 be based on the destination locations, the default virtual wall information and
The initial position of the mobile device obtained, is that the navigation task is planned and filtered out most on the global context map
After good guidance path, in addition to：
The real-time geographic environmental information and real time speed information of the mobile device are obtained, and is based on the real-time geographic ring
Environment information and real time speed information, determine that the collisionless when mobile device moves according to the optimal guidance path is moved
Dynamic information；Wherein, real time speed information can include but is not limited to be real-time speed v, real time acceleration a and real-time angular speed w
Deng, wherein, translational speed, moving direction when the collisionless mobile message can move in real time including the mobile device, ring
It is one or more etc. in border parameter information (such as road conditions, wind speed etc.) and mobile smoothness information.For example, set in movement
In the actual scene of standby navigation operation, can by the laser sensor in mobile device, sonac, infrared sensor,
The sensors such as alignment sensor (such as GPS location sensor etc.), camera device and depth transducer are obtained in actual environment
Real-time geographic environmental information and the mobile real time speed information set, the real-time geographic environment that all sensors are obtained believe
Breath (including real-time position location) is merged and with reference to the real time speed information of mobile device, and utilizes the part of mobile device
The dynamic window algorithm of avoidance, according to when planning that the optimal guidance path filtered out moves in the step S14
Collisionless mobile message so that mobile device can be based on the preset navigation of the collisionless completion user of the collisionless mobile message
Task；The mobility model of the collisionless mobile message and the mobile device is next based on (for example, different mobile devices pair
The mobility model answered is different), generation collisionless movement control instruction, and send the collisionless movement control to the mobile device
System instruction, so that mobile device controls the mobile device can be with the reality in collisionless mobile message according to the movement control instruction
The progress such as Shi Sudu, smoothness and direction of advance smoothly collisionless movement, and then complete what user was set on the mobile apparatus
Navigation task.
A kind of virtual wall of the formal style based on user preset provided in the embodiment of the present application is leading in mobile device
The guidance path of boat task is planned, during the navigation path planning, makes what the navigation task for mobile device was planned
Guidance path can carry out avoidance, based on default virtual wall information realization on global context map be mobile device navigation
The collisionless optimal guidance path of mission planning, without additional aids, realize the mobile route for limiting mobile device and work
The effect of dynamic scope, and the virtual wall in default virtual wall information can be carried out by property rule according to practical application scene
Setting, you can setting virtual wall is no thoroughfare rule and one-way by rule by property rule, realizes flexible and nothing
Into virtual wall system is locally located, navigation needs and user's request of the mobile device in practical application scene are better met.
A kind of navigation path planning method of the application one side is illustrated in figure 2, applied to the default of mobile device
Formal style virtual wall system, the system is made up of two parts, interactive portion and algorithm process part, and interactive portion includes first
Communication module, and user interactive module, algorithm process part include second communication module, acquisition module, task management scheduling mould
Global path planning module, local path rule in block, map structuring memory module, autonomous positioning module and Decision Control module
Module, motion-control module and autonomous module are drawn, wherein, the specific implementation procedure of the modules in the system is as follows：
First communication module：For indicating the communication module in client, for obtain user preset virtual wall information,
User's request information and user need the information such as the navigation task that mobile device navigated.
User interactive module：For obtaining user by patterned editing environment (such as the environment such as editing interface), if
Fixed, addition or the formal style virtual wall information for deleting arbitrary shape, and by formal style virtual wall information, user to mobile device
Navigation task and the user's request information of navigation is sent to the algorithm process part by the first communication module.
Second communication module, it is connected for the first communication module with client, and obtains formal style virtual wall information, uses
Navigation task of the family to mobile device and the user's request information to navigation, to be transferred to second communication module, wherein, described
One communication module and second communication module play the function served as bridge of data transfer.
Acquisition module：The formal style virtual wall of the user preset sent for the first communication module obtained by client
In information, practical application scene relevant map information (such as global geographical environmental information, real-time geographic environmental information and in real time
Velocity information etc.) and mobile device positioning position information (such as initial position etc.), and the default virtual wall information is entered
Row data storage, to be subsequently updated based on practical application scene to the default virtual wall information.
Portable Batch System module：The navigation task issued for managing user, including the task to the navigation task
Sequence, the distribution of task, tasks carrying logic and the management for calling path planning service etc., to realize to the navigation task
Management.
Map structuring memory module：It is mainly used in being based on global geographical environmental information structure ground using default SLAM algorithms
Figure obtains global context map, subsequently to plan guidance path based on the global context map for the navigation task of mobile device
And realize the real-time positioning to mobile device.
Autonomous positioning module：For by the laser sensor in mobile device, sonac, infrared sensor, take the photograph
The initial geographical environmental information of the mobile device local environment is obtained as device and depth transducer etc.；Afterwards, using phase
The map-matching algorithm of pass, path adaptation algorithm etc., the initial geographical environmental information is entered in the global context map
Row location matches, obtain mobile device initial position residing in the global context map；Wherein, the initial position
For the current self poisoning position in the global context map of the mobile device, the mobile device is determined with realizing
Position, and then the specific position location in actual global context of the mobile device residing for oneself can be learned in real time：Initial bit
Put, reach the purpose that initial positioning is carried out to the mobile device.
Global path planning module：For since the initial position, using default heuristic search algorithm, in institute
State on global context map with reference to the default virtual wall information, for the navigation task cook up from the initial position to
At least one oriented guidance path between the destination locations, and filtered out from least one navigation task from initial bit
The global collisionless optimal guidance path between destination locations is put, to guide mobile device to be filtered out most according to planning
Good guidance path completes the navigation task that user issues.Further, if the global path planning module is mobile device
Initial position then terminates current navigation to collisionless guidance path is not cooked up between the destination locations of navigation task
Task.
Local paths planning module：For passing through the laser sensor in mobile device, sonac, infrared sensing
The sensors such as device, alignment sensor (such as GPS location sensor etc.), camera device and depth transducer obtain actual environment
In real-time geographic environmental information and the mobile real time speed information set, the real-time geographic environment that all sensors are obtained
Information (including real-time position location) is merged and with reference to the real time speed information of mobile device, and utilizes the office of mobile device
The dynamic window algorithm of portion's avoidance, during according to planning that the optimal guidance path filtered out moves in the step S14
Collisionless mobile message so that mobile device can complete that user is preset leads based on the collisionless mobile message is collisionless
Boat task.
Motion-control module：For based on the collisionless mobile message obtained in local paths planning module with reference to the shifting
The mobility model (for example, mobility model corresponding to different mobile devices is different) of dynamic equipment, generation collisionless movement control refer to
Order, and send the collisionless to the mobile device and move control instruction, so that mobile device is according to the movement control instruction
The mobile device is controlled to be touched with the smooth nothing of the progress such as the real-time speed in collisionless mobile message, smoothness and direction of advance
The movement hit, and then complete the navigation task that user is set on the mobile apparatus.
Autonomous module：The collisionless movement control instruction that motion-control module sends over is received, control movement is set
The standby collisionless destination locations being moved in navigation task, realize the navigation and movement of mobile device.
In a kind of formal style virtual wall system applied to mobile device in the embodiment of the present application, it can not need extra
Cost amount of production outside the hardware device that aids in, using enhanced convenience, flexibly, it is quick, except this, without changing environment, increase
It is more convenient to delete, more intelligent, meanwhile, it is abnormal to also overcome the motor behavior of interference fringe, more accurately, reliably.
The program by interactive mode, by user in interactive interface setting, increase or delete the formal style of specific region arbitrary shape
Virtual wall information, and this default rule formula virtual wall information is sent to algorithm process part, according to the virtual wall of its setting
By property rule, and global geographical environmental information, the global context map for path planning is built, is calculated using heuristic search
Method searches for optimal guidance path, and the intelligent mobile that navigation task can be completed for mobile device provides collisionless mobile message, from
And collisionless completion navigation task.
In addition, according to the another aspect of the application, a kind of equipment based on calculating is additionally provided, wherein, the equipment includes：
Processor；And
It is arranged to store the memory of computer executable instructions, the executable instruction makes the place when executed
Manage device：
Obtain global geographical environmental information and the virtual wall information of user preset；
Based on the geographical environmental information structure global context map of the overall situation；
The navigation task that user is set on the mobile apparatus is obtained, wherein, the navigation task includes destination locations；
The initial bit of the mobile device based on the destination locations, the default virtual wall information and acquisition
Put, be that the navigation task is planned and filters out optimal guidance path on the global context map.
According to the another aspect of the application, a kind of non-transient computer readable storage for storing executable instruction is additionally provided
Medium, when the executable instruction is performed by electronic equipment so that the electronic equipment：
Obtain global geographical environmental information and the virtual wall information of user preset；
Based on the geographical environmental information structure global context map of the overall situation；
The navigation task that user is set on the mobile apparatus is obtained, wherein, the navigation task includes destination locations；
The initial bit of the mobile device based on the destination locations, the default virtual wall information and acquisition
Put, be that the navigation task is planned and filters out optimal guidance path on the global context map.
In summary, the application passes through the global geographical environmental information of acquisition and the virtual wall information of user preset；Based on institute
State global geographical environmental information structure global context map；The navigation task that user is set on the mobile apparatus is obtained, wherein, institute
Stating navigation task includes destination locations；Based on described in the destination locations, the default virtual wall information and acquisition
The initial position of mobile device, it is that the navigation task is planned and filters out optimal navigation road on the global context map
Footpath so that the hardware device aided in outside extra cost amount of production can not needed come to lead by default virtual wall information
Boat task carries out path planning so that using enhanced convenience, flexibly, it is quick, so as to save the costs such as manpower and materials, simultaneously
By default virtual wall information come the barrier of virtual reality, change actual environment is avoided so that based on default virtual
Wall information plan on global context map for navigation task and to filter out the process of optimal guidance path more convenient and intelligently
Change so that plan that the optimal guidance path filtered out is more accurate.
It should be noted that the application can be carried out in the assembly of software and/or software and hardware, for example, can adopt
With application specific integrated circuit (ASIC), general purpose computer or any other realized similar to hardware device.In one embodiment
In, the software program of the application can realize steps described above or function by computing device.Similarly, the application
Software program (including related data structure) can be stored in computer readable recording medium storing program for performing, for example, RAM memory,
Magnetically or optically driver or floppy disc and similar devices.In addition, some steps or function of the application can employ hardware to realize, example
Such as, coordinate as with processor so as to perform the circuit of each step or function.
In addition, the part of the application can be applied to computer program product, such as computer program instructions, when its quilt
When computer performs, by the operation of the computer, it can call or provide according to the present processes and/or technical scheme.
And the programmed instruction of the present processes is called, it is possibly stored in fixed or moveable recording medium, and/or pass through
Broadcast or the data flow in other signal bearing medias and be transmitted, and/or be stored according to described program instruction operation
In the working storage of computer equipment.Here, including a device according to one embodiment of the application, the device includes using
Memory in storage computer program instructions and processor for execute program instructions, wherein, when the computer program refers to
When order is by the computing device, method and/or skill of the plant running based on foregoing multiple embodiments according to the application are triggered
Art scheme.
It is obvious to a person skilled in the art that the application is not limited to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit herein or essential characteristic, the application can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, scope of the present application is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the application.Any reference in claim should not be considered as to the involved claim of limitation.This
Outside, it is clear that the word of " comprising " one is not excluded for other units or step, and odd number is not excluded for plural number.That is stated in device claim is multiple
Unit or device can also be realized by a unit or device by software or hardware.The first, the second grade word is used for table
Show title, and be not offered as any specific order.
Claims (13)
1. a kind of navigation path planning method, wherein, methods described includes：
Obtain global geographical environmental information and the virtual wall information of user preset；
Based on the geographical environmental information structure global context map of the overall situation；
The navigation task that user is set on the mobile apparatus is obtained, wherein, the navigation task includes destination locations；
The initial position of the mobile device based on the destination locations, the default virtual wall information and acquisition,
It is that the navigation task is planned and filters out optimal guidance path on the global context map.
2. the method according to claim 11, wherein, it is described to obtain global geographical environmental information and the virtual wall of user preset
Information, including：
The default virtual wall information is stored.
3. the method according to claim 11, wherein, it is described to obtain global geographical environmental information and the virtual wall of user preset
Information, including：
The default virtual wall information is updated.
4. the method according to claim 11, wherein, it is described to be based on the geographical environmental information of the overall situation with building global context
Figure, including：
Using default SLAM algorithms, map structuring is carried out based on the geographical environmental information of the overall situation, obtains global context map.
5. the method according to claim 11, wherein, it is described to be based on the destination locations, the default virtual wall letter
The initial position of breath and the mobile device obtained, is that the navigation task is planned and screened on the global context map
Go out optimal guidance path, including：
Obtain the initial geographical environmental information of the mobile device local environment；
The initial geographical environmental information is subjected to location matches in the global context map, the mobile device is obtained and exists
Residing initial position in the global context map；
Based on the destination locations, the default virtual wall information and the initial position, in the global context map
It is upper to plan for the navigation task and filter out optimal guidance path.
6. the method according to claim 11, wherein, it is described to be based on the destination locations, the default virtual wall letter
Breath and the initial position, are that the navigation task is planned and filters out optimal guidance path on the global context map,
Including：
Since the initial position, using default heuristic search algorithm, with reference to described on the global context map
Default virtual wall information, for the navigation task cook up from the initial position to the destination locations at least
One oriented guidance path；
It is that the navigation task filters out optimal guidance path from described at least one oriented guidance path.
7. according to the method for claim 6, wherein, described is the navigation from described at least one oriented guidance path
Task filters out optimal guidance path, including：
It is that the navigation task is filtered out and most preferably led from described at least one oriented guidance path based on default evaluation function
Bit path.
8. according to the method for claim 6, wherein, described is the navigation from described at least one oriented guidance path
Task filters out optimal guidance path, including：
It is described lead from described at least one oriented guidance path according to user's request information corresponding to the user of acquisition
Boat task filters out optimal guidance path.
9. the method according to claim 11, wherein, it is described to be based on the destination locations, the default virtual wall letter
The initial position of breath and the mobile device obtained, is that the navigation task is planned and screened on the global context map
Go out after optimal guidance path, in addition to：
The real-time geographic environmental information and real time speed information of the mobile device are obtained, and is believed based on the real-time geographic environment
Breath and real time speed information, determine that the collisionless when mobile device moves according to the optimal guidance path moves letter
Breath；
Mobility model based on the collisionless mobile message and the mobile device, generation collisionless movement control instruction, and
The collisionless movement control instruction is sent to the mobile device.
10. according to the method for claim 9, wherein, the collisionless mobile message include translational speed, moving direction and
It is one or more in mobile smoothness.
11. according to the method for claim 1, wherein, the navigation task for obtaining user and setting on the mobile apparatus, go back
Including：
The navigation task is managed.
12. a kind of equipment based on calculating, wherein, the equipment includes：
Processor；And
It is arranged to store the memory of computer executable instructions, the executable instruction makes the processing when executed
Device：
Obtain global geographical environmental information and the virtual wall information of user preset；
Based on the geographical environmental information structure global context map of the overall situation；
The navigation task that user is set on the mobile apparatus is obtained, wherein, the navigation task includes destination locations；
The initial position of the mobile device based on the destination locations, the default virtual wall information and acquisition,
It is that the navigation task is planned and filters out optimal guidance path on the global context map.
13. a kind of non-transient computer readable storage medium storing program for executing for storing executable instruction, is set in the executable instruction by electronics
During standby execution so that the electronic equipment：
Obtain global geographical environmental information and the virtual wall information of user preset；
Based on the geographical environmental information structure global context map of the overall situation；
The navigation task that user is set on the mobile apparatus is obtained, wherein, the navigation task includes destination locations；
The initial position of the mobile device based on the destination locations, the default virtual wall information and acquisition,
It is that the navigation task is planned and filters out optimal guidance path on the global context map.
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| CN201710890044.XA CN107644273B (en) | 2017-09-27 | 2017-09-27 | Navigation path planning method and equipment |
| PCT/CN2018/106799 WO2019062648A1 (en) | 2017-09-27 | 2018-09-20 | Navigation path planning method and device |
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| CN201710890044.XA CN107644273B (en) | 2017-09-27 | 2017-09-27 | Navigation path planning method and equipment |
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| CN109062217A (en) * | 2018-08-29 | 2018-12-21 | 广州市君望机器人自动化有限公司 | To the dispatching method and device of robot crossroad |
| CN109062218A (en) * | 2018-08-29 | 2018-12-21 | 广州市君望机器人自动化有限公司 | Control the method and device of robot driving path |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2019062648A1 (en) | 2019-04-04 |
| CN107644273B (en) | 2020-06-19 |
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Denomination of invention: A navigation path planning method and device Effective date of registration: 20230316 Granted publication date: 20200619 Pledgee: Industrial Bank Co.,Ltd. Shanghai Pudong Sub branch Pledgor: SHANGHAI SLAMTEC Co.,Ltd. Registration number: Y2023310000067 |