CN107644273B - Navigation path planning method and equipment - Google Patents
Navigation path planning method and equipment Download PDFInfo
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- CN107644273B CN107644273B CN201710890044.XA CN201710890044A CN107644273B CN 107644273 B CN107644273 B CN 107644273B CN 201710890044 A CN201710890044 A CN 201710890044A CN 107644273 B CN107644273 B CN 107644273B
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- 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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Abstract
The method comprises the steps of obtaining global geographic environment information and virtual wall information preset by a user; constructing a global environment map based on the global geographic environment information; acquiring a navigation task set on mobile equipment by a user, wherein the navigation task comprises a destination position; based on the destination position, the preset virtual wall information and the obtained initial position of the mobile device, the optimal navigation path is planned and screened out for the navigation task on the global environment map, so that the non-collision path planning can be carried out for the navigation task by producing additional auxiliary hardware equipment without additional cost through the preset virtual wall information, the use is more convenient, flexible and rapid, the costs of manpower and material resources are saved, the navigation is more convenient and intelligent, and the optimal navigation path screened out by planning is more accurate.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a navigation path planning method and apparatus.
Background
In the prior art, the virtual wall implementation technology mainly includes the following two conditions:
the active virtual wall transmits infrared signals or ultrasonic signals through an active transmitting device, for example, a transmitting device, and the mobile robot receives the signals through an infrared or ultrasonic receiver arranged to avoid the signal area effect. In the active virtual wall, an active transmitting device needs to be additionally configured, and the device needs an external power supply or a battery for power supply when in use, so that the cost is increased, and the use is inconvenient (wherein the external power supply needs an additional socket, the problems of abnormal behaviors and the like caused by dragging a floor by a wire are possible, and the battery needs to be replaced periodically when in use, so that the cost of manpower and material resources is consumed); the infrared light has a diffusion problem, the farther the distance is, the larger the angle error is, and the reflection is easy to occur, so that the avoidance behavior is triggered by mistake, and the normal movement of the mobile robot is influenced; and because the trafficability can not be defined by self, the trafficability of the virtual wall is strictly defined as no traffic, and the road can not meet the requirements of narrow roads and other reasons, and the road can allow one-way traffic to relieve the problem of multi-machine cooperative scheduling.
And the magnetic boundary line virtual wall is used for pasting the magnetic stripe on the boundary of the limited area through the magnetic boundary line, and when the mobile equipment moves to the boundary of the limited area, the magnetic stripe is detected through the carried related sensor, so that the effect of avoiding the area is realized. In the magnetic boundary line virtual wall, because the operation is complicated, although the magnetic stripe can be cut, the magnetic stripe needs to be pasted manually, two ends of the boundary of the limited area contacting the ground are easy to arch, the magnetic stripe needs to be purchased additionally, and the cost is increased; the indoor environment is changed, the appearance is influenced, and the walking of pedestrians is hindered; and the operation scene cannot be well defined because the strict restriction is also strict.
Disclosure of Invention
An object of the present application is to provide a navigation path planning method and device, so as to solve the problems of large error and high cost in the process of planning a navigation path for a mobile device in the prior art.
According to an aspect of the present application, a navigation path planning method is provided, wherein the method includes:
acquiring global geographic environment information and virtual wall information preset by a user;
constructing a global environment map based on the global geographic environment information;
the method comprises the steps of obtaining a navigation task set on mobile equipment by a user, wherein the navigation task comprises a destination position;
and planning and screening out an optimal navigation path for the navigation task on the global environment map based on the destination position, the preset virtual wall information and the obtained initial position of the mobile equipment.
Further, in the above method, the acquiring global geographic environment information and virtual wall information preset by the user includes:
and storing the preset virtual wall information.
Further, in the above method, the acquiring global geographic environment information and virtual wall information preset by the user includes:
and updating the preset virtual wall information.
Further, in the above method, the constructing a global environment map based on the global geographic environment information includes:
and adopting a preset SLAM algorithm to construct a map based on the global geographic environment information to obtain a global environment map.
Further, in the above method, the planning and screening out an optimal navigation path for the navigation task on the global environment map based on the destination location, the preset virtual wall information, and the obtained initial location of the mobile device includes:
acquiring initial geographic environment information of the environment where the mobile equipment is located;
performing position matching on the initial geographic environment information in the global environment map to obtain an initial position of the mobile equipment in the global environment map;
and planning and screening out an optimal navigation path for the navigation task on the global environment map based on the destination position, the preset virtual wall information and the initial position.
Further, in the above method, the planning and screening out an optimal navigation path for the navigation task on the global environment map based on the destination location, the preset virtual wall information, and the initial location includes:
from the initial position, planning at least one directional navigation path from the initial position to the destination position for the navigation task by adopting a preset heuristic search algorithm and combining the preset virtual wall information on the global environment map;
and screening out an optimal navigation path for the navigation task from the at least one directional navigation path.
Further, in the above method, the screening an optimal navigation path for the navigation task from the at least one directional navigation path includes:
and screening out the optimal navigation path for the navigation task from the at least one directional navigation path based on a preset valuation function.
Further, in the above method, the screening an optimal navigation path for the navigation task from the at least one directional navigation path includes:
and screening out an optimal navigation path for the navigation task from the at least one directional navigation path according to the acquired user requirement information corresponding to the user.
Further, in the above method, after planning and screening out an optimal navigation path for the navigation task on the global environment map based on the destination location, the preset virtual wall information, and the obtained initial location of the mobile device, the method further includes:
acquiring real-time geographic environment information and real-time speed information of the mobile equipment, and determining collision-free movement information when the mobile equipment moves according to the optimal navigation path based on the real-time geographic environment information and the real-time speed information;
and generating a collision-free movement control instruction based on the collision-free movement information and the movement model of the mobile equipment, and sending the collision-free movement control instruction to the mobile equipment.
Further, in the above method, the collision-free movement information includes one or more of a movement speed, a movement direction, and a movement smoothness.
Further, in the above method, the acquiring a navigation task set by a user on a mobile device further includes:
and managing the navigation task.
According to another aspect of the present application, there is also provided a computing-based device, wherein the device comprises:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to:
acquiring global geographic environment information and virtual wall information preset by a user;
constructing a global environment map based on the global geographic environment information;
the method comprises the steps of obtaining a navigation task set on mobile equipment by a user, wherein the navigation task comprises a destination position;
and planning and screening out an optimal navigation path for the navigation task on the global environment map based on the destination position, the preset virtual wall information and the obtained initial position of the mobile equipment.
According to another aspect of the present application, there is also provided a non-transitory computer-readable storage medium storing executable instructions that, when executed by an electronic device, cause the electronic device to:
acquiring global geographic environment information and virtual wall information preset by a user;
constructing a global environment map based on the global geographic environment information;
the method comprises the steps of obtaining a navigation task set on mobile equipment by a user, wherein the navigation task comprises a destination position;
and planning and screening out an optimal navigation path for the navigation task on the global environment map based on the destination position, the preset virtual wall information and the obtained initial position of the mobile equipment.
Compared with the prior art, the method and the device have the advantages that global geographic environment information and virtual wall information preset by a user are obtained; constructing a global environment map based on the global geographic environment information; the method comprises the steps of obtaining a navigation task set on mobile equipment by a user, wherein the navigation task comprises a destination position; based on the destination position, the preset virtual wall information and the acquired initial position of the mobile equipment, an optimal navigation path is planned and screened for the navigation task on the global environment map, so that additional auxiliary hardware equipment can be produced for the navigation task through the preset virtual wall information without additional cost to plan the path for the navigation task, the use is more convenient, flexible and rapid, the cost such as manpower and material resources is saved, meanwhile, the obstacle of the virtual reality is realized through the preset virtual wall information, the change of the real environment is avoided, the process of planning and screening the optimal navigation path for the navigation task on the global environment map based on the preset virtual wall information is more convenient and intelligent, and the planned optimal navigation path is more accurate.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 illustrates a flow diagram of a method of navigation path planning, according to an aspect of the present application;
fig. 2 illustrates a schematic structural diagram of a preset regular virtual wall system for applying a navigation path planning method to a mobile device according to an aspect of the present application.
The same or similar reference numbers in the drawings identify the same or similar elements.
Detailed Description
The present application is described in further detail below with reference to the attached figures.
In a typical configuration of the present application, the terminal, the device serving the network, and the trusted party each include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include non-transitory computer readable media (transient media), such as modulated data signals and carrier waves.
Fig. 1 shows a flow chart of a navigation path planning method, which is applied to a navigation process of navigating and avoiding an obstacle during a moving process of a mobile device based on a preset virtual wall, and the method includes steps S11, S12, S13, and S14, and includes the specific steps of:
step S11, acquiring global geographic environment information and virtual wall information preset by a user; the global geographic environment information may include actual geographic position information (e.g., an actual geographic positioning position, longitude and latitude information, etc.) and actual environment information (relative buildings, obstacles, actual road conditions, etc. of an actual environment) in an actual scene, and the preset virtual wall information may include a self-positioning position, a relative position (e.g., a relative position with respect to a reference object such as an obstacle in the global environment, etc.) of a preset virtual wall, and a corresponding virtual wall trafficability rule, and the like, where the virtual wall trafficability rule includes a no-trafficability rule and a unidirectional trafficability rule.
For example, in the step S11, the global geographic location in the actual environment may be obtained through a laser sensor, an ultrasonic sensor, an infrared sensor, a camera, a depth sensor, and the like in the mobile device; the user in step S11 may set, add, or delete the preset virtual wall information with the passability rule in any shape through a graphical editing environment (e.g., an editing interface of the virtual wall information, etc.), and send the preset virtual wall information to the mobile device, so that the mobile device obtains the virtual wall information preset by the user by performing step S11.
The step S12, constructing a global environment map based on the global geographic environment information; for example, a global environment map may be constructed according to the acquired global geographic environment information in the actual scene, so that a navigation path is planned for a navigation task on the mobile device based on the global environment map in the following. Further, in the step S12, a preset Simultaneous Localization And Mapping (SLAM) algorithm is adopted, And map construction is performed based on the global geographic environment information to obtain a global environment map, where the SLAM algorithm is used to instruct the mobile device to start from an unknown place of an unknown environment, locate its position And posture through repeatedly observed geographic environment information (e.g., a corner, a pillar, etc.) during a movement process, And build a map incrementally according to its position, so as to achieve the purpose of simultaneous Localization And map construction. The real-time step S12 is to obtain a global environment map by constructing a map based on global geographic environment information through a preset SLAM algorithm, so as to plan a navigation path for a navigation task of the mobile device based on the global environment map and implement real-time positioning of the mobile device.
Step S13, acquiring a navigation task set on the mobile device by the user, where the navigation task includes a destination location; for example, if the user needs the mobile device to reach the destination location a, a navigation task1 is set on the mobile device, where the navigation task1 includes the destination location a to be moved, and the navigation task is issued to the mobile device to be acquired. Further, the step S13, after acquiring the navigation task set on the mobile device by the user, further includes: managing the navigation task; for example, the navigation task is managed by managing the task sequence, the distribution of the tasks, the task execution logic, the calling of the path planning service and the like of the navigation task.
In the step S14, based on the destination location, the preset virtual wall information, and the obtained initial location of the mobile device, an optimal navigation path is planned and screened for the navigation task on the global environment map, so that additional auxiliary hardware devices can be produced at no additional cost through the preset virtual wall information to plan a path for the navigation task, so that the use is more convenient, flexible, and quick, thereby saving costs such as manpower and material resources, and meanwhile, virtual reality obstacles are provided through the preset virtual wall information, thereby avoiding changing the real environment, making the process of planning and screening an optimal navigation path for the navigation task on the global environment map based on the preset virtual wall information more convenient and intelligent, and making the planned and screened optimal navigation path more accurate.
In an embodiment of the present application, the step S11 of obtaining global geographic environment information and virtual wall information preset by a user includes: and storing the preset virtual wall information. After the virtual wall information preset by the user is obtained, the preset virtual wall information needs to be stored, so that a collision-free navigation path is planned for a navigation task on the mobile device on a global environment map based on the preset virtual wall information.
In an embodiment of the present application, the acquiring global geographic environment information and virtual wall information preset by the user in step S11 includes: and updating the preset virtual wall information. With the different requirements of different users on the navigation task and the change of the geographic environment in the actual scene, the preset virtual wall information acquired and stored in step S11 needs to be updated in real time or periodically, where the specific updating includes adding and deleting the preset virtual wall information, updating the passing rule of the virtual wall, and the like, so as to update the preset virtual wall information, and further meet the requirements of different users or the requirements of the navigation task in the geographic environment of different actual scenes.
In an embodiment of the application, the step S14 is to plan and screen out an optimal navigation path for the navigation task on the global environment map based on the destination location, the preset virtual wall information, and the obtained initial location of the mobile device, and includes:
acquiring initial geographic environment information of the environment where the mobile equipment is located; for example, initial geographic environment information of an environment in which a mobile device is located is acquired through a laser sensor, an ultrasonic sensor, an infrared sensor, a camera device, a depth sensor and the like in the mobile device; then, performing position matching on the initial geographic environment information in the global environment map by adopting a related map matching algorithm, a road matching algorithm and the like to obtain an initial position of the mobile equipment in the global environment map; the initial position is a self-positioning position of the mobile equipment in the global environment map currently so as to realize positioning of the mobile equipment, and further the specific positioning position of the mobile equipment in the actual global environment where the mobile equipment is located can be known in real time: the initial position is used for achieving the purpose of initially positioning the mobile equipment; and then planning and screening out the optimal navigation path for the navigation task on the global environment map based on the destination position, the preset virtual wall information and the initial position.
In an embodiment of the application, the planning and screening out an optimal navigation path for the navigation task on the global environment map based on the destination location, the preset virtual wall information, and the initial location in step S14 includes:
from the initial position, planning at least one directional navigation path from the initial position to the destination position for the navigation task by adopting a preset heuristic search algorithm and combining the preset virtual wall information on the global environment map; if 3 pieces of preset virtual wall information need to be passed between the initial position B and the destination position a, respectively sequentially including the virtual wall 1 and the passability rule bit thereof passing in one direction, the virtual wall 2 and the passability rule thereof being no passage, and the virtual wall 3 and the passability rule thereof being no passage, for example, starting from the initial position B, path planning is performed on each virtual wall one by one on the global environment map by using a preset heuristic search algorithm, and finally, 6 directed navigation paths between the initial position B and the destination position a are obtained, which are respectively the directed navigation paths 1: B-R1-R2-R3-A, guide route 2: B-R1-R4-R3-A, directional navigation path 3: B-R1-R5-R3-A, directional navigation path 4: B-R1-R2-R6-A, directional navigation path 5: B-R1-R4-R6-A, directional navigation path 6: B-R1-R5-R6-A; when the passing rule of the virtual wall 2 is no passing, the collision-free navigation path selected for the mobile equipment is R2, R4 or R5 in order to avoid collision with the virtual wall, and when the passing rule of the virtual wall 3 is no passing, the collision-free navigation path selected for the mobile equipment is R3 or R6 in order to avoid collision with the virtual wall, and then at least one directed navigation task from the initial position of the mobile equipment to the destination position of the navigation task is planned on the global environment map by adopting a heuristic search algorithm in combination with preset virtual wall information, so that the optimal navigation path is screened out based on the at least one navigation task in the subsequent process; and finally, screening an optimal navigation path for the navigation task from the at least one directional navigation path, thereby achieving the purpose of screening a global collision-free optimal navigation path for planning the navigation task on the mobile equipment.
In the above embodiments of the present application, the screening out an optimal navigation path for the navigation task from the at least one directional navigation path in step S14 includes:
and screening out the optimal navigation path for the navigation task from the at least one directional navigation path based on a preset valuation function. For example, the evaluation function f (x) ═ g (x) + h (x) is preset, where g (x) is the actual cost paid from the initial node to the node x; h (x) is an estimated cost of an optimal path from node x to a target node, where the initial node is an initial location B of the mobile device itself, and node x is path nodes R1, R2, R3, R4, R5, and R6 in a path planning process; the target node is a destination position A in the navigation task; respectively calculating the cost values of the 6 directed navigation paths based on a preset valuation function to obtain cost values of a directed navigation path 1, a directed navigation path 2, a directed navigation path 3, a directed navigation path 4, a directed navigation path 5 and a directed navigation path 6 which are respectively a cost value 1, a cost value 2, a cost value 3, a cost value 4, a cost value 5 and a cost value 6, sequencing the cost values according to a sequence from small to large to obtain a cost value 4, a cost value 2, a cost value 1, a cost value 6, a cost value 3 and a cost value 5, and determining the directed navigation path 4 corresponding to the cost value 4 with the minimum cost value as the optimal navigation path planned and screened out for the navigation task on the mobile equipment to achieve the purpose of screening out the optimal navigation path without collision in the whole situation for the navigation task on the mobile equipment.
In the above embodiments of the present application, the screening out an optimal navigation path for the navigation task from the at least one directional navigation path in step S14 includes:
and screening out an optimal navigation path for the navigation task from the at least one directional navigation path according to the acquired user requirement information corresponding to the user. The user requirement information may include, but is not limited to, navigation time, navigation route mileage, road condition of the navigation route, navigation process convenience, and the like. For example, if the navigation time is shortest in the user demand information, the directional navigation path with the shortest navigation time is screened from the 6 directional navigation paths planned in step S14, and if the navigation time corresponding to the directional navigation path 2 is the shortest in the 6 directional navigation paths, the directional navigation path 2 is determined as the optimal navigation path planned and screened for the navigation task; for another example, if the user demand information needs to consider that the road condition of the navigation path is the most stable and the navigation convenience is the most convenient and fast, the directional navigation path with the most stable road condition and the most convenient and fast navigation is screened out from the 6 directional navigation paths planned in the step S14, and if the navigation time corresponding to the directional navigation path 1 is the most stable road condition and the most convenient and fast navigation in the 6 directional navigation paths, the directional navigation path 1 is determined as the optimal navigation path planned and screened out for the navigation task; if the user demand information needs to comprehensively consider all the user demand information such as navigation time, navigation path mileage, road conditions of the navigation path, navigation process convenience and the like, a directional navigation path which best meets the user demand information is screened from the 6 directional navigation paths planned in the step S14, and if the navigation time corresponding to the directional navigation path 4 is the directional navigation path which best meets the user demand information in the 6 directional navigation paths, the directional navigation path 4 is determined as the optimal navigation path planned and screened for the navigation task, so that the purpose of planning and screening the optimal global collision-free navigation path for the navigation task on the mobile device is achieved.
In an embodiment of the application, after the step S14, based on the destination location, the preset virtual wall information, and the obtained initial location of the mobile device, of planning and screening an optimal navigation path for the navigation task on the global environment map, the method further includes:
acquiring real-time geographic environment information and real-time speed information of the mobile equipment, and determining collision-free movement information when the mobile equipment moves according to the optimal navigation path based on the real-time geographic environment information and the real-time speed information; the real-time speed information may include, but is not limited to, a real-time speed v, a real-time acceleration a, a real-time angular velocity w, and the like, wherein the collision-free movement information may include one or more of a movement speed, a movement direction, environmental parameter information (e.g., road conditions, wind speed, and the like), and movement smoothness information when the mobile device moves in real time. For example, in an actual scene of the navigation operation of the mobile device, the real-time geographic environment information and the real-time speed information of the mobile device in the actual environment may be acquired by sensors in the mobile device, such as a laser sensor, an ultrasonic sensor, an infrared sensor, a positioning sensor (e.g., a GPS positioning sensor, etc.), a camera device, a depth sensor, etc., the real-time geographic environment information (including the real-time positioning position) acquired by all the sensors is merged and combined with the real-time speed information of the mobile device, and a local obstacle avoidance dynamic window algorithm of the mobile device is utilized to perform collision-free mobile information when moving according to the optimal navigation path screened in the step S14, so that the mobile device can complete the navigation task preset by the user based on the collision-free mobile information without collision; and then, generating a collision-free movement control instruction based on the collision-free movement information and movement models of the mobile equipment (for example, different movement models corresponding to different mobile equipment are different), and sending the collision-free movement control instruction to the mobile equipment, so that the mobile equipment can control the mobile equipment to move smoothly and without collision at real-time speed, smoothness, advancing direction and the like in the collision-free movement information according to the movement control instruction, and further complete a navigation task set on the mobile equipment by a user.
The navigation path planning method for the navigation task in the mobile equipment based on the regular virtual wall preset by the user in the embodiment of the application, in the navigation path planning process, the navigation path planned for the navigation task of the mobile equipment can avoid obstacles, the optimal collision-free navigation path is planned for the navigation task of the mobile equipment on the global environment map based on the preset virtual wall information, no additional auxiliary equipment is needed, the functions of limiting the moving path and the moving range of the mobile equipment are realized, and can set the virtual wall passing rule in the preset virtual wall information according to the actual application scene, the passing rule of the virtual wall can be set as the forbidden passing rule and the unidirectional passing rule, so that the virtual wall system can be flexibly and conveniently set without cost, and the navigation requirement and the user requirement of the mobile equipment in the actual application scene can be better met.
Fig. 2 shows a navigation path planning method according to an aspect of the present application, which is applied to a preset regular virtual wall system of a mobile device, and the system includes an interaction part and an algorithm processing part, where the interaction part includes a first communication module and a user interaction module, and the algorithm processing part includes a second communication module, an acquisition module, a task management scheduling module, a map construction storage module, an autonomous positioning module, and a global path planning module, a local path planning module, a motion control module, and an autonomous movement module in a decision control module, where a specific execution process of each module in the system is as follows:
a first communication module: the communication module is used for indicating the client and is used for acquiring information such as virtual wall information preset by a user, user demand information, navigation tasks required by the user to navigate by the mobile equipment and the like.
A user interaction module: the algorithm processing part is used for acquiring a regular virtual wall information of any shape set, added or deleted by a user through a graphical editing environment (such as an editing interface) and sending the regular virtual wall information, a navigation task of the user to the mobile equipment and user requirement information for navigation to the algorithm processing part through the first communication module.
And the second communication module is used for being connected with the first communication module of the client, acquiring the regular virtual wall information, the navigation task of the user to the mobile equipment and the user demand information for navigation, and transmitting the information to the second communication module, wherein the first communication module and the second communication module play a role of a bridge for data transmission.
An acquisition module: the method and the device for updating the virtual wall information are used for acquiring regular virtual wall information preset by a user, relevant map information (such as global geographic environment information, real-time speed information and the like) in an actual application scene and positioning position information (such as an initial position and the like) of the mobile device, which are sent by a first communication module of a client, and storing data of the preset virtual wall information so as to update the preset virtual wall information based on the actual application scene.
And the task scheduling management module: the method is used for managing the navigation tasks issued by the users, and comprises the management of the task sequence, the distribution of the tasks, the task execution logic, the calling of the path planning service and the like of the navigation tasks, so as to realize the management of the navigation tasks.
The map building and storing module: the method is mainly used for constructing a map based on global geographic environment information by adopting a preset SLAM algorithm to obtain a global environment map, so that a navigation path is planned for a navigation task of the mobile equipment based on the global environment map in the following process, and the real-time positioning of the mobile equipment is realized.
An autonomous positioning module: the system comprises a camera device, a mobile device and a control device, wherein the camera device is used for acquiring initial geographic environment information of the environment where the mobile device is located through a laser sensor, an ultrasonic sensor, an infrared sensor, a camera device, a depth sensor and the like in the mobile device; then, performing position matching on the initial geographic environment information in the global environment map by adopting a related map matching algorithm, a road matching algorithm and the like to obtain an initial position of the mobile equipment in the global environment map; the initial position is a self-positioning position of the mobile equipment in the global environment map currently so as to realize positioning of the mobile equipment, and further the specific positioning position of the mobile equipment in the actual global environment where the mobile equipment is located can be known in real time: and the initial position is used for achieving the purpose of initially positioning the mobile equipment.
A global path planning module: and the system is used for planning at least one directional navigation path from the initial position to the destination position for the navigation task by adopting a preset heuristic search algorithm and combining the preset virtual wall information on the global environment map, and screening out a global collision-free optimal navigation path from the initial position to the destination position from the at least one navigation task so as to guide the mobile equipment to complete the navigation task issued by the user according to the planned and screened optimal navigation path. Further, if the global path planning module does not plan a collision-free navigation path from the initial position of the mobile device to the destination position of the navigation task, the current navigation task is ended.
A local path planning module: the method is used for acquiring real-time geographic environment information and real-time speed information of mobile equipment in an actual environment through sensors such as a laser sensor, an ultrasonic sensor, an infrared sensor, a positioning sensor (for example, a GPS positioning sensor and the like), a camera device and a depth sensor in the mobile equipment, fusing the real-time geographic environment information (including a real-time positioning position) acquired by all the sensors and combining the real-time speed information of the mobile equipment, and planning and screening collision-free mobile information when the mobile equipment moves according to the optimal navigation path in the step S14 by using a local obstacle avoidance dynamic window algorithm of the mobile equipment, so that the mobile equipment can finish a navigation task preset by a user on the basis of the collision-free mobile information without collision.
A motion control module: the method and the device for controlling the mobile device to move smoothly and without collision are used for generating a collision-free movement control instruction based on collision-free movement information obtained from a local path planning module and combined with movement models of the mobile device (for example, different movement models corresponding to different mobile devices are different), and sending the collision-free movement control instruction to the mobile device, so that the mobile device can control the mobile device to move smoothly and without collision at real-time speed, smoothness, advancing direction and the like in the collision-free movement information according to the movement control instruction, and further complete a navigation task set on the mobile device by a user.
An autonomous movement module: and receiving a collision-free movement control instruction sent by the movement control module, and controlling the mobile equipment to move to a destination position in the navigation task without collision so as to realize navigation and movement of the mobile equipment.
In the regular virtual wall system applied to the mobile device in the embodiment of the application, extra auxiliary hardware equipment can be produced without extra cost, the application is more convenient, flexible and rapid, and the environment is not required to be changed, so that the addition and deletion are more convenient and more intelligent, and meanwhile, the abnormal motion behavior caused by interference is overcome, and the system is more accurate and reliable. According to the scheme, through an interactive mode, a user sets, adds or deletes regular virtual wall information in any shape in a specific area on an interactive interface, the preset regular virtual wall information is sent to an algorithm processing part, a global environment map for path planning is constructed according to the set virtual wall trafficability rule and global geographic environment information, an optimal navigation path is searched through a heuristic search algorithm, collision-free mobile information is provided for intelligent movement of a mobile device capable of completing a navigation task, and the navigation task is completed without collision.
Furthermore, according to another aspect of the present application, there is also provided a computing-based device, wherein the device comprises:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to:
acquiring global geographic environment information and virtual wall information preset by a user;
constructing a global environment map based on the global geographic environment information;
the method comprises the steps of obtaining a navigation task set on mobile equipment by a user, wherein the navigation task comprises a destination position;
and planning and screening out an optimal navigation path for the navigation task on the global environment map based on the destination position, the preset virtual wall information and the obtained initial position of the mobile equipment.
According to another aspect of the present application, there is also provided a non-transitory computer-readable storage medium storing executable instructions that, when executed by an electronic device, cause the electronic device to:
acquiring global geographic environment information and virtual wall information preset by a user;
constructing a global environment map based on the global geographic environment information;
the method comprises the steps of obtaining a navigation task set on mobile equipment by a user, wherein the navigation task comprises a destination position;
and planning and screening out an optimal navigation path for the navigation task on the global environment map based on the destination position, the preset virtual wall information and the obtained initial position of the mobile equipment.
In summary, the global geographic environment information and the virtual wall information preset by the user are obtained; constructing a global environment map based on the global geographic environment information; the method comprises the steps of obtaining a navigation task set on mobile equipment by a user, wherein the navigation task comprises a destination position; based on the destination position, the preset virtual wall information and the acquired initial position of the mobile equipment, an optimal navigation path is planned and screened for the navigation task on the global environment map, so that additional auxiliary hardware equipment can be produced for the navigation task through the preset virtual wall information without additional cost to plan the path for the navigation task, the use is more convenient, flexible and rapid, the cost such as manpower and material resources is saved, meanwhile, the obstacle of the virtual reality is realized through the preset virtual wall information, the change of the real environment is avoided, the process of planning and screening the optimal navigation path for the navigation task on the global environment map based on the preset virtual wall information is more convenient and intelligent, and the planned optimal navigation path is more accurate.
It should be noted that the present application may be implemented in software and/or a combination of software and hardware, for example, implemented using Application Specific Integrated Circuits (ASICs), general purpose computers or any other similar hardware devices. In one embodiment, the software programs of the present application may be executed by a processor to implement the steps or functions described above. Likewise, the software programs (including associated data structures) of the present application may be stored in a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. Additionally, some of the steps or functions of the present application may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
In addition, some of the present application may be implemented as a computer program product, such as computer program instructions, which when executed by a computer, may invoke or provide methods and/or techniques in accordance with the present application through the operation of the computer. Program instructions which invoke the methods of the present application may be stored on a fixed or removable recording medium and/or transmitted via a data stream on a broadcast or other signal-bearing medium and/or stored within a working memory of a computer device operating in accordance with the program instructions. An embodiment according to the present application comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform a method and/or a solution according to the aforementioned embodiments of the present application.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Claims (10)
1. A navigation path planning method, wherein the method comprises:
acquiring global geographic environment information and virtual wall information preset by a user, wherein the preset virtual wall information comprises a self-positioning position and a relative position of a preset virtual wall and a corresponding virtual wall trafficability rule; updating the preset virtual wall information;
constructing a global environment map based on the global geographic environment information;
the method comprises the steps of obtaining a navigation task set on mobile equipment by a user, wherein the navigation task comprises a destination position;
planning and screening out an optimal navigation path for the navigation task on the global environment map based on the destination position, the preset virtual wall information and the obtained initial position of the mobile device, wherein the optimal navigation path comprises the following steps:
acquiring initial geographic environment information of the environment where the mobile equipment is located; performing position matching on the initial geographic environment information in the global environment map to obtain an initial position of the mobile equipment in the global environment map; from the initial position, planning at least one directional navigation path from the initial position to the destination position for the navigation task by adopting a preset heuristic search algorithm and combining the preset virtual wall information on the global environment map; and screening out an optimal navigation path for the navigation task from the at least one directional navigation path.
2. The method of claim 1, wherein the obtaining global geographic environment information and user preset virtual wall information comprises:
and storing the preset virtual wall information.
3. The method of claim 1, wherein said building a global environment map based on said global geographic environment information comprises:
and adopting a preset SLAM algorithm to construct a map based on the global geographic environment information to obtain a global environment map.
4. The method of claim 1, wherein the screening out an optimal navigation path for the navigation task from the at least one directional navigation path comprises:
and screening out the optimal navigation path for the navigation task from the at least one directional navigation path based on a preset valuation function.
5. The method of claim 1, wherein the screening out an optimal navigation path for the navigation task from the at least one directional navigation path comprises:
and screening out an optimal navigation path for the navigation task from the at least one directional navigation path according to the acquired user requirement information corresponding to the user.
6. The method of claim 1, wherein after planning and screening out an optimal navigation path for the navigation task on the global environment map based on the destination location, the preset virtual wall information and the obtained initial location of the mobile device, further comprising: acquiring real-time geographic environment information and real-time speed information of the mobile equipment, and determining collision-free movement information when the mobile equipment moves according to the optimal navigation path based on the real-time geographic environment information and the real-time speed information;
and generating a collision-free movement control instruction based on the collision-free movement information and the movement model of the mobile equipment, and sending the collision-free movement control instruction to the mobile equipment.
7. The method of claim 6, wherein the collision-free movement information includes one or more of a speed of movement, a direction of movement, and a smoothness of movement.
8. The method of claim 1, wherein the obtaining of the navigation task set by the user on the mobile device further comprises:
and managing the navigation task.
9. A computing-based device, wherein the device comprises:
a processor; and a memory arranged to store computer executable instructions that, when executed, cause the processor to:
acquiring global geographic environment information and virtual wall information preset by a user, wherein the preset virtual wall information comprises a self-positioning position and a relative position of a preset virtual wall and a corresponding virtual wall trafficability rule; updating the preset virtual wall information;
constructing a global environment map based on the global geographic environment information;
the method comprises the steps of obtaining a navigation task set on mobile equipment by a user, wherein the navigation task comprises a destination position;
planning and screening out an optimal navigation path for the navigation task on the global environment map based on the destination position, the preset virtual wall information and the obtained initial position of the mobile device, wherein the optimal navigation path comprises the following steps:
acquiring initial geographic environment information of the environment where the mobile equipment is located; performing position matching on the initial geographic environment information in the global environment map to obtain an initial position of the mobile equipment in the global environment map; from the initial position, planning at least one directional navigation path from the initial position to the destination position for the navigation task by adopting a preset heuristic search algorithm and combining the preset virtual wall information on the global environment map;
and screening out an optimal navigation path for the navigation task from the at least one directional navigation path.
10. A non-transitory computer-readable storage medium storing executable instructions that, when executed by an electronic device, cause the electronic device to:
acquiring global geographic environment information and virtual wall information preset by a user, wherein the preset virtual wall information comprises a self-positioning position and a relative position of a preset virtual wall and a corresponding virtual wall trafficability rule; updating the preset virtual wall information;
constructing a global environment map based on the global geographic environment information;
the method comprises the steps of obtaining a navigation task set on mobile equipment by a user, wherein the navigation task comprises a destination position;
planning and screening out an optimal navigation path for the navigation task on the global environment map based on the destination position, the preset virtual wall information and the obtained initial position of the mobile device, wherein the optimal navigation path comprises the following steps:
acquiring initial geographic environment information of the environment where the mobile equipment is located; performing position matching on the initial geographic environment information in the global environment map to obtain an initial position of the mobile equipment in the global environment map; from the initial position, planning at least one directional navigation path from the initial position to the destination position for the navigation task by adopting a preset heuristic search algorithm and combining the preset virtual wall information on the global environment map;
and screening out an optimal navigation path for the navigation task from the at least one directional navigation path.
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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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| CN107644273B (en) * | 2017-09-27 | 2020-06-19 | 上海思岚科技有限公司 | Navigation path planning method and equipment |
| CN108334090A (en) * | 2018-02-12 | 2018-07-27 | 弗徕威智能机器人科技（上海）有限公司 | A kind of setting method of virtual obstacles |
| CN109062218B (en) * | 2018-08-29 | 2021-09-10 | 广州安商智能科技有限公司 | Method and device for controlling robot driving path |
| 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 |
| CN109453525B (en) * | 2018-11-07 | 2022-03-01 | 成都方德尔科技有限公司 | Entertainment interaction system and method based on immersive robot |
| CN111360808B (en) * | 2018-12-25 | 2021-12-17 | 深圳市优必选科技有限公司 | Method and device for controlling robot to move and robot |
| CN110221608B (en) * | 2019-05-23 | 2021-10-01 | 中国银联股份有限公司 | Method and device for inspecting equipment |
| JP7275925B2 (en) * | 2019-06-28 | 2023-05-18 | トヨタ自動車株式会社 | PROPERTY SEARCH DEVICE, SYSTEM, METHOD AND PROGRAM |
| CN111813878A (en) * | 2019-12-10 | 2020-10-23 | 北京嘀嘀无限科技发展有限公司 | Data processing method, data processing device, storage medium and electronic equipment |
| CN111256722B (en) * | 2020-02-28 | 2023-08-01 | 广东博智林机器人有限公司 | Path planning method, device, equipment and storage medium |
| CN111272186A (en) * | 2020-03-04 | 2020-06-12 | 广东博智林机器人有限公司 | Robot path configuration method and device and readable storage medium |
| CN111553528A (en) * | 2020-04-27 | 2020-08-18 | 新石器慧通（北京）科技有限公司 | Control method of unmanned shopping guide device and unmanned shopping guide device |
| CN114415654A (en) * | 2021-12-01 | 2022-04-29 | 上海思岚科技有限公司 | Method and equipment for generating escaping path |
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| US20150070129A1 (en) * | 2013-09-12 | 2015-03-12 | Toyota Motor Engineering & Manufacturing North America, Inc. | Methods and systems for providing navigation assistance to a user |
| CN107644273B (en) * | 2017-09-27 | 2020-06-19 | 上海思岚科技有限公司 | Navigation path planning method and equipment |
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| CN106843230A (en) * | 2017-03-24 | 2017-06-13 | 上海思岚科技有限公司 | It is applied to the virtual wall system and its implementation of mobile device |
| CN107063242A (en) * | 2017-03-24 | 2017-08-18 | 上海思岚科技有限公司 | Have the positioning navigation device and robot of virtual wall function |
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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 |