CN110375742A - A kind of dynamic route Intelligent planning method and system - Google Patents
A kind of dynamic route Intelligent planning method and system Download PDFInfo
- Publication number
- CN110375742A CN110375742A CN201910678024.5A CN201910678024A CN110375742A CN 110375742 A CN110375742 A CN 110375742A CN 201910678024 A CN201910678024 A CN 201910678024A CN 110375742 A CN110375742 A CN 110375742A
- Authority
- CN
- China
- Prior art keywords
- dynamic
- information
- image information
- mobile target
- mobile
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- 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"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
Abstract
The present invention relates to communication and control technology fields, specifically disclose a kind of dynamic route Intelligent planning method and system.The dynamic route Intelligent planning method includes the following steps: that S1. obtains the real-time image information of navigation area, and optimizes processing to image information；S2. dynamic map is created according to the image information after optimization processing；S3. it positions mobile target and obtains the positions and dimensions information of mobile target, and obtain Obstacle Position and dimension information and mark obstacle information onto dynamic map；S4. according to the dimension information of mobile target, dynamic map is divided into multiple sizes and the mobile matched grid of target size, the path that mobile target needs to go to destination is cooked up based on grid.This method and system can construct dynamic map information according to the real-time image information of navigation area, and according to the real time position and dimension information of mobile target and acquisition barrier, Dynamic Programming goes out the movement routine of mobile target.
Description
Technical field
The present invention relates to communication and control technology fields, and in particular to a kind of dynamic route Intelligent planning method and system.
Background technique
In recent years, with robot in all trades and professions using more and more extensive, technology has also obtained quick hair
Exhibition and optimization.Location and navigation technology is one of the key technology of robot industry, is applied there are many more airmanships at present
Mode, such as magnetic navigation, laser navigation and two-dimension code navigation etc..Magnetic navigation is to be laid with tape on ground, is incuded by tape and is believed
Number realize guiding, the disadvantage is that: it can only run better simply path, and change that path is more complex not only to need change directive card,
Also tape is re-lay in ground slot grooving, to influence normal job schedule；Other metals can all pass magnetic navigation
Sensor has an impact, therefore adaptive capacity to environment is poor, and later period magnetic stripe frequency of maintenance is high, and maintenance cost is also high.Laser navigation system sheet
Body is complex, though installation simply only needs to install reflector on the wall, resulting cost is expensive, reflecting plate and laser
There cannot be barrier between sensor, be not suitable for the occasion for having logistics in the air.Two-dimension code navigation is that location information is generated correlation in advance
Image in 2 D code is then affixed to corresponding position, will scan the two dimensional code when mobile object with camera passes through,
So that path planning and guide are carried out, but the disadvantage is that: path needs periodic maintenance, if place is complicated, needs to frequently replace
Two dimensional code.
In summary the shortcomings that 3 kinds of navigation modes, in order to solve the disadvantages of path planning change is not flexible, expensive,
Develop it is a kind of have many advantages, such as flexibly to change path, cost is relatively low, the simple Intelligent navigation control system of maintenance have it is wide
Application prospect.And the identification of obstacle and the planning in path are institute's bases to be solved during developing intellectual resource navigation control system
This problem.
Summary of the invention
The technical problem to be solved by the present invention is to a kind of dynamic route Intelligent planning methods.The dynamic route intelligence
Energy planing method can construct dynamic map information, and Dynamic Programming goes out the movement routine of mobile target.
Above-mentioned technical problem to be solved by this invention, by being achieved with technical solution:
A kind of dynamic route Intelligent planning method comprising following steps:
S1. the real-time image information of navigation area is obtained, and processing is optimized to image information；
S2. dynamic map is created according to the image information after optimization processing；
S3. position mobile target and obtain the positions and dimensions information of mobile target, and obtain Obstacle Position and
Dimension information simultaneously will be on obstacle information mark to dynamic map；
S4. according to the dimension information of mobile target, dynamic map is divided into multiple sizes and is matched with mobile target size
Grid, the path that mobile target needs to go to destination is cooked up based on grid.
Preferably, optimizing processing to image information in step S1 includes being filtered, denoise and increasing to image information
Strength reason.
Preferably, two dimension or three-dimensional are had using the creation of SLAM technology according to the image information after optimization processing in step S2
The dynamic map of geometrical feature.
It is further preferred that being created dynamically according to the image information after optimization processing using SLAM technology in step S2
Figure.
Most preferably, semantic segmentation is also carried out according to the image information after optimization processing in step S2, map plane is made
It comes for background and other object segmentations, the SLAM technology creation of recycling has the characteristics that the Dynamic High-accuracy of two dimension or three-dimensional geometry
Map.
Preferably, the location information that mobile target is obtained in step S3 is obtained by the two dimensional code being arranged in mobile target
The location information of target must be moved.
Most preferably, Obstacle Position and dimension information are obtained in step S3 to believe specifically by the image of navigation area
Breath is judged the category attribute of material using object detection technology, then obtains obstacle location and size letter by image cutting technique
Breath.
Preferably, the shortest distance based on grid computing starting point to destination address in step S4, cooking up mobile target needs
Go to the path of destination.
Most preferably, net is based on according to the other mobile targets and barrier mobile trend in navigation area in step S4
Lattice zequin cooks up the road that mobile target needs to go to destination to the shortest distance and/or optimal time of destination address
Diameter.
The present invention also provides a kind of dynamic route small watersheds comprising:
Image processing unit；The image processing unit is used to obtain the image information of navigation area, and believes image
Breath optimizes processing；
Dynamic map generation unit；The dynamic map generation unit is used to be created according to the image information after optimization processing
Build dynamic map；
Dynamic object recognition tracing unit；The dynamic object recognition tracing unit is for positioning mobile target and obtaining
The positions and dimensions information of target must be moved, and obtains Obstacle Position and dimension information and marks obstacle information to dynamic
On state map；
Active path planning unit；The active path planning unit is used for the dimension information according to mobile target, will
Dynamic map is divided into multiple sizes and the mobile matched grid of target size, cooks up mobile target needs based on grid and goes to
The path of destination.
The utility model has the advantages that the present invention provides a kind of completely new dynamic route Intelligent planning methods, according to navigation area
Real-time image information constructs dynamic map information, according to mobile target and obtains the real time position and dimension information of barrier,
Dynamic Programming goes out the movement routine of mobile target；Further, the present invention can also the image information to navigation area also carry out language
Justice segmentation, comes map plane as background and other object segmentations, generates the cartographic information of higher precision, be further ensured that
The accuracy of active path planning；Further, dynamic map is divided into multiple sizes and mobile target size by the present invention
The grid matched guarantees to cook up shortest path based on grid；In addition, the present invention can also further identify in real time it is other
The positions and dimensions of mobile target and barrier realize amendment road according to other mobile targets and the positions and dimensions of barrier
Diameter.
Figure of description
Fig. 1 is the flow chart of dynamic route Intelligent planning method of the present invention.
Fig. 2 is the structure chart of dynamic route small watersheds of the present invention.
Specific embodiment
The present invention is explained further below in conjunction with specific embodiment, but embodiment does not do any type of limit to the present invention
It is fixed.
A kind of dynamic route Intelligent planning method of embodiment 1
As shown in Figure 1, the present invention provides a kind of dynamic route Intelligent planning methods comprising following steps:
S1. the real-time image information of navigation area is obtained, and processing is optimized to image information；Specifically, step S1
In to image information optimize processing include image information is filtered, denoise and enhancing handle.At this part of optimization
Image information after reason will be used to generate dynamic map.
S2. dynamic map is created according to the image information after optimization processing；Specifically, after in step S2 according to optimization processing
Image information also carry out semantic segmentation, come map plane as background and other object segmentations, recycle SLAM technology
Creation has the characteristics that the Dynamic High-accuracy map of two dimension or three-dimensional geometry.
S3. position mobile target and obtain the positions and dimensions information of mobile target, and obtain Obstacle Position and
Dimension information simultaneously will be on obstacle information mark to dynamic map；Specifically, Obstacle Position and size letter are obtained in step S3
Breath judges the category attribute of material using object detection technology, then pass through image specifically by the image information of navigation area
Cutting technique obtains obstacle location and dimension information.
S4. according to the dimension information of mobile target, dynamic map is divided into multiple sizes and is matched with mobile target size
Grid, the path that mobile target needs to go to destination is cooked up based on grid；Specifically, according to navigation area in step S4
Interior other mobile targets and barrier mobile trend, the shortest distance based on grid computing starting point to destination address or it is optimal when
Between, cook up the path that mobile target needs to go to destination.
The map of navigation area is divided into a certain size grid by the present invention according to the size of mobile target.Based on these
Grid, this method can need to go to the path of destination with the mobile target of planning department.Real-time figure in the navigation area of acquisition
As information can by the shortest distance of starting point in raster symbol-base to destination address, while this method also can dynamic comprehensive consider it is whole
The movement routine of other mobile targets in a navigation area avoids caused traffic jam in order to avoid being lined up, and path dynamic is advised
The path of optimal time can still be comprehensively considered by drawing module, guarantee that mobile target can arrive at the destination as soon as possible in this way.
A kind of dynamic route small watersheds of embodiment 2
As shown in Fig. 2, the present invention provides a kind of dynamic route small watersheds comprising:
Image processing unit 1；The image processing unit 1 is used to obtain the image information of navigation area, and to image
Information optimizes processing；Specifically, image processing unit 1 includes to image information for optimizing processing to image information
Be filtered, denoise and enhancing processing.It is raw that image information after this part of optimization processing will be used for dynamic map generation unit 2
At dynamic map.
Dynamic map generation unit 2；The dynamic map generation unit 2 is used for according to the image information after optimization processing
Create dynamic map；Specifically, dynamic map generation unit 2 is for also carrying out semantic point according to the image information after optimization processing
It cuts, comes map plane as background and other object segmentations, the SLAM technology creation of recycling has two dimension or three-dimensional geometry
The Dynamic High-accuracy map of feature.
Dynamic object recognition tracing unit 3；The dynamic object recognition tracing unit 3 for position mobile target and
The positions and dimensions information of mobile target is obtained, and obtains Obstacle Position and dimension information and arrives obstacle information mark
On dynamic map；Specifically, dynamic object recognition tracing unit 3 for obtain Obstacle Position and dimension information specifically by
The image information of navigation area is judged the category attribute of material using object detection technology, then is obtained by image cutting technique
Obstacle location and dimension information.
Active path planning unit 4；The active path planning unit 4 is used for the dimension information according to mobile target,
Dynamic map is divided into multiple sizes and the mobile matched grid of target size, before cooking up mobile target needs based on grid
Toward the path of destination.Specifically, active path planning unit 4 is used for according to the other mobile targets and obstacle in navigation area
Object mobile trend, the shortest distance or optimal time based on grid computing starting point to destination address cook up mobile target needs
Go to the path of destination.
Dynamic route small watersheds of the present invention draw the map of navigation area according to the size of mobile target
It is divided into a certain size grid.Based on these grids, which can need to go to the path of destination with the mobile target of planning department.
The real-time image information in the navigation area of acquisition can be by the shortest distance of starting point in raster symbol-base to destination address, together
When the system also can dynamic comprehensive consider the movement routines of other mobile targets in entire navigation area, in order to avoid being lined up evacuation
Caused traffic jam, path Dynamic Programming module can still comprehensively consider the path of optimal time, guarantee mobile target energy in this way
It is enough to arrive at the destination as soon as possible.
Claims (10)
1. a kind of dynamic route Intelligent planning method, which comprises the steps of:
S1. the real-time image information of navigation area is obtained, and processing is optimized to image information；
S2. dynamic map is created according to the image information after optimization processing；
S3. it positions mobile target and obtains the positions and dimensions information of mobile target, and obtain Obstacle Position and size
Information simultaneously will be on obstacle information mark to dynamic map；
S4. according to the dimension information of mobile target, dynamic map is divided into multiple sizes and the mobile matched net of target size
Lattice cook up the path that mobile target needs to go to destination based on grid.
2. dynamic route Intelligent planning method according to claim 1, which is characterized in that in step S1 to image information into
Row optimization processing include image information is filtered, denoise and enhancing processing.
3. dynamic route Intelligent planning method according to claim 1, which is characterized in that according to optimization processing in step S2
Image information afterwards creates dynamic map using SLAM technology.
4. dynamic route Intelligent planning method according to claim 3, which is characterized in that according to optimization processing in step S2
Image information afterwards has the characteristics that the dynamic map of two dimension or three-dimensional geometry using the creation of SLAM technology.
5. dynamic route Intelligent planning method according to claim 3, which is characterized in that according to optimization processing in step S2
Image information afterwards also carries out semantic segmentation, comes map plane as background and other object segmentations, recycles SLAM skill
Art creation has the characteristics that the Dynamic High-accuracy map of two dimension or three-dimensional geometry.
6. dynamic route Intelligent planning method according to claim 1, which is characterized in that obtain mobile target in step S3
Location information be the location information that mobile target is obtained by the two dimensional code being arranged in mobile target.
7. dynamic path planning method according to claim 1, which is characterized in that in step S3 obtain Obstacle Position and
Dimension information judges the category attribute of material using object detection technology specifically by the image information of navigation area, then leads to
It crosses image cutting technique and obtains obstacle location and dimension information.
8. dynamic route Intelligent planning method according to claim 1, which is characterized in that be based on grid computing in step S4
Starting point cooks up the path that mobile target needs to go to destination to the shortest distance of destination address.
9. dynamic path planning method according to claim 8, which is characterized in that according in navigation area in step S4
Other mobile targets and barrier mobile trend, the shortest distance based on grid computing starting point to destination address and/or it is optimal when
Between, cook up the path that mobile target needs to go to destination.
10. a kind of dynamic route small watersheds characterized by comprising
Image processing unit；The image processing unit is used to obtain the image information of navigation area, and to image information into
Row optimization processing；
Dynamic map generation unit；The dynamic map generation unit is used to be created according to the image information after optimization processing dynamic
State map；
Dynamic object recognition tracing unit；The dynamic object recognition tracing unit is for positioning mobile target and being moved
The positions and dimensions information of moving-target, and obtain Obstacle Position and dimension information and by obstacle information mark to dynamically
On figure；
Active path planning unit；The active path planning unit is used for the dimension information according to mobile target, will dynamic
Map partitioning cooks up mobile target based on grid and needs to go to purpose at multiple sizes and the mobile matched grid of target size
The path on ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910678024.5A CN110375742A (en) | 2019-07-25 | 2019-07-25 | A kind of dynamic route Intelligent planning method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910678024.5A CN110375742A (en) | 2019-07-25 | 2019-07-25 | A kind of dynamic route Intelligent planning method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110375742A true CN110375742A (en) | 2019-10-25 |
Family
ID=68256060
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910678024.5A Pending CN110375742A (en) | 2019-07-25 | 2019-07-25 | A kind of dynamic route Intelligent planning method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110375742A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110935175A (en) * | 2019-12-06 | 2020-03-31 | 珠海豹趣科技有限公司 | Data processing method and device |
| CN111624618A (en) * | 2020-06-09 | 2020-09-04 | 安徽意欧斯物流机器人有限公司 | Positioning method and carrying platform integrating laser SLAM and two-dimensional code navigation |
| CN111811522A (en) * | 2020-09-01 | 2020-10-23 | 中国人民解放军国防科技大学 | Unmanned vehicle autonomous navigation method and device, computer equipment and storage medium |
| CN113413601A (en) * | 2021-07-16 | 2021-09-21 | 上海幻电信息科技有限公司 | Path finding method and device |
| CN113545216A (en) * | 2021-07-17 | 2021-10-26 | 普达迪泰（天津）智能装备科技有限公司 | Unmanned mowing vehicle navigation method based on image vision |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105701756A (en) * | 2014-12-16 | 2016-06-22 | 佳能株式会社 | Image processing apparatus and image processing method |
| CN105843223A (en) * | 2016-03-23 | 2016-08-10 | 东南大学 | Mobile robot three-dimensional mapping and obstacle avoidance method based on space bag of words model |
| CN106168805A (en) * | 2016-09-26 | 2016-11-30 | 湖南晖龙股份有限公司 | The method of robot autonomous walking based on cloud computing |
| CN106940704A (en) * | 2016-11-25 | 2017-07-11 | 北京智能管家科技有限公司 | A kind of localization method and device based on grating map |
| CN107479554A (en) * | 2017-09-07 | 2017-12-15 | 苏州三体智能科技有限公司 | Figure air navigation aid is built in robot system and its open air |
| CN109541634A (en) * | 2018-12-28 | 2019-03-29 | 歌尔股份有限公司 | A kind of paths planning method, device and mobile device |
-
2019
- 2019-07-25 CN CN201910678024.5A patent/CN110375742A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105701756A (en) * | 2014-12-16 | 2016-06-22 | 佳能株式会社 | Image processing apparatus and image processing method |
| CN105843223A (en) * | 2016-03-23 | 2016-08-10 | 东南大学 | Mobile robot three-dimensional mapping and obstacle avoidance method based on space bag of words model |
| CN106168805A (en) * | 2016-09-26 | 2016-11-30 | 湖南晖龙股份有限公司 | The method of robot autonomous walking based on cloud computing |
| CN106940704A (en) * | 2016-11-25 | 2017-07-11 | 北京智能管家科技有限公司 | A kind of localization method and device based on grating map |
| CN107479554A (en) * | 2017-09-07 | 2017-12-15 | 苏州三体智能科技有限公司 | Figure air navigation aid is built in robot system and its open air |
| CN109541634A (en) * | 2018-12-28 | 2019-03-29 | 歌尔股份有限公司 | A kind of paths planning method, device and mobile device |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110935175A (en) * | 2019-12-06 | 2020-03-31 | 珠海豹趣科技有限公司 | Data processing method and device |
| CN111624618A (en) * | 2020-06-09 | 2020-09-04 | 安徽意欧斯物流机器人有限公司 | Positioning method and carrying platform integrating laser SLAM and two-dimensional code navigation |
| CN111811522A (en) * | 2020-09-01 | 2020-10-23 | 中国人民解放军国防科技大学 | Unmanned vehicle autonomous navigation method and device, computer equipment and storage medium |
| CN113413601A (en) * | 2021-07-16 | 2021-09-21 | 上海幻电信息科技有限公司 | Path finding method and device |
| CN113413601B (en) * | 2021-07-16 | 2024-01-02 | 上海幻电信息科技有限公司 | Road searching method and device |
| CN113545216A (en) * | 2021-07-17 | 2021-10-26 | 普达迪泰（天津）智能装备科技有限公司 | Unmanned mowing vehicle navigation method based on image vision |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110375742A (en) | A kind of dynamic route Intelligent planning method and system | |
| US20210109537A1 (en) | Autonomous exploration framework for indoor mobile robotics using reduced approximated generalized voronoi graph | |
| US11768293B2 (en) | Method and device for adjusting parameters of LiDAR, and LiDAR | |
| JP4241673B2 (en) | Mobile path generation device | |
| KR20190119237A (en) | Topological map generation apparatus for traveling robot and method thereof | |
| CN109813310B (en) | Underground operation equipment positioning method, device and system and storage medium | |
| US20210114622A1 (en) | Movement control | |
| CN110109129A (en) | Warehouse logistics navigation positioning system and localization method in a kind of room AGV | |
| CN110033457A (en) | A kind of target point cloud dividing method | |
| CN110132130A (en) | Laser radar position calibration method, system and its data processing method, system | |
| Prieto et al. | As-is building-structure reconstruction from a probabilistic next best scan approach | |
| CN108508913A (en) | Autonomous Underwater Vehicle seafloor path planing method based on data-driven | |
| CN109839112B (en) | Underground operation equipment positioning method, device and system and storage medium | |
| US11662726B2 (en) | Controlling movement of a device | |
| Liu et al. | Deep learning-based localization and perception systems: Approaches for autonomous cargo transportation vehicles in large-scale, semiclosed environments | |
| CN113835102B (en) | Lane line generation method and device | |
| CN112904358B (en) | Laser positioning method based on geometric information | |
| CN115268443A (en) | Robot obstacle avoidance path planning method | |
| Thorpe et al. | The new generation system for the CMU Navlab | |
| CN117032215A (en) | Mobile robot object identification and positioning method based on binocular vision | |
| CN110220531A (en) | A kind of intelligent guidance system of view-based access control model network | |
| CN113671511A (en) | Laser radar high-precision positioning method for regional scene | |
| KR20230015658A (en) | Method for generating a grid map and apparatus thereof | |
| Tas et al. | High-definition map update framework for intelligent autonomous transfer vehicles | |
| Dong et al. | Path Planning Research for Outdoor Mobile Robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191025 |