CN110614631B - Method and device for determining target point, electronic equipment and computer readable medium - Google Patents
Method and device for determining target point, electronic equipment and computer readable medium Download PDFInfo
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- CN110614631B CN110614631B CN201810631633.0A CN201810631633A CN110614631B CN 110614631 B CN110614631 B CN 110614631B CN 201810631633 A CN201810631633 A CN 201810631633A CN 110614631 B CN110614631 B CN 110614631B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The disclosure provides a method and a device for determining a target point, electronic equipment and a computer readable medium, and belongs to the technical field of internet. The method comprises the following steps: acquiring a given initial target point from a map; if the initial target point is judged to be outside the map, determining a final target point according to a first preset step length; if the initial target point is judged to be in the map, judging whether the initial target point is in the barrier; and if the initial target point is in the obstacle, determining a final target point according to a second preset step length. The method and the device judge and search through the given initial target point to find the target point which can replace the failure as the final target point, and can solve the problem that the target point fails to plan the path due to the fact that the target point falls outside a map or in an obstacle.
Description
Technical Field
The present disclosure generally relates to the field of internet technologies, and in particular, to a method and an apparatus for determining a target point, an electronic device, and a computer-readable medium.
Background
With the research and development of autonomous mobile robots, autonomous mobile robots are also gradually widely used in production and life, such as unmanned vehicles, automatic inspection robots, automatic sorting robots, and the like.
The path planning technology is one of key technologies widely used in the autonomous mobile robot, and has very important significance for the robot to quickly execute tasks. The path planning problem refers to that given operation environment, a starting point and a target point, a path from the starting point to the target point is required to be selected, so that the robot can safely and collision-free pass through all obstacles to reach the target point. In an ideal situation, the robot can get around the obstacle to reach the target point according to the given path planning to complete the task, but there are many unexpected factors in the actual use scene, such as the target point fails under the conditions that the target point falls outside the map or the target point falls in the obstacle and is displayed as a position area on the map, and the like, and the path planning of the robot cannot be normally performed.
Therefore, there is still a need for improvement in the prior art solutions.
The above information disclosed in this background section is only for enhancement of understanding of the background of the disclosure and therefore it may contain information that does not constitute prior art that is already known to a person of ordinary skill in the art.
Disclosure of Invention
The present disclosure provides a method, an apparatus, an electronic device and a computer-readable medium for determining a target point, so as to solve the above technical problems.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.
According to an aspect of the present disclosure, there is provided a method of determining a target point, including:
acquiring a given initial target point from a map;
if the initial target point is judged to be outside the map, determining a final target point according to a first preset step length;
if the initial target point is judged to be in the map, judging whether the initial target point is in the barrier;
and if the initial target point is in the obstacle, determining a final target point according to a second preset step length.
In one embodiment of the present disclosure, obtaining a given initial target point from a map comprises:
filling the area where the obstacle is located in the map;
and acquiring the coordinates of the target point from the filled map, and converting the coordinates of the target point from a world coordinate system to a map coordinate system to obtain the initial target point.
In one embodiment of the present disclosure, determining that the initial target point falls outside the map comprises:
if the map coordinates (Xm, Ym) of the initial target point satisfy a first preset condition, the initial target point falls outside the map, wherein the first preset condition is:
xm <0, Xm > W, Ym <0, Ym > H;
where W and H are the width and height of the map, respectively.
In one embodiment of the present disclosure, determining the final target point according to the first preset step includes:
obtaining a new target point by combining the map coordinates (Xm, Ym) of the initial target point with the first preset step length;
and if the new target point falls in the obstacle, adding 1 to the first preset step length and then recalculating to obtain the new coordinate point until the new target point does not fall in the obstacle.
In one embodiment of the present disclosure, determining whether the initial target point is in an obstacle includes:
if the map coordinates (Xm, Ym) of the initial target point satisfy a second preset condition, the initial target point falls in an obstacle, wherein the second preset condition is:
the map coordinates (Xm, Ym) of the initial target point fall within the coordinate range of the obstacle on the map.
In one embodiment of the present disclosure, determining the final target point according to the second preset step includes:
obtaining a candidate target point set by using an eight-neighborhood search algorithm according to the map coordinates (Xm, Ym) of the initial target point and the second preset step length;
and screening the candidate target point set to obtain the final target point.
In an embodiment of the present disclosure, obtaining the candidate target point set by using an eight-neighborhood search algorithm according to the map coordinates (Xm, Ym) of the initial target point and the second preset step length includes:
searching the map coordinates (Xm, Ym) of the initial target point to 8 neighborhood directions according to the second preset step by using an eight-neighborhood searching algorithm to obtain a neighborhood target point set;
and removing points outside the map from the neighborhood target point set according to the first preset condition to obtain the candidate target point set.
In an embodiment of the present disclosure, the filtering the final target point from the candidate target point set includes:
screening a target point which is closest to the initial target point from the candidate target point set to form a new target point set;
if the number of the elements in the new target point set is judged to be 1, the target point in the new target point set is the final target point;
and if the number of the elements in the new target point set is judged to be larger than 1, screening a target point which is closest to the starting point from the new target point set as the final target point.
According to still another aspect of the present disclosure, there is provided an apparatus for determining a target point, including:
a target point acquisition module configured to acquire a given initial target point from a map;
the first judgment module is configured to determine a final target point according to a first preset step length if the initial target point is judged to fall outside the map;
the second judgment module is configured to judge whether the initial target point is in the barrier or not if the initial target point is judged to be in the map;
a target point determination module configured to determine a final target point according to a second preset step if the initial target point is in the obstacle.
According to yet another aspect of the present disclosure, there is provided an electronic device comprising a processor; a memory storing instructions for the processor to control the method steps as described above.
According to another aspect of the present disclosure, there is provided a computer-readable medium having stored thereon computer-executable instructions that, when executed by a processor, implement the method steps as described above.
According to the method, the device, the electronic equipment and the computer readable medium for determining the target point, provided by the embodiment of the disclosure, judgment and search are performed through the given initial target point to find the target point capable of replacing the failure as the final target point, so that the problem that the target point fails to plan a path due to the fact that the target point falls outside a map or in an obstacle can be solved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.
Fig. 1 shows a schematic diagram of a Carrot _ planer planner provided in a related embodiment of the present disclosure.
Fig. 2 shows a flowchart of a method for determining a target point in an embodiment of the present disclosure.
Fig. 3 shows a schematic diagram of a target point falling in an obstacle in an embodiment of the present disclosure.
Fig. 4 shows a schematic diagram of an embodiment of the present disclosure after filling of an obstacle.
Fig. 5 shows a schematic diagram of a map coordinate system in an embodiment of the present disclosure.
FIG. 6 is a schematic diagram illustrating a distribution of coordinates of a new target point Pnew set when the new target point Pnew falls outside the map according to an embodiment of the present disclosure.
Fig. 7 shows a flowchart of step S240 in fig. 2 according to an embodiment of the present disclosure.
FIG. 8 illustrates a schematic diagram of an eight neighborhood search algorithm in an embodiment of the present disclosure.
Fig. 9 shows a flowchart of a method for determining a target point in an embodiment of the present disclosure.
Fig. 10 is a schematic diagram illustrating an apparatus for determining a target point according to another embodiment of the present disclosure.
Fig. 11 shows a schematic structural diagram of an electronic device suitable for implementing an embodiment of the present application, provided by an embodiment of the present disclosure.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and the like. In other instances, well-known structures, methods, devices, implementations, materials, or operations are not shown or described in detail to avoid obscuring aspects of the disclosure.
Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings.
In a related embodiment of the present disclosure, a solution is proposed when a target point falls into an obstacle, and fig. 1 shows a schematic diagram of a Carrot _ planner provided in a related embodiment of the present disclosure, as shown in fig. 1, including an original target point 11, a feasible target point 12, an obstacle area (or obstacle) 13, and a robot 14. The planner acquires a user-specified target location, and checks whether the user-specified location (i.e., an original target point) is in an obstacle area. If the user-specified original target point 11 falls within the obstacle area 13, the planner finds a feasible target point 12 outside the obstacle area 13 in the planned path of the robot 14 and the original target point 11 (as shown, on the line connecting the robot 14 and the original target point 11), and then sends the feasible target point 12 to the planner.
Although the solution shown in fig. 1 can find a new feasible target point when the target point falls in an obstacle area, the following problem cannot be solved in practical application:
(1) when the target point falls outside the map;
(2) the target point falls in an obstacle area (or obstacle), but is represented on the map as a case of an unknown area.
Fig. 2 shows a flowchart of a method for determining a target point in an embodiment of the present disclosure, which includes the following steps:
as shown in fig. 2, in step S210, a given initial target point is acquired from the map.
As shown in fig. 2, in step S220, if it is determined that the initial target point falls outside the map, the final target point is determined according to a first preset step size.
As shown in fig. 2, in step S230, if it is determined that the initial target point is within the map, it is determined whether the initial target point is in an obstacle.
As shown in fig. 2, in step S240, if the initial target point is in the obstacle, the final target point is determined according to a second preset step.
According to the method for determining the target point, provided by the embodiment of the disclosure, judgment and search are performed through the given initial target point, so that the target point capable of replacing failure is found as the final target point, and the problem that the target point fails to plan a path due to the fact that the target point falls outside a map or in an obstacle can be solved.
The method for determining the target point provided by the present disclosure is described in detail below with reference to the flowchart shown in fig. 2, specifically as follows:
in step S210, a given initial target point is acquired from the map.
In an embodiment of the present disclosure, the step S210 of obtaining a given initial target point from a map specifically includes:
first, the area of the map where the obstacle is located is filled.
When a map is built, the general sensors such as laser and camera can only shoot the surface of the obstacle, and the map information in the obstacle cannot be shot, so that the built map only retains the surface information of the obstacle.
Fig. 3 shows a schematic view of the target point when it falls in an obstacle, as shown in fig. 3, where 31 denotes the obstacle, 32 denotes the target point, and 33 denotes a grid in the map. In practical use, the closed region formed by the black border of the obstacle 31 is also an obstacle, and due to the above reasons, the sensor cannot detect the inside of the obstacle, so the inside of the obstacle will be marked as an unknown region, i.e., the region inside the black border of the obstacle 31 in fig. 3 is an unknown region. I.e. the target point shown in fig. 3 falls into a location area, the path cannot be planned since the unknown area is surrounded by obstacles. But from the unknown area in the real environment being an obstacle, the obstacle area is first filled into the map either manually or automatically in some way. Fig. 4 shows a schematic diagram after filling of an obstacle, as shown in fig. 4, where 31 denotes the obstacle, 32 denotes the target point, 33 denotes the grid in the map, the area inside the black border of the obstacle 31 is filled, and the grid outside the black border of the obstacle 31 is the non-obstacle area.
And secondly, acquiring coordinates of the target point from the filled map, and converting the coordinates of the target point from a world coordinate system to a map coordinate system to obtain an initial target point.
The coordinates of the acquired target point are Pw (Xw, Yw), and the coordinates of Pm are (Xm, Ym) obtained by converting the Pw (Xw, Yw) from the world coordinate system to the map coordinate system. Assuming that the coordinates of the origin O of the map coordinate system in the world coordinate system are (X0, Y0) and the resolution of the map (the resolution of the map refers to the ratio of the distance of one unit dimension on the map to 1 meter in the real world; for example, if the map is stored in the form of a picture, then a resolution of 0.05 refers to 1 pixel in the image being 0.05 meter in length in the real world) is R, then the coordinates of the target point are converted from the world coordinate system to the map coordinate system specifically as:
xm ═ (Xw-X0)/R (formula 1)
Ym ═ (Yw-Y0)/R (formula 2)
The resulting coordinates Pm (Xm, Ym) are the coordinates of the initial target point, where the map coordinate system is assumed to be parallel to the world coordinate system and each coordinate value in the map is assumed to be greater than 0 under the map coordinates.
Fig. 5 shows a schematic diagram of a map coordinate system, wherein the width (i.e., x-axis direction) of the map is W and the height (i.e., y-axis direction) is H.
In step S220, if the initial target point is determined to fall outside the map, the final target point is determined according to a first preset step length.
In an embodiment of the present disclosure, the determining that the initial target point falls outside the map in step S220 specifically includes:
judging whether the map coordinate Pm (Xm, Ym) of the initial target point falls outside the map by using a first preset condition, and if the map coordinate Pm (Xm, Ym) of the initial target point meets the first preset condition, judging that the initial target point falls outside the map, wherein the first preset condition is as follows:
xm <0, Xm > W, Ym <0, Ym > H, where W and H are the width and height, respectively, of the map.
If the map coordinates Pm (Xm, Ym) of the initial target point fall outside the map, the coordinates of the new target point Pnew are calculated.
In one embodiment of the present disclosure, determining the final target point according to the first preset step includes:
obtaining a new target point by combining the map coordinates (Xm, Ym) of the initial target point with a first preset step length;
and if the new target point falls in the obstacle, adding 1 to the first preset step length and then recalculating to obtain a new coordinate point until the new target point does not fall in the obstacle.
FIG. 6 is a schematic diagram showing the distribution of the coordinates of the new target point Pnew set when the new target point Pnew falls outside the map, as shown in FIG. 6, where s is the first preset step size, and when the new target point Pnew is outside the map, there are 8 cases as follows:
(ii) if Xm <0& & Ym <0, then the Pnew coordinate is (s, s);
② if Xm <0& &0< Ym < H, Pnew coordinate is (s, Ym);
③ if Xm <0& & Ym > H, then the Pnew coordinate is (s, H-s);
if 0< Xm < W & & Ym > H, the Pnew coordinate is (Xm, H-s);
if Xm > W & & Ym > H, the Pnew coordinate is (W-s, H-s);
sixthly, if Xm > W & &0< Ym < H, the Pnew coordinate is (W-s, Ym);
seventhly, if Xm > W & & Ym <0, the Pnew coordinate is (W-s, s);
(viii) if 0< Xm < W & & Ym <0, then the Pnew coordinate is (Xm, s);
based on the above, a new target point Pnew is obtained, and then, when the new target point Pnew falls into the obstacle, the step length s +1 repeats the above steps until the Pnew does not fall into the obstacle and falls into an idle area (i.e. an obstacle-free area).
And if the new target point Pnew does not fall into the obstacle, further converting Pnew into the world coordinate system to obtain the position Pw-new of the new target point in the world coordinate system.
Let Pw-new coordinate be (Xw-new, Yw-new), then
Xw-new ═ xmr + X0 (formula 3)
Yw-new ═ Ym × R + Y0 (formula 4)
Wherein, X0 and Y0 are the positions of the origin of the map coordinate system in the world coordinate system.
In step S230, if it is determined that the initial target point is within the map, it is determined whether the initial target point is in an obstacle.
In an embodiment of the present disclosure, the determining whether the initial target point is located in the obstacle specifically includes:
judging whether the map coordinates (Xm, Ym) of the initial target point fall in the obstacle or not by using a second preset condition, and if the map coordinates (Xm, Ym) of the initial target point meet the second preset condition, then the initial target point falls in the obstacle, wherein the second preset condition is as follows:
the map coordinates (Xm, Ym) of the initial target point fall within the coordinate range of the obstacle on the map.
In this step, taking the grid map as an example, assuming that the grid mark of the obstacle in the grid map is 1, reading the mark L of the grid where the target point is located, and if a second preset condition is met:
and L is 1, the target point is considered to fall into the obstacle.
In step S240, if the initial target point is in the obstacle, the final target point is determined according to a second preset step size.
Fig. 7 shows a flowchart of step S240 in the present embodiment, including the following steps:
as shown in fig. 7, in step S71, a set of candidate target points is obtained by using an eight-neighborhood search algorithm according to the map coordinates (Xm, Ym) of the initial target points and a second preset step.
As shown in fig. 7, in step S72, a final target point is obtained by filtering from the candidate target point set.
The following describes the flow of step S420 in detail with reference to the flowchart shown in fig. 7, specifically as follows:
in an embodiment of the present disclosure, the obtaining of the candidate target point set by using the eight-neighborhood search algorithm according to the map coordinates (Xm, Ym) of the initial target point and the second preset step in step S71 includes:
firstly, searching the map coordinates (Xm, Ym) of the initial target point to 8 neighborhood directions according to a second preset step by using an eight-neighborhood searching algorithm to obtain a neighborhood target point set.
Fig. 8 is a schematic diagram illustrating an eight-neighborhood search algorithm, and fig. 8 is an enlarged view of a grid map, where P1 is a target point, P2 is a position where a first search is performed at a second preset step from the target point, and P3 is a position where a second search is performed.
Assuming that the coordinates of the target point Pm are (xm, ym), and the step length of the search is s, then at the nth search, the coordinates of the target point eight adjacent domains are respectively: (xm, ym + nxs), (xm, ym-nxs), (xm + nxs, ym), (xm-nxs, ym), (xm + nxs, ym + nxs), (xm-nxs, ym + nxs), (xm + nxs, ym-nxs), (xm-nxs, ym-nxs), and (xm-nxs, ym-nxs). In practical application, searching layer by layer from inside to outside, simultaneously judging whether barriers exist at the positions of the eight neighborhoods, if the barriers exist at all the eight positions, continuing searching by n +1 until a certain position of the eight neighborhoods is found to be a barrier-free area, and setting the position as a candidate target point.
Further still include: and screening candidate target points to obtain new target points, and setting an eight-neighborhood search algorithm to obtain a candidate target point set { Pi0| Pi0 is a barrier-free area and 0< i0 ═ 8 }.
It should be noted that, in this embodiment, the first preset step length and the second preset step length may be equal to each other, that is, both are 1, and the first preset step length and the second preset step length may also be equal to each other, and the adjustment is specifically required according to a scene requirement.
And secondly, removing points outside the map from the neighborhood target point set according to a first preset condition to obtain a candidate target point set.
In this step, the target points outside the map may be removed according to a first preset condition to obtain a preliminary screened target point set, i.e. the candidate target point set { Pi | Pi is located in an unobstructed area and 0< i < ═ 8 }.
In an embodiment of the present disclosure, the step S72 of obtaining the final target point by filtering from the candidate target point set specifically includes:
firstly, a target point closest to the initial target point is screened from the candidate target point set to form a new target point set.
Secondly, judging the number of elements in the new target point set, and if the number of the elements in the new target point set is judged to be 1, determining the target point in the new target point set as a final target point; and if the number of the elements in the new target point set is judged to be larger than 1, screening the target point which is closest to the starting point from the new target point set as a final target point.
Such as:
preferentially selecting the target point closest to the set target point Pm as a new target point, namely
Wherein P isnewiFor a point in the set of candidate target points screened by this condition, if the set has only 1 point left, the target point is determined as the final target point, i.e. the target point
Pnew＝Pnewi(formula 6)
If P isnewiIf the number of the middle points is more than 1, selecting the candidate target point with the position closest to the initial point (such as the robot) as a new target point. Namely, it is
Wherein, PrIs the robot position. Since this step is a floating point operation, P can usually be uniquely foundnew。
And then, converting Pnew into the world coordinate system by using the formula 3 and the formula 4 to obtain the position Pw-new of the new target point in the world coordinate system.
Based on the above, fig. 9 shows a flowchart of the method for determining the target point according to the present embodiment, and as shown in fig. 9, the method includes the following steps:
step 101: firstly, the obstacles in the map are manually filled according to the actual environment and the edges of the obstacles on the map.
Step 102: and setting a target point position PW in the world coordinate system.
Step 103: and (3) converting the coordinates of the target point in the world coordinate system into the coordinates of the map according to the formula 1 and the formula 2 to obtain Pm.
Step 104: and judging whether the Pm is out of the map or not according to a first preset condition.
Step 105: and if the Pm falls out of the map, setting a search step length s.
Step 106: and if the Pm does not fall out of the map, judging whether the target point falls into the obstacle according to a second preset condition.
Step 107: and screening candidate target points according to the step length set by the step length setting unit 106 to obtain a new target point coordinate Pnew.
Step 108: and if the Pm falls into the obstacle, searching by adopting an eight-neighborhood searching algorithm to obtain a candidate target point set { Pi0| Pi0 is a barrier-free area and 0< i0< equalto 8 }.
Step 109: and judging whether the Pnew obtained in the step 107 is positioned in the obstacle.
Step 110: and if Pnew is positioned in the obstacle, adding 1 to the step s, returning to the step 107, and recalculating the target point.
Step 111: and removing the target points out of the map in the Pi0 according to a first preset condition to obtain a candidate target point set { Pi | Pi is located in an unobstructed area and 0< i < equalto 8 }.
Step 112: and (5) screening Pi again according to the formula 5 to obtain a set.
Step 113: judgment set PnewiWhether the number of the elements in (1) is zero or not.
Step 114: if setPnewiAnd if the number of the middle elements is 1, obtaining a new target point Pnew under the map coordinate system.
Step 115: if the number of the elements in the set is not 1, selecting the target point nearest to the robot as the final target point Pnew according to the formula 7.
Step 116: and converting the coordinates Pnew of the target point in the map coordinate system into the world coordinate system.
Through the steps of S101 to S116, the map obstacles are filled first, the situation that the target point falls into the obstacle and is misjudged as falling into the unknown area is solved, and in addition, search algorithms are respectively designed for the target point falling outside the map and falling in the obstacle, so that the problem that the target point is invalid due to the target point falling outside the map or in the obstacle is solved.
In summary, the method for determining a target point provided by the embodiment of the present disclosure performs judgment and search through a given initial target point to find a target point capable of replacing a failure as a final target point, and can solve the problem that the target point falls outside a map or in an obstacle, so that the target point fails and a path cannot be planned.
Fig. 10 is a schematic diagram of an apparatus for determining a target point according to another embodiment of the present disclosure, as shown in fig. 10, the apparatus 1000 includes: a target point obtaining module 1010, a first judging module 1020, a second judging module 1030, and a target point determining module 1040.
The target point acquisition module 1010 is configured to acquire a given initial target point from the map; the first determining module 1020 is configured to determine a final target point according to a first preset step length if the initial target point is determined to fall outside the map; the second determining module 1030 is configured to determine whether the initial target point is in an obstacle if the initial target point is determined to be within the map; the target point determination module 1040 is configured to determine the final target point according to a second preset step size if the initial target point is in the obstacle.
The functions of each module in the apparatus are described in the above method embodiments, and are not described again here.
In another aspect, the present disclosure also provides an electronic device, including a processor and a memory, where the memory stores operating instructions for the processor to control the following method:
acquiring a given initial target point from a map; if the initial target point is judged to be outside the map, determining a final target point according to a first preset step length; if the initial target point is judged to be in the map, judging whether the initial target point is in the barrier; and if the initial target point is in the obstacle, determining a final target point according to a second preset step length.
Referring now to FIG. 11, shown is a block diagram of a computer system 1100 suitable for use in implementing the electronic device of an embodiment of the present application. The electronic device shown in fig. 11 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 11, the computer system 1100 includes a Central Processing Unit (CPU)1101, which can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)1102 or a program loaded from a storage section 1107 into a Random Access Memory (RAM) 1103. In the RAM 1103, various programs and data necessary for the operation of the system 1100 are also stored. The CPU 1101, ROM 1102, and RAM 1103 are connected to each other by a bus 1104. An input/output (I/O) interface 1105 is also connected to bus 1104.
The following components are connected to the I/O interface 1105: an input portion 1106 including a keyboard, mouse, and the like; an output portion 1107 including a signal output unit such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage section 1108 including a hard disk and the like; and a communication section 1109 including a network interface card such as a LAN card, a modem, or the like. The communication section 1109 performs communication processing via a network such as the internet. A driver 1110 is also connected to the I/O interface 1105 as necessary. A removable medium 1111 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 1110 as necessary, so that a computer program read out therefrom is mounted into the storage section 1108 as necessary.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication portion 1109 and/or installed from the removable medium 1111. The above-described functions defined in the system of the present application are executed when the computer program is executed by a Central Processing Unit (CPU) 1101.
It should be noted that the computer readable medium shown in the present application may be a computer readable signal medium or a computer readable medium or any combination of the two. A computer readable medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present application may be implemented by software or hardware. The described units may also be provided in a processor, and may be described as: a processor includes a transmitting unit, an obtaining unit, a determining unit, and a first processing unit. The names of these units do not in some cases constitute a limitation to the unit itself, and for example, the sending unit may also be described as a "unit sending a picture acquisition request to a connected server".
In another aspect, the present disclosure also provides a computer-readable medium, which may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to include the method steps of:
according to the keyword mapping relation, identifying the data to be processed by using the keywords to obtain metadata; performing logic control of read operation and write operation on the metadata to complete updating and caching of the data to be processed; and updating and caching the version according to the metadata.
It should be clearly understood that this disclosure describes how to make and use particular examples, but the principles of this disclosure are not limited to any details of these examples. Rather, these principles can be applied to many other embodiments based on the teachings of the present disclosure.
Exemplary embodiments of the present disclosure are specifically illustrated and described above. It is to be understood that the present disclosure is not limited to the precise arrangements, instrumentalities, or instrumentalities described herein; on the contrary, the disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (9)
1. A method of determining a target point, comprising:
acquiring a given initial target point from a map;
if the initial target point is judged to be outside the map, determining a final target point according to a first preset step length; determining that the initial target point falls outside the map comprises: if the map coordinates (Xm, Ym) of the initial target point satisfy a first preset condition, the initial target point falls outside the map, wherein the first preset condition is: xm <0, Xm > W, Ym <0, Ym > H; wherein W and H are the width and height of the map, respectively;
determining the final target point according to the first preset step length includes: obtaining a new target point by combining the map coordinates (Xm, Ym) of the initial target point with the first preset step length; if the new target point falls in the obstacle, the new coordinate point is obtained by recalculating after adding 1 to the first preset step length until the new target point does not fall in the obstacle;
if the initial target point is judged to be in the map, judging whether the initial target point is in the barrier;
and if the initial target point is in the obstacle, determining a final target point according to a second preset step length.
2. The method of claim 1, wherein obtaining a given initial target point from the map comprises:
filling the area where the obstacle is located in the map;
and acquiring the coordinates of the target point from the filled map, and converting the coordinates of the target point from a world coordinate system to a map coordinate system to obtain the initial target point.
3. The method of determining a target point of claim 1, wherein determining whether the initial target point is in an obstacle comprises:
if the map coordinates (Xm, Ym) of the initial target point satisfy a second preset condition, the initial target point falls in an obstacle, wherein the second preset condition is:
the map coordinates (Xm, Ym) of the initial target point fall within the coordinate range of the obstacle on the map.
4. The method of claim 3, wherein determining the final target point according to the second preset step comprises:
obtaining a candidate target point set by using an eight-neighborhood search algorithm according to the map coordinates (Xm, Ym) of the initial target point and the second preset step length;
and screening the candidate target point set to obtain the final target point.
5. The method of claim 4, wherein obtaining the set of candidate target points by using an eight neighborhood search algorithm according to the map coordinates (Xm, Ym) of the initial target points in combination with the second preset step size comprises:
searching the map coordinates (Xm, Ym) of the initial target point to 8 neighborhood directions according to the second preset step by using an eight-neighborhood searching algorithm to obtain a neighborhood target point set;
and removing points outside the map from the neighborhood target point set according to the first preset condition to obtain the candidate target point set.
6. The method of claim 4, wherein the step of screening the set of candidate target points to obtain the final target point comprises:
screening a target point which is closest to the initial target point from the candidate target point set to form a new target point set;
if the number of the elements in the new target point set is judged to be 1, the target point in the new target point set is the final target point;
and if the number of the elements in the new target point set is judged to be larger than 1, screening a target point which is closest to the starting point from the new target point set as the final target point.
7. An apparatus for determining a target point, comprising:
a target point acquisition module configured to acquire a given initial target point from a map;
the first judgment module is configured to determine a final target point according to a first preset step length if the initial target point is judged to fall outside the map; determining that the initial target point falls outside the map comprises: if the map coordinates (Xm, Ym) of the initial target point satisfy a first preset condition, the initial target point falls outside the map, wherein the first preset condition is: xm <0, Xm > W, Ym <0, Ym > H; wherein W and H are the width and height of the map, respectively;
determining the final target point according to the first preset step length includes: obtaining a new target point by combining the map coordinates (Xm, Ym) of the initial target point with the first preset step length; if the new target point falls in the obstacle, the new coordinate point is obtained by recalculating after adding 1 to the first preset step length until the new target point does not fall in the obstacle;
the second judgment module is configured to judge whether the initial target point is in the barrier or not if the initial target point is judged to be in the map;
a target point determination module configured to determine a final target point according to a second preset step if the initial target point is in the obstacle.
8. An electronic device, comprising:
a processor;
memory storing instructions for the processor to control the method steps according to any one of claims 1-6.
9. A computer-readable medium having stored thereon computer-executable instructions, which when executed by a processor, perform the method steps of any one of claims 1-6.
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