CN111161424A - Three-dimensional map determination method and determination device - Google Patents
Three-dimensional map determination method and determination device Download PDFInfo
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Abstract
The invention discloses a method and a device for determining a three-dimensional map, wherein a simulation environment file for loading on a gazebo simulation platform is determined according to a first sub-parameter and a second sub-parameter, a map set which corresponds to a first environment and comprises two-dimensional maps with different heights is determined according to a third sub-parameter after the simulation environment file is loaded on the gazebo simulation platform, and a corresponding three-dimensional map is determined according to the determined map set; therefore, the method and the device for determining the three-dimensional map of the environment of the robot combine the gazebo simulation platform and the simulation environment file to determine the three-dimensional map of the environment of the robot, so that the determined three-dimensional map is higher in accuracy, and more accurate and effective data reference can be provided for follow-up robot control; in addition, the method for determining the three-dimensional map provided by the embodiment of the invention is simple and easy to implement, so that the determination efficiency of the three-dimensional map can be improved.
Description
Technical Field
The invention relates to the technical field of robot simulation, in particular to a method and a device for determining a three-dimensional map.
Background
The robot simulation technology is crucial to the development of related algorithms of a robot, can flexibly and quickly provide an implementation environment for algorithm testing, saves manpower and material resources, and can provide extreme working condition testing, long-time testing and the like which are difficult to implement in actual testing.
The simulation and determination of the three-dimensional map are particularly important in the robot simulation technology, and how to accurately determine the three-dimensional map of the environment where the robot is located is a technical problem to be solved urgently by technical personnel in the field.
Disclosure of Invention
The embodiment of the invention provides a method and a device for determining a three-dimensional map, which are used for accurately determining the three-dimensional map of an environment where a robot is located.
In a first aspect, an embodiment of the present invention provides a method for determining a three-dimensional map, including:
determining a first parameter corresponding to a three-dimensional map to be determined, wherein the first parameter comprises: a first sub-parameter for representing a first environment corresponding to the three-dimensional map, a second sub-parameter for representing the number of obstacles existing in the first environment, and a third sub-parameter for representing first information of the three-dimensional map, the first information including height information and accuracy information, the first environment including a plurality of fixed-position reference objects, the obstacles being different from the reference objects;
determining a simulation environment file for loading on a gazebo simulation platform according to the first sub-parameter and the second sub-parameter;
after the simulation environment file is loaded on the gazebo simulation platform, determining a map set which corresponds to the first environment and comprises two-dimensional maps with different heights according to the third sub-parameter;
and determining a corresponding three-dimensional map according to the determined map set.
Optionally, in an embodiment of the present invention, after the loading the simulation environment file on the gazebo simulation platform and before determining the corresponding three-dimensional map, the method further includes:
and when the gazebo simulation platform is judged to be unstable in operation, reloading the simulation environment file on the gazebo simulation platform.
Optionally, in an embodiment of the present invention, the method further includes:
if the simulation environment file is reloaded on the gazebo simulation platform before the two-dimensional map with the ith height is determined and after the two-dimensional map with the ith-1 th height is determined, the two-dimensional map with the ith height is determined again; i is a positive integer.
Optionally, in this embodiment of the present invention, determining, according to the third sub-parameter, a map set corresponding to the first environment and including two-dimensional maps with different heights includes:
judging whether the current value of a second parameter used for representing the number of the determined two-dimensional maps is smaller than a preset value or not; the preset value is determined according to height information and precision information in the third sub-parameter, and different two-dimensional maps in the two-dimensional map set correspond to different heights;
if not, constructing the map set according to the determined two-dimensional maps;
if so, adjusting the numerical value of the second parameter when the two-dimensional map corresponding to the ith height is determined within the preset time; wherein i is the number of the two-dimensional maps determined currently plus one, and i is a positive integer.
Optionally, in this embodiment of the present invention, after determining that the value of the second parameter is smaller than the preset value, the method further includes:
determining a flag bit used for indicating whether a two-dimensional map needs to be generated currently as a first mark; wherein the first mark indicates that a two-dimensional map needs to be generated currently;
judging whether a two-dimensional map needs to be generated currently or not according to the flag bit;
if so, determining a two-dimensional map corresponding to the ith height in the first environment within a preset time, and adjusting the value of the second parameter;
if not, directly adjusting the value of the second parameter.
Optionally, in the embodiment of the present invention, determining the two-dimensional map corresponding to the ith height in the first environment within a preset time specifically includes:
determining a two-dimensional map corresponding to an ith height in the first environment;
modifying the zone bit into a second mark, wherein the second mark indicates that the two-dimensional map does not need to be regenerated at present;
and modifying the zone bit into the first mark when the two-dimensional map is determined within the preset time.
Optionally, in this embodiment of the present invention, when it is determined that the two-dimensional map is not determined within the preset time, the method further includes:
modifying the flag bit to the first flag;
judging whether a two-dimensional map needs to be generated currently or not according to the flag bit;
after the two-dimensional map corresponding to the ith height in the first environment is determined within a preset time and before the value of the second parameter is adjusted, the method further comprises the following steps:
and judging whether a two-dimensional map needs to be generated currently or not according to the zone bit.
Optionally, in this embodiment of the present invention, determining, according to the first sub-parameter and the second sub-parameter, a simulation environment file for running on a gazebo simulation platform includes:
selecting an environment model corresponding to the first sub-parameter from a preset environment model library, and writing the selected environment model into a preset file;
determining position information of each obstacle;
and writing the determined position information into the preset file to obtain the simulation environment file when the condition that the position information meets the preset condition is judged according to the determined position information and the first sub-parameter.
Optionally, in an embodiment of the present invention, the preset condition is:
the first sub-parameters comprise position coordinates and maximum envelope radius of each reference object, and the position information of the obstacle comprises the position coordinates and the maximum envelope radius;
for any of the obstacles: the sum of the maximum envelope radius of the obstacle and the maximum envelope radius of any reference object is a first numerical value, the Euclidean distance between the position coordinate of the obstacle and the position coordinate of the reference object is a second numerical value, and the first numerical value is larger than the second numerical value.
Optionally, in this embodiment of the present invention, after determining that the preset condition is met according to the determined position information and the first sub-parameter, and before obtaining the simulation environment file, the method further includes:
determining type information of each obstacle;
selecting an obstacle model corresponding to the type information of each obstacle from a preset obstacle model library;
and writing the selected obstacle model into the preset file.
In a second aspect, an embodiment of the present invention provides an apparatus for determining a three-dimensional map, including:
the three-dimensional map determination method includes a first unit, configured to determine a first parameter corresponding to a three-dimensional map to be determined, where the first parameter includes: a first sub-parameter for representing a first environment corresponding to the three-dimensional map, a second sub-parameter for representing the number of obstacles existing in the first environment, and a third sub-parameter for representing first information of the three-dimensional map, the first information including height information and accuracy information, the first environment including a plurality of fixed-position reference objects, the obstacles being different from the reference objects;
a second unit, configured to determine, according to the first sub-parameter and the second sub-parameter, a simulation environment file for loading on a gazebo simulation platform;
a third unit, configured to determine, according to the third sub-parameter, a map set that corresponds to the first environment and includes two-dimensional maps of different heights after the simulation environment file is loaded on the gazebo simulation platform;
and the fourth unit is used for determining a corresponding three-dimensional map according to the determined map set.
The invention has the following beneficial effects:
according to the determining method and the determining device for the three-dimensional map, the simulation environment file used for loading on the gazebo simulation platform is determined according to the first sub-parameter and the second sub-parameter, after the simulation environment file is loaded on the gazebo simulation platform, the map set which corresponds to the first environment and comprises two-dimensional maps with different heights is determined according to the third sub-parameter, and then the corresponding three-dimensional map is determined according to the determined map set; therefore, the method and the device for determining the three-dimensional map of the environment of the robot combine the gazebo simulation platform and the simulation environment file to determine the three-dimensional map of the environment of the robot, so that the determined three-dimensional map is higher in accuracy, and more accurate and effective data reference can be provided for follow-up robot control; in addition, the method for determining the three-dimensional map provided by the embodiment of the invention is simple and easy to implement, so that the determination efficiency of the three-dimensional map can be improved.
Drawings
Fig. 1 is a flowchart of a method for determining a three-dimensional map according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method of determining a set of maps provided in an embodiment of the present invention;
FIG. 3 is a flow chart of a method for determining a simulation environment file provided in an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a three-dimensional map determination apparatus provided in an embodiment of the present invention.
Detailed Description
The following describes in detail specific embodiments of a method and an apparatus for determining a three-dimensional map according to an embodiment of the present invention with reference to the drawings. It should be noted that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An embodiment of the present invention provides a method for determining a three-dimensional map, as shown in fig. 1, the method may include:
s101, determining a first parameter corresponding to a three-dimensional map to be determined, wherein the first parameter comprises: the three-dimensional map comprises a first sub-parameter used for representing a first environment corresponding to the three-dimensional map, a second sub-parameter used for representing the number of obstacles existing in the first environment, and a third sub-parameter used for representing first information of the three-dimensional map, wherein the first information comprises height information and precision information, the first environment comprises a plurality of reference objects with fixed positions, and the obstacles are different from the reference objects;
the first environment may be any simulation environment where the robot is located, such as but not limited to an office environment, and accordingly, the reference object included in the first environment may include: furniture items such as desks, chairs, bookshelves and the like, and the position of the reference object in the first environment remains unchanged during the subsequent determination of the three-dimensional map.
For an obstacle, it is an object that is present in the first environment and that is different from the reference, for example but not limited to when in an office environment, where the reference may be a table, a chair, etc., and the obstacle may be a worker in the office environment.
In addition, in the embodiment of the present invention, the number of obstacles included in the first environment may be set according to actual needs, for example, but not limited to, a three-dimensional map in an office environment with a large number of workers needs to be determined, and when the workers serve as the obstacles, the number of the set obstacles may be a little larger, so that the determined three-dimensional map meets the actual needs.
It should be noted that, in the embodiment of the present invention, an environment model library may be established in advance, and the environment model library may be stored in a text file, where the stored location may be any space in which data may be stored. The environment model library includes a plurality of environment models, each environment model corresponds to one environment, each environment model is correspondingly provided with a mark (such as but not limited to a number), and the environment model stores the coordinates and the name of a reference object except a wall surface in the corresponding environment. In the embodiment of the present invention, the first sub-parameter may be, but is not limited to be, understood as a label corresponding to the environment model.
Further, as for the first information, the height information therein may be understood as the height of the three-dimensional map desired to be generated, and the accuracy information may be understood as the accuracy of the three-dimensional map desired to be generated, or the accuracy information may be understood as: the height difference between two-dimensional maps corresponding to any two adjacent heights, for example, but not limited to, obtaining one two-dimensional map every first distance, so that the first distance is the precision information, and the three-dimensional map can be determined through the two-dimensional maps corresponding to different heights.
S102, determining a simulation environment file for loading on the gazebo simulation platform according to the first sub-parameter and the second sub-parameter;
the gazebo is a simulation platform or a simulation simulator, and can perform dynamic simulation on the robot so as to realize simulation of the robot; for a specific process of loading the simulation environment file on the gazebo simulation platform, reference may be made to the prior art, and details thereof are not described herein.
S103, after the simulation environment file is loaded on the gazebo simulation platform, according to the third sub-parameter, determining a map set which corresponds to the first environment and comprises two-dimensional maps with different heights;
when the simulation environment file is loaded on the gazebo simulation platform, the simulation environment can be opened to determine a map set; the two-dimensional map generated in the process can be generated through a plug-in provided by the gazebo simulation platform, and the specific plug-in which is adopted to generate the two-dimensional map can be referred to the prior art, and is not detailed herein.
And S104, determining a corresponding three-dimensional map according to the determined map set.
In this way, the three-dimensional map determined in the embodiment of the present invention is a three-dimensional map of a simulation environment of the robot, and is not a three-dimensional map of an environment in which the robot actually moves.
Therefore, the method and the device for determining the three-dimensional map of the environment of the robot combine the gazebo simulation platform and the simulation environment file to determine the three-dimensional map of the environment of the robot, so that the determined three-dimensional map is higher in accuracy, and more accurate and effective data reference can be provided for follow-up robot control; in addition, the method for determining the three-dimensional map provided by the embodiment of the invention is simple and easy to implement, so that the determination efficiency of the three-dimensional map can be improved.
Optionally, in the embodiment of the present invention, to implement the content of S104, the following process may be implemented:
process 1: the traversal map set comprises each two-dimensional map, and space occupation information of each grid in each two-dimensional map is determined;
the two-dimensional map can be a two-dimensional grid map and comprises a plurality of grids which are arranged in an array, and each grid corresponds to a coordinate position; if a certain grid is occupied, the grid can be marked to be black, if the grid is not occupied, the grid can be marked to be white, each two-dimensional map is a grid map consisting of black grids and white grids, the coordinate positions corresponding to the grids in the two-dimensional grid map can be determined to be occupied through the color of each grid, and the coordinate positions corresponding to the grids are not occupied, so that the space occupation information of each grid in the two-dimensional map is determined.
Of course, the space occupation information of each cell in the two-dimensional map is not limited to be represented by the above contents, and may also be represented by other manners capable of representing the space occupation situation of each cell, which is not limited herein, and is only exemplified here.
And (2) a process: and (4) overlapping each two-dimensional map to obtain a corresponding three-dimensional map.
Since each two-dimensional map in the map set corresponds to one height, if the grid with the coordinate (x, y) in the two-dimensional grid map corresponding to the height zi is occupied, it can be determined that the point with the coordinate (x, y, zi) in the three-dimensional map is occupied.
In particular, the specific overlay process mentioned in process 2 can be referred to in the prior art and will not be described in detail here.
Therefore, the three-dimensional map can be determined by overlapping the two-dimensional maps with different heights; in addition, the accuracy of the two-dimensional map in the determined map set is higher, so that the accuracy of the corresponding three-dimensional map is also higher, and effective and accurate data reference can be provided for the control of the subsequent robot.
In specific implementation, in the embodiment of the present invention, after the loading the simulation environment file on the gazebo simulation platform and before determining the corresponding three-dimensional map, the method further includes:
and when the gazebo simulation platform is judged to be unstable in operation, reloading the simulation environment file on the gazebo simulation platform.
Wherein, loading the simulation environment file on the gazebo simulation platform, and when the simulation environment is opened, the process can be called as process 1.
In an actual situation, because the gazebo simulation platform has a condition of unstable operation, if the gazebo simulation platform has unstable operation and causes the process 1 to be ended unexpectedly, the process 1 can be recovered to be stable again by restarting the gazebo simulation platform immediately. The process of restarting the gazebo simulation platform immediately can be understood as a process of reloading the simulation environment file on the gazebo simulation platform.
Therefore, the situation that the map set cannot be determined after the process 1 is ended accidentally can be avoided, and the situation that the three-dimensional map cannot be determined due to the fact that the map set cannot be determined is further avoided, so that the three-dimensional map can be determined accurately and effectively.
Specifically, in the embodiment of the present invention, the method further includes:
if the simulation environment file is reloaded on the gazebo simulation platform before the two-dimensional map with the ith height is determined and after the two-dimensional map with the ith-1 height is determined, the two-dimensional map with the ith height is determined again; i is a positive integer.
In the embodiment of the present invention, a process of generating a two-dimensional map may be referred to as process 2, and process 1 and process 2 are performed in parallel, that is, process 1 is executed while process 2 is also executed, and as long as process 1 is not ended unexpectedly and is always executed normally, process 2 is not interfered, so that it is ensured that the two-dimensional map is determined by process 2.
To illustrate, the process 2 starts generating the two-dimensional map only after the process 1 starts, and if the process 1 is just in an end or restart state when the process 2 starts, the process 2 cannot run continuously. Therefore, in the process of executing the process 2, if the process 1 is accidentally ended, after the process 1 is restarted, the process 2 may continue to execute the process in which the process 2 was located when the process 1 was ended.
For example, if the process 2 is generating the two-dimensional map corresponding to the ith height, the process 1 is unexpectedly ended and restarted, after the process 1 is restarted, the two-dimensional map corresponding to the ith height needs to be regenerated for the process 2, and the two-dimensional map before the ith height that has been generated does not need to be re-determined.
Therefore, the repeated generation of the two-dimensional maps can be avoided, and the two-dimensional maps in the map set are guaranteed to be maps with different heights, so that the three-dimensional maps can be determined according to the map set.
In addition, when the process 1 and the process 2 are realized, program development of a gazebo simulation platform is not required to be additionally added, the existing programs and functions of the gazebo simulation platform can be realized, and the method has the characteristics of simple logic, high reliability and the like, so that the map set can be accurately and effectively determined, and data basis is provided for determining the three-dimensional map.
Optionally, in the embodiment of the present invention, the implementation manner of the process 1 and the process 2 may be, but is not limited to, the following manner:
1. using a batch related tool provided by an MATLAB tool box to execute the process 1 and the process 2 simultaneously and monitoring the running state of the process; for example, but not limiting of, using the batch function in a script that executes process 1 opens process 2.
2. Using a threading module provided by Python to execute the process 1 and the process 2 simultaneously and monitoring the running state of the process; for example, but not limiting of, a Thread builder is used in a script executing process 1 to create process 2, and start method is used to start process 2.
In specific implementation, in the embodiment of the present invention, determining, according to the third sub-parameter, a map set corresponding to the first environment and including two-dimensional maps with different heights includes:
judging whether the current value of a second parameter used for representing the number of the determined two-dimensional maps is smaller than a preset value or not; the preset value is determined according to the height information and the precision information in the third sub-parameter, and different two-dimensional maps in the two-dimensional map set correspond to different heights;
if not, constructing a map set according to the determined two-dimensional maps;
if so, adjusting the numerical value of the second parameter when the two-dimensional map corresponding to the ith height is determined within the preset time; wherein i is the number of the two-dimensional maps determined currently plus one, and i is a positive integer.
Wherein, the preset values can be but are not limited to: the ratio of the height information to the accuracy information in the third subparameter.
Therefore, the initial value of the second parameter may be set to, but not limited to, 0, and the value of the second parameter may be +1 each time the value of the second parameter is adjusted by successfully determining the two-dimensional map corresponding to one height, so that after all the two-dimensional maps are successfully determined, the value of the second parameter is the preset value, at this time, it may be stated that all the two-dimensional maps have been determined, and therefore, the loop process may be ended, and the determination of the two-dimensional map is not continued.
Also, reference may be made to, but not limited to, the following embodiments for the setting of the preset values:
if the height information is set to 1.5 m and the accuracy information is set to 0.5 m, 1.5/0.5 is 3, so the preset value may be set to 3.
Therefore, starting from the height of 0 m, four two-dimensional maps with different heights need to be determined, and the four heights can be 0 m, 0.5 m, 1 m and 1.5 m respectively;
if the four height-corresponding two-dimensional maps are represented by M0, M1, M2, and M3, respectively, the map set M may be represented by { M0, M1, M2, and M3 }.
Therefore, the map set can be determined in a simple mode, the determined map set is accurate and effective, the determination efficiency of the map set can be improved, and the determination efficiency of the three-dimensional map is improved.
Optionally, in the embodiment of the present invention, after determining that the value of the second parameter is smaller than the preset value, the method further includes:
determining a flag bit used for indicating whether a two-dimensional map needs to be generated currently as a first mark; the first mark represents that a two-dimensional map needs to be generated currently;
judging whether a two-dimensional map needs to be generated currently or not according to the flag bit;
if so, determining a two-dimensional map corresponding to the ith height in the first environment within preset time, and adjusting the value of the second parameter;
if not, directly adjusting the value of the second parameter.
The flag bit is introduced to indicate whether a two-dimensional map needs to be generated currently or not, so that when the two-dimensional map needs to be generated, the value of the second parameter can be directly adjusted without generating the map, and the determination efficiency of the map set is improved.
Optionally, in the embodiment of the present invention, determining the two-dimensional map corresponding to the ith height in the first environment within the preset time specifically includes:
determining a two-dimensional map corresponding to the ith height in the first environment;
modifying the zone bit into a second mark, wherein the second mark indicates that the two-dimensional map does not need to be regenerated at present;
and modifying the zone bit into a first mark when the two-dimensional map is determined within the preset time.
The first mark and the second mark may be respectively set as a number (for example, but not limited to, 0 and 1), or as a letter (for example, but not limited to, a and B), or as another identifier (for example, but not limited to, true and false), etc., as long as the meaning indicated by the flag bit can be distinguished by the first mark and the second mark, and the specific implementation form of the first mark and the second mark is not limited herein.
To explain this point, when the two-dimensional map corresponding to the ith height is determined, the flag bit is modified to be the second flag because:
when determining whether the two-dimensional map (if the two-dimensional map is represented by Mi) is determined within a preset time, the result of the determination may be no, which indicates that a long time has elapsed when determining the two-dimensional map Mi, or it may be understood that: when the two-dimensional map Mi is determined, the process 1 is accidentally ended, so that the process 2 cannot effectively generate the two-dimensional map Mi and is always in a waiting state, and long time is spent; at this time, the two-dimensional map Mi can be determined unsuccessfully, so that after the preset time is exceeded, the process 2 can be ended, and whether the two-dimensional map Mi needs to be regenerated or not is judged according to the zone bit, so that each generated two-dimensional map is accurate and effective;
if the result of the judgment is yes, it indicates that a long time does not elapse while the two-dimensional map Mi is determined, but the determination is performed in a short time, and at this time, the determined two-dimensional map Mi can be considered to be valid, so that the flag bit can be modified into the first flag, which indicates that the two-dimensional map Mi does not need to be regenerated.
The preset time may be set according to actual conditions, and is not limited herein, for example, but is not limited to be set to 90 s.
Therefore, the two-dimensional maps determined by the method can ensure that each two-dimensional map is accurate and effective, so that the three-dimensional map is determined according to the map set, and the determined three-dimensional map is also accurate and effective.
Optionally, in this embodiment of the present invention, when it is determined that the two-dimensional map is not determined within the preset time, the method further includes:
modifying the flag bit into a first mark;
judging whether a two-dimensional map needs to be generated currently or not according to the flag bit;
after the two-dimensional map corresponding to the ith height in the first environment is determined within the preset time and before the value of the second parameter is adjusted, the method further comprises the following steps:
and judging whether a two-dimensional map needs to be generated currently or not according to the zone bit.
Therefore, the flag bit is set, the two-dimensional map can be generated according to whether the flag bit needs to generate the two-dimensional map currently or not, the two-dimensional map is generated when the two-dimensional map needs to be generated, the value of the second parameter is adjusted without generating the two-dimensional map, the process of determining the map set is effectively controlled, and the determined two-dimensional map is accurate and effective.
The process of defining a set of maps is defined in a specific embodiment below.
In conjunction with the flow chart shown in fig. 2.
S201, setting the numerical value of the second parameter to be 0;
s202, judging whether the current value of the second parameter is smaller than a preset value; if not, executing S203; if yes, executing S204;
s203, constructing a map set according to the determined two-dimensional maps; ending the flow;
s204, modifying the zone bit into a first identifier;
s205, judging whether a two-dimensional map needs to be generated according to the zone bit; if not, executing S206; if yes, go to S207;
s206, adding the value of the second parameter to + 1; returning to S202;
s207, generating a two-dimensional map corresponding to the ith height;
and when i is 1, the two-dimensional map with the height of 0 is represented, and the current value of the second parameter represents the number of the two-dimensional map which is determined currently.
Also, the process of generating the two-dimensional map corresponding to the ith height may be regarded as process 2, which is specifically referred to above.
S208, modifying the zone bit into a second identifier;
s209, judging whether a two-dimensional map is generated within a preset time; if not, ending the process 2 and executing S210; if yes, go back to S205;
s210, modifying the zone bit into a first identifier; returning to S205.
In specific implementation, in the embodiment of the present invention, determining, according to the first sub-parameter and the second sub-parameter, a simulation environment file for running on a gazebo simulation platform specifically includes:
selecting an environment model corresponding to the first sub-parameter from a preset environment model library, and writing the selected environment model into a preset file;
determining position information of each obstacle;
and when the fact that the preset conditions are met is judged according to the determined position information and the first sub-parameters, writing the determined position information into a preset file to obtain a simulation environment file.
When determining the position information of each obstacle, the following modes can be adopted:
mode 1:
optionally, sequentially determining the position information of each obstacle, then judging whether the preset condition is met once when the position information of each obstacle is determined, and if the preset condition is met, writing the preset condition into a preset file; and then determining the position information of the next obstacle, and judging whether the preset condition is met again.
For example, a third parameter is set, the initial value of the third parameter is set to be but not limited to 1, and when the determined position information of the obstacle is written into a preset file, the value of the third parameter is + 1;
correspondingly, the specific process is as follows:
step 1: judging whether the value of the current third parameter is larger than the second sub-parameter; if yes, step 2; if not, step 3;
step 2: the position information of each obstacle is written into the preset file, so that the process can be ended;
and step 3: and if the position information of the obstacle is not written into the preset file, selecting one obstacle to generate the position information of the obstacle which is not written into the preset file, writing the position information of the obstacle into the preset file when the preset condition is judged to be met, then writing the value of the third parameter, namely +1, and returning to the step 1.
Mode 2:
optionally, after the position information of each obstacle is determined, it is determined whether the position of each obstacle meets a preset condition, the position information meeting the preset condition is written into a preset file, and for the obstacles which do not meet the preset condition, the position information needs to be determined again until the preset condition is met, and the position information of all the obstacles is written into the preset file.
In addition, when determining the position information of the obstacle, one position information may be randomly generated, and then it is determined whether the preset condition is satisfied, and of course, one position information may also be generated according to a certain rule, which is not limited herein as long as the position information of the obstacle can be determined.
To illustrate, optionally, when the selected environment model is written into a preset file, what is written into the preset file may be: the identifier corresponding to the selected environment model (as introduced in the above-mentioned contents) is convenient for reducing the occupied space in the preset file, and the obtained simulation environment file is prevented from being too large, thereby being beneficial to the loading and running of the simulation environment file on the gazebo simulation platform.
Therefore, the position of each barrier can be prevented from colliding with the position of the reference object in the first environment, the position information of the barrier is effective and is not overlapped with the position information of the reference object, the effectiveness of the determined simulation environment file is improved, and effective data reference is provided for the follow-up determination of the three-dimensional map.
Optionally, in the embodiment of the present invention, the preset condition is:
the first sub-parameters comprise position coordinates and maximum envelope radius of each reference object, and the position information of the obstacle comprises the position coordinates and the maximum envelope radius;
for any obstacle: the sum of the maximum envelope radius of the obstacle and the maximum envelope radius of any reference object is a first numerical value, the Euclidean distance between the position coordinate of the obstacle and the position coordinate of the reference object is a second numerical value, and the first numerical value is larger than the second numerical value.
Therefore, through setting the preset conditions, the position of the barrier and the position of the reference object can be prevented from conflicting, so that the position information of the barrier is effective, and the effectiveness of the determined simulation environment file is improved.
Optionally, in the embodiment of the present invention, after determining that the preset condition is met according to the determined position information and the first sub-parameter, and before obtaining the simulation environment file, the method further includes:
determining the type information of each obstacle;
selecting an obstacle model corresponding to the type information of each obstacle from a preset obstacle model library;
and writing the selected obstacle model into a preset file.
The obstacle model library comprises a plurality of obstacle models, and the obstacle models corresponding to different kinds of obstacles are different, so that when the selected obstacle model is written into a preset file, the obstacle model library can be understood as follows: and writing the address information (including the identification or type information of the obstacle model) of the selected obstacle model into a preset file so as to find the corresponding obstacle model from an obstacle model library according to the address information.
Also, the obstacle model library may be, but is not limited to being, saved in the form of a text file.
To illustrate, in practical cases, the simulation environment file includes not only the position information of the obstacle, the corresponding obstacle model, and the environment model, but also other information, such as, but not limited to: the gazebo plug-in, ODE physical engine configuration parameters, etc. are used to implement the information loaded and run on the gazebo simulation platform, and are not limited herein.
In addition, optionally, in the embodiment of the present invention, the simulation environment file may be a world file, that is, a simulation environment file with a proprietary format used by the gazebo simulation platform, or may also be a file in another form, which may be set and selected according to actual needs, and is not limited herein.
The following describes the determination process of the simulation environment file by using a specific embodiment:
in conjunction with the flow chart shown in fig. 3.
S301, selecting an environment model corresponding to the first sub-parameter from a preset environment model library, and writing the selected environment model into a preset file;
s302, setting an initial value of a third parameter to be 0;
wherein the third parameter represents the number of position information of the obstacle currently written in the preset file.
S303, judging whether the current value of the third parameter is smaller than the second sub-parameter; if not, executing S304; if yes, go to S305;
s304, obtaining a simulation environment file; ending the flow;
s305, randomly generating position information of the ith obstacle;
wherein, the value of i is the current value of the third parameter + 1.
S306, judging whether the position information of the ith obstacle and the position information of the reference object meet preset conditions or not; if not, returning to S305; if yes, go to S307;
s307, writing the position information of the ith obstacle into a preset file;
s308, when the type information of the ith obstacle is determined, selecting an obstacle model corresponding to the type information of the ith obstacle from a preset obstacle model library, and writing the obstacle model into a preset file;
s309, adding the value of the third parameter to + 1; returning to S303.
Based on the same inventive concept, an implementation principle of the determination device is similar to that of the determination method, and specific implementation manners of the determination device may refer to the specific embodiment of the determination method, and repeated details are omitted.
Specifically, the apparatus for determining a three-dimensional map provided in the embodiment of the present invention, as shown in fig. 4, may include:
a first unit 401, configured to determine a first parameter corresponding to a three-dimensional map to be determined, where the first parameter includes: the three-dimensional map comprises a first sub-parameter used for representing a first environment corresponding to the three-dimensional map, a second sub-parameter used for representing the number of obstacles existing in the first environment, and a third sub-parameter used for representing first information of the three-dimensional map, wherein the first information comprises height information and precision information, the first environment comprises a plurality of reference objects with fixed positions, and the obstacles are different from the reference objects;
a second unit 402, configured to determine, according to the first sub-parameter and the second sub-parameter, a simulation environment file for loading on the gazebo simulation platform;
a third unit 403, configured to determine, according to a third sub-parameter, a map set that corresponds to the first environment and includes two-dimensional maps with different heights after the simulation environment file is loaded on the gazebo simulation platform;
a fourth unit 404, configured to determine a corresponding three-dimensional map according to the determined map set.
Optionally, in an embodiment of the present invention, the third unit 403 is further configured to:
after the simulation environment files are loaded on the gazebo simulation platform and before the corresponding three-dimensional map is determined, when the gazebo simulation platform is judged to be unstable in operation, the simulation environment files are reloaded on the gazebo simulation platform.
Optionally, in an embodiment of the present invention, the third unit 403 is further configured to:
and if the simulation environment file is reloaded on the gazebo simulation platform before the two-dimensional map with the ith height is determined and after the two-dimensional map with the ith-1 th height is determined, the two-dimensional map with the ith height is determined again.
Optionally, in an embodiment of the present invention, the third unit 403 is specifically configured to:
judging whether the current value of a second parameter used for representing the number of the determined two-dimensional maps is smaller than a preset value or not; the preset value is determined according to the height information and the precision information in the third sub-parameter, and different two-dimensional maps in the two-dimensional map set correspond to different heights;
if not, constructing a map set according to the determined two-dimensional maps;
if so, adjusting the numerical value of the second parameter when the two-dimensional map corresponding to the ith height is determined within the preset time; and i is the number of the two-dimensional maps determined currently plus one.
Optionally, in an embodiment of the present invention, the third unit 403 is further configured to:
after the numerical value of the second parameter is judged to be smaller than the preset value, determining that a flag bit for indicating whether a two-dimensional map needs to be generated at present is a first mark; the first mark represents that a two-dimensional map needs to be generated currently;
judging whether a two-dimensional map needs to be generated currently or not according to the flag bit;
if so, determining a two-dimensional map corresponding to the ith height in the first environment within preset time, and adjusting the value of the second parameter;
if not, directly adjusting the value of the second parameter.
Optionally, in an embodiment of the present invention, the third unit 403 is specifically configured to:
determining a two-dimensional map corresponding to the ith height in the first environment;
modifying the zone bit into a second mark, wherein the second mark indicates that the two-dimensional map does not need to be regenerated at present;
and modifying the zone bit into a first mark when the two-dimensional map is determined within the preset time.
Optionally, in an embodiment of the present invention, the third unit 403 is further configured to:
when the two-dimensional map is judged not to be determined within the preset time, modifying the mark bit into a first mark;
judging whether a two-dimensional map needs to be generated currently or not according to the flag bit;
a third unit 403, further configured to:
after the two-dimensional map corresponding to the ith height in the first environment is determined within the preset time, and before the numerical value of the second parameter is adjusted, whether the two-dimensional map needs to be generated currently is judged according to the zone bit.
Optionally, in this embodiment of the present invention, the second unit 402 is specifically configured to:
selecting an environment model corresponding to the first sub-parameter from a preset environment model library, and writing the selected environment model into a preset file;
determining position information of each obstacle;
and when the fact that the preset conditions are met is judged according to the determined position information and the first sub-parameters, writing the determined position information into a preset file to obtain a simulation environment file.
Optionally, in this embodiment of the present invention, the second unit 402 is further configured to:
after judging that the preset conditions are met according to the determined position information and the first sub-parameters, and before obtaining a simulation environment file, determining the type information of each obstacle;
selecting an obstacle model corresponding to the type information of each obstacle from a preset obstacle model library;
and writing the selected obstacle model into a preset file.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (11)
1. A method for determining a three-dimensional map, comprising:
determining a first parameter corresponding to a three-dimensional map to be determined, wherein the first parameter comprises: a first sub-parameter for representing a first environment corresponding to the three-dimensional map, a second sub-parameter for representing the number of obstacles existing in the first environment, and a third sub-parameter for representing first information of the three-dimensional map, the first information including height information and accuracy information, the first environment including a plurality of fixed-position reference objects, the obstacles being different from the reference objects;
determining a simulation environment file for loading on a gazebo simulation platform according to the first sub-parameter and the second sub-parameter;
after the simulation environment file is loaded on the gazebo simulation platform, determining a map set which corresponds to the first environment and comprises two-dimensional maps with different heights according to the third sub-parameter;
and determining a corresponding three-dimensional map according to the determined map set.
2. The method of determining as in claim 1, after loading the simulation environment file on the gazebo simulation platform and prior to determining the corresponding three-dimensional map, further comprising:
and when the gazebo simulation platform is judged to be unstable in operation, reloading the simulation environment file on the gazebo simulation platform.
3. The determination method of claim 2, further comprising:
if the simulation environment file is reloaded on the gazebo simulation platform before the two-dimensional map with the ith height is determined and after the two-dimensional map with the ith-1 th height is determined, the two-dimensional map with the ith height is determined again; i is a positive integer.
4. The determination method according to claim 1, wherein determining, according to the third sub-parameter, a set of maps corresponding to the first environment and including two-dimensional maps of different heights comprises:
judging whether the current value of a second parameter used for representing the number of the determined two-dimensional maps is smaller than a preset value or not; the preset value is determined according to height information and precision information in the third sub-parameter, and different two-dimensional maps in the two-dimensional map set correspond to different heights;
if not, constructing the map set according to the determined two-dimensional maps;
if so, adjusting the numerical value of the second parameter when the two-dimensional map corresponding to the ith height is determined within the preset time; wherein i is the number of the two-dimensional maps determined currently plus one, and i is a positive integer.
5. The method of claim 4, wherein after determining that the value of the second parameter is less than the predetermined value, further comprising:
determining a flag bit used for indicating whether a two-dimensional map needs to be generated currently as a first mark; wherein the first mark indicates that a two-dimensional map needs to be generated currently;
judging whether a two-dimensional map needs to be generated currently or not according to the flag bit;
if so, determining a two-dimensional map corresponding to the ith height in the first environment within a preset time, and adjusting the value of the second parameter;
if not, directly adjusting the value of the second parameter.
6. The method for determining according to claim 5, wherein determining the two-dimensional map corresponding to the ith height in the first environment within a preset time specifically includes:
determining a two-dimensional map corresponding to an ith height in the first environment;
modifying the zone bit into a second mark, wherein the second mark indicates that the two-dimensional map does not need to be regenerated at present;
and modifying the zone bit into the first mark when the two-dimensional map is determined within the preset time.
7. The determination method according to claim 6, when it is determined that the two-dimensional map is not determined within the preset time, further comprising:
modifying the flag bit to the first flag;
judging whether a two-dimensional map needs to be generated currently or not according to the flag bit;
after the two-dimensional map corresponding to the ith height in the first environment is determined within a preset time and before the value of the second parameter is adjusted, the method further comprises the following steps:
and judging whether a two-dimensional map needs to be generated currently or not according to the zone bit.
8. The method according to claim 1, wherein determining the simulation environment file for running on the gazebo simulation platform according to the first sub-parameter and the second sub-parameter specifically includes:
selecting an environment model corresponding to the first sub-parameter from a preset environment model library, and writing the selected environment model into a preset file;
determining position information of each obstacle;
and writing the determined position information into the preset file to obtain the simulation environment file when the condition that the position information meets the preset condition is judged according to the determined position information and the first sub-parameter.
9. The determination method according to claim 8, characterized in that the preset condition is:
the first sub-parameters comprise position coordinates and maximum envelope radius of each reference object, and the position information of the obstacle comprises the position coordinates and the maximum envelope radius;
for any of the obstacles: the sum of the maximum envelope radius of the obstacle and the maximum envelope radius of any reference object is a first numerical value, the Euclidean distance between the position coordinate of the obstacle and the position coordinate of the reference object is a second numerical value, and the first numerical value is larger than the second numerical value.
10. The method according to claim 8, wherein after determining that a preset condition is satisfied according to the determined position information and the first sub-parameter, and before obtaining the simulation environment file, the method further comprises:
determining type information of each obstacle;
selecting an obstacle model corresponding to the type information of each obstacle from a preset obstacle model library;
and writing the selected obstacle model into the preset file.
11. An apparatus for determining a three-dimensional map, comprising:
the three-dimensional map determination method includes a first unit, configured to determine a first parameter corresponding to a three-dimensional map to be determined, where the first parameter includes: a first sub-parameter for representing a first environment corresponding to the three-dimensional map, a second sub-parameter for representing the number of obstacles existing in the first environment, and a third sub-parameter for representing first information of the three-dimensional map, the first information including height information and accuracy information, the first environment including a plurality of fixed-position reference objects, the obstacles being different from the reference objects;
a second unit, configured to determine, according to the first sub-parameter and the second sub-parameter, a simulation environment file for loading on a gazebo simulation platform;
a third unit, configured to determine, according to the third sub-parameter, a map set that corresponds to the first environment and includes two-dimensional maps of different heights after the simulation environment file is loaded on the gazebo simulation platform;
and the fourth unit is used for determining a corresponding three-dimensional map according to the determined map set.
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