CN111351496A - Virtual map modeling method, device, equipment and storage medium - Google Patents
Virtual map modeling method, device, equipment and storage medium Download PDFInfo
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- CN111351496A CN111351496A CN202010126980.5A CN202010126980A CN111351496A CN 111351496 A CN111351496 A CN 111351496A CN 202010126980 A CN202010126980 A CN 202010126980A CN 111351496 A CN111351496 A CN 111351496A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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Abstract
The invention belongs to the technical field of scheduling maps, and discloses a virtual map modeling method, a virtual map modeling device, virtual map modeling equipment and a virtual map storage medium. The method comprises the steps of generating a virtual road section and a virtual intersection according to an original road section and an original intersection in an original map; traversing the virtual road section; comparing the traversed length of the current virtual road section with a preset splitting length; when the length of the current virtual road section is greater than the preset splitting length, splitting the current virtual road section into a target virtual road section and a target virtual intersection according to the preset splitting length; and when the virtual road section is traversed, generating a virtual map according to the target virtual road section and the target virtual intersection. By the method, the original map is split into the virtual map, so that the automatic guided vehicle dispatching system can conveniently perform path planning and solve the problems of intersection conflict and deadlock, and the technical problem that a map model formed based on points and edges in the prior art cannot meet the requirements of the automatic guided vehicle dispatching system is solved.
Description
Technical Field
The invention relates to the technical field of scheduling maps, in particular to a virtual map modeling method, a virtual map modeling device, virtual map modeling equipment and a virtual map storage medium.
Background
In the current map, the road network in the real world is expressed with point elements and line elements by digitizing it based on a node road network model. Wherein the line elements correspond to the center line of the road section for expressing the road section in the road network, which is a collection of shape points in the point elements; the point elements include shape points and nodes, and the nodes are used for expressing intersection points (intersections) among road segments in the road network, starting points of the road segments or end points of the road segments.
For example, for a workshop automatic guided vehicle operating environment with a fixed driving route, an operating map of the automatic guided vehicle is often modeled into a map model composed of points and edges, the edges in the map model are road segments, the points are intersection points (intersections) among the road segments, starting points of the road segments or ending points of the road segments, but in the map model constructed based on the points and the edges, an intersection is only one point, and in the actual scheduling of the automatic guided vehicle, when the automatic guided vehicle is about to enter the intersection, it cannot judge whether the intersection can be entered through one point, if there are other automatic guided vehicles near the intersection at the moment, an automatic guided vehicle collision may occur, and it is not known where to stop and wait. In addition, aiming at the multi-lane representation of the road section in the running environment of the automatic guided vehicle, the different driving criteria of different lanes at the intersection, such as the representation of left turning, straight going, right turning and the like, and the traffic information at the intersection based on the dynamic path planning and dynamic traffic network real-time analysis functions of the map model, the conventional map model based on point and edge composition cannot be adopted to describe the road condition, namely the conventional map model based on point and edge composition cannot meet the requirements of the automatic guided vehicle dispatching system.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a virtual map modeling method, a virtual map modeling device, virtual map modeling equipment and a virtual map storage medium, and aims to solve the technical problem that a map model based on point and edge composition in the prior art cannot meet the requirements of an automatic guided vehicle dispatching system.
In order to achieve the above object, the present invention provides a virtual map modeling method, including the steps of:
generating a virtual road section and a virtual intersection according to an original road section and an original intersection in an original map;
traversing the virtual road section;
comparing the traversed length of the current virtual road section with a preset splitting length;
when the length of the current virtual road section is greater than the preset splitting length, splitting the current virtual road section into a target virtual road section and a target virtual intersection according to the preset splitting length;
and when the virtual road section is traversed, generating a virtual map according to the target virtual road section and the target virtual intersection.
Preferably, before the step of generating the virtual road segment and the virtual intersection according to the original road segment and the original intersection in the original map, the method further includes:
acquiring an original map, and extracting an original intersection and an original road section through the original map;
reading in current configuration information, and acquiring road section splitting information in the current configuration information, wherein the road section splitting information comprises a preset splitting length.
Preferably, when the length of the current virtual road segment is greater than the preset splitting length, the step of splitting the current virtual road segment into the target virtual road segment and the target virtual intersection according to the preset splitting length specifically includes:
when the length of the current virtual road section is greater than the preset splitting length, splitting the current virtual road section into a target virtual road section and an intersection judgment point according to the preset splitting length;
and generating a target virtual intersection according to the virtual intersection, the preset splitting length and the intersection judgment point.
Preferably, when the length of the current virtual road segment is greater than the preset splitting length, the step of splitting the current virtual road segment into the target virtual road segment and the intersection determination point according to the preset splitting length specifically includes:
when the length of the current virtual road section is greater than the preset splitting length, comparing the length of the current virtual road section with a preset splitting length of a preset multiple, wherein the preset splitting length of the preset multiple is greater than the preset splitting length;
if the length of the current virtual road section is greater than a preset splitting length and less than or equal to a preset multiple of the preset splitting length, splitting the current virtual road section into a target virtual road section and a first preset number of intersection judgment points according to the preset splitting length;
and splitting the current virtual road section into a target virtual road section and a second preset number of intersection judgment points according to the preset splitting length if the length of the current virtual road section is greater than the preset splitting length of a preset multiple.
Preferably, the step of generating a target virtual intersection according to the virtual intersection, the preset splitting length, and the intersection decision point specifically includes:
sequentially connecting intersection judging points on adjacent edges of the virtual intersection to form an outer intersection ring of the virtual intersection by taking the virtual intersection as a center;
setting the length of a preset inner ring, and forming an intersection inner ring of the virtual intersection according to the length of the preset inner ring by taking the virtual intersection as a center, wherein the length of the preset inner ring is smaller than the preset splitting length;
and generating a target virtual intersection according to the virtual intersection, the intersection outer ring and the intersection inner ring.
Preferably, after the step of comparing the traversed length of the current virtual road segment with the preset splitting length, the method further includes:
and when the length of the current virtual road section is less than or equal to the preset splitting length, generating a merged virtual intersection according to the current virtual road section.
Preferably, the step of generating a virtual map according to the target virtual road segment and the target virtual intersection when the virtual road segment is traversed includes:
when the virtual road section is traversed, setting corresponding identity marks for the merged virtual road junction, the target virtual road section and the target virtual road junction;
and generating a virtual map according to the combined virtual crossing with the identity, the target virtual road section and the target virtual crossing.
In addition, to achieve the above object, the present invention further provides a virtual map modeling apparatus, including:
the first generation module is used for generating a virtual road section and a virtual intersection according to an original road section and an original intersection in an original map;
the traversing module is used for traversing the virtual road section;
the comparison module is used for comparing the traversed length of the current virtual road section with a preset splitting length;
the splitting module is used for splitting the current virtual road section into a target virtual road section and a target virtual intersection according to a preset splitting length when the length of the current virtual road section is greater than the preset splitting length;
and the second generation module is used for generating a virtual map according to the target virtual road section and the target virtual intersection when the virtual road section is traversed.
In addition, to achieve the above object, the present invention also provides an electronic device, including: a memory, a processor and a virtual map modeling program stored on the memory and executable on the processor, the virtual map modeling program configured to implement the steps of the virtual map modeling method as described above.
Furthermore, to achieve the above object, the present invention also provides a storage medium having stored thereon a virtual map modeling program, which when executed by a processor, implements the steps of the virtual map modeling method as described above.
The method comprises the steps of generating a virtual road section and a virtual intersection according to an original road section and an original intersection in an original map; traversing the virtual road section; comparing the traversed length of the current virtual road section with a preset splitting length; when the length of the current virtual road section is greater than the preset splitting length, splitting the current virtual road section into a target virtual road section and a target virtual intersection according to the preset splitting length; and when the virtual road section is traversed, generating a virtual map according to the target virtual road section and the target virtual intersection. By the method, the original map is split into the virtual map, the virtual map is used for the automatic guided vehicle dispatching system, the automatic guided vehicle dispatching system can conveniently carry out path planning and solve the problems of intersection conflict and deadlock, and therefore the technical problem that a map model formed based on points and edges in the prior art cannot meet the requirements of the automatic guided vehicle dispatching system is solved.
Drawings
Fig. 1 is a schematic structural diagram of an electronic device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a virtual map modeling method according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of a merged virtual intersection in an embodiment of the invention;
FIG. 4 is a schematic view of the inner circle of the target virtual intersection in the embodiment of the present invention;
FIG. 5 is a flowchart illustrating a virtual map modeling method according to a second embodiment of the present invention;
FIG. 6 is a flowchart illustrating a virtual map modeling method according to a third embodiment of the present invention;
fig. 7a is a first schematic diagram of virtual road segment splitting according to an embodiment of the present invention;
fig. 7b is a second schematic diagram of virtual road segment splitting according to an embodiment of the present invention;
FIG. 8 is a schematic diagram illustrating generation of a target virtual intersection according to an embodiment of the present invention;
FIG. 9a is a schematic view of a circular shape of a target virtual intersection in accordance with an embodiment of the present invention;
FIG. 9b is a first schematic diagram of an irregular shape of a target virtual intersection according to an embodiment of the present invention;
FIG. 9c is a second schematic diagram of an irregular shape of a target virtual intersection according to an embodiment of the present invention;
fig. 10 is a block diagram showing the structure of the virtual map modeling apparatus according to the first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an electronic device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the electronic device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the electronic device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a virtual map modeling program.
In the electronic apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the electronic device according to the present invention may be disposed in the electronic device, and the electronic device calls the virtual map modeling program stored in the memory 1005 through the processor 1001 and executes the virtual map modeling method provided by the embodiment of the present invention.
An embodiment of the present invention provides a virtual map modeling method, and referring to fig. 2, fig. 2 is a schematic flowchart of a first embodiment of a virtual map modeling method according to the present invention.
In this embodiment, the virtual map modeling method includes the following steps:
step S10: and generating a virtual road section and a virtual intersection according to the original road section and the original intersection in the original map.
It should be noted that, before the step of generating the virtual road segment and the virtual intersection according to the original road segment and the original intersection in the original map, the present embodiment further includes: acquiring an original map, and extracting an original intersection and an original road section through the original map; reading in current configuration information, and acquiring road section splitting information in the current configuration information, wherein the road section splitting information comprises a preset splitting length.
It is easy to understand that an original map is obtained, an original intersection and an original road section are extracted through the original map, a path is defined by an edge, the edge is determined by two points, the original map is described by an edge set, nodes in the original map are used for expressing intersection points (intersections), starting points of the road sections or end points of the road sections, the original road sections are arranged between the nodes in the original map, the points and the edges in the original map are provided with unique identification marks, one original road section comprises a road section number and two end point numbers, the original road section in the original map correspondingly generates a virtual road section, the original intersection in the original map correspondingly generates a virtual intersection, the virtual road section and the virtual intersection are provided with unique identification marks, and the virtual road section comprises a road virtual section number and two virtual intersection numbers.
Specifically, in the field of automatic guided vehicle scheduling, an original map of an environment where an automatic guided vehicle is located can be obtained, virtual road sections and virtual intersections are generated according to original road sections and original intersections in the original map, the virtual road sections and the virtual intersections have unique identity marks, and one virtual road section comprises a road virtual section number and two virtual intersection numbers. In addition, the virtual map modeling method of the present embodiment may also be used in other scheduling or navigation fields, which is not limited in this embodiment.
Step S20: and traversing the virtual road section.
Step S30: and comparing the traversed length of the current virtual road section with a preset splitting length.
It is to be noted that, reading in current configuration information, obtaining segment splitting information in the current configuration information, where the segment splitting information includes a preset splitting length, comparing a traversed length of a current virtual segment with the preset splitting length, and splitting the current virtual segment into a target virtual segment and a target virtual intersection according to the preset splitting length when the length of the current virtual segment is greater than the preset splitting length; and when the length of the current virtual road section is less than or equal to the preset splitting length, generating a merged virtual intersection according to the current virtual road section. The traversed length of the current virtual road segment is compared with the preset splitting length, a user can split the traversed current virtual road segment by adopting the same preset splitting length, the user can set different splitting lengths for the traversed current virtual road segment, personalized splitting of the current virtual road segment is achieved, and the setting of the preset splitting length is not limited.
It is easy to understand that reading in the current configuration information, obtaining the segment splitting information in the current configuration information, where the segment splitting information may also include merging intersection information. Traversing the current virtual road section, comparing the length of the current virtual road section with a preset road section splitting length, judging whether the current virtual road section belongs to merged intersection information or not when the length of the current virtual road section is less than or equal to the preset splitting length, and adding the current virtual road section to the merged intersection information if the current virtual road section does not belong to the merged intersection information. And generating a merged virtual road junction according to the current virtual road section in the merged road junction information.
Specifically, referring to fig. 3, fig. 3 is a schematic diagram of a merged virtual intersection in the embodiment of the present invention, as shown in fig. 3, a virtual intersection ①② exists, a current virtual road segment L1 between virtual intersections ①②, and it is determined that the length of a current virtual road segment L1 is smaller than or equal to the preset split length, then the current virtual road segment L1 belongs to merged intersection information, for the current virtual road segment in the merged intersection information, a merged virtual intersection c1 is generated according to the current virtual road segment, for example, a plurality of automatic guided vehicles pass nearby, and an automatic guided vehicle collision may be caused if the virtual intersection ①② is very close to the current virtual road segment.
Step S40: and when the length of the current virtual road section is greater than the preset splitting length, splitting the current virtual road section into a target virtual road section and a target virtual intersection according to the preset splitting length.
It should be noted that, when the length of the current virtual road segment is greater than the preset splitting length, the current virtual road segment is split into a target virtual road segment and an intersection judgment point according to the preset splitting length; and generating a target virtual intersection according to the virtual intersection, the preset splitting length and the intersection judgment point.
It is easy to understand that, when the length of the current virtual road segment is greater than the preset splitting length, the step of splitting the current virtual road segment into the target virtual road segment and the intersection judgment point according to the preset splitting length specifically includes: when the length of the current virtual road section is greater than the preset splitting length, comparing the length of the current virtual road section with a preset splitting length of a preset multiple, wherein the preset splitting length of the preset multiple is greater than the preset splitting length; if the length of the current virtual road section is greater than a preset splitting length and less than or equal to a preset multiple of the preset splitting length, splitting the current virtual road section into a target virtual road section and a first preset number of intersection judgment points according to the preset splitting length; and splitting the current virtual road section into a target virtual road section and a second preset number of intersection judgment points according to the preset splitting length if the length of the current virtual road section is greater than the preset splitting length of a preset multiple.
Specifically, the intersection determination point is a node newly generated after the original map section is split, and the intersection determination point is an intersection of the target virtual section and the target virtual intersection. When the automatic guided vehicle reaches the node along the target virtual road section, the automatic guided vehicle is judged to reach the target virtual intersection, and processing flows such as intersection detection and the like are required.
It should be noted that the step of generating a target virtual intersection according to the virtual intersection, the preset splitting length, and the intersection determination point specifically includes: sequentially connecting intersection judging points on adjacent edges of the virtual intersection to form an outer intersection ring of the virtual intersection by taking the virtual intersection as a center; setting the length of a preset inner ring, and forming an intersection inner ring of the virtual intersection according to the length of the preset inner ring by taking the virtual intersection as a center, wherein the length of the preset inner ring is smaller than the preset splitting length; and generating a target virtual intersection according to the virtual intersection, the intersection outer ring and the intersection inner ring. The inner ring of the intersection is formed by expanding a certain distance inwards on the basis of the outer ring of the intersection, and extra splitting processing is not needed. The problem of crossing competition of multiple automatic guided vehicles can be solved by arranging two areas, namely the inner circle and the outer circle of the crossing, and convenience is brought to the use of an automatic guided vehicle dispatching system.
Specifically, when the automatic guided vehicle reaches the intersection determination point along the target virtual road segment, it is determined that the automatic guided vehicle has reached the target virtual intersection, and a processing procedure such as intersection detection is required, and if the automatic guided vehicle cannot obtain the use right of the target virtual intersection, that is, the automatic guided vehicle cannot pass through the target virtual intersection, the automatic guided vehicle needs to be stopped around the intersection of the target virtual intersection. Referring to fig. 4, fig. 4 is a schematic diagram of an inner circle of a target virtual intersection in the embodiment of the present invention, as shown in fig. 4, when the AGV2 arrives at the intersection, it is found that the AGV1 is not yet moved out at the inner circle of the intersection, and at this time, the AGV2 will stop at the outer circle of the intersection. However, a period of time is required from the time when the pipe stop command is sent to the AGV2 to the time when the AGV2 actually stops, and the AGV2 moves a distance during the process when the pipe stop command is sent to the actual stop, so that the inner crossing circle needs to be arranged in the target virtual crossing besides the outer crossing circle, wherein the distance from the crossing decision point to the inner crossing circle is the anti-collision distance from the time when the automatic guided vehicle receives the pipe stop command to the actual stop, and the AGV2 is prevented from colliding with the AGV1 without coming to a stop.
Step S50: and when the virtual road section is traversed, generating a virtual map according to the target virtual road section and the target virtual intersection.
It should be noted that when the virtual road segment is traversed, the target virtual road segment, the merged virtual intersection, the target virtual intersection, and the intersection judgment point are obtained according to the splitting of the virtual road segment. Setting corresponding identity marks for the target virtual road section, the merged virtual crossing, the target virtual crossing and the crossing judgment point; and generating a virtual map according to the target virtual road section carrying the identity identifier, the merged virtual intersection, the target virtual intersection and the intersection judgment point. The merged virtual crossing and the target virtual crossing are all virtual crossings in a virtual map, road information inside the virtual crossings in the virtual map is not directly displayed, and when the road information inside a certain virtual crossing in the virtual map, namely the path information from a crossing judgment point of the certain virtual crossing to the center of the certain virtual crossing, needs to be acquired, corresponding road inside information can be called.
Specifically, the target virtual road segment may be a part of the original road segment, and the target virtual road segment and the corresponding original road segment have the same road basic attributes such as direction, speed limit, category, and the like, except that the lengths of the road segments may have different lengths.
The embodiment generates a virtual road section and a virtual intersection according to an original road section and an original intersection in an original map; traversing the virtual road section; comparing the traversed length of the current virtual road section with a preset splitting length; when the length of the current virtual road section is greater than the preset splitting length, splitting the current virtual road section into a target virtual road section and a target virtual intersection according to the preset splitting length; and when the virtual road section is traversed, generating a virtual map according to the target virtual road section and the target virtual intersection. By the method, the intersection in the original map is abstracted into a region by one node, the original map is split into the virtual map, the virtual map can be used for the automatic guided vehicle dispatching system, the automatic guided vehicle dispatching system can conveniently carry out path planning and solve the problems of intersection conflict and deadlock, and therefore the technical problem that a map model formed based on points and edges in the prior art cannot meet the requirements of the automatic guided vehicle dispatching system is solved.
Referring to fig. 5, fig. 5 is a flowchart illustrating a virtual map modeling method according to a second embodiment of the present invention.
Based on the first embodiment, before the step S10, the virtual map modeling method of this embodiment further includes:
step S101: and acquiring an original map, and extracting an original intersection and an original road section through the original map.
It is easy to understand that an original map is obtained, an original intersection and an original road section are extracted through the original map, a path is defined by an edge, the edge is determined by two points, the original map is described by an edge set, nodes in the original map are used for expressing intersection points (intersections) among road sections, starting points of the road sections or ending points of the road sections, the original road section is arranged among the nodes in the original map, the points and the edges in the original map have unique identification marks, and one original road section comprises a road section number and two end point numbers.
Step S102: reading in current configuration information, and acquiring road section splitting information in the current configuration information, wherein the road section splitting information comprises a preset splitting length.
It should be noted that, the current configuration information is read in, the road segment splitting information in the current configuration information is obtained, the road segment splitting information includes a preset splitting length, the preset splitting length is used for road segment splitting, the length of the traversed current virtual road segment is compared with the preset splitting length, a user can split the traversed current virtual road segment by using the same preset splitting length, the user can also set different splitting lengths for the traversed current virtual road segment, so as to implement personalized splitting for the current virtual road segment, and the setting of the preset splitting length is not limited in this embodiment.
It is easy to understand that reading in the current configuration information, obtaining the segment splitting information in the current configuration information, where the segment splitting information may also include merging intersection information. Traversing the current virtual road section, comparing the length of the current virtual road section with a preset road section splitting length, judging whether the current virtual road section belongs to merged intersection information or not when the length of the current virtual road section is less than or equal to the preset splitting length, and adding the current virtual road section to the merged intersection information if the current virtual road section does not belong to the merged intersection information. And generating a merged virtual road junction according to the current virtual road section in the merged road junction information.
In the embodiment, an original map is obtained, and an original intersection and an original road section are extracted through the original map; reading in current configuration information, and acquiring road section splitting information in the current configuration information, wherein the road section splitting information comprises a preset splitting length. By the method, the intersection in the original map is abstracted into a region by one node, the original map is split into the virtual map according to the preset splitting length, the virtual map can be used for the automatic guided vehicle dispatching system, the automatic guided vehicle dispatching system can conveniently carry out path planning and solve the problems of intersection conflict and deadlock, and therefore the technical problem that a map model based on points and edges in the prior art cannot meet the requirements of the automatic guided vehicle dispatching system is solved.
Referring to fig. 6, fig. 6 is a flowchart illustrating a virtual map modeling method according to a third embodiment of the present invention.
Based on the first embodiment, in step S40, the virtual map modeling method of this embodiment specifically includes:
step S401: when the length of the current virtual road section is greater than the preset splitting length, splitting the current virtual road section into a target virtual road section and an intersection judgment point according to the preset splitting length;
it should be noted that, when the length of the current virtual road segment is greater than the preset splitting length, the step of splitting the current virtual road segment into the target virtual road segment and the intersection judgment point according to the preset splitting length specifically includes: when the length of the current virtual road section is greater than the preset splitting length, comparing the length of the current virtual road section with a preset splitting length of a preset multiple, wherein the preset splitting length of the preset multiple is greater than the preset splitting length; if the length of the current virtual road section is greater than a preset splitting length and less than or equal to a preset multiple of the preset splitting length, splitting the current virtual road section into a target virtual road section and a first preset number of intersection judgment points according to the preset splitting length; and splitting the current virtual road section into a target virtual road section and a second preset number of intersection judgment points according to the preset splitting length if the length of the current virtual road section is greater than the preset splitting length of a preset multiple.
Specifically, referring to fig. 7a, fig. 7a is a first schematic view of splitting a virtual road segment in the embodiment of the present invention, as shown in fig. 7a, a preset splitting length is L, and a length of a current virtual road segment is L2, if the length L2 of the current virtual road segment is greater than the preset splitting length L and less than or equal to two times of the preset splitting length, that is, 2L, the current virtual road segment is split into a target virtual road segment and a first preset number of intersection determination points according to the preset splitting length L, where the first preset number is 1 to obtain an intersection determination point a, and the length of the target virtual road segment L3 is L2-L. For example, if the current virtual road segment corresponds to a "dead-end museum", and the length of the current virtual road segment is L2, splitting the current virtual road segment into two parts, namely, a target virtual road segment and a road segment with a preset split length, wherein one end with the number of adjacent edges being 1 forms the target virtual road segment, and the length is L2-L; and the other end with the number of the adjacent edges larger than 1, namely the road section with the preset splitting length, is included in the target virtual intersection, and the length is L.
Referring to fig. 7b, fig. 7b is a second schematic view of splitting a virtual road segment in the embodiment of the present invention, as shown in fig. 7b, a preset splitting length is L, a length of a current virtual road segment is L4, if the length of the current virtual road segment is greater than two times of the preset splitting length, that is, 2L, the current virtual road segment is split into a target virtual road segment and a second preset number of intersection determination points according to the preset splitting length, where the second preset number is 2 to obtain intersection determination points a1 and a2, and the length of the target virtual road segment L5 is L4-2L. In addition, the user may split the traversed current virtual road segment by using the same preset splitting length, or set different splitting lengths for the traversed current virtual road segment, so as to implement personalized splitting for the current virtual road segment, which does not impose any limitation on the setting of the preset splitting length.
Step S402: and generating a target virtual intersection according to the virtual intersection, the preset splitting length and the intersection judgment point.
It is easy to understand that the step of generating the target virtual intersection according to the virtual intersection, the preset splitting length and the intersection judgment point specifically includes: sequentially connecting intersection judging points on adjacent edges of the virtual intersection to form an outer intersection ring of the virtual intersection by taking the virtual intersection as a center; setting the length of a preset inner ring, and forming an intersection inner ring of the virtual intersection according to the length of the preset inner ring by taking the virtual intersection as a center, wherein the length of the preset inner ring is smaller than the preset splitting length; and generating a target virtual intersection according to the virtual intersection, the intersection outer ring and the intersection inner ring. Specifically, referring to fig. 8, fig. 8 is a schematic diagram of generating a target virtual intersection in the embodiment of the present invention, as shown in fig. 8, the target virtual intersection includes an outer intersection circle and an inner intersection circle, which form an outer intersection section and an inner intersection section, respectively, and two areas, i.e., the inner intersection circle and the outer intersection circle, are set to handle the intersection competition problem of multiple automatic guided vehicles, so as to facilitate the use of the automatic guided vehicle scheduling system.
It should be noted that the graph displayed on the outer circle of the intersection may be a circle as shown in fig. 9a, fig. 9a is a schematic diagram of a circular shape of the target virtual intersection in the embodiment of the present invention, or the outer circle of the intersection may be represented by any convex hull of the intersection determination point as shown in fig. 9b and fig. 9c, fig. 9b is a first schematic diagram of an irregular shape of the target virtual intersection in the embodiment of the present invention, fig. 9c is a second schematic diagram of an irregular shape of the target virtual intersection in the embodiment of the present invention, or the outer circle shape of the target virtual intersection may be set in another custom manner, so as to facilitate displaying the target virtual intersection in this embodiment.
In this embodiment, when the length of the current virtual road segment is greater than the preset splitting length, the current virtual road segment is split into a target virtual road segment and an intersection judgment point according to the preset splitting length; and generating a target virtual intersection according to the virtual intersection, the preset splitting length and the intersection judgment point. By the mode, the intersection competition problem of the automatic guided vehicles is solved by arranging the intersection inner ring and the intersection outer ring to process the intersection competition problem of the automatic guided vehicles, convenience is brought to the use of the automatic guided vehicle dispatching system, and the technical problem that the map model formed based on points and edges in the prior art cannot meet the requirements of the automatic guided vehicle dispatching system is solved.
In addition, an embodiment of the present invention further provides a storage medium, where a virtual map modeling program is stored on the storage medium, and the virtual map modeling program, when executed by a processor, implements the steps of the virtual map modeling method described above.
Referring to fig. 10, fig. 10 is a block diagram illustrating a virtual map modeling apparatus according to a first embodiment of the present invention.
As shown in fig. 10, the virtual map modeling apparatus according to the embodiment of the present invention includes:
the first generating module 10 is configured to generate a virtual road segment and a virtual intersection according to the original road segment and the original intersection in the original map.
It should be noted that, before the step of generating the virtual road segment and the virtual intersection according to the original road segment and the original intersection in the original map, the present embodiment further includes: acquiring an original map, and extracting an original intersection and an original road section through the original map; reading in current configuration information, and acquiring road section splitting information in the current configuration information, wherein the road section splitting information comprises a preset splitting length.
It is easy to understand that an original map is obtained, an original intersection and an original road section are extracted through the original map, a path is defined by an edge, the edge is determined by two points, the original map is described by an edge set, nodes in the original map are used for expressing intersection points (intersections), starting points of the road sections or end points of the road sections, the original road sections are arranged between the nodes in the original map, the points and the edges in the original map are provided with unique identification marks, one original road section comprises a road section number and two end point numbers, the original road section in the original map correspondingly generates a virtual road section, the original intersection in the original map correspondingly generates a virtual intersection, the virtual road section and the virtual intersection are provided with unique identification marks, and the virtual road section comprises a road virtual section number and two virtual intersection numbers.
Specifically, in the field of automatic guided vehicle scheduling, an original map of an environment where an automatic guided vehicle is located can be obtained, virtual road sections and virtual intersections are generated according to original road sections and original intersections in the original map, the virtual road sections and the virtual intersections have unique identity marks, and one virtual road section comprises a road virtual section number and two virtual intersection numbers. In addition, the virtual map modeling method of the present embodiment may also be used in other scheduling or navigation fields, which is not limited in this embodiment.
And the traversing module 20 is configured to traverse the virtual road segment.
And the comparison module 30 is configured to compare the traversed length of the current virtual road segment with a preset splitting length.
It is to be noted that, reading in current configuration information, obtaining segment splitting information in the current configuration information, where the segment splitting information includes a preset splitting length, comparing a traversed length of a current virtual segment with the preset splitting length, and splitting the current virtual segment into a target virtual segment and a target virtual intersection according to the preset splitting length when the length of the current virtual segment is greater than the preset splitting length; and when the length of the current virtual road section is less than or equal to the preset splitting length, generating a merged virtual intersection according to the current virtual road section. The traversed length of the current virtual road segment is compared with the preset splitting length, a user can split the traversed current virtual road segment by adopting the same preset splitting length, the user can set different splitting lengths for the traversed current virtual road segment, personalized splitting of the current virtual road segment is achieved, and the setting of the preset splitting length is not limited.
It is easy to understand that reading in the current configuration information, obtaining the segment splitting information in the current configuration information, where the segment splitting information may also include merging intersection information. Traversing the current virtual road section, comparing the length of the current virtual road section with a preset road section splitting length, judging whether the current virtual road section belongs to merged intersection information or not when the length of the current virtual road section is less than or equal to the preset splitting length, and adding the current virtual road section to the merged intersection information if the current virtual road section does not belong to the merged intersection information. And generating a merged virtual road junction according to the current virtual road section in the merged road junction information.
Specifically, referring to fig. 3, fig. 3 is a schematic diagram of a merged virtual intersection in the embodiment of the present invention, as shown in fig. 3, a virtual intersection ①② exists, a current virtual road segment L1 between virtual intersections ①②, and it is determined that the length of a current virtual road segment L1 is smaller than or equal to the preset split length, then the current virtual road segment L1 belongs to merged intersection information, for the current virtual road segment in the merged intersection information, a merged virtual intersection c1 is generated according to the current virtual road segment, for example, a plurality of automatic guided vehicles pass nearby, and an automatic guided vehicle collision may be caused if the virtual intersection ①② is very close to the current virtual road segment.
And the splitting module 40 is configured to split the current virtual road segment into a target virtual road segment and a target virtual intersection according to a preset splitting length when the length of the current virtual road segment is greater than the preset splitting length.
It should be noted that, when the length of the current virtual road segment is greater than the preset splitting length, the current virtual road segment is split into a target virtual road segment and an intersection judgment point according to the preset splitting length; and generating a target virtual intersection according to the virtual intersection, the preset splitting length and the intersection judgment point.
It is easy to understand that, when the length of the current virtual road segment is greater than the preset splitting length, the step of splitting the current virtual road segment into the target virtual road segment and the intersection judgment point according to the preset splitting length specifically includes: when the length of the current virtual road section is greater than the preset splitting length, comparing the length of the current virtual road section with a preset splitting length of a preset multiple, wherein the preset splitting length of the preset multiple is greater than the preset splitting length; if the length of the current virtual road section is greater than a preset splitting length and less than or equal to a preset multiple of the preset splitting length, splitting the current virtual road section into a target virtual road section and a first preset number of intersection judgment points according to the preset splitting length; and splitting the current virtual road section into a target virtual road section and a second preset number of intersection judgment points according to the preset splitting length if the length of the current virtual road section is greater than the preset splitting length of a preset multiple.
Specifically, the intersection determination point is a node newly generated after the original map section is split, and the intersection determination point is an intersection of the target virtual section and the target virtual intersection. When the automatic guided vehicle reaches the node along the target virtual road section, the automatic guided vehicle is judged to reach the target virtual intersection, and processing flows such as intersection detection and the like are required.
It should be noted that the step of generating a target virtual intersection according to the virtual intersection, the preset splitting length, and the intersection determination point specifically includes: sequentially connecting intersection judging points on adjacent edges of the virtual intersection to form an outer intersection ring of the virtual intersection by taking the virtual intersection as a center; setting the length of a preset inner ring, and forming an intersection inner ring of the virtual intersection according to the length of the preset inner ring by taking the virtual intersection as a center, wherein the length of the preset inner ring is smaller than the preset splitting length; and generating a target virtual intersection according to the virtual intersection, the intersection outer ring and the intersection inner ring. The inner ring of the intersection is formed by expanding a certain distance inwards on the basis of the outer ring of the intersection, and extra splitting processing is not needed. The problem of crossing competition of multiple automatic guided vehicles can be solved by arranging two areas, namely the inner circle and the outer circle of the crossing, and convenience is brought to the use of an automatic guided vehicle dispatching system.
Specifically, when the automatic guided vehicle reaches the intersection determination point along the target virtual road segment, it is determined that the automatic guided vehicle has reached the target virtual intersection, and a processing procedure such as intersection detection is required, and if the automatic guided vehicle cannot obtain the use right of the target virtual intersection, that is, the automatic guided vehicle cannot pass through the target virtual intersection, the automatic guided vehicle needs to be stopped around the intersection of the target virtual intersection. Referring to fig. 4, fig. 4 is a schematic diagram of an inner circle of a target virtual intersection in the embodiment of the present invention, as shown in fig. 4, when the AGV2 arrives at the intersection, it is found that the AGV1 is not yet moved out at the inner circle of the intersection, and at this time, the AGV2 will stop at the outer circle of the intersection. However, a period of time is required from the time when the pipe stop command is sent to the AGV2 to the time when the AGV2 actually stops, and the AGV2 moves a distance during the process when the pipe stop command is sent to the actual stop, so that the inner crossing circle needs to be arranged in the target virtual crossing besides the outer crossing circle, wherein the distance from the crossing decision point to the inner crossing circle is the anti-collision distance from the time when the automatic guided vehicle receives the pipe stop command to the actual stop, and the AGV2 is prevented from colliding with the AGV1 without coming to a stop.
And a second generating module 50, configured to generate a virtual map according to the target virtual road segment and the target virtual intersection when traversing the virtual road segment is finished.
Step S50: and when the virtual road section is traversed, generating a virtual map according to the target virtual road section and the target virtual intersection.
It should be noted that when the virtual road segment is traversed, the target virtual road segment, the merged virtual intersection, the target virtual intersection, and the intersection judgment point are obtained according to the splitting of the virtual road segment. Setting corresponding identity marks for the target virtual road section, the merged virtual crossing, the target virtual crossing and the crossing judgment point; and generating a virtual map according to the target virtual road section carrying the identity identifier, the merged virtual intersection, the target virtual intersection and the intersection judgment point. The merged virtual crossing and the target virtual crossing are all virtual crossings in a virtual map, road information inside the virtual crossings in the virtual map is not directly displayed, and when the road information inside a certain virtual crossing in the virtual map, namely the path information from a crossing judgment point of the certain virtual crossing to the center of the certain virtual crossing, needs to be acquired, corresponding road inside information can be called.
Specifically, the target virtual road segment may be a part of the original road segment, and the target virtual road segment and the corresponding original road segment have the same road basic attributes such as direction, speed limit, category, and the like, except that the lengths of the road segments may have different lengths.
In the present embodiment, the first generating module 10 is configured to generate a virtual road segment and a virtual intersection according to an original road segment and an original intersection in an original map; a traversing module 20, configured to traverse the virtual road segment; a comparison module 30, configured to compare the traversed length of the current virtual road segment with a preset splitting length; the splitting module 40 is configured to split the current virtual road segment into a target virtual road segment and a target virtual intersection according to a preset splitting length when the length of the current virtual road segment is greater than the preset splitting length; and a second generating module 50, configured to generate a virtual map according to the target virtual road segment and the target virtual intersection when traversing the virtual road segment is finished. By the method, the intersection in the original map is abstracted into a region by one node, the original map is split into the virtual map, the virtual map can be used for the automatic guided vehicle dispatching system, the automatic guided vehicle dispatching system can conveniently carry out path planning and solve the problems of intersection conflict and deadlock, and therefore the technical problem that a map model formed based on points and edges in the prior art cannot meet the requirements of the automatic guided vehicle dispatching system is solved.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment may refer to the virtual map modeling method provided in any embodiment of the present invention, and are not described herein again.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method of virtual map modeling, the method comprising:
generating a virtual road section and a virtual intersection according to an original road section and an original intersection in an original map;
traversing the virtual road section;
comparing the traversed length of the current virtual road section with a preset splitting length;
when the length of the current virtual road section is greater than the preset splitting length, splitting the current virtual road section into a target virtual road section and a target virtual intersection according to the preset splitting length;
and when the virtual road section is traversed, generating a virtual map according to the target virtual road section and the target virtual intersection.
2. The method of claim 1, wherein the step of generating the virtual road segment and the virtual intersection from the original road segment and the original intersection in the original map is preceded by the steps of:
acquiring an original map, and extracting an original intersection and an original road section through the original map;
reading in current configuration information, and acquiring road section splitting information in the current configuration information, wherein the road section splitting information comprises a preset splitting length.
3. The method according to claim 1, wherein the step of splitting the current virtual road segment into the target virtual road segment and the target virtual intersection according to a preset splitting length when the length of the current virtual road segment is greater than the preset splitting length specifically comprises:
when the length of the current virtual road section is greater than the preset splitting length, splitting the current virtual road section into a target virtual road section and an intersection judgment point according to the preset splitting length;
and generating a target virtual intersection according to the virtual intersection, the preset splitting length and the intersection judgment point.
4. The method as claimed in claim 3, wherein the step of splitting the current virtual road segment into the target virtual road segment and the intersection determination point according to a preset splitting length when the length of the current virtual road segment is greater than the preset splitting length specifically comprises:
when the length of the current virtual road section is greater than the preset splitting length, comparing the length of the current virtual road section with a preset splitting length of a preset multiple, wherein the preset splitting length of the preset multiple is greater than the preset splitting length;
if the length of the current virtual road section is greater than a preset splitting length and less than or equal to a preset multiple of the preset splitting length, splitting the current virtual road section into a target virtual road section and a first preset number of intersection judgment points according to the preset splitting length;
and splitting the current virtual road section into a target virtual road section and a second preset number of intersection judgment points according to the preset splitting length if the length of the current virtual road section is greater than the preset splitting length of a preset multiple.
5. The method of claim 3, wherein the step of generating the target virtual intersection according to the virtual intersection, the preset splitting length and the intersection decision point specifically comprises:
sequentially connecting intersection judging points on adjacent edges of the virtual intersection to form an outer intersection ring of the virtual intersection by taking the virtual intersection as a center;
setting the length of a preset inner ring, and forming an intersection inner ring of the virtual intersection according to the length of the preset inner ring by taking the virtual intersection as a center, wherein the length of the preset inner ring is smaller than the preset splitting length;
and generating a target virtual intersection according to the virtual intersection, the intersection outer ring and the intersection inner ring.
6. The method of claim 1, wherein the step of comparing the traversed length of the current virtual road segment with a preset split length is further followed by:
and when the length of the current virtual road section is less than or equal to the preset splitting length, generating a merged virtual intersection according to the current virtual road section.
7. The method according to claim 6, wherein the step of generating a virtual map according to the target virtual road segment and the target virtual intersection when the virtual road segment is traversed includes:
when the virtual road section is traversed, setting corresponding identity marks for the merged virtual road junction, the target virtual road section and the target virtual road junction;
and generating a virtual map according to the combined virtual crossing with the identity, the target virtual road section and the target virtual crossing.
8. An apparatus for virtual map modeling, the apparatus comprising:
the first generation module is used for generating a virtual road section and a virtual intersection according to an original road section and an original intersection in an original map;
the traversing module is used for traversing the virtual road section;
the comparison module is used for comparing the traversed length of the current virtual road section with a preset splitting length;
the splitting module is used for splitting the current virtual road section into a target virtual road section and a target virtual intersection according to a preset splitting length when the length of the current virtual road section is greater than the preset splitting length;
and the second generation module is used for generating a virtual map according to the target virtual road section and the target virtual intersection when the virtual road section is traversed.
9. An electronic device, characterized in that the device comprises: memory, a processor and a virtual map modeling program stored on the memory and executable on the processor, the virtual map modeling program configured to implement the steps of the virtual map modeling method of any of claims 1 to 7.
10. A storage medium having stored thereon a virtual map modeling program, which when executed by a processor implements the steps of the virtual map modeling method of any one of claims 1 to 7.
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