CN111383300A - Method, device and equipment for updating navigation cost map - Google Patents
Method, device and equipment for updating navigation cost map Download PDFInfo
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Abstract
The method for updating the navigation cost map comprises the following steps: before a navigation map is started, overlapping a static layer in a hierarchical cost map with a virtual wall layer to obtain a static main map, and expanding the static main map to generate a static expansion map; when the navigation map is started, overlaying the static expansion map and the obstacles detected in the navigation process to obtain a main cost map; and expanding the main cost map in the local range where the obstacle is located to obtain an updated navigation cost map. And superposing the obstacles detected in the navigation process with the static expansion map to obtain a main cost map, and expanding a local range of the position of the obstacles in the main cost map.
Description
Technical Field
The application belongs to the field of navigation, and particularly relates to a method, a device and equipment for updating a navigation cost map.
Background
When a robot navigation map is generated, the perception of the robot to the environment is generally stored by different data types, but if all data are put on one map, all types of data are processed at each time of map cell updating, and some data are forcibly refreshed at the refreshing time, so that the data are lost. In order to avoid the disadvantages, a layered cost map (costmap) is adopted in an ROS (robot operating system), the layered cost map comprises a static layer, a virtual wall layer and a dynamic barrier layer, when the dynamic barrier layer changes, only information in the dynamic barrier layer needs to be updated, and then all the layers are overlapped and expanded, so that all data can be effectively prevented from being processed.
However, in order to avoid the obstacles in the dynamic obstacle layer from affecting the planning of the navigation path, the temporary obstacles in the dynamic obstacle layer are usually cleared when the navigation is started, and then are overlapped and expanded according to the static layer and the virtual wall layer which are stored before, and the dynamic obstacle layer after being cleared. Because the expansion algorithm needs to be operated on each pixel in the expansion process, a long time is needed, for example, under the resolution of 0.05 m pixel, a map with 1 ten thousand flat is needed, and the expansion of the whole map needs about 15 seconds, which is not beneficial to improving the navigation response speed.
Disclosure of Invention
In view of this, embodiments of the present application provide a method, an apparatus, and a device for updating a navigation cost map, so as to solve the problem in the prior art that when a temporary obstacle is cleared, a static layer, a virtual wall layer, and an empty dynamic obstacle layer need to be superimposed and expanded, which requires a long time and is not beneficial to improving the updating efficiency of the cost map.
A first aspect of an embodiment of the present application provides a method for updating a navigation cost map, where the method for updating the navigation cost map includes:
before a navigation map is started, overlapping a static layer in a hierarchical cost map with a virtual wall layer to obtain a static main map, and expanding the static main map to generate a static expansion map;
when the navigation map is started, overlaying the static expansion map and the obstacles detected in the navigation process to obtain a main cost map; expanding the main cost map in the local range of the obstacle to obtain an updated navigation cost map
And expanding the main cost map in the local range where the obstacle is located to obtain an updated navigation cost map.
With reference to the first aspect, in a first possible implementation manner of the first aspect, the step of obtaining the static expansion map is completed when the device is powered on by superimposing a static layer in the hierarchical cost map and a virtual wall layer to obtain a static main map, and expanding the static main map.
With reference to the first aspect, in a second possible implementation manner of the first aspect, the step of expanding the static main graph to generate a static expanded graph includes:
acquiring the current position of equipment;
estimating an activity area of the equipment according to the current position of the equipment;
and expanding the active area of the static main graph to obtain a static expansion graph.
With reference to the first aspect, in a third possible implementation manner of the first aspect, the step of expanding the static main graph to generate a static expanded graph includes:
and performing full-map expansion on the static main map to generate a static expansion map.
With reference to the first aspect, the first possible implementation manner of the first aspect, the second possible implementation manner of the first aspect, or the third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, the step of expanding the main cost map in a local range where the obstacle is located to obtain an updated navigation cost map includes:
when a new obstacle is detected in the navigation process, determining the position of the obstacle;
determining an expansion range according to the position of the obstacle;
and expanding the main cost map according to the expansion range to obtain an updated navigation cost map.
A second aspect of the embodiments of the present application provides an updating apparatus for a navigation cost map, where the updating apparatus for a navigation cost map includes:
the static expansion map generating unit is used for superposing a static layer in the hierarchical cost map and the virtual wall layer to obtain a static main map before the navigation map is started, and expanding the static main map to generate a static expansion map;
the main cost map generating unit is used for superposing the static expansion map and the obstacles detected in the navigation process when the navigation map is started to obtain a main cost map; expanding the main cost map in the local range of the obstacle to obtain an updated navigation cost map
And the navigation cost map updating unit is used for expanding the main cost map in the local range where the obstacle is located to obtain an updated navigation cost map.
With reference to the second aspect, in a first possible implementation manner of the second aspect, the static inflation map generating unit includes:
the device position acquiring subunit is used for acquiring the current position of the device;
an active area determining subunit, configured to estimate an active area of the device according to a current location of the device;
and the first expansion subunit is used for expanding the active area of the static main graph to obtain a static expansion graph.
With reference to the second aspect, in a second possible implementation manner of the second aspect, the navigation cost map updating unit includes:
the obstacle position acquiring subunit is used for determining the position of the obstacle when a new obstacle is detected in the navigation process;
a superposition range determining subunit, configured to determine an expansion range according to the position of the obstacle;
and the second expansion subunit is used for expanding the main cost map according to the expansion range to obtain an updated navigation cost map.
A third aspect of the embodiments of the present application provides a device for updating a navigation cost map, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method for updating a navigation cost map according to any one of the first aspect when executing the computer program.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the method for updating a navigation cost map according to any one of the first aspect.
Compared with the prior art, the embodiment of the application has the advantages that: through before the navigation map starts, static layer and the stack of virtual wall layer in the layering cost map obtain static main map to expand static expansion map to static main map, when the navigation map starts, with the barrier that detects in the navigation process with static expansion map stack obtains main cost map, and right the local scope of the barrier position in the main cost map expands, because the expansion range reduces greatly, thereby make the navigation map start and when moving, can effectual reduction inflation time that consumes, be favorable to improving navigation response speed.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic implementation flow diagram of an updating method of a navigation cost map according to an embodiment of the present application;
FIG. 2 is a schematic view of an update scenario of a navigation cost map provided in an embodiment of the present application;
FIG. 3 is a schematic flow chart illustrating an implementation of a method for generating a static inflation map according to an embodiment of the present application;
FIG. 4 is a schematic flow chart illustrating an implementation of inflation updating of a navigation cost map according to an embodiment of the present application;
FIG. 5 is a schematic diagram illustrating an updating process of a navigation cost map provided by an embodiment of the present application;
fig. 6 is a schematic structural diagram of an updating apparatus for a navigation cost map according to an embodiment of the present application;
fig. 7 is a schematic diagram of an updating apparatus for a navigation cost map provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
Fig. 1 is a schematic flow chart of an implementation process of an updating method of a navigation cost map according to an embodiment of the present application, which is detailed as follows:
in step S101, before the navigation map is started, a static layer in the hierarchical cost map and a virtual wall layer are superimposed to obtain a static main map, and the static main map is expanded to generate a static expanded map;
specifically, the hierarchical cost map, named costmap in english, in the present application means that when some cells in the map are updated, in order to avoid processing the entire map and losing data due to forced refreshing when some data is refreshed, a map hierarchical policy adopted in the robot operating system ROS divides the map into maps of different layers (for example, a static layer, a virtual wall layer, a temporary barrier layer, and the like) according to the type or meaning of data included in the map, and the data of each layer has independence, so that the data of each layer is conveniently maintained and processed. And finally, superposing and synthesizing the data of all map layers to form a main cost map (master costmap) through a certain combination step so as to plan the path.
The static layer can be generated by drawing software or an instant positioning and mapping SLAM mode and is used for representing basic data of the surrounding environment. For example, it may be used indoors to represent walls, glass doors, or other stationary obstacles.
The virtual wall layer is generally marked on a map through drawing software and is used for restricting the action range of the robot, such as dangerous areas like stairway openings, steps and the like.
In addition, the dynamic barrier layer represents temporary barriers, such as pedestrians, which randomly appear in the navigation process of the robot. In the navigation process, the robot continuously updates the local dynamic barrier according to the detected real-time barrier.
As shown in fig. 2, which is a schematic view of an application scenario of the present application, when a robot (or a device) moves from a position a to a position B through a dashed path, and navigates to an intermediate position through the dashed path, it is found that a road is blocked by a temporary obstacle, and the robot searches another path to navigate to the position B along a solid path in the figure. At this time, if the lower level robot returns to the position a from the position B or goes to the position B again from the position a, the robot plans the path along the solid line because the dotted path recorded in the main cost map cannot pass through and the machine cannot confirm whether the temporary obstacle is cleared at the position a or the position B. In this case, if the temporary obstacle has been cleared, the path planned by the robot is not the optimal path. Therefore, in order to enable the robot to find the optimal path through the navigation map, data in the dynamic barrier layer in the navigation map needs to be removed, and then the static layer, the virtual wall layer and the removed dynamic barrier layer are overlapped and expanded. Because a long time is consumed in the expansion process, the updating efficiency of the whole navigation cost map is low, and the user experience is seriously influenced.
In order to enable the navigation map to find a relatively optimal path after the navigation map is restarted, namely the optimal path between the position A and the position B, the generation process of the static expansion map is set before the navigation map is started, and in an optimal mode, the generation process can be completed when equipment is started. For example, the robot typically lasts several minutes from power-on to execution of the navigation command, and there is enough time for the inflation operation, which is time consuming and does not affect the user experience.
The static main graph is obtained by superposing the static layer and the virtual wall layer in the hierarchical cost graph. Of course, the static main graph can also comprise other types of static barrier layers which are superposed according to different classification modes.
The expansion of static state host computer, the regional expansion in certain extent around the barrier be grey region promptly, when planning the route for the robot can expand regional route planning reference that provides, thereby can generate better planning route.
The step of expanding the static main graph to generate the static expanded graph may be as shown in fig. 3, and includes:
in step S301, a current location of the device is obtained;
the current location of the device may be determined according to the location information of the device, such as GPS location information, base station location information, and the like.
In step S302, an activity area of the device is estimated according to a current location of the device;
the step of estimating an active area of the device from a location where the device is currently located may comprise:
and determining the center of the active area according to the current position of the equipment, and estimating the active area of the equipment according to a preset active radius.
Alternatively, the activity area of the device may be determined according to a calculation or a task set in the device, in combination with the current location of the device. Such as location D1, where the device is currently located, and destination D2, where the task needs to go, to get an active area from location D1 to destination D2.
In step S303, the active region of the static main map is expanded to obtain a static expansion map.
After the static main graph is obtained by superposing the static layer and the virtual wall layer, the partial area of the static main graph, namely the activity area determined in the step S302, is expanded, so that the map which needs to be used by the equipment at present is an expanded area, and compared with the expansion mode of the whole graph, the expansion efficiency can be effectively improved, the storage space occupied by the expanded map is smaller, and the utilization efficiency of the storage space is favorably improved.
Of course, when the activity range of the device cannot be estimated, the static main graph can be subjected to full graph expansion to generate a static expansion graph.
In step S102, when the navigation map is started, the static swelling map and the obstacle detected in the navigation process are superimposed to obtain a main cost map;
and obtaining a static expansion map after expansion before the navigation map is started, and overlapping the static expansion map and the obstacles detected in the navigation process to obtain a main cost map.
In step S103, the main cost map is expanded in the local range where the obstacle is located, so as to obtain an updated navigation cost map.
In the navigation process, the robot or the equipment can detect the obstacles in the scene according to the detection device and update the temporary obstacle layer according to the detection result. And overlapping the updated temporary barrier layer and the static expansion map to obtain a main cost map, and expanding the local range of the main cost map according to the position of the barrier to obtain an updated navigation cost map. Specifically, as shown in fig. 4, the method includes:
in step S401, when a new obstacle is detected during navigation, determining a position of the obstacle;
in order to effectively overlay the detected obstacles with the static dilatogram, or with the updated navigation cost map, the positions of the obstacles need to be determined.
In step S402, an expansion range is determined according to the position of the obstacle;
the overlap range may be determined by the range occupied by the obstacle. For example, the boundary of the area occupied by the obstacle may be determined, and the superimposition range may be determined based on the boundary. The boundary of the area occupied by the obstacle can be determined according to the position of the robot or the equipment and the distance between the obstacle and the robot or the equipment.
In step S403, the main cost map is expanded according to the expansion range, so as to obtain an updated navigation cost map.
And obtaining a main cost map after the obstacles are superposed with the static expansion map. And expanding the main cost map according to the expansion range, so that the efficiency of emptying a temporary barrier layer in the navigation process of the robot or equipment can be greatly reduced, a large amount of expansion time is saved, and the navigation response efficiency of the robot or equipment is favorably improved.
In addition, because the obstacles are not detected simultaneously, when a first dynamic obstacle is detected, a dynamic obstacle layer is formed according to the dynamic obstacle, and the dynamic obstacle layer is superposed with the static expansion map to obtain a main cost map. When a new dynamic obstacle is detected, the new dynamic obstacle and the previous main cost map can be superposed, the expansion range is determined according to the new dynamic obstacle, and the superposed main cost map is expanded in the expansion range to obtain an updated navigation cost map.
In order to more clearly explain the updating process of the navigation cost map of the present application, the following description is made in conjunction with fig. 5. As shown in fig. 5, in the above dashed box, after a static main graph is generated by superimposing a static layer and a virtual wall layer, the static main graph is expanded to obtain and store a static expansion graph. The operations in this dashed box can be completed before the navigation map is started.
After the static expansion map is obtained, if the navigation map is started, the static expansion map and a dynamic barrier layer detected in real time are overlapped to obtain a main cost map, the overlapped main cost map is expanded as shown in a following square frame, the expansion calculation range is a local range where the barrier is located, only small expansion data need to be calculated, and the updating efficiency of the navigation cost map is improved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 6 is a schematic structural diagram of an updating apparatus of a navigation cost map according to an embodiment of the present application, which is detailed as follows:
the updating device of the navigation cost map comprises:
the static expansion map generating unit 601 is configured to, before the navigation map is started, superimpose a static layer in the hierarchical cost map and the virtual wall layer to obtain a static main map, and expand the static main map to generate a static expansion map;
a main cost map generating unit 602, configured to, when a navigation map is started, superimpose the static inflation map and an obstacle detected in a navigation process, so as to obtain a main cost map; expanding the main cost map in the local range of the obstacle to obtain an updated navigation cost map
And a navigation cost map updating unit 603, configured to expand the main cost map in the local range where the obstacle is located, to obtain an updated navigation cost map.
Preferably, the static inflation map generating unit includes:
the device position acquiring subunit is used for acquiring the current position of the device;
an active area determining subunit, configured to estimate an active area of the device according to a current location of the device;
and the first expansion subunit is used for expanding the active area of the static main graph to obtain a static expansion graph.
Preferably, the navigation cost map updating unit includes:
the obstacle position acquiring subunit is used for determining the position of the obstacle when a new obstacle is detected in the navigation process;
a superposition range determining subunit, configured to determine an expansion range according to the position of the obstacle;
and the second expansion subunit is used for expanding the main cost map according to the expansion range to obtain an updated navigation cost map.
The updating apparatus of the navigation cost map shown in fig. 6 corresponds to the updating method of the navigation cost map shown in fig. 1.
Fig. 7 is a schematic diagram of an updating apparatus for a navigation cost map according to an embodiment of the present application. As shown in fig. 7, the updating apparatus 7 of the navigation cost map of this embodiment includes: a processor 70, a memory 71 and a computer program 72, such as an update program of a navigation cost map, stored in said memory 71 and executable on said processor 70. The processor 70, when executing the computer program 72, implements the steps in the above-described embodiments of the method for updating a navigation cost map. Alternatively, the processor 70 implements the functions of the modules/units in the above-described device embodiments when executing the computer program 72.
Illustratively, the computer program 72 may be partitioned into one or more modules/units that are stored in the memory 71 and executed by the processor 70 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 72 in the updating device 7 of the navigation cost map. For example, the computer program 72 may be divided into:
the static expansion map generating unit is used for superposing a static layer in the hierarchical cost map and the virtual wall layer to obtain a static main map before the navigation map is started, and expanding the static main map to generate a static expansion map;
the main cost map generating unit is used for superposing the static expansion map and the obstacles detected in the navigation process when the navigation map is started to obtain a main cost map; expanding the main cost map in the local range of the obstacle to obtain an updated navigation cost map
And the navigation cost map updating unit is used for expanding the main cost map in the local range where the obstacle is located to obtain an updated navigation cost map.
The updating device of the navigation cost map can include, but is not limited to, a processor 70 and a memory 71. It will be understood by those skilled in the art that fig. 7 is only an example of the updating device 7 of the navigation cost map, does not constitute a limitation of the updating device 7 of the navigation cost map, and may include more or less components than those shown, or combine some components, or different components, for example, the updating device of the navigation cost map may further include an input-output device, a network access device, a bus, etc.
The Processor 70 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 71 may be an internal storage unit of the updating device 7 of the navigation cost map, for example, a hard disk or a memory of the updating device 7 of the navigation cost map. The memory 71 may also be an external storage device of the navigation cost map updating device 7, such as a plug-in hard disk, a Smart Memory Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are equipped on the navigation cost map updating device 7. Further, the memory 71 may also include both an internal storage unit and an external storage device of the updating device 7 of the navigation cost map. The memory 71 is used for storing the computer program and other programs and data required by the updating device of the navigation cost map. The memory 71 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A method for updating a navigation cost map is characterized by comprising the following steps:
before a navigation map is started, overlapping a static layer in a hierarchical cost map with a virtual wall layer to obtain a static main map, and expanding the static main map to generate a static expansion map;
when the navigation map is started, overlaying the static expansion map and the obstacles detected in the navigation process to obtain a main cost map;
and expanding the main cost map in the local range where the obstacle is located to obtain an updated navigation cost map.
2. The method for updating the navigation cost map according to claim 1, wherein the step of superposing a static layer and a virtual wall layer in the hierarchical cost map to obtain a static main map and expanding the static main map to obtain a static expanded map is completed when the device is powered on.
3. The method for updating the navigation cost map according to claim 1, wherein the step of expanding the static main map to generate the static expanded map comprises:
acquiring the current position of equipment;
estimating an activity area of the equipment according to the current position of the equipment;
and expanding the active area of the static main graph to obtain a static expansion graph.
4. The method for updating the navigation cost map according to claim 1, wherein the step of expanding the static main map to generate the static expanded map comprises:
and performing full-map expansion on the static main map to generate a static expansion map.
5. The method for updating a navigation cost map according to any one of claims 1-4, wherein the step of expanding the main cost map at a local area where the obstacle is located to obtain an updated navigation cost map comprises:
when a new obstacle is detected in the navigation process, determining the position of the obstacle;
determining an expansion range according to the position of the obstacle;
and expanding the main cost map according to the expansion range to obtain an updated navigation cost map.
6. An updating device of a navigation cost map, characterized in that the updating device of the navigation cost map comprises:
the static expansion map generating unit is used for superposing a static layer in the hierarchical cost map and the virtual wall layer to obtain a static main map before the navigation map is started, and expanding the static main map to generate a static expansion map;
the main cost map generating unit is used for superposing the static expansion map and the obstacles detected in the navigation process when the navigation map is started to obtain a main cost map;
and the navigation cost map updating unit is used for expanding the main cost map in the local range where the obstacle is located to obtain an updated navigation cost map.
7. The apparatus for updating a navigation cost map according to claim 6, wherein the static inflation map generating unit comprises:
the device position acquiring subunit is used for acquiring the current position of the device;
an active area determining subunit, configured to estimate an active area of the device according to a current location of the device;
and the first expansion subunit is used for expanding the active area of the static main graph to obtain a static expansion graph.
8. The apparatus for updating a navigation cost map according to claim 6, wherein the navigation cost map updating unit comprises:
the obstacle position acquiring subunit is used for determining the position of the obstacle when a new obstacle is detected in the navigation process;
a superposition range determining subunit, configured to determine an expansion range according to the position of the obstacle;
and the second expansion subunit is used for expanding the main cost map according to the expansion range to obtain an updated navigation cost map.
9. An updating device of a navigation cost map, comprising a memory, a processor and a computer program stored in the memory and operable on the processor, characterized in that the processor implements the steps of the updating method of the navigation cost map according to any one of claims 1 to 5 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for updating a navigation cost map according to any one of claims 1 to 5.
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