CN111412920B - Method and device for processing mobile equipment towards turning path - Google Patents
Method and device for processing mobile equipment towards turning path Download PDFInfo
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- CN111412920B CN111412920B CN202010270449.5A CN202010270449A CN111412920B CN 111412920 B CN111412920 B CN 111412920B CN 202010270449 A CN202010270449 A CN 202010270449A CN 111412920 B CN111412920 B CN 111412920B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The invention discloses a method and a device for processing a mobile device towards a turning path. Wherein, the method comprises the following steps: acquiring a first radial axis length of the mobile device, wherein the first radial axis length is a distance from a turning center point of the mobile device to an outer contour of the mobile device along a predetermined direction; acquiring a second radioactive ray axial length of a key node of the target path, wherein the second radioactive ray axial length is the distance from the key node to the obstacle along the preset direction; determining accessibility of the mobile device to a predetermined turn on the key node based on the first and second radial axis lengths; constructing an access angle access matrix according to accessibility of preset steering on the key node, and generating an angle route of a target path; an orientation turn path of the mobile device is determined based on the angular route of the target path. The invention solves the technical problem that the path planning of the mobile equipment in the related technology can not realize the steering of a specific scene.
Description
Technical Field
The invention relates to the technical field of intelligent navigation, in particular to a method and a device for processing a turning path of a mobile device.
Background
The traditional path planning method based on the vehicle/road network does not consider the problem of the specification and the size of the vehicle/vehicle in detail, and only adds the width and height limiting attribute to the road or the node of the road network for planning and limiting.
A path planning system such as a sweeping robot combines a path and work, mainly focuses on work path planning, and moves and completes work in a collision detection, exhaustion and other ways. It does not take into account the purposeful problem of routing from the starting point to the target point. Such route movement based path planning problems cannot be accomplished.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a method and a device for processing a turning path of a mobile device, which are used for at least solving the technical problem that the turning of a specific scene cannot be realized by path planning of the mobile device in the related art.
According to an aspect of the embodiment of the present invention, a method for processing a mobile device toward a turning path is provided, which includes: acquiring a first radial axis length of the mobile device, wherein the first radial axis length is a distance from a turning center point of the mobile device to an outer contour of the mobile device along a predetermined direction; acquiring a second radiation axis length of a key node of a target path, wherein the second radiation axis length is a distance from the key node to an obstacle along a preset direction; determining accessibility of the mobile device to a predetermined turn on the critical node based on the first and second radial axis lengths; constructing an access angle access matrix according to the accessibility of the preset steering on the key node, and generating an angle route of the target path; determining an orientation turn path for the mobile device based on the angular route of the target path.
Optionally, acquiring the first radial axis length of the mobile device comprises: determining a steering center point and an outer contour of the mobile device based on a shape and a size of the mobile device; generating the first radial axis length from the steering center point and the outer contour.
Optionally, acquiring the second radial axis length of the key node of the target path includes: determining a key node of the target path and an obstacle closest to the key node; and generating the second radiation axis length according to the key node and the obstacle.
Optionally, determining the key node of the target path includes: screening the key nodes from all nodes of the target path according to a preset rule, wherein the preset rule comprises at least one of the following: the mobile device must make a turn at the node, and the node covers a narrow passage and a gate on a path during moving.
Optionally, the plurality of first axis lengths are stored in a first axis length list in a predetermined order, the plurality of second axis lengths are stored in a second axis length list in a predetermined order, the accessibility includes turnable and non-turnable, and determining accessibility of the predetermined turn of the mobile device on the key node based on the first axis lengths and the second axis lengths includes: determining a shift sequence number of the first radial axis length list based on a movement orientation angle of the mobile device; comparing the first radioactive ray axial length corresponding to the offset serial number with the second radioactive ray axial length corresponding to the second radioactive ray axial length list in sequence; when the first radioactive ray axis length is greater than or equal to the second radioactive ray axis length, the accessibility of the preset steering of the mobile equipment on the key node is not rotatable; when the first radiation axis length is less than the second radiation axis length, the accessibility of the mobile device to the predetermined turn on the key node is rotatable.
Optionally, constructing an access angle access matrix according to accessibility of a predetermined turn on the key node, and generating the angle route of the target path includes: determining a movement orientation angle of the mobile device, wherein the movement orientation angle comprises an exit angle and an entrance angle; constructing an access angle access matrix based on the moving orientation angle and accessibility of a predetermined turn on the key node corresponding to the moving orientation angle; and sequentially combining the access angle access matrixes to obtain the angle route of the target path.
Optionally, determining the orientation turn path of the mobile device based on the angular route of the target path comprises: determining a state quantity reachable by the key node based on the angle route of the target path, wherein the state quantity at least comprises the edge of the key node and a moving orientation angle corresponding to the edge of the key node; and obtaining the direction turning path of the target path according to the state quantity.
Optionally, after determining the direction turning path of the mobile device based on the angle route of the target path, the method further includes: and determining an optimal orientation steering path of the mobile equipment on the target path according to the orientation steering path.
Optionally, determining the optimal orientation turn path of the mobile device on the target path based on the angular route of the target path comprises: converting the state quantity corresponding to the direction turning path into a cost value; determining an optimal orientation turn path from the orientation turn paths based on the cost value.
According to another aspect of the embodiments of the present invention, there is also provided a processing apparatus for a mobile device facing a turning path, including: the first acquisition module is used for acquiring a first radial axis length of the mobile device, wherein the first radial axis length is a distance from a turning center point of the mobile device to an outer contour of the mobile device along a preset direction; the second acquisition module is used for acquiring a second radioactive ray axial length of a key node of a target path, wherein the second radioactive ray axial length is a distance from the key node to an obstacle along a preset direction; a first determination module to determine accessibility of the mobile device to a predetermined turn on the key node based on the first and second radial axis lengths; the generating module is used for constructing an access angle access matrix according to the accessibility of the preset steering on the key node and generating the angle route of the target path; a second determination module to determine an orientation turn path for the mobile device based on the angular route of the target path.
Optionally, the first obtaining module includes: a first determination unit for determining a turning center point and an outer contour of the mobile device based on a shape and a size of the mobile device; a first generating unit configured to generate the first radiation axis length according to the steering center point and the outer contour.
Optionally, the second obtaining module includes: a second determination unit, configured to determine a key node of the target path and an obstacle closest to the key node; and the second generating unit is used for generating the second radioactive axis length according to the key node and the barrier.
Optionally, the second determining unit includes: a screening subunit, configured to screen the key node from all nodes of the target path according to a preset rule, where the preset rule includes at least one of: the mobile device must make a turn at the node, and the node covers a narrow passage and a gate on a path during moving.
Optionally, the plurality of first radiation axis lengths are stored in a first radiation axis length list in a predetermined order, the plurality of second radiation axis lengths are stored in a second radiation axis length list in a predetermined order, the accessibility includes both transitionability and non-transitionability, and the first determining module includes: a third determination unit configured to determine a shift order number of the first radiation axis length list based on a movement orientation angle of the mobile device; a comparison unit, configured to sequentially compare the first radiation axis length corresponding to the offset number with the second radiation axis length corresponding to the second radiation axis length list; the processing unit is used for determining that the accessibility of the preset steering of the mobile equipment on the key node is not rotatable when the first radiation axis length is greater than or equal to the second radiation axis length; when the first radiation axis length is less than the second radiation axis length, the accessibility of the mobile device to the predetermined turn on the key node is rotatable.
Optionally, the generating module includes: a fourth determining unit, configured to determine a movement orientation angle of the mobile device, where the movement orientation angle includes an exit angle and an entrance angle; the construction unit is used for constructing an access angle access matrix based on the movement orientation angle and accessibility of preset steering on the key node corresponding to the movement orientation angle; and the first obtaining unit is used for sequentially combining the access angle access matrixes to obtain the angle route of the target path.
Optionally, the second determining module includes: a fifth determining unit, configured to determine, based on the angle route of the target path, a state quantity reachable by the key node, where the state quantity includes at least an edge of the key node and a movement orientation angle corresponding to the edge of the key node; and the second obtaining unit is used for obtaining the direction turning path of the target path according to the state quantity.
Optionally, after determining the direction turning path of the mobile device based on the angular route of the target path, the apparatus further comprises: and the third determining module is used for determining the optimal orientation steering path of the mobile equipment on the target path according to the orientation steering path.
Optionally, the third determining module includes: the conversion unit is used for converting the state quantity corresponding to the direction turning path into a cost value; a sixth determining unit for determining an optimal orientation turning path from the orientation turning paths based on the cost value.
According to another aspect of the embodiments of the present invention, there is also provided a storage medium, where the storage medium includes a stored program, and when the program runs, a device in which the storage medium is located is controlled to execute any one of the above methods.
According to another aspect of the embodiments of the present invention, there is also provided a processor, configured to execute a program, where the program executes to perform the method described in any one of the above.
In the embodiment of the invention, a first radial axis length of the mobile device is obtained, wherein the first radial axis length is a distance from a turning center point of the mobile device to an outer contour of the mobile device along a predetermined direction; acquiring a second radiation axis length of a key node of a target path, wherein the second radiation axis length is a distance from the key node to an obstacle along a preset direction; determining accessibility of the mobile device to a predetermined turn on the critical node based on the first and second radial axis lengths; constructing an access angle access matrix according to the accessibility of the preset steering on the key node, and generating an angle route of the target path; the method comprises the steps of determining the direction turning path of the mobile equipment based on the angle route of the target path, generating angle information for the nodes by establishing key nodes in the target path, then generating the angle route of the target path by combining the size and the turning characteristic of the mobile equipment, and finally solving the angle route to determine the direction turning path, so that the aim of obtaining the global direction turning path is fulfilled, the technical effects of avoiding collision and incapability of turning of the mobile equipment in the moving process, improving the adaptability of the mobile equipment to complex application scenes are achieved, and the technical problem that the path planning of the mobile equipment in the related technology can not realize the turning of specific scenes is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of a method of processing a mobile device toward a turn path according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a mobile device outline radial axis length and axis length list in accordance with an alternative embodiment of the present invention;
FIG. 3 is a schematic diagram of a key node radial wall distance and distance list for a target path in accordance with an alternative embodiment of the present invention;
FIG. 4 is a schematic illustration of accessibility by a mobile device at a particular angle on a node in accordance with an alternative embodiment of the invention;
FIG. 5 is a schematic diagram of an in-out angle access matrix for a single key node in accordance with an alternative embodiment of the present invention;
fig. 6 is a schematic diagram of a processing means of a mobile device towards a divert path according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided an embodiment of a method for processing a mobile device toward a diversion path, it being noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a flowchart of a method for processing a mobile device toward a diversion path according to an embodiment of the present invention, as shown in fig. 1, the method comprising the steps of:
step S102, acquiring a first radial axis length of the mobile device, wherein the first radial axis length is a distance from a turning center point of the mobile device to an outer contour of the mobile device along a preset direction;
step S104, acquiring a second radiation axis length of a key node of the target path, wherein the second radiation axis length is the distance from the key node to the obstacle along the preset direction;
step S106, determining accessibility of the mobile equipment on the key node for presetting steering based on the first radioactive ray axis length and the second radioactive ray axis length;
step S108, constructing an access angle access matrix according to accessibility of preset steering on the key node, and generating an angle route of a target path;
step S110, determining an orientation turning path of the mobile device based on the angle routing of the target path.
The mobile device includes, but is not limited to, a mobile robot.
As an alternative, the above method can be applied to the indoor movement path planning problem (non-working path) of the machine/machine carrier/robot. The turning problem in the moving route is comprehensively solved by combining the specific house shape and the machine specification size, so that the errors of wall collision, wall rubbing and incapability of turning are avoided in the route moving process.
As an alternative embodiment, the optimal orientation of the mobile device on the target path to the turning path can ensure that the machine does not hit the wall during the whole moving and turning process. For example, the desired angle and direction of rotation can be estimated in advance as one passes through successive narrow passages and gates.
Through the steps, the first radial axis length of the mobile device can be obtained, wherein the first radial axis length is the distance from the turning center point of the mobile device to the outer contour of the mobile device along the preset direction; acquiring a second radioactive ray axial length of a key node of the target path, wherein the second radioactive ray axial length is the distance from the key node to the obstacle along the preset direction; determining accessibility of the mobile device to a predetermined turn on the key node based on the first and second radial axis lengths; constructing an access angle access matrix according to accessibility of preset steering on the key node, and generating an angle route of a target path; the method comprises the steps of determining the direction turning path of the mobile equipment based on the angle routing of the target path, generating angle information for the nodes by establishing key nodes in the target path, then generating the angle routing of the target path by combining the size and the turning characteristics of the mobile equipment, and finally solving the angle routing to determine the direction turning path, so that the aim of obtaining the global direction turning path is fulfilled, the technical effects of avoiding collision and incapability of turning of the mobile equipment in the moving process and improving the adaptability of the mobile equipment to complex application scenes are achieved, and the technical problem that the path planning of the mobile equipment in the related technology can not realize the turning of specific scenes is solved.
Optionally, acquiring the first radial axis length of the mobile device comprises: determining a turning center point and an outer contour of the mobile device based on the shape and size of the mobile device; a first radial axis length is generated based on the steering center point and the outer contour.
As an alternative embodiment, in the process of obtaining the first radial axis length of the mobile device, for the mobile device that can be steered at the steering center point, N radial lines are uniformly arranged in 360 degrees all-around direction with the steering axis of the mobile device as the center, for example, N may be 64, and the axial length of the outer contour of the machine in these radial directions is obtained. The first generated radiation axis length may be stored in a first radiation axis length list including the radiation number and the first radiation axis length corresponding to the radiation number. FIG. 2 is a schematic diagram of the outline radial axis length and axis length list of a mobile device according to an alternative embodiment of the present invention, as shown in FIG. 2, the mobile device includes N radial lines, where N is 64, and is an ordered list of 64 axis length values.
Optionally, acquiring the second radial axis length of the key node of the target path includes: determining a key node of a target path and an obstacle closest to the key node; and generating a second radiation axis length according to the key node and the obstacle.
As an alternative embodiment, on the target path, with the key node of the target path as the center, N radial lines (if N is 64 is desirable) are uniformly arranged in 360 degrees all directions, and the distance between the obstacles closest to the key node in the radial directions is obtained. Optionally, the obstacles include, but are not limited to, house walls, sofas, tables and chairs, etc. The generated second radiation axis length may be stored in a second radiation axis length list including the radiation number and the second radiation axis length corresponding to the radiation number. Fig. 3 is a schematic diagram of a critical node radial wall distance and distance list of a target path according to an alternative embodiment of the present invention, and as shown in fig. 3, the second radial axis length list includes N radial lines, where N is 64, and is an ordered list of 64 wall distance values.
Optionally, determining the key node of the target path includes: screening out key nodes from all nodes of the target path according to a preset rule, wherein the preset rule comprises at least one of the following steps: the mobile device must make a turn at the node, narrow passage and gate on the node coverage path during the moving process.
As an optional embodiment, adding a key node to a path to be moved, where the selection of the key node at least meets the following condition, for example, a mobile device can only turn around at the nodes in the moving process; the nodes must be able to cover narrow channels and gates on the path, e.g., the gate locations must be associated with key nodes, and the ends of the narrow corridor must be associated with key nodes. In practice, conditions described above are included, but are not limited to. The checkpoint may be a position where a door, a corner, or the like must pass or needs to pass.
Optionally, the plurality of first axis lengths are stored in a predetermined order in a first axis length list, the plurality of second axis lengths are stored in a second axis length list, the accessibility includes turnable and non-turnable, and determining accessibility for a predetermined turn of the mobile device on the key node based on the first axis lengths and the second axis lengths comprises: determining a shift sequence number of the first radioactive ray axis length list based on the moving orientation angle of the mobile device; sequentially comparing the first radioactive ray axial length corresponding to the offset serial number with the second radioactive ray axial length corresponding to the second radioactive ray axial length list; when the first radioactive ray axis length is greater than or equal to the second radioactive ray axis length, the accessibility of the preset steering of the mobile equipment on the key node is not rotatable; when the first radiation axis length is less than the second radiation axis length, then accessibility of the mobile device to the predetermined turn on the key node is turnable.
As an alternative embodiment, the accessibility of the mobile device to perform a specific turn on a certain node, for example, the mobile device is going to turn from 0 degrees to 90 degrees on the k-node, which can be solved as true, and can not be solved as false. Fig. 4 is a schematic diagram of accessibility of a mobile device at a specific angle on a node according to an alternative embodiment of the present invention, and as shown in fig. 4, the specific implementation process is as follows: firstly, for the angle orientation of a mobile device, the offset of the serial number of a radial axis length list Lcar of the mobile device can be corresponded; secondly, respectively solving a serial number offset Os before steering and a serial number offset Oe when steering is ended according to the serial number offset to the moving direction angle before steering and the moving direction angle when steering is ended; and traversing each offset from Os to Oe, performing overall offset on the mobile equipment radial axis length list Lcar, comparing each corresponding list value by referring to the radial wall distance list Lk of the node k, and if one radial axis length is greater than the radial wall distance, determining that the result is false, otherwise, determining that the result is true.
Optionally, constructing an access angle access matrix according to accessibility of a predetermined turn on a key node, and generating an angle route of a target path includes: determining a moving orientation angle of the mobile device, wherein the moving orientation angle is an orientation angle when the mobile device enters or leaves a key node on a path, the moving orientation angle comprises an exit angle and an entrance angle, the entrance angle is an orientation angle when the mobile device enters the key node, the mobile device may or may not turn when the key node is turned, and the exit angle is an orientation angle when the mobile device leaves the key node; constructing an access angle access matrix based on the moving orientation angle and accessibility of preset steering on the key node corresponding to the moving orientation angle; and sequentially combining the access angle access matrixes to obtain the angle route of the target path.
As an alternative embodiment, a moving orientation angle list of the mobile device may be set, where the moving orientation angle in the moving orientation angle list includes at least one of an angle of departure and an angle of arrival, and in a specific implementation process, the angle of departure and the angle of arrival may be flexibly set as required, for example: 0 degrees, 90 degrees, 180 degrees, 270 degrees. And then solving an accessible matrix of the entrance angle and the exit angle of each key node, which is called an entrance angle and exit angle access matrix for short. The sequential combination of the in-out angle access matrices of the key nodes of all the target routes is defined as the angle route of the target path. Fig. 5 is a schematic diagram of an in-out angle accessibility matrix of a single key node according to an alternative embodiment of the invention, where the out-angle and the in-angle correspond to accessibility, respectively, as shown in fig. 5.
Optionally, determining the orientation turn path of the mobile device based on the angular route of the target path comprises: determining a state quantity reachable by the key node based on the angle routing of the target path, wherein the state quantity at least comprises edges of the key node and a movement orientation angle corresponding to the edges of the key node; and obtaining the direction turning path of the target path according to the state quantity.
The reachable state quantities of the key nodes are the state quantities of the current key node and the next key node reachable by the current key node. For example, in the target path, if the current key node is a, and a can reach the next key node is B, AB is an edge on the target path, and the edge of the key node has a corresponding movement orientation angle, at this time, the state quantity that the key node a can reach is the AB edge and the edge of the key node has a corresponding movement orientation angle. Further, the direction turning path of the target path can be obtained according to the state quantities corresponding to all the key nodes in the target path. The direction of the target path may be a single turning path or a plurality of turning paths.
As an alternative embodiment, the search algorithm of the graph may be used to solve for the angular route. Specifically, an edge on the path and an orientation angle of the edge are used as a state quantity, a next reachable state quantity is obtained through an access angle access matrix of each key node, and then an orientation steering path of the target path is obtained.
Optionally, after determining the direction turning path of the mobile device based on the angle routing of the target path, the method further includes: and determining the optimal orientation steering path of the mobile equipment on the target path according to the orientation steering path.
The mobile device is oriented to turn at least one path due to the angular routing based on the target path. When the direction turning paths of the mobile equipment are multiple, the multiple direction turning paths can be sequenced according to a preset rule, and an optimal direction turning path is screened out. Optionally, the preset rules include cost value based methods.
Optionally, determining the optimal orientation diversion path of the mobile device on the target path based on the angle routing of the target path comprises: converting the state quantity corresponding to the turning path into a cost value; an optimal orientation diversion path is determined from the orientation diversion paths based on the cost value.
As an alternative embodiment, the cost value of each state transition may be set for the search graph of the angle route. It should be noted that the cost value may include a time cost required for steering, and the like. In the specific implementation process, the cost is low if the current angle is the same as the previous angle, and the cost is high if the current angle is opposite to the previous angle; the cost is low when the current angle is the same as the angle of the path, and the cost is high when the current angle is opposite to the path. Through a cost-driven graph search algorithm, a globally optimal orientation steering path can be obtained.
Example 2
According to another aspect of the embodiment of the present invention, there is also provided a processing apparatus for a mobile device facing a turning path, and fig. 6 is a schematic diagram of the processing apparatus for a mobile device facing a turning path according to the embodiment of the present invention, and as shown in fig. 6, the processing apparatus for a mobile device facing a turning path includes: a first obtaining module 61, a second obtaining module 63, a first determining module 65, a generating module 67 and a second determining module 69. The following describes in detail the processing means of the mobile device towards the divert path.
The first acquisition module 61 is configured to acquire a first radial axis length of the mobile device, where the first radial axis length is a distance from a turning center point of the mobile device to an outer contour of the mobile device along a predetermined direction;
a second obtaining module 63, connected to the first obtaining module 61, for obtaining a second radial axis length of the key node of the target path, where the second radial axis length is a distance from the key node to the obstacle along a predetermined direction;
a first determining module 65, connected to the second acquiring module 63, for determining accessibility of the mobile device to a predetermined turn on the key node based on the first and second radial axis lengths;
a generating module 67, connected to the first determining module 65, configured to construct an access angle access matrix according to accessibility of a predetermined turn on a key node, and generate an angle route of a target path;
a second determining module 69, connected to the generating module 67, for determining the direction turning path of the mobile device based on the angle route of the target path.
It should be noted here that the first obtaining module 61, the second obtaining module 63, the first determining module 65, the generating module 67 and the second determining module 69 correspond to steps S102 to S110 in embodiment 1, and the modules are the same as the corresponding steps in the implementation example and application scenario, but are not limited to the disclosure in embodiment 1. It should be noted that the above-described elements as part of an apparatus may be implemented in a computer system, such as a set of computer-executable instructions.
As can be seen from the above, in the above embodiments of the present application, the first obtaining module 61 may be used to obtain a first radial axis length of the mobile device, where the first radial axis length is a distance from a turning center point of the mobile device to an outer contour of the mobile device along a predetermined direction; the second obtaining module 63 obtains a second radiation axis length of the key node of the target path, wherein the second radiation axis length is a distance from the key node to the obstacle along the predetermined direction; the first determination module 65 determines accessibility of the mobile device to a predetermined turn on the key node based on the first and second radial axis lengths; the generating module 67 constructs an access angle access matrix according to the accessibility of the preset steering on the key node, and generates an angle route of the target path; the second determining module 69 determines the direction turning path of the mobile device based on the angle routing of the target path, generates angle information for the nodes by establishing key nodes in the target path, then generates the angle routing of the target path by combining the size and the turning characteristics of the mobile device, and finally solves the angle routing to determine the direction turning path, so as to achieve the purpose of obtaining the direction turning path, thereby achieving the technical effects of avoiding collision and incapability of turning of the mobile device in the moving process, improving the adaptability of the mobile device to complex application scenarios, and further solving the technical problem that the path planning of the mobile device in the related art can not realize the turning of specific scenarios.
In an alternative embodiment, the first obtaining module includes: a first determination unit for determining a turning center point and an outer contour of the mobile device based on a shape and a size of the mobile device; a first generating unit for generating a first radiation axis length from the steering center point and the outer contour.
In an alternative embodiment, the second obtaining module includes: the second determining unit is used for determining a key node of the target path and an obstacle closest to the key node; and the second generating unit is used for generating a second radiation axis length according to the key node and the obstacle.
In an alternative embodiment, the second determination unit comprises: the screening subunit is configured to screen out a key node from all nodes of the target path according to a preset rule, where the preset rule includes at least one of the following: the mobile device must make a turn at the node, narrow passage and gate on the node coverage path during the moving process.
In an alternative embodiment, the plurality of first radiation axis lengths are stored in a first radiation axis length list in a predetermined order, the plurality of second radiation axis lengths are stored in a second radiation axis length list in a predetermined order, the accessibility includes rotatability and non-rotatability, and the first determining module includes: a third determination unit configured to determine an offset number of the first radiation axis length list based on a movement orientation angle of the mobile device; the comparison unit is used for sequentially comparing the first radioactive ray axial length corresponding to the offset serial number with the second radioactive ray axial length corresponding to the second radioactive ray axial length list; the processing unit is used for determining that the accessibility of the preset steering of the mobile equipment on the key node is not rotatable when the first radioactive ray axis length is greater than or equal to the second radioactive ray axis length; when the first radiation axis length is less than the second radiation axis length, then accessibility of the mobile device to the predetermined turn on the key node is turnable.
In an alternative embodiment, the generating module comprises: a fourth determining unit, configured to determine a movement orientation angle of the mobile device, where the movement orientation angle includes an exit angle and an entrance angle; the building unit is used for building an access angle access matrix based on the moving orientation angle and accessibility of preset steering on the key node corresponding to the moving orientation angle; and the first obtaining unit is used for sequentially combining the access angle access matrixes to obtain the angle route of the target path.
In an optional embodiment, the second determining module includes: a fifth determining unit, configured to determine, based on the angle route of the target path, a state quantity reachable by the key node, where the state quantity includes at least an edge of the key node and a movement orientation angle corresponding to the edge of the key node; and a second obtaining unit for obtaining the direction turning path of the target path according to the state quantity.
In an optional embodiment, after determining the direction turning path of the mobile device based on the angle routing of the target path, the apparatus further comprises: and the third determining module is used for determining the optimal orientation steering path of the mobile equipment on the target path according to the orientation steering path.
In an optional embodiment, the third determining module includes: the conversion unit is used for converting the state quantity corresponding to the steering path into a cost value; a sixth determining unit for determining an optimal oriented turning path from the oriented turning paths based on the cost value.
Example 3
According to another aspect of the embodiments of the present invention, there is also provided a storage medium including a stored program, wherein when the program runs, a device in which the storage medium is located is controlled to execute the method of any one of the above.
Example 4
According to another aspect of the embodiments of the present invention, there is also provided a processor, configured to execute a program, where the program executes to perform the method of any one of the above.
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.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple 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, units or modules, and may be in an electrical 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 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 invention 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 unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A method for processing a mobile device toward a turn path, comprising:
acquiring a first radial axis length of the mobile device, wherein the first radial axis length is a distance from a turning center point of the mobile device to an outer contour of the mobile device along a predetermined direction;
acquiring a second radiation axis length of a key node of a target path, wherein the second radiation axis length is a distance from the key node to an obstacle along a preset direction;
determining accessibility of the mobile device to a predetermined turn on the critical node based on the first and second radial axis lengths;
constructing an access angle access matrix according to the accessibility of the preset steering on the key node, and generating an angle route of the target path;
determining an orientation turn path for the mobile device based on the angular route of the target path;
the key nodes are screened out from all nodes of the target path according to a preset rule, wherein the preset rule comprises at least one of the following: the mobile device must turn around at the node, and the node covers narrow channels and barriers on the path in the moving process;
a plurality of the first radiation axis lengths are stored in a first radiation axis length list in a predetermined order, a plurality of the second radiation axis lengths are stored in a second radiation axis length list in a predetermined order, the accessibility includes being turnable and non-turnable, and determining accessibility of the mobile device to a predetermined turn on the key node based on the first radiation axis lengths and the second radiation axis lengths includes: determining a shift sequence number of the first radial axis length list based on a movement orientation angle of the mobile device; comparing the first radioactive ray axial length corresponding to the offset serial number with the second radioactive ray axial length corresponding to the second radioactive ray axial length list in sequence; when the first radioactive ray axis length is greater than or equal to the second radioactive ray axis length, the accessibility of the preset steering of the mobile equipment on the key node is not rotatable; when the first radiation axis length is less than the second radiation axis length, the accessibility of the mobile device to the predetermined turn on the key node is rotatable.
2. The method of claim 1, wherein obtaining the first radial axis length of the mobile device comprises:
determining a steering center point and an outer contour of the mobile device based on a shape and a size of the mobile device;
generating the first radial axis length from the steering center point and the outer contour.
3. The method of claim 1, wherein obtaining a second radial axis length of a critical node of the target path comprises:
determining a key node of the target path and an obstacle closest to the key node;
and generating the second radiation axis length according to the key node and the obstacle.
4. The method of claim 1, wherein constructing an in-out angle reach matrix according to accessibility of predetermined turns on the key nodes, and wherein generating the angular route for the target path comprises:
determining a movement orientation angle of the mobile device, wherein the movement orientation angle comprises an exit angle and an entrance angle;
constructing an access angle access matrix based on the moving orientation angle and accessibility of a predetermined turn on the key node corresponding to the moving orientation angle;
and sequentially combining the access angle access matrixes to obtain the angle route of the target path.
5. The method of claim 1, wherein determining the orientation turn path for the mobile device based on the angular route of the target path comprises:
determining a state quantity reachable by the key node based on the angle route of the target path, wherein the state quantity at least comprises the edge of the key node and a moving orientation angle corresponding to the edge of the key node;
and obtaining the direction turning path of the target path according to the state quantity.
6. The method of any of claims 1-5, further comprising, after determining an orientation turn path for the mobile device based on the angular routing of the target path:
and determining an optimal orientation steering path of the mobile equipment on the target path according to the orientation steering path.
7. The method of claim 6, wherein determining the optimal orientation turn path for the mobile device on the target path based on the angular route of the target path comprises:
converting the state quantity corresponding to the direction turning path into a cost value;
determining an optimal orientation turn path from the orientation turn paths based on the cost value.
8. A processing apparatus for a mobile device oriented toward a turn path, comprising:
the first acquisition module is used for acquiring a first radial axis length of the mobile device, wherein the first radial axis length is a distance from a turning center point of the mobile device to an outer contour of the mobile device along a preset direction;
the second acquisition module is used for acquiring a second radioactive ray axial length of a key node of a target path, wherein the second radioactive ray axial length is a distance from the key node to an obstacle along a preset direction;
a first determination module to determine accessibility of the mobile device to a predetermined turn on the key node based on the first and second radial axis lengths;
the generating module is used for constructing an access angle access matrix according to the accessibility of the preset steering on the key node and generating the angle route of the target path;
a second determination module to determine an orientation turn path for the mobile device based on the angular route of the target path;
the device is configured to screen the key node from all nodes of the target path according to a preset rule, where the preset rule includes at least one of: the mobile device must turn around at the node, and the node covers narrow channels and barriers on the path in the moving process;
a plurality of the first radiation axis lengths are stored in a first radiation axis length list in a predetermined order, a plurality of the second radiation axis lengths are stored in a second radiation axis length list in a predetermined order, the accessibility includes both rotatable and non-rotatable, the first determination module includes: a third determination unit configured to determine a shift order number of the first radiation axis length list based on a movement orientation angle of the mobile device; a comparison unit, configured to sequentially compare the first radiation axis length corresponding to the offset number with the second radiation axis length corresponding to the second radiation axis length list; the processing unit is used for determining that the accessibility of the preset steering of the mobile equipment on the key node is not rotatable when the first radiation axis length is greater than or equal to the second radiation axis length; when the first radiation axis length is less than the second radiation axis length, the accessibility of the mobile device to the predetermined turn on the key node is rotatable.
9. A storage medium, comprising a stored program, wherein the program, when executed, controls an apparatus in which the storage medium is located to perform the method of any one of claims 1 to 7.
10. A processor, characterized in that the processor is configured to run a program, wherein the program when running performs the method of any of claims 1 to 7.
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