CN111750883B - Method and device for determining job path, storage medium and electronic equipment - Google Patents
Method and device for determining job path, storage medium and electronic equipment Download PDFInfo
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- CN111750883B CN111750883B CN201911392925.4A CN201911392925A CN111750883B CN 111750883 B CN111750883 B CN 111750883B CN 201911392925 A CN201911392925 A CN 201911392925A CN 111750883 B CN111750883 B CN 111750883B
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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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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Abstract
The embodiment of the invention provides a method and a device for determining a working path, a storage medium and electronic equipment, and relates to the field of equipment control. The method comprises the following steps: acquiring a plurality of boundary points of an obstacle in a target area; determining a circumscribed polygon of the obstacle according to the plurality of boundary points; determining an expansion area of the barrier according to the circumscribed polygon and a preset expansion distance; the expansion area covers at least the obstacle; and determining a target working path of the working equipment according to the expansion area and preset working data. Since the circumscribed polygon of the obstacle is determined from a plurality of boundary points of the obstacle, the determined circumscribed polygon is a regular figure compared with the shape of the obstacle itself. Thus, the shape of the expansion region determined from the circumscribed polygon and the preset expansion distance is also regular, i.e., the target work path is regular. Therefore, the method and the device can determine the regular operation path and improve the operation efficiency of the operation equipment.
Description
Technical Field
The invention relates to the field of equipment control, in particular to a method and a device for determining a working path, a storage medium and electronic equipment.
Background
Before the work equipment works on the target area, it is generally necessary to reasonably plan the work path according to the actual situation of the target area. For example, when an unmanned aerial vehicle is required to work on a piece of forest land, the working route of the unmanned aerial vehicle is generally required to be planned according to the actual situation of the forest land.
Obstacles usually exist in the target area, and at present, when planning the operation path of the operation equipment, in order to avoid the obstacles, the operation path is usually planned by using the contour edges of the obstacles, that is, the operation equipment directly moves along the contour edges of the obstacles to avoid the obstacles.
However, the shape of these obstacles is often odd and irregular, and the work equipment needs to constantly change direction to avoid the obstacle while moving along the contour of these obstacles. It is known that the more frequent the direction change, the more time and energy consumption of the working equipment. Therefore, the current method for planning the operation path of the operation equipment not only seriously reduces the operation efficiency of the operation equipment and increases the operation cost, but also is easy to cause accidents.
Disclosure of Invention
The invention aims to provide a method, a device, a storage medium and an electronic device for determining a work path, which can determine a regular work path and improve the work efficiency of a work device.
Embodiments of the invention may be implemented as follows:
in a first aspect, an embodiment provides a method for determining a job path, including: acquiring a plurality of boundary points of an obstacle in a target area; determining a circumscribed polygon of the obstacle according to the plurality of boundary points; determining an expansion area of the barrier according to the circumscribed polygon and a preset expansion distance; the expanded region covers at least the obstacle; and determining a target operation path of the operation equipment according to the expansion area and preset operation data.
In an alternative embodiment, the step of acquiring a plurality of boundary points of an obstacle in the target area includes: acquiring a target point on the obstacle; determining a plurality of straight lines according to the target point; determining a plurality of intersections of the plurality of straight lines with boundaries of the obstacle as the plurality of boundary points.
In an alternative embodiment, the step of acquiring a target point on the obstacle comprises: determining the most prominent point of the obstacle as the target point.
In an optional embodiment, when the preset job data includes a preset job path, the step of determining a target job path of the working device according to the expansion region and the preset job data includes: judging whether the preset operation path is intersected with the expansion area or not; when the preset operation path is intersected with the expansion area, a target operation path is generated according to the expansion area and the preset operation path, so that the operation equipment bypasses the obstacle along the target operation path.
In an optional embodiment, when the preset operation path intersects with the expansion region, the step of generating a target operation path according to the expansion region and the preset operation path includes: when the preset operation path is intersected with the expansion area, determining a blocked path of the preset operation path according to the expansion area, and determining an intersection point of the preset operation path and the expansion area; determining a detour path according to the intersection point and the boundary of the expansion area; and replacing the blocked path of the preset operation path with the detour path to obtain the target operation path.
In a second aspect, an embodiment provides an apparatus for determining a job path, including: an acquisition module for acquiring a plurality of boundary points of an obstacle in a target area; a path determining module, configured to determine a circumscribed polygon of the obstacle according to the plurality of boundary points; the path determining module is further configured to determine an expansion area of the obstacle according to the circumscribed polygon and a preset expansion distance; the expanded region covers at least the obstacle; the path determining module is further configured to determine a target operation path of the operation device according to the expansion area and preset operation data.
In an alternative embodiment, the acquiring module is configured to acquire a target point on the obstacle; the acquisition module is further used for determining a plurality of straight lines according to the target point; the obtaining module is further configured to determine a plurality of intersections of the plurality of straight lines and the boundary of the obstacle as the plurality of boundary points.
In an alternative embodiment, the acquisition module is configured to determine a most prominent point of the obstacle as the target point.
In an alternative embodiment, when the preset operation data includes a preset operation path, the path determining module is configured to determine whether the preset operation path intersects with the expansion area; the path determining module is further configured to generate a target operation path according to the expansion area and the preset operation path when the preset operation path intersects with the expansion area, so that the operation device bypasses the obstacle along the target operation path.
In an alternative embodiment, the path determining module is configured to determine a blocked path of the preset working path according to the expansion region when the preset working path intersects with the expansion region, and determine an intersection point of the preset working path and the expansion region; the path determination module is further configured to determine a detour path according to the intersection point and a boundary of the expansion region; the path determining module is further configured to replace a blocked path of the preset job path with the detour path to obtain the target job path.
In a third aspect, embodiments provide a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements a method of determining a job path as described in any one of the preceding embodiments.
In a fourth aspect, an embodiment provides an electronic device, including: a processor, a memory and a bus, wherein the memory stores machine readable instructions, when the electronic device runs, the processor and the memory communicate through the bus, and the processor executes the machine readable instructions to execute the method for determining the working path according to any one of the foregoing embodiments.
The beneficial effects of the embodiment of the invention include, for example: since the circumscribed polygon of the obstacle is determined from a plurality of boundary points of the obstacle, the determined circumscribed polygon is a regular figure compared with the shape of the obstacle itself. Accordingly, the shape of the expansion region determined according to the circumscribed polygon and the preset expansion distance is also regular, and thus the target work path is regular when the target work path is determined according to the expansion region and the preset work data. Furthermore, the method and the device can determine the regular work path and improve the work efficiency of the work equipment.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a block diagram of an electronic device according to an embodiment of the present disclosure;
fig. 2 is an application scenario of an electronic device according to an embodiment of the present application;
fig. 3 is an application scenario of another electronic device provided in the embodiment of the present application;
fig. 4 is a flowchart of a method for determining a job path according to an embodiment of the present application;
FIG. 5 is a schematic diagram of positions of boundary points of an obstacle according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram of another position of a plurality of boundary points of an obstacle according to an embodiment of the present disclosure;
FIG. 7 is a schematic diagram illustrating a connection of a circumscribed polygon of an obstacle according to an embodiment of the present application;
FIG. 8 is a schematic view of an expanded region of an obstruction provided by an embodiment of the present application;
fig. 9 is another flowchart of a method for determining a job path according to an embodiment of the present application;
fig. 10 is a schematic diagram illustrating positions of target points of an obstacle according to an embodiment of the present application;
FIG. 11 is a schematic diagram of a position of a plurality of straight lines provided in an embodiment of the present application;
FIG. 12 is a schematic view of another position of a plurality of straight lines provided in an embodiment of the present application;
FIG. 13 is a schematic view of another position of a plurality of straight lines provided in accordance with an embodiment of the present application;
FIG. 14 is a schematic diagram illustrating positions of a plurality of boundary points according to an embodiment of the present disclosure;
fig. 15 is another flowchart of a method for determining a job path according to an embodiment of the present application;
fig. 16 is another flowchart of a method for determining a job path according to an embodiment of the present application;
FIG. 17 is a schematic view of an intersection of a predetermined working path and an expansion region according to an embodiment of the present application;
fig. 18 is another flowchart of a method for determining a job path according to an embodiment of the present application;
fig. 19 is a functional block diagram of an apparatus for determining a job path according to an embodiment of the present application.
Icon: 100-an electronic device; 110-a memory; 120-a processor; 130-a bus; 140-a communication interface; 200-a working device; 300-means for determining a job path; 310-an acquisition module; 320-path determination module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
In the process of implementing the technical solution of the embodiment of the present application, the inventors of the present application find that:
obstacles usually exist in the target area, and at present, when planning the operation path of the operation equipment, in order to avoid the obstacles, the operation path is usually planned by using the contour edges of the obstacles, that is, the operation equipment directly moves along the contour edges of the obstacles to avoid the obstacles.
However, the shape of these obstacles is often odd and irregular, and the work equipment needs to constantly change direction to avoid the obstacle while moving along the contour of these obstacles. It is known that the more frequent the direction change, the more time and energy consumption of the working equipment. Therefore, the current method for planning the operation path of the operation equipment not only seriously reduces the operation efficiency of the operation equipment and increases the operation cost, but also is easy to cause accidents.
Taking an operating device as an unmanned aerial vehicle as an example, before the unmanned aerial vehicle operates a target operating area, an operating route generally needs to be planned reasonably according to the actual condition of the operating area. When the target operation area contains the obstacle, the unmanned aerial vehicle needs to avoid the obstacle so as to prevent accidents. At present, two methods for enabling an unmanned aerial vehicle to avoid obstacles exist: the first method is that when planning the operation route, according to the information such as the position, shape and size of the obstacle obtained in advance, the auxiliary point of the operation route is manually set by people so that the operation route avoids the obstacle, and then the unmanned aerial vehicle flies along the operation route to avoid the obstacle; the second is to directly generate a working route avoiding the obstacle by the existing working route generating algorithm.
Although both of the above-mentioned methods can achieve the purpose that the unmanned aerial vehicle flies away from the obstacle, in the working flight path generated by both of the above-mentioned methods, the shape of the part of the working flight path bypassing the obstacle is actually consistent with the shape of the contour edge of the obstacle, and the shape of the obstacle is usually odd and irregular, so the shape of the part of the working flight path bypassing the obstacle is irregular, that is, the shape of the working flight path generated by both of the above-mentioned methods is irregular. When the unmanned aerial vehicle flies along an irregular operation route, the direction needs to be continuously switched to avoid the obstacle. It is known that the more frequent the direction is switched, the more time the unmanned aerial vehicle consumes and the more energy it consumes. Therefore, the method for enabling the unmanned aerial vehicle to avoid the obstacle not only seriously reduces the operation efficiency of the unmanned aerial vehicle and increases the operation cost, but also is easy to cause accidents.
Therefore, in order to improve the above-mentioned drawbacks, embodiments of the present application provide a method, an apparatus, a storage medium, and an electronic device for determining a work path, which are capable of determining a regular work path and improving work efficiency of a work device. It should be noted that the defects of the solutions in the above prior art are the results obtained after the inventor has made practice and careful study, and therefore, the discovery process of the above problems and the solutions proposed by the embodiments of the present application in the following description should be the contribution of the inventor to the present application in the course of the present application.
Referring to fig. 1, a block diagram of an electronic device 100 according to an embodiment of the present disclosure is shown. The electronic device 100 may include a memory 110, a processor 120, a bus 130, and a communication interface 140, the memory 110, the processor 120, and the communication interface 140 being electrically connected to each other, directly or indirectly, to enable transmission or interaction of data. For example, the components may be electrically connected to each other via one or more buses 130 or signal lines. Processor 120 may process information and/or data related to the determination of the job path to perform one or more of the functions described herein. For example, the processor 120 may obtain a plurality of boundary points of an obstacle in the target area, and determine the work path according to the data, thereby implementing the method for determining the work path provided by the present application.
The Memory 110 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Read Only Memory (EPROM), an electrically Erasable Read Only Memory (EEPROM), and the like.
The processor 120 may be an integrated circuit chip having signal processing capabilities. The Processor 120 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
It will be appreciated that the configuration shown in FIG. 1 is merely illustrative and that the electronic device 100 may include more or fewer components than shown in FIG. 1 or may have a different configuration than shown in FIG. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
In practical applications, the electronic apparatus 100 may be a working apparatus itself, for example, the electronic apparatus 100 may be a working apparatus such as a drone, an unmanned vehicle, an unmanned ship, an autonomous vehicle, and the like. The electronic device 100 may also be a device capable of communicating with a working device, for example, the electronic device 100 may be a mobile phone, a server, a tablet computer, a notebook computer, an ultra-mobile personal computer (UMPC), a handheld computer, a netbook, a Personal Digital Assistant (PDA), a wearable terminal device, a virtual reality device, and the like, and thus the embodiment of the present application does not limit the type of the electronic device 100.
Furthermore, it can be understood that when the electronic device 100 is a work device itself, after determining a work path according to the determination method for a work path provided in the present application, it may perform a work according to the work path; when the electronic device 100 is a device capable of communicating with a working device, after determining a working path according to the method for determining a working path provided in the present application, the electronic device may send the working path to the working device, so that the working device performs a work according to the working path, which is not limited in the present application.
When the electronic device 100 is a working device itself, an application scenario of the electronic device 100 is further provided in the embodiment of the present application on the basis of fig. 1, please refer to fig. 2, where the electronic device 100 provided in the present application may execute the method for determining a working path provided in the present application, that is: acquiring a plurality of boundary points of an obstacle in a target area; determining a circumscribed polygon of the obstacle according to the plurality of boundary points; determining an expansion area of the barrier according to the circumscribed polygon and a preset expansion distance; the expansion area covers at least the obstacle; and determining a target operation path according to the expansion area and the preset operation data. Since the circumscribed polygon of the obstacle is determined from a plurality of boundary points of the obstacle, the determined circumscribed polygon is a regular figure compared with the shape of the obstacle itself. Accordingly, the shape of the expansion region determined according to the circumscribed polygon and the preset expansion distance is also regular, and thus the target work path is regular when the target work path is determined according to the expansion region and the preset work data. Furthermore, the electronic device 100 provided by the present application can determine a regular target operation path, and when the electronic device 100 provided by the present application flies along the target operation path, because the target operation path is regular, the times of switching directions of the electronic device 100 are few, and time and energy consumption are few, the electronic device 100 provided by the present application can rapidly bypass an obstacle, and the operation efficiency is high.
When the electronic device 100 is a device capable of communicating with a job device, an application scenario of the electronic device 100 is further provided in the embodiment of the present application on the basis of fig. 1, please refer to fig. 3, the electronic device 100 provided in the present application may be in communication connection with a job device 200, that is, the electronic device 100 and the job device 200 may transmit data to each other through a network. The electronic device 100 provided by the present application may execute the method for determining a job path provided by the present application, that is: acquiring a plurality of boundary points of an obstacle in a target area; determining a circumscribed polygon of the obstacle according to the plurality of boundary points; determining an expansion area of the barrier according to the circumscribed polygon and a preset expansion distance; the expansion area covers at least the obstacle; the target work path of the work apparatus 200 is determined according to the expansion area and the preset work data. After determining the target work path of the work device 200, the electronic device 100 provided by the present application may send the target work path to the work device 200, so that the work device 200 flies around the obstacle along the target work path.
Correspondingly, the electronic device 100 provided by the application can determine the regular target operation path, and the electronic device 100 provided by the application can send the target operation path to the operation device 200, so that when the operation device 200 flies along the target operation path, the target operation path is regular, the number of times of direction switching of the operation device 200 is small, and time and energy consumption are low, so that the electronic device 100 provided by the application can determine the regular operation path, and the operation efficiency of the operation device 200 is improved.
It should be noted that the target area described in the present application may be an actual spatial area selected from environmental spaces such as a circle layer outside the earth, a circle layer inside the earth, and an outer space, for example, the target area may be a partial or whole spatial area in a geographic environment such as a rice field, a wheat field, a fruit forest, a tree forest, a tea garden, a fishing ground, a lake, an ocean, the sky, and the outer space, and therefore, the present application does not limit a specific geographic type of the target area. In addition, in practical application, the operation equipment can be unmanned aerial vehicles, unmanned ships, automatic driving vehicles and other equipment, and the equipment is not limited in the application.
For convenience of understanding, the following embodiments of the present application will specifically describe a method for determining a job path provided by the embodiments of the present application, by taking the electronic device 100 shown in fig. 1 and the application environments shown in fig. 2 and 3 as examples, and referring to the drawings.
Referring to fig. 4, fig. 4 is a flowchart illustrating a method for determining a job path according to an embodiment of the present application. The method for determining the job path may be applied to the electronic apparatus 100 described above, and the method for determining the job path may include the steps of:
s100, acquiring a plurality of boundary points of the obstacle in the target area.
In some possible embodiments, the storage medium of the electronic device 100 may store therein map data corresponding to the target area, and the map data includes therein shape data of at least one obstacle; alternatively, the electronic device 100 may acquire the map data corresponding to the target area from another device (e.g., a server, a cloud platform, a surveying and mapping drone, etc.), and therefore, the manner in which the electronic device 100 acquires the target area is not limited in the present application.
The boundary points may be understood as points on the boundary of the obstacle, and as to how to acquire the plurality of boundary points of the obstacle in the target region, the electronic device 100 may arbitrarily select a preset number of points from all the points on the boundary of the obstacle as the boundary points according to the shape data of the obstacle. Referring to fig. 5, for convenience of describing how to obtain a plurality of boundary points of an obstacle in an application scenario in conjunction with fig. 2, assuming that the obstacle has a circular shape, the electronic device 100 may arbitrarily select 4 points (point 1, point 2, point 3, and point 4, respectively) from all points on the boundary of the obstacle as the boundary points according to the shape data of the obstacle.
Alternatively, the electronic apparatus 100 may select a predetermined number of points from all points on the boundary of the obstacle as the boundary points according to the shape data of the obstacle, and the predetermined number of points equally divide the boundary of the obstacle. For example, referring to fig. 6 in conjunction with the obstacle in the application scenario of fig. 2, in order to describe how to obtain a plurality of boundary points of the obstacle, assuming that the shape of the obstacle is a circle, the electronic device 100 may select 4 points (point a, point B, point C, and point D, respectively) from all points on the boundary of the obstacle according to the shape data of the obstacle, and ensure that the 4 points equally divide the boundary of the circle, and then use the 4 points as the boundary points. Further, it can be understood that the present application does not limit the features that the obtained multiple boundary points of the obstacle meet (i.e., how to obtain the multiple boundary points of the obstacle in the target area), and in practical applications, other feasible selection manners of the multiple boundary points of the obstacle may be adopted according to actual requirements.
And S110, determining a circumscribed polygon of the obstacle according to the plurality of boundary points.
After acquiring the plurality of boundary points of the obstacle in the target area, the electronic device 100 may sequentially connect the plurality of boundary points to form a circumscribed polygon of the obstacle. For example, referring to fig. 7 in addition to fig. 5, in order to describe how to obtain a plurality of boundary points of an obstacle, assuming that the shape of the obstacle is a circle, the electronic apparatus 100 may select 4 points (point a, point B, point C, and point D, respectively) from all points on the boundary of the obstacle as a plurality of boundary points of the obstacle, then sequentially connect the 4 points, and then sequentially connect the 4 points to form a polygon as a circumscribed polygon of the obstacle. For how to connect the plurality of boundary points in sequence to obtain the circumscribed polygon of the obstacle, the plurality of boundary points may be connected in sequence according to the clockwise and/or counterclockwise direction of the boundary of the obstacle to obtain the circumscribed polygon. Alternatively, all adjacent two boundary points of the plurality of boundary points of the obstacle may be connected to obtain a circumscribed polygon of the obstacle.
In addition, two adjacent boundary points of the plurality of boundary points of the obstacle described in the present application may be understood as follows: two boundary points next to each other in the clockwise and/or counterclockwise direction along the boundary of the obstacle, for example, as shown in fig. 7, in the clockwise and/or counterclockwise direction along the boundary of the obstacle, points 1 and 2 are adjacent two boundary points, points 2 and 3 are adjacent two boundary points, and points 1 and 3 are not adjacent two boundary points.
It is understood that, since the area surrounded by the determined circumscribed polygon is a single connected area when the circumscribed polygon of the plurality of points is determined from the plurality of points, the circumscribed polygon of the obstacle determined from the plurality of boundary points may be a single connected area (i.e., a closed area). In addition, the perimeter of the circumscribed polygon can be calculated, and the boundary data of the circumscribed polygon can be determined.
S120, determining an expansion area of the barrier according to the circumscribed polygon and a preset expansion distance; the expansion area covers at least the obstacle.
After determining the circumscribed polygon of the obstacle, the electronic device 100 may expand the circumscribed polygon outward by a preset expansion distance to obtain an expanded polygon as an expansion area of the obstacle. In other words, the electronic device 100 may expand each side of the circumscribed polygon by a preset expansion distance, then extend each expanded side, and determine the polygon with the expanded sides extending and intersecting as the expansion area of the obstacle. For example, as shown in fig. 8, for convenience of describing how to obtain a plurality of boundary points of an obstacle, it is assumed that the shape of the obstacle is a circle, and it is assumed that a polygon circumscribing the obstacle determined by the electronic device 100 is a 1234 polygon, where the polygon includes four sides, which are: 12, 23, 34, and 41, the electronic device 100 may respectively translate the four edges in a direction away from the obstacle by a preset expansion distance to obtain four translated edges, then extend the four translated edges to obtain four extended straight lines, and obtain intersection points of the four straight lines, where the intersection points are respectively: and determining a polygon formed by the points a, b, c and d as an expansion area of the obstacle.
In practical applications, the preset expansion distance is related to factors such as the size of the position and the shape of the obstacle and the actual operation requirements, that is, the size of the preset expansion distance may be determined according to the position and the shape data of the obstacle and the operation requirements.
In addition, when the electronic device 100 translates the four edges in the direction away from the obstacle by the preset expansion distance, the translation distances of the edges may be different or the same, which is not limited in this application. Furthermore, it can be understood that the specific manner of how to determine the expansion area of the obstacle according to the circumscribed polygon and the preset expansion distance is not limited in the present application, and the specific manner can be selected according to actual requirements in actual applications.
It should be noted that, in order to achieve that the working device can bypass the obstacle and avoid the working device colliding with the obstacle, the expansion area should at least cover the obstacle.
It will also be appreciated that when a plurality of obstacles are present in the target area, a corresponding inflation area may be determined for each obstacle using the above-described methods S100-S120 provided herein. And after determining the expansion area corresponding to each obstacle and obtaining a plurality of expansion areas, judging whether the plurality of expansion areas have overlapped expansion areas, if so, combining all the overlapped expansion areas, and finally obtaining a plurality of closed expansion areas. In other words, if the expansion areas of two or more obstacles overlap partially after the boundary is extended, the expansion areas with the overlap are combined into one expansion area. And the like until all the expansion areas are combined, and finally a plurality of closed expansion areas are obtained.
Based on the above description, it is clear that, since the shape of the circumscribed polygon of the determined obstacle is more regular than the shape of the boundary of the obstacle itself, the shape of the circumscribed polygon is also irregular, and thus the shape of the expansion area of the obstacle is determined according to the circumscribed polygon and the preset expansion distance.
And S130, determining a target operation path of the operation equipment according to the expansion area and the preset operation data.
In some possible embodiments, the preset job data may be understood as data for planning a target job path of the work equipment, for example, the preset job data may include position shape size data of a target job area of the target job area, boundary data, job demand data of the work equipment, initial position data of the work equipment, and the like.
Because the shape of the expansion area is regular, when the target operation path of the operation equipment is determined according to the expansion area and the preset operation data, an obstacle detouring path matched with the regular expansion area can be generated, then the obstacle detouring path is used as a part of the target operation path, and the determined obstacle detouring path of the target operation path is regular. The operation equipment moves along the regular target operation path and moves to the obstacle detouring path, and the obstacle detouring path is regular, so that the times of direction switching of the operation equipment are few, time consumption and energy consumption are low, and the purposes of determining the regular operation path and improving the operation efficiency of the operation equipment are achieved. For example, when the target working path of the working device is determined according to the expansion area and the preset working data, a path planning algorithm may be adopted to make a path portion of the target working path bypassing the obstacle coincide with a partial boundary of the expansion area, so as to realize that the determined obstacle bypassing path of the target working path is regular.
It should be noted that, before the application of the present application, since the existing work path determining methods are based on actual obstacle boundary data, and the obstacle boundary data are usually irregular, the existing work path determining methods cannot determine a regular work path.
It should be added that the present application does not limit the dimensions in the method for determining the working path to two dimensions, and the dimensions of the obstacle, the boundary points, the circumscribed polygon, the expansion area, and the target working path provided in the embodiments of the present application may actually be three dimensions. Therefore, only the two-dimensional schematic diagram is illustrated herein, and on the basis of the solution shown in the embodiment of the present application, a person skilled in the art can implement the technical solution of the present application in a three-dimensional environment without creative efforts, and details are not described here.
It should be understood that since the circumscribed polygon of the obstacle is determined based on a plurality of boundary points of the obstacle, the determined circumscribed polygon is a regular figure compared to the shape of the obstacle itself. Accordingly, the shape of the expansion region determined according to the circumscribed polygon and the preset expansion distance is also regular, and thus the target work path is regular when the target work path is determined according to the expansion region and the preset work data. Furthermore, the method and the device can determine the regular operation path, improve the operation efficiency of the operation equipment and reduce the possibility of accidents.
Further, regarding how to obtain a plurality of boundary points of the obstacle in the target area, with reference to fig. 9 on the basis of fig. 4, S100 may include:
S100A, a target point is obtained on the obstacle.
In some possible embodiments, the target point may be any point on the obstacle, may be a center point of the obstacle, and may even be any point on a boundary of the obstacle. For convenience of explaining how to acquire a plurality of boundary points of an obstacle, assuming that the shape of the obstacle is a circle, as shown by (i) in fig. 10, the electronic apparatus 100 may arbitrarily select one point on the obstacle as a target point; as shown in fig. 10, the electronic apparatus 100 may take the center of the obstacle as a target point; as shown in fig. 10 c, the electronic device 100 may arbitrarily select a point on the boundary of the obstacle as the target point, and it is understood that the specific position of the target point is not limited in the present application.
The center point of the obstacle can be understood as the centroid point of the irregular obstacle, since the shape of the obstacle is usually irregular.
And S100B, determining a plurality of straight lines according to the target points.
In some possible embodiments, after the target point is acquired from the obstacle, the electronic device 100 may further make a plurality of straight lines, and each straight line passes through the target point. As shown in fig. 11, assuming that the acquired target point is located on the boundary of the obstacle, the electronic device 100 may make four straight lines, L1, L2, L3, and L4 through the target point.
It is understood that, in order to make the determined shape of the circumscribed polygon cover the obstacle as much as possible, when determining the plurality of straight lines from the target point, it may be: and determining a plurality of straight lines through the target point, wherein an included angle between two adjacent straight lines is a preset angle value. As shown in fig. 12, assuming that the acquired target point is located on the boundary of the obstacle, the electronic device 100 may make eight straight lines, L1, L2, L3, L4, L5, L6, L7, and L8, through the target point, and an included angle between two adjacent straight lines of the eight straight lines is 22.5 °. Wherein, the two adjacent straight lines can be understood as: two straight lines next to each other in the clockwise and/or counterclockwise direction with the target point as the center, for example, as shown in fig. 12, L1 and L2 are two adjacent straight lines, L2 and L3 are two adjacent straight lines, and L1 and L3 are not two adjacent straight lines in the clockwise and/or counterclockwise direction with the target point as the center.
In addition, the preset angle value is related to the resolution of the working path and the actual working requirement, that is, the size of the preset angle value may be determined according to the resolution of the working path, the actual working requirement, and the like.
It should be understood that, when determining the plurality of straight lines according to the target point, the plurality of straight lines are determined through the target point, and an included angle between two adjacent straight lines is a preset value. The plurality of boundary points determined by the method are distributed more uniformly on the boundary of the obstacle, and the aim of enabling the determined shape of the circumscribed polygon to cover the obstacle as much as possible is fulfilled.
In some other possible embodiments, in order to make the determined shape of the circumscribed polygon cover the obstacle as much as possible, when determining the plurality of straight lines from the target point, it is further possible to: and determining a plurality of straight lines through the target point, wherein the minimum included angle between any straight line and other straight lines is a preset angle value, and the straight lines are intersected with the barrier. As shown in fig. 13, assuming that the acquired target point is located on the boundary of the obstacle, the electronic device 100 may make six straight lines, L1, L2, L3, L4, L5, and L6, respectively, through the target point, and a minimum included angle between any one of the six straight lines and the other straight lines is 22.5 °.
It should be understood that the plurality of straight lines are determined in the above-mentioned manner of "determining a plurality of straight lines through the above-mentioned target point, and the minimum included angle between any one straight line and the other straight lines is a preset angle value, and the plurality of straight lines all intersect with the obstacle". The straight lines determined by the method are intersected with the barrier, and the determined boundary points are distributed more uniformly on the boundary of the barrier, so that the aim of enabling the determined shape of the circumscribed polygon to cover the barrier as much as possible is fulfilled, and the efficiency of determining the straight lines is improved.
S100C, a plurality of intersections of the plurality of straight lines and the boundary of the obstacle are determined as a plurality of boundary points.
After determining the straight lines, the straight lines may have a plurality of intersection points with the boundary of the obstacle, and the electronic device 100 may determine the intersection points as the plurality of boundary points, that is, the plurality of boundary points as the plurality of intersection points of the straight lines with the boundary of the obstacle. Referring to fig. 11, with reference to fig. 14, assuming that the determined straight lines include L1, L2, L3, and L4, an intersection point of L1 and the boundary of the obstacle is a1, an intersection point of L2 and the boundary of the obstacle is a2, an intersection point of L3 and the boundary of the obstacle is A3, and an intersection point of L4 and the boundary of the obstacle is a4, the electronic device 100 may determine a1, a2, A3, and a4 as the boundary points. And determining a circumscribed polygon of the obstacle according to the plurality of boundary points.
Further, in order to further improve the efficiency of acquiring the boundary points of the obstacle in the target area, for how to acquire a target point on the obstacle, S100A may include: the most prominent point of the obstacle is determined as the target point.
In some possible embodiments, the most prominent point may be a boundary point on the boundary of the obstacle that is farthest from the center point (or centroid) of the obstacle. The electronic device 100 may determine the most prominent point on the obstacle as the target point, and it should be noted that the most prominent point may be understood as the most outward convex point on the boundary of the obstacle, and due to the different shapes of the different obstacles, the most outward convex point may be located on the left side of the obstacle or on the right side of the obstacle, and it is understood that the specific position thereof is determined according to the shape of the obstacle.
Further, through detailed observation by the inventors, it has been found that, on a map, a most prominent point on an obstacle is usually located at a boundary point on the boundary of the obstacle closest to the left of the map, and when the most prominent point of the obstacle is determined as a target point, it is also possible to: the boundary point of the obstacle closest to the left of the map is determined as the target point.
It should be understood that, when the determined target point is the most prominent point of the obstacle, "determining a plurality of straight lines through the target point, where the minimum included angle between any straight line and other straight lines is a preset angle value, and the straight lines all intersect with the obstacle" can use the minimum number of straight lines to achieve that the determined boundary points are more uniformly distributed on the boundary of the obstacle, thereby achieving the purpose of further improving the efficiency of obtaining the boundary points of the obstacle in the target area.
In some possible embodiments, when the preset job data includes the preset job path, regarding how to determine the target job path of the working device according to the expansion area and the preset job data, referring to fig. 15, S130 may include, on the basis of fig. 4:
s130, 130A, judging whether the preset operation path intersects with the expansion area; when the preset work path intersects the expansion region, S130B is performed.
It can be understood that when the preset working path does not intersect with the expansion region, the working device does not collide with the obstacle when moving along the preset working path, and thus the preset working path can be taken as the target working path.
S130B, a target work path is generated according to the expansion region and the preset work path so that the work equipment bypasses the obstacle along the target work path.
When the preset operation path intersects with the expansion area, the electronic device 100 may generate an obstacle detouring path matched with the regular expansion area, and then replace a part of the preset operation path intersecting with the obstacle detouring path to obtain a target operation path, so as to implement the operation device to detour the obstacle along the target operation path. For example, an obstacle detouring path which is consistent with the shape of the boundary of the expansion area and is positioned away from the expansion area by a preset distance can be planned again, and then a part of the preset working path which is intersected with the obstacle is replaced by the obstacle detouring path, so that the target working path is obtained.
Further, as to how to generate the target operation path according to the expansion region and the preset operation path, referring to fig. 16, S130A may include:
S130A-1, when the preset work path intersects the expansion region, determining a blocked path of the preset work path according to the expansion region, and determining an intersection point of the preset work path and the expansion region.
The blocked path may be understood as a partial path of the preset working path intersecting the expansion region, and the intersection point may be understood as an intersection point of the preset working path and a boundary of the expansion region. As shown in fig. 17, it is assumed that the shape of the obstacle is very irregular (as shown in fig. 17), and after the expansion region of the obstacle is determined, the preset working path intersects the expansion region. At this time, the electronic device 100 may determine that the "X1-X2 segment" of the preset operation path is the blocked path, and the X1 point and the X2 point are the intersection points of the preset operation path and the expansion area.
S130A-2, determining a detour path according to the intersection point and the boundary of the expansion area.
In some possible embodiments, the intersection point may be determined as an end point of the detour path, and the partial boundary of the expansion region may be determined as the detour path, so that the detour path is matched with the boundary of the expansion region. For example, after determining the blocked path and the intersection point, as shown in FIG. 17, electronic device 100 may determine the partial boundaries "X1-a line segment, a-d line segment, d-X2 line segment" of the inflation region as the detour path.
S130A-3, the blocked path of the preset work path is replaced by the detour path, and the target work path is obtained.
With reference to fig. 17, after determining "X1-a segment, a-d segment, and d-X2 segment" as the detour path, the electronic device 100 may replace the blocked path "X1-X2 segment" of the preset operation path with the detour path, that is: the "X1-X2 segment" is replaced with "X1-a segment, a-d segment, d-X2 segment", and at this time, the resulting target work path is "W1-X1-a-d-X2-W2 segment". When the working equipment moves along the target working path, the working equipment firstly moves from a point W1 to a point X1, and then moves along an X1-a line segment, an a-d line segment, a d-X2 line segment and an X2-W2 line segment in sequence, so that the obstacle is successfully bypassed.
It should be understood that, during this moving process, the working device only needs to turn around at the point X1, the point a, the point d and the point X2, respectively, so as to bypass the obstacle, in the prior art, for the irregular obstacle, when the working device bypasses the obstacle, because the boundary of the irregular obstacle is uneven, when the working device bypasses the obstacle based on the prior art, the working device has to turn around along the shape of the boundary of the obstacle, the number of turns is proportional to the degree of irregularity of the boundary of the obstacle, and compared with the prior art, the number of times of direction switching is small, the time consumption and the energy consumption are small when the working device moves along the target working path, so the electronic device 100 provided by the present application can determine the regular working path, and improve the working efficiency of the working device.
The above-described method for determining the operation path is further explained with reference to practical applications.
Before determining the target work path of the work equipment according to the expansion area and the preset work data, the method for determining the work path provided by the application may further include:
And 2, generating a preset operation path of the target area according to the high-definition map data of the target area.
In step 1, the electronic device 100 may acquire a map corresponding to the target area, and coordinate the map according to a scaling of the map to obtain high definition map data, where the acquisition manner of the map corresponding to the target area may be to acquire a map stored in a storage medium of another device through network sharing, or to receive a map sent by another device through mapping. After acquiring the high-definition map data, the electronic device 100 may further identify a target area in the high-definition map data, and data such as a position, a shape, a size, a boundary, a vertex, and the like of the target area.
For step 2, the electronic device 100 may generate a preset job path of the job device in the target area according to data such as the position, shape, size, boundary, job requirement, and initial position of the job device of the target area.
For the above step 3, please refer to the flowchart shown in fig. 18:
firstly, the electronic device 100 may first determine whether the target area includes an obstacle; if the target area contains the obstacle, executing the step II; if the target area does not contain the obstacle, executing the step (sixthly).
Step two, the electronic device 100 may first determine the position of the obstacle, assign an obstacle number to the obstacle, generate an external polygon of the obstacle according to the boundary of the obstacle and the preset expansion distance, and expand the external polygon to obtain the expansion area of the obstacle (refer to S110 and S120, which are not described herein again).
Step three, the electronic device 100 can also judge whether an obstacle exists in the target area, and if so, the electronic device returns to the step two; if not, executing the step (iv).
And fourthly, combining the expansion areas with the overlapped areas into one expansion area according to the number of each obstacle, and repeating the steps until all the expansion areas are combined, finally obtaining a plurality of closed expansion areas, and then reassigning the numbers to all the expansion areas.
Judging whether the preset operation path intersects with the expansion area; when the preset operation path intersects with the expansion area, a target operation path is generated according to the expansion area and the preset operation path, so that the operation device bypasses the obstacle along the target operation path (refer to the above-mentioned S130A and S130B, which are not described herein again); when the preset operation path does not intersect with the expansion area, the preset operation path is directly used as a target operation path, so that the operation equipment can move along the target operation path to bypass the obstacle.
And sixthly, directly taking the preset operation path as a target operation path so that the operation equipment can move along the target operation path to bypass the obstacle.
In addition, before determining the target work path of the work equipment according to the expansion area and the preset work data, the method for determining the work path provided by the present application may also include: the method comprises the steps of obtaining high-definition map data of a target area, determining an expansion area for each obstacle in the target area according to the high-definition map data of the target area, and finally determining a target operation path according to the expansion areas so that operation equipment can move along the target operation path to bypass the obstacle.
In order to execute the corresponding steps in the foregoing embodiments and various possible manners, an implementation manner of the apparatus for determining a job path is given below, please refer to fig. 19, and fig. 19 shows a functional block diagram of the apparatus for determining a job path provided by the embodiment of the present application. It should be noted that the basic principle and the resulting technical effects of the apparatus 300 for determining a working path provided in the present embodiment are the same as those of the above embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the above embodiments for parts of this embodiment that are not mentioned. The job path determination device 300 includes: an acquisition module 310 and a path determination module 320.
Alternatively, the modules may be stored in a memory in the form of software or Firmware (Firmware) or be fixed in an Operating System (OS) of the electronic device 100 provided in the present application, and may be executed by a processor in the electronic device 100. Meanwhile, data, codes of programs, and the like required to execute the above modules may be stored in the memory.
The acquisition module 310 may be used to acquire a plurality of boundary points of an obstacle in a target area.
It is to be appreciated that the acquisition module 310 can be utilized to support the electronic device 100 in performing the above-described S100, etc., and/or other processes for the techniques described herein, e.g., S100A, S100B, S100C, etc.
The path determination module 320 may be configured to determine a bounding polygon of the obstacle from the plurality of boundary points.
It will be appreciated that path determination module 320 may be used to support electronic device 100 in performing the above-described S110, and/or the like, and/or other processes for the techniques described herein.
The path determining module 320 may be further configured to determine an expansion area of the obstacle according to the circumscribed polygon and a preset expansion distance.
It will be appreciated that path determination module 320 may be used to support electronic device 100 in performing the above-described S120, and/or the like, and/or other processes for the techniques described herein.
The path determination module 320 may be further configured to determine a target work path of the work equipment according to the expansion area and preset work data.
It is to be appreciated that the path determination module 320 may be utilized to support the electronic device 100 in performing the above-described S130, etc., and/or other processes for the techniques described herein, e.g., S130A, S130B, S130A-1, S130A-2, S130A-3, etc.
Based on the above method embodiment, the present application further provides a computer readable storage medium, where a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the computer program performs the steps of the method for determining a job path.
Specifically, the storage medium may be a general-purpose storage medium, such as a removable disk, a hard disk, and the like, and when a computer program on the storage medium is executed, the method for determining the operation path may be executed, so that the problems that the operation efficiency of the operation equipment is seriously reduced, the operation cost is increased, and an accident is easily caused by the current method for planning the operation path of the operation equipment are solved, the determination of the regular operation path is realized, the operation efficiency of the operation equipment is improved, and the possibility of the accident occurrence is reduced.
In summary, embodiments of the present invention provide a method, an apparatus, a storage medium, and an electronic device for determining a job path, where the method includes: acquiring a plurality of boundary points of an obstacle in a target area; determining a circumscribed polygon of the obstacle according to the plurality of boundary points; determining an expansion area of the barrier according to the circumscribed polygon and a preset expansion distance; the expansion area covers at least the obstacle; and determining a target working path of the working equipment according to the expansion area and preset working data. Since the circumscribed polygon of the obstacle is determined from a plurality of boundary points of the obstacle, the determined circumscribed polygon is a regular figure compared with the shape of the obstacle itself. Accordingly, the shape of the expansion region determined according to the circumscribed polygon and the preset expansion distance is also regular, and thus the target work path is regular when the target work path is determined according to the expansion region and the preset work data. Furthermore, the method and the device can determine the regular work path and improve the work efficiency of the work equipment.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A method for determining a job path, comprising:
acquiring a plurality of boundary points of an obstacle in a target area;
determining a circumscribed polygon of the obstacle according to the plurality of boundary points;
determining an expansion area of the barrier according to the circumscribed polygon and a preset expansion distance; the expanded region covers at least the obstacle;
determining a target operation path of the operation equipment according to the expansion area and preset operation data;
the step of acquiring a plurality of boundary points of an obstacle in a target region includes:
acquiring a target point on the obstacle;
determining a plurality of straight lines according to the target point;
determining a plurality of intersections of the plurality of straight lines with boundaries of the obstacle as the plurality of boundary points.
2. The method of claim 1, wherein the step of acquiring a target point on the obstacle comprises:
determining the most prominent point of the obstacle as the target point.
3. The method of claim 1, wherein when the preset job data includes a preset job path, the step of determining a target job path of the work equipment based on the expanded region and the preset job data comprises:
judging whether the preset operation path is intersected with the expansion area or not;
when the preset operation path is intersected with the expansion area, a target operation path is generated according to the expansion area and the preset operation path, so that the operation equipment bypasses the obstacle along the target operation path.
4. The method of claim 3, wherein the step of generating a target work path from the expanded region and the preset work path when the preset work path intersects the expanded region comprises:
when the preset operation path is intersected with the expansion area, determining a blocked path of the preset operation path according to the expansion area, and determining an intersection point of the preset operation path and the expansion area;
determining a detour path according to the intersection point and the boundary of the expansion area;
and replacing the blocked path of the preset operation path with the detour path to obtain the target operation path.
5. An apparatus for determining a working path, comprising:
an acquisition module for acquiring a plurality of boundary points of an obstacle in a target area;
a path determining module, configured to determine a circumscribed polygon of the obstacle according to the plurality of boundary points;
the path determining module is further configured to determine an expansion area of the obstacle according to the circumscribed polygon and a preset expansion distance; the expanded region covers at least the obstacle;
the path determining module is further used for determining a target operation path of the operation equipment according to the expansion area and preset operation data;
the acquisition module is used for acquiring a target point on the barrier;
the acquisition module is further used for determining a plurality of straight lines according to the target point;
the obtaining module is further configured to determine a plurality of intersection points of the plurality of straight lines and the boundary of the obstacle as the plurality of boundary points.
6. The apparatus of claim 5, wherein the acquisition module is configured to determine a most prominent point of the obstacle as the target point.
7. The apparatus of claim 5, wherein when the pre-set job data includes a pre-set job path, the path determination module is configured to determine whether the pre-set job path intersects the expansion region;
the path determining module is further configured to generate a target operation path according to the expansion area and the preset operation path when the preset operation path intersects with the expansion area, so that the operation device bypasses the obstacle along the target operation path.
8. The apparatus of claim 7, wherein the path determination module is configured to determine a blocked path of the preset working path according to the expansion region and determine an intersection point of the preset working path and the expansion region when the preset working path intersects the expansion region;
the path determination module is further used for determining a detour path according to the intersection point and the boundary of the expansion area;
the path determining module is further configured to replace a blocked path of the preset job path with the detour path to obtain the target job path.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method of determining a job path according to any one of claims 1-4.
10. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine readable instructions which, when the electronic device is operating, communicate with the memory via the bus, the processor executing the machine readable instructions to perform the method of determining a job path according to any one of claims 1 to 4.
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| WO2022126352A1 (en) * | 2020-12-15 | 2022-06-23 | 深圳市优必选科技股份有限公司 | Robot obstacle avoidance method and apparatus, robot, and storage medium |
| CN113693494B (en) * | 2021-02-10 | 2023-11-14 | 北京石头创新科技有限公司 | Map drawing method and device, medium and electronic equipment |
| CN114492981B (en) * | 2022-01-24 | 2024-04-05 | 浙江维创盈嘉科技有限公司 | Logistics distribution method and equipment based on cooperation of multiple unmanned aerial vehicles |
| CN114332140B (en) * | 2022-03-16 | 2022-07-12 | 北京文安智能技术股份有限公司 | Method for processing traffic road scene image |
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| CN114378834B (en) * | 2022-03-23 | 2022-06-17 | 季华实验室 | Mechanical arm obstacle avoidance path planning method and device, electronic equipment and storage medium |
| WO2024180725A1 (en) * | 2023-03-01 | 2024-09-06 | 日本電気株式会社 | Information processing device, control method, and computer-readable recording medium |
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