CN113124849A - Indoor path planning method and device, electronic equipment and storage medium - Google Patents
Indoor path planning method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses an indoor path planning method and device, electronic equipment and a storage medium. By acquiring a grid map of the area to be planned and traversing the area to be planned with an initial point of the grid map as a starting point, determining at least one point to be traversed of the current traversal point, estimating a track formed by the at least one point to be traversed according to a form type and/or a unit trend formed by the point to be traversed and the current traversal point, determining a target point to be traversed from the at least one point to be traversed based on an estimation result, the path of the area to be planned is determined according to the current traversal point and the target point to be traversed, the estimation of the planned path in the traversal process can be realized, the problems of low cleaning efficiency and large calculation amount in the prior art are solved, the estimation of the planned path in the traversal process is realized, and determining an ideal target point to be traversed according to the estimation result, thereby realizing the effects of reducing the calculated amount in the traversing process and improving the traversing efficiency.
Description
Technical Field
The embodiment of the invention relates to an indoor navigation technology, in particular to an indoor path planning method and device, electronic equipment and a storage medium.
Background
In recent years, with the gradual maturity of outdoor navigation technology, indoor path planning is also emerging. Because of the complexity of indoor environments, indoor path planning also presents many challenges in navigation efficiency and in meeting user behavior expectations.
In the prior art, indoor planning methods adopted by indoor robots are many, for example, when random overlay type cleaning, a random collision method, a neural network method and a region segmentation method are adopted, but the methods all have the defects of low cleaning efficiency, large calculation amount, difficulty in realizing global optimization in a complex environment and the like, and the indoor planning execution effect is not good.
Disclosure of Invention
The embodiment of the invention provides an indoor path planning method, an indoor path planning device, electronic equipment and a storage medium, and aims to achieve the effect of planning a global optimal path in a short time.
In a first aspect, an embodiment of the present invention provides an indoor path planning method, where the method includes:
acquiring a grid map of an area to be planned, and traversing the area to be planned by taking an initial point of the grid map as a starting point;
for a current traversal point, determining at least one point to be traversed of the current traversal point, wherein the point to be traversed is an unretraversed point adjacent to the current traversal point in a passable area in the grid map;
estimating the track formed by the at least one point to be traversed according to the form type and/or the unit trend formed by the point to be traversed and the current traversal point;
and determining a target point to be traversed from the at least one point to be traversed based on the evaluation result, and determining a path of the area to be planned according to the current traversal point and the target point to be traversed.
In a second aspect, an embodiment of the present invention further provides an indoor path planning apparatus, where the indoor path planning apparatus includes:
the traversal module is used for acquiring a grid map of an area to be planned and traversing the area to be planned by taking an initial point of the grid map as a starting point;
a to-be-traversed point determining module, configured to determine, for a current traversed point, at least one to-be-traversed point of the current traversed point, where the to-be-traversed point is an unretraversed point adjacent to the current traversed point in a passable area in the grid map;
the evaluation module is used for evaluating a track formed by the at least one point to be traversed according to the form type and/or the unit trend formed by the point to be traversed and the current traversal point;
and the planning path determining module is used for determining a target point to be traversed from the at least one point to be traversed by using an estimation result, and determining a path of the area to be planned according to the current traversal point and the target point to be traversed.
In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor, when executing the computer program, implements the indoor path planning method according to any one of the first aspect.
In a fourth aspect, embodiments of the present invention further provide a storage medium containing computer-executable instructions, where the computer-executable instructions, when executed by a computer processor, implement the indoor path planning method according to any one of the first aspect.
The technical proposal provided by the embodiment of the invention traverses the area to be planned by acquiring the grid map of the area to be planned and taking the initial point of the grid map as the starting point, determining at least one point to be traversed of the current traversal point, estimating a track formed by the at least one point to be traversed according to a form type and/or a unit trend formed by the point to be traversed and the current traversal point, determining a target point to be traversed from the at least one point to be traversed based on an estimation result, the path of the area to be planned is determined according to the current traversal point and the target point to be traversed, the estimation of the planned path in the traversal process can be realized, the problems of low cleaning efficiency and large calculation amount in the prior art are solved, the estimation of the planned path in the traversal process is realized, and determining an ideal target point to be traversed according to the estimation result, thereby realizing the effects of reducing the calculated amount in the traversing process and improving the traversing efficiency.
Drawings
Fig. 1 is a schematic flow chart of an indoor path planning method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of an indoor path planning method according to a second embodiment of the present invention;
FIG. 3a is a schematic diagram illustrating a second embodiment of the path provided by the present invention;
FIG. 3b is a schematic diagram illustrating another embodiment of the path provided by the second embodiment of the present invention;
fig. 4 is a schematic flow chart of an indoor path planning method according to a third embodiment of the present invention;
fig. 5a is a schematic diagram of a grid map according to a third embodiment of the present invention;
fig. 5b is a schematic diagram of a grid map obtained by performing obstacle processing on the grid map according to a third embodiment of the present invention;
fig. 6 is a schematic flow chart of an indoor path planning method according to a fourth embodiment of the present invention;
fig. 7 is a schematic structural diagram of an indoor path planning apparatus according to a fifth embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device according to a sixth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic flow chart of an indoor path planning method according to an embodiment of the present invention, which is applicable to a complex environment with an irregular shape and many obstacles, and a situation that a globally superior path is planned in a short time. Referring specifically to fig. 1, the method may include the steps of:
s110, obtaining a grid map of the area to be planned, and traversing the area to be planned by taking an initial point of the grid map as a starting point.
The area to be planned may be any indoor area, such as a parking lot, a shopping mall, a building under construction, a subway station, an airport, and the like. The grid map may be understood as one or more sets of matrices obtained by reducing a map image of an area to be planned according to a specific scale, and the position information of an object on the map image may be represented by coordinate information on the matrices. Alternatively, a breadth first algorithm may be employed to traverse all grid points.
The initial point may be any coordinate point on the grid map that does not belong to the obstacle area. For example, when the grid map is created, each point is given coordinate information, an absolute zero point is set, the initial point may be the absolute zero point or another coordinate point different from the absolute zero point, and the present embodiment is not particularly limited to the position of the initial point.
In this embodiment, when the moving object moves on the grid map, in order to obtain more planned paths, the size of the grid map may be smaller than the size of the moving object, for example, the size of the grid is one half, one third, or one fourth of the size of the moving object. In this way, when the moving object passes through the region to be planned with the initial point as the starting point, the grid size is used as the moving step length, and more paths can be obtained. Compared with the prior art that the size of the moving object is used as the moving step length, the purpose of more finely planning the path can be achieved.
And S120, determining at least one to-be-traversed point of the current traversal point for the current traversal point.
The current traversal point may be understood as any one point of the grid map that is not traversed, may be an initial point, or may be any one grid point in the traversal process, and the point to be traversed of the current traversal point may be an unretraversed point adjacent to the current traversal point in a passable area of the grid map. For example, the points to be traversed are grid points on the upper side, the lower side, the left side and the right side of the current traversal point.
It is understood that any one of the areas to be planned may include a passable area and an obstacle area, and different attribute values are previously configured for the passable area and the obstacle area when the grid map is generated. For example, the passable area has an attribute value of 0, and the obstacle area has an attribute value of 1. Illustratively, for the traversal of the current traversal point, non-traversal points with the attribute value of 0 are searched in the four directions of the upper direction, the lower direction, the left direction and the right direction of the current traversal point to determine the next point to be traversed, namely, at least one point to be traversed is determined.
S130, estimating a track formed by at least one point to be traversed according to the form type and/or the unit trend formed by the point to be traversed and the current traversal point.
The form category may be understood as the trend of a path formed from a point to be traversed to a current traversal point, such as a straight-going form, a turning form, and the like; the cell orientation may be understood as a direction from a point to be traversed to a grid included in a current traversal point, and two grids may be taken as a cell, and the direction of the cell is determined, for example, the cell of the grid is determined to be a horizontal direction or a vertical direction.
It can be understood that, in order to purposefully select the point to be traversed during the traversal process, the formed trajectory may be evaluated according to the morphological category and/or the unit trend formed by the point to be traversed and the current traversal point during the traversal process, so as to subsequently determine the point to be traversed capable of forming a better path according to the evaluation result. Therefore, by estimating the formed track in the traversal process, the better candidate point can be selected in real time, the better path can be determined in real time, and the path planning efficiency can be improved.
S140, determining a target point to be traversed from at least one point to be traversed based on the evaluation result, and determining a path of the area to be planned according to the current traversal point and the target point to be traversed.
It is understood that, when the estimation result is determined, the target point to be traversed may be determined according to the estimation result, for example, a track with a larger estimation result is reserved, and the target point to be traversed is determined according to the point to be traversed of the track, or the track with a smaller estimation result is deleted, so as to reduce the number of path plans.
The above S110 to S140 are the whole process of path planning, and optionally, the process of path planning may be specifically explained by the following steps:
(A) a list is built.
(B) The start point data (including point coordinates, grid properties, orientation, estimates) is placed in this list.
(C) And traversing the points in the list, and finding out the points around the appointed point. The step size of the movement is the object size.
(D) The new point legal conditions are as follows: in the map area range, no obstacles are included in the new point without visiting. If illegal, this point is ignored.
(E) The region grid attribute where the new point is located is labeled 2. A copy of the grid properties is made, estimates are calculated, and new points are stored in a new list.
(F) If the new list is not empty, the new list is substituted for the old list and the process goes to step C. Otherwise, ending.
The technical proposal provided by the embodiment of the invention traverses the area to be planned by acquiring the grid map of the area to be planned and taking the initial point of the grid map as the starting point, determining at least one point to be traversed of the current traversal point, estimating a track formed by the at least one point to be traversed according to a form type and/or a unit trend formed by the point to be traversed and the current traversal point, determining a target point to be traversed from the at least one point to be traversed based on an estimation result, the path of the area to be planned is determined according to the current traversal point and the target point to be traversed, the estimation of the planned path in the traversal process can be realized, the problems of low cleaning efficiency and large calculation amount in the prior art are solved, the estimation of the planned path in the traversal process is realized, and determining an ideal target point to be traversed according to the estimation result, thereby realizing the effects of reducing the calculated amount in the traversing process and improving the traversing efficiency.
Example two
Fig. 2 is a schematic flow chart of an indoor path planning method according to a second embodiment of the present invention. The technical solution of this embodiment is refined on the basis of the above embodiment, and optionally, the estimating a trajectory formed by the at least one point to be traversed according to a form category and/or a unit trend formed by the point to be traversed and the current traversal point includes: and determining an estimation result of the track formed by the at least one point to be traversed according to the weight of the form category and/or the weight of the unit trend. Referring specifically to fig. 2, the method of this embodiment may include the following steps:
s210, obtaining a grid map of the area to be planned, and traversing the area to be planned by taking an initial point of the grid map as a starting point.
S220, for the current traversal point, at least one to-be-traversed point of the current traversal point is determined.
And S230, determining an estimation result of a track formed by at least one point to be traversed according to the weight of the form type and/or the weight of the unit trend.
The form category formed by the point to be traversed and the current traversal point can be understood as being determined according to the point to be traversed, the current traversal point and the previous traversal point of the current traversal point, and the form category can comprise straight going, turning, head dropping and the like. The element orientation may be understood as the orientation formed by the point to be traversed and the current traversal point, that is, the element orientation is used to describe two directions of each grid point, which may include a lateral direction and a longitudinal direction.
Optionally, straight lines, turns and u-turns in the shape category can be sequentially assigned with decreasing values, and the same value or different values can be assigned to the transverse direction and the longitudinal direction in the trend. Illustratively, the weight values of straight, turning and turning are 3, 2 and 1 in sequence, the lateral weight value is 3 and the longitudinal direction is 1, as shown in fig. 3a and 3b, which are schematic diagrams of morphology description of a path, and as can be seen by comparing fig. 3a and 3b, the straight and lateral directions in fig. 3a are more than the straight and lateral directions in fig. 3b, and the turning, turning and longitudinal directions in fig. 3a are less than those in fig. 3b, and by determining the morphology categories and the number of element trends in fig. 3a and 3b respectively and combining different weights, the estimation value of fig. 3a can be determined to be larger than that of fig. 3 b.
S240, determining a target point to be traversed from at least one point to be traversed based on the evaluation result, and determining a path of the area to be planned according to the current traversal point and the target point to be traversed.
It is understood that, in step S230, to evaluate the planned path during the traversal process, a point to be traversed whose evaluation result is greater than a preset threshold may be determined as a target point to be traversed, where the target point to be traversed is a next traversal point of the current traversal point. Illustratively, after the estimation results are obtained, the estimation results may be sorted, and the planned path is screened according to the sorted results, that is, the point to be traversed where the estimation result is greater than the preset threshold is retained, the point to be traversed is determined as the target point to be traversed, and the point to be traversed where the estimation result is not greater than the preset threshold is discarded. By the method, evaluation, sorting and screening operations can be performed in the traversal process, so that an ideal target point to be traversed can be determined in the traversal process, and the purpose of reducing the calculation amount is achieved.
According to the technical scheme provided by the embodiment of the invention, the estimation result of the track formed by at least one point to be traversed is determined according to the weight of the form category and/or the weight of the unit trend, and the point to be traversed with the estimation result larger than the preset threshold is determined as the point to be traversed, so that the real-time estimation, sequencing and screening operation in the traversal process can be realized, the ideal point to be traversed can be quickly determined, and the purpose of reducing the calculated amount is achieved.
EXAMPLE III
Fig. 4 is a schematic flow chart of an indoor path planning method according to a third embodiment of the present invention. The technical solution of this embodiment adds a new step on the basis of the above embodiment, and optionally before traversing the area to be planned with the initial point of the grid map as the starting point, the method further includes: and acquiring the size of a target object, and determining a passable area in the area to be planned according to the size of the target object. Referring specifically to fig. 4, the method of this embodiment may include the following steps:
s410, acquiring the size of the target object, and determining a passable area in the area to be planned according to the size of the target object.
It is understood that, in the grid map, for a target object having a large size, some of the passable regions cannot pass through the target object, that is, some of the passable regions are actually obstacle regions with respect to the target object. As shown in fig. 5a, a schematic diagram of a grid map is shown, and a passable area is included above the grid map in fig. 5a, and is actually passable for a target object whose size is smaller than the passable area, and is actually an obstacle area for a target object whose size is not smaller than the passable area. Therefore, for a slightly larger size target object, some accessible areas need to be treated similarly to the obstacle area, and as shown in fig. 5b, a grid map schematic diagram obtained by performing obstacle treatment on the grid map is shown.
Alternatively, the accessible area in the area to be planned may be determined according to the size of the target object by:
(a) in the grid map, setting target object identification according to the size of the target object in an equal proportion;
(b) traversing the area to be planned by taking the initial point of the grid map as a starting point;
(c) when the target object identification is located at the current traversal point, determining an unretraversed grid point adjacent to the current traversal point based on a preset step length;
(d) when the target object identification moves to the adjacent non-traversed grid point, writing the adjacent non-traversed grid point into a closed set, and controlling the target object identification to move to the adjacent non-traversed grid point;
(e) the accessible region is determined from the grid points stored in the closed set.
It can be understood that the grid map can be obtained by reducing the indoor map according to a specific scale, and similarly, the target object can be reduced according to the equal scale principle according to the specific scale to obtain the target object identifier. The preset step length may be the size of the grid, and the closed set includes points where traversal is completed.
In the present embodiment, the above-described steps (a) to (e) can be explained by the following manner:
(1) an open queue and a closed set are established.
(2) The initial point is placed in the open queue and closed set.
The open queue is used for temporarily storing non-traversed points, meets the principle of first-in first-out, and the closed set is used for storing traversed grid points.
(3) The top point is taken out of the open queue.
It can be understood that after the initial point is put into the open queue, the most front point in the open queue is the initial point, the non-traversed points adjacent to the initial point and not belonging to the barrier region are sorted out of the queue, and after the initial point is taken out, the non-traversed points adjacent to the initial point and not belonging to the barrier region will perform the next traversal.
(4) And the movement from the taking-out point to four directions of up, down, left and right is attempted by a minimum step length.
The minimum step length is the preset step length, namely the grid size, and more paths can be obtained by moving according to the grid size, so that more precise path planning is achieved.
(5) If the new point is in the closed set, it is ignored.
Here, a new point may be understood as an unretraversed point that is adjacent to the initial point and does not belong to the obstacle region, and if the new point is in the closed set, that is, if the unretraversed point is traversed, the point is not traversed again.
(6) And judging whether the new point is accessible, if so, marking the point as an accessible point, and storing the point into an open queue and a closed set.
If the new point is not traversed and belongs to the accessible area, the new point can be placed into an open queue to execute traversal, and the new point is placed into a closed set after the traversal is completed.
(7) If the open queue is empty, the process ends. If not, go to step (3).
If no new point exists in the open queue, namely all grid points of the grid map are traversed, the process of determining certain accessible areas as barrier areas according to the size of the target object can be completed. Thus, by determining some accessible areas as obstacle areas according to the size of the target object, traversal of accessible areas smaller than the size of the target object can be reduced, the calculation amount of path planning is reduced, and the path planning efficiency is improved.
And S420, acquiring a grid map of the area to be planned, and traversing the area to be planned by taking an initial point of the grid map as a starting point.
S430, for the current traversal point, at least one to-be-traversed point of the current traversal point is determined.
S440, estimating a track formed by at least one point to be traversed according to the form type and/or the unit trend formed by the point to be traversed and the current traversal point.
S450, determining a target point to be traversed from at least one point to be traversed based on the evaluation result, and determining a path of the area to be planned according to the current traversal point and the target point to be traversed.
According to the technical scheme provided by the embodiment of the invention, before traversing the area to be planned by taking the initial point of the grid map as the starting point, the size of the target object is obtained, and the accessible area in the area to be planned is determined according to the size of the target object, so that the accessible area smaller than the size of the target object can be determined as the barrier area in advance, the number of points to be traversed is reduced in the subsequent traversing process, the calculated amount of path planning is reduced, and the path planning efficiency is improved.
Example four
Fig. 6 is a schematic flow chart of an indoor path planning method according to a fourth embodiment of the present invention. The technical solution of this embodiment is refined on the basis of the above embodiment, and optionally, the determining the path of the region to be planned according to the current traversal point and the target point to be traversed includes: and when the current traversal point does not have an adjacent non-traversal point and the passable area of the grid map comprises the non-traversal point, determining the adjacent point of the current traversal point as a next traversal point according to the direction of the non-traversal point relative to the current traversal point until the non-traversal point does not exist in the grid map. Referring specifically to fig. 6, the method of this embodiment may include the following steps:
s610, obtaining a grid map of the area to be planned, and traversing the area to be planned by taking an initial point of the grid map as a starting point.
S620, for the current traversal point, at least one to-be-traversed point of the current traversal point is determined.
S630, estimating the track formed by at least one point to be traversed according to the form type and/or the unit trend formed by the point to be traversed and the current traversal point.
And S640, determining a target point to be traversed from at least one point to be traversed based on the evaluation result.
S650, if the adjacent non-traversed points do not exist in the current traversed point and the passable area of the grid map comprises the non-traversed points, determining the adjacent points of the current traversed point as next traversed points according to the direction of the non-traversed points relative to the current traversed point until the non-traversed points do not exist in the grid map.
It can be understood that, during the traversal process, the situation may occur that points around the current point have been visited, but there are still unretraversed points in the entire map. In this case, in this embodiment, the nearest neighbor non-travel region may be found by using the improved a-x algorithm to find the nearest neighbor point, and the nearest neighbor point may be directly jumped to according to the direction of the non-traversed point relative to the current traversed point until the non-traversed point does not exist in the whole grid map.
Alternatively, finding the nearest neighbor point may be explained by the following steps:
an open queue and a closed dictionary are initialized.
And (II) putting the current point into an open queue and a closed dictionary.
The open queue is used for storing the current point and meets the first-in first-out principle, and the closed dictionary is used for storing the traversed grid points.
(III) taking the forefront point out of the open queue.
(IV) checking the points in four directions of the upper, lower, left and right of the taking-out point.
(v) if the new point region grid attribute contains an obstacle, ignore.
The new point area may be an area searched for in any step length with the current point as a starting point, and may be an obstacle area or a passable area, and if the new area is an obstacle area, the new point area may be directly ignored.
And (VI) if all the grid attributes of the new point area are not visited, ending the process and going to the step IX.
And if the grid points of the new point area are not visited, namely the grid attributes of the new point area are not visited, directly ending the traversal of the area.
(VII) if the new point region does not contain obstacles, placing the point in an open queue and a closed dictionary.
(VIII) if the open queue is not empty, go to step III.
And (IX) restoring the path of the whole jump by using a closed dictionary and calculating an estimated value of the path.
If the grid points of the new point area do not contain the barrier area and the grid points which are not accessed exist, the grid points which are not accessed can be placed into the open queue and the closed dictionary, the grid points which are not accessed are determined as next traversal points, step VIII is executed until the open queue is empty, the path of the area to be planned is determined through the grid points in the closed dictionary, and the estimated value of the path is calculated. Optionally, the estimation result may be subtracted according to the data of the jumping points from the currently traversed point to the non-traversed point. Therefore, each grid point of the grid map can be traversed, and the condition of traversal omission is avoided.
Optionally, if there is an adjacent non-traversal point at the current traversal point of the graph, the adjacent non-traversal point may be used as the target point to be traversed, and the path of the region to be planned is directly determined according to the current traversal point and the target point to be traversed.
According to the technical scheme provided by the embodiment of the invention, if the current traversal point has no adjacent non-traversal point and the passable area of the grid map comprises the non-traversal point, the adjacent point of the current traversal point is determined to be the next traversal point according to the direction of the non-traversal point relative to the current traversal point until the non-traversal point does not exist in the grid map, so that the problem that the non-traversal grid points are omitted due to the fact that a path planning mode cannot be carried out on all grid points of the grid map in the prior art is solved, the purpose of traversing all the grid points is achieved, and the effect of carrying out full coverage path planning on the grid map is achieved.
EXAMPLE five
Fig. 7 is a schematic structural diagram of an indoor path planning apparatus according to a fifth embodiment of the present invention. Referring to fig. 7, the apparatus includes: a traversal module 71, a point to traverse determination module 72, an evaluation module 73, and a planned path determination module 74.
The traversal module 71 is configured to obtain a grid map of the area to be planned, and traverse the area to be planned with an initial point of the grid map as a starting point;
a to-be-traversed point determining module 72, configured to determine, for a current traversed point, at least one to-be-traversed point of the current traversed point, where the to-be-traversed point is an unretraversed point adjacent to the current traversed point in a passable area in the grid map;
an estimation module 73, configured to estimate a trajectory formed by at least one point to be traversed according to a form type and/or a unit trend formed by the point to be traversed and the current traversal point;
and a planning path determining module 74, which determines a target point to be traversed from at least one point to be traversed by using the estimation result pair, and determines a path of the area to be planned according to the current traversal point and the target point to be traversed.
On the basis of the technical schemes, the form type is determined according to the point to be traversed, the current traversal point and the previous traversal point of the current traversal point, and the form type comprises the following steps: go straight, turn and turn around, the unit trend includes: transverse and longitudinal directions;
the evaluation module 73 is further configured to determine an evaluation result of a trajectory formed by at least one point to be traversed according to the weight of the morphology class and/or the weight of the element trend.
On the basis of the above technical solutions, the planned path determining module 74 is further configured to determine the point to be traversed whose estimation result is greater than the preset threshold as the target point to be traversed.
On the basis of the above technical solutions, the apparatus further includes: a passable region determining module;
the passable area determining module is used for acquiring the size of the target object and determining the passable area in the area to be planned according to the size of the target object.
On the basis of the technical schemes, the accessible area determining module is also used for setting the target object identification in a grid map according to the size of the target object in an equal proportion;
traversing the area to be planned by taking the initial point of the grid map as a starting point;
when the target object identification is located at the current traversal point, determining an unretraversed grid point adjacent to the current traversal point based on a preset step length;
when the target object identification moves to the adjacent non-traversed grid point, writing the adjacent non-traversed grid point into a closed set, and controlling the target object identification to move to the adjacent non-traversed grid point;
the accessible region is determined from the grid points stored in the closed set.
On the basis of the foregoing technical solutions, the planned path determining module 74 is further configured to, if there is no adjacent unretraversed point in the current traversed point and the passable region of the grid map includes an unretraversed point, determine, according to a direction of the unretraversed point relative to the current traversed point, that the adjacent point of the current traversed point is a next traversed point until there is no unretraversed point in the grid map.
On the basis of the above technical solutions, the apparatus further includes: a deduction module;
and the deduction module is used for deducting the estimation result according to the jumping point data from the current traversal point to the non-traversal point.
The technical proposal provided by the embodiment of the invention traverses the area to be planned by acquiring the grid map of the area to be planned and taking the initial point of the grid map as the starting point, determining at least one point to be traversed of the current traversal point, estimating a track formed by the at least one point to be traversed according to a form type and/or a unit trend formed by the point to be traversed and the current traversal point, determining a target point to be traversed from the at least one point to be traversed based on an estimation result, the path of the area to be planned is determined according to the current traversal point and the target point to be traversed, the estimation of the planned path in the traversal process can be realized, the problems of low cleaning efficiency and large calculation amount in the prior art are solved, the estimation of the planned path in the traversal process is realized, and determining an ideal target point to be traversed according to the estimation result, thereby realizing the effects of reducing the calculated amount in the traversing process and improving the traversing efficiency.
EXAMPLE six
Fig. 8 is a schematic structural diagram of an electronic device according to a sixth embodiment of the present invention. FIG. 8 illustrates a block diagram of an exemplary electronic device 12 suitable for use in implementing embodiments of the present invention. The electronic device 12 shown in fig. 8 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiment of the present invention.
As shown in FIG. 8, electronic device 12 is embodied in the form of a general purpose computing device. The components of electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 8, and commonly referred to as a "hard drive"). Although not shown in FIG. 8, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set of program modules (e.g., traversal module 71, point-to-traverse determination module 72, valuation module 73, and planned path determination module 74 of an indoor path planner) that are configured to perform the functions of embodiments of the present invention.
A program/utility 44 having a set of program modules 46 (e.g., traversal module 71, point-to-traverse determination module 72, valuation module 73, and planned path determination module 74 of an indoor path planner), such program modules 46 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, may be stored, for example, in memory 28, each of which, or some combination thereof, may comprise an implementation of a network environment. Program modules 46 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing by running a program stored in the system memory 28, for example, to implement an indoor path planning method provided by an embodiment of the present invention, the method including:
acquiring a grid map of an area to be planned, and traversing the area to be planned by taking an initial point of the grid map as a starting point;
determining at least one to-be-traversed point of the current traversed point for the current traversed point, wherein the to-be-traversed point is an unretraversed point adjacent to the current traversed point in a passable area in the grid map;
estimating the track formed by at least one point to be traversed according to the form type and/or unit trend formed by the point to be traversed and the current traversal point;
and determining a target point to be traversed from at least one point to be traversed based on the evaluation result, and determining a path of the area to be planned according to the current traversal point and the target point to be traversed.
The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, for example, to implement an indoor path planning method provided by the embodiment of the present invention.
Of course, those skilled in the art can understand that the processor can also implement the technical solution of the indoor path planning method provided by any embodiment of the present invention.
EXAMPLE seven
The seventh embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements an indoor path planning method provided in the seventh embodiment of the present invention, where the method includes:
acquiring a grid map of an area to be planned, and traversing the area to be planned by taking an initial point of the grid map as a starting point;
determining at least one to-be-traversed point of the current traversed point for the current traversed point, wherein the to-be-traversed point is an unretraversed point adjacent to the current traversed point in a passable area in the grid map;
estimating the track formed by at least one point to be traversed according to the form type and/or unit trend formed by the point to be traversed and the current traversal point;
and determining a target point to be traversed from at least one point to be traversed based on the evaluation result, and determining a path of the area to be planned according to the current traversal point and the target point to be traversed.
Of course, the computer program stored on the computer-readable storage medium provided by the embodiments of the present invention is not limited to the above method operations, and may also perform related operations in an indoor path planning method provided by any embodiment of the present invention.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, or device.
A computer readable signal medium may include at an initiation point, a current traversal point, a point to be traversed, etc., having computer readable program code embodied therein. The initial point of such propagation, the current traversal point, the point to be traversed, etc. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It should be noted that, in the embodiment of the indoor path planning apparatus, the modules included in the embodiment are only divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. An indoor path planning method, comprising:
acquiring a grid map of an area to be planned, and traversing the area to be planned by taking an initial point of the grid map as a starting point;
for a current traversal point, determining at least one point to be traversed of the current traversal point, wherein the point to be traversed is an unretraversed point adjacent to the current traversal point in a passable area in the grid map;
estimating the track formed by the at least one point to be traversed according to the form type and/or the unit trend formed by the point to be traversed and the current traversal point;
and determining a target point to be traversed from the at least one point to be traversed based on the evaluation result, and determining a path of the area to be planned according to the current traversal point and the target point to be traversed.
2. The method according to claim 1, wherein the morphology category is determined according to the point to be traversed, the current traversal point, and a last traversal point of the current traversal point, and the morphology category comprises: go straight, turn and turn around, the unit trend includes: transverse and longitudinal directions;
wherein, the estimating the track formed by the at least one point to be traversed according to the form category and/or the unit trend formed by the point to be traversed and the current traversal point comprises:
and determining an estimation result of the track formed by the at least one point to be traversed according to the weight of the form category and/or the weight of the unit trend.
3. The method according to claim 1 or 2, wherein the determining a target to-be-traversed point from the at least one to-be-traversed point based on the evaluation result pair comprises:
and determining the point to be traversed with the estimation result larger than a preset threshold value as a target point to be traversed.
4. The method of claim 1, further comprising, before traversing the area to be planned starting from an initial point of the grid map:
and acquiring the size of a target object, and determining a passable area in the area to be planned according to the size of the target object.
5. The method of claim 4, wherein determining the accessible area in the area to be planned according to the size of the target object comprises:
setting a target object identifier in the grid map according to the size of the target object in an equal proportion manner;
traversing the area to be planned by taking an initial point of the grid map as a starting point;
when the target object identification is located at the current traversal point, determining an unretraversed grid point adjacent to the current traversal point based on a preset step length;
when the target object identification moves to the adjacent non-traversed grid point, writing the adjacent non-traversed grid point into a closed set, and controlling the target object identification to move to the adjacent non-traversed grid point;
and determining a passable area according to the grid points stored in the closed set.
6. The method of claim 1, wherein the determining the path of the area to be planned according to the current traversal point and the target point to be traversed comprises:
and if the current traversal point does not have an adjacent non-traversal point and the passable area of the grid map comprises the non-traversal point, determining the adjacent point of the current traversal point as a next traversal point according to the direction of the non-traversal point relative to the current traversal point until the non-traversal point does not exist in the grid map.
7. The method of claim 6, wherein the method further comprises:
and deducting the estimation result according to the jumping point data from the current traversal point to the non-traversal point.
8. An indoor path planning device, comprising:
the traversal module is used for acquiring a grid map of an area to be planned and traversing the area to be planned by taking an initial point of the grid map as a starting point;
a to-be-traversed point determining module, configured to determine, for a current traversed point, at least one to-be-traversed point of the current traversed point, where the to-be-traversed point is an unretraversed point adjacent to the current traversed point in a passable area in the grid map;
the evaluation module is used for evaluating a track formed by the at least one point to be traversed according to the form type and/or the unit trend formed by the point to be traversed and the current traversal point;
and the planning path determining module is used for determining a target point to be traversed from the at least one point to be traversed by using an estimation result, and determining a path of the area to be planned according to the current traversal point and the target point to be traversed.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the indoor path planning method according to any one of claims 1-7 when executing the computer program.
10. A storage medium containing computer-executable instructions which, when executed by a computer processor, implement the indoor path planning method of any one of claims 1-7.
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