CN113469398A - Path planning method and device, electronic equipment and storage medium - Google Patents
Path planning method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a path planning method, a path planning device, electronic equipment and a storage medium. The method comprises the steps of obtaining at least one partition area of a building model by carrying out area partition on the building model, determining an initial planned path of each partition area according to space information of each partition area, operation information of mobile operation equipment and a safety distance from a wall, and determining path nodes between every two adjacent partition areas according to path point information of each partition area, wherein the path nodes are connection nodes corresponding to the initial planned paths of the adjacent partition areas, and connecting the initial planned paths of the adjacent partition areas and the path nodes between the adjacent partition areas to obtain a target planned path of the building model.
Description
Technical Field
The embodiment of the invention relates to the technology of mobile operation equipment, in particular to a path planning method and device, electronic equipment and a storage medium.
Background
With the progress of science and technology and the development of society, the functions of mobile operation equipment become diversified. Because the mobile operation equipment has the advantages of accuracy, reliability, flexible movement and the like, more and more buildings are polished by the polishing mobile operation equipment.
Among the prior art, the removal operation equipment of polishing generally adopts the method of polishing at random to treat the point of polishing at the operation point, does not have complete route planning between each operation point, when leading to the removal operation equipment of polishing to polish the wall body, appears loudly easily or is polished the condition by many times, to treating the house that the number of polishing points is more and distribute inhomogeneous, the effect of polishing is relatively poor, remains to improve.
Disclosure of Invention
The embodiment of the invention provides a path planning method and device, electronic equipment and a storage medium, and aims to improve the polishing effect of polishing mobile operation equipment.
In a first aspect, an embodiment of the present invention provides a path planning method, where the method includes:
carrying out region segmentation on the building model to obtain at least one segmented region of the building model;
determining an initial planned path of each partition area according to the space information of each partition area, the operation information of mobile operation equipment and the safety distance from the wall, and determining path nodes between every two adjacent partition areas according to the path point information of each partition area, wherein the path nodes are connection nodes corresponding to the initial planned paths of the adjacent partition areas;
and connecting the initial planning path of each adjacent partition area with the path nodes between the adjacent partition areas to obtain the target planning path of the building model.
Optionally, the spatial information of the partition region at least includes: a transverse dimension and a longitudinal dimension; the job information of the mobile job device includes: at least one of a transverse working distance, a longitudinal working distance, a movement center point of the mobile working equipment, an original point of the mobile working equipment, the number of rows of the working points and the number of columns of the working points. Has the advantages that: for determining an initial planned path in each of the partitioned areas.
Optionally, the determining an initial planned path of each of the divided areas according to the spatial information of each of the divided areas, the operation information of the mobile operation device, and the safe distance from the wall includes:
determining a plurality of row paths and operation points of each row path, wherein the operation points of each row path are obtained by calculation according to the transverse dimension and the longitudinal dimension;
calculating coordinate data of each operating point of each line path according to the starting point coordinates of each line path of each divided area, the safety distance from the wall, the transverse operating distance, the longitudinal operating distance, the motion center point of the mobile operating equipment, the line number of the operating points, the column number of the operating points and the origin of the mobile operating equipment;
and sequentially connecting all the operation points of each row path, and connecting the end point and the starting point of the adjacent row paths to obtain the initial planned path. Has the advantages that: and complete path planning is carried out on each partition area, and the operation effect of the mobile operation equipment is further improved.
Optionally, the determining a path node between each adjacent divided region according to the path point information of each divided region includes:
extracting feature points of areas which are not subjected to path planning between the adjacent divided areas, and extracting path starting points and path end points of the adjacent divided areas;
and screening the characteristic points of the areas which are not subjected to path planning between the adjacent divided areas according to the coordinate information of the path starting point and the path end point respectively to obtain the path nodes. Has the advantages that: the initial planning paths of the adjacent segmentation areas are favorably and effectively connected.
Optionally, before the joining the initially planned path of the partition region and the path node between the adjacent partition regions, the method further includes:
and splicing the adjacent segmentation areas according to a preset splicing direction to obtain a splicing area, wherein the splicing direction comprises at least one of an upper and lower type direction, a lower and upper type direction, a left and right type direction and a right and left type direction. The method has the advantages that each partition area is convenient to manage, and standard rectangular data are provided for subsequent path planning.
Optionally, the joining the initial planned path of each adjacent partition area with the path node between the adjacent partition areas includes:
and based on the splicing direction, connecting the initial planning path of each adjacent partition area with the path node between the adjacent partition areas. Has the advantages that: the initial planning paths of the adjacent segmentation areas are favorably and effectively connected.
In a second aspect, an embodiment of the present invention further provides a path planning apparatus, where the path planning apparatus includes:
the segmentation module is used for carrying out region segmentation on the building model to obtain at least one segmentation region of the building model;
an initial planning path and path node determining module, configured to determine an initial planning path of each of the partition areas according to the spatial information of each of the partition areas, the operation information of the mobile operation device, and the safe distance from the wall, and determine a path node between each adjacent partition areas according to path point information of each of the partition areas, where the path node is a connection node of the initial planning path corresponding to the adjacent partition area;
and the target planning path determining module is used for connecting the initial planning path adjacent to the divided areas with the path nodes between the divided areas to determine the target planning path of the building model.
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 path planning method according to any one of the first aspect.
In a fourth aspect, an embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions, when executed by a computer processor, implement the path planning method according to any one of the first aspect.
The technical solution provided in this embodiment is to perform area division on a building model to obtain at least one divided area of the building model, determine an initial planned path of each divided area according to spatial information of each divided area, operation information of a mobile operation device, and a safe distance from a wall, and determine a path node between each adjacent divided areas according to path point information of each divided area, where a path node is a connection node corresponding to the initial planned path of the adjacent divided area, so as to generate an initial planned path for all houses by combining spatial information of each house of the building model, an operation procedure of the mobile operation device, and a safe distance from a wall, and then connect the initial planned path of each adjacent divided area with the path node between the adjacent divided areas to obtain a target planned path of the building model, the problem that the prior art does not have complete path planning is solved, the purpose of determining the complete path planning is achieved, the mobile operation equipment is facilitated to carry out ordered operation according to the target path planning, and the operation effect is facilitated to be improved.
Drawings
Fig. 1 is a schematic flow chart of a path planning method according to an embodiment of the present invention;
fig. 2 is an effect diagram of path planning of a building model according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a path planning method according to a second embodiment of the present invention;
fig. 4 is a schematic flow chart of a path planning method according to a third embodiment of the present invention
Fig. 5 is a schematic diagram of a building model according to a third embodiment of the present invention after performing region segmentation;
fig. 6 is an effect diagram of a target planning path of the building model according to the third embodiment of the present invention;
fig. 7 is a schematic structural diagram of a path planning apparatus according to a fourth embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device according to a fifth 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 a path planning method according to an embodiment of the present invention, where the present embodiment is applicable to a case of performing path planning on a mobile operation device, and the method may be executed by a path planning apparatus, where the apparatus may be implemented by software and/or hardware and is generally integrated in a terminal or an electronic device. Referring specifically to fig. 1, the method may include the steps of:
and S110, carrying out region segmentation on the building model to obtain at least one segmented region of the building model.
The building model can be understood as a building drawing of a building to be constructed, and the building model can be a building information model (BIM for short) for providing original data. Alternatively, the raw data may include floor information of a building to be constructed, building information, house layout information, room configuration information, spatial dimension information of each room, location information of each room, and the like.
In this embodiment, the original data of the building model may be extracted in advance through engineering project software (for example, cad drawing software or revit software), and the building model may be subjected to region segmentation according to the original data to obtain at least one segmented region, so as to perform path planning on each segmented region. Alternatively, the raw data for the building model may be extracted automatically by a plug-in to the engineering project software, or by other software or tools. Each of the divided regions may be a rectangular region.
And S120, determining an initial planned path of each partition area according to the space information of each partition area, the operation information of the mobile operation equipment and the safe distance from the wall, and determining path nodes between adjacent partition areas according to the path point information of each partition area.
It can be understood that the walking path of the mobile operation equipment is complex, and the path planning needs to be performed on the mobile operation equipment, so that the mobile operation equipment performs operation based on the planned path. In this regard, in this embodiment, each partition area may be planned to be an arcuate path by combining the spatial information of each partition area, the operation information of the mobile operation device, and the safety distance from the wall, and the arcuate path may be used as an initial planned path of each partition area, so that the mobile operation device can conveniently perform operations in each partition area according to the arcuate path.
Optionally, the spatial information of the partition region at least includes: a transverse dimension and a longitudinal dimension; the job information of the mobile job device includes: at least one of a lateral working distance, a longitudinal working distance, a mobile working device center of motion point, and a mobile working device origin. Specifically explained, the lateral dimension and the longitudinal dimension are respectively the length and the width of each divided region (i.e., rectangular region); the transverse operation distance and the longitudinal operation distance are distances between two adjacent operation points, the distance between the two adjacent operation points can be an operation radius of the mobile operation equipment or a safety distance from a wall, and each operation point can be obtained by calculation according to the size of the mobile operation equipment, the safety distance from the wall, a motion center point of the mobile operation equipment, an original point of the mobile operation equipment, and the transverse size and the longitudinal size of each partition area. The motion central point of the mobile operation equipment is the central point of the mobile operation equipment; the origin of the mobile working device may be the origin of coordinates of each divided region.
It can be understood that the target planning path of the building model includes a connection path between each divided region and adjacent divided regions, and therefore, when the path is planned for each divided region, a path node between each adjacent divided region needs to be determined according to the path point information of each divided region, so as to determine the target planning path of the building model according to the path node between each adjacent divided region and the initial planning path in the following. And the path node is a connection node of the initial planning path corresponding to the adjacent partition area. Alternatively, the path node may be determined according to coordinate information of a path start point and a path end point of the adjacent divided areas. For example, the path node is the same as the abscissa or ordinate of the path start point and the path end point of the adjacent divided area, or the path node is a feature point on the line connecting the path start point and the path end point of the adjacent divided area.
And S130, connecting the initial planning path of each adjacent partition area with the path nodes between the adjacent partition areas to obtain the target planning path of the building model.
In this embodiment, the starting point (or the end point) of the initial planned path of each adjacent divided area may be connected to the path node between each adjacent divided area, so as to obtain the target planned path of the building model. Exemplarily, with reference to fig. 2, the feature point a, the feature point b, and the feature point c are determined through the foregoing steps, and the feature point a, the feature point b, and the feature point c are sequentially connected to join the initial planned path of each adjacent divided region with the path node between the adjacent divided regions, so as to obtain the target planned path shown in fig. 2.
The technical solution provided in this embodiment is to perform area division on a building model to obtain at least one divided area of the building model, determine an initial planned path of each divided area according to spatial information of each divided area, operation information of a mobile operation device, and a safe distance from a wall, and determine a path node between each adjacent divided areas according to path point information of each divided area, where a path node is a connection node corresponding to the initial planned path of the adjacent divided area, so as to generate an initial planned path for all houses by combining spatial information of each house of the building model, an operation procedure of the mobile operation device, and a safe distance from a wall, and then connect the initial planned path of each adjacent divided area with the path node between the adjacent divided areas to obtain a target planned path of the building model, the problem that the prior art does not have complete path planning is solved, the purpose of determining the complete path planning is achieved, the mobile operation equipment is facilitated to carry out ordered operation according to the target path planning, and the operation effect is facilitated to be improved.
Example two
Fig. 3 is a schematic flow chart of a path planning method according to a second embodiment of the present invention. The technical scheme of the embodiment is refined on the basis of the embodiment. Optionally, the determining an initial planned path of each of the divided areas according to the spatial information of each of the divided areas, the operation information of the mobile operation device, and the safe distance from the wall includes: determining a plurality of row paths and operation points of each row path, wherein the operation points of each row path are obtained by calculation according to the transverse dimension and the longitudinal dimension; calculating coordinate data of each operating point of each line path according to the starting point coordinates of each line path of each divided area, the safety distance from the wall, the transverse operating distance, the longitudinal operating distance, the motion center point of the mobile operating equipment, the line number of the operating points, the column number of the operating points and the origin of the mobile operating equipment; and sequentially connecting all the operation points of each row path, and connecting the end point and the starting point of the adjacent row paths to obtain the initial planned path. Referring specifically to fig. 3, the method may include the steps of:
s210, carrying out region segmentation on the building model to obtain at least one segmented region of the building model.
S220, a plurality of line paths and operation points of the line paths are determined.
Alternatively, an externally determined work point and coordinate information of each work point may be received. As described in the foregoing embodiments, each work point may be calculated from the size of the mobile work device, the safety distance from the wall, the center point of motion of the mobile work device, the origin of the mobile work device, and the lateral and longitudinal dimensions of each divided area.
And S230, calculating coordinate data of each operation point of each line path according to the start point coordinates, the safety distance from the wall, the transverse operation distance, the longitudinal operation distance, the motion center point of the mobile operation equipment, the line number of the operation point, the column number of the operation point and the origin of the mobile operation equipment of each line path of each divided area.
In this embodiment, the arcuate path of each division area may be divided into a plurality of rows and a plurality of columns, a distance between adjacent rows may be the longitudinal working distance, and a distance between adjacent columns may be the transverse working distance. As in the previous steps, the operating points in each row or each column may be determined according to the safety distance from the wall, the transverse operating distance, the longitudinal operating distance, the movement center point of the mobile operating device, and the origin of the mobile operating device.
It is understood that the partition areas may include a closed partition area and an open partition area, and when a path is planned in the closed partition area, since a safety distance needs to be reserved between the mobile working device and the wall, the size of the last working distance needs to be considered in the path planning. When the route planning is performed on the non-closed type divided area, the working distances between the working points can be equal. In contrast, in the non-closed divided area, the expression of the coordinate data of each operation point of each line path is:
X＝BeginX+EdgeDis+(j-1)*robot.Workwidth+robot.Center.X
Y＝BeginY+EdgeDis+(i-1)*robot.Worklength+robot.Center.Y
wherein, X is an abscissa of any operation point in each row, Y is an ordinate of any operation point in each row, BeginX is an X-axis start point coordinate of each of the divided regions, BeginY is a Y-axis start point coordinate of each of the divided regions, EdgeDis is a safe distance from a wall, robot.workbench width is a transverse operation distance of the mobile operation device, robot.workbench is a longitudinal operation distance of the mobile operation device, robot.center.x is a coordinate of a motion center point of the mobile operation device relative to an origin point of the mobile operation device in the X-axis direction, robot.center.y is a coordinate of the motion center point of the mobile operation device relative to the origin point of the mobile operation device in the Y-axis direction, i is a column number of operation points, and j is a row number of operation points.
Alternatively, in the closed divided area, the expression of the coordinate data of each operation point of each row path is:
x and Y coordinates of integer step size:
X＝BeginX+EdgeDis+(j-1)*robot.Workwidth+robot.Center.X
Y＝BeginY+EdgeDis+(i-1)*robot.Worklength+robot.Center.Y
x and Y coordinates of the last non-integer step:
X＝BeginX+EdgeDis+j*robot.Workwidth+remainX+robot.Center.X
Y＝BeginY+EdgeDis+i*robot.Worklength+remainY+robot.Center.Y
the remainX is the remaining distance between the mobile operation device and the wall in the x-axis direction, and the remainY is the remaining distance between the mobile operation device and the wall in the y-axis direction.
By the formula, the coordinate data of each row of operation points can be determined, so that the initial planning path can be determined according to the coordinate data, and the path nodes between the adjacent divided areas can be determined according to the path point information of the divided areas.
And S240, sequentially connecting all the operation points of each row of paths, and connecting the end points and the starting points of the adjacent rows of paths to obtain an initial planned path.
As in the foregoing steps, coordinate information of all the operation points of each row of path is obtained, then all the operation points of each row of path are sequentially connected, and the end point and the start point of the adjacent row of path are connected, so that an initial planned path can be obtained, and an effect diagram of path planning of the building model shown in fig. 2 is obtained. The building model shown in figure 2 comprises a segmented area a, a segmented area B and a segmented area C, each defining an initial planned path, i.e. an arcuate path.
The initial planning path is determined in the above mode, complete path planning can be performed on each partition area according to the self spatial information of each house of the building model, the operation process of the mobile operation equipment and the safe distance from the wall, and the mobile operation equipment is favorable for performing ordered operation on each partition area according to the initial planning path.
And S250, determining path nodes between the adjacent divided areas according to the path point information of the divided areas.
Optionally, feature point extraction may be performed on a region where a path is not planned between the adjacent divided regions, a path start point and a path end point of each adjacent divided region are extracted, and feature points of the region where a path is not planned between the adjacent divided regions are screened according to coordinate information of the path start point and the path end point, respectively, to obtain the path node.
Specifically, the feature points of the area which is the same as the abscissa or the ordinate of the path starting point and the path ending point, that is, which is located in the same row or the same column as the path starting point and the path ending point and which is located between the adjacent divided areas and is not subjected to path planning, may be determined as the path nodes. For example, as shown in fig. 2, the divided region B and the divided region C are adjacent divided regions, the start point (or end point) of the arcuate path of the divided region B is a feature point a, the start point (or end point) of the arcuate path of the divided region C is a feature point B, the feature point C in the region where no path planning is performed between the adjacent divided regions is located in the same column as the feature point a and in the same row as the feature point B, and the feature point a, the feature point B, and the feature point C may be used as path nodes between the adjacent divided regions.
In this embodiment, the feature points of the connection line between the route start point and the route end point may be extracted according to the coordinate information of the route start point and the route end point, and the feature points of the connection line between the route start point and the route end point may be screened in combination with the information such as the safety distance from the wall, so as to determine the route nodes. It should be noted that, in this embodiment, the ways of determining the path node between each adjacent divided area include, but are not limited to, the two ways described above.
By the method, the path nodes can be rapidly determined, so that the initial planning paths of the adjacent partition areas are connected to obtain a complete planning path, the mobile operation equipment can perform ordered operation according to the target planning path, and the operation effect can be improved.
And S260, connecting the initial planning path of each adjacent partition area with the path nodes between the adjacent partition areas to obtain the target planning path of the building model.
EXAMPLE III
Fig. 4 is a flowchart illustrating a path planning method according to a second embodiment of the present invention. The technical scheme of the embodiment adds a new step on the basis of the embodiment. Optionally, before the joining the initial planned path of the partition region and the path node between the partition regions, the method further includes: and splicing at least two of the segmentation areas to obtain a spliced area. In the method, reference is made to the above-described embodiments for those parts which are not described in detail. Referring specifically to fig. 4, the method may include the steps of:
s310, carrying out region segmentation on the building model to obtain at least one segmented region of the building model.
Alternatively, the building model may be divided based on at least one of the number of measurement stations, the grinding process, and the grinding spatial range of the mobile working equipment, and raw data of the building model, wherein the raw data includes at least size information, layout information, and position information of each spatial region of the building model. In specific implementation, the building model can be subjected to region segmentation according to any one of the number of measuring stations, the polishing process and the polishing spatial range of the mobile operation equipment, or any two or three modes are combined, the building model is subjected to region segmentation according to the original data of the building model, and the building model is divided into a plurality of rectangular regions, so that the mobile operation equipment can perform ordered operation in the rectangular regions.
Alternatively, the space information of the building model can be acquired by the measuring mobile operation device or the measuring device, the space information sent by the measuring mobile operation device or the measuring device is received, and the building model is subjected to region segmentation according to the space information.
In this embodiment, the partition areas of the building model may be an up-down area, a down-up area, a left-right area, and a right-left area, or any combination of these four areas. As shown in fig. 5, the schematic diagram of the building model after area division is shown, where fig. 5 includes a rectangular area 1, a rectangular area 2, and a rectangular area 3, where the area (1, 2) is referred to as a top-bottom area, the area (2, 3) is referred to as a right-left area, the area (2, 1) is referred to as a top-bottom area, and the area (3, 2) is referred to as a left-right area, and is divided into regular rectangular areas by the building model, and the distribution form of the rectangular areas is determined, so that it is convenient to manage each divided area, and provide standard rectangular data for subsequent path planning, and at the same time, it is not necessary to keep a safe distance from the wall between the mobile operation device and the wall, and the operation range of the mobile operation device is increased.
And S320, determining an initial planned path of each partition area according to the space information of each partition area, the operation information of the mobile operation equipment and the safe distance from the wall, and determining path nodes between adjacent partition areas according to the path point information of each partition area.
And S330, splicing the adjacent segmentation areas according to a preset splicing direction to obtain a splicing area.
Optionally, the distribution form of each of the divided regions may be used as a splicing direction, and the splicing direction includes at least one of an up-down type direction, a down-up type direction, a left-right type direction, and a right-left type direction, so that the up-down type splicing region, the down-up type splicing region, the left-right type splicing region, and the right-left type splicing region can be obtained by splicing at least two of the divided regions.
And S340, connecting the initial planning path of each adjacent partition area with the path nodes between the adjacent partition areas to obtain the target planning path of the building model.
Optionally, the initial planned path of each adjacent divided region and the path node between the adjacent divided regions may be joined based on a splicing direction of each divided region in the spliced region, where the splicing direction includes at least one of a vertical direction, a horizontal direction, and a right-left direction.
Specifically, the starting point (or the end point) of the adjacent divided areas may be determined according to the splicing direction, so that the initial planned path of each adjacent divided area is connected to the path node between the adjacent divided areas, and the connected planned path is determined as the target planned path of the building model, so as to obtain the effect graph of the target planned path of the building model shown in fig. 6. By the mode, the purpose of effectively connecting the initial planning paths of the adjacent partition areas can be achieved, orderly operation of the mobile operation equipment in each space according to the target planning path is facilitated, and the mobile operation equipment can smoothly move in the adjacent space.
Further, after the target planned path is determined, the embodiment may further generate a file corresponding to the target planned path, and send the file to the mobile operation device, so that the mobile operation device controls the polishing device to polish the building to be constructed corresponding to the building model based on the preset polishing starting point, the preset polishing end point and the target planned path in the file. In the concrete implementation, as the mobile operation equipment acquires the file corresponding to the target planning path, the construction building to be constructed can be polished along the arched path in the space corresponding to each partition area by starting from the polishing starting point according to the target planning path, and the construction building can smoothly go out from one space and enter the next space for polishing according to the target planning path, so that the mobile operation equipment can smoothly and efficiently execute the operation.
According to the technical scheme provided by the embodiment, the divided areas of the building model can be an up-down area, a down-up area, a left-right area and a right-left area, so that the purposes of providing standard rectangular data for subsequent path planning and facilitating management of each divided area can be achieved; the splicing areas are obtained by splicing the at least two segmentation areas, and the initial planning paths of the adjacent segmentation areas are connected with the path nodes between the adjacent segmentation areas to obtain the target planning path of the building model, so that the purpose of effectively connecting the initial planning paths of the adjacent segmentation areas can be achieved, the mobile operation equipment can move smoothly in the adjacent space, and the efficient execution operation of the mobile operation equipment is ensured.
Example four
Fig. 7 is a schematic structural diagram of a path planning apparatus according to a third embodiment of the present invention. Referring to fig. 7, the system includes: a segmentation module 41, an initial planned path and path node determination module 42, and a target planned path determination module 43.
The segmentation module 41 is configured to perform region segmentation on the building model to obtain at least one segmented region of the building model; an initial planned path and path node determining module 42, configured to determine an initial planned path of each of the partition areas according to the spatial information of each of the partition areas, the operation information of the mobile operation device, and the safe distance from the wall, and determine a path node between each adjacent partition areas according to path point information of each of the partition areas, where the path node is a connection node of the initial planned path corresponding to the adjacent partition area; and a target planning path determining module 43, configured to join the initial planning path of each adjacent divided area with a path node between the adjacent divided areas to obtain a target planning path of the building model.
On the basis of the above technical solutions, the spatial information of the divided region at least includes: a transverse dimension and a longitudinal dimension; the job information of the mobile job device includes: at least one of a transverse working distance, a longitudinal working distance, a movement center point of the mobile working equipment, an original point of the mobile working equipment, the number of rows of the working points and the number of columns of the working points.
On the basis of the technical schemes, a plurality of row paths and operation points of the row paths are determined, wherein the operation points of the row paths are obtained through calculation according to the transverse dimension and the longitudinal dimension;
calculating coordinate data of each operating point of each line path according to the starting point coordinates of each line path of each divided area, the safety distance from the wall, the transverse operating distance, the longitudinal operating distance, the motion center point of the mobile operating equipment, the line number of the operating points, the column number of the operating points and the origin of the mobile operating equipment;
and sequentially connecting all the operation points of each row path, and connecting the end point and the starting point of the adjacent row paths to obtain the initial planned path.
On the basis of the above technical solutions, the initial planned path and path node determining module 42 is further configured to perform feature point extraction on a region where a path is not planned between the adjacent divided regions, and extract a path starting point and a path ending point of each adjacent divided region;
and screening the characteristic points of the areas which are not subjected to path planning between the adjacent divided areas according to the coordinate information of the path starting point and the path end point respectively to obtain the path nodes.
On the basis of the above technical solutions, the apparatus further includes: a splicing module; the splicing module is used for splicing the segmentation areas to obtain a splicing area according to a preset splicing direction, wherein the splicing direction comprises at least one of an upper and lower type direction, a lower and upper type direction, a left and right type direction and a left and right type direction.
On the basis of the above technical solutions, the target planned path determining module 43 is further configured to join the initial planned path of each adjacent divided area with the path node between the adjacent divided areas based on the splicing direction.
In addition to the above technical solutions, the dividing module 41 is further configured to divide the building model based on at least one of the number of measurement stations of the mobile operation device, the operation process, and the operation space range, and raw data of the building model, wherein the raw data at least includes size information, layout information, and position information of each space region of the building model, and the divided regions are rectangular regions.
The technical solution provided in this embodiment is to perform area division on a building model to obtain at least one divided area of the building model, determine an initial planned path of each divided area according to spatial information of each divided area, operation information of a mobile operation device, and a safe distance from a wall, and determine a path node between each adjacent divided areas according to path point information of each divided area, where the path node is a connection node corresponding to the initial planned path of the adjacent divided area, and may achieve the purpose of combining spatial information of each house of the building model, an operation procedure of the mobile operation device, and a safe distance from a wall to generate an initial planned path for all houses, and then connect the initial planned path of each adjacent divided area with the path node between the adjacent divided areas, the target planning path of the building model is obtained, the problem that the complete path planning is not available in the prior art is solved, the purpose of determining the complete planning path is achieved, the mobile operation equipment is facilitated to carry out ordered operation according to the target planning path, and the operation efficiency is facilitated to be improved.
EXAMPLE five
Fig. 8 is a schematic structural diagram of an electronic device according to a fifth 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. The memory 28 may include at least one program product having a set of program modules (e.g., a segmentation module 41, an initial planned path and path node determination module 42, and a target planned path determination module 43 of the path planner) that are configured to perform the functions of the various embodiments of the invention.
A program/utility 44 having a set of program modules 46 (e.g., a segmentation module 41 of the path planner, an initial planned path and path node determination module 42, and a target planned path determination module 43), 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 a path planning method provided by an embodiment of the present invention, the method including:
carrying out region segmentation on the building model to obtain at least one segmented region of the building model;
determining an initial planned path of each partition area according to the space information of each partition area, the operation information of mobile operation equipment and the safety distance from the wall, and determining path nodes between every two adjacent partition areas according to the path point information of each partition area, wherein the path nodes are connection nodes corresponding to the initial planned paths of the adjacent partition areas;
and connecting the initial planning path of each adjacent partition area with the path nodes between the adjacent partition areas to obtain the target planning path of the building model.
The processing unit 16 executes various functional applications and data processing by executing programs stored in the system memory 28, for example, to implement a path planning method provided by the embodiment of the present invention.
Of course, those skilled in the art can understand that the processor may also implement the technical solution of the path planning method provided in any embodiment of the present invention.
EXAMPLE six
An 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 a path planning method provided in an embodiment of the present invention, where the method includes:
carrying out region segmentation on the building model to obtain at least one segmented region of the building model;
determining an initial planned path of each partition area according to the space information of each partition area, the operation information of mobile operation equipment and the safety distance from the wall, and determining path nodes between every two adjacent partition areas according to the path point information of each partition area, wherein the path nodes are connection nodes corresponding to the initial planned paths of the adjacent partition areas;
and connecting the initial planning path of each adjacent partition area with the path nodes between the adjacent partition areas to obtain the target planning path of the building model.
Of course, the computer program stored on the computer-readable storage medium provided in the embodiments of the present invention is not limited to the above method operations, and may also perform related operations in a path planning method provided in 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.
The computer-readable signal medium may include spatial information in a partitioned area, job information of a mobile job device, a safe distance from a wall, etc., in which computer-readable program code is carried. Such forms of the propagated divided areas include spatial information, work information of the mobile work apparatus, and a safe distance from a wall. 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 path planning apparatus, each included module is only divided according to functional logic, but is not limited to the above division as long as the corresponding function 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. A method of path planning, comprising:
carrying out region segmentation on the building model to obtain at least one segmented region of the building model;
determining an initial planned path of each partition area according to the space information of each partition area, the operation information of mobile operation equipment and the safety distance from the wall, and determining path nodes between every two adjacent partition areas according to the path point information of each partition area, wherein the path nodes are connection nodes corresponding to the initial planned paths of the adjacent partition areas;
and connecting the initial planning path of each adjacent partition area with the path nodes between the adjacent partition areas to obtain the target planning path of the building model.
2. The method of claim 1, wherein the spatial information of the partition comprises at least: a transverse dimension and a longitudinal dimension; the job information of the mobile job device includes: at least one of a transverse working distance, a longitudinal working distance, a movement center point of the mobile working equipment, an original point of the mobile working equipment, the number of rows of the working points and the number of columns of the working points.
3. The method of claim 2, wherein determining an initial planned path for each of the partitioned areas based on the spatial information for each of the partitioned areas, the operational information for the mobile work device and the safe distance from the wall comprises:
determining a plurality of row paths and operation points of each row path, wherein the operation points of each row path are obtained by calculation according to the transverse dimension and the longitudinal dimension;
calculating coordinate data of each operating point of each line path according to the starting point coordinates of each line path of each divided area, the safety distance from the wall, the transverse operating distance, the longitudinal operating distance, the motion center point of the mobile operating equipment, the line number of the operating points, the column number of the operating points and the origin of the mobile operating equipment;
and sequentially connecting all the operation points of each row path, and connecting the end point and the starting point of the adjacent row paths to obtain the initial planned path.
4. The method according to claim 1, wherein the determining path nodes between adjacent divided regions according to the path point information of each divided region comprises:
extracting feature points of areas which are not subjected to path planning between the adjacent divided areas, and extracting path starting points and path end points of the adjacent divided areas;
and screening the characteristic points of the areas which are not subjected to path planning between the adjacent divided areas according to the coordinate information of the path starting point and the path end point respectively to obtain the path nodes.
5. The method of claim 1, wherein prior to said joining the initial planned path of the partitioned area with the path node between adjacent partitioned areas, the method further comprises:
and splicing the adjacent segmentation areas according to a preset splicing direction to obtain a splicing area, wherein the splicing direction comprises at least one of an upper and lower type direction, a lower and upper type direction, a left and right type direction and a right and left type direction.
6. The method of claim 5, wherein the joining the initially planned path of each adjacent partition to the path node between adjacent partitions comprises:
and based on the splicing direction, connecting the initial planning path of each adjacent partition area with the path node between the adjacent partition areas.
7. The method of claim 1, wherein the area segmentation of the building model to obtain at least one segmented area of the building model comprises:
dividing the building model based on at least one of the number of measurement stations, the work process, and the work space range of the mobile work equipment, and raw data of the building model, wherein the raw data at least includes size information, layout information, and position information of each space region of the building model, and the divided regions are rectangular regions.
8. A path planning apparatus, comprising:
the segmentation module is used for carrying out region segmentation on the building model to obtain at least one segmentation region of the building model;
an initial planning path and path node determining module, configured to determine an initial planning path of each of the partition areas according to the spatial information of each of the partition areas, the operation information of the mobile operation device, and the safe distance from the wall, and determine a path node between each adjacent partition areas according to path point information of each of the partition areas, where the path node is a connection node of the initial planning path corresponding to the adjacent partition area;
and the target planning path determining module is used for connecting the initial planning path adjacent to the divided areas with the path nodes between the divided areas to determine the target planning path of the building model.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the path planning method according to any 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 path planning method of any one of claims 1-7.
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