CN114004955A - Operation cell merging method and device, computer equipment and storage medium - Google Patents
Operation cell merging method and device, computer equipment and storage medium Download PDFInfo
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Abstract
The application relates to a method, a device, computer equipment and a storage medium for merging operation cells, wherein the method comprises the following steps: acquiring parameters of virtual walls of adjacent cells, estimating the operable area of the adjacent cells by adopting a spider-web node method based on the boundary of the adjacent cells, acquiring a preset area threshold corresponding to a combined cell, and judging whether to combine the adjacent cells based on the estimated result of the operable area of the adjacent cells and the preset area threshold. In the whole process, the operable area of the adjacent cell is estimated by adopting a spider-web node method, the method is different from the traditional mode of directly calculating the area based on the distance between the X axis and the Y axis of the adjacent cell, the condition that the actual operable area is reduced due to the fact that objects such as obstacles possibly exist in the adjacent cell is considered, accurate operation cell combination judgment can be realized, and efficient operation is supported.
Description
Technical Field
The present application relates to the field of intelligent control technologies, and in particular, to a method and an apparatus for merging operation cells, a computer device, and a storage medium.
Background
With the development of science and technology, more and more equipment supports automatic operation path planning at present, for example equipment such as cleaning machines people, automatic lawn mower and plant protection unmanned aerial vehicle, and these equipment can automatic planning operation path and operation mode, bring convenience for people.
The merging of the working areas of the above-mentioned devices in the process of controlling the work is very important, and it will directly affect the working efficiency and working effect of the devices. Taking a cleaning robot as an example, the traditional cleaning robot uses a Sudoku to divide and merge the adjacent edges of the virtual area detection under the condition of no map. The main content is that the laser radar is adopted to carry out X-axial and-Y-axial distance measurement on adjacent units in the central area, and if the area of the adjacent units in the central area is detected to be larger than or equal to Am2If yes, judging that the large areas are not merged, and if the area of the adjacent unit in the central area is detected to be smaller than Am2And judging the cell combination. The merging algorithm can be self-adapted to the surrounding environment under the condition of no map, the effect of improving the cleaning efficiency is achieved, however, when the merging algorithm is applied to an actual room, because the area of the adjacent units in the central area is only determined by the length of the X axis and the Y axis of the units, the area of the X axis and the Y axis of the L-shaped/trapezoidal area of certain areas which cannot be cleaned, such as barriers, solid walls and the like, and the area of the X axis and the Y axis of the L-shaped/trapezoidal area of the areas which cannot be cleaned, such as the solid walls and the like is more than or equal to Am2But their actual area is smaller than Am due to the inability to clean areas such as intermediate obstacles, solid walls, etc2If the areas are erroneously determined not to be merged, the cleaning efficiency is reduced.
It will be appreciated that other device operating cell combinations also suffer from the above-mentioned problems, as unreasonable cell combinations ultimately lead to inefficient device operation.
Disclosure of Invention
Therefore, it is necessary to provide a reasonable operation cell merging method, apparatus, computer device and storage medium to support efficient operation of devices, aiming at the problem that the operation efficiency of devices is low due to unreasonable conventional operation cell merging scheme.
An operation cell merging method comprises the following steps:
acquiring parameters of a virtual wall of an adjacent cell;
estimating the operable area of the adjacent cell by adopting a spider-web node method according to the virtual wall parameters of the adjacent cell;
acquiring a preset area threshold corresponding to a merging cell;
and judging whether to merge the adjacent cells or not according to the estimation result of the operable area of the adjacent cells and a preset area threshold.
In one embodiment, estimating the operable area of the neighboring cell by using the spider-web node method according to the virtual wall parameters of the neighboring cell includes:
determining a virtual wall of the adjacent cell according to the virtual wall parameters of the adjacent cell;
determining N rays emitted at equal angular intervals by taking the virtual wall as a boundary, and M arcs divided in adjacent cells based on radius r, wherein the radius r divides the virtual wall into M equal parts, N and M are positive integers not less than 2, and the rays can be shielded by an obstacle;
identifying the intersection points of the N rays and the M arcs;
and predicting the operable area of the adjacent cell according to the intersection point.
In one embodiment, estimating the operable area of the neighboring cell according to the intersection point comprises:
acquiring the number of the intersection points;
and estimating the operable area of the adjacent cells according to the number of the intersection points.
In one embodiment, estimating the operable area of the neighboring cell according to the number of the intersections includes:
acquiring the number of intersection points corresponding to the shortest circular arc in the M circular arcs;
acquiring the area of a sector area synthesized by adjacent intersection points on the shortest circular arc in the M circular arcs, the circular arc origin and the virtual wall enclosure to obtain a reference unit area;
and estimating the operable area of the adjacent cells according to the reference unit area and the number of intersection points corresponding to the shortest circular arc in the M circular arcs.
In one embodiment, estimating the operable area of the neighboring cell according to the reference unit area and the number of intersections corresponding to the shortest arc among the M arcs includes:
acquiring the increase estimated area of the adjacent cell corresponding to each arc according to the reference unit area and the number of the intersection points on each arc;
and adding the estimated areas of the adjacent cells corresponding to the arcs, and estimating the operable areas of the adjacent cells.
In one embodiment, before determining N rays emitted at equal angular intervals with a virtual wall as a boundary and M arcs divided in adjacent cells based on a radius r, the method further includes:
and taking any one angular point of adjacent cells as an origin, and emitting N laser radar rays at equal angular intervals.
In one embodiment, the determining whether to merge the neighboring cells according to the estimation result of the operable area of the neighboring cells and the predetermined area threshold comprises:
if the estimation result of the operable area of the adjacent cells is not less than the preset area threshold, combining the adjacent cells;
and if the estimated result of the operable area of the adjacent cell is smaller than the preset area threshold, not combining the adjacent cells.
An operating cell merging apparatus, comprising:
the parameter acquisition module is used for acquiring the parameters of the virtual wall of the adjacent cell;
the area estimation module is used for estimating the operable area of the adjacent cell by adopting a spider-web node method according to the virtual wall parameters of the adjacent cell;
a threshold value obtaining module, configured to obtain a preset area threshold value corresponding to the merging cell;
and the merging judgment module is used for judging whether to merge the adjacent cells or not according to the estimation result of the operable area of the adjacent cells and a preset area threshold.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring parameters of a virtual wall of an adjacent cell;
estimating the operable area of the adjacent cell by adopting a spider-web node method according to the virtual wall parameters of the adjacent cell;
acquiring a preset area threshold corresponding to a merging cell;
and judging whether to merge the adjacent cells or not according to the estimation result of the operable area of the adjacent cells and a preset area threshold.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring parameters of a virtual wall of an adjacent cell;
estimating the operable area of the adjacent cell by adopting a spider-web node method according to the virtual wall parameters of the adjacent cell;
acquiring a preset area threshold corresponding to a merging cell;
and judging whether to merge the adjacent cells or not according to the estimation result of the operable area of the adjacent cells and a preset area threshold.
The operation cell merging method, the operation cell merging device, the computer equipment and the storage medium acquire the virtual wall parameters of the adjacent cells, estimate the operable area of the adjacent cells by adopting a spider-web node method based on the boundary of the adjacent cells, acquire the preset area threshold corresponding to the merged cells, and judge whether to merge the adjacent cells based on the estimated result of the operable area of the adjacent cells and the preset area threshold. In the whole process, the operable area of the adjacent cell is estimated by adopting a spider-web node method, the method is different from the traditional mode of directly calculating the area based on the distance between the X axis and the Y axis of the adjacent cell, the condition that the actual operable area is reduced due to the fact that objects such as obstacles possibly exist in the adjacent cell is considered, accurate operation cell combination judgment can be realized, and efficient operation is supported.
Drawings
Fig. 1 is a diagram illustrating an exemplary embodiment of an application environment of a method for operating cell merging;
fig. 2 is a flowchart illustrating a method for operating cell merging according to an embodiment;
fig. 3 is a flowchart illustrating a method for operating cell merging according to another embodiment;
fig. 4 is a block diagram of an operating cell merging apparatus according to an embodiment;
FIG. 5 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The method for merging operation cells provided by the present application can be applied to the application environment shown in fig. 1. The method is applied to a scene of cleaning operation of a cleaning robot, after the cleaning robot finishes the edge cleaning of a current cell (central area), the cleaning robot is about to enter an adjacent cell (virtual cell boundary) to continue the edge cleaning so as to initially construct a cleaning map, when the cleaning robot enters the adjacent cell, the cleaning robot acquires the virtual wall parameters of the adjacent cell, namely two boundaries of an X axis and a Y axis in the adjacent cell, estimates the operable area of the adjacent cell by adopting a spider-web node method according to the 2 boundaries, compares the estimated operable area of the adjacent cell with a preset area threshold corresponding to a merging cell, and judges whether the adjacent cell needs to be merged.
In one embodiment, as shown in fig. 2, there is provided an operating cell merging method, including the steps of:
s200: and acquiring parameters of the virtual wall of the adjacent cell.
The neighbor cell refers to a virtual cell adjacent to the current cell. In practical application, when the device operates, the whole operation area is divided into a plurality of operation cells, the cell where the device is currently located is a central area, and the cell adjacent to the central area is an adjacent cell. The main parameters of the virtual wall of the neighboring cell are to obtain the position of the boundary of the neighboring cell, the length of the boundary of the X axis, and the length of the boundary of the Y axis, so as to calculate the operable area of the neighboring cell in the next step.
S400: and according to the virtual wall parameters of the adjacent cells, estimating the operable area of the adjacent cells by adopting a spider-web node method.
The spider-web node method is to determine intersection points in adjacent cells by adopting a ray and arc mode and then predict the operable area of the adjacent cells by utilizing the intersection points. Specifically, as shown in fig. 1, the distribution of the rays, arcs and intersections is similar to a spider web, so the method for estimating the area is called a spider web node method. In practical applications, since there may be an obstacle in an adjacent cell (for example, in fig. 1), an actual operable area in the adjacent cell is smaller than an area of the adjacent cell itself, and it is obviously impossible to consider a situation where the operable area is reduced due to the existence of the obstacle in the conventional method of calculating an area based on length parameters of X axis and Y axis of the adjacent cell to perform a merging judgment. Returning to the application, when an obstacle blocks, the intersection point of the ray and the arc cannot be formed by adopting the spider-web node method, namely, the area occupied by the obstacle is not counted in the operable area, and the more accurate estimation of the operable area is realized.
S600: and acquiring a preset area threshold corresponding to the merging cell.
The preset area threshold corresponding to the merging cell is the minimum operable area corresponding to the merging condition. Generally, the preset area threshold is related to the area of a completely divided cell, for example, a cell area is divided into 4 × 4 — 16 square meters based on the squared figure, and then the preset area threshold may be 8 square meters, which is 1/2 square meters of the complete cell area; it may also be 16/3 square meters, which is 1/3 of the complete cell area. The value of the preset area threshold can be specifically adjusted based on the needs of the actual situation.
S800: and judging whether to merge the adjacent cells or not according to the estimation result of the operable area of the adjacent cells and a preset area threshold.
If the estimated area of the adjacent cell capable of working is not smaller than the preset area threshold, the adjacent cell is a large working cell, and the adjacent cell and the central area (the current cell) can be merged; if the estimated area of the adjacent cell capable of working is smaller than the preset area threshold, the adjacent cell is a small working cell, and the adjacent cell is not combined with the central area.
The operation cell merging method comprises the steps of obtaining virtual wall parameters of adjacent cells, estimating the operable area of the adjacent cells by adopting a spider-web node method based on the boundary of the adjacent cells, obtaining preset area thresholds corresponding to the merged cells, and judging whether to merge the adjacent cells based on the estimated operable area results of the adjacent cells and the preset area thresholds. In the whole process, the operable area of the adjacent cell is estimated by adopting a spider-web node method, the method is different from the traditional mode of directly calculating the area based on the distance between the X axis and the Y axis of the adjacent cell, the condition that the actual operable area is reduced due to the fact that objects such as obstacles possibly exist in the adjacent cell is considered, accurate operation cell combination judgment can be realized, and efficient operation is supported.
In one embodiment, estimating the operable area of the neighboring cell by using the spider-web node method according to the virtual wall parameters of the neighboring cell includes: determining a virtual wall of the adjacent cell according to the virtual wall parameters of the adjacent cell; determining N rays emitted at equal angular intervals by taking the virtual wall as a boundary, and M arcs divided in adjacent cells based on radius r, wherein the radius r divides the virtual wall into M equal parts, N and M are positive integers not less than 2, and the rays can be shielded by an obstacle; identifying the intersection points of the N rays and the M arcs; and predicting the operable area of the adjacent cell according to the intersection point.
In the present embodiment, a detailed spider-web node method is provided for estimating the operable area of the neighboring cells. Specifically, the virtual wall of the adjacent cell is determined based on the parameters of the virtual wall of the adjacent cell, N rays are emitted to the two intersected virtual walls at equal angular intervals by taking the two intersected virtual walls as boundaries, the rays can be shielded by an obstacle, when the obstacle exists in front of the rays, the rays do not extend continuously, and the equal angular intervals refer to that the adjacent rays and included angles between the boundaries (the virtual walls) and the adjacent rays are equal. In addition, M circular arcs are drawn in the adjacent cells according to the radius r, the virtual wall is divided into M equal parts according to the radius r, namely simply understood that a plurality of circular arcs are drawn by taking r as a radius increment, the circular arcs and rays intersect to form intersection points in places with rays, the circular arcs and the intersection points form a structure similar to a spider web, and the operable area of the adjacent cells is estimated based on the intersection points. It can be understood that, at the position that has the barrier to shelter from, because the ray is being met the barrier and is sheltered from by it, can not continue to extend, then can not become the nodical with convex in the space is occupied to the barrier, consequently can reject the space (area) that the barrier occupied in the adjacent district, realize more accurate area and predict.
In one embodiment, estimating the operable area of the neighboring cell according to the intersection point comprises:
acquiring the number of the intersection points; and estimating the operable area of the adjacent cells according to the number of the intersection points.
As shown in fig. 1, the areas of the small blocks surrounded by the adjacent intersection points, the arcs, and the rays can be estimated by accumulating the areas corresponding to the areas of the small blocks. Further, for the first circular arc (the shortest circular arc), the area surrounded and synthesized by the adjacent intersection point, the circular arc, the ray and the adjacent cell corner (the ray origin) is a small sector area, the area of the small sector area can be calculated by adopting a sector area calculation formula, and based on the geometric theory, the area ratio of the small sector area surrounded and synthesized in the first circular arc, the second circular arc, the third circular arc, the fourth circular arc and the … … n-th circular arc is 1: 3: 5: 7: … …: 2 n-1. And finally, converting and estimating an area increase value corresponding to the current arc based on the proportion and the area of the small sector area in the first arc. And accumulating the area increment values to obtain an estimated result of the operable area of the adjacent cell. It should be noted that, in this process, the operable area of the neighboring cell is estimated by using an estimation method, which is not calculated by using a strict geometric formula, and compared with the conventional case that the obstacle in the neighboring cell is not directly considered, the operable area in the neighboring cell can be obviously accurately obtained by using the estimation method.
In one embodiment, estimating the operable area of the neighboring cell according to the number of the intersections includes:
acquiring the number of intersection points corresponding to the shortest circular arc in the M circular arcs; acquiring the area of a sector area synthesized by adjacent intersection points on the shortest circular arc in the M circular arcs, the circular arc origin and the virtual wall enclosure to obtain a reference unit area; and estimating the operable area of the adjacent cells according to the reference unit area and the number of intersection points corresponding to the shortest circular arc in the M circular arcs.
To explain the above process of estimating the operable area of the neighboring cell in detail, the following description will proceed with the application example shown in fig. 1. In this specific application example, M ═ 4; the total number of the arcs is 4, and the radius of each arc is r, 2r, 3r and 4r in sequence; the position of the equipment body is determined by using a laser radar to take virtual walls on two sides of adjacent units in the central area as boundaries, emitting N rays at equal angular intervals, dividing the virtual walls into N equal parts by the length of r, making a circle by taking r as a radius, taking 1/4 circles and intersecting the rays to form a spider web (as shown in figure 1, the area of the 1/4 circle of the first circle is equal to
The second turn 1/4 has a circle area of
The third turn 1/4 has a circle area of
The fourth circle 1/4 has an area of
And so on) can be seen that the ratio of the areas between these 1/4 circles is 1: 4: 9: 16, and the ratio of the area of the first circle sector to the area of each circle can be obtained as 1: 3: 5: 7. since the included angles of the sectors are the same, if a small sector area of the 1/4 circle of the first circle (I) is a, an annular area of the second circle (II) is 3a, an annular area of the third circle (III) is 5a, and an annular area of the fourth circle (IV) is 7a, namely: the area calculation formula of the nth circle of the circular ring is as follows: (2n-1) a. And calculating the number of intersection points of the Y-axis arc line and the ray, and setting the required working areas of the first circle, the second circle and the third circle to be D1, D2 and D3. As shown in fig. 1, the number of intersections of the first turn is 8, and the estimated area D1 is 8aThe number of the second circle intersections is 5, the estimated area D2 is 5a, the number of the third circle intersections is 2, the estimated area D3 is 2a, the number of the fourth circle intersections is 2, the estimated area D4 is 2a, and the total working area of the neighboring cells in the central area is dtotal-D1 + D2+ D3+ D4.
In one embodiment, before determining N rays emitted at equal angular intervals with a virtual wall as a boundary and M arcs divided in adjacent cells based on a radius r, the method further includes:
and taking any one angular point of adjacent cells as an origin, and emitting N laser radar rays at equal angular intervals.
In this embodiment, any one of the corner points of the adjacent cells is used as an origin to transmit the N pieces of lidar equipment, where any one of the corner points may be any one of upper left, lower left, upper right, and lower right corner points in the adjacent cells. The laser radar rays are emitted in an equiangular distance mode, for example, 3 degrees equiangular distance, 9 degrees, 15 degrees and the like, when encountering an obstacle, the laser radar rays are shielded and cannot extend continuously, namely intersection points cannot be generated between the laser radar rays and circular arcs, and therefore the operable area in adjacent areas can be represented through the intersection points.
As shown in fig. 3, in one embodiment, S800 includes:
s820: if the estimation result of the operable area of the adjacent cells is not less than the preset area threshold, combining the adjacent cells;
s840: and if the estimated result of the operable area of the adjacent cell is smaller than the preset area threshold, not combining the adjacent cells.
The preset area threshold is a preset threshold, and may have a certain correlation with the area of the adjacent cell, or a fixed ratio, for example, 1/2 or 1/3, and the specific value thereof may be adjusted according to the needs of the actual situation. If the estimated area of the adjacent cell capable of working is not smaller than the preset area threshold, the adjacent cell is a large working cell, and the adjacent cell and the central area (the current cell) can be merged; if the estimated area of the adjacent cell capable of working is smaller than the preset area threshold, the adjacent cell is a small working cell, and the adjacent cell is not combined with the central area.
It should be understood that, although the steps in the flowcharts are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in each of the flowcharts described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.
As shown in fig. 4, the present application further provides an operating cell merging apparatus, including:
a parameter obtaining module 200, configured to obtain a virtual wall parameter of an adjacent cell;
the area estimation module 400 is used for estimating the operable area of the adjacent cell by adopting a spider-web node method according to the virtual wall parameters of the adjacent cell;
a threshold obtaining module 600, configured to obtain a preset area threshold corresponding to a merging cell;
a merging judgment module 800, configured to judge whether to merge the neighboring cells according to the estimation result of the operable area of the neighboring cells and a preset area threshold.
The operation cell merging device acquires the virtual wall parameters of the adjacent cells, estimates the operable area of the adjacent cells by adopting a spider-web node method based on the boundary of the adjacent cells, acquires the preset area threshold corresponding to the merged cells, and judges whether to merge the adjacent cells based on the estimated operable area result of the adjacent cells and the preset area threshold. In the whole process, the operable area of the adjacent cell is estimated by adopting a spider-web node method, the method is different from the traditional mode of directly calculating the area based on the distance between the X axis and the Y axis of the adjacent cell, the condition that the actual operable area is reduced due to the fact that objects such as obstacles possibly exist in the adjacent cell is considered, accurate operation cell combination judgment can be realized, and efficient operation is supported.
In one embodiment, the area estimation module 400 is further configured to determine a virtual wall of the neighboring cell according to the virtual wall parameter of the neighboring cell; determining N rays emitted at equal angular intervals by taking the virtual wall as a boundary, and M arcs divided in adjacent cells based on radius r, wherein the radius r divides the virtual wall into M equal parts, N and M are positive integers not less than 2, and the rays can be shielded by an obstacle; identifying the intersection points of the N rays and the M arcs; and predicting the operable area of the adjacent cell according to the intersection point.
In one embodiment, the area estimation module 400 is further configured to obtain the number of intersections; and estimating the operable area of the adjacent cells according to the number of the intersection points.
In one embodiment, the area pre-estimating module 400 is further configured to obtain the number of intersection points corresponding to the shortest arc among the M arcs; acquiring the area of a sector area synthesized by adjacent intersection points on the shortest circular arc in the M circular arcs, the circular arc origin and the virtual wall enclosure to obtain a reference unit area; and estimating the operable area of the adjacent cells according to the reference unit area and the number of intersection points corresponding to the shortest circular arc in the M circular arcs.
In one embodiment, the area estimation module 400 is further configured to obtain an increase estimated area of an adjacent cell corresponding to each arc according to the reference unit area and the number of intersection points on each arc; and adding the estimated areas of the adjacent cells corresponding to the arcs, and estimating the operable areas of the adjacent cells.
In one embodiment, the area estimation module 400 is further configured to emit N lidar rays at equal angular intervals with any one of the corner points of the neighboring cells as an origin.
In one embodiment, the combining and determining module 800 is further configured to combine the neighboring cells when the estimation result of the operable area of the neighboring cells is not smaller than the preset area threshold; and when the estimated result of the operable area of the adjacent cell is smaller than the preset area threshold value, the adjacent cell is not merged.
For a specific embodiment of the operating cell merging apparatus, reference may be made to the above embodiments of the operating cell merging method, and details are not described herein again. All or part of the modules in the operating cell merging device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 5. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a method of operating cell merging. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring parameters of a virtual wall of an adjacent cell;
estimating the operable area of the adjacent cell by adopting a spider-web node method according to the virtual wall parameters of the adjacent cell;
acquiring a preset area threshold corresponding to a merging cell;
and judging whether to merge the adjacent cells or not according to the estimation result of the operable area of the adjacent cells and a preset area threshold.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
determining a virtual wall of the adjacent cell according to the virtual wall parameters of the adjacent cell; determining N rays emitted at equal angular intervals by taking the virtual wall as a boundary, and M arcs divided in adjacent cells based on radius r, wherein the radius r divides the virtual wall into M equal parts, N and M are positive integers not less than 2, and the rays can be shielded by an obstacle; identifying the intersection points of the N rays and the M arcs; and predicting the operable area of the adjacent cell according to the intersection point.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring the number of the intersection points; and estimating the operable area of the adjacent cells according to the number of the intersection points.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring the number of intersection points corresponding to the shortest circular arc in the M circular arcs; acquiring the area of a sector area synthesized by adjacent intersection points on the shortest circular arc in the M circular arcs, the circular arc origin and the virtual wall enclosure to obtain a reference unit area; and estimating the operable area of the adjacent cells according to the reference unit area and the number of intersection points corresponding to the shortest circular arc in the M circular arcs.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring the increase estimated area of the adjacent cell corresponding to each arc according to the reference unit area and the number of the intersection points on each arc; and adding the estimated areas of the adjacent cells corresponding to the arcs, and estimating the operable areas of the adjacent cells.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and taking any one angular point of adjacent cells as an origin, and emitting N laser radar rays at equal angular intervals.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
if the estimation result of the operable area of the adjacent cells is not less than the preset area threshold, combining the adjacent cells; and if the estimated result of the operable area of the adjacent cell is smaller than the preset area threshold, not combining the adjacent cells.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring parameters of a virtual wall of an adjacent cell;
estimating the operable area of the adjacent cell by adopting a spider-web node method according to the virtual wall parameters of the adjacent cell;
acquiring a preset area threshold corresponding to a merging cell;
and judging whether to merge the adjacent cells or not according to the estimation result of the operable area of the adjacent cells and a preset area threshold.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining a virtual wall of the adjacent cell according to the virtual wall parameters of the adjacent cell; determining N rays emitted at equal angular intervals by taking the virtual wall as a boundary, and M arcs divided in adjacent cells based on radius r, wherein the radius r divides the virtual wall into M equal parts, N and M are positive integers not less than 2, and the rays can be shielded by an obstacle; identifying the intersection points of the N rays and the M arcs; and predicting the operable area of the adjacent cell according to the intersection point.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring the number of the intersection points; and estimating the operable area of the adjacent cells according to the number of the intersection points.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring the number of intersection points corresponding to the shortest circular arc in the M circular arcs; acquiring the area of a sector area synthesized by adjacent intersection points on the shortest circular arc in the M circular arcs, the circular arc origin and the virtual wall enclosure to obtain a reference unit area; and estimating the operable area of the adjacent cells according to the reference unit area and the number of intersection points corresponding to the shortest circular arc in the M circular arcs.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring the increase estimated area of the adjacent cell corresponding to each arc according to the reference unit area and the number of the intersection points on each arc; and adding the estimated areas of the adjacent cells corresponding to the arcs, and estimating the operable areas of the adjacent cells.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and taking any one angular point of adjacent cells as an origin, and emitting N laser radar rays at equal angular intervals.
In one embodiment, the computer program when executed by the processor further performs the steps of:
if the estimation result of the operable area of the adjacent cells is not less than the preset area threshold, combining the adjacent cells; and if the estimated result of the operable area of the adjacent cell is smaller than the preset area threshold, not combining the adjacent cells.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for operating cell combining, the method comprising:
acquiring parameters of a virtual wall of an adjacent cell;
estimating the operable area of the adjacent cell by adopting a spider-web node method according to the virtual wall parameters of the adjacent cell;
acquiring a preset area threshold corresponding to a merging cell;
and judging whether to merge the adjacent cells or not according to the estimation result of the operable area of the adjacent cells and the preset area threshold.
2. The method according to claim 1, wherein the estimating the operable area of the neighboring cell by using the spider-web node method according to the virtual wall parameters of the neighboring cell comprises:
determining a virtual wall of the adjacent cell according to the virtual wall parameters of the adjacent cell;
determining N rays emitted at equal angular intervals by taking the virtual wall as a boundary, and M arcs divided in the adjacent cells based on a radius r, wherein the radius r divides the virtual wall into M equal parts, N and M are positive integers not less than 2, and the rays can be shielded by an obstacle;
identifying intersections of the N rays and the M arcs;
and predicting the operable area of the adjacent cell according to the intersection point.
3. The method of claim 1, wherein the predicting the operable area of the neighboring cell according to the intersection point comprises:
acquiring the number of the intersection points;
and estimating the operable area of the adjacent cells according to the number of the intersection points.
4. The method of claim 3, wherein estimating the operable area of the neighboring cell according to the number of the intersections comprises:
acquiring the number of intersection points corresponding to the shortest circular arc in the M circular arcs;
acquiring the area of a sector area synthesized by adjacent intersection points on the shortest circular arc in the M circular arcs, the circular arc origin and the virtual wall enclosure to obtain a reference unit area;
and estimating the operable area of the adjacent cells according to the reference unit area and the number of intersection points corresponding to the shortest circular arc in the M circular arcs.
5. The method according to claim 4, wherein the estimating the operable area of the neighboring cell according to the reference unit area and the number of intersections corresponding to the shortest arc among the M arcs comprises:
acquiring the increase estimated area of the adjacent cell corresponding to each arc according to the reference unit area and the number of the intersection points on each arc;
and adding the estimated areas of the adjacent cells corresponding to the arcs, and estimating the operable areas of the adjacent cells.
6. The method of claim 1, wherein the determining N rays that are emitted at equal angular intervals on the virtual wall as a boundary and before M arcs divided in the neighboring cell based on radius r further comprises:
and taking any one angular point of adjacent cells as an origin, and emitting N laser radar rays at equal angular intervals.
7. The method of claim 1, wherein the determining whether to merge the neighboring cells according to the neighboring cell operable area estimation result and the predetermined area threshold comprises:
if the estimation result of the operable area of the adjacent cells is not smaller than the preset area threshold, combining the adjacent cells;
and if the estimated result of the operable area of the adjacent cell is smaller than the preset area threshold, not combining the adjacent cells.
8. An apparatus for operating cell consolidation, the apparatus comprising:
the parameter acquisition module is used for acquiring the parameters of the virtual wall of the adjacent cell;
the area estimation module is used for estimating the operable area of the adjacent cell by adopting a spider-web node method according to the virtual wall parameters of the adjacent cell;
a threshold value obtaining module, configured to obtain a preset area threshold value corresponding to the merging cell;
and the merging judgment module is used for judging whether to merge the adjacent cells according to the estimation result of the operable area of the adjacent cells and the preset area threshold.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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| CN202111277489.3A CN114004955A (en) | 2021-10-29 | 2021-10-29 | Operation cell merging method and device, computer equipment and storage medium |
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