CN114237232A - Path planning method and device - Google Patents
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Abstract
The invention provides a path planning method and a device, comprising the following steps: respectively acquiring a digital orthophoto map and a surface model according to the three-dimensional model of the target area; according to the digital orthophoto map, the ground feature classification information of the target area is obtained, and the ground feature classification information comprises first-class ground feature information and second-class ground feature information; screening a path model containing a starting position and an end position from the surface model according to the information of the ground objects; determining a target path from the path model according to the information of the second type of ground objects; the total value of the cost distances between all nodes constituting the target path is minimal. The invention is particularly suitable for emergency scenes of field, geological disasters, rescue, fire, urban inland inundation and the like, can automatically evade some dangerous areas according to the three-dimensional model of the target area, automatically generates a most reasonable rescue path according to the configuration of rescue facilities, can effectively meet the use requirement of severe environment, improves the rescue efficiency and improves the safety of rescue or evacuation.
Description
Technical Field
The invention relates to the technical field of information processing, in particular to a path planning method and device.
Background
In emergency situations, such as disaster scenes like field disaster, geological disaster, rescue, fire, urban inland inundation, etc., a most reasonable path needs to be found for rescue or evacuation.
However, the environment of the disaster-occurring area is often severe, on one hand, the original environments such as geographical features and the like are greatly changed due to the disaster, and the conventional safe area becomes a dangerous area or the normal road is damaged; on the other hand, infrastructure such as traffic, communication, and power may be damaged or destroyed to some extent in association with occurrence of a disaster.
Therefore, the existing path planning method is adopted, and the path with the shortest distance or shortest time is selected as the rescue path on the known electronic map, so that the requirements of different rescue scenes cannot be met at all.
Disclosure of Invention
The invention provides a path planning method and a path planning device, which are used for solving the defects that in the prior art, rescue path preferred selection is carried out through an electronic map, traffic, communication, electric power and even dangerous area change in a rescue area cannot be comprehensively considered, potential instability is brought to rescue or evacuation, and the life and property safety of both rescuers is threatened.
In a first aspect, the present invention provides a path planning method, including: respectively acquiring a digital orthophoto map and a surface model of a target area according to a three-dimensional model of the target area; according to the digital orthophoto map, the ground feature classification information of the target area is obtained, and the ground feature classification information comprises first-class ground feature information and second-class ground feature information; screening a path model containing a starting position and an end position from the surface model according to the information of the ground objects and the predetermined position information of the obstacle avoidance area; determining a target path from the starting position to the end position from the path model according to the second type ground object information; the total value of the cost distances between all nodes constituting the target path is minimal.
According to the path planning method provided by the invention, the digital orthophoto map of the target area is obtained according to the three-dimensional model of the target area, and the method comprises the following steps: determining the length of the digital orthophoto map according to the ratio of the span of the three-dimensional model in the east-west direction to a first preset sampling interval; determining the width of the digital orthophoto map according to the ratio of the north-south span of the three-dimensional model to the first preset sampling interval; and extracting textures of the three-dimensional model, acquiring a pixel value of the highest point in the three-dimensional model in each first sampling interval, assigning the pixel value to a pixel point on the digital orthophoto map corresponding to the first sampling interval until the traversal sampling of the three-dimensional model is completed, and generating the digital orthophoto map.
According to the path planning method provided by the invention, the surface model of the target area is obtained according to the three-dimensional model of the target area, and the method comprises the following steps: determining the range of the surface model according to the range of the three-dimensional model; acquiring a height value of the highest point in the three-dimensional model in each second sampling interval; taking the coordinate of the highest point as an XY axis coordinate value and the elevation value of the highest point as a Z axis coordinate value, and creating a sampling point for storage; and after traversing and sampling the three-dimensional model, constructing a Delaunay triangulation network by all sampling points to generate the surface model.
According to the path planning method provided by the invention, the acquiring of the ground feature classification information of the target area according to the digital orthophoto map comprises the following steps: inputting the digital orthophoto map into an example segmentation model to generate the ground feature classification information according to an output result of the example segmentation model; the example segmentation model is obtained after training according to a digital ortho-image sample image with a ground feature classification result label.
According to the path planning method provided by the invention, the feature information of the same type at least comprises one of the following information: the position information of the obstacle avoidance area, the position information of the ground fissure and the position information of the house; the second type of ground feature information at least comprises one of the following information: road information and water area location information.
According to the path planning method provided by the invention, the step of screening the path model containing the initial position and the end position from the surface model according to the information of the class of ground objects and the position information of the obstacle avoidance area, which is predetermined, comprises the following steps: traversing the surface model from the starting position to the end position, removing the model area related to the type of ground feature information from the surface model, and taking the removed part as the path model.
According to the path planning method provided by the invention, the step of determining the target path from the starting position to the end position from the path model according to the two types of ground object information comprises the following steps: taking each sampling point in the path model as a node, and respectively determining a passing difficulty coefficient between every two nodes according to the second type ground object information; calculating a cost distance between every two nodes, wherein the cost distance is the product of the path distance and the passing difficulty coefficient; and acquiring the total value of the cost distances of all paths from the starting position to the end position so as to determine the target path from all the paths.
In a second aspect, the present invention further provides a path planning apparatus, including: the model conversion unit is used for respectively acquiring a digital orthophoto map and a surface model of a target area according to a three-dimensional model of the target area; the ground object classification unit is used for acquiring ground object classification information of the target area according to the digital orthophoto map, wherein the ground object classification information comprises first-class ground object information and second-class ground object information; the model simplifying unit is used for screening a path model containing a starting position and an end position from the surface model according to the information of the ground objects of the same type and the predetermined position information of the obstacle avoidance area; the path planning unit is used for determining a target path from the starting position to the end position from the path model according to the information of the second type of ground objects; the total value of the cost distances between all nodes constituting the target path is minimal.
In a third aspect, the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the path planning method according to any one of the above aspects.
In a fourth aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the path planning method as described in any one of the above.
The path planning method and the device provided by the invention are particularly suitable for emergency scenes such as field, geological disasters, rescue, fire, urban inland inundation and the like, can automatically evade some dangerous areas according to the three-dimensional model of the target area, automatically generate a most reasonable rescue path according to the configuration of rescue facilities, can effectively meet the use requirement of severe environment, improve the rescue efficiency and improve the safety of rescue or evacuation.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a path planning method according to the present invention;
FIG. 2 is a second schematic flow chart of the path planning method provided by the present invention;
FIG. 3 is a schematic structural diagram of a path planning apparatus provided in the present invention;
fig. 4 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that in the description of the embodiments of the present invention, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. The terms "upper", "lower", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.
The following describes a path planning method and apparatus provided by the present invention with reference to fig. 1 to 4.
Fig. 1 is a schematic flow chart of a path planning method provided by the present invention, as shown in fig. 1, including but not limited to the following steps:
step 101: respectively acquiring a digital orthophoto map and a surface model of a target area according to a three-dimensional model of the target area;
step 102: according to the digital orthophoto map, the ground feature classification information of the target area is obtained, and the ground feature classification information comprises first-class ground feature information and second-class ground feature information;
step 103: screening a path model containing a starting position and an end position from the surface model according to the information of the ground objects and the predetermined position information of the obstacle avoidance area;
step 104: determining a target path from the starting position to the end position from the path model according to the second type ground object information; the total value of the cost distances between all nodes constituting the target path is minimal.
The three-dimensional model of the target area can be pre-constructed and stored in a cloud server, and is directly called from the cloud when the target area needs to be subjected to path planning; it can also be: the method comprises the steps of using an unmanned aerial vehicle to carry out aerial photography on a target area in real time, obtaining multiple frames of inclined pictures, and building a three-dimensional model in real time according to the photographed pictures based on the existing three-dimensional model reconstruction technology.
Digital ortho-Map (DOM) is an image with both Map geometric accuracy and visual features. The map framing, projection, precision and coordinate system of the DOM map are consistent with those of a topographic map with the same scale, and the image resolution is more than 400 dpi; the output is greater than 250 dpi. Because the DOM is a digital map, the DOM can be locally developed and amplified on a computer, and has good interpretation performance, measurement performance, management performance and the like.
The surface model provided by the invention is a new model reconstructed by extracting the surface information of the three-dimensional model of the target area.
In step 101, different model processing means are adopted to generate a corresponding DOM diagram and a surface model according to the three-dimensional model of the target area.
Further, the purpose of generating the DOM map is to fully utilize the image characteristics thereof, perform image recognition on the DOM map by using a deep learning network, distinguish various types of ground features contained in the DOM map, such as houses, water areas (or small-area puddles), roads, forests and ground cracks, determine the position information of the ground features in the DOM map, and generate the ground feature classification information. Therefore, the feature classification information mainly includes the classified features in the target area and the position information of each feature.
In step 102 of the path planning method provided by the present invention, when a path is planned, if a user cannot pass through the current rescue facility configuration at the position of any feature, the feature is divided into a class of features, and the corresponding information is classified as class-of-feature information.
For example: if a fire disaster occurs in a certain target area, an optimal path for rescuing the target area is planned in time, the DOM image of the target area is subjected to image recognition, the situation that a river exists at the position A is determined, and the rescuing personnel do not configure wading equipment, and the position information of the river are classified into the ground feature information.
Optionally, the feature information of the above-mentioned type at least includes one of the following information: the position information of the obstacle avoidance area, the position information of the ground fissure, the position information of the house and the like.
As an optional embodiment, after the three-dimensional model of the target area is obtained, a thermal infrared device, a hyperspectral device, and a multispectral device may be used to obtain a thermal infrared image and a spectral image of the target area. And after acquiring the DOM graph, registering the acquired thermal infrared image and the spectral image with the DOM graph.
Then, the position information of the fire wire in the target area, the position information of the water area and the like can be respectively identified according to the thermal infrared image and the spectral image, and the obstacle avoidance area can be determined according to the acquired position information of the fire wire and the acquired position information of the water area.
For example: after the position information of the live wire is determined, all the areas with the distance from the live wire exceeding the preset distance are defined as obstacle avoidance areas.
On the other hand, when the route is planned, if the user can smoothly pass through the current rescue facility configuration at the position where any feature is located, the feature is divided into two types of features, and the corresponding information is classified into two types of feature information.
For example: in the case that the user configures the wading equipment, the two types of ground feature information at least comprise one of the following information: road information, water area location information, and the like.
The road information mainly comprises the position information of the road, and the related gradient information of each road can be determined according to the position information of the road.
As an optional embodiment, the screening out a path model including a start position and an end position from the surface model according to the information of the type of surface features and the predetermined information of the position where the obstacle avoidance area is located includes: traversing the surface model from the starting position to the end position, removing the model area related to the type of ground feature information from the surface model, and taking the removed part as the path model.
Specifically, after distinguishing a type of ground object information and a type of ground object information from a DOM (document object model), the optimal rescue path is determined from the surface model by utilizing the integration of the two types of ground object information, and the method mainly comprises the following steps:
in step 103, first, according to the determined type of ground object information, a part, such as an obstacle avoidance area, which cannot be smoothly passed through under the current rescue facility configuration is determined from the surface model, and the part is deleted.
The deletion may be performed by a manual identification method, or may be performed by a computer image processing method, which is not limited in the present invention.
Then, a portion including the start position and the end position is screened out again from the remaining portion after deletion according to the start position and the end position, and the screened portion is used as a path model.
Through the processing in step 103, the effective area for path planning can be effectively reduced, and the planned path is prevented from passing through different passing areas.
In step 104, after the path model is obtained, an optimal rescue path may be determined by a shortest path or a fastest path planning method in combination with the two types of ground feature information.
In the process of planning the optimal rescue path from the path model, the user can reasonably plan according to the current rescue facility configuration and by combining with the two types of ground object information.
For example: in the case where a vehicle is arranged, a road is preferentially selected; determining climbing capacity according to the current configuration of the rescue facility, and setting a climbing gradient threshold (if vehicles cannot pass through an area with excessive gradient), so as to select a proper passing path according to the gradient threshold; if right wading equipment is deployed, it is possible to take into account the area across the water without having to take into account bridging considerations when making the path.
The path planning method provided by the invention is particularly suitable for emergency scenes such as field, geological disasters, rescue, fire, urban inland inundation and the like, can automatically avoid some obstacle avoidance areas according to the three-dimensional model of the target area, automatically generates a most reasonable rescue path according to the configuration of rescue facilities, can effectively meet the use requirement of severe environment, improves the rescue efficiency and improves the safety of rescue or evacuation.
Fig. 2 is a second schematic flow chart of the path planning method provided by the present invention, and as shown in fig. 2, the above-mentioned obtaining the digital orthographic projection image of the target area according to the three-dimensional model of the target area mainly includes, but is not limited to, the following steps:
determining the length of the digital orthophoto map according to the ratio of the span of the three-dimensional model in the east-west direction to a first preset sampling interval;
determining the width of the digital orthophoto map according to the ratio of the north-south span of the three-dimensional model to the first preset sampling interval;
and extracting textures of the three-dimensional model, acquiring a pixel value of the highest point in the three-dimensional model in each first sampling interval, assigning the pixel value to a pixel point on the digital orthophoto map corresponding to the first sampling interval until the traversal sampling of the three-dimensional model is completed, and generating the digital orthophoto map.
It should be noted that the width of the digital ortho-image map may also be determined according to a ratio between the east-west direction span of the three-dimensional model and the first preset sampling interval, and the length of the digital ortho-image map may also be determined according to a ratio between the north-south direction span of the three-dimensional model and the first preset sampling interval.
In colloquial, the main ideas of the method for generating the DOM graph according to the three-dimensional model include:
(1) acquiring the range of the three-dimensional model, and sequentially sampling the pixel values of the highest point of the three-dimensional model according to a first preset sampling interval of rows and columns;
(2) the length and width of the generated DOM graph are respectively: dividing the span of the three-dimensional model in the east-west direction by the sampling interval and dividing the span of the three-dimensional model in the north-south direction by the sampling interval;
(3) and assigning the sampled pixel value of each sampling point on the three-dimensional model to the pixel point of the corresponding DOM image.
Based on the content of the foregoing embodiment, as an alternative embodiment, the above-mentioned obtaining the surface model of the target area according to the three-dimensional model of the target area may include, but is not limited to, the following steps:
determining the range of the surface model according to the range of the three-dimensional model;
acquiring a height value of the highest point in the three-dimensional model in each second sampling interval;
taking the coordinate of the highest point as an XY axis coordinate value and the elevation value of the highest point as a Z axis coordinate value, and creating a sampling point for storage;
and after traversing and sampling the three-dimensional model, constructing a Delaunay triangulation network by all sampling points to generate the surface model.
It should be noted that the second sampling interval may be the same as or different from the first sampling interval for generating the DOM graph.
Based on the content of the foregoing embodiment, as an optional embodiment, the acquiring, according to the digital orthophoto map, the ground feature classification information of the target area includes:
inputting the DOM graph into an example segmentation model so as to generate the ground feature classification information according to an output result of the example segmentation model;
the example segmentation model is obtained after training according to a digital ortho-image sample image with a ground feature classification result label.
The example segmentation model can be obtained after training based on a Mask-R-CNN network.
Before identifying the input DOM graph by using the example segmentation model, the method further comprises the following steps: and marking a large number of DOM sample graphs, training a Mask-R-CNN network by using the marked DOM sample graphs with the ground feature classification result labels, and finishing the real-time identification of the input DOM graph by using the trained Mask-R-CNN network.
The output result after recognition can be saved as a ground object classification file, and the ground object classification file is a group of binary graphs, and the resolution of the ground object classification file is the same as that of the DOM graph. For example: the classification file of the land feature related to the water area sets the place with water as 1, sets the place without water as 0, and the other places are set in the same way.
In addition, in order to reduce the data amount stored in the ground feature classification, the generated ground feature classification information is directly stored in the ground feature classification file in a binary stream mode (the essence of the ground feature classification information and the binary stream is almost the same as that of the binary stream, but the data amount can be greatly reduced).
Based on the content of the foregoing embodiment, as an optional embodiment, the determining a target route from a starting position to an ending position from a route model according to two types of feature information includes:
taking each sampling point in the path model as a node, and respectively determining a passing difficulty coefficient between every two nodes according to the second type ground object information;
calculating a cost distance between every two nodes, wherein the cost distance is the product of the path distance and the passing difficulty coefficient;
and acquiring the total value of the cost distances of all paths from the starting position to the end position so as to determine the target path from all the paths.
It should be noted that the areas corresponding to the ground feature information of the above-mentioned type are areas that completely different pass through in the route planning, such as obstacle avoidance areas, forbidden areas, or areas that cannot pass through according to the current configuration of the rescue facility; in contrast, the area corresponding to the second type of feature information is an area that can pass through according to the current configuration of the rescue facility or can pass through under certain conditions.
The optimal rescue route can be planned from the route model based on a Dijkstra method, namely, the target route with the minimum total cost distance value from the starting position (starting vertex) to the end position (target vertex) is determined, wherein the total cost distance value refers to the sum of the cost distances between two adjacent nodes forming the target route.
When the cost distance between two adjacent nodes is calculated, on the basis of the distance, the passing difficulty coefficient between the two adjacent nodes is calculated firstly according to the current rescue facility configuration and the acquired two types of ground object information, and the cost distance is as follows: the actual distance x the pass difficulty coefficient.
Generally, in the case of the current rescue facility configuration, when determining the passing difficulty coefficient between the node a and the node B, if the connection line pointing to the node B from the node a passes through the region that cannot pass through, the passing difficulty coefficient between the node a and the node B may be set to infinity or the node B may be removed.
The following description will be made of the calculation of the pass difficulty coefficient by taking the example of calculating the line from the node a to the node B through a climbing region:
θ＝1+N*tan(α-α0)，
N>0 and 90>α0>-90
Wherein θ is a pass difficulty coefficient between the node a and the node B; alpha is the slope angle between the node A and the node B; alpha is alpha0For the most labour-saving slope values, e.g. alpha0Taking-10 degrees indicates that it is most labor-saving to pass through a-10 degree slope.
The method for determining N comprises the following steps: if the same physical effort as that required to walk 500 meters on a flat ground is taken through a steep slope of 45 degrees and 100 meters in length, N takes the value 4(1+4 × 1 — 5).
It can also be known from the above formula that if the slope angle between the node a and the node B exceeds the preset slope angle threshold, the passing difficulty coefficient between the node a and the node B is set to infinity.
In the same manner, the calculation method of the passing difficulty coefficient between two adjacent nodes in other scenes may be set, which is not described in detail herein.
The path planning method provided by the invention integrates the ground feature information in the target area, and adopts a classical path optimization method by combining the actual state of the current rescue facility configuration, so that the optimal disaster relief route can be rapidly and accurately determined, the passability of the acquired target path can be effectively ensured, and precious time is won for the development of disaster relief and evacuation work.
Fig. 3 is a schematic structural diagram of the path planning apparatus provided by the present invention, as shown in fig. 3, which mainly includes, but is not limited to, a model conversion unit 31, a surface feature classification unit 32, a model simplification unit 33, and a path planning unit 34, wherein:
the model conversion unit 31 is mainly used for respectively acquiring a digital orthophoto map and a surface model of a target region according to a three-dimensional model of the target region; the feature classification unit 32 is mainly configured to obtain feature classification information of the target area according to the digital orthophoto map, where the feature classification information includes first-class feature information and second-class feature information; the model simplifying unit 33 is mainly used for screening a path model containing a starting position and an end position from the surface model according to the information of the ground objects of the same type and the predetermined position information of the obstacle avoidance area; the path planning unit 34 is mainly configured to determine a target path from the starting position to the ending position from the path model according to the information of the second type of ground objects; the total value of the cost distances between all nodes constituting the target path is minimal.
It should be noted that, when the path planning apparatus provided in the embodiment of the present invention is specifically operated, the path planning method described in any of the above embodiments may be executed, and details of this embodiment are not described herein.
The path planning device provided by the invention is particularly suitable for emergency scenes such as field, geological disasters, rescue, fire, urban inland inundation and the like, can automatically avoid some obstacle avoidance areas according to a three-dimensional model of a target area, automatically generates a most reasonable rescue path according to the configuration of rescue facilities, can effectively meet the use requirement of severe environment, improves the rescue efficiency and improves the safety of rescue or evacuation.
Fig. 4 is a schematic structural diagram of an electronic device provided in the present invention, and as shown in fig. 4, the electronic device may include: a processor (processor)410, a communication Interface 420, a memory (memory)430 and a communication bus 440, wherein the processor 410, the communication Interface 420 and the memory 430 are communicated with each other via the communication bus 440. The processor 410 may invoke logic instructions in the memory 430 to perform a path planning method comprising: respectively acquiring a digital orthophoto map and a surface model of a target area according to a three-dimensional model of the target area; according to the digital orthophoto map, the ground feature classification information of the target area is obtained, and the ground feature classification information comprises first-class ground feature information and second-class ground feature information; screening a path model containing a starting position and an end position from the surface model according to the information of the ground objects and the predetermined position information of the obstacle avoidance area; determining a target path from the starting position to the end position from the path model according to the second type ground object information; the total value of the cost distances between all nodes constituting the target path is minimal.
In addition, the logic instructions in the memory 430 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform a path planning method provided by the above methods, the method comprising: respectively acquiring a digital orthophoto map and a surface model of a target area according to a three-dimensional model of the target area; according to the digital orthophoto map, the ground feature classification information of the target area is obtained, and the ground feature classification information comprises first-class ground feature information and second-class ground feature information; screening a path model containing a starting position and an end position from the surface model according to the information of the ground objects and the predetermined position information of the obstacle avoidance area; determining a target path from the starting position to the end position from the path model according to the second type ground object information; the total value of the cost distances between all nodes constituting the target path is minimal.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to perform the path planning method provided in the above embodiments, the method including: respectively acquiring a digital orthophoto map and a surface model of a target area according to a three-dimensional model of the target area; according to the digital orthophoto map, the ground feature classification information of the target area is obtained, and the ground feature classification information comprises first-class ground feature information and second-class ground feature information; screening a path model containing a starting position and an end position from the surface model according to the information of the ground objects and the predetermined position information of the obstacle avoidance area; determining a target path from the starting position to the end position from the path model according to the second type ground object information; the total value of the cost distances between all nodes constituting the target path is minimal.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of path planning, comprising:
respectively acquiring a digital orthophoto map and a surface model of a target area according to a three-dimensional model of the target area;
according to the digital orthophoto map, the ground feature classification information of the target area is obtained, and the ground feature classification information comprises first-class ground feature information and second-class ground feature information;
screening a path model containing a starting position and an end position from the surface model according to the information of the ground objects and the predetermined position information of the obstacle avoidance area;
determining a target path from the starting position to the end position from the path model according to the second type ground object information; the total value of the cost distances between all nodes constituting the target path is minimal.
2. The path planning method according to claim 1, wherein obtaining a digital orthophotomap of the target region from a three-dimensional model of the target region comprises:
determining the length of the digital orthophoto map according to the ratio of the span of the three-dimensional model in the east-west direction to a first preset sampling interval;
determining the width of the digital orthophoto map according to the ratio of the north-south span of the three-dimensional model to the first preset sampling interval;
and extracting textures of the three-dimensional model, acquiring a pixel value of the highest point in the three-dimensional model in each first sampling interval, assigning the pixel value to a pixel point on the digital orthophoto map corresponding to the first sampling interval until the traversal sampling of the three-dimensional model is completed, and generating the digital orthophoto map.
3. The path planning method according to claim 1, wherein obtaining the surface model of the target region from the three-dimensional model of the target region comprises:
determining the range of the surface model according to the range of the three-dimensional model;
acquiring a height value of the highest point in the three-dimensional model in each second sampling interval;
taking the coordinate of the highest point as an XY axis coordinate value and the elevation value of the highest point as a Z axis coordinate value, and creating a sampling point for storage;
and after traversing and sampling the three-dimensional model, constructing a Delaunay triangulation network by all sampling points to generate the surface model.
4. The path planning method according to claim 1, wherein the obtaining the ground feature classification information of the target area according to the digital orthophotomap includes:
inputting the digital orthophoto map into an example segmentation model to generate the ground feature classification information according to an output result of the example segmentation model;
the example segmentation model is obtained after training according to a digital ortho-image sample image with a ground feature classification result label.
5. The path planning method according to claim 1, wherein the feature information of the type at least includes one of the following information: the position information of the ground crack and the position information of the house;
the second type of ground feature information at least comprises one of the following information: road information and water area location information.
6. The path planning method according to claim 1, wherein the step of screening a path model including a start position and an end position from the surface model according to the information of the type of ground objects and the information of the position where the predetermined obstacle avoidance area is located includes:
traversing the surface model from the starting position to the end position, removing the model area related to the type of ground feature information from the surface model, and taking the removed part as the path model.
7. The method according to claim 3, wherein the determining a target route from the starting position to the ending position from the route model according to the second type of feature information comprises:
taking each sampling point in the path model as a node, and respectively determining a passing difficulty coefficient between every two nodes according to the second type ground object information;
calculating a cost distance between every two nodes, wherein the cost distance is the product of the path distance and the passing difficulty coefficient;
and acquiring the total value of the cost distances of all paths from the starting position to the end position so as to determine the target path from all the paths.
8. A path planning apparatus, comprising:
the model conversion unit is used for respectively acquiring a digital orthophoto map and a surface model of a target area according to a three-dimensional model of the target area;
the ground object classification unit is used for acquiring ground object classification information of the target area according to the digital orthophoto map, wherein the ground object classification information comprises first-class ground object information and second-class ground object information;
the model simplifying unit is used for screening a path model containing a starting position and an end position from the surface model according to the information of the ground objects of the same type and the predetermined position information of the obstacle avoidance area;
the path planning unit is used for determining a target path from the starting position to the end position from the path model according to the information of the second type of ground objects; the total value of the cost distances between all nodes constituting the target path is minimal.
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 steps according to any of claims 1 to 7 when executing the computer program.
10. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the path planning method steps according to any one of claims 1 to 7.
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