CN114355927B

CN114355927B - Path planning method, path planning device and computer readable storage medium

Info

Publication number: CN114355927B
Application number: CN202111633784.8A
Authority: CN
Inventors: 桑云; 吴加春
Original assignee: Hangzhou Hikrobot Co Ltd
Current assignee: Hangzhou Hikrobot Co Ltd
Priority date: 2021-12-29
Filing date: 2021-12-29
Publication date: 2023-12-29
Anticipated expiration: 2041-12-29
Also published as: CN114355927A

Abstract

The embodiment of the application discloses a path planning method, a path planning device and a computer-readable storage medium, and belongs to the field of motion planning. In this application embodiment, through the process of simulating the moving object and being followed the right angle bend removal in the reference outside, plan out the path that the moving object can pass in right angle bend department, can plan out the moving object like this and occupy less corner space at the moving process, the difficult obstacle that bumps of moving object has improved the security like this.

Description

Path planning method, path planning device and computer readable storage medium

Technical Field

The embodiments of the present application relate to the field of motion planning, and in particular, to a path planning method, apparatus, and computer readable storage medium.

Background

With the development of mobile robots in recent years, the mobile robots are increasingly commonly used in logistics, warehouse, factory production and other fields, such as AGVs (Automated Guided Vehicle, automatic guided vehicles) for carrying goods, multi-vehicle collaborative carrying goods and the like. In the process of applying the mobile robot, path planning needs to be performed on the mobile robot, so that the mobile robot moves according to the planned path. Where care is required to address the problem of path planning at right angle turns in a tight environment.

In the related art, it is assumed that the size of the moving object and the right angle turn are both determined, in which case the path of the moving object at the right angle turn is planned. The movable object comprises a movable robot and goods. For this situation, the currently adopted planning method is: the moving object is seen as a moving point and the path of the moving point at the right angle turn is generated by manually editing the path of the moving point at the right angle turn, for example by manually adjusting the control point of the bezier curve.

In the related art, human resources are consumed in manual intervention, and in addition, due to the shortage of space resources in the narrow environment, the space occupied by the moving object in the moving process according to the path manually edited and planned may be more, and the moving object is easy to collide with the obstacle in the moving process, i.e. the safety is lower.

Disclosure of Invention

The embodiment of the application provides a path planning method, a path planning device and a computer readable storage medium, which can plan a path with minimum occupied space in the moving process of a moving object and improve the safety. The technical scheme is as follows:

in one aspect, a path planning method is provided, the method including:

determining a starting pose and a stopping pose of a moving object at a right angle bend at the outer side of a reference according to a starting and stopping pose setting condition, wherein the starting and stopping pose setting condition comprises that the moving object is in contact with the right angle bend at the outer side of the reference when in the starting pose and the stopping pose, and at least two contact points exist;

And simulating the process that the movable object moves from the initial pose to the final pose along the right angle bend at the outer side of the reference, and determining the planned path of the movable object at the right angle bend according to the curve drawn by any point on the movable object in the process.

Optionally, one side of the reference outside right angle bend is parallel to and spaced apart from one side of the first outside right angle bend by a safe distance, and the other side of the reference outside right angle bend is parallel to and spaced apart from the other side of the first outside right angle bend by the safe distance, the reference outside right angle bend being between the first outside right angle bend and the first inside right angle bend, the first outside right angle bend and the first inside right angle bend representing an outside right angle bend and an inside right angle bend, respectively, of a right angle corner through which the mobile object will pass.

Optionally, the said

Simulating the process that the movable object moves from the initial pose to the final pose along the right angle bend at the outer side of the reference, and determining the planned path of the movable object at the right angle bend according to the curve drawn by any point on the movable object in the process, wherein the method comprises the following steps:

taking the initial pose as the current pose of the mobile object;

Performing a simulation operation, the simulation operation comprising: a line segment formed by two end points of the movable object, which are in contact with the right angle bend at the outer side of the reference in the state of the current pose, is used as a sliding line segment corresponding to the current pose; simulating sliding of the moving object from the current pose to a next state according to the mode that two end points of the sliding line segment are slid against the right angle bend at the outer side of the reference, wherein a curve marked by any point on the moving object in the sliding process is taken as a track line corresponding to the sliding line segment, the posture of the moving object in the sliding process is changed as the posture of the moving object on the track line, and the next state is the state when the moving object slides to the end point contacted with the right angle bend at the outer side of the reference is changed;

if the pose corresponding to the next state is the same as the termination pose, obtaining the planned path, wherein the planned path comprises a set of track lines corresponding to different sliding line segments in the simulation process and the pose change of the movable object on each track line in the set of track lines;

and if the pose corresponding to the next state is different from the termination pose, updating the current pose into the pose corresponding to the next state, and returning to execute the simulation operation.

Optionally, the reference outside right-angle bend corresponds to a reference inside right-angle bend, and the planned path is obtained under the condition that the track lines corresponding to the sliding line segments all meet the moving condition;

and the curve which is drawn by any point on the moving object in the sliding process is used as a track line corresponding to the sliding line segment, and then the curve further comprises:

according to the size information of the moving object, calculating an area swept by the moving object in the sliding process to obtain a moving coverage area corresponding to the track line;

if the movement coverage area does not exceed the area between the reference inside right angle bend and the reference outside right angle bend, then the trajectory is determined to satisfy the movement condition.

Optionally, one side of the reference inside right angle bend is parallel to and spaced apart from one side of the first inside right angle bend by a safe distance, and the other side of the reference inside right angle bend is parallel to and spaced apart from the other side of the first inside right angle bend by the safe distance, the reference inside right angle bend being between the first inside right angle bend and the first outside right angle bend, the first outside right angle bend and the first inside right angle bend representing an outside right angle bend and an inside right angle bend, respectively, of a right angle corner through which the mobile object will pass.

Optionally, the start-stop pose setting conditions further include:

the mobile object can reach the right-angle turning through a first path section in the initial pose, and the first path section is a path section connected with the head end of the right-angle turning;

the movable object can pass through a second path section in the posture of the termination pose, and the second path section is a path section connected with the tail end of the right-angle corner.

In another aspect, a path planning apparatus is provided, the apparatus comprising:

the starting and stopping pose determining module is used for determining a starting pose and a stopping pose of a moving object at a right-angle bend at the outer side of a reference according to a starting and stopping pose setting condition, wherein the starting and stopping pose setting condition comprises that the moving object is in contact with the right-angle bend at the outer side of the reference when the moving object is in the starting pose and the stopping pose, and at least two contact points exist;

and the path planning module is used for simulating the process that the movable object moves from the initial pose to the final pose along the right angle bend at the outer side of the reference, and determining the planned path of the movable object at the right angle bend according to the curve marked by any point on the movable object in the process.

Optionally, the path planning module includes:

the current pose determining sub-module is used for taking the initial pose as the current pose of the mobile object;

a simulation sub-module for performing a simulation operation, the simulation operation comprising: a line segment formed by two end points of the movable object, which are in contact with the right angle bend at the outer side of the reference in the state of the current pose, is used as a sliding line segment corresponding to the current pose; simulating sliding of the moving object from the current pose to a next state according to the mode that two end points of the sliding line segment are slid against the right angle bend at the outer side of the reference, wherein a curve marked by any point on the moving object in the sliding process is taken as a track line corresponding to the sliding line segment, the posture of the moving object in the sliding process is changed as the posture of the moving object on the track line, and the next state is the state when the moving object slides to the end point contacted with the right angle bend at the outer side of the reference is changed;

A path determining sub-module, configured to obtain the planned path if the pose corresponding to the next state is the same as the termination pose, where the planned path includes a set of trajectory lines corresponding to different sliding line segments in a simulation process, and a pose change of the mobile object on each trajectory line in the set of trajectory lines;

and the current pose updating sub-module is used for updating the current pose into the pose corresponding to the next state and returning to execute the simulation operation if the pose corresponding to the next state is different from the termination pose.

the path planning module further includes:

a moving area calculating sub-module, configured to calculate, according to the size information of the moving object, an area swept by the moving object in the sliding process, so as to obtain a moving coverage area corresponding to the trajectory;

and the executive judging sub-module is used for determining that the track line meets the moving condition if the moving coverage area does not exceed the area between the reference inner right-angle bend and the reference outer right-angle bend.

Optionally, the start-stop pose setting conditions further include:

In another aspect, a computer device is provided, where the computer device includes a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus, where the memory is used to store a computer program, and where the processor is used to execute the program stored on the memory to implement the steps of the path planning method described above.

In another aspect, a computer readable storage medium is provided, in which a computer program is stored, which computer program, when being executed by a processor, implements the steps of the path planning method described above.

In another aspect, there is provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the steps of the path planning method described above.

The technical scheme provided by the embodiment of the application at least has the following beneficial effects:

in this application embodiment, through the process that the simulation moves the thing and is being referred outside right angle bend to remove, plan the route that the movable thing can pass in right angle bend, the route that this scheme planned can guarantee to move the thing and occupy less corner space when the right angle bend removes, is difficult for colliding the barrier to the movable thing like this, has improved the security.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a shape of a mobile object according to an embodiment of the present application;

FIG. 2 is an analysis schematic diagram of a line segment turning over a right angle according to an embodiment of the present application;

fig. 3 is a schematic diagram of a center track of a line segment turning over a right angle according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a minimum space analysis of a line segment turning over a right angle according to an embodiment of the present application;

fig. 5 is a schematic view of a minimum curve space of a line segment turning over a right angle according to an embodiment of the present application;

fig. 6 is a schematic diagram of a coverage area moving through a right angle corner of a line segment according to an embodiment of the present application;

fig. 7 is a schematic view of a minimum turning space of a mobile object turning at right angles according to an embodiment of the present application;

fig. 8 is a schematic diagram of a coverage area of a mobile object moving through a right angle corner according to an embodiment of the present application;

fig. 9 is a schematic view of a minimum curve space of another mobile object turning over a right angle according to an embodiment of the present application;

fig. 10 is a schematic diagram of a process of turning a mobile object over a right angle according to an embodiment of the present application;

FIG. 11 is a schematic view of a mobile coverage area when another mobile object is traversing a right angle turn, as provided by an embodiment of the present application;

fig. 12 is a flowchart of a path planning method provided in an embodiment of the present application;

FIG. 13 is a flow chart of another path planning method provided by an embodiment of the present application;

FIG. 14 is a flow chart of yet another path planning method provided by an embodiment of the present application;

fig. 15 is a schematic structural diagram of a path planning apparatus according to an embodiment of the present application;

fig. 16 is a schematic structural diagram of a computer device according to an embodiment of the present application.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

Related nouns and application scenarios related to the embodiments of the present application are first described.

Path planning: the method is characterized in that in order to complete a certain task, the executable path from the initial pose to the target pose is planned by comprehensively considering factors such as path length, obstacle meeting risk (distance from an obstacle), execution efficiency and the like. The nature of the path planning problem is an optimization problem, and the current common path planning methods comprise two main types: search class algorithms (e.g., search algorithms such as a-star, D-star, etc.) and evolutionary computation class algorithms (genetic algorithms, ant colony algorithms, etc.).

Moving object: including but not limited to mobile robots and cargo being handled. The moving object may be referred to as a truck cargo, for example, an AGV car after lifting the cargo and the cargo are regarded as a whole, and is referred to as "truck cargo". The mobile object may also be referred to as a mobile robot.

Locale environment: an environment in which a mobile object can be rotated in place 360 deg. without touching an obstacle (such as the edge of a passing path) at all points of a planned path cannot be satisfied. For example, an environment in which the trolley can be rotated in place 360 ° after carrying the cargo at all points of the planned path without hitting an obstacle cannot be satisfied.

Pose: i.e., position and attitude, in a two-dimensional coordinate system, the position is typically represented as (x, y) and the attitude (also known as heading or yaw) is typically represented as θ. In the embodiment of the application, for a two-dimensional planar map, the pose of the moving object includes the position where the moving object is located, and the pose of the moving object at the position, and the pose is expressed as (x, y, θ).

Next, application scenarios of the embodiments of the present application will be described.

Along with the development of science and technology, the mobile robot is more and more commonly applied in aspects such as logistics, storage, factory production and the like, and when the mobile robot is used for carrying goods, the overall size of the mobile robot and the goods, the length and the width of a passing path are required to be considered, and the overall pose of the mobile robot and the goods is adjusted so as to ensure that the mobile robot for carrying the goods can smoothly run on a planned path and cannot collide with obstacles. Most factories have limited site resources, often have a large number of goods stored or machine tools, the environment is relatively limited, but as a whole, the factory has several characteristics: 1. the occupied area is a regular rectangular area; 2. the passage for cargo transportation is typically a regular rectangular passage; 3. the transport channels are typically 90 ° crisscrossed. Therefore, the problem of path planning of the goods transportation at the right-angle turning is frequently encountered in practice, and the embodiment of the application provides a path planning method for the right-angle turning, which can enable a mobile object to pass through the right-angle turning with occupying the minimum space.

The path planning method provided by the embodiment of the application includes, but is not limited to, application in two aspects, in the first aspect, the size of the moving object and the rectangular size of the right-angle corner are determined, and a path farthest from the obstacle (with optimal safety) is planned. In the second aspect, the size of the moving object is determined, and a minimum turning space meeting the passing of the moving object is planned, for example, a turning rectangle meeting the cargo transportation needs to be designed before the factory is constructed. It should be noted that the nature of these two applications is the same, and the embodiments of the present application are mainly described in the first application.

Next, the principle of the path planning method provided in the embodiment of the present application will be described.

For simplicity of description, embodiments of the present application may consider the mobile robot and cargo as a whole, i.e., a mobile object, when planning a path.

Referring to fig. 1, fig. 1 is a schematic diagram of a shape of a mobile object according to an embodiment of the present application, and it is assumed that a length of a mobile robot is L _c Width W _c The length of the goods is L _g Width W _g The dotted boxes of (1) to (4) in fig. 1 represent cargoes, and the solid boxes represent mobile robots. The combination of the mobile robot and the cargo includes four possible cases (1) to (4) in fig. 1.

(1) The length of the cargo is less than the length of the mobile robot, and the width of the cargo is less than the width of the mobile robot. The overall size of the cargo and the mobile robot is the outer peripheral size of the mobile robot without considering the height, and the length of the moving object is L _c Width W _c 。

(2) The length of the cargo is greater than the length of the mobile robot, and the width of the cargo is greater than the width of the mobile robot. The overall dimension of the cargo and the mobile robot is the outer dimension of the cargo without regard to the height, and the length of the mobile object is L _g Width W _g 。

(3) The length of the goods is greater than the length of the mobile robot, and the width of the goods is less than the width of the mobile robot. The overall length of the cargo and the mobile robot is the length of the cargo, the overall width is the width of the mobile robot, and the length of the mobile object is L _g Width W _c 。

(4) The length of the cargo is smaller than the length of the mobile robot, and the width of the cargo is larger than the width of the mobile robot. The whole length of the goods and the mobile robot is the movement irrespective of the heightThe length of the robot and the whole width are the width of the goods, and at the moment, the length of the moving object is L _c Width W _g 。

Among them, the above cases (1) and (2) can be regarded as one case, such as the shape 1 of the mover shown as "case 1" in fig. 1, and the above cases (3) and (4) can be regarded as the other case, such as the shape 2 of the mover shown as "case 2" in fig. 1. For the shape 1 of the moving object, the size information of the moving object can be represented by the length and the width of one circumscribed rectangle when the passing path of the moving object is planned, and for the shape 2 of the moving object, the size information of the moving object can be represented by the length and the width of two circumscribed rectangles when the passing path of the moving object is planned.

In addition, for other goods with irregular shapes or moving objects combined by the moving robots, the size information of the moving objects can be represented according to the circumscribed rectangle of the moving objects. Alternatively, for irregularly shaped moving objects, the outer edge polygon of the moving object may be determined to represent the size information of the moving object. That is, the embodiments of the present application are not limited to the shape of the moving object, and for example, the shape of the moving object may be expressed as an arbitrary polygon.

Next, taking the shapes (shape 1 and shape 2) of the moving objects shown in the above-described case 1 and case 2 as an example, the principle of the path planning method provided in the embodiment of the present application will be explained. Similar analysis can be done for other polygonal displacements.

Analysis of line section turning over right angle

The moving object has a certain length and a certain width, the moving object is considered as a line segment without considering the width of the moving object, the condition that the line segment turns at right angles is analyzed, and then the condition that the moving object with a certain width turns at right angles is analyzed by considering the width of the moving object.

As shown in fig. 2, the two sides of the outside right angle curve defining the right angle curve are the x-axis and the y-axis, respectively, the inside right angle curve is shown as a thin dashed line, assuming the inside right angle curve is pending, discussion is given of how to determine the inside right angle curve so that the right angle curve occupies the minimum space. It should be noted that, in the case of making the right angle turn occupy the minimum space, the planned path can also make the occupied space when the mobile object moves minimum, and both are essentially the same.

If a line segment (thick line segment in fig. 2) needs to be drawn from pose a (x) _a ,y _a ,θ _a ) Adjust to pose C (x) _c ,y _c ,θ _c ) I.e. by turning right angles, the posture of the line segment is necessarily continuous from theta _a Change to theta _c Therefore, the user is inevitably required to go through the pose B (x _b ,y _b ,θ _b ) Corresponding posture theta _b (the two vertices of the line segment are on the two rays of the outside right angle bend at pose B). That is explained below in the posture θ _b And the pose B occupies the minimum space.

If the line segment is in the posture theta _b When the position is at the right side of the pose B (shown by the oblique dotted line at the right side of the pose B in fig. 2), the space occupied by the right-angle turning is easy to know to be larger than that when the right-angle turning is at the pose B. If the line segment is located at the left side of pose B (as shown by the left oblique broken line in fig. 2), the line segment will collide with the outer right angle bend and cannot pass through. It can be concluded that "if the posture of the line segment is θ _b When the right angle bend is to be ensured, the optimal space occupation position is (x) _b ,y _b ) I.e. the two end points of the line segment lie on the outer right angle bends.

Because the line segment continuously passes through theta from the pose A to the pose C _a To theta _c All the postures in the middle are analyzed, and under each posture, the space occupation is optimal when the two endpoints of the line segment are positioned on the two rays which are bent at the outer right angles. Thus, the line segment passing through the right angle bend needs to keep both end points of the line segment always on both rays of the right angle bend. The other way around is that: if the y-axis is considered as a wall surface and the x-axis is considered as a ground surface, the line segment occupies the smallest space when sliding down along the wall surface to the ground surface, and the line segment is named as a 'sliding down line segment'. In the embodiment of the present application, the downslide line segment is also referred to as a slide line segment.

Analysis of line segment center track of line segment turning through right angle

As shown in fig. 3, by theorem: the central line of the hypotenuse of the right triangle is equal to half of the hypotenuse, and the central track of the line segment in the whole turning process with the smallest occupied space is a circle taking the inflection point O of the outside right angle as the center of a circle, and r is a radius (the length of the line segment passing through the right angle turning is set as 2 r). And the central track (x, y) of the line segment and the posture theta of the line segment can be expressed as shown in a formula (1) and a formula (2) under the coordinate system shown in fig. 3 through geometric analysis:

minimum curve space analysis for line segment crossing right angle curve

First, define the right angle bend space as: "distance between the apex OF the outside right angle bend and the apex OF the inside right angle bend, as shown by OE, OF, OH in FIG. 4. It should be noted that the space size defined herein does not represent the size of the space area, and the definition is made herein only for the purpose of discussing space optimality).

As shown in fig. 4, when the line segment is at a certain posture θ (assuming that θ+.45°), the inside right-angle bend that minimizes the occupied space is sought, so that the line segment is within the inside right-angle bend (i.e., the line segment can pass through). As shown, the line segment and the outside right angle bend form a right triangle Δoab. The directions of the two rays of the inner right angle bend are consistent with the directions of the outer right angle bend, so that the inner right angle bend can be uniquely determined only by determining the vertex of the inner right angle bend.

When the vertex of the inside right angle bend is not located on the line segment AB, such as the vertex H of the inside right angle bend 1 in fig. 4 (it is easy to know that the point H must be located outside Δoab, otherwise if the vertex of the inside right angle bend is located inside Δoab, the inside right angle bend will have an intersection with the line segment AB, that is, the line segment cannot pass through the right angle bend). At this time, the point E is connected to the OH intersection AB, and the inside right angle bend 2 is formed with the point E as the vertex, so that it is easy to know that OE < OH, that is, the inside right angle bend 2 occupies a smaller space than the inside right angle bend 1. Therefore, it is concluded that the vertex of the inside right angle bend with the smallest occupied space must be above the line segment, and analysis shows that "all vertices are inside right angle bends on the line segment can ensure that the line segment is inside the inside right angle bend, i.e., that the line segment can pass through the right angle bend".

Therefore, the inside right angle bend having the closest point to the point O among all the points on the line segment AB as the vertex is an inside right angle bend that ensures the optimum space of the line segment within the right angle bend in the posture θ. The perpendicular line passing through the point O and making AB is intersected with the point F, the F is taken as the vertex to make the inner right-angle bend 3, then the right-angle bend formed by the outer right-angle bend and the inner right-angle bend 3 is the right-angle bend with the smallest occupied space, and the size OF the right-angle bend is OF, namely d is shown in fig. 4 ₂ . It can be concluded that: when the line segment is in a certain posture theta, the O point is crossed to form a perpendicular line of the line segment, and the inner side right angle bend taking the perpendicular point as the vertex can ensure that the occupied space is minimum.

If the line segment is in a posture such that Δoab is not an isosceles right triangle, the point F is not the midpoint of AB, and if the midpoint is E, the length d of OE is easily known ₁ ＝r，d ₂ <r, i.e. the size of the optimal right angle bend space in this pose is smaller than r.

As shown in fig. 5, when the line segment is in such a manner that Δoab is an isosceles right triangle, it is known that the vertex of the inside right angle bend corresponding to the smallest right angle bend space at this time is on the midpoint E of the line segment AB, and the smallest right angle bend space has a size r.

From the above, it is ensured that, as shown in fig. 3, all the line segments moving from pose a to pose C can pass through right-angle turns, the minimum right-angle turn space is r, and the optimal right-angle turn is the right-angle turn shown in fig. 5.

FIG. 6 is a schematic view of a segment of length 2r passing through an area (shown in phantom) swept during a right angle turn as shown in FIG. 5, with a side length ofSquare of (2) represents the size of the right angle bend spaceFor r, it can be seen that the line segment is inside the right angle curve throughout the curve.

Analysis of the condition of the shape 1 of the mobile object turning right angle

From the above analysis, it is clear that to ensure a minimum space occupation, it is necessary to ensure that the outer edges of the mobile object are somewhat on both sides of the outer right-angle bend, i.e. that the mobile object is bent against the outer right-angle bend.

The length of the moving object is L, the width of the moving object is W, and on the basis of fig. 6, the width of the moving object in the shape 1 is considered, so that a schematic diagram of the moving object turning through a right angle is obtained as shown in fig. 7, the end point of the outer edge AB of the moving object is always on the outer right angle, and the minimum right angle bending space which can meet the passing of the moving object is 0.5×l+w.

As shown in FIG. 8, a rectangular moving object with a length L and a width W is turned by a right angle to a side lengthIn fig. 8, the hatched area is the area swept by the mobile, and it can be seen that the mobile is inside a right angle turn during the whole process.

Analysis of the condition of the shape 2 of the mobile object turning right angle

The moving object is represented by rectangle 1 and rectangle 2, the rectangle 1 has a length L1 and a width W1, the rectangle 2 has a length L2 and a width W2, and on the basis of fig. 6, a schematic diagram of the moving object passing through a right angle corner as shown in fig. 9 is obtained in consideration of the shape of the moving object, and it is easy to see that the minimum right angle corner space size satisfying the passing through of the moving object is 0.5× (l1+w1+w2).

The shape 2 of the moving object is different from the shape 1 in that the moving object of the shape 1 slides along one sliding line segment when turning at right angles, but the moving object of the shape 2 does not slide along one sliding line segment when turning at right angles. As shown in fig. 10, the moving object of the shape 2 slides along the sliding line AB (non-physical line segment) from the pose 1 to the pose 2, from the pose 2 to the pose 3 along the sliding line BC, and from the pose 3 to the pose 4 along the sliding line CD.

FIG. 11 is a view of a shape 2 mobile turning through a right angleIs of side lengthIn fig. 11, the hatched area is the area swept by the mobile object, and it can be seen that the mobile object is inside a right angle turn during the entire movement.

By introducing the principle of the path planning method provided by the embodiment of the application by taking the moving object as the example of the shape 1 and the shape 2, the size of the minimum right angle bending space which can be passed by the moving object can be determined by the mode of moving the moving object to be stuck to the outer right angle bending. In addition, along with the movement of any point (such as the center point of the moving object) on the moving object in the moving process, a track line marked by any point on the moving object can be obtained, and the track line is used as a path of the marked moving object at a right-angle corner, so that the occupied space of the moving object in the moving process is minimum. It is noted that, for other irregularly shaped moving objects, an outer edge polygon can be determined to be used for representing the shape of the moving object, and based on the determined outer edge polygon, the path planning method provided by the embodiment of the application is used for determining the planned path of the moving object, and the scheme can be applied to plan a right-angle corner meeting the minimum occupied space of the moving object.

The following explains the path planning method provided in the embodiment of the present application in detail.

It should be noted that, the path planning method provided in the embodiment of the present application may be executed by any computer device, and after the computer device obtains a planned path, the planned path is sent to the mobile robot, and the mobile robot turns through a right angle according to the planned path. Optionally, the computer device is a server or other device with processing capability, and embodiments of the present application are not limited to a specific form of the computer device. Of course, in some embodiments, if the mobile robot has enough processing capability, the path planning method may also be performed by the mobile robot, which is not limited in this embodiment of the present application.

Fig. 12 is a flowchart of a path planning method according to an embodiment of the present application. A path planning method in the case where the shape and size of the moving object and the right angle curve are determined will be described with reference to fig. 12, and the method includes the following steps.

Step 1201: and determining the initial pose and the final pose of the moving object at the right-angle bend at the reference outer side according to the initial pose and the final pose setting conditions, wherein the initial pose and the final pose setting conditions comprise that the moving object is in contact with the right-angle bend at the reference outer side when the moving object is in the initial pose and the final pose, and at least two contact points exist.

In the embodiment of the application, based on the foregoing theoretical analysis, the starting pose and the ending pose of the moving object at the right angle bend on the reference outer side need to be determined according to the setting conditions of the starting pose and the ending pose. The starting and stopping pose setting conditions comprise that the moving object is in right angle bent contact with the outer side of the reference when in the starting pose and the ending pose, and at least two contact points exist. For example, at least one side of the outer edge polygon of the moving object contacts the reference outer side right angle bend, or at least two vertices of the outer edge polygon of the moving object contact the reference outer side right angle bend, in which case the moving object contacts the reference outer side right angle bend and there are at least two points of contact. The reference outside right angle bend is obtained according to the right angle bend through which the moving object will pass (i.e. the actual need to pass).

Optionally, before determining the starting pose and the ending pose of the moving object, the outer edge polygons of the moving object need to be determined, for example, but not limited to, the moving object shape 1 and the moving object shape 2 described above, and the moving object shape may be other polygonal shapes. After the outer edge polygon of the moving object is determined, the starting pose and the ending pose of the moving object are determined according to the starting and ending pose setting conditions and the outer edge polygon of the moving object, so that the moving object contacts the reference outer side right angle bend in the state of the starting pose and the ending pose, and at least two contact points exist, for example, at least one edge of the outer edge polygon of the moving object contacts the reference outer side right angle bend.

It should be noted that, in consideration of the safety problem of the moving object during the moving process, it is necessary to ensure that the moving object is far away from the right-angle corner to be passed through during the moving process, and in the method for planning the path of the moving object at the right-angle corner based on the above-mentioned theoretical analysis, the moving object is required to move against the outer right-angle corner, so that it is required to determine a reference outer right-angle corner based on the right-angle corner to be passed through by the moving object. And determining the initial pose and the final pose of the moving object based on the reference outer right angle bend, so that the moving object contacts the reference outer right angle bend in the initial pose and the final pose, and at least two contact points exist.

Optionally, one side of the reference outside right angle bend is parallel to and spaced apart from one side of the first outside right angle bend by a safe distance, the other side of the reference outside right angle bend is parallel to and spaced apart from the other side of the first outside right angle bend by a safe distance, the reference outside right angle bend is between the first outside right angle bend and the first inside right angle bend, and the first outside right angle bend and the first inside right angle bend represent the outside right angle bend and the inside right angle bend of the right angle bend through which the mobile object will pass, respectively. I.e. with reference to the outside right angle bend, is determined in terms of the safety distance.

Optionally, one implementation of determining the reference outside right angle curve based on the right angle curve through which the mobile object is to pass is: and respectively moving the two sides of the first outer right-angle bend towards the directions close to the two sides of the first inner right-angle bend according to the safety distance to obtain the reference outer right-angle bend. The safe distance is a value which is preset and stored, for example, 30cm (centimeter), 40cm and the like.

For example, assuming that the safety distance is d, the right-angle corner through which the mobile object will pass includes a first outer right-angle corner and a first inner right-angle corner, and two sides of the first outer right-angle corner are respectively parallel to and directed the same as the x-axis and the y-axis shown in fig. 2, the first outer right-angle corner is respectively moved to the right side and the upper side by the distance d, resulting in a reference outer right-angle corner.

It should be noted that, in some embodiments, the moving object may also move against the outer right angle bend of the right angle bend that actually needs to pass through, which corresponds to the above-mentioned safety distance of 0, in which case the reference outer right angle bend is identical to the first outer right angle bend.

After the reference outside right angle bend is determined, according to the start and stop pose setting conditions, the start pose and the end pose of the moving object in the reference outside right angle bend are determined, so that the moving object is in contact with the reference outside right angle bend in the state of the start pose and the end pose, and at least two contact points exist, for example, the outer edges of the moving object are in contact with two edges of the reference outside right angle bend.

For example, assuming that the movable object is represented by a shape 1 shown in fig. 1 with reference to x-axis and y-axis of the outside right angle curve shown in fig. 7, and the outside polygon of the movable object includes an outside edge 1, an outside edge 2, an outside edge 3, and an outside edge 4 shown in fig. 7, a pose of the movable object in a state where the outside edge 1 (length L) contacts the y-axis and the outside edge 2 (length W) contacts the x-axis is determined as a start pose of the movable object, and a pose of the movable object in a state where the outside edge 1 contacts the x-axis and the outside edge 4 (length W) contacts the y-axis is determined as a stop pose of the movable object. Assuming that the x-axis and the y-axis shown in fig. 9 are referred to as outside right angle bends, and assuming that the moving object is represented by a shape 2 shown in fig. 1, an outer edge polygon of the moving object includes an outer edge 1, an outer edge 2, an outer edge 3, and the like as shown in fig. 9, a pose of the moving object in a state where the outer edge 1 (length L2) contacts the y-axis and the outer edge 2 (length W1) contacts the x-axis is determined as a start pose of the moving object, and a pose of the moving object in a state where the outer edge 1 contacts the x-axis and the outer edge 3 (length W1) contacts the y-axis is determined as a stop pose of the moving object.

Optionally, in the embodiment of the present application, considering that in practice, the mobile object still needs to move on a path segment connected to the right-angle corner, the start-stop pose setting condition further includes: the mobile object can reach the right angle turn through the first path segment in the initial pose and the mobile object can pass through the second path segment in the end pose. The first path section is a path section connected with the head end of the right-angle corner, and the second path section is a path section connected with the tail end of the right-angle corner.

The method includes the steps that a first path section and a second path section which are connected with the right-angle turning end to end are obtained, a moving object moves on the first path section in the same gesture as the initial gesture, if the moving object cannot collide with an obstacle (such as a wall surface) in the moving process and can reach the initial gesture of the right-angle turning position, the moving object can safely pass through the first path section to reach the right-angle turning in the gesture of the initial gesture, and the initial gesture of the moving object is determined to meet the start-stop gesture setting condition. And if the moving object does not collide with an obstacle in the moving process, the moving object can safely pass through the second path section in the posture of the termination pose, and the termination pose of the moving object is determined to meet the condition of setting the start and stop pose. That is, the mobile can safely reach the right angle turn on the previous path before the start pose and can continue to safely pass the next path after the end pose.

Step 1202: simulating the process of moving the moving object from the initial pose to the final pose against the right angle bend at the outer side of the reference, and determining the planned path of the moving object at the right angle bend according to the curve drawn by any point on the moving object in the process.

In the embodiment of the application, after the initial pose and the final pose of the moving object are determined, a process that the moving object moves from the initial pose to the final pose along the right angle bend on the outer side of the reference is simulated, and a planning path of the moving object at the right angle bend is determined according to a curve drawn by any point on the moving object in the process. That is, by simulating the process of moving the moving object against the right angle bend on the reference outside, the path of the moving object at the right angle bend is planned. Alternatively, in the embodiment of the present application, any point on the moving object is referred to as a landmark of the moving object, in other words, the landmark of the moving object is any point on the moving object. For example, the mark point of the moving object is the center point of the moving object, and the position of the center point of the moving object represents the position of the moving object. In other embodiments, a point other than the moving object may be used as a landmark of the moving object, and the planned path of the moving object at the right-angle corner may be determined according to a curve drawn by the landmark of the moving object in the simulation process.

One implementation of step 1202 is next described by steps 12021 through 12024 shown in fig. 13.

Step 12021: and taking the initial pose as the current pose of the moving object.

That is, in the embodiment of the present application, the simulation process starts from a state in which the mobile object is in the initial pose.

Step 12022: a simulation operation is performed.

Referring to fig. 13, in an embodiment of the present application, the simulation operation in step 12022 includes the following steps 2201 and 2202.

Step 2201: and taking a line segment formed by two end points of the movable object, which are in contact with the right angle bend at the outer side of the reference, in the state of the current pose as a sliding line segment corresponding to the current pose.

In the embodiment of the application, firstly, the moving object is placed in a state of an initial pose, in which the current pose of the moving object is different from a final pose, and a line segment formed by two end points of the moving object, which are in right angle bending contact with the outer side of a reference in the state, is used as a sliding line segment corresponding to the current pose.

For example, in a state where the moving object of the shape 1 is in the initial pose, the sliding line segment corresponding to the current pose of the moving object is a line segment AB (i.e. the outer edge 1) as shown in fig. 7, and in this state, the sliding line segment AB is attached to the y-axis. The moving object in the shape 2 is in the state of the pose 1 in fig. 10, and the sliding line segment corresponding to the current pose of the moving object is a line segment AB shown in fig. 10.

Step 2202: the method comprises the steps of simulating a sliding motion of a moving object from a current pose to a next state by sliding two end points of a sliding line segment against a right angle bend at the outer side of a reference, using a curve drawn by any point on the moving object in the sliding process as a track line corresponding to the sliding line segment, changing the pose of the moving object in the sliding process as the pose of the moving object in the track line, and using the next state as the state when the moving object slides to the end point contacted with the right angle bend at the outer side of the reference.

In this embodiment of the present application, after determining a sliding line segment corresponding to the current pose, a process of sliding a moving object based on the sliding line segment is simulated, and a curve drawn by any point (such as a center point) on the moving object is used as a trajectory line corresponding to the sliding line segment. That is, the two end points of the sliding line segment are slid against the right angle bend on the reference outer side, so that the curve of the moving object which is slid from the current position to the next position is simulated, the curve which is drawn at any point on the moving object during the sliding is used as the track line corresponding to the sliding line segment, and the posture of the moving object during the sliding is changed as the posture change of the moving object on the track line. The next state refers to a state when the movable object slides to an end point in contact with the reference outer side right angle bend, that is, a state when the sliding line segment changes.

As shown by the above theoretical analysis, for the moving object with the shape 1, the sliding line segment is unchanged along with the movement of the moving object along with the right angle bend at the outer side of the reference, and the moving object can move from the initial pose to the final pose based on the sliding line segment, that is, the current pose of the moving object can be updated to be the same as the final pose through a sliding process. For the moving object of the shape 2, as shown in fig. 10, the sliding line segment changes as the moving object moves against the right angle bend on the outer side of the reference, and the current pose of the moving object can be updated to be the same as the termination pose through a plurality of sliding processes corresponding to the sliding line segments. The sliding line segment is changed due to the fact that the contact end point of the moving object with the right angle bend at the reference outer side is changed during the sliding process.

For example, for the mobile object with the shape 1 shown in fig. 7, the sliding line is unchanged, when the current pose is the same as the initial pose, the next state of the current pose is the state that the mobile object is in the final pose, and the curve drawn by any point on the mobile object in the process of sliding from the current pose to the next state is used as the track line corresponding to the sliding line.

For the mobile object with the shape 2 shown in fig. 10, when the current pose is the same as the initial pose, the next state of the current pose is the state of the pose 2 in fig. 10, the next state of the pose 2 is the state of the pose 3, and the next state of the pose 3 is the state of the pose 4. And taking a curve drawn by any point on the moving object in the process of sliding from the current pose to the next state as a track line corresponding to the sliding line segment, so that three track lines can be obtained in total, and the three track lines are connected end to end in sequence.

It should be noted that, in the embodiment of the present application, the gesture change of the moving object during the sliding process can be also used as the gesture change of the moving object on the trajectory line, that is, the gesture change of the moving object when moving on the trajectory line can also be obtained while obtaining the trajectory line corresponding to the sliding line segment. Illustratively, the trajectory may be formulated as a function of position (x, y), the attitude change may be formulated as a function of attitude θ, the attitude change may also be formulated as a tangent function of the trajectory, or may be formulated in other forms. Alternatively, the trajectory line and the posture change of the moving object on the trajectory line may be expressed by a functional formula regarding the posture (x, y, θ). That is, in the embodiment of the present application, based on this sliding process, the pose of the moving object when moving on the trajectory line, including the position and the pose on the trajectory line, can be obtained.

Step 12023: and if the pose corresponding to the next state is the same as the termination pose, obtaining a planned path, wherein the planned path comprises a set of trajectory lines corresponding to different sliding line segments in the simulation process and the pose change of moving objects on each trajectory line in the set of trajectory lines.

In the embodiment of the application, after the track line corresponding to the sliding line segment is obtained, if the pose corresponding to the next state is the same as the ending pose, all the track lines obtained in the sliding process from the starting pose to the ending pose are sequentially connected, and all the path segments included in the planned path of the moving object are obtained.

Optionally, the posture change of all the moving objects on the track line is taken as the posture change of the moving objects on the planning path. That is, the obtained planned path of the moving object includes not only the trajectory line but also the pose of the moving object on the planned path, that is, not only the path can be planned, but also the pose of the moving object when moving on the planned path can be planned.

Step 12024: if the pose corresponding to the next state is different from the termination pose, the current pose is updated to the pose corresponding to the next state, and the simulation operation of step 12022 is performed.

That is, if the state that the movable object is in the termination pose is not simulated yet, after the current pose is updated, the simulation operation is continuously executed until the pose in the next state is the same as the termination pose, and the simulation operation is completed, so that the planned path is obtained.

Through the path drawn by the rule, the moving object can be ensured not to collide with the outer right-angle bend of the right-angle bend when moving at the right-angle bend. Alternatively, considering that the moving object cannot collide with the inside right-angle bend of the right-angle bend yet when moving, based on this, it is also necessary to determine whether the trajectory satisfies the moving condition for causing the moving object not to collide with the reference outside right-angle bend nor the reference inside right-angle bend while determining the trajectory. It should be noted that the reference outside right angle bend corresponds to the reference inside right angle bend, and the reference inside right angle bend is obtained according to the right angle bend through which the moving object will pass.

Optionally, one side of the reference inside right angle bend is parallel to and a safe distance from one side of the first inside right angle bend, the other side of the reference inside right angle bend is parallel to and a safe distance from the other side of the first inside right angle bend, and the reference inside right angle bend is between the first inside right angle bend and the first outside right angle bend. The first outer right-angle bend and the first inner right-angle bend respectively represent an outer right-angle bend and an inner right-angle bend of a right-angle bend through which the mobile object is to pass. That is, based on safety considerations, the reference inside right angle curve is also determined in a similar manner to the reference outside right angle curve, prior to determining the planned path of the mobile object at the right angle curve. For example, the two sides of the first inside right angle bend are moved in a direction approaching the two sides of the first outside right angle bend, respectively, in accordance with the safety distance, to obtain the reference inside right angle bend. Optionally, the safe distance between the reference outside right angle bend and the first outside right angle bend is the same as or different from the safe distance between the reference outside right angle bend and the first outside right angle bend.

It should be noted that, in some embodiments, the reference inside right angle bend is the same as the first inside right angle bend, which corresponds to a safe distance between the reference outside right angle bend and the first outside right angle bend of 0, in which case the moving object may be abutted against the inside right angle bend of the right angle bend during the actual passing through the right angle bend.

After determining the reference inside right angle bend, in order to judge whether the trajectory meets the moving condition, that is, in order to make the moving object not collide with the reference outside right angle bend nor collide with the reference inside right angle bend in the moving process, optionally, after taking the curve marked by any point on the moving object in the sliding process as the trajectory corresponding to the sliding line segment, calculating the area swept by the moving object in the sliding process according to the size information of the moving object to obtain the moving coverage area corresponding to the trajectory, and if the moving coverage area does not exceed the area between the reference inside right angle bend and the reference outside right angle bend, determining that the trajectory meets the moving condition. The planned path is obtained when the trajectory lines corresponding to the sliding line segments satisfy the movement condition.

That is, each time a trajectory is obtained, it is determined whether the trajectory can be executed, that is, whether the moving object collides with the reference inside right angle bend during the movement of the moving object along the trajectory (the movement against the reference outside right angle bend, the posture changes synchronously). If the trajectory line can be executed, it is determined whether the pose corresponding to the next state is the same as the termination pose. If the trajectory is not executable, it is determined that the path planning fails, and the mobile cannot safely pass through the right angle curve, because the path determined by the trajectory is already the optimal path based on the theoretical analysis described above, and therefore, if the trajectory cannot pass through, the right angle curve must not pass through.

Alternatively, after determining that the pose corresponding to the next state is the same as the termination pose, a planned path is obtained, according to the size information of the mobile object, calculating a region swept by the mobile object in the process of moving from the initial pose to the termination pose according to the planned path by attaching the mobile object to the right angle bend on the outer side of the reference, so as to obtain a moving coverage region corresponding to the planned path. And if the movement coverage area corresponding to the planned path does not exceed the area between the reference inside right angle bend and the reference outside right angle bend, determining that the planned path meets the movement condition, namely that all the track lines in the planned path meet the movement condition. And if the mobile coverage area corresponding to the planned path exceeds the area between the reference inside right angle bend and the reference outside right angle bend, determining that planning fails.

Next, referring to fig. 14, a path planning method provided in an embodiment of the present application will be explained again. Fig. 14 is a flowchart of another path planning method provided in an embodiment of the present application, referring to fig. 14, the method includes the following steps:

1. the outer edge polygons of the moving object, such as shape 1 and shape 2, are determined.

2. The reference inside and outside right angle turns (reference inside right angle turn and reference outside right angle turn) are determined based on the actual right angle turns. Step 1 and step 2 are not sequenced.

3. And determining the initial pose and the final pose of the moving object according to the setting rules of the starting pose and the final pose, enabling the edge of the moving object to contact the right angle bend at the outer side of the reference, and placing the moving object in the initial pose.

4. And determining a corresponding sliding line segment under the current pose, namely determining a line segment formed by two end points contacted when the movable object is bent at right angles against the outer side of the reference.

5. And determining a track line corresponding to the sliding-down line segment and the gesture of the moving object moving along the track line, namely the track comprises a position and a gesture.

6. Whether the track line can be executed or not is judged, namely whether the moving coverage of the moving object exceeds the area between the reference inner side right angle bend and the reference outer side right angle bend or not in the process that the moving object moves along the track line and is attached to the reference outer side right angle bend or not is judged, namely whether the moving object does not collide with the reference inner side right angle bend or not. If the trajectory cannot be executed, a determination is made that the plan failed, suggesting that the right angle curve cannot be safely traversed.

7. If the trajectory can be executed, the mobile is adjusted to the end of the trajectory, and a determination is made as to whether the end pose is reached. And if the ending pose is not reached, returning to the step 4, namely continuously acquiring the next sliding line segment to carry out the next track planning until the ending pose is reached.

The path planning method in the case where the shape and size of the moving object and the right angle curve are determined is described above by fig. 12 to 14, that is, the application of the present embodiment to the first aspect is described. As can be seen from the foregoing theoretical analysis section, the application of the present solution in the second aspect is the same as the essence of the application of the first aspect, that is, in the case of determining the size of the moving object, the application of the present solution can also plan a right-angle corner that satisfies the minimum occupied space of the moving object passing, and plan a path of the moving object in the planned right-angle corner.

In the embodiment of the application, one implementation way of planning the right-angle corner with the least occupied space is as follows: and regarding the reference outside right angle bend as a reference outside right angle bend obtained according to the right angle bend to be planned, and determining the initial pose and the final pose of the moving object at the reference outside right angle bend according to the setting conditions of the start pose and the stop pose. And simulating a curve drawn by any point on the moving object in the process of moving the moving object from the initial pose to the final pose along the right angle bend at the reference outer side according to the size information of the moving object, determining the minimum right angle bend space size when the moving object moves along the planned path, and planning a right angle bend according to the minimum right angle bend space size. In addition, a curve drawn by any point on the moving object is simulated in the process that the moving object moves from the initial pose to the final pose along the right angle bend at the outer side of the reference, and a planned path of the moving object at the planned right angle bend is determined.

Wherein, according to minimum right angle bend space size, plan out a realization mode that right angle turns into does: and determining the reference inner right angle bend according to the minimum right angle bend space size and the reference outer right angle bend. And respectively moving the two sides of the reference outer right angle bend to a direction away from the two sides of the reference inner right angle bend according to the safety distance to obtain the planned outer right angle bend. And respectively moving the two sides of the reference inner right angle bend to a direction away from the two sides of the reference outer right angle bend according to the safety distance to obtain the planned inner right angle bend.

For example, for a mobile object of shape 1, the determined minimum right angle bend space is shown in fig. 7, the determined vertex of the reference inside right angle bend is located at point E, and assuming a safe distance d, the reference outside right angle bend in fig. 5 is moved leftward and downward by a distance d, respectively, to obtain the planned outside right angle bend. The reference inside right angle bend in fig. 5 is moved rightward and upward by a distance d, respectively, to obtain a planned inside right angle bend. Thus, right-angle turns satisfying the safety distance and having the smallest occupied space are planned.

To sum up, in this embodiment of the application, through the process that the simulation moves the animal and is attached to the right angle bend in the reference outside, plan out the route that the animal can pass in right angle bend department, can plan out the animal that the animal occupies less corner space at the removal in-process like this, just so the animal is difficult for colliding the barrier, has improved the security.

All the above optional technical solutions may be combined according to any choice to form an optional embodiment of the present application, which is not described in detail herein.

Fig. 15 is a schematic structural diagram of a path planning apparatus provided in an embodiment of the present application, where the path planning apparatus 1500 may be implemented as part or all of a computer device by software, hardware, or a combination of both. Referring to fig. 15, the apparatus 1500 includes: a start-stop pose determination module 1501 and a path planning module 1502.

A start-stop pose determining module 1501 for determining a start pose and a stop pose of the moving object at the reference outer right angle bend according to a start-stop pose setting condition, the start-stop pose setting condition including that the moving object is in contact with the reference outer right angle bend and at least two contact points exist when the moving object is in the start pose and the stop pose;

the path planning module 1502 is configured to simulate a process of moving the moving object from a start pose to an end pose against a right angle corner on the outside of the reference, and determine a planned path of the moving object at the right angle corner according to a curve drawn by any point on the moving object in the process.

Optionally, one side of the reference outside right angle bend is parallel to and spaced apart from one side of the first outside right angle bend by a safe distance, the other side of the reference outside right angle bend is parallel to and spaced apart from the other side of the first outside right angle bend by a safe distance, the reference outside right angle bend is between the first outside right angle bend and the first inside right angle bend, and the first outside right angle bend and the first inside right angle bend represent the outside right angle bend and the inside right angle bend of the right angle bend through which the mobile object will pass, respectively.

Optionally, path planning module 1502 includes:

the current pose determining sub-module is used for taking the initial pose as the current pose of the moving object;

the simulation sub-module is used for executing simulation operation, and the simulation operation comprises: taking a line segment formed by two end points of the movable object, which are in contact with the right angle bend at the outer side of the reference, in the state of the current pose as a sliding line segment corresponding to the current pose; simulating a curve which is drawn by any point on the moving object in the sliding process according to a mode that two end points of the sliding line segment slide against the right angle bend at the outer side of the reference, wherein the curve is used as a track line corresponding to the sliding line segment, the posture of the moving object in the sliding process is changed, and the posture of the moving object in the track line is changed, wherein the next state is a state when the moving object slides to the end point contacted with the right angle bend at the outer side of the reference;

the path determination submodule is used for obtaining a planned path if the pose corresponding to the next state is the same as the termination pose, wherein the planned path comprises a set of track lines corresponding to different sliding line segments in the simulation process and the pose change of moving objects on each track line in the set of track lines;

And the current pose updating sub-module is used for updating the current pose into the pose corresponding to the next state if the pose corresponding to the next state is different from the termination pose, and returning to execute the simulation operation.

Optionally, the reference outside right-angle bend corresponds to the reference inside right-angle bend, and the planned path is obtained under the condition that the track lines corresponding to the sliding line segments all meet the moving condition;

path planning module 1502 also includes:

the moving area calculating sub-module is used for calculating the area swept by the moving object in the sliding process according to the size information of the moving object to obtain a moving coverage area corresponding to the track line;

Optionally, one side of the reference inside right angle bend is parallel to and at a safe distance from one side of the first inside right angle bend, the other side of the reference inside right angle bend is parallel to and at a safe distance from the other side of the first inside right angle bend, the reference inside right angle bend is between the first inside right angle bend and the first outside right angle bend, and the first outside right angle bend and the first inside right angle bend represent an outside right angle bend and an inside right angle bend, respectively, of a right angle bend through which the mobile object will pass.

Optionally, the start-stop pose setting conditions further include:

the moving object can reach the right-angle turning through a first path section in the initial pose, wherein the first path section is a path section connected with the head end of the right-angle turning;

the moving object can pass through the second path section in a posture of ending the pose, and the second path section is a path section connected with the tail end of the right-angle corner.

It should be noted that: in the path planning device provided in the above embodiment, when planning a path, only the division of the above functional modules is used for illustration, in practical application, the above functional allocation may be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to complete all or part of the functions described above. In addition, the path planning device and the path planning method provided in the foregoing embodiments belong to the same concept, and detailed implementation processes of the path planning device and the path planning method are detailed in the method embodiments and are not repeated herein.

Fig. 16 is a schematic diagram illustrating a configuration of a computer device 1600 according to an example embodiment. The computer device 1600 may be used to implement the functionality of the path planning method examples described above. Specifically, the present invention relates to a method for manufacturing a semiconductor device.

The computer device 1600 includes a Central Processing Unit (CPU) 1601, a system memory 1604 including a Random Access Memory (RAM) 1602 and a Read Only Memory (ROM) 1603, and a system bus 1605 connecting the system memory 1604 and the central processing unit 1601. Computer device 1600 also includes a basic input/output system (I/O system) 1606 to facilitate transfer of information between various devices within the computer, and a mass storage device 1607 for storing an operating system 1613, application programs 1614, and other program modules 1615.

The basic input/output system 1606 includes a display 1608 for displaying information and an input device 1609, such as a mouse, keyboard, etc., for user input of information. Wherein the display 1608 and the input device 1609 are connected to the central processing unit 1601 by way of an input output controller 1610 connected to the system bus 1605. The basic input/output system 1606 may also include an input/output controller 1610 for receiving and processing input from a keyboard, mouse, or electronic stylus among a number of other devices. Similarly, the input-output controller 1610 also provides output to a display screen, printer, or other type of output device.

The mass storage device 1607 is connected to the central processing unit 1601 by a mass storage controller (not shown) connected to the system bus 1605. The mass storage device 1607 and its associated computer-readable media provide non-volatile storage for the computer device 1600. That is, mass storage device 1607 may include a computer-readable medium (not shown) such as a hard disk or CD-ROM drive.

Computer readable media may include computer storage media and communication media without loss of generality. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes RAM, ROM, EPROM, EEPROM, flash memory or other solid state memory technology, CD-ROM, DVD or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices. Of course, those skilled in the art will recognize that computer storage media are not limited to the ones described above. The system memory 1604 and mass storage 1607 described above may be collectively referred to as memory.

According to various embodiments of the present application, the computer device 1600 may also operate through a network, such as the Internet, to remote computers connected to the network. That is, the computer device 1600 may be connected to the network 1612 through a network interface unit 1611 coupled to the system bus 1605, or the network interface unit 1611 may be used to connect to other types of networks or remote computer systems (not shown).

The memory also includes one or more programs, one or more programs stored in the memory and configured to be executed by the CPU. The one or more programs include instructions for performing the path planning methods provided by embodiments of the present application.

In some embodiments, there is also provided a computer readable storage medium having stored therein a computer program which, when executed by a processor, implements the steps of the path planning method of the above embodiments. For example, the computer readable storage medium may be ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

It is noted that the computer readable storage medium mentioned in the embodiments of the present application may be a non-volatile storage medium, in other words, may be a non-transitory storage medium.

It should be understood that all or part of the steps to implement the above-described embodiments may be implemented by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The computer instructions may be stored in the computer-readable storage medium described above.

That is, in some embodiments, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the steps of the path planning method described above.

It should be understood that references herein to "at least one" mean one or more, and "a plurality" means two or more. In the description of the embodiments of the present application, unless otherwise indicated, "/" means or, for example, a/B may represent a or B; "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, in order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second", and the like are used to distinguish the same item or similar items having substantially the same function and effect. It will be appreciated by those of skill in the art that the words "first," "second," and the like do not limit the amount and order of execution, and that the words "first," "second," and the like do not necessarily differ.

The above embodiments are provided for the purpose of not limiting the present application, but rather, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application are intended to be included within the scope of the present application.

Claims

1. A method of path planning, the method comprising:

determining a starting position and a terminating position of a moving object at a reference outer right angle bend according to a start-stop position setting condition, wherein one side of the reference outer right angle bend is parallel to and separated from one side of a first outer right angle bend by a safe distance, the other side of the reference outer right angle bend is parallel to and separated from the other side of the first outer right angle bend by the safe distance, the reference outer right angle bend is positioned between the first outer right angle bend and a first inner right angle bend, the first outer right angle bend and the first inner right angle bend respectively represent an outer right angle bend and an inner right angle bend of a right angle bend through which the moving object will pass, and the start-stop position setting condition comprises that the moving object is in contact with the reference outer right angle bend and has at least two contact points when in the starting position and the terminating position;

2. The method of claim 1, wherein simulating the movement of the mobile object from the starting position to the ending position against the reference outside right angle curve, determining a planned path of the mobile object at a right angle curve based on a curve traversed by any point on the mobile object during the movement, comprises:

taking the initial pose as the current pose of the mobile object;

3. The method according to claim 2, characterized in that the reference outside right-angle bend corresponds to a reference inside right-angle bend, one side of which is parallel to and at a safe distance from one side of a first inside right-angle bend, the other side of which is parallel to and at a safe distance from the other side of the first inside right-angle bend, the reference inside right-angle bend being situated between the first inside right-angle bend and the first outside right-angle bend, the first outside right-angle bend and the first inside right-angle bend representing the outside right-angle bend and the inside right-angle bend, respectively, of a right-angle corner through which the mobile object is to pass, the planned path being obtained with the track corresponding to each sliding line segment satisfying the movement condition;

4. A method according to any one of claims 1-3, wherein the start-stop pose setting conditions further comprise:

5. A path planning apparatus, the apparatus comprising:

a start-stop pose determining module, configured to determine, according to a start-stop pose setting condition, a start pose and a stop pose of a moving object at a reference outside right angle bend, where one side of the reference outside right angle bend is parallel to and separated from one side of a first outside right angle bend by a safe distance, and the other side of the reference outside right angle bend is parallel to and separated from the other side of the first outside right angle bend by the safe distance, where the reference outside right angle bend is between the first outside right angle bend and a first inside right angle bend, and the first outside right angle bend and the first inside right angle bend respectively represent an outside right angle bend and an inside right angle bend of a right angle turn through which the moving object will pass, where the start-stop pose setting condition includes that the moving object is in contact with the reference outside right angle bend and has at least two contact points when the moving object is in the start pose and the stop pose;

6. The apparatus of claim 5, wherein the path planning module comprises:

7. The apparatus of claim 6, wherein the reference outside right angle bend corresponds to a reference inside right angle bend, one side of the reference inside right angle bend is parallel to and a safe distance from one side of a first inside right angle bend, the other side of the reference inside right angle bend is parallel to and a safe distance from the other side of the first inside right angle bend, the reference inside right angle bend is between the first inside right angle bend and a first outside right angle bend, the first outside right angle bend and the first inside right angle bend respectively represent an outside right angle bend and an inside right angle bend of a right angle turn through which the mobile object is to pass, the planned path is obtained if the trajectory corresponding to each sliding line segment satisfies a movement condition;

The simulating operation further includes:

8. The apparatus of any one of claims 5-7, wherein the start-stop pose setting conditions further comprise:

9. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program which, when executed by a processor, implements the steps of the method of any of claims 1-4.