CN114740853A

CN114740853A - Path planning method, terminal device and storage medium

Info

Publication number: CN114740853A
Application number: CN202210365996.0A
Authority: CN
Inventors: 王雷; 陈熙
Original assignee: Ecoflow Technology Ltd
Current assignee: Ecoflow Technology Ltd
Priority date: 2022-04-08
Filing date: 2022-04-08
Publication date: 2022-07-12

Abstract

The application is applicable to the technical field of path planning and provides a path planning method, terminal equipment and a storage medium. The path planning method specifically comprises the following steps: acquiring an initial passing area, wherein the initial passing area comprises an area which is not subjected to path planning; according to a preset path clearance value and a preset path exploration direction, path planning is carried out on an area where path planning is not carried out to obtain an initial planned path; filtering the initial planned path according to preset path filtering conditions to obtain a passing path and a path to be planned; taking the area of the path to be planned as the area which is not subjected to path planning, updating the preset path exploration direction and the preset path filtering condition, and processing the path to be planned again until the filtering result meets the preset path covering condition, and finishing path planning; all traffic paths are connected to form a global coverage path of the initial traffic zone. The embodiment of the application can improve the global coverage rate of the path.

Description

Path planning method, terminal device and storage medium

Technical Field

The present application relates to the field of path planning technologies, and in particular, to a path planning method, a terminal device, and a storage medium.

Background

The path planning is to find a collision-free safe moving path from the starting point to the end point of the target object in a specified area. For example, for a mowing robot working in an outdoor scene, it is necessary to make the working area of the mowing robot cover all lawns by path planning. For another example, for a sweeping robot working in an indoor scene, it is necessary to make the cleaning area of the sweeping robot cover all the ground through path planning.

In the existing path planning scheme, part of the path planning scheme realizes positioning and path planning only by a sensor or a GPS. The field information used for path planning is derived from devices such as a target object odometer, an infrared sensor or an ultrasonic sensor, and global path coverage is difficult to achieve. The other part is that the global path planning is realized by using the constructed map, but the actual coverage of the obtained path in the specified area is not complete in practical application, and the global coverage rate is low.

Disclosure of Invention

The embodiment of the application provides a path planning method, terminal equipment and a storage medium, which can solve the problem that the overall coverage rate of a path planned by the conventional path planning method is low.

A first aspect of the embodiments of the present application provides a path planning method, including:

step S1: acquiring an initial passing area, wherein the initial passing area comprises an area without executing path planning;

step S2: according to a preset path clearance value and a preset path exploration direction, path planning is carried out on the area which is not subjected to the path planning, and an initial planned path is obtained;

step S3: filtering the initial planning path according to preset path filtering conditions to obtain a passing path and a path to be planned;

step S4: taking the area of the path to be planned as an area where path planning is not executed, updating the preset path exploration direction and the preset path filtering condition, and repeating the steps S2 and S3 to process the path to be planned until the filtering result meets the preset path covering condition, and ending the path planning;

step S5: and connecting all the passing paths to form a global coverage path of the initial passing area.

A second aspect of the embodiments of the present application provides a path planning apparatus, including:

an acquisition unit, configured to acquire an initial passing area, where the initial passing area includes an area where path planning is not performed;

the exploration unit is used for planning the path of the area without the path planning execution according to a preset path gap value and a preset path exploration direction to obtain an initial planned path;

the filtering unit is used for filtering the initial planning path according to preset path filtering conditions to obtain a passing path and a path to be planned;

the updating unit is used for taking the area of the path to be planned as an area without executing path planning, updating the preset path searching direction and the preset path filtering condition, repeating the functions of the searching unit and the filtering unit to process the path to be planned until the filtering result meets the preset path covering condition, and finishing the path planning;

and the path planning unit is used for connecting all the passing paths to form a global coverage path of the initial passing area.

A third aspect of the embodiments of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the path planning method when executing the computer program.

A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the above path planning method.

A fifth aspect of embodiments of the present application provides a computer program product, which when running on a terminal device, causes the terminal device to execute the path planning method according to the first aspect.

In the embodiment of the application, an initial passing area is obtained, a path planning is performed on an area where the path planning is not performed according to a preset path gap value and a preset path exploration direction to obtain an initial planned path, the initial planned path is filtered according to a preset path filtering condition to obtain a passing path and a path to be planned, then the area where the path to be planned is located is used as the area where the path planning is not performed, the preset path exploration direction and the preset path filtering condition are updated to repeat the processing on the path to be planned until a filtering result meets a preset path covering condition, the path planning is finished, all the passing paths are connected, and a global covering path of the initial passing area can be formed. The route exploration can be carried out in the preset route exploration direction, on one hand, the exploration direction can be set according to the shape or the boundary of the initial passing area for the irregular area, so that the route planning can be carried out on the initial passing area according to the exploration direction, the universality of the regular area and the irregular area is realized, on the other hand, the route planning is carried out by adopting different exploration directions, the route direction arrangement can be more reasonable, the steering times of the movable equipment are reduced, the working efficiency of the movable equipment is improved, in addition, the filtering result meets the preset route coverage condition through the repeated circulating route exploration, the area which does not execute the route planning in the initial passing area can be avoided, and the global coverage rate of the route in the specified area is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic diagram of an implementation flow of a path planning method according to an embodiment of the present application;

FIG. 2 is a schematic diagram of an electronic map provided by an embodiment of the present application;

fig. 3 is a schematic diagram of a path planning process provided in an embodiment of the present application;

FIG. 4 is a schematic diagram of a path planning process corresponding to the first row of pixel points in FIG. 3;

fig. 5 is a schematic flowchart illustrating a specific implementation of step S4 according to an embodiment of the present application;

FIG. 6 is a schematic illustration of a re-work area provided by an embodiment of the present application;

fig. 7 is a schematic flowchart illustrating a specific implementation of step S43 according to an embodiment of the present application;

FIG. 8 is a schematic diagram of multi-pass path planning provided by an embodiment of the present application;

fig. 9 is a schematic diagram of a global coverage path planned by using the path planning method provided in the embodiment of the present application;

fig. 10 is a schematic structural diagram of a path planning apparatus according to an embodiment of the present application;

fig. 11 is a schematic structural diagram of a terminal device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall be protected by the present application.

In order to explain the technical means of the present application, the following description will be given by way of specific examples.

Fig. 1 shows a schematic flow chart of an implementation of a path planning method provided in an embodiment of the present application, where the method may be applied to a terminal device and is applicable to a situation where a global coverage of a path needs to be improved.

The terminal equipment can be movable equipment such as a mowing robot, a sweeping robot, an unmanned automobile and the like, and can move according to a planned path after the path is planned; the terminal device may also be a computer, a smart phone, a base station, or the like, and can send the planned path to the mobile device after path planning.

Specifically, the path planning method may include the following steps S1 to S5.

In step S1, an initial passing area is acquired.

The initial passing area comprises an area where path planning is not executed. Specifically, the terminal device may use an area that needs to be subjected to path planning as an initial passing area, and perform path planning on the obtained initial passing area to obtain a global coverage path of the initial planning area.

In some embodiments of the present application, the terminal device may acquire sensor information of an initial planning area through a sensor such as a radar or a camera, construct an electronic map using the sensor information, and record a current position of the terminal device in the electronic map. The sensor information may include point cloud data of an initial planning area acquired by a radar, image data of the initial planning area acquired by a camera, and the like, and the constructed electronic map may be a grid map, a feature map, a topological map, and the like, which is not limited herein.

Then, the terminal device may perform binarization processing on the electronic map, and a pixel value of each pixel point in the electronic map is represented as 0 or 255, where 0 is an unviable area and 255 is a passable area. And connecting the discontinuous features of the electronic map caused by map building defects by using algorithms such as expansion, corrosion, opening operation, closing operation, envelope and the like. And then, carrying out global traversal on each path point in the passable area by utilizing a Dijkstra algorithm or other area communication algorithms, communicating and closing the passable areas, and further obtaining an initial passable area. Fig. 2 shows the processed electronic map, wherein the black part is an impassable area, and the white part is a passable area.

The area where the path planning is not performed may be a part or all of the initial passing area. In the embodiment of the present application, when the terminal device executes step S1, the entire initial passing area may be regarded as an area where no path planning is performed.

And step S2, according to the preset path gap value and the preset path exploration direction, performing path planning on the area without the path planning to obtain an initial planned path.

The path gap value may include a gap value Spacing between paths and a gap value R between a path and a boundary of the initial traffic region.

The path exploration direction is a direction of the terminal device during path planning, such as a transverse or longitudinal path planning direction. It should be understood that, when the terminal device searches and plans along the path search direction, an initial planned path may be obtained, and the path direction of the obtained initial planned path is the same as the path search direction used in searching.

Specifically, according to the path gap value R and Spacing, the terminal device may determine, in the electronic map, a pixel point located in an area where the path planning is not performed as an origin of the path planning. The path clearance value R is used to keep the initially planned path, which is located near the boundary of the initial traffic zone, at a distance from the boundary that avoids the movable equipment colliding with the boundary of the initial traffic zone when moving according to the planned path. In some cases, the path gap value may not include R, and the default may be to use the pixel point closest to the boundary of the electronic map as the path point.

And searching according to the path searching direction from the origin of the path planning. Fig. 3 shows a process of path planning when the path exploration direction is horizontal, and fig. 4 shows a process of path planning corresponding to the first row of pixel points in fig. 3. When R is 0, taking a first pixel point located in the upper left corner of the electronic map and located in an area where the path planning is not executed as an origin of the path planning to search for a first line of path as an example, the origin of the path planning in the electronic map is taken as an endpoint a, an endpoint B initially coincides with the endpoint a, when searching is performed, the endpoint a is fixed, the endpoint B is continuously updated in the electronic map according to the path searching direction until an obstacle is encountered, as shown by a shaded portion in fig. 4, the updating is stopped, and at this time, the connection endpoint a and the endpoint B are an initial planned path. The method comprises the steps of returning to an initial planned path after encountering an obstacle in the path exploration direction, and enabling the pixels in the first row not to be completely traversed, so that the remaining pixels in the first row are continuously traversed along the path exploration direction, selecting the next pixel in the area where the path planning is not executed as an endpoint A, updating an endpoint B according to the method, and obtaining the next initial planned path through planning, and so on until all the pixels in the first row are traversed. The exploration process of other rows is the same as that of the first row until the whole electronic map is traversed, and a plurality of initial planning paths in the area where the path planning is not executed can be obtained. Note that the distance between two adjacent lines in the electronic map is a path gap value Spacing.

It should be understood that fig. 3 and 4 are for explaining the process of transversal path exploration, and the process of path exploration in other path exploration directions is similar to the process of transversal path exploration, and will not be described in detail herein.

And step S3, filtering the initial planning path according to preset path filtering conditions to obtain a passing path and a path to be planned.

The path filtering condition is used for comparing with the path parameter of the path, and filtering of the initial planning path is achieved. The path parameter is an inherent property of the path or the region where the path is located, and refers to, for example, the path length of the path, the area of the region where the path is located, and the like. The passing path is a sub-path which can be used as a global coverage path after path filtering; the path to be planned is a sub-path which cannot be used as a global coverage path after path filtering.

In the embodiment of the application, if the path parameter of the initial planned path meets the path filtering condition, the terminal device may use the initial planned path as a passing path, otherwise, may use the initial planned path as a path to be planned.

Specifically, in some embodiments of the present application, the path filtering condition may include a path length filtering value, where the path length filtering value is used for comparing with a path length of an initially planned path, so as to implement filtering of the initially planned path. If the path length of the initially planned path is greater than or equal to the path length filtering value, the terminal device may use the initially planned path as a passing path, and if the path length of the initially planned path is less than the path length filtering value, the terminal device may use the initially planned path as a path to be planned.

It should be appreciated that filtering using the path filter length value may preserve the initially planned path with the longer path length as the transit path. The longer the transit path, the fewer the number of transit paths required to complete the path planning for the same area of the area where the path planning is not performed, and correspondingly, the fewer the number of times the mobile equipment moves from one transit path to another, i.e. the fewer the number of times the mobile equipment performs a turn. Because the corner area of the movable equipment can not be completely covered in the turning process, the overall coverage rate is reduced, and therefore the turning times of the movable equipment in the corner area can be reduced by adopting the path filtering length value for filtering, and the overall coverage rate is improved.

In other embodiments of the present application, the path filtering condition may further include a path coverage area filtering value, which is used to compare the total area of the area where the initially planned path is located, so as to implement filtering of the initially planned path. The total area of the area where the initially planned path is located may refer to a total area size of a grid covered by the initially planned path in the grid map. If the total area of the area where the initial planned path is located is greater than or equal to the path coverage area filter value, the terminal device may use the initial planned path as a passing path, and if the total area of the area where the initial planned path is located is less than the path coverage area filter value, the terminal device may use the initial planned path as a path to be planned.

It should be understood that the initially planned path with the larger path coverage area may be retained as the transit path by filtering using the path coverage area filter value. Similarly, the path coverage area is larger, and for the area of the same area where the path planning is not performed, the smaller the number of pass paths required for completing the path planning, and correspondingly, the fewer times the movable device moves from one pass path to another pass path, i.e., the fewer times of turning. Therefore, filtering with the path coverage area filter value can reduce the number of times the mobile device turns in the corner region, thereby improving the global coverage.

And step S4, taking the area of the path to be planned as the area without executing the path planning, updating the preset path searching direction and the preset path filtering condition, and repeating the step S2 and the step S3 to process the path to be planned until the filtering result meets the preset path covering condition, and ending the path planning.

In the embodiment of the application, since the path to be planned is an unusable path and the global coverage path does not include the path to be planned, path planning is not completed in an area where the path to be planned is located in the initial passing area, and in order to improve the global coverage rate, the terminal device needs to take the area where the path to be planned is located as a new area where the path planning is not performed, and continue path planning.

Specifically, the terminal device may set an area where the passing route is located as an unviable area in the electronic map, and the remaining passable area (i.e., the area where the route to be planned is located) is used as a new area where the route planning is not performed, for next route planning.

Before the next path planning, the terminal device may update the preset path exploration direction and the preset path filtering condition.

In the embodiment of the present application, the terminal device may acquire a plurality of preset path search directions, select any one of the path search directions to perform the path planning of step S2 and the path filtering of step S3, then select another path search direction different from the path search direction used in step S2 as an updated path search direction, continue the path planning (step S2) and the path filtering (step S3) for a new area where the path planning is not performed using the updated path search direction, and end the path planning until the filtering result satisfies the preset path coverage condition.

The process of path planning and path filtering may refer to the description of step S2 and step S3, respectively, which is not repeated herein.

In the embodiment of the present application, the filtering result may be a result of the passing route and the route to be planned, which are obtained through the route filtering. The preset path coverage condition is used for judging whether the initial passing area completes path planning, and specifically, the preset path coverage condition may be that no path to be planned exists after the path filtering, or that the area covered by the passing path obtained after the path filtering reaches a preset proportion of the total area of the initial passing area.

The preset path coverage condition is taken as an example that no path to be planned exists after path filtering, if no path to be planned exists after path filtering, the terminal equipment can finish path planning to obtain a passing path obtained by performing path planning in different path exploration directions; if the path to be planned exists after the path filtering, the terminal device may take the area where the new path to be planned is located as a new area where the path planning is not performed again, update the path exploration direction and the filtering condition again, repeat steps S2 and S3 to continue the path planning and the path filtering for the new area where the path planning is not performed, and end the path planning when the path to be planned does not exist after the path filtering, thereby obtaining a passing path obtained by performing the path planning in a different path exploration direction.

Based on the consideration of the calculation efficiency and the path planning efficiency, the number of the plurality of path searching directions may be two, and the two path searching directions are perpendicular to each other. Specifically, one of the path search directions may be an abscissa direction of the electronic map, or an X-axis direction of a world coordinate system used for constructing the electronic map, i.e., "transverse direction" mentioned above, and correspondingly, the other path search direction may be an ordinate direction of the electronic map, or a Y-axis direction of the world coordinate system used for constructing the electronic map, i.e., "longitudinal direction".

The number of the plurality of path search directions may be greater than two in consideration of path coverage.

In some embodiments, the terminal device may further obtain boundary directions of respective boundaries of an area in the electronic map where the path planning is not performed, and determine a plurality of path exploration directions according to the respective boundary directions. For example, the terminal device may determine, according to the boundary direction of each boundary, the number of boundaries corresponding to each boundary direction, and take the boundary directions N before the corresponding boundary number as a path exploration direction, where the value of N is the number of path exploration directions. Therefore, when the path planning is carried out on the irregular area, the trend of the initial planning path can be matched with the boundary of the irregular area, and the planning efficiency of the path planning can be improved.

And step S5, connecting all the traffic paths to form a global coverage path of the initial traffic area.

In the embodiment of the application, the terminal device may use the passing routes as sub-routes of the global coverage route, and connect all the passing routes to form the global coverage route of the initial passing area. The global coverage path refers to a complete path covering the initial passing area, and can be used for the movement and work of the movable equipment.

In some embodiments of the present application, the terminal device may obtain path endpoints of all passing paths and a position of each path endpoint, then sort the path endpoints according to the positions of the path endpoints, and further connect the path endpoints according to the sorting mode of the path endpoints to form a global coverage path of the initial passing area.

Specifically, the terminal device may screen the starting end point of the global coverage path from the path end points according to the path end points of all the passing paths and the positions of the path end points. For example, the terminal device may use a path endpoint having the shortest distance from the entry position in the initial passing area as the start endpoint, or may use a path endpoint having the shortest distance from the current position of the movable device in the initial passing area as the start endpoint, or may acquire a path endpoint selected by the user as the start endpoint.

Then, setting the starting end point as an end point C, reserving a traffic path where the starting end point is located, setting another path end point different from the end point C in the traffic path as an end point D, determining a next path end point through a Dijkstra algorithm, an A-Star (A) algorithm or other search algorithms according to the position of the end point D, setting the determined path end point as an end point E, similarly, reserving the traffic path where the end point E is located, setting another path end point different from the end point E in the traffic path as an end point F, determining a next path end point according to the position of the end point F, and so on until all path end points are traversed, and connecting the path end points of the traffic path according to the sequence of the end point C, the end point D, the end point E, the end point F and … … to obtain a global coverage path of the initial traffic region.

After the sorting and the connection are completed, an arched global coverage path can be formed in a regular area, such as a rectangular area, and in an irregular area, different traffic paths can be connected to form a global coverage path, so that the global coverage rate is improved.

In addition, after finishing the sorting of the path end points, the terminal device may perform interpolation processing on each path according to the resolution of the electronic map, so as to insert a plurality of path end points between the sorted path end points, and then implement global coverage of the path by connecting all the path points. Therefore, the number of path endpoints contained in the global coverage path is increased, the global coverage path is finer, the movable equipment can respectively issue different moving speeds in a path formed by every two adjacent path endpoints according to actual conditions, and the self-adaptive movement of the movable equipment is realized.

In the embodiment of the application, an initial passing area is obtained, an area without path planning is subjected to path planning according to a preset path gap value and a preset path searching direction to obtain an initial planned path, the initial planned path is filtered according to a preset path filtering condition to obtain a passing path and a path to be planned, then the area where the path to be planned is located is used as the area without path planning, the preset path searching direction and the preset path filtering condition are updated, the path to be planned is processed repeatedly until a filtering result meets a preset path covering condition, path planning is finished, all passing paths are connected, and a global covering path of the initial passing area can be formed. The route exploration can be carried out in the preset route exploration direction, on one hand, the exploration direction can be set according to the shape or the boundary of the initial passing area for the irregular area, so that the route planning can be carried out on the initial passing area according to the exploration direction, the universality of the regular area and the irregular area is realized, on the other hand, the route planning is carried out by adopting different exploration directions, the route direction arrangement can be more reasonable, the steering times of the movable equipment are reduced, the working efficiency of the movable equipment is improved, in addition, the filtering result meets the preset route coverage condition through the repeated circulating route exploration, the area which does not execute the route planning in the initial passing area can be avoided, and the global coverage rate of the route in the specified area is improved.

In some embodiments of the present application, as shown in fig. 5, the step S4 may include the following steps S41 to S45.

In step S41, the preset path filtering condition is updated to obtain an updated path filtering condition.

In the embodiment of the application, the preset path filtering condition is updated, so that the number of the paths to be planned which are filtered in the next path exploration can be reduced, and further, the path planning is completed in the area where the path planning is not executed, so as to obtain the passing path in the area where the path planning is not executed.

Specifically, the path filtering condition may include a path length filtering value. Correspondingly, the terminal device may lower the path length filtering value according to the preset length difference value to obtain the updated path length filtering value.

Wherein, the length difference value can be set according to the actual situation. For example, the preset path filtering condition may be 100, the length difference value may be set to 20, and the updated path filtering condition is 80.

In step S42, the preset path search direction is updated to obtain an updated path search direction.

The updated path searching direction is different from the preset path searching direction before updating. The terminal device may obtain a plurality of preset path exploration directions, and select a direction different from the preset path exploration direction from the plurality of preset path exploration directions as an updated path exploration direction. The terminal device may also determine the updated path exploration direction according to a preset path exploration direction and a reference angle for adjusting the path exploration direction. For example, the reference angle may be set to 90 °, and the terminal device may take a direction perpendicular to the preset path exploring direction as the updated path exploring direction.

And step S43, planning the path of the area of the path to be planned according to the path gap value and the updated path exploration direction.

The area where the path to be planned is located is also the area where the path planning is not performed.

And step S44, filtering the path after the path planning according to the updated path filtering condition and the updated path searching direction.

The implementation manners of path planning and path filtering may respectively adopt the same manners as those of step S2 and step S3, which are not described herein again.

And step S45, when the filtering result does not meet the preset path covering condition, taking the area where the path to be planned is obtained through filtering as an updated passing area, and returning to the step of updating the preset path filtering condition to obtain the updated path filtering condition.

In the embodiment of the application, if the filtering result meets the preset path coverage condition, it indicates that the initial passing area has completed path planning, and at this time, the terminal device may end the path planning, and connect all the obtained passing paths to form a global coverage path of the initial passing area.

If the filtering result does not meet the preset path coverage condition, it indicates that the path to be planned exists after the path filtering, and the path planning is not completed in the initial passing area, at this time, the terminal device may use the area where the filtered path to be planned exists as an updated passing area, which is a new area where the path planning is not executed, and return to execute steps S41 to S45 until the filtering result meets the preset path coverage condition, and end the path planning.

In the embodiment of the application, terminal equipment is through upgrading predetermineeing the route exploration direction, adopt the route exploration direction after the update to carry out route planning and route filtering to the current region after the update, can make the route direction arrange more rationally, reduce the number of times that turns to of mobile device, and, through upgrading the route filtering condition, can relax and filter the restriction, make originally wait to plan the regional planning of the place of route, obtain the current route in the current region after the update, final route exploration through manifold cycles, can make the current route cover whole initial current region, the global coverage rate on route has been improved.

In the embodiment of the present application, the path gap value is set to avoid the problem that the repeated working area of the movable device is too large during the moving and working process according to the global coverage path.

Referring to fig. 6, taking the mowing robot as an example, assuming that the cutting blade section length of the mowing robot is 10, if the gap value Spacing is set to be too small, for example, 7.5, when a transverse route is searched, if the starting route position of the first passing route in the electronic map is M (0, 0), and the starting route position of the second passing route is N (0, 7.5) according to the gap value Spacing, then the vertical coordinate covered by the working area when the mowing robot moves on the first passing route is 0 to 5; the working area of the mowing robot covers an ordinate of 2.5 to 12.5 when the mowing robot moves on the second row of the road. Obviously, the repeated work area is an area having an ordinate of 2.5 to 5, i.e., a shaded area in fig. 6, in which the cutter blade of the mowing robot repeatedly performs mowing work. Therefore, the path gap value Spacing may be set according to the cutting blade section length, for example, to 10 or 9.

Assuming that the path gap value Spacing is set to 10, (0, 0), (0, 1), (0, 2) … …, (0, 9) can be used as the start path position of the first-line traffic path, and therefore, the situation of the traffic path obtained by planning different start path positions needs to be considered in path planning.

Specifically, as shown in fig. 7, the step S43 may include the following steps S431 to S434.

Step S431, obtaining the route planning times of the updated route search direction according to the route gap value.

Step S432, obtaining an adjustment step size for each path planning.

Wherein the adjustment step is smaller than the path gap value. Specifically, assuming that the path gap value Spcing is 10, the terminal device may determine that the number of times of path planning of the updated path exploration direction is 10 times, or less than 10 times, for example, 5 times. Correspondingly, the adjustment step length may be set by a worker, or may be determined according to the number of times of path planning and the path gap value, for example, when the path gap value Spcing is 10, and the number of times of path planning is 10, the adjustment step length is 1.

Step S433, determining an initial path position in each path planning according to the path gap value and the adjustment step length.

In some embodiments of the present application, the starting path position is a starting point used in path planning. The initial path positions used in each path planning are different, the distance between the same row of passing paths obtained by different path planning is related to the adjustment step length, and the distance between the different row of passing paths obtained by the same path planning is related to the path gap value circling.

Referring to fig. 8, assuming that the path gap value Spcing is 10, the number of times of path planning is 4, the path exploration direction is horizontal, and the adjustment step size is 2.5, the first set of initial path positions (0, 0), (0, 10), (0, 20), (0, 30) can be used as the initial path position of the first path planning. According to the initial path position, the path gap value and the adjustment step length of the first path planning, the initial path position of the second group of initial path positions (0, 2.5), (0, 12.5), (0, 22.5) and (0, 32.5) can be used as the initial path position of the second path planning, and so on, and the initial path position of the 4 path planning can be obtained.

Step S434, performing path planning on the area where the path to be planned is located according to the initial path position, so as to obtain a plurality of sub-paths for path planning each time.

Continuing with fig. 8, during the first time of path planning, the initial path positions (0, 0), (0, 10), (0, 20), and (0, 30) may be respectively used as starting points to perform path planning in the area where the path to be planned is located, so as to obtain a plurality of sub-paths for the first time of path planning, and the process of path planning may refer to step S2 and the description of fig. 3. During the second path planning, the initial path positions (0, 2.5), (0, 12.5), (0, 22.5) and (0, 32.5) may be respectively used as starting points to perform path planning in the area where the path to be planned is located, and obtain a plurality of sub-paths for the second path planning, and so on, to obtain a plurality of sub-paths corresponding to the 4-time path planning respectively.

In the embodiment of the application, different sub-paths can be obtained through multiple times of path planning. Assuming that there are a plurality of obstacles between (0, 0) and (100, 0) in fig. 8, a plurality of sub-paths will be obtained by searching to (100, 0) with (0, 0) as a starting point in the first path planning. Assuming that no obstacle exists between (0, 2.5) and (100, 2.5) in fig. 7, a sub-path is obtained by searching to (100, 2.5) with (0, 2.5) as a starting point in the second path planning. Therefore, the total number of sub-paths obtained by path planning of different times, the path length, the area coverage of the area in which the area is located in the initial passing area, the number of inflection points, and the like are all different. Therefore, when the path is filtered, the terminal device can select a plurality of sub-paths obtained by one path planning from a plurality of sub-paths obtained by different path planning for use, so that the global coverage path can be adapted to the environment in the initial image area, the obstacle is avoided, and the global coverage rate of the path is improved.

It should be noted that, the path planning process in step S4 is described above, and the path planning process in step S2 may also adopt this manner, which is not described herein again.

In some embodiments of the application, the filtering the route after the route planning according to the updated route filtering condition and the updated route searching direction may include: the method comprises the steps of obtaining the total path length of each path planning, comparing the total path length of each path planning, taking the primary path planning with the longest total path length as a path planning result of an updated path exploration direction, and then filtering a plurality of sub-paths in the path planning result into a passing path and a path to be planned according to a path length filtering value.

The total path length is the sum of the lengths of all sub-paths in each path planning.

In another embodiment of the present application, the filtering the path after the path planning according to the updated path filtering condition and the updated path search direction may further include: and acquiring the area coverage rate of the areas to which all sub-paths belong in the initial passing area in each path planning, taking the primary path planning with the largest area coverage rate as a path planning result of the updated path exploration direction, and then filtering a plurality of sub-paths in the path planning result into a passing path and a path to be planned according to the path length filtering value.

It should be understood that the global coverage corresponding to the path planning result may be maximized by selecting the primary path planning with the longest total path length as the path planning result in the new path exploration direction, or selecting the primary path planning with the largest coverage area of the regions to which all sub paths belong in the initial passing region as the updated path planning result in the path exploration direction. And then filtering a plurality of sub-paths in the path planning result into a passing path and a path to be planned according to the path length filtering value. If there is a path to be planned, steps S4 through S5 may be re-executed; if no path to be planned exists, path planning may be ended, and step S5 is executed to obtain a global coverage path.

In another embodiment of the present application, the filtering the path after the path planning according to the updated path filtering condition and the updated path search direction may further include: and acquiring total inflection points among sub-paths in each path planning, taking the path planning with the minimum total inflection point as an updated path planning result in the path exploration direction, and then filtering a plurality of sub-paths in the path planning result into a passing path and a path to be planned according to a path length filtering value.

It should be understood that the total amount of inflection points determines the number of turns required for the mobile device to move according to the global coverage path, and the greater the number of turns, the greater the power consumption of the mobile device. Moreover, in the steering process of the mobile equipment, the corner area is often not completely covered, so that the global coverage rate is reduced, and therefore, one-time path planning with the least total amount of inflection points is selected as the updated path planning result of the path exploration direction, so that the power consumption of the mobile equipment is reduced, and the global coverage rate corresponding to the path planning result is the maximum. And then filtering a plurality of sub-paths in the path planning result into a passing path and a path to be planned according to the path length filtering value. If there is a path to be planned, steps S4 through S5 may be re-executed; if no path to be planned exists, the path planning may be ended and step S5 is executed, resulting in a global coverage path.

In order to comprehensively consider the sub-paths obtained by each path planning, the terminal device may further perform weighted addition on the total path length, total inflection point amount and area coverage to obtain a comprehensive evaluation value, and use the primary path planning with the maximum comprehensive evaluation value as the updated path planning result in the path exploration direction, and then filter a plurality of sub-paths in the path planning result into a passing path and a path to be planned according to the path length filtering value.

Referring to fig. 9, fig. 9 is a schematic diagram of a global coverage path obtained by planning using the path planning method provided in the present application. The path planning method provided by the application can be universal in a regular area and an irregular area, and in practical application, the global coverage rate of the global coverage path in an initial traffic area is over 85%.

It should be noted that, for simplicity of description, the foregoing method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts, as some steps may, in accordance with the present application, occur in other orders.

Fig. 10 is a schematic structural diagram of a path planning apparatus 1000 according to an embodiment of the present application, where the path planning apparatus 1000 is configured on a terminal device.

Specifically, the path planning apparatus 1000 may include:

an obtaining unit 1001 configured to obtain an initial passing area, where the initial passing area includes an area where path planning is not performed;

the exploration unit 1002 is configured to perform path planning on the area where the path planning is not performed according to a preset path gap value and a preset path exploration direction to obtain an initial planned path;

a filtering unit 1003, configured to filter the initial planned path according to a preset path filtering condition to obtain a passing path and a path to be planned;

an updating unit 1004, configured to take the area of the path to be planned as an area where path planning is not performed, update the preset path exploration direction and the preset path filtering condition, and repeat the exploration unit 1002 and the filtering unit 1003 to process the path to be planned until a filtering result meets a preset path coverage condition, and then end the path planning;

a path planning unit 1005, configured to connect all the transit paths to form a global coverage path of the initial transit area.

In some embodiments of the present application, the updating unit 1004 may be specifically configured to: updating the preset path filtering condition to obtain an updated path filtering condition; updating the preset path exploration direction to obtain an updated path exploration direction; according to the path gap value and the updated path exploration direction, performing path planning on the area of the path to be planned; filtering the path after path planning according to the updated path filtering condition and the updated path exploration direction; and when the filtering result does not meet the preset path covering condition, taking the area of the to-be-planned path obtained by filtering as an updated passing area, and returning to execute the step of updating the preset path filtering condition to obtain the updated path filtering condition.

In some embodiments of the present application, the updating unit 1004 may be specifically configured to: acquiring the path planning times of the updated path exploration direction according to the path gap value; obtaining an adjustment step length of each path planning, wherein the adjustment step length is smaller than the path gap value; determining the initial path position in each path planning according to the path gap value and the adjustment step length; and according to the starting path position, performing path planning on the area of the path to be planned to obtain a plurality of sub-paths of each path planning.

In some embodiments of the present application, the path filtering condition includes a path length filtering value; the updating unit 1004 may specifically be configured to: acquiring the total path length of each path planning, wherein the total path length is the sum of the lengths of all sub paths in each path planning; comparing the total path length of each path planning, and taking the primary path planning with the longest total path length as the path planning result of the updated path exploration direction; and filtering a plurality of sub-paths in the path planning result into a passing path and a path to be planned according to the path length filtering value.

In some embodiments of the present application, the path filtering condition includes a path length filtering value; the updating unit 1004 may specifically be configured to: obtaining total quantity of inflection points among sub paths in each path planning; taking the primary path planning with the minimum total amount of inflection points as a path planning result of the updated path exploration direction; and filtering a plurality of sub-paths in the path planning result into a passing path and a path to be planned according to the path length filtering value.

In some embodiments of the present application, the path filtering condition includes a path length filtering value; the updating unit 1004 may specifically be configured to: acquiring the area coverage rate of the areas to which all sub-paths belong in the initial passing area in each path planning; taking the primary path plan with the largest area coverage rate as a path plan result of the updated path exploration direction; and filtering a plurality of sub-paths in the path planning result into a passing path and a path to be planned according to the path length filtering value.

In some embodiments of the present application, the path planning unit 1005 may be specifically configured to: acquiring path endpoints of all passing paths and positions of the path endpoints; sequencing the path end points according to the positions of the path end points; and connecting the path end points according to the sequencing mode of the path end points to form a global coverage path of the initial passing area.

In some embodiments of the present application, the path filtering condition includes a path length filtering value; the updating unit 1004 may specifically be configured to: and reducing the path length filtering value according to a preset length difference value to obtain an updated path length filtering value.

It should be noted that, for convenience and simplicity of description, the specific working process of the path planning apparatus 1000 may refer to the corresponding process of the method described in fig. 1 to fig. 9, and is not described herein again.

Fig. 11 is a schematic diagram of a terminal device according to an embodiment of the present application. The terminal device 11 may include: a processor 1100, a memory 1101, and a computer program 1102, such as a path planning program, stored in the memory 1101 and operable on the processor 1100. The processor 1100, when executing the computer program 1102, implements the steps in the various embodiments of the path planning method described above, such as the steps S1-S5 shown in fig. 1. Alternatively, the processor 1100, when executing the computer program 1102, implements the functions of the modules/units in the apparatus embodiments, such as the obtaining unit 1001, the searching unit 1002, the filtering unit 1003, the updating unit 1004, and the path planning unit 1005 shown in fig. 10.

The computer program may be divided into one or more modules/units, which are stored in the memory 1101 and executed by the processor 1100 to complete the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used for describing the execution process of the computer program in the terminal device.

For example, the computer program may be divided into: the device comprises an acquisition unit, an exploration unit, a filtering unit, an updating unit and a path planning unit.

The specific functions of each unit are as follows: an acquisition unit, configured to acquire an initial passing area, where the initial passing area includes an area where path planning is not performed; the exploration unit is used for planning the path of the area without the path planning execution according to a preset path gap value and a preset path exploration direction to obtain an initial planned path; the filtering unit is used for filtering the initial planning path according to preset path filtering conditions to obtain a passing path and a path to be planned; the updating unit is used for taking the area of the path to be planned as an area without executing path planning, updating the preset path searching direction and the preset path filtering condition, and repeating the searching unit and the filtering unit to process the path to be planned until the filtering result meets the preset path covering condition, so that the path planning is finished; and the path planning unit is used for connecting all the passing paths to form a global coverage path of the initial passing area.

The terminal device may include, but is not limited to, a processor 1100, a memory 1101. Those skilled in the art will appreciate that fig. 11 is merely an example of a terminal device and does not constitute a limitation of the terminal device, and may include more or fewer components than those shown, or some of the components may be combined, or different components, e.g., the terminal device may also include input-output devices, network access devices, buses, etc.

The Processor 1100 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The storage 1101 may be an internal storage unit of the terminal device, such as a hard disk or a memory of the terminal device. The memory 1101 may also be an external storage device of the terminal device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the terminal device. Further, the memory 1101 may also include both an internal storage unit and an external storage device of the terminal device. The memory 1101 is used for storing the computer program and other programs and data required by the terminal device. The memory 1101 may also be used to temporarily store data that has been output or is to be output.

It should be noted that, for convenience and simplicity of description, the structure of the terminal device may also refer to the detailed description of the structure in the method embodiment, and is not described herein again.

The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should 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; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. A method of path planning, comprising:

2. A path planning method according to claim 1, wherein said step S4: taking the area of the path to be planned as an area where path planning is not performed, updating the preset path exploration direction and the preset path filtering condition, and repeating the steps S2 and S3 to process the path to be planned until the filtering result meets the preset path covering condition, and ending the path planning, including:

updating the preset path filtering condition to obtain an updated path filtering condition;

updating the preset path exploration direction to obtain an updated path exploration direction;

according to the path gap value and the updated path exploration direction, performing path planning on the area of the path to be planned;

filtering the path after path planning according to the updated path filtering condition and the updated path exploration direction;

and when the filtering result does not meet the preset path covering condition, taking the area of the to-be-planned path obtained by filtering as an updated passing area, and returning to execute the step of updating the preset path filtering condition to obtain the updated path filtering condition.

3. The method for planning a path according to claim 2, wherein the planning a path of the area of the path to be planned according to the path gap value and the updated path exploration direction includes:

acquiring the path planning times of the updated path exploration direction according to the path gap value;

obtaining an adjustment step length of each path planning, wherein the adjustment step length is smaller than the path gap value;

determining the initial path position in each path planning according to the path gap value and the adjustment step length;

and according to the starting path position, performing path planning on the area of the path to be planned to obtain a plurality of sub-paths of each path planning.

4. A path planning method according to claim 3, wherein the path filtering condition comprises a path length filtering value;

the filtering the path after the path planning according to the updated path filtering condition and the updated path exploration direction includes:

acquiring the total path length of each path planning, wherein the total path length is the sum of the lengths of all sub paths in each path planning;

comparing the total path length of each path planning, and taking the primary path planning with the longest total path length as the path planning result of the updated path exploration direction;

and filtering a plurality of sub-paths in the path planning result into a passing path and a path to be planned according to the path length filtering value.

5. A path planning method according to claim 3, wherein the updated path filter condition comprises a path length filter value;

acquiring total quantity of inflection points among sub paths in each path planning;

taking the primary path planning with the minimum total amount of inflection points as a path planning result of the updated path exploration direction;

6. A path planning method according to claim 3, wherein the updated path filter condition comprises a path length filter value;

acquiring the area coverage rate of the areas to which all sub-paths belong in the initial passing area in each path planning;

taking the primary path plan with the largest area coverage rate as a path plan result of the updated path exploration direction;

7. The route planning method according to any one of claims 1 to 6, wherein the connecting all the traffic routes to form a global coverage route of the initial traffic area comprises:

acquiring path endpoints of all passing paths and positions of the path endpoints;

sequencing the path end points according to the positions of the path end points;

and connecting the path end points according to the sequencing mode of the path end points to form a global coverage path of the initial passing area.

8. A path planning method according to claim 3, wherein the path filtering condition comprises a path length filtering value; the updating the preset path filtering condition to obtain an updated path filtering condition includes: and reducing the path length filtering value according to a preset length difference value to obtain an updated path length filtering value.

9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the path planning method according to any of claims 1 to 8 when executing the computer program.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the path planning method according to any one of claims 1 to 8.