CN115143984A

CN115143984A - Line determination method and device

Info

Publication number: CN115143984A
Application number: CN202210886126.8A
Authority: CN
Inventors: 张艺衡; 白金蓬; 林凯常
Original assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Lianyun Technology Co Ltd
Current assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Lianyun Technology Co Ltd
Priority date: 2022-07-26
Filing date: 2022-07-26
Publication date: 2022-10-04

Abstract

The application provides a method and a device for determining a line, wherein the method comprises the following steps: firstly, acquiring initial position information corresponding to an initial position and end position information corresponding to an end position; then, under the condition that an obstacle area exists on a connecting line of the initial position and the end position, determining a plurality of edge point positions corresponding to the obstacle area to obtain edge point position information, wherein the edge point positions are used for representing position information of a non-obstacle area adjacent to the obstacle area; then, determining a plurality of preset lines according to the initial position information, the end point position information and the edge point position information, wherein each preset line passes through the initial position, the end point position and the edge point position; and finally, processing the plurality of preset lines by using at least an A-algorithm to obtain a target line, wherein the target line is the shortest line passing through the initial position, the end position and the edge point position. The shortest distance of the target line is ensured, and the determination speed of the target line is ensured to be higher.

Description

Line determination method and device

Technical Field

The present application relates to the field of navigation, and in particular, to a method for determining a route, an apparatus thereof, a computer-readable storage medium, a processor, and an electronic device.

Background

The company departments are various in types and clear in division of labor, the situation that one department is only one office area often occurs, and the lines are complex, so that the situation that staff always spend a large amount of time to detour or even cannot find the staff when the staff goes on work and goes off work is always generated, and therefore a method for saving time and improving the traffic efficiency is urgently needed.

The above information disclosed in this background section is only for enhancement of understanding of the background of the technology described herein and, therefore, it may contain information that does not form the prior art that is already known in this country to a person of ordinary skill in the art.

Disclosure of Invention

The present application mainly aims to provide a method for determining a route, an apparatus thereof, a computer-readable storage medium, a processor, and an electronic device, so as to solve the problem in the prior art that the route determination efficiency is low due to an obstacle area.

In order to achieve the above object, according to an aspect of the present application, there is provided a method of determining a line, the method including: acquiring initial position information corresponding to the initial position and end position information corresponding to the end position; determining a plurality of edge point positions corresponding to the barrier area under the condition that the barrier area exists on a connecting line of the starting position and the end position, and obtaining edge point position information, wherein the edge point positions are used for representing position information of a non-barrier area adjacent to the barrier area; determining a plurality of preset lines according to the initial position information, the end position information and the edge point position information, wherein each preset line passes through the initial position, the end position and the edge point position; and processing a plurality of preset lines by using at least an A-algorithm to obtain a target line, wherein the target line is the shortest line passing through the starting position, the end position and the edge point position.

Optionally, before determining a plurality of edge point positions corresponding to the obstacle area, the method further comprises: forming a rectangular area map taking a connecting line of the initial position information and the end position information as a diagonal line; determining a target area map according to the rectangular area map, so that the obstacle area is located in the target area map; and dividing the target area map to form a plurality of grid areas, wherein each grid area comprises a starting grid, an end grid, a plurality of obstacle grids and a plurality of passing grids, the starting grid corresponds to the starting position information, the end grid corresponds to the end position information, the obstacle grids correspond to the obstacle areas, and the passing grids are used for representing the non-obstacle areas.

Optionally, determining a plurality of edge point positions corresponding to the obstacle area to obtain edge point position information, including: determining the passing grid meeting a first predetermined condition as the position of the edge point under the condition that the passing grid meets the first predetermined condition, wherein the position information corresponding to the position of the edge point is the position information of the edge point, and the first predetermined condition is as follows: the passing grid is adjacent to the obstacle grid, and the number of other passing grids adjacent to the passing grid is larger than a preset threshold value.

Optionally, processing the plurality of predetermined routes using at least the a-algorithm to obtain a target route, including: under the condition that a second preset condition is met, determining the distances of the plurality of preset lines by using an A-x algorithm, and determining the preset line with the shortest distance as the target line, wherein the second preset condition comprises the following steps: the obstacle area does not exist on the connecting line of the edge point position and the end point position, and the obstacle area does not exist on the connecting line of the edge point position and the starting position; under the condition that the second preset condition is not met, determining that a plurality of edge point positions corresponding to a preset obstacle area are preset edge point positions, wherein the position information corresponding to the preset edge point positions is preset edge point position information, and the preset obstacle area is the obstacle area on a connecting line of the edge point positions corresponding to the obstacle area and the initial position and/or the obstacle area on a connecting line of the edge point positions corresponding to the obstacle area and the final position; determining a plurality of new predetermined lines according to the initial position information, the end position information, the edge point position information and the predetermined edge point position information, wherein each new predetermined line passes through the initial position, the end position, the edge point position and the predetermined edge point position; and determining the distance of the new predetermined line by using an A-x algorithm, and determining the new predetermined line with the shortest distance as the target line.

Optionally, determining a target area map according to the rectangular area map includes: in the case where the obstacle area is located in the rectangular area map, the rectangular area map is the target area map; and under the condition that the obstacle area is not located in the rectangular area map, expanding the area of the rectangular area map so that the obstacle area is located in the expanded rectangular area map, wherein the expanded rectangular area map is the target area map.

Optionally, after obtaining start position information corresponding to the start position and end position information corresponding to the end position, the method further includes: and under the condition that the obstacle area does not exist on the connecting line of the starting position and the end position, the connecting line of the starting position and the end position is the target line.

According to another aspect of the present application, a device for determining a line is provided, the device including an obtaining unit, a first determining unit, a second determining unit, and a processing unit, wherein the obtaining unit is configured to obtain start position information corresponding to a start position and end position information corresponding to an end position; the first determining unit is configured to determine, when an obstacle area exists on a connection line between the start position and the end position, a plurality of edge point positions corresponding to the obstacle area to obtain edge point position information, where the edge point positions are used to represent position information of a non-obstacle area adjacent to the obstacle area; the second determining unit is configured to determine a plurality of predetermined lines according to the start position information, the end position information, and the edge point position information, where each of the predetermined lines passes through the start position, the end position, and the edge point position; the processing unit is used for processing a plurality of preset lines by using at least an A-x algorithm to obtain a target line, wherein the target line is the shortest line passing through the starting position, the end position and the edge point position.

According to yet another aspect of embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program is configured to perform any one of the methods.

According to yet another aspect of the embodiments of the present invention, there is also provided a processor for executing a program, where the program executes to perform any one of the methods.

There is also provided, in accordance with yet another aspect of an embodiment of the present invention, electronic equipment comprising one or more processors, memory, a display device, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the methods described herein.

According to the technical scheme, in the line determination method, firstly, initial position information corresponding to an initial position and end position information corresponding to an end position are obtained; then, under the condition that an obstacle area exists on a connecting line of the starting position and the end position, determining a plurality of edge point positions corresponding to the obstacle area to obtain edge point position information, wherein the edge point positions are used for representing position information of a non-obstacle area adjacent to the obstacle area; then, according to the initial position information, the end position information and the edge point position information, determining a plurality of preset lines, wherein each preset line passes through the initial position, the end position and the edge point position; and finally, processing a plurality of preset lines by using an A-algorithm to obtain a target line, wherein the target line is the shortest line passing through the initial position, the end position and the edge point position. Compared with the problem of low line determination efficiency caused by an obstacle region in the prior art, the line determination method of the application obtains the start position information corresponding to the start position and the end position information corresponding to the end position, analyzes whether the obstacle region exists on a connection line of the start position and the end position, determines a plurality of predetermined lines by determining a plurality of edge point positions corresponding to the obstacle region under the condition that the obstacle region exists, so that the influence range of the obstacle region can be represented by the range of the edge point positions, determines the shortest line passing through the start position, the end position and the edge point positions as the target line according to the start position information, the end position information and the plurality of edge point position information, determines the target line according to the edge point position information corresponding to the obstacle region, processes the plurality of predetermined lines by using at least an a-algorithm, determines the shortest line passing through the start position, the end position and the edge point position as the target line, ensures that the target line can be determined directly according to the edge point position information corresponding to the obstacle region, solves the problem that the determination of the shortest line determination efficiency caused by the obstacle region in the prior art is low, and simultaneously ensures the shortest cycle of determining the shortest line, and ensures the shortest line determination speed of the target line, thereby ensuring that the shortest line determination is required without stopping the shortest line determination.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:

fig. 1 shows a schematic flow chart of a method for determining a route according to an embodiment of the present application;

fig. 2 shows a schematic diagram of a determination device of a line according to an embodiment of the application.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.

As described in the background art, in order to solve the problem of low line determination efficiency due to an obstacle area in the prior art, in an exemplary embodiment of the present application, a line determination method, an apparatus thereof, a computer-readable storage medium, a processor, and an electronic device are provided.

According to an embodiment of the present application, there is provided a method of determining a line.

Fig. 1 is a flowchart of a method for determining a route according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:

step S101, acquiring initial position information corresponding to an initial position and end position information corresponding to an end position;

step S102, under the condition that an obstacle area exists on a connecting line of the starting position and the end position, determining a plurality of edge point positions corresponding to the obstacle area to obtain edge point position information, wherein the edge point positions are used for representing position information of a non-obstacle area adjacent to the obstacle area;

step S103, determining a plurality of predetermined lines according to the start position information, the end position information and the edge point position information, wherein each predetermined line passes through the start position, the end position and the edge point position;

and step S104, processing a plurality of preset lines by using at least an A-algorithm to obtain a target line, wherein the target line is the shortest line passing through the initial position, the end position and the edge point position.

In the method for determining the line, firstly, initial position information corresponding to an initial position and end position information corresponding to an end position are obtained; then, under the condition that an obstacle area exists on a connecting line of the starting position and the end position, determining a plurality of edge point positions corresponding to the obstacle area to obtain edge point position information, wherein the edge point positions are used for representing position information of a non-obstacle area adjacent to the obstacle area; then, determining a plurality of predetermined lines according to the initial position information, the end position information and the position information of the edge points, wherein each predetermined line passes through the initial position, the end position and the position of the edge point; and finally, processing a plurality of preset lines by using at least an A-algorithm to obtain a target line, wherein the target line is the shortest line passing through the initial position, the end position and the edge point position. Compared with the problem of low route determination efficiency caused by an obstacle area in the prior art, the route determination method of the application obtains the start position information corresponding to the start position and the end position information corresponding to the end position, analyzes whether the obstacle area exists on a connecting line of the start position and the end position, determines a plurality of edge point positions corresponding to the obstacle area under the condition that the obstacle area exists, so that the influence range of the obstacle area can be represented through the range of the edge point positions, determines a plurality of preset routes according to the start position information, the end position information and the edge point position information, namely each preset route passes through the edge point position corresponding to one obstacle area, processes the plurality of preset routes by using at least an algorithm, determines the shortest route passing through the start position, the end position and the edge point position as the target route, ensures that the target route can be determined directly according to the edge point position information corresponding to the obstacle area, solves the problem of low route determination efficiency caused by the obstacle area in the prior art, avoids the problem that a circulation algorithm in the prior art needs to determine the shortest route, and ensures that the shortest route determination time of the target route is longer, and ensures that the shortest route determination is not stopped.

In a specific embodiment, when there are a plurality of disconnected obstacle regions on a connection line between the start position and the end position, similarly, it is necessary to determine a plurality of edge point positions corresponding to each obstacle region, and then determine a plurality of predetermined lines according to a plurality of edge point positions, the start position, and the end position corresponding to each obstacle region, where each predetermined line passes through the start position and the end position, and each predetermined line passes through one edge point position corresponding to each obstacle region, that is, how many discontinuous obstacle regions exist, how many edge point positions exist on each predetermined line, and then process the plurality of predetermined lines through an a-ray algorithm to determine the shortest line.

Specifically, the destination location information is obtained by a target user through manual selection or after input by a client, and the start location information may be obtained through the following two ways: and after the target user enters a preset area, automatically uploading the collected user position information to a server, and manually inputting the position information on the client by the target user.

In the prior art, when an a-algorithm encounters an obstacle, the algorithm needs to be continuously circulated, so that the time for determining a line is long, and in the process of determining the line, the positions of the edge points of the obstacle areas are determined first, so that the obstacle areas can be directly avoided, the defects of the a-algorithm are overcome, and the target line is ensured to be determined at a high speed.

According to an embodiment of the present application, before determining a plurality of edge point positions corresponding to the obstacle area, the method further includes: forming a rectangular area map with a connecting line of the initial position information and the end position information as a diagonal line; determining a target area map according to the rectangular area map so that the obstacle area is positioned in the target area map; the target area map is divided to form a plurality of grid areas, each grid area including a start grid corresponding to the start position information, an end grid corresponding to the end position information, a plurality of obstacle grids corresponding to the obstacle areas, and a plurality of traffic grids representing the non-obstacle areas. The method comprises the steps of firstly forming the rectangular area map by taking a connecting line of the starting position information and the end position information as a diagonal line, then determining the target area map by the rectangular area map, and obtaining a plurality of grid areas adjacent to each other by dividing the target area map, so that one starting grid corresponds to the starting position information, one end grid corresponds to the end position information, a plurality of obstacle grids correspond to the obstacle areas, and the other grid areas form the passing grids, namely passing areas, thereby ensuring that different area functions can be distinguished by forming grids, ensuring that the target line can be determined according to the grid areas subsequently, and ensuring that the target line can be determined more simply.

Specifically, the target line is obtained by forming the grid region, that is, establishing a two-dimensional model by a grid method, subsequently determining the position of the edge point corresponding to the obstacle region in the two-dimensional model, changing the path from the start position to the end position into a multi-segment path, performing a winding point connection according to the communication of the regions, and merging the paths.

In order to further ensure that the determining speed of the target line is fast, according to another specific embodiment of the present application, determining a plurality of edge point positions corresponding to the obstacle area to obtain edge point position information includes: when the passage grid satisfies a first predetermined condition, the passage grid satisfying the first predetermined condition is determined as the edge point position, the position information corresponding to the edge point position is determined as the edge point position information, and the first predetermined condition is: the passage grid is adjacent to the obstacle grid, and the number of the other passage grids adjacent to the passage grid is greater than a predetermined threshold. By determining the passing grids meeting the first predetermined condition as the edge point positions, the edge point positions are adjacent to the barrier grids, and the number of the passing grids adjacent to the edge point positions is greater than the predetermined threshold, the target line can be ensured to bypass the barrier area through the edge point positions faster, and the determination speed of the target line is further ensured to be faster.

In a specific embodiment, each of the grid regions has eight other grid regions, the predetermined threshold is generally five, that is, the number of the barrier grids adjacent to the edge point position is at most three, and of course, the predetermined threshold may be determined according to actual requirements, and the larger the predetermined threshold is (the smaller the predetermined threshold must be than eight), the smaller the number of the edge point positions corresponding to each of the barrier regions is.

In order to further ensure that the determination speed of the target line is faster, according to another embodiment of the present application, the processing the plurality of predetermined lines by using at least an a-algorithm to obtain the target line includes: determining distances of the plurality of predetermined lines by using an a-x algorithm when a second predetermined condition is satisfied, and determining the predetermined line with the shortest distance as the target line, wherein the second predetermined condition includes: the obstacle area does not exist on a connecting line of the edge point position and the end position, and the obstacle area does not exist on a connecting line of the edge point position and the start position; determining a plurality of edge points corresponding to a predetermined obstacle area as predetermined edge point positions when the second predetermined condition is not satisfied, the position information corresponding to the predetermined edge point positions being predetermined edge point position information, the predetermined obstacle area being the obstacle area on a line connecting the edge point position corresponding to the obstacle area and the start position, and/or the obstacle area on a line connecting the edge point position corresponding to the obstacle area and the end position; determining a plurality of new predetermined lines according to the start position information, the end position information, the edge point position information, and the edge point position information, wherein each new predetermined line passes through the start position, the end position, the edge point position, and the edge point position; and determining the distance of the new preset line by using an A-x algorithm, and determining the new preset line with the shortest distance as the target line. Determining whether the second predetermined condition is satisfied, that is, determining whether the obstacle area exists in a connection line between the edge point position and the start position and the end position, determining distances of a plurality of the predetermined lines directly using an a-x algorithm if the second predetermined condition is satisfied, and determining the predetermined line having the shortest distance as a target line, further ensuring that the target line can be determined faster, and further ensuring that the distance of the target line is shortest, determining a plurality of new predetermined lines by determining a plurality of the predetermined edge point positions corresponding to the predetermined obstacle area if the second predetermined condition is not satisfied, and further ensuring that the speed of determining the target line is faster and the shortest distance of the target line is further ensured according to the start position information, the end position information, the plurality of the edge point position information, and the plurality of the predetermined edge point position information.

In a specific embodiment, if there are still obstacle areas on the new predetermined route, it is also necessary to confirm a plurality of positions of the edge points corresponding to the new obstacle areas until there are no obstacle areas on the determined new predetermined route, which ensures that, on the one hand, each obstacle area can be bypassed faster and, on the other hand, that the end position can be reached faster from the start position.

Specifically, the a-algorithm determines that the end point position information is a vertex, puts the vertex as a table peak, then, the edge point corresponding to the end point position to the first obstacle region is a first segment of path, the first obstacle region is used for representing the obstacle region which is located on the line connecting the start position and the end point position and is closest to the end point position, records a plurality of pieces of edge point position information corresponding to the first obstacle region by establishing a critical point barrier table, such as a and b, takes out the end point position information E from the table peak as a vertex, connects the vertex with two points a and b respectively, i.e., E — > a, E — > b, and branches, if there is no obstacle region, an a = algorithm heuristic function F (n) = G (n) + H (n) is adopted, then the points a and b are put into the peak table as new vertices, the second end paths are a and b, respectively correspond to the next obstacle region, the edge information c, c and H (n) = H (n), and if there is no obstacle region, the path is a path which is a, the most obstacle region is a traversal is reached, and if there is a path is a traversal is not a, the shortest path is found, and the above-mentioned route is traversed, and the above-mentioned route is obtained, and the above-mentioned route is traversed, if there is also the above-mentioned route is found, and the above-mentioned route is directly traversed, and the above-mentioned route is reached, if there is the above-mentioned route is also found, and the most of the path is the above-mentioned route is the most obstacle region. In a specific embodiment, (2) the vertex peak table may adopt a data structure stack, and delete the data structure stack after use, and subtract the table clearing operation, thereby ensuring that the efficiency of the a-x algorithm is high, and further ensuring that the speed of determining the target line is high.

According to a specific embodiment of the present application, determining a target area map according to the rectangular area map includes: when the obstacle area is located in the rectangular area map, the rectangular area map is the target area map; when the obstacle area is not located in the rectangular area map, the area of the rectangular area map is enlarged so that the obstacle area is located in the enlarged rectangular area map, and the enlarged rectangular area map is the target area map. By analyzing whether the obstacle area is located in the rectangular area map, and when the obstacle area is located in the rectangular area map, the rectangular area map is the target area map, and when the obstacle area is not located in the rectangular area map, the area of the rectangular area map is enlarged, so that the obstacle area is located in the enlarged rectangular area map, the target area map is obtained, the target line can be obtained by analyzing the target area map, the speed of determining the target line is further ensured to be high, and the shortest distance of the target line is further ensured.

Specifically, if the obstacle area is not located in the target area map, that is, if part of the obstacle area exceeds the range of the target area map, there may be a case where a route from the start position to the end position cannot be obtained within the range of the target area map, and therefore, by enlarging the rectangular area map to obtain the target area map, it is ensured that the target route can be determined.

In a specific embodiment, the process from the starting position to the ending position is a trend motion, the basic direction is a direction from the starting point to the ending point, and the boundary conditions of the obstacle area have a certain error, which affects the result of determining the route, so that it is required to ensure that the obstacle area is located in the target area map.

According to another specific embodiment of the present application, after the start position information corresponding to the start position and the end position information corresponding to the end position are obtained, the method further includes: when the obstacle area does not exist on a line connecting the start position and the end position, the line connecting the start position and the end position is the target line. And under the condition that the barrier area does not exist between the starting position and the end position, directly determining a connecting line between the starting position and the end position as the target line, further ensuring that the speed of determining the target line is higher, and simultaneously further ensuring that the distance of the target line is shortest.

Specifically, before the target user determines the target line in the above manner each time, an initialization operation needs to be performed, so that the target line returns to the state of initial use, and the target line is guaranteed to be highly accurate.

The embodiment of the present application further provides a device for determining a line, and it should be noted that the device for determining a line according to the embodiment of the present application may be used to execute the method for determining a line provided by the embodiment of the present application. The following describes a line determination device provided in an embodiment of the present application.

Fig. 2 is a schematic diagram of a line determination apparatus according to an embodiment of the present application. As shown in fig. 2, the apparatus includes an obtaining unit 10, a first determining unit 20, a second determining unit 30, and a processing unit 40, where the obtaining unit 10 is configured to obtain start position information corresponding to a start position and end position information corresponding to an end position; the first determining unit 20 is configured to determine a plurality of edge point positions corresponding to the obstacle area to obtain edge point position information when an obstacle area exists on a connection line between the start position and the end position, where the edge point positions are used to represent position information of a non-obstacle area adjacent to the obstacle area; the second determining unit 30 is configured to determine a plurality of predetermined lines according to the start position information, the end position information, and a plurality of edge point position information, where each of the predetermined lines passes through the start position, the end position, and the edge point position; the processing unit 40 is configured to process a plurality of predetermined routes by using at least an a-x algorithm to obtain a target route, where the target route is the shortest route passing through the start position, the end position, and the edge point position.

In the line determination device, the acquisition unit acquires start position information corresponding to a start position and end position information corresponding to an end position; determining, by the first determining unit, a plurality of edge point positions corresponding to the obstacle area to obtain edge point position information when there is an obstacle area on a connection line between the start position and the end position, the edge point positions being used to represent position information of a non-obstacle area adjacent to the obstacle area; determining, by the second determining unit, a plurality of predetermined routes according to the start position information, the end position information, and the edge point position information, each of the predetermined routes passing through the start position, the end position, and the edge point position; and processing a plurality of preset lines by using at least an A-algorithm through the processing unit to obtain a target line, wherein the target line is the shortest line passing through the starting position, the end position and the edge point position. Compared with the problem of low route determination efficiency caused by an obstacle area in the prior art, the route determination device of the present application obtains the start position information corresponding to the start position and the end position information corresponding to the end position, analyzes whether the obstacle area exists on a connection line between the start position and the end position, determines a plurality of edge point positions corresponding to the obstacle area by determining a range of the edge point positions so that an influence range of the obstacle area can be represented by the range of the edge point positions under the condition that the obstacle area exists, determines a plurality of predetermined routes according to the start position information, the end position information and the edge point position information, namely, each predetermined route passes through the edge point position corresponding to one obstacle area, processes the plurality of predetermined routes by using at least an a algorithm, determines the shortest route passing through the start position, the end position and the edge point position as the target route, ensures that the target route can be determined directly according to the edge point position information corresponding to the obstacle area, solves the problem of low route determination efficiency caused by an obstacle area in the prior art, avoids the problem that a circulation algorithm in the prior art needs to determine the shortest route, and ensures that the shortest route determination time of the target route is longer, and ensures that the shortest route determination is not stopped.

According to a specific embodiment of the present application, the apparatus further includes a forming unit, a third determining unit, and a dividing unit, wherein the forming unit is configured to form a rectangular area map having a diagonal line as a connection line of the start position information and the end position information before determining a plurality of edge point positions corresponding to the obstacle area; the third determining unit is configured to determine a target area map such that the obstacle area is located within the target area map, based on the rectangular area map; the dividing unit is configured to divide the target area map to form a plurality of grid areas, each grid area including a start grid corresponding to the start position information, an end grid corresponding to the end position information, a plurality of obstacle grids corresponding to the obstacle areas, and a plurality of traffic grids representing the non-obstacle areas. The method comprises the steps of firstly forming the rectangular area map by taking a connecting line of the starting position information and the end position information as a diagonal line, then determining the target area map by the rectangular area map, and obtaining a plurality of grid areas adjacent to each other by dividing the target area map, so that one starting grid corresponds to the starting position information, one end grid corresponds to the end position information, a plurality of obstacle grids correspond to the obstacle areas, and the other grid areas form the passing grids, namely passing areas, thereby ensuring that different area functions can be distinguished by forming grids, ensuring that the target line can be determined according to the grid areas subsequently, and ensuring that the target line can be determined more simply.

In order to further ensure that the determination speed of the target route is relatively high, according to another specific embodiment of the present application, the first determining unit includes a first determining module, where the first determining module is configured to determine, when the traffic grid satisfies a first predetermined condition, that the traffic grid satisfying the first predetermined condition is the edge point position, and the position information corresponding to the edge point position is the edge point position information, where the first predetermined condition is: the passage grid is adjacent to the obstacle grid, and the number of the other passage grids adjacent to the passage grid is greater than a predetermined threshold. By determining the passing grids meeting the first predetermined condition as the edge point positions, the edge point positions are adjacent to the barrier grids, and the number of the passing grids adjacent to the edge point positions is greater than the predetermined threshold, the target line can be ensured to bypass the barrier area through the edge point positions faster, and the determination speed of the target line is further ensured to be faster.

In a specific embodiment, each of the grid areas is surrounded by eight other grid areas, the predetermined threshold is generally five, that is, the number of the barrier grids adjacent to the edge point position is at most three, but of course, the predetermined threshold may be determined according to actual requirements, and the larger the predetermined threshold is (the smaller the predetermined threshold must be than eight), the smaller the number of the edge point positions corresponding to each of the barrier areas is.

In order to further ensure that the determination speed of the target line is fast, according to another specific embodiment of the present application, the processing unit includes a second determining module, a third determining module, a fourth determining module, and a fifth determining module, where the second determining module is configured to determine distances of a plurality of the predetermined lines by using an a-algorithm if a second predetermined condition is satisfied, and determine the predetermined line with the shortest distance as the target line, where the second predetermined condition includes: the obstacle area does not exist on a connecting line of the edge point position and the end position, and the obstacle area does not exist on a connecting line of the edge point position and the start position; the third determining module is configured to determine, when the second predetermined condition is not satisfied, that a plurality of edge points corresponding to a predetermined obstacle area are predetermined edge point positions, the position information corresponding to the predetermined edge point positions is predetermined edge point position information, and the predetermined obstacle area is the obstacle area on a connection line between the edge point position corresponding to the obstacle area and the start position and/or the obstacle area on a connection line between the edge point position corresponding to the obstacle area and the end position; the fourth determining module is configured to determine a plurality of new lines according to the start position information, the end position information, the edge point position information, and the edge point position information, where each new line passes through the start position, the end position, the edge point position, and the predetermined edge point position; the fifth determining module is configured to determine a distance of the new predetermined route using an a-x algorithm, and determine the new predetermined route having the shortest distance as the target route. Determining whether the second predetermined condition is satisfied, that is, determining whether the obstacle area exists in a connection line between the edge point position and the start position and the end position, and if the second predetermined condition is satisfied, determining distances of the plurality of predetermined lines directly using an a-x algorithm, and determining the predetermined line having the shortest distance as a target line, further ensuring that the target line can be determined faster, and further ensuring that the distance of the target line is shortest, and if the second predetermined condition is not satisfied, determining a plurality of positions of the predetermined edge points corresponding to the predetermined obstacle area, and then determining a plurality of new predetermined lines based on the start position information, the end position information, the plurality of position information of the edge points, and the plurality of position information of the predetermined edge points, and determining the new predetermined line having the shortest distance as the target line, further ensuring that the speed of determining the target line is faster, and further ensuring the distance of the target line.

In a specific embodiment, if the new predetermined route still has the obstacle area, it is also necessary to re-identify a plurality of edge point positions corresponding to the new obstacle area until the determined new predetermined route does not have the obstacle area, which ensures that the obstacle areas can be bypassed faster on the one hand and that the end position can be reached from the start position faster on the other hand.

Specifically, the algorithm a determines the end point position information as a vertex, puts the vertex into a vertex table peak, then, the edge point corresponding to the end point position to the first obstacle region is set as a first path, the first obstacle region is used for representing the obstacle region which is on the connecting line of the starting position and the end point position and is closest to the end point position, records a plurality of pieces of edge point position information corresponding to the first obstacle region by establishing a critical point barrier table, such as a and b, takes the end point position information E out of the vertex table peak, and respectively connects two points a and b, i.e. E — > a and E — > b as two branches, if there is no obstacle region, an algorithm heuristic function F (n) = G (n) + H (n) is adopted, then the points a and b are put into a peak table as new vertices, if there is no obstacle region, the second end point paths are a and b respectively corresponding to the next obstacle region until the edge information c, E) + H (n), and if there is no obstacle region, then a route is traversed to the starting position information, and if there is no route, the above-mentioned route is traversed to the end point, the above-point is found, and the end point is traversed to the target region, and if there is a route, the end point is found, and the route is traversed to the end point of the target region. In a specific embodiment, (2) the vertex peak table may adopt a data structure stack, and the operation of deleting the vertex peak table after use and subtracting the clearing table after use ensures that the efficiency of the a-star algorithm is higher, and further ensures that the speed of determining the target line is higher.

According to a specific embodiment of the present application, the third determining unit includes a sixth determining module and an expanding module, wherein the sixth determining module is configured to determine that the rectangular area map is the target area map when the obstacle area is located in the rectangular area map; the expansion module is configured to expand an area of the rectangular area map when the obstacle area is not located in the rectangular area map, so that the obstacle area is located in the expanded rectangular area map, and the expanded rectangular area map is the target area map. By analyzing whether the obstacle area is located in the rectangular area map, and when the obstacle area is located in the rectangular area map, the rectangular area map is the target area map, and when the obstacle area is not located in the rectangular area map, the area of the rectangular area map is enlarged, so that the obstacle area is located in the enlarged rectangular area map, the target area map is obtained, the target line can be obtained by analyzing the target area map, the speed of determining the target line is further ensured to be high, and the shortest distance of the target line is further ensured.

Specifically, if the obstacle area is not located in the target area map, that is, if part of the obstacle area is beyond the range of the target area map, there may be a case where a route from the start position to the end position cannot be obtained within the range of the target area map, and therefore, by enlarging the rectangular area map to obtain the target area map, it is ensured that the target route can be determined.

According to another specific embodiment of the present application, the apparatus further includes a fourth determining unit, where after starting position information corresponding to a starting position and ending position information corresponding to an ending position are obtained, and when the obstacle area does not exist on a connection line between the starting position and the ending position, the connection line between the starting position and the ending position is the target line. And under the condition that the barrier area does not exist between the starting position and the end position, directly determining a connecting line between the starting position and the end position as the target line, further ensuring that the speed of determining the target line is higher, and further ensuring that the distance of the target line is shortest.

The circuit determination device includes a processor and a memory, the acquiring unit, the first determining unit, the second determining unit, the processing unit, and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions.

The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. One or more kernels can be set, and the problem of low line determination efficiency caused by barrier areas in the prior art is solved by adjusting kernel parameters.

The memory may include volatile memory in a computer readable medium, random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

An embodiment of the present invention provides a computer-readable storage medium on which a program is stored, the program implementing the above-described method of determining a circuit when executed by a processor.

The embodiment of the invention provides a processor, which is used for running a program, wherein the program executes the method for determining the circuit when running.

An embodiment of the present invention provides an apparatus, where the apparatus includes a processor, a memory, and a program that is stored in the memory and is executable on the processor, and when the processor executes the program, at least the following steps are implemented:

step S103, determining a plurality of predetermined lines according to the start position information, the end position information and the position information of the edge points, wherein each predetermined line passes through the start position, the end position and the position of the edge point;

The device herein may be a server, a PC, a PAD, a mobile phone, etc.

The present application further provides a computer program product adapted to perform a program of initializing at least the following method steps when executed on a data processing device:

and step S104, processing a plurality of preset lines by using at least an A-algorithm to obtain a target line, wherein the target line is the shortest line passing through the starting position, the end position and the edge point position.

There is also provided, in accordance with yet another exemplary embodiment of the present application, electronic equipment comprising one or more processors, memory, a display device, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the methods described above.

In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described apparatus embodiments are merely illustrative, and for example, the division of the above-described units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed coupling or direct coupling or communication connection between each other may be an indirect coupling or communication connection through some interfaces, units or modules, and may be electrical or in other forms.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.

The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the above methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:

1) In the method for determining the line, first, initial position information corresponding to an initial position and end position information corresponding to an end position are obtained; then, under the condition that an obstacle area exists on a connecting line of the starting position and the end position, determining a plurality of edge point positions corresponding to the obstacle area to obtain edge point position information, wherein the edge point positions are used for representing position information of a non-obstacle area adjacent to the obstacle area; then, determining a plurality of predetermined lines according to the initial position information, the end position information and the position information of the edge points, wherein each predetermined line passes through the initial position, the end position and the position of the edge point; and finally, processing a plurality of preset lines by using at least an A-algorithm to obtain a target line, wherein the target line is the shortest line passing through the initial position, the end position and the edge point position. Compared with the problem of low route determination efficiency caused by an obstacle area in the prior art, the route determination method of the application obtains the start position information corresponding to the start position and the end position information corresponding to the end position, analyzes whether the obstacle area exists on a connecting line of the start position and the end position, determines a plurality of edge point positions corresponding to the obstacle area under the condition that the obstacle area exists, so that the influence range of the obstacle area can be represented through the range of the edge point positions, determines a plurality of preset routes according to the start position information, the end position information and the edge point position information, namely each preset route passes through the edge point position corresponding to one obstacle area, processes the plurality of preset routes by using at least an algorithm, determines the shortest route passing through the start position, the end position and the edge point position as the target route, ensures that the target route can be determined directly according to the edge point position information corresponding to the obstacle area, solves the problem of low route determination efficiency caused by the obstacle area in the prior art, avoids the problem that a circulation algorithm in the prior art needs to determine the shortest route, and ensures that the shortest route determination time of the target route is longer, and ensures that the shortest route determination is not stopped.

2) In the line determining device, the obtaining unit obtains start position information corresponding to the start position and end position information corresponding to the end position; determining, by the first determining unit, a plurality of edge point positions corresponding to the obstacle area to obtain edge point position information when there is an obstacle area on a connection line between the start position and the end position, the edge point positions being used to represent position information of a non-obstacle area adjacent to the obstacle area; determining, by the second determining unit, a plurality of predetermined routes according to the start position information, the end position information, and the edge point position information, each of the predetermined routes passing through the start position, the end position, and the edge point position; and processing a plurality of preset lines by using at least an A-algorithm through the processing unit to obtain a target line, wherein the target line is the shortest line passing through the starting position, the end position and the edge point position. Compared with the problem of low route determination efficiency caused by an obstacle area in the prior art, the route determination device of the present application obtains the start position information corresponding to the start position and the end position information corresponding to the end position, analyzes whether the obstacle area exists on a connection line between the start position and the end position, determines a plurality of edge point positions corresponding to the obstacle area by determining a range of the edge point positions so that an influence range of the obstacle area can be represented by the range of the edge point positions under the condition that the obstacle area exists, determines a plurality of predetermined routes according to the start position information, the end position information and the edge point position information, namely, each predetermined route passes through the edge point position corresponding to one obstacle area, processes the plurality of predetermined routes by using at least an a algorithm, determines the shortest route passing through the start position, the end position and the edge point position as the target route, ensures that the target route can be determined directly according to the edge point position information corresponding to the obstacle area, solves the problem of low route determination efficiency caused by an obstacle area in the prior art, avoids the problem that a circulation algorithm in the prior art needs to determine the shortest route, and ensures that the shortest route determination time of the target route is longer, and ensures that the shortest route determination is not stopped.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for determining a route, the method comprising:

acquiring initial position information corresponding to the initial position and end position information corresponding to the end position;

determining a plurality of edge point positions corresponding to the barrier area under the condition that the barrier area exists on a connecting line of the starting position and the end position, and obtaining edge point position information, wherein the edge point positions are used for representing position information of a non-barrier area adjacent to the barrier area;

determining a plurality of preset lines according to the initial position information, the end position information and the edge point position information, wherein each preset line passes through the initial position, the end position and the edge point position;

and processing a plurality of preset lines by using at least an A-algorithm to obtain a target line, wherein the target line is the shortest line passing through the starting position, the end position and the edge point position.

2. The method of claim 1, wherein prior to determining a plurality of edge point locations corresponding to the obstacle area, the method further comprises:

forming a rectangular area map taking a connecting line of the initial position information and the end position information as a diagonal line;

determining a target area map according to the rectangular area map, so that the obstacle area is located in the target area map;

and dividing the target area map to form a plurality of grid areas, wherein each grid area comprises a starting grid, an end grid, a plurality of obstacle grids and a plurality of passing grids, the starting grid corresponds to the starting position information, the end grid corresponds to the end position information, the obstacle grids correspond to the obstacle areas, and the passing grids are used for representing the non-obstacle areas.

3. The method of claim 2, wherein determining a plurality of edge point positions corresponding to the obstacle area to obtain edge point position information comprises:

determining the passing grid meeting a first predetermined condition as the position of the edge point under the condition that the passing grid meets the first predetermined condition, wherein the position information corresponding to the position of the edge point is the position information of the edge point, and the first predetermined condition is as follows: the passing grid is adjacent to the obstacle grid, and the number of other passing grids adjacent to the passing grid is larger than a preset threshold value.

4. The method of claim 2, wherein processing the plurality of predetermined routes using at least the a-algorithm to obtain the target route comprises:

under the condition that a second preset condition is met, determining the distances of the preset lines by using an A-star algorithm, and determining the preset line with the shortest distance as the target line, wherein the second preset condition comprises the following steps: the barrier area does not exist on the connecting line of the edge point position and the end point position, and the barrier area does not exist on the connecting line of the edge point position and the starting position;

under the condition that the second preset condition is not met, determining that a plurality of edge point positions corresponding to a preset obstacle area are preset edge point positions, wherein the position information corresponding to the preset edge point positions is preset edge point position information, and the preset obstacle area is the obstacle area on a connecting line of the edge point positions corresponding to the obstacle area and the initial position and/or the obstacle area on a connecting line of the edge point positions corresponding to the obstacle area and the final position;

determining a plurality of new predetermined lines according to the initial position information, the end position information, the edge point position information and the predetermined edge point position information, wherein each new predetermined line passes through the initial position, the end position, the edge point position and the predetermined edge point position;

and determining the distance of the new predetermined line by using an A-algorithm, and determining the new predetermined line with the shortest distance as the target line.

5. The method of claim 2, wherein determining a target area map from the rectangular area map comprises:

in the case where the obstacle area is located in the rectangular area map, the rectangular area map is the target area map;

and under the condition that the obstacle area is not located in the rectangular area map, expanding the area of the rectangular area map so that the obstacle area is located in the expanded rectangular area map, wherein the expanded rectangular area map is the target area map.

6. The method of claim 1, wherein after obtaining the start position information corresponding to the start position and the end position information corresponding to the end position, the method further comprises:

and under the condition that the obstacle area does not exist on the connecting line of the starting position and the end position, the connecting line of the starting position and the end position is the target line.

7. An apparatus for determining a route, the apparatus comprising:

the device comprises an acquisition unit, a processing unit and a display unit, wherein the acquisition unit is used for acquiring starting position information corresponding to a starting position and end position information corresponding to an end position;

a first determining unit, configured to determine, when an obstacle area exists on a connection line between the start position and the end position, a plurality of edge point positions corresponding to the obstacle area to obtain edge point position information, where the edge point positions are used to represent position information of a non-obstacle area adjacent to the obstacle area;

a second determining unit, configured to determine a plurality of predetermined lines according to the start position information, the end position information, and the edge point position information, where each of the predetermined lines passes through the start position, the end position, and the edge point position;

and the processing unit is used for processing a plurality of preset lines by using at least an A-x algorithm to obtain a target line, wherein the target line is the shortest line passing through the starting position, the end position and the edge point position.

8. A computer-readable storage medium, comprising a stored program, wherein the program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the method of any one of claims 1 to 6.

9. A processor, characterized in that the processor is configured to run a program, wherein the program when running performs the method of any of claims 1 to 6.

10. An electronic device, comprising: one or more processors, memory, a display device, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing the method of any of claims 1-6.