CN116182832A

CN116182832A - Road width change key point extraction method, device and computer equipment

Info

Publication number: CN116182832A
Application number: CN202211660031.0A
Authority: CN
Inventors: 吴明豪; 刘勇
Original assignee: Shenzhen Pudu Technology Co Ltd
Current assignee: Shenzhen Pudu Technology Co Ltd
Priority date: 2022-12-23
Filing date: 2022-12-23
Publication date: 2023-05-30

Abstract

The application relates to a road width change key point extraction method, a road width change key point extraction device, a computer device, a storage medium and a computer program product. The method comprises the following steps: acquiring an obstacle map with a topological path; dividing the road corresponding to the topological path on the obstacle map according to the preset differential length to obtain a plurality of differential units; searching from a first direction of a topological path based on the differential length and the width of each differential unit to obtain a plurality of first key points on the topological path, and searching from a second direction of the topological path to obtain a plurality of second key points on the topological path; a width change keypoint is determined based on the plurality of first keypoints and the plurality of second keypoints. And the extraction efficiency of key points is improved.

Description

Road width change key point extraction method, device and computer equipment

Technical Field

The present disclosure relates to the field of robotics, and in particular, to a method and an apparatus for extracting key points of road width change, and a computer device.

Background

For the mobile robot, the map of the mobile scene is an important basis for making decisions in the moving process, in general, a plurality of roads exist in the mobile scene, the width of each road is not fixed, the possible places are wide, the possible places are narrow, and the key points of the road width change are extracted from the map, so that the mobile robot can make higher-order decisions in the moving process conveniently, and the intelligence of the mobile robot is improved.

In the conventional art, roads of different widths are typically marked manually.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a road width change key point extraction method, apparatus, computer device, computer readable storage medium, and computer program product that can improve the width change key point extraction efficiency.

In a first aspect, the present application provides a method for extracting a road width change key point. The method comprises the following steps:

acquiring an obstacle map with a topological path;

dividing the road corresponding to the topological path on the obstacle map according to the preset differential length to obtain a plurality of differential units;

searching from a first direction of a topological path based on the differential length and the width of each differential unit to obtain a plurality of first key points on the topological path, and searching from a second direction of the topological path to obtain a plurality of second key points on the topological path;

a width change keypoint is determined based on the plurality of first keypoints and the plurality of second keypoints.

In a second aspect, the application further provides a road width change key point extraction device. The device comprises:

the acquisition module is used for acquiring an obstacle map with a topological path;

The differential unit is used for dividing the road corresponding to the topological path on the obstacle map according to the preset differential length to obtain a plurality of differential units;

the searching unit is used for searching from a first direction of the topological path based on the differential length and the width of each differential unit to obtain a plurality of first key points on the topological path, and searching from a second direction of the topological path to obtain a plurality of second key points on the topological path;

and the determining module is used for determining the width change key points based on the first key points and the second key points.

In some embodiments, the search unit is specifically configured to: taking a first differential unit in a first direction as a search reference unit, acquiring a width difference value between a current differential unit and the search reference unit for each differential unit after the search reference unit, acquiring lengths and values of all differential units between the current differential unit and the search reference unit under the condition that a first relation is met between the width difference value and a preset width change threshold value, taking a junction point between a next differential unit of the current differential unit as a first key point under the condition that a second relation is met between the lengths and values and the preset length threshold value, and taking the next differential unit as the search reference unit, and repeatedly executing the search process to obtain a plurality of first key points.

In some embodiments, the search unit is specifically configured to: and taking the first differential unit in the second direction as a search reference unit, acquiring a width difference value between the current differential unit and the search reference unit for each differential unit after the search reference unit, acquiring the lengths and values of all differential units between the current differential unit and the search reference unit under the condition that a first relation is met between the width difference value and a preset width change threshold value, taking a boundary point between the next differential unit of the current differential unit as a second key point under the condition that a second relation is met between the lengths and values and the preset length threshold value, and taking the next differential unit as the search reference unit, and repeatedly executing the search process to obtain a plurality of second key points.

In some embodiments, the first relationship comprises: the difference value is larger than a preset width change threshold value; the second relationship includes: the length of the current differential unit and the next differential unit after being combined is larger than or equal to a preset length threshold value.

In some embodiments, the determining module is specifically configured to: screening the plurality of first key points based on the respective widths of the plurality of road sections obtained by dividing the plurality of first key points to obtain a plurality of first target key points; screening the plurality of second key points based on the respective widths of the plurality of road sections obtained by dividing the plurality of second key points to obtain a plurality of second target key points; a width change keypoint is determined based on the plurality of first target keypoints and the plurality of second target keypoints.

In some embodiments, the determining module is specifically configured to: for each road section divided by a plurality of first key points, acquiring the minimum width of the road section, and taking the minimum width as the width of the road section; and carrying out merging processing on adjacent road sections with the same width in the plurality of road sections, and screening a plurality of first target key points from the plurality of first key points based on merging processing results.

In some embodiments, the determining module is specifically configured to: searching a first target key point and a second target key point which correspond to each other from a plurality of first target key points and a plurality of second target key points; determining a first position weight of the first target key point and a second position weight of the second target key point according to the road width of the first target key point and the road width of the second target key point; based on the first position weight and the second position weight, a corresponding width change key point is determined.

In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor which when executing the computer program performs the steps of:

Acquiring an obstacle map with a topological path;

In a fourth aspect, the present application also provides a computer-readable storage medium. A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:

acquiring an obstacle map with a topological path;

In a fifth aspect, the present application also provides a computer program product. Computer program product comprising a computer program which, when executed by a processor, realizes the steps of:

acquiring an obstacle map with a topological path;

According to the road width change key point extraction method, the road width change key point extraction device, the computer equipment, the storage medium and the computer program product, after the obstacle map with the topological path is obtained, the road corresponding to the topological path is segmented on the obstacle map according to the preset differential length to obtain a plurality of differential units, and the small-scale differential units are used as search units, so that the width change key points which are not easy to identify can be identified. Searching from a first direction of the topological path based on the differential length and the width of each differential unit to obtain a plurality of first key points on the topological path, searching from a second direction of the topological path to obtain a plurality of second key points on the topological path, and determining a width change key point based on the plurality of first key points and the plurality of second key points. And searching the key points from two opposite directions, and finally positioning the final positions of the key points with the width change based on the key points searched in the two directions, so that the key points which are not searched in one direction and the searched error key points can be supplemented and corrected, the accuracy of the finally determined key points with the width change is improved, and the extraction efficiency is greatly improved compared with the mode of manually marking the key points.

Drawings

FIG. 1 is an application environment diagram of a road width change key point extraction method in one embodiment;

FIG. 2 is a flowchart of a method for extracting key points of road width change in an embodiment;

FIG. 3 is a schematic diagram of a static obstacle map in one embodiment;

FIG. 4 is a static obstacle map with topological paths in one embodiment;

FIG. 5 is a schematic diagram of a differentiating unit in one embodiment;

FIG. 6 is a schematic diagram of a first key point in one embodiment;

FIG. 7 is a schematic diagram of a search for keypoints from a first direction in one embodiment;

FIG. 8 is a schematic diagram of tail section merging in one embodiment;

FIG. 9 is a schematic diagram of key points searched from two directions in one embodiment;

FIG. 10 is a schematic diagram of segment merging in one embodiment;

FIG. 11 is a schematic diagram of a first target keypoint, a second target keypoint, and a width change keypoint in one embodiment;

FIG. 12 is a schematic diagram of a width change key point in one embodiment;

FIG. 13 is a block diagram showing a construction of a road width change key point extracting apparatus according to an embodiment;

fig. 14 is an internal structural diagram of a computer device in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

The method for extracting the road width change key points can be applied to an application environment shown in fig. 1. Wherein the mobile robot 102 communicates with the server 104 via a network. The data storage system may store data that the server 104 needs to process. The data storage system may be integrated on the server 104 or may be located on a cloud or other network server. The method for extracting the road width change key points provided in the embodiment of the present application may be performed by the mobile robot 102 or the server 104 alone, or may be performed by the mobile robot 102 or the server 104 cooperatively, so that the mobile robot 102 may obtain an obstacle map with a topology path, and divide the road corresponding to the topology path on the obstacle map according to a preset differential length, to obtain a plurality of differential units. In one aspect, a search is performed from a first direction of the topology path based on the differential length and the width of each differential cell to obtain a plurality of first keypoints on the topology path. On the other hand, searching is performed from the second direction of the topology path based on the differential length and the width of each differential unit, resulting in a plurality of second key points on the topology path. Finally, a width change keypoint is determined based on the plurality of first keypoints and the plurality of second keypoints. The mode does not need to be manually participated, and the extraction efficiency of the key points of width change is improved.

The mobile robot 102 may be any robot with a navigation function, for example, the mobile robot 102 may be a cleaning robot, a meal delivery robot, a sorting robot, etc., which is not limited in this embodiment of the present application. The following describes in detail the implementation process of the road width change key point extraction method provided in the embodiment of the present application with reference to the accompanying drawings.

In one embodiment, as shown in fig. 2, a method for extracting key points of road width change is provided, and the method is applied to the mobile robot in fig. 1 for illustration, it is understood that the method can also be applied to a server, and can also be applied to a system comprising the mobile robot and the server, and is implemented through interaction between the mobile robot and the server. The method comprises the following steps:

step 202, an obstacle map with topological paths is acquired.

The obstacle map may be a static obstacle map, where the static obstacle map is used to display the distribution situation of the static obstacles in the moving scene. The obstacle map with topological path may be a static obstacle map with topological path for displaying: the distribution condition of each road for the mobile robot to walk in the mobile scene and the distribution condition of the stationary obstacles at two sides of each road. For convenience of explanation, a path formed by each road for the mobile robot to walk in the mobile scene is referred to as a topology path. By way of example, fig. 3 shows a static obstacle map, and fig. 4 shows a static obstacle map with topological paths.

It should be noted that: the static obstacle map is merely an example, and the obstacle map may be a dynamic obstacle map, or a map that displays both static obstacles and dynamic obstacles, which is not limited in the embodiment of the present application.

In some embodiments, a depth camera is disposed on the mobile robot, the mobile robot may photograph a moving scene through the depth camera, generate an obstacle map based on the photographed image, and determine a topology path based on roads included in the obstacle map after obtaining the obstacle map.

And 204, dividing the road corresponding to the topological path on the obstacle map according to the preset differential length to obtain a plurality of differential units.

The differential length may be flexibly set according to practical situations, and may be set to 0.15m, or may be set to 0.20m in other embodiments, which is not limited herein.

In some embodiments, the road corresponding to the topology path on the obstacle map may be understood as a road included in the topology path on the obstacle map, and the mobile robot may divide the road included in the topology path according to a preset differential length to obtain a plurality of differential units. By way of example, fig. 5 shows an example of a plurality of differentiating units resulting from the dividing process.

Step 206, searching from the first direction of the topology path based on the differential length and the width of each differential unit to obtain a plurality of first key points on the topology path, and searching from the second direction of the topology path to obtain a plurality of second key points on the topology path.

On the basis of dividing the road corresponding to the topological path, on the basis of the differential length and the width of each differential unit, the boundary points of the differential units meeting specific conditions can be searched in the first direction of the topological path, and the searched boundary points are used as first key points. Similarly, the boundary points of the differential cells satisfying the specific condition may be searched for as the second key point from the second direction of the topology path based on the differential length and the width of each differential cell.

Step 208, determining a width change keypoint based on the plurality of first keypoints and the plurality of second keypoints.

In some embodiments, after obtaining the plurality of first keypoints, a plurality of road segments obtained by dividing the topology path by the plurality of first keypoints may be obtained, and adjacent road segments with the same width are combined, that is, the first keypoints between the adjacent road segments with the same width are deleted, and the remaining first keypoints are used as the first target keypoints. Similarly, after obtaining the plurality of second key points, a plurality of road segments obtained by dividing the topological path by the plurality of second key points can be obtained, and the adjacent road segments with the same width are combined, namely, the second key points between the adjacent road segments with the same width are deleted, and the rest of the second key points are used as second target key points.

In some embodiments, on the basis of obtaining a plurality of first target key points and a plurality of second target key points, selecting a first target key point and a second target key point which correspond to each other, acquiring a road width at the first target key point and a road width at the second target key point, and determining a final width change key point based on the acquired two road widths.

In the road width change key point extraction method, after the obstacle map with the topological path is obtained, the road corresponding to the topological path is segmented on the obstacle map according to the preset differential length to obtain a plurality of differential units, and the small-scale differential units are used as search units to identify the width change key points which are not easy to identify. Searching from a first direction of the topological path based on the differential length and the width of each differential unit to obtain a plurality of first key points on the topological path, searching from a second direction of the topological path to obtain a plurality of second key points on the topological path, and determining a width change key point based on the plurality of first key points and the plurality of second key points. And searching the key points from two opposite directions, and finally positioning the final positions of the key points with the width change based on the key points searched in the two directions, so that the key points which are not searched in one direction and the searched error key points can be supplemented and corrected, the accuracy of the finally determined key points with the width change is improved, and the extraction efficiency is greatly improved compared with the mode of manually marking the key points.

In some embodiments, the step of searching from a first direction of the topology path based on the differential length and the width of each differential cell, resulting in a plurality of first keypoints on the topology path, comprises: taking a first differential unit in a first direction as a search reference unit, acquiring a width difference value between a current differential unit and the search reference unit for each differential unit after the search reference unit, acquiring lengths and values of all differential units between the current differential unit and the search reference unit under the condition that a first relation is met between the width difference value and a preset width change threshold value, taking a junction point between a next differential unit of the current differential unit as a first key point under the condition that a second relation is met between the lengths and values and the preset length threshold value, and taking the next differential unit as the search reference unit, and repeatedly executing the search process to obtain a plurality of first key points.

Wherein the first direction and the second direction may be opposite directions. The width change threshold and the length threshold can be flexibly set according to actual conditions. The first relationship may be that the width difference is greater than a preset width change threshold, and the second relationship may be that the length sum is greater than a preset length threshold.

In some embodiments, when searching from the first direction, for each differential cell after searching the reference cell, in the case where the first relationship is not satisfied between the width difference value and the preset width change threshold value, the current differential cell is merged into the previous link, and the next differential cell of the current differential cell along the first direction is taken as the current differential cell, the above-described process is repeated.

In some embodiments, when searching from the first direction, for each differential cell after searching the reference cell, in the case where the second relationship between the length sum value and the preset length threshold is not satisfied, the current differential cell is merged into the previous road section, and the next differential cell of the current differential cell along the first direction is taken as the current differential cell, the above-described process is repeated.

By way of example, fig. 6 illustrates a search from a first direction to obtain a plurality of first keypoints, where the numbers next to the keypoints in fig. 6 are road widths at the keypoints, and the search results shown in fig. 6 are merely an example and are not limiting on the embodiments of the present application.

The following is illustrative:

fig. 7 is an exemplary diagram of a topology path, in which the topology path may be divided and the obtained differential units are numbered sequentially along the first direction, and as illustrated in fig. 7, the topology path may be divided into 9 differential units, and the first differential unit along the first direction may be used as a search reference unit, that is, the differential unit with the number 1 may be used as a search reference unit, the width of the differential unit with the number 2 and the width of the differential unit with the number 1 may be compared to obtain a difference value between the two, and since the difference value between the two is 0, the difference value between the two is smaller than the preset width change threshold, the differential unit with the number 2 and the differential unit with the number 1 may be combined to obtain the road segment 12. In the same manner, the width of the differential unit with the number 3 and the width of the differential unit with the number 1 are compared to obtain a difference value, and since the difference value is 0 and the difference value is smaller than the preset width change threshold, the differential unit with the number 3 is combined with the previous road segment 12 to obtain the road segment 123. In the same manner, the width of the differential unit No. 4 and the width of the differential unit No. 1 are compared to obtain a difference therebetween, and if the difference therebetween is greater than a preset width change threshold, the length and value of all the differential units (four differential units are the differential unit No. 1, the differential unit No. 2, the differential unit No. 3, and the differential unit No. 4) between the differential unit No. 4 and the differential unit No. 1 are further obtained, and if the length and value are greater than the preset length threshold, the boundary point between the differential unit No. 4 and the differential unit No. 5 is used as the first key point, and the differential unit No. 4 is combined with the previous link 123 to obtain a link 1234, and the differential unit No. 5 is used as the search reference unit. In the same manner, the width of the differential unit No. 6 and the width of the differential unit No. 5 are compared to obtain a difference therebetween, and since the difference therebetween is 0 and the difference therebetween is smaller than the preset width change threshold, the differential unit No. 6 and the differential unit No. 5 are combined to obtain the link 56. In the same manner, the width of the differential cell No. 7 and the width of the differential cell No. 5 are compared to obtain a difference therebetween, and if the difference therebetween is greater than a preset width change threshold, the length and value of all the differential cells (three differential cells are the differential cell No. 5, the differential cell No. 6, and the differential cell No. 7) between the differential cell No. 7 and the differential cell No. 5 are further obtained, and if the length and value are less than the preset length threshold, the differential cell No. 7 is merged with the preceding link 56 to obtain the link 567. In the same manner, the width of the differential unit No. 8 and the width of the differential unit No. 5 are compared to obtain a difference therebetween, and if the difference therebetween is greater than a preset width change threshold, the length and value of all the differential units (four differential units are the differential unit No. 5, the differential unit No. 6, the differential unit No. 7, and the differential unit No. 8) between the differential unit No. 8 and the differential unit No. 5 are further obtained, and if the length and value are greater than the preset length threshold, the boundary point between the differential unit No. 8 and the differential unit No. 9 is used as the first key point, and the differential unit No. 8 is combined with the preceding link 567 to obtain a link 5678, and the differential unit No. 9 is used as the search reference unit. Since the differentiating unit with the number of 9 is the last differentiating unit, there is no key point after the differentiating unit with the number of 9, thereby three first key points and three road segments can be obtained, which are respectively: road segment 1234, resulting road segment 5678, and road segment 9.

In some embodiments, after searching from the first direction, a plurality of first key points and a plurality of road segments divided by the plurality of first key points may be obtained, for the last road segment, it may be determined whether the length of a road segment before the road segment is greater than 2 times of a preset length threshold, if so, the road segment with a certain length is taken from the previous road segment, and the last road segment is combined, and if not, the last road segment is directly combined with the previous road segment. Illustratively, the upper graph in fig. 8 is the last segment before the merging process, and the lower graph in fig. 8 is the last segment after the merging process.

In the above embodiment, when searching is performed in the first direction, for a certain differential unit, if the width difference between the differential unit and the search reference unit is greater than a preset width change threshold, and the length sum value of all differential units between the differential unit and the search reference unit is greater than a preset length threshold, the boundary point between the next differential unit of the current differential unit is taken as the first key point, so that the extracted key point can be ensured to be a point with larger width change, and the distance between two adjacent key points is not too close, so that the road segment length obtained by dividing based on the key points is reasonable, and the rationality of the key point with width change is improved.

In some embodiments, the step of searching from a second direction of the topology path to obtain a plurality of second keypoints on the topology path comprises: and taking the first differential unit in the second direction as a search reference unit, acquiring a width difference value between the current differential unit and the search reference unit for each differential unit after the search reference unit, acquiring the lengths and values of all differential units between the current differential unit and the search reference unit under the condition that a first relation is met between the width difference value and a preset width change threshold value, taking a boundary point between the next differential unit of the current differential unit as a second key point under the condition that a second relation is met between the lengths and values and the preset length threshold value, and taking the next differential unit as the search reference unit, and repeatedly executing the search process to obtain a plurality of second key points.

Similarly, the width change threshold and the length threshold used in searching from the second direction may be flexibly set according to practical situations, the first relationship may be that the width difference is greater than a preset width change threshold, and the second relationship may be that the length sum is greater than a preset length threshold.

In some embodiments, when searching from the second direction, for each differential cell after searching the reference cell, in the case where the first relationship is not satisfied between the width difference value and the preset width change threshold value, the current differential cell is merged into the previous road section, and the next differential cell of the current differential cell along the second direction is taken as the current differential cell, the above-described process is repeated.

In some embodiments, when searching from the second direction, for each differential cell after searching the reference cell, in the case where the second relationship between the length sum value and the preset length threshold is not satisfied, the current differential cell is merged into the previous road section, and the next differential cell of the current differential cell along the second direction is taken as the current differential cell, the above-described process is repeated.

It will be appreciated that the specific manner of searching from the second direction is similar to searching from the first direction and will not be described in detail herein by way of example. By way of example, fig. 9 shows keypoints searched from two directions, where solid points are first keypoints searched from a first direction and hollow points are second keypoints searched from a second direction.

In the above embodiment, similarly to the first direction, when searching is performed in the second direction, for a certain differential unit, if the width difference between the differential unit and the search reference unit is greater than a preset width change threshold, and the length sum value of all differential units between the differential unit and the search reference unit is greater than a preset length threshold, the boundary point between the next differential unit of the current differential unit is taken as the second key point, so that the extracted key point can be ensured to be the point with larger width change, and the distance between two adjacent key points is not too close, so that the road segment length obtained by dividing based on the key points is reasonable, and the rationality of the key point with width change is improved.

In some embodiments, the step of determining a width change keypoint based on the plurality of first keypoints and the plurality of second keypoints comprises: screening the plurality of first key points based on the respective widths of the plurality of road sections obtained by dividing the plurality of first key points to obtain a plurality of first target key points; screening the plurality of second key points based on the respective widths of the plurality of road sections obtained by dividing the plurality of second key points to obtain a plurality of second target key points; a width change keypoint is determined based on the plurality of first target keypoints and the plurality of second target keypoints.

In some embodiments, for each road segment divided by the plurality of first keypoints, the minimum width of the road segment may be obtained, and the minimum width is taken as the width of the road segment; and carrying out merging processing on adjacent road sections with the same width in the plurality of road sections, and screening a plurality of first target key points from the plurality of first key points based on merging processing results.

After obtaining the width of each road segment divided by the plurality of first key points, if the widths of two adjacent road segments are the same, the two road segments may be combined, that is, the key points between the two road segments are deleted, and the first key points remaining after the deletion may be used as the first target key points.

The following is illustrative:

fig. 10 shows an example of a topology path, which may be divided into 10 differential units, as shown in fig. 10, assuming that the direction indicated in fig. 10 is the first direction, and assuming that searching in the first direction may determine that the boundary point between the differential unit numbered 2 and the differential unit numbered 3 is one first key point, the boundary point between the differential unit numbered 5 and the differential unit numbered 6 is one first key point, the boundary point between the differential unit numbered 8 and the differential unit numbered 9 is one first key point, and three first key points are in total, the topology path is divided into four road segments, which are the road segment 12, the road segment 345, the road segment 678, and the road segment 910, respectively. For the link 12, the minimum width of the link is the width of the differential cell numbered 1, and assuming that the width of the differential cell numbered 1 is 1pix (1 pixel), the width of the link 12 is determined to be 1pix. For the link 345, the minimum width of the link is the width of the differential cell numbered 3 (or 4), and assuming that the width of the differential cell numbered 3 (or 4) is 2pix (2 pixels), the width of the link 345 is determined to be 2pix. For the link 678, the minimum width of the link is the width of the differential cell numbered 7 (or 8), and assuming that the width of the differential cell numbered 7 (or 8) is 2pix (2 pixels), the width of the link 678 is determined to be 2pix. For the link 910, the minimum width of the link is the width of the differential cell numbered 10, and assuming that the width of the differential cell numbered 10 is 1pix (1 pixel), the width of the link 910 is determined to be 1pix. Since the widths of the link 345 and the link 678 are both 2pix, the two links are subjected to merging processing, that is, the first key point between the differential unit numbered 5 and the differential unit numbered 6 is deleted, and the remaining two first key points are both taken as the first target key point.

Similarly, for each road section divided by the plurality of second key points, the minimum width of the road section can be obtained, and the minimum width is used as the width of the road section; and carrying out merging processing on adjacent road sections with the same width in the plurality of road sections, and screening a plurality of second target key points from the plurality of second key points based on merging processing results. For example, similar to the processing manner of the first key point, after obtaining the width of each road segment divided by the plurality of second key points, if the widths of two adjacent road segments are the same, the two road segments may be subjected to merging processing, that is, the key point between the two road segments is deleted, and the second key points remaining after the deleting processing may be used as the second target key points.

In some embodiments, in the case of obtaining a plurality of first target keypoints and a plurality of second target keypoints, selecting a first target keypoint and a second target keypoint corresponding to each other from the plurality of first target keypoints and the plurality of second target keypoints, acquiring a road width at the first target keypoint and a road width at the second target keypoint, and determining a final width change keypoint based on the acquired two road widths.

In the above embodiment, considering whether the mobile robot can pass through the place where the road section is the narrowest, if the narrowest road section can pass through, it is possible for the road section, so when determining the width of the road section, the embodiment of the present application characterizes the width of the whole road section with the width of the narrowest place, and when obtaining the width of each road section, the widths of two adjacent road sections are compared, if the widths are the same, the two road sections are combined, and the key points between the two road sections are deleted, so that the key points with less accurate width change characterization can be deleted, so that the finally obtained road change key points are more accurate and reasonable.

In some embodiments, the step of determining a width change keypoint based on the plurality of first target keypoints and the plurality of second target keypoints comprises: searching a first target key point and a second target key point which correspond to each other from a plurality of first target key points and a plurality of second target key points; determining a first position weight of the first target key point and a second position weight of the second target key point according to the road width of the first target key point and the road width of the second target key point; based on the first position weight and the second position weight, a corresponding width change key point is determined.

In some embodiments, on the basis of searching from the first direction to obtain a plurality of first target key points and searching from the second direction to obtain a plurality of second target key points, the first target key points and the second target key points corresponding to each other can be searched for from the plurality of first target key points and the plurality of second target key points. For example, the first target keypoints and the second target keypoints may be marked on the topology path by using different colors, and the closest two-color points are regarded as the first target keypoints and the second target keypoints corresponding to each other.

In some embodiments, after the first target key point and the second target key point corresponding to each other are found, a first road width at the found first target key point and a second road width at the second target key point may be obtained, and the first road width and the second road width may be added to obtain the sum value. The ratio between the first road width and the sum value is used as the position weight of the first target key point, namely the first position weight, and the ratio between the second road width and the sum value is used as the position of the second target key point, namely the second position weight. A distance between the first target keypoint and the second target keypoint may be obtained, and a road width change keypoint is determined between the first target keypoint and the second target keypoint based on the first position weight and the second position weight.

In some embodiments, a maximum value may be found from the first position weight and the second position weight, a distance between the first target key point and the second target key point is multiplied by the maximum value to obtain a target distance for moving the key point, a key point with a narrower road width is determined from the first target key point and the second target key point, and a position where the key point is located after moving the target distance to another key point is determined as a width change key point. For example, referring to fig. 11, solid points are first target keypoints, hollow points are second target keypoints, and dashed filled points are final determined width change keypoints. FIG. 12 is a schematic illustration of a width change key determined by the method of an embodiment of the present application, the numbers next to the width change key representing the road width at the width change key.

In the above embodiment, on the one hand, the key points are searched from the first direction of the topology path, on the other hand, the key points are also searched from the second direction of the topology path, after the key points are searched from the two directions, the corresponding key points are searched, the positions of the key points are corrected based on the road widths at the corresponding key points, so as to determine the final width change key points.

In some embodiments, a road width change key point extraction method is provided, which is described as an example by a mobile robot, the method including:

acquiring an obstacle map with a topological path; and dividing the road corresponding to the topological path on the obstacle map according to the preset differential length to obtain a plurality of differential units.

Taking a first differential unit in a first direction as a search reference unit, acquiring a width difference value between a current differential unit and the search reference unit for each differential unit after the search reference unit, acquiring lengths and values of all differential units between the current differential unit and the search reference unit under the condition that a first relation is met between the width difference value and a preset width change threshold value, taking a junction point between a next differential unit of the current differential unit as a first key point under the condition that a second relation is met between the lengths and values and the preset length threshold value, and taking the next differential unit as the search reference unit, and repeatedly executing the search process to obtain a plurality of first key points.

And taking the first differential unit in the second direction as a search reference unit, acquiring a width difference value between the current differential unit and the search reference unit for each differential unit after the search reference unit, acquiring the lengths and values of all differential units between the current differential unit and the search reference unit under the condition that a first relation is met between the width difference value and a preset width change threshold value, taking a boundary point between the next differential unit of the current differential unit as a second key point under the condition that a second relation is met between the lengths and values and the preset length threshold value, and taking the next differential unit as the search reference unit, and repeatedly executing the search process to obtain a plurality of second key points.

For each road section divided by a plurality of first key points, acquiring the minimum width of the road section, and taking the minimum width as the width of the road section; and carrying out merging processing on adjacent road sections with the same width in the plurality of road sections, and screening a plurality of first target key points from the plurality of first key points based on merging processing results. Screening the plurality of second key points based on the respective widths of the plurality of road sections obtained by dividing the plurality of second key points to obtain a plurality of second target key points;

searching a first target key point and a second target key point which correspond to each other from a plurality of first target key points and a plurality of second target key points; determining a first position weight of the first target key point and a second position weight of the second target key point according to the road width of the first target key point and the road width of the second target key point; based on the first position weight and the second position weight, a corresponding width change key point is determined.

It should be understood that, although the steps in the flowcharts related to the above embodiments are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiment of the application also provides a road width change key point extraction device for realizing the road width change key point extraction method. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitation of the embodiments of the device for extracting the key point of road width change provided below may be referred to the limitation of the method for extracting the key point of road width change hereinabove, and will not be repeated here.

In one embodiment, as shown in fig. 13, there is provided a road width change key point extraction device, comprising:

The above-described respective modules in the road width change key point extraction device may be implemented in whole or in part by software, hardware, and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a computer device is provided, which may be a terminal, and the internal structure thereof may be as shown in fig. 14. The computer device includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input means. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program when executed by a processor implements a road width variation key point extraction method.

It will be appreciated by those skilled in the art that the structure shown in fig. 14 is merely a block diagram of a portion of the structure associated with the present application and is not limiting of the computer device to which the present application applies, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of:

acquiring an obstacle map with a topological path;

In one embodiment, the processor when executing the computer program further performs the steps of:

the first relationship includes: the difference value is larger than a preset width change threshold value; the second relationship includes: the length of the current differential unit and the next differential unit after being combined is larger than or equal to a preset length threshold value.

screening the plurality of first key points based on the respective widths of the plurality of road sections obtained by dividing the plurality of first key points to obtain a plurality of first target key points; screening the plurality of second key points based on the respective widths of the plurality of road sections obtained by dividing the plurality of second key points to obtain a plurality of second target key points; a width change keypoint is determined based on the plurality of first target keypoints and the plurality of second target keypoints.

for each road section divided by a plurality of first key points, acquiring the minimum width of the road section, and taking the minimum width as the width of the road section; and carrying out merging processing on adjacent road sections with the same width in the plurality of road sections, and screening a plurality of first target key points from the plurality of first key points based on merging processing results.

In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:

acquiring an obstacle map with a topological path;

In one embodiment, the computer program when executed by the processor further performs the steps of:

In one embodiment, a computer program product is provided comprising a computer program which, when executed by a processor, performs the steps of:

acquiring an obstacle map with a topological path;

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.

Claims

1. A method for extracting a road width change key point, the method comprising:

acquiring an obstacle map with a topological path;

dividing the road corresponding to the topological path on the obstacle map according to a preset differential length to obtain a plurality of differential units;

searching from a first direction of the topological path based on the differential length and the width of each differential unit to obtain a plurality of first key points on the topological path, and searching from a second direction of the topological path to obtain a plurality of second key points on the topological path;

2. The method of claim 1, wherein searching from the first direction of the topology path based on the differential length and the width of each differential cell, results in a plurality of first keypoints on the topology path, comprising:

and taking a first differential unit in the first direction as a search reference unit, acquiring a width difference value between a current differential unit and the search reference unit for each differential unit after the search reference unit, acquiring lengths and values of all differential units between the current differential unit and the search reference unit under the condition that a first relation is met between the width difference value and a preset width change threshold value, taking a junction point between a next differential unit of the current differential unit as a first key point under the condition that a second relation is met between the lengths and values and the preset length threshold value, and taking the next differential unit as the search reference unit, and repeatedly executing the search process to obtain a plurality of first key points.

3. The method of claim 1, wherein the searching from the second direction of the topology path to obtain a plurality of second keypoints on the topology path comprises:

and taking the first differential unit in the second direction as a search reference unit, acquiring a width difference value between a current differential unit and the search reference unit for each differential unit after the search reference unit, acquiring lengths and values of all differential units between the current differential unit and the search reference unit under the condition that a first relation is met between the width difference value and a preset width change threshold value, taking a junction point between a next differential unit of the current differential unit as a second key point under the condition that a second relation is met between the lengths and values and the preset length threshold value, and taking the next differential unit as the search reference unit, and repeatedly executing the search process to obtain a plurality of second key points.

4. A method according to claim 2 or 3, wherein the first relationship comprises: the difference value is larger than the preset width change threshold value; the second relationship includes: and the length of the current differential unit and the next differential unit after being combined is greater than or equal to the preset length threshold value.

5. A method according to any one of claims 1-3, wherein said determining a width change keypoint based on said plurality of first keypoints and said plurality of second keypoints comprises:

screening the plurality of first key points based on the respective widths of a plurality of road sections obtained by dividing the plurality of first key points to obtain a plurality of first target key points;

screening the plurality of second key points based on the respective widths of the plurality of road sections obtained by dividing the plurality of second key points to obtain a plurality of second target key points;

a width change keypoint is determined based on the plurality of first target keypoints and the plurality of second target keypoints.

6. The method of claim 5, wherein the screening the plurality of first keypoints based on the respective widths of the plurality of road segments divided by the plurality of first keypoints to obtain a plurality of first target keypoints comprises:

for each road section divided by the plurality of first key points, acquiring the minimum width of the road section, and taking the minimum width as the width of the road section;

and carrying out merging processing on adjacent road sections with the same width in the plurality of road sections, and screening a plurality of first target key points from the plurality of first key points based on merging processing results.

7. The method of claim 5, wherein the determining a width change keypoint based on the plurality of first target keypoints and the plurality of second target keypoints comprises:

searching a first target key point and a second target key point which correspond to each other from the plurality of first target key points and the plurality of second target key points;

determining a first position weight of the first target key point and a second position weight of the second target key point according to the road width of the first target key point and the road width of the second target key point;

and determining a corresponding width change key point based on the first position weight and the second position weight.

8. A road width change key point extraction device, characterized in that the device comprises:

the differentiating unit is used for dividing the road corresponding to the topological path on the obstacle map according to the preset differentiating length to obtain a plurality of differentiating units;

9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.

10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.