CN116295448B - Robot path planning method and system based on multi-source information navigation - Google Patents
Robot path planning method and system based on multi-source information navigation Download PDFInfo
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- 238000012545 processing Methods 0.000 claims abstract description 44
- 238000012544 monitoring process Methods 0.000 claims description 39
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a robot path planning method and a robot path planning system based on multi-source information navigation, wherein when a second state navigator monitors conflict, a navigator monitoring device obtains the conflict state information; the conflicting state information includes a conflicting first conflict setpoint; the first conflicting setpoint of the conflict represents a confidence of the conflict under the second confidence data source; the navigator monitoring device acquires a second conflict positioning point of the conflict from the conflict corresponding relation, wherein the second conflict positioning point of the conflict represents the confidence of the conflict under the first confidence data source; the conflict corresponding relation comprises the corresponding relation between a first conflict locating point and a second conflict locating point of each type of conflict in the multiple types of conflicts; the navigator monitoring device recognizes the confidence coefficient of the conflict and processes the conflict according to the second conflict positioning point of the conflict. The invention can effectively adopt an accurate and timely processing scheme when the multisource navigation information conflicts, and provides a practical and effective navigation strategy for the navigation process.
Description
Technical Field
The invention belongs to the field of traffic navigation, and particularly relates to a robot path planning method and system based on multi-source information navigation.
Background
With the wide application of satellite positioning technology and mobile internet technology, the method has rapidly developed for navigation, location services and other value-added services and related industries. Navigation software is developing towards intelligentization, convenience and individuation, and all of the software is based on navigation map data at the bottom layer, so that whether the information of the navigation map is accurate in time or not directly influences navigation results and user experience. Most navigation software popular in the market at present is limited by the update frequency of map manufacturers, so that the use experience of users is affected.
Robot path planning refers to movement of each robot from a respective starting position to a destination position in a given one of the map environments, while avoiding collisions with environmental obstacles and other robots. The navigation system determines a current position of the robot according to the received navigation information and the detected traveling state of the robot, and matches the determined current position of the robot with map data so that the current position of the robot can be displayed on the display unit. Also, if there is a target position to be guided, including an intersection in front of a traveling robot, or an entrance or exit of a highway, a three-dimensional junction of an urban road, or the like, a navigation signal is output such that the robot is guided in accordance with its traveling direction at the corresponding target position to be guided.
When guiding a traveling robot by means of a navigation audio signal, there may be a case where a first guided target position exists at a position within a predetermined distance in front of the traveling robot and a first navigation signal for the first guided target position is being output, and a second guided target position exists at a position within a predetermined distance in front of the traveling robot and a second navigation signal for the second guided target position is to be output. In this case, the first and second navigation signals collide with each other.
Disclosure of Invention
In order to solve the problem that navigation is interfered by different source signals in the current navigation process, navigation signals of all parties are synthesized and rationality verification is carried out, the invention provides a robot path planning method and a system based on multi-source information navigation.
According to a first aspect of the present invention, the present invention claims a robot path planning method based on multi-source information navigation, the method being applied to a navigation robot, a processor of the navigation robot including a first processor processing a first confidence data source and a second processor processing a second confidence data source, a navigator listening device on the navigation robot running on the navigation robot, and a first state navigator processing the first confidence data source and a second state navigator processing the second confidence data source, the method comprising:
When the second state navigator monitors the conflict, the navigator monitoring device obtains the status information of the conflict; the conflicting state information comprises the conflicting first conflict locating point; the first conflicting setpoint of the conflict represents a confidence of the conflict under the second confidence data source;
the navigator monitoring device acquires a second conflict positioning point of the conflict from the conflict corresponding relation, wherein the second conflict positioning point of the conflict represents the confidence of the conflict under the first confidence data source; the conflict corresponding relation comprises the corresponding relation between a first conflict locating point and a second conflict locating point of each type of conflict in the multiple types of conflicts;
and the navigator monitoring device identifies the confidence coefficient of the conflict and processes the conflict according to the second conflict positioning point of the conflict.
Further, the navigation robot further includes a second state decision device, and the navigator monitoring device obtains the status information of the conflict, including:
the navigator monitoring device acquires the conflicting state information from a public state information base; the common status information base is updated by the second processor and the first processor; the conflicting state information is copied from the second state decision device to the public state information base by the second processor; the second state decision device is a decision device conforming to the second confidence data source specification for storing the conflicting state information.
Further, the navigation robot further includes an update decision device, and the navigator monitoring device obtains the status information of the conflict, including:
the navigator monitoring device collects the conflicting state information from the updating decision device, and the updating decision device is updated by the second processor and the first processor; the updating decision device stores the conflicting state information.
Further, the navigation robot further comprises a second state decision device and a first state decision device, the conflict state information further comprises at least one of a command for monitoring the conflict or an address for monitoring the conflict, the conflict corresponding relation further comprises a corresponding relation between the second state decision device and the first state decision device, the first state decision device is a decision device conforming to the first confidence data source specification, and the second state decision device is a decision device conforming to the second confidence data source specification and used for storing the conflict state information;
the navigator monitoring device identifies the confidence level of the conflict according to the second conflict locating point of the conflict, and before the conflict is processed, the method further comprises:
The navigator monitoring device searches the first state decision device corresponding to the second state decision device according to the conflict corresponding relation;
the navigator monitoring device writes the second conflict locating point of the conflict into the first state decision device, and writes at least one of a command for monitoring the conflict and an address for monitoring the conflict into the first state decision device;
correspondingly, the navigator monitoring device identifies the confidence coefficient of the conflict according to the second conflict positioning point of the conflict, and processes the conflict, and the method comprises the following steps:
the navigator monitoring device reads the second conflict positioning point of the conflict from the first state decision device, and monitors at least one of a conflict instruction and a conflict address;
the navigator monitoring device processes the conflict according to the second conflict positioning point of the conflict and at least one of the instruction of monitoring the conflict and the address of monitoring the conflict.
Further, the navigation robot includes a hardware device for processing hardware-assisted virtualization, and the hardware device processes the first confidence data source, and the navigator monitoring device processes the conflict, including:
And the navigator monitoring device processes the conflict through the hardware equipment which is used for processing the hardware auxiliary virtualization.
According to a second aspect of the present invention, the present invention claims a robot path planning system based on multi-source information navigation, comprising a navigation robot, a processor of the navigation robot comprising a first processor processing a first confidence data source and a second processor processing a second confidence data source, a navigator monitoring device operating on the navigation robot for processing the first confidence data source, and a first state navigator for processing the first confidence data source and a second state navigator for processing the second confidence data source, comprising:
when the second state navigator monitors the conflict, the navigator monitoring device obtains the status information of the conflict; the conflicting state information comprises the conflicting first conflict locating point; the first conflicting setpoint of the conflict represents a confidence of the conflict under the second confidence data source;
the navigator monitoring device acquires a second conflict positioning point of the conflict from the conflict corresponding relation, wherein the second conflict positioning point of the conflict represents the confidence of the conflict under the first confidence data source; the conflict corresponding relation comprises the corresponding relation between a first conflict locating point and a second conflict locating point of each type of conflict in the multiple types of conflicts;
And the navigator monitoring device identifies the confidence coefficient of the conflict and processes the conflict according to the second conflict positioning point of the conflict.
Further, the navigation robot further includes a second state decision device, and the navigator monitoring device obtains the status information of the conflict, including:
the navigator monitoring device acquires the conflicting state information from a public state information base; the common status information base is updated by the second processor and the first processor; the conflicting state information is copied from the second state decision device to the public state information base by the second processor; the second state decision device is a decision device conforming to the second confidence data source specification for storing the conflicting state information.
Further, the navigation robot further includes an update decision device, and the navigator monitoring device obtains the status information of the conflict, including:
the navigator monitoring device collects the conflicting state information from the updating decision device, and the updating decision device is updated by the second processor and the first processor; the updating decision device stores the conflicting state information.
Further, the navigation robot further comprises a second state decision device and a first state decision device, the conflict state information further comprises at least one of a command for monitoring the conflict or an address for monitoring the conflict, the conflict corresponding relation further comprises a corresponding relation between the second state decision device and the first state decision device, the first state decision device is a decision device conforming to the first confidence data source specification, and the second state decision device is a decision device conforming to the second confidence data source specification and used for storing the conflict state information;
the navigator monitoring device identifies the confidence level of the conflict according to the second conflict locating point of the conflict, and before the conflict is processed, the method further comprises:
the navigator monitoring device searches the first state decision device corresponding to the second state decision device according to the conflict corresponding relation;
the navigator monitoring device writes the second conflict locating point of the conflict into the first state decision device, and writes at least one of a command for monitoring the conflict and an address for monitoring the conflict into the first state decision device;
Correspondingly, the navigator monitoring device identifies the confidence coefficient of the conflict according to the second conflict positioning point of the conflict, and processes the conflict, and the method comprises the following steps:
the navigator monitoring device reads the second conflict positioning point of the conflict from the first state decision device, and monitors at least one of a conflict instruction and a conflict address;
the navigator monitoring device processes the conflict according to the second conflict positioning point of the conflict and at least one of the instruction of monitoring the conflict and the address of monitoring the conflict.
Further, the navigation robot includes a hardware device for processing hardware-assisted virtualization, and the hardware device processes the first confidence data source, and the navigator monitoring device processes the conflict, including:
and the navigator monitoring device processes the conflict through the hardware equipment which is used for processing the hardware auxiliary virtualization.
The invention discloses a robot path planning method and a robot path planning system based on multi-source information navigation, wherein when a second state navigator monitors conflict, a navigator monitoring device obtains the conflict state information; the conflicting state information includes a conflicting first conflict setpoint; the first conflicting setpoint of the conflict represents a confidence of the conflict under the second confidence data source; the navigator monitoring device acquires a second conflict positioning point of the conflict from the conflict corresponding relation, wherein the second conflict positioning point of the conflict represents the confidence of the conflict under the first confidence data source; the conflict corresponding relation comprises the corresponding relation between a first conflict locating point and a second conflict locating point of each type of conflict in the multiple types of conflicts; the navigator monitoring device recognizes the confidence coefficient of the conflict and processes the conflict according to the second conflict positioning point of the conflict. The invention can effectively adopt an accurate and timely processing scheme when the multisource navigation information conflicts, and provides a practical and effective navigation strategy for the navigation process.
Drawings
FIG. 1 is a workflow diagram of a robot path planning method based on multi-source information navigation as claimed in the present invention;
FIG. 2 is a second workflow diagram of a robot path planning method based on multi-source information navigation as claimed in the present invention;
FIG. 3 is a third workflow diagram of a robot path planning method based on multi-source information navigation as claimed in the present invention;
FIG. 4 is a block diagram of a robot path planning system based on multi-source information navigation as claimed in the present invention;
FIG. 5 is a flow chart of a method of handling navigation conflicts as claimed in the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. It will be understood that the terms "first," "second," and the like, as used herein, may be used herein to describe various elements, but these elements are not limited by these terms unless otherwise specified. These terms are only used to distinguish one element from another element. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
According to a first embodiment of the present invention, referring to fig. 1, the present invention is directed to a robot path planning method based on multi-source information navigation, the method is applied to a navigation robot, a processor of the navigation robot includes a first processor for processing a first confidence data source and a second processor for processing a second confidence data source, a navigator monitoring device for processing the first confidence data source, and a first state navigator for processing the first confidence data source and a second state navigator for processing the second confidence data source are operated on the navigation robot, the method includes:
when the second state navigator monitors the conflict, the navigator monitoring device obtains the status information of the conflict; the conflicting state information includes a conflicting first conflict setpoint; the first conflicting setpoint of the conflict represents a confidence of the conflict under the second confidence data source;
the navigator monitoring device acquires a second conflict positioning point of the conflict from the conflict corresponding relation, wherein the second conflict positioning point of the conflict represents the confidence of the conflict under the first confidence data source; the conflict corresponding relation comprises the corresponding relation between a first conflict locating point and a second conflict locating point of each type of conflict in the multiple types of conflicts;
The navigator monitoring device recognizes the confidence coefficient of the conflict and processes the conflict according to the second conflict positioning point of the conflict.
In this embodiment, the first confidence data source is an audio data source, and mainly includes audio navigation data received in a navigation process, including audio data such as audio reminding of a navigation application program, audio data capturing of a news broadcast, and the like; the second confidence coefficient data source comprises image navigation data in the navigation process, including image data such as pictures, pictures and monitoring videos of the navigation road.
Because the data transmission data size is larger, navigation running can be generally performed only through the navigation guidance of the first confidence data source, but the situation that the audio navigation content is inaccurate due to multiple factor images is often caused, and at the moment, the navigation guidance needs to be performed based on the image data with higher confidence.
Under the general condition, the image navigation data and the audio navigation data are subjected to abstract comparison, when obvious inconsistencies do not exist, the audio navigation data are complied, when obvious inconsistencies exist, namely conflicts exist, the image navigation data under a specific time period are obtained, conflict positioning is carried out, and the subsequent navigation is corrected.
Further, the navigation robot further includes a second state decision device, and the navigator monitoring device obtains conflicting state information, including:
the navigator monitoring device collects conflicting state information from a public state information base; the common state information base is updated by the second processor and the first processor; the conflicting state information is copied by the second processor from the second state decision device into the common state information base; the second state decision means is a decision means for storing conflicting state information in compliance with a second confidence data source specification.
Further, the navigation robot further includes an update decision device, and the navigator monitoring device obtains conflicting state information, including:
the navigator monitoring device collects conflicting state information from the updating decision device, and the updating decision device is updated by the second processor and the first processor; the update decision means stores conflicting state information.
Further, the navigation robot further comprises a second state decision device and a first state decision device, the conflict state information further comprises at least one of a command for monitoring the conflict or an address for monitoring the conflict, the conflict corresponding relation further comprises a corresponding relation between the second state decision device and the first state decision device, the first state decision device is a decision device conforming to a first confidence data source specification, and the second state decision device is a decision device conforming to a second confidence data source specification and used for storing the conflict state information;
Referring to fig. 2, the navigator monitoring device identifies the confidence level of the conflict according to the second conflict locating point of the conflict, and before processing the conflict, the method further includes:
the navigator monitoring device searches a first state decision device corresponding to the second state decision device according to the conflict corresponding relation;
the navigator monitoring device writes a second conflict locating point of conflict into the first state decision device, and writes at least one of a command for monitoring the conflict and an address for monitoring the conflict into the first state decision device;
referring to fig. 3, corresponding to the fig. 3, the navigator monitoring device identifies the confidence level of the conflict according to the second conflict locating point of the conflict, and processes the conflict, including:
the navigator monitoring device reads a second conflict positioning point of the conflict from the first state decision device, and monitors at least one of a conflict instruction and a conflict address;
the navigator monitoring device processes the conflict according to the second conflict locating point of the conflict and at least one of the instruction of monitoring the conflict and the address of monitoring the conflict.
Further, the navigation robot includes a hardware device for processing hardware-assisted virtualization, and the hardware device processes the first confidence data source, and the navigator monitoring device processes the conflict, including:
The navigator monitoring device processes conflicts by processing hardware devices that are hardware-assisted virtualized.
Wherein, in the embodiment, the comparison of the conflict localization points shows the confidence after the corresponding data source is changed, and the method specifically comprises the following operations:
extracting a plurality of characteristic vectors of a first data source and a second data source to be compared for description, wherein the characteristic vectors comprise a forward direction characteristic vector, a forward north direction characteristic vector, a forward south direction characteristic vector, a northeast direction characteristic vector, a southeast direction characteristic vector, a northwest direction characteristic vector and a southwest direction characteristic vector;
2) Processing the feature distances of feature vectors with the same dimension by adopting an Euler distance calculation method, and processing the feature distances of feature vectors with different dimensions by adopting a sliding comparison method;
3) After obtaining the distance value of the feature vector, inputting the distance value and calibration, firstly applying Bagging training a Bagging classifier, and then training a Bagging regression;
4) Inputting the feature distance of the feature vector of the data source to be compared into a trained Bagging regressor, and outputting to obtain a confidence value, wherein the larger the confidence value is, the more similar the feature vector of the data source to be compared is;
The description method of each feature vector is as follows:
the characteristic vector is divided in the forward direction, the characteristic vector of the data source is scanned line by line, and the number of times of change from 0 to 1 in the horizontal direction is calculated;
calculating the number of times of change from 0 to 1 in the vertical direction by dividing the feature vector in the front-west direction;
the north direction divides the feature vector, scans the data source feature vector row by row from top to bottom, and sets the following points as black pixels after encountering black pixel points for the first time;
the positive south direction sub-feature vector is scanned from bottom to top in a row of the data source feature vector, and after encountering black pixel points for the first time, the upper points are all set as black pixels;
dividing the feature vector in the northeast direction, scanning a row of the data source feature vector from left to right, and calculating the number of black pixels as the feature value of the current row;
the southeast direction divides the feature vector, scans the data source feature vector row by row from top to bottom, calculates the number of black pixels as the feature value of the current row;
the northwest direction feature vector is normalized to the same size, then an overlapped Gaussian weighting method is used for dividing the image into N multiplied by N blocks, each block extends to the middle of a neighborhood block, and the number of pixels in each block is the northwest direction feature vector feature;
The southwest direction divides the feature vector, firstly, the data source feature vector is normalized to the same size through Gaussian filtering, gaussian features are extracted from Gaussian filtering results, each filtering image is divided into N multiplied N overlapped blocks, and in each block, the histogram features are calculated by respectively applying positive and negative real parts of a weighted Gaussian function and serve as the Gaussian features of the image.
In the northwest direction of feature vector feature extraction, an overlapping gaussian weighting method is used to block the image, with each region extending into the middle of its neighborhood.
For a plurality of feature vectors obtained by each data source feature vector, calculating the distance of each pair of feature vectors between two data source feature vectors by adopting sliding comparison or Euler distance to obtain a plurality of distance values, wherein each distance value represents the distance of the feature vector pair of the two data source feature vectors;
the Euler distance calculation method is adopted to process northwest direction partial feature vectors and Gaussian features, and the calculation formula is as follows:
wherein p= { p 1 ,p 2 ,…,p n Sum q= { q 1 ,q 2 ,…,q n -two feature vectors to be compared;
the sliding comparison method is adopted to process the positive east direction sub-feature vector, the positive west direction sub-feature vector, the positive north direction sub-feature vector, the positive south direction sub-feature vector, the southeast direction sub-feature vector and the northeast direction sub-feature vector, and the calculation formula is as follows:
D ij ＝diff(V i ,V j )
Wherein diff (V) i ,V j ) For calculating vector V i And V j The distance between the two vectors is moved in the range of-c to obtain the best match; if n i And n j Respectively are vectors V i And V j Dimension of V i ＝V i，0 V i，1 V i，2 …V i，ni-1 ,V j ＝V j，0 V j，1 V j，2 …V j，nj-1 ；
Function diff (V i ,V j ) Is defined as:
wherein the method comprises the steps ofIs two comparison vectors +.>And->The number of different elements; vector->And->From vectors V respectively i And V j Varied from and having the same dimension +.>
Vector V i To the point ofSum vector V j To->The change function is
And finally, normalizing the distance value by the character size, and eliminating the influence of the character size on the distance.
After obtaining the distance value of the feature vector, firstly, training a Bagging classifier by using Bagging, and inputting the distance value and calibration; wherein 1 represents that the character pairs of the data source feature vectors to be compared are identical characters, and 0 is the opposite; then, a confidence coefficient value ranging from 0 to 1 is obtained according to the voting result of the Bagging classifier to represent the confidence coefficient value between the two characters; this confidence value is used as input to the Bagging regressor, with a larger value meaning that the two characters are more similar.
The training method of the Bagging classifier and the Bagging regressor comprises the following steps:
1) Manually calibrated positive samples: after the template characters are selected, two character pairs with the same template characters are used as calibrated positive sample pairs;
2) Negative samples were automatically selected using a two-pass selection method: wherein the first negative sample is negative samples I and the second negative sample is negative samples II; firstly, setting the ratio between positive and negative samples, and randomly selecting a specified number of characters different from the templates as negative samples I for each template; then training a Bagging regressor by using the positive sample and negative samples I; then, for each template, calculating matching values between the template and all other characters by using the training result of the Bagging regression; and sorting the matched values, and selecting the appointed number of non-positive sample characters with the largest matched value and template characters as negative sample pairs.
According to a second embodiment of the present invention, referring to fig. 4, the present invention claims a robot path planning system based on multi-source information navigation, including a navigation robot, a processor of the navigation robot including a first processor processing a first confidence data source and a second processor processing a second confidence data source, a navigator monitoring device operating on the navigation robot and a first state navigator processing the first confidence data source and a second state navigator processing the second confidence data source, comprising:
When the second state navigator monitors the conflict, the navigator monitoring device obtains the status information of the conflict; the conflicting state information includes a conflicting first conflict setpoint; the first conflicting setpoint of the conflict represents a confidence of the conflict under the second confidence data source;
the navigator monitoring device acquires a second conflict positioning point of the conflict from the conflict corresponding relation, wherein the second conflict positioning point of the conflict represents the confidence of the conflict under the first confidence data source; the conflict corresponding relation comprises the corresponding relation between a first conflict locating point and a second conflict locating point of each type of conflict in the multiple types of conflicts;
the navigator monitoring device recognizes the confidence coefficient of the conflict and processes the conflict according to the second conflict positioning point of the conflict.
Further, the navigation robot further includes a second state decision device, and the navigator monitoring device obtains conflicting state information, including:
the navigator monitoring device collects conflicting state information from a public state information base; the common state information base is updated by the second processor and the first processor; the conflicting state information is copied by the second processor from the second state decision device into the common state information base; the second state decision means is a decision means for storing conflicting state information in compliance with a second confidence data source specification.
Further, the navigation robot further includes an update decision device, and the navigator monitoring device obtains conflicting state information, including:
the navigator monitoring device collects conflicting state information from the updating decision device, and the updating decision device is updated by the second processor and the first processor; the update decision means stores conflicting state information.
Further, the navigation robot further comprises a second state decision device and a first state decision device, the conflict state information further comprises at least one of a command for monitoring the conflict or an address for monitoring the conflict, the conflict corresponding relation further comprises a corresponding relation between the second state decision device and the first state decision device, the first state decision device is a decision device conforming to a first confidence data source specification, and the second state decision device is a decision device conforming to a second confidence data source specification and used for storing the conflict state information;
the navigator monitoring device identifies the confidence coefficient of the conflict according to the second conflict locating point of the conflict, and before the conflict is processed, the method further comprises the following steps:
the navigator monitoring device searches a first state decision device corresponding to the second state decision device according to the conflict corresponding relation;
The navigator monitoring device writes a second conflict locating point of conflict into the first state decision device, and writes at least one of a command for monitoring the conflict and an address for monitoring the conflict into the first state decision device;
correspondingly, the navigator monitoring device identifies the confidence coefficient of the conflict according to the second conflict locating point of the conflict and processes the conflict, and the method comprises the following steps:
the navigator monitoring device reads a second conflict positioning point of the conflict from the first state decision device, and monitors at least one of a conflict instruction and a conflict address;
the navigator monitoring device processes the conflict according to the second conflict locating point of the conflict and at least one of the instruction of monitoring the conflict and the address of monitoring the conflict.
Further, the navigation robot includes a hardware device for processing hardware-assisted virtualization, and the hardware device processes the first confidence data source, and the navigator monitoring device processes the conflict, including:
the navigator monitoring device processes conflicts by processing hardware devices that are hardware-assisted virtualized.
According to a third embodiment of the present invention, referring to fig. 5, the present invention is directed to a method for processing a navigation conflict, the method being applied to a navigation robot, the processor of the navigation robot including a first processor for processing a first confidence data source and a second processor for processing a second confidence data source, a navigator monitoring device for processing the first confidence data source, and a first state navigator for processing the first confidence data source and a second state navigator for processing the second confidence data source being operated on the navigation robot, the method comprising:
When the second state navigator monitors the navigation conflict, the navigator monitoring device obtains state information of the navigation conflict, wherein the state information comprises a first conflict positioning point of the navigation conflict; the first conflict localization point of the navigation conflict represents the confidence of the navigation conflict under the second confidence data source;
the navigator monitoring device acquires a second conflict positioning point which conflicts with navigation from the corresponding relation of the navigation conflict, wherein the second conflict positioning point of the navigation conflict represents the confidence of the navigation conflict under the first confidence data source; the navigation conflict corresponding relation comprises the corresponding relation between a first conflict locating point and a second conflict locating point of each type of navigation conflicts in the multiple types of navigation conflicts;
the navigator monitoring device identifies the confidence coefficient of the navigation conflict and processes the navigation conflict according to the second conflict locating point of the navigation conflict.
Further, the navigation robot includes a second state decision device, and the navigator monitoring device obtains state information of navigation conflict, including:
the navigator monitoring device collects state information of navigation conflicts from a public state information base, the public state information base is updated by a second processor and a first processor, and the state information of the navigation conflicts is copied from a second state decision device to the public state information base by the second processor; the second state decision device is a decision device conforming to the second confidence data source specification and is used for storing state information of navigation conflicts.
Further, the navigation robot further includes an update decision device, and the navigator monitoring device obtains status information of navigation conflicts, including:
the navigator monitoring device collects state information of navigation conflicts from the updating decision device, and the updating decision device is updated by the second processor and the first processor; the update decision device stores status information of navigation conflicts.
Further, the navigation robot comprises a second state decision device and a first state decision device, the corresponding relation of the navigation conflict also comprises a corresponding relation between the second state decision device and the first state decision device, and the first state decision device is a decision device conforming to the first confidence data source specification; the second state decision device is a decision device which accords with the second confidence data source specification and is used for storing state information of navigation conflicts;
the navigator monitoring device identifies the confidence coefficient of the navigation conflict according to the second conflict locating point of the navigation conflict and further comprises:
the navigator monitoring device searches a first state decision device corresponding to the second state decision device according to the corresponding relation of the navigation conflict;
the navigator monitoring device writes a second conflict positioning point of the navigation conflict into the first state decision device;
Correspondingly, the navigator monitoring device identifies the confidence level of the navigation conflict and processes the navigation conflict according to the second conflict positioning point of the navigation conflict, and comprises the following steps:
the navigator monitoring device reads a second conflict positioning point of the navigation conflict from the first state decision device, and identifies the confidence level of the navigation conflict and processes the navigation conflict according to the second conflict positioning point of the navigation conflict.
Further, the navigation robot includes a hardware device for processing hardware-assisted virtualization, and the hardware device processes the first confidence data source, and the navigator monitoring device processes the navigation conflict, including:
the navigator monitoring device processes navigation conflicts through processing hardware devices of hardware-assisted virtualization.
Those skilled in the art will appreciate that various modifications and improvements can be made to the disclosure. For example, the various devices or components described above may be implemented in hardware, or may be implemented in software, firmware, or a combination of some or all of the three.
A flowchart is used in this disclosure to describe the steps of a method according to an embodiment of the present disclosure. It should be understood that the steps that follow or before do not have to be performed in exact order. Rather, the various steps may be processed in reverse order or simultaneously. Also, other operations may be added to these processes.
Those of ordinary skill in the art will appreciate that all or a portion of the steps of the methods described above may be implemented by a computer program to instruct related hardware, and the program may be stored in a computer readable storage medium, such as a read only memory, a magnetic disk, or an optical disk. Alternatively, all or part of the steps of the above embodiments may be implemented using one or more integrated circuits. Accordingly, each module/unit in the above embodiment may be implemented in the form of hardware, or may be implemented in the form of a software functional module. The present disclosure is not limited to any specific form of combination of hardware and software.
Unless defined otherwise, all terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The foregoing is illustrative of the present disclosure and is not to be construed as limiting thereof. Although a few exemplary embodiments of this disclosure have been described, those skilled in the art will readily appreciate that many modifications are possible in the exemplary embodiments without materially departing from the novel teachings and advantages of this disclosure. Accordingly, all such modifications are intended to be included within the scope of this disclosure as defined in the claims. It is to be understood that the foregoing is illustrative of the present disclosure and is not to be construed as limited to the specific embodiments disclosed, and that modifications to the disclosed embodiments, as well as other embodiments, are intended to be included within the scope of the appended claims. The disclosure is defined by the claims and their equivalents.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (2)
1. A robot path planning method based on multi-source information navigation, the method being applied to a navigation robot, the processor of the navigation robot including a first processor that processes a first confidence data source and a second processor that processes a second confidence data source, the navigation robot having a navigator listening device operating thereon that processes the first confidence data source, and a first state navigator that processes the first confidence data source and a second state navigator that processes the second confidence data source, the method comprising:
When the second state navigator monitors the conflict, the navigator monitoring device obtains the status information of the conflict; the conflicting state information comprises the conflicting first conflict locating point; the first conflicting setpoint of the conflict represents a confidence of the conflict under the second confidence data source;
the navigator monitoring device acquires a second conflict positioning point of the conflict from the conflict corresponding relation, wherein the second conflict positioning point of the conflict represents the confidence of the conflict under the first confidence data source; the conflict corresponding relation comprises the corresponding relation between a first conflict locating point and a second conflict locating point of each type of conflict in the multiple types of conflicts;
the navigator monitoring device identifies the confidence coefficient of the conflict and processes the conflict according to the second conflict positioning point of the conflict;
the first confidence coefficient data source is an audio data source and at least comprises audio navigation data received in a navigation process, wherein the audio navigation data comprises audio reminding of a navigation application program and audio data grabbing audio data of news broadcasting;
the second confidence coefficient data source comprises image navigation data in the navigation process, and at least comprises pictures, pictures and monitoring video image data of navigation roads;
The navigation robot further comprises a second state decision device, and the navigator monitoring device obtains the conflicting state information, and the method comprises the following steps:
the navigator monitoring device acquires the conflicting state information from a public state information base; the common status information base is updated by the second processor and the first processor; the conflicting state information is copied from the second state decision device to the public state information base by the second processor; the second state decision device is a decision device which accords with the second confidence data source specification and is used for storing the conflicting state information;
the navigation robot further comprises an updating decision device, and the navigator monitoring device obtains the conflicting state information, and the method comprises the following steps:
the navigator monitoring device collects the conflicting state information from the updating decision device, and the updating decision device is updated by the second processor and the first processor; the updating decision device stores the conflicting state information;
the navigation robot further comprises a second state decision device and a first state decision device, the conflict state information further comprises at least one of a command for monitoring the conflict or an address for monitoring the conflict, the conflict corresponding relation further comprises a corresponding relation between the second state decision device and the first state decision device, the first state decision device is a decision device conforming to the first confidence data source specification, and the second state decision device is a decision device conforming to the second confidence data source specification and used for storing the conflict state information;
The navigator monitoring device identifies the confidence level of the conflict according to the second conflict locating point of the conflict, and before the conflict is processed, the method further comprises:
the navigator monitoring device searches the first state decision device corresponding to the second state decision device according to the conflict corresponding relation;
the navigator monitoring device writes the second conflict locating point of the conflict into the first state decision device, and writes at least one of a command for monitoring the conflict and an address for monitoring the conflict into the first state decision device;
correspondingly, the navigator monitoring device identifies the confidence coefficient of the conflict according to the second conflict positioning point of the conflict, and processes the conflict, and the method comprises the following steps:
the navigator monitoring device reads the second conflict positioning point of the conflict from the first state decision device, and monitors at least one of a conflict instruction and a conflict address;
the navigator monitoring device processes the conflict according to the second conflict positioning point of the conflict and at least one of a command for monitoring the conflict and an address for monitoring the conflict;
The navigation robot comprises a hardware device for processing hardware auxiliary virtualization, the hardware device processes the first confidence data source, and the navigator monitoring device processes the conflict and comprises:
and the navigator monitoring device processes the conflict through the hardware equipment which is used for processing the hardware auxiliary virtualization.
2. A robot path planning system based on multi-source information navigation, comprising a navigation robot, a processor of the navigation robot comprising a first processor that processes a first confidence data source and a second processor that processes a second confidence data source, a navigator listening device on the navigation robot that operates on the navigation robot that processes the first confidence data source, and a first state navigator that processes the first confidence data source and a second state navigator that processes the second confidence data source, comprising:
when the second state navigator monitors the conflict, the navigator monitoring device obtains the status information of the conflict; the conflicting state information comprises the conflicting first conflict locating point; the first conflicting setpoint of the conflict represents a confidence of the conflict under the second confidence data source;
The navigator monitoring device acquires a second conflict positioning point of the conflict from the conflict corresponding relation, wherein the second conflict positioning point of the conflict represents the confidence of the conflict under the first confidence data source; the conflict corresponding relation comprises the corresponding relation between a first conflict locating point and a second conflict locating point of each type of conflict in the multiple types of conflicts;
the navigator monitoring device identifies the confidence coefficient of the conflict and processes the conflict according to the second conflict positioning point of the conflict;
the first confidence coefficient data source is an audio data source and at least comprises audio navigation data received in a navigation process, wherein the audio navigation data comprises audio reminding of a navigation application program and audio data grabbing audio data of news broadcasting;
the second confidence coefficient data source comprises image navigation data in the navigation process, and at least comprises pictures, pictures and monitoring video image data of navigation roads;
the navigation robot further comprises a second state decision device, and the navigator monitoring device obtains the conflicting state information, and the method comprises the following steps:
the navigator monitoring device acquires the conflicting state information from a public state information base; the common status information base is updated by the second processor and the first processor; the conflicting state information is copied from the second state decision device to the public state information base by the second processor; the second state decision device is a decision device which accords with the second confidence data source specification and is used for storing the conflicting state information;
The navigation robot further comprises an updating decision device, and the navigator monitoring device obtains the conflicting state information, and the method comprises the following steps:
the navigator monitoring device collects the conflicting state information from the updating decision device, and the updating decision device is updated by the second processor and the first processor; the updating decision device stores the conflicting state information;
the navigation robot further comprises a second state decision device and a first state decision device, the conflict state information further comprises at least one of a command for monitoring the conflict or an address for monitoring the conflict, the conflict corresponding relation further comprises a corresponding relation between the second state decision device and the first state decision device, the first state decision device is a decision device conforming to the first confidence data source specification, and the second state decision device is a decision device conforming to the second confidence data source specification and used for storing the conflict state information;
the navigator monitoring device identifies the confidence coefficient of the conflict according to the second conflict locating point of the conflict, and before processing the conflict, the navigator monitoring device further comprises:
The navigator monitoring device searches the first state decision device corresponding to the second state decision device according to the conflict corresponding relation;
the navigator monitoring device writes the second conflict locating point of the conflict into the first state decision device, and writes at least one of a command for monitoring the conflict and an address for monitoring the conflict into the first state decision device;
correspondingly, the navigator monitoring device identifies the confidence coefficient of the conflict according to the second conflict positioning point of the conflict, and processes the conflict, and the method comprises the following steps:
the navigator monitoring device reads the second conflict positioning point of the conflict from the first state decision device, and monitors at least one of a conflict instruction and a conflict address;
the navigator monitoring device processes the conflict according to the second conflict positioning point of the conflict and at least one of a command for monitoring the conflict and an address for monitoring the conflict;
the navigation robot comprises a hardware device for processing hardware auxiliary virtualization, the hardware device processes the first confidence data source, and the navigator monitoring device processes the conflict and comprises:
And the navigator monitoring device processes the conflict through the hardware equipment which is used for processing the hardware auxiliary virtualization.
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