WO2019062648A1 - 一种导航路径规划方法及设备 - Google Patents

一种导航路径规划方法及设备 Download PDF

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Publication number
WO2019062648A1
WO2019062648A1 PCT/CN2018/106799 CN2018106799W WO2019062648A1 WO 2019062648 A1 WO2019062648 A1 WO 2019062648A1 CN 2018106799 W CN2018106799 W CN 2018106799W WO 2019062648 A1 WO2019062648 A1 WO 2019062648A1
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WIPO (PCT)
Prior art keywords
navigation
information
mobile device
global
virtual wall
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PCT/CN2018/106799
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English (en)
French (fr)
Inventor
白静
李宇翔
黄珏珅
陈士凯
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上海思岚科技有限公司
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Publication of WO2019062648A1 publication Critical patent/WO2019062648A1/zh

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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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"

Definitions

  • the present application relates to the field of computer technologies, and in particular, to a navigation path planning method and device.
  • the virtual wall implementation technology mainly includes the following two situations:
  • An active virtual wall that transmits an infrared signal or an ultrasonic signal through an active transmitting device, for example, through a transmitting device, and the mobile robot receives the signal through a configured infrared or ultrasonic receiver to avoid the function of the signal region.
  • the device since an active transmitting device needs to be additionally configured, the device needs to be externally powered or installed with battery power, which increases the cost and is inconvenient to use (wherein the external power supply requires an extra socket, and may Due to problems such as abnormal behavior caused by electric wire mopping, and the use of batteries, it needs to be replaced periodically, which consumes manpower and material costs.) Because of the diffusion problem of infrared light, the farther the distance is, the larger the angle error is, and the reflection is easy to occur.
  • the magnetic boundary virtual wall through the magnetic boundary line, that is, the magnetic strip is attached to the boundary of the restricted area, and when the mobile device moves to the boundary of the restricted area, the magnetic strip is detected by the relevant sensor carried, and the function of avoiding the area is realized.
  • the magnetic boundary virtual wall although the operation is relatively cumbersome, although the magnetic strip can be cut, it needs to be manually pasted, and the two ends of the boundary of the restricted area contacting the ground are easily arched, and an additional magnetic strip is required to increase the cost; and because of changing the indoor environment, The effect is beautiful, there are problems that hinder pedestrians from walking; and because the same strict restrictions are strictly prohibited, the operation scene cannot be well defined.
  • An object of the present invention is to provide a navigation path planning method and device to solve the problem of large error and high cost caused by planning a navigation path for a mobile device in the prior art.
  • a navigation path planning method includes:
  • the acquiring global geographic environment information and the virtual wall information preset by the user include:
  • the preset virtual wall information is stored.
  • the acquiring global geographic environment information and the virtual wall information preset by the user include:
  • the constructing the global environment map based on the global geographic environment information includes:
  • the preset SLAM algorithm is used to construct a map based on the global geographic environment information, and a global environment map is obtained.
  • the planning and screening for the navigation task on the global environment map based on the destination location, the preset virtual wall information, and the obtained initial location of the mobile device The best navigation path, including:
  • an optimal navigation path is planned and filtered for the navigation task on the global environment map.
  • the optimal navigation path is planned and screened for the navigation task on the global environment map based on the destination location, the preset virtual wall information, and the initial location.
  • the filtering the best navigation path for the navigation task from the at least one directed navigation path includes:
  • the filtering the best navigation path for the navigation task from the at least one directed navigation path includes:
  • the planning and screening for the navigation task on the global environment map based on the destination location, the preset virtual wall information, and the obtained initial location of the mobile device After the best navigation path it also includes:
  • the collision-free movement information includes one or more of a moving speed, a moving direction, and a moving smoothness.
  • the acquiring the navigation task set by the user on the mobile device further includes:
  • the navigation task is managed.
  • a computing-based device wherein the device comprises:
  • a memory arranged to store computer executable instructions that, when executed, cause the processor to:
  • a non-transitory computer readable storage medium storing executable instructions, when the executable instructions are executed by an electronic device, causing the electronic device to:
  • the present application obtains global geographic environment information and user-preset virtual wall information; constructs a global environment map based on the global geographic environment information; and acquires a navigation task set by the user on the mobile device, where The navigation task includes a destination location; based on the destination location, the preset virtual wall information, and the obtained initial location of the mobile device, planning and filtering the navigation task on the global environment map
  • the optimal navigation path enables the path planning of the navigation task to be produced without additional cost by using the preset virtual wall information, which makes the use more convenient, flexible and fast, thereby saving manpower and material resources, etc.
  • FIG. 1 shows a schematic flowchart of a navigation path planning method according to an aspect of the present application
  • FIG. 2 is a block diagram showing a structure of a preset ruled virtual wall system in which a navigation path planning method is applied to a mobile device according to an aspect of the present application.
  • the terminal, the device of the service network, and the trusted party each include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • the memory may include non-persistent memory, random access memory (RAM), and/or non-volatile memory in a computer readable medium, such as read only memory (ROM) or flash memory.
  • RAM random access memory
  • ROM read only memory
  • Memory is an example of a computer readable medium.
  • Computer readable media includes both permanent and non-persistent, removable and non-removable media.
  • Information storage can be implemented by any method or technology.
  • the information can be computer readable instructions, data structures, modules of programs, or other data.
  • Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory. (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disk read only memory (CD-ROM), digital versatile disk (DVD) or other optical storage,
  • computer readable media does not include non-transitory computer readable media, such as modulated data signals and carrier waves.
  • FIG. 1 is a schematic flowchart of a method for planning a navigation path according to an aspect of the present application, which is applied to a navigation process based on a preset virtual wall for navigation and obstacle avoidance of a mobile device during a mobile process, and the method includes Step S11, step S12, step S13 and step S14, the specific steps include:
  • the global geographic environment information may include actual geographical location information (such as actual geographical positioning location, latitude and longitude information, etc.) and actual conditions in the actual scenario.
  • Environmental information relative building of the actual environment, obstacles, actual road conditions, etc.
  • the preset virtual wall information may include a preset virtual wall's own positioning position and relative position (eg, relative to obstacles in the global environment) The relative position of the reference object, etc., and the corresponding virtual wall passability rule, etc., wherein the virtual wall passability rule includes a prohibition of passing rules and a one-way pass rule.
  • the global geographic location in the actual environment can be obtained by the laser sensor, the ultrasonic sensor, the infrared sensor, the camera device, the depth sensor, and the like in the mobile device;
  • the user in the step S11 can be graphically Editing environment (such as editing interface of virtual wall information, etc.), setting, adding or deleting preset virtual wall information with pass-through rules of any shape, and sending the preset virtual wall information to the mobile device
  • the mobile device obtains the virtual wall information preset by the user by performing the step S11.
  • the global environment map is constructed based on the global geographic environment information; for example, the global environment map may be constructed according to the global geographic environment information in the obtained actual scene, so as to subsequently use the global environment map as the navigation on the mobile device.
  • the task is to plan the navigation path.
  • the step S12 uses a preset Simultaneous Localization And Mapping (SLAM) algorithm to perform map construction based on the global geographic environment information to obtain a global environment map, where the SLAM algorithm is used.
  • SLAM Simultaneous Localization And Mapping
  • the real-time step S12 constructs a global environment map based on the global geographic environment information through a preset SLAM algorithm, so as to subsequently plan a navigation path for the navigation task of the mobile device based on the global environment map and realize real-time positioning of the mobile device.
  • Step S13 Acquire a navigation task set by the user on the mobile device, where the navigation task includes a destination location; for example, if the user needs the mobile device to reach the destination location A, a navigation task task1 is set on the mobile device, The navigation task task1 includes a destination location A to be moved to, and the navigation task is delivered to the mobile device for acquisition.
  • the step S13 after acquiring the navigation task set by the user on the mobile device, further includes: managing the navigation task; for example, a task sequence of the navigation task, task distribution, task execution logic, and The management of the path planning service or the like is invoked to implement management of the navigation task.
  • Step S14 planning and screening the navigation task for the navigation task on the global environment map based on the destination location, the preset virtual wall information, and the obtained initial location of the mobile device.
  • the path enables the path planning of the navigation task to be performed by using the preset virtual wall information without additional cost, so that the use is more convenient, flexible, and fast, thereby saving the cost of manpower and material resources, and at the same time
  • the virtual reality obstacles are protected by the preset virtual wall information, which avoids changing the real environment, so that the process of planning and screening the optimal navigation path for the navigation task based on the preset virtual wall information on the global environment map is more convenient and intelligent.
  • the optimal navigation path for planning and screening is more accurate.
  • the step S11 is to obtain the global geographic environment information and the virtual wall information preset by the user, including: storing the preset virtual wall information. After the virtual wall information preset by the user is obtained, the preset virtual wall information needs to be stored, so that the navigation task on the mobile device is planned to be collision-free on the global environment map based on the preset virtual wall information. Navigation path.
  • the obtaining the global geographic environment information and the virtual wall information preset by the user in the step S11 includes: updating the preset virtual wall information.
  • the preset virtual wall information acquired and stored in the step S11 needs to be updated in real time or periodically, in real time or periodically, with the different requirements of the navigation task and the change of the geographical environment in the actual scenario.
  • the virtual wall information is updated, deleted, and updated by the passability rules of the virtual wall to update the preset virtual wall information, thereby satisfying different user requirements or navigation tasks in different geographical environments. demand.
  • the step S14 is to plan the navigation task on the global environment map based on the destination location, the preset virtual wall information, and the obtained initial location of the mobile device. And filter out the best navigation path, including:
  • initial geographic environment information of an environment in which the mobile device is located for example, acquiring initial geographic environment information of an environment in which the mobile device is located by using a laser sensor, an ultrasonic sensor, an infrared sensor, a camera, a depth sensor, or the like in the mobile device
  • the initial geographic environment information is matched in the global environment map by using a related map matching algorithm, a road matching algorithm, etc., to obtain an initial position of the mobile device in the global environment map.
  • the initial location is the location of the mobile device that is currently located in the global environment map, so as to implement the positioning of the mobile device, and then can learn in real time that the mobile device is in the actual global environment in which it is located.
  • Specific positioning location an initial location for the purpose of initial positioning of the mobile device; then, based on the destination location, the preset virtual wall information, and the initial location, in the global environment map Plan and screen the best navigation path for the navigation task.
  • the navigation task is planned and filtered on the global environment map.
  • the best navigation path including:
  • the wall, the collision-free navigation path selected for the mobile device is R3 or R6, and the heuristic search algorithm is used to combine the preset virtual wall information on the global environment map to plan the initial position from the mobile device to the navigation.
  • At least one directed navigation task between the destination locations of the tasks, so as to subsequently filter out the optimal navigation path based on the at least one navigation task; finally, screening the navigation task from the at least one directed navigation path
  • the best navigation path in order to achieve the purpose of planning and screening the navigation task on the mobile device to filter out the global best collision-free navigation path.
  • the step of selecting the best navigation path for the navigation task from the at least one guided route in the step S14 includes:
  • an optimal navigation path for the navigation task from the at least one directed navigation path.
  • the value of the directed navigation path 4, the directed navigation path 5 and the directed navigation path 6 are generation value 1, generation value 2, generation value 3, generation value 4, generation value 5 and generation value 6, respectively, from small to The large order sorts the above-mentioned generation values, and obtains the directional navigation path corresponding to the generation value 4, the generation value 2, the generation value 1, the generation value 6, the generation value 3, and the generation value 5, and the generation value 4 with the lowest generation value. 4 determined to be the best navigation path planned and filtered for the navigation task, reaching Navigation tasks on the dynamic screening equipment for the purpose of planning the best path to a global navigation collision-free.
  • the step of selecting the best navigation path for the navigation task from the at least one directed navigation path in the step S14 includes:
  • the user requirement information may include, but is not limited to, a navigation time, a navigation path mileage, a road condition of the navigation path, and a navigation process convenience. For example, if the user requirement information needs to consider that the navigation time is the shortest, the directional navigation path with the shortest navigation time is filtered out from the six directional navigation paths planned in the above step S14, and the navigation corresponding to the directional navigation path 2 is used.
  • the directed navigation path 2 is determined as the optimal navigation path planned and filtered for the navigation task; for example, if the user demand information needs to consider the path of the navigation path.
  • the situation is that the smoothest and the navigation convenience is the most convenient and fast, and the directional navigation path with the smoothest road condition and the most convenient navigation is selected from the six directed navigation paths planned in the above step S14, if there is The navigation time corresponding to the navigation path 1 is the smoothest and the most convenient and quick to navigate the road in the six directed navigation paths, and the directed navigation path 1 is determined as the optimal navigation path planned and filtered for the navigation task.
  • the directional navigation path that best matches the user demand information is filtered out from the six directional navigation paths planned in the above step S14, and the navigation time corresponding to the directional navigation path 4 is 6 directional navigation.
  • the directional navigation path that best matches the user's requirement information in the path determines the optimal navigation path that is planned and filtered for the navigation task by the navigation path 4, so as to plan and filter the global navigation task on the mobile device. The purpose of the best navigation path without collision.
  • the step S14 is to plan the navigation task on the global environment map based on the destination location, the preset virtual wall information, and the obtained initial location of the mobile device. After filtering out the best navigation path, it also includes:
  • the real-time speed information may include, but is not limited to, a real-time speed v, a real-time acceleration a, a real-time angular velocity w, and the like, wherein the collision-free movement information may include a moving speed, a moving direction, and environmental parameter information when the mobile device moves in real time ( For example, one or more of the road conditions, wind speed, etc. and the movement smoothness information.
  • a sensor such as a laser sensor, an ultrasonic sensor, an infrared sensor, a positioning sensor (for example, a GPS positioning sensor, etc.), a camera device, and a depth sensor in a mobile device can be used to obtain an actual environment.
  • a sensor such as a laser sensor, an ultrasonic sensor, an infrared sensor, a positioning sensor (for example, a GPS positioning sensor, etc.), a camera device, and a depth sensor in a mobile device can be used to obtain an actual environment.
  • Real-time geographic environment information and real-time speed information of mobile devices, real-time geographic environment information (including real-time location) acquired by all sensors is combined and combined with real-time speed information of mobile devices, and the dynamics of local obstacle avoidance of mobile devices are utilized.
  • a window algorithm performing collision-free movement information when moving according to the optimal navigation path that is planned and filtered in the step S14, so that the mobile device can complete the user-preset navigation task without collision based on the collision-free movement information;
  • Generating a collision-free movement control instruction based on the collision-free movement information and a movement model of the mobile device eg, a movement model corresponding to different mobile devices
  • transmitting the collision-free movement control instruction to the mobile device To make the mobile device move according to the
  • the control command controls the mobile device to perform smooth and collision-free movement in real-time speed, smoothness, and forward direction in the collision-free movement information, thereby completing the navigation task set by the user on the mobile device.
  • a virtual wall based on a rule preset by the user in the embodiment of the present application is used for planning a navigation path of a navigation task in a mobile device, and in the process of planning the navigation path, a navigation plan for a navigation task of the mobile device is planned.
  • the path can be used for obstacle avoidance, and the optimal navigation path for the navigation task of the mobile device is planned on the global environment map based on the preset virtual wall information, and no additional auxiliary equipment is needed to realize the mobile path and the range of activities of the mobile device.
  • the function of the virtual wall passability rule in the preset virtual wall information can be set according to the actual application scenario, and the virtual wall passability rule can be set to prohibit the pass rule and the one-way pass rule, thereby realizing flexibility and convenience.
  • the virtual wall system is set up without cost, so as to better meet the navigation requirements and user requirements of the mobile device in the actual application scenario.
  • FIG. 2 is a schematic diagram of a navigation path planning method applied to a preset ruled virtual wall system of a mobile device.
  • the system is composed of two parts, an interaction part and an algorithm processing part, and the interaction part includes the first part.
  • the algorithm processing part comprises a second communication module, an acquisition module, a task management scheduling module, a map construction storage module, an autonomous positioning module, a global path planning module in the decision control module, a partial path planning module,
  • the motion control module and the autonomous mobile module wherein the specific execution process of each module in the system is as follows:
  • the first communication module is configured to instruct the communication module in the client to obtain information such as the virtual wall information preset by the user, the user demand information, and the navigation task that the user needs to navigate the mobile device.
  • User interaction module used to obtain a user's graphical environment, such as an editing interface, to set, add, or delete ruled virtual wall information of any shape, and to use the ruled virtual wall information and the user to the mobile device.
  • the navigation task and user requirement information for navigation are transmitted to the algorithm processing portion through the first communication module.
  • a second communication module configured to connect with the first communication module of the client, and obtain the ruled virtual wall information, the navigation task of the user to the mobile device, and the user demand information for the navigation, to be transmitted to the second communication module, where
  • the first communication module and the second communication module serve as a bridge for data transmission.
  • the obtaining module is configured to acquire the ruled virtual wall information preset by the user sent by the first communication module of the client, and related map information in the actual application scenario (eg, global geographic environment information, real-time geographic environment information, real-time speed information, etc.) And the location information of the mobile device, such as the initial location, and the data is stored in the preset virtual wall information, so as to update the preset virtual wall information based on the actual application scenario.
  • map information in the actual application scenario eg, global geographic environment information, real-time geographic environment information, real-time speed information, etc.
  • the task scheduling management module is configured to manage the navigation task delivered by the user, including management of the task sequence of the navigation task, task distribution, task execution logic, and call path planning service, to implement management of the navigation task. .
  • Map construction storage module mainly used to construct a global environment map based on global geographic environment information by using a preset SLAM algorithm, so as to subsequently plan a navigation path for the navigation task of the mobile device based on the global environment map and realize real-time positioning of the mobile device.
  • the autonomous positioning module is configured to acquire initial geographic environment information of the environment in which the mobile device is located by using a laser sensor, an ultrasonic sensor, an infrared sensor, a camera device, a depth sensor, and the like in the mobile device; and then adopt a related map matching algorithm, a road matching algorithm or the like, performing location matching on the initial geographic environment information in the global environment map to obtain an initial location of the mobile device in the global environment map; wherein the initial location is the mobile
  • the device is currently positioned in the global environment map to achieve the positioning of the mobile device, and the real-time location of the mobile device in the actual global environment in which the mobile device is located: the initial location,
  • the mobile device performs the purpose of initial positioning.
  • a global path planning module configured to start from the initial position, using a preset heuristic search algorithm, combining the preset virtual wall information on the global environment map, and planning for the navigation task from the At least one directed navigation path between the initial location and the destination location, and filtering out a global collision-free optimal navigation path from the initial location to the destination location from the at least one navigation task to direct the mobile device Complete the navigation task delivered by the user according to the optimal navigation path. Further, if the global path planning module does not plan a collision-free navigation path between the initial location of the mobile device and the destination location of the navigation task, the current navigation task ends.
  • Local path planning module used to acquire real-time geographic environment information and movement in a real environment through sensors such as laser sensors, ultrasonic sensors, infrared sensors, positioning sensors (such as GPS positioning sensors, etc.), camera devices, and depth sensors in mobile devices.
  • sensors such as laser sensors, ultrasonic sensors, infrared sensors, positioning sensors (such as GPS positioning sensors, etc.), camera devices, and depth sensors in mobile devices.
  • Set real-time speed information combine all real-time geographic environment information acquired by the sensor (including real-time positioning position) and combine real-time speed information of the mobile device, and utilize the mobile device's local obstacle avoidance dynamic window algorithm, according to the In step S14, the collision-free movement information when the optimal navigation path is planned to be moved is planned, so that the mobile device can complete the navigation task preset by the user without collision based on the collision-free movement information.
  • a motion control module configured to generate a collision-free movement control command based on the collision-free movement information obtained in the partial path planning module and the movement model of the mobile device (for example, different movement models corresponding to different mobile devices), and Transmitting, by the mobile device, the collision-free movement control instruction, so that the mobile device controls, according to the movement control instruction, the mobile device to perform smooth and collision-free movement in real-time speed, smoothness, and forward direction in the collision-free movement information, and further Complete the navigation task set by the user on the mobile device.
  • the autonomous mobile module receives the collision-free mobile control command sent by the motion control module, controls the mobile device to move to the destination position in the navigation task without collision, and realizes navigation and movement of the mobile device.
  • the additional auxiliary hardware device can be produced without additional cost, and the use is more convenient, flexible, and fast, and the environment is not changed, and the environment is added.
  • the deletion is more convenient and more intelligent.
  • it also overcomes the abnormal behavior of the movement caused by the interference, which is more accurate and reliable.
  • the user sets, adds or deletes regular virtual wall information of any shape in a specific area in the interaction interface, and sends the preset ruled virtual wall information to the algorithm processing part according to the setting.
  • the virtual wall transit rules and the global geographic environment information are used to construct a global environment map for path planning, and the heuristic search algorithm is used to search for the best navigation path, so that the mobile device can provide collision-free mobile information for the intelligent movement of the navigation task, thereby Complete the navigation task without collision.
  • a computing-based device wherein the device comprises:
  • a memory arranged to store computer executable instructions that, when executed, cause the processor to:
  • a non-transitory computer readable storage medium storing executable instructions, when the executable instructions are executed by an electronic device, causing the electronic device to:
  • the present application obtains global geographic environment information and user-preset virtual wall information; constructs a global environment map based on the global geographic environment information; and acquires a navigation task set by the user on the mobile device, where the navigation The task includes a destination location; based on the destination location, the preset virtual wall information, and the obtained initial location of the mobile device, planning and screening the navigation task for the best on the global environment map
  • the navigation path enables the path planning of the navigation task to be performed by using the preset virtual wall information without additional cost, so that the use is more convenient, flexible, and fast, thereby saving the cost of manpower and material resources.
  • the virtual reality obstacles avoid the change of the real environment, so that the process of planning and screening the optimal navigation path for the navigation task based on the preset virtual wall information on the global environment map is more convenient and Intelligent, making the best navigation path for planning and screening more accurate.
  • the present application can be implemented in software and/or a combination of software and hardware, for example, using an application specific integrated circuit (ASIC), a general purpose computer, or any other similar hardware device.
  • the software program of the present application can be executed by a processor to implement the steps or functions described above.
  • the software programs (including related data structures) of the present application can be stored in a computer readable recording medium such as a RAM memory, a magnetic or optical drive or a floppy disk and the like.
  • some of the steps or functions of the present application may be implemented in hardware, for example, as a circuit that cooperates with a processor to perform various steps or functions.
  • a portion of the present application can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide a method and/or technical solution in accordance with the present application.
  • the program instructions for invoking the method of the present application may be stored in a fixed or removable recording medium, and/or transmitted by a data stream in a broadcast or other signal bearing medium, and/or stored in a The working memory of the computer device in which the program instructions are run.
  • an embodiment in accordance with the present application includes a device including a memory for storing computer program instructions and a processor for executing program instructions, wherein when the computer program instructions are executed by the processor, triggering
  • the apparatus operates based on the aforementioned methods and/or technical solutions in accordance with various embodiments of the present application.

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Abstract

本申请的目的是提供一种导航路径规划方法及设备，本申请通过获取全局地理环境信息和用户预设的虚拟墙信息；基于全局地理环境信息构建全局环境地图；获取用户在移动设备上设置的导航任务，该导航任务包括目的地位置；基于目的地位置、预设的虚拟墙信息及获取的移动设备的初始位置，在全局环境地图上为导航任务规划并筛选出最佳导航路径，使得通过预设的虚拟墙信息能够在不需要额外的成本生产额外辅助的硬件设备来为导航任务进行无碰撞的路径规划，使得使用更加的方便、灵活、快捷，从而节省了人力物力等成本，使得导航更加方便和智能化且规划筛选出的最佳导航路径更精确。

Description

一种导航路径规划方法及设备 技术领域
本申请涉及计算机技术领域，尤其涉及一种导航路径规划方法及设备。
背景技术
现有技术中，虚拟墙实现技术主要包括如下两种情况：
一、有源虚拟墙，通过有源发射器件，例如通过一发射装置发射红外信号或超声信号，移动机器人通过配置的红外或超声接收器接收该信号，实现避开有该信号区域作用。在该有源虚拟墙中，由于需要额外配置有源发射装置，该装置在使用时需要外接电源或者安装电池供电，增加成本，并且使用很不方便(其中，外接电源需要额外插座，并且可能会因电线拖地造成行为异常等问题，且使用电池的话需要定期进行更换，耗费人力物力成本)；又由于红外线光会有扩散问题，距离越远，角度误差越大，而且易发生反射，误触发避开行为，影响移动机器人的正常移动；又由于无法自定义其通过性，其严格定义虚拟墙通过性为禁止通过，无法满足由于道路较窄等一些原因，该道路可以允许单方向通行以缓解多机协作调度问题。
二、磁界线虚拟墙，通过磁界线，即将磁条贴在限制区域边界上，移动设备运动到该限制区域的边界上时，通过携带的相关传感器，检测到磁条，实现避开该区域作用。在磁界线虚拟墙中，由于操作比较繁琐，虽说可剪裁磁条，但需要人工粘贴，接触地面的限制区域边界的两头容易拱起，需要额外购买磁条，增加成本；又由于改变室内环境，影响美观，存在阻碍行人行走等问题；又由于同样严格限制严禁通行，不能很好的定义运行场景。
发明内容
本申请的一个目的是提供一种导航路径规划方法及设备，以解决现有技 术中为移动设备规划导航路径的过程中导致的误差大、成本高的问题。
根据本申请的一个方面，提供了一种导航路径规划方法，其中，所述方法包括：
获取全局地理环境信息和用户预设的虚拟墙信息；
基于所述全局地理环境信息构建全局环境地图；
获取用户在移动设备上设置的导航任务，其中，所述导航任务包括目的地位置；
基于所述目的地位置、所述预设的虚拟墙信息及获取的所述移动设备的初始位置，在所述全局环境地图上为所述导航任务规划并筛选出最佳导航路径。
进一步地，上述方法中，所述获取全局地理环境信息和用户预设的虚拟墙信息，包括：
对所述预设的虚拟墙信息进行存储。
进一步地，上述方法中，所述获取全局地理环境信息和用户预设的虚拟墙信息，包括：
对所述预设的虚拟墙信息进行更新。
进一步地，上述方法中，所述基于所述全局地理环境信息构建全局环境地图，包括：
采用预设的SLAM算法，基于所述全局地理环境信息进行地图构建，得到全局环境地图。
进一步地，上述方法中，所述基于所述目的地位置、所述预设的虚拟墙信息及获取的所述移动设备的初始位置，在所述全局环境地图上为所述导航任务规划并筛选出最佳导航路径，包括：
获取所述移动设备所处环境的初始地理环境信息；
将所述初始地理环境信息在所述全局环境地图中进行位置匹配，得到所述移动设备在所述全局环境地图中所处的初始位置；
基于所述目的地位置、所述预设的虚拟墙信息及所述初始位置，在所述全局环境地图上为所述导航任务规划并筛选出最佳导航路径。
进一步地，上述方法中，所述基于所述目的地位置、所述预设的虚拟墙信息及所述初始位置，在所述全局环境地图上为所述导航任务规划并筛选出最佳导航路径，包括：
从所述初始位置开始，采用预设的启发式搜索算法，在所述全局环境地图上结合所述预设的虚拟墙信息，为所述导航任务规划出从所述初始位置到所述目的地位置之间的至少一条有向导航路径；
从所述至少一条有向导航路径中为所述导航任务筛选出最佳导航路径。
进一步地，上述方法中，所述从所述至少一条有向导航路径中为所述导航任务筛选出最佳导航路径，包括：
基于预设的估价函数，从所述至少一条有向导航路径中为所述导航任务筛选出最佳导航路径。
进一步地，上述方法中，所述从所述至少一条有向导航路径中为所述导航任务筛选出最佳导航路径，包括：
根据获取的所述用户对应的用户需求信息，从所述至少一条有向导航路径中为所述导航任务筛选出最佳导航路径。
进一步地，上述方法中，所述基于所述目的地位置、所述预设的虚拟墙信息及获取的所述移动设备的初始位置，在所述全局环境地图上为所述导航任务规划并筛选出最佳导航路径之后，还包括：
获取所述移动设备的实时地理环境信息和实时速度信息，并基于所述实时地理环境信息和实时速度信息，确定所述移动设备按照所述最佳导航路径进行移动时的无碰撞移动信息；
基于所述无碰撞移动信息和所述移动设备的移动模型，生成无碰撞移动控制指令，并向所述移动设备发送所述无碰撞移动控制指令。
进一步地，上述方法中，所述无碰撞移动信息包括移动速度、移动方向 及移动平稳度中的一项或多项。
进一步地，上述方法中，所述获取用户在移动设备上设置的导航任务还包括：
对所述导航任务进行管理。
根据本申请的另一方面，还提供了一种基于计算的设备，其中，该设备包括：
处理器；以及
被安排成存储计算机可执行指令的存储器，所述可执行指令在被执行时使所述处理器：
获取全局地理环境信息和用户预设的虚拟墙信息；
基于所述全局地理环境信息构建全局环境地图；
获取用户在移动设备上设置的导航任务，其中，所述导航任务包括目的地位置；
基于所述目的地位置、所述预设的虚拟墙信息及获取的所述移动设备的初始位置，在所述全局环境地图上为所述导航任务规划并筛选出最佳导航路径。
根据本申请的另一方面，还提供了一种存储可执行指令的非暂态计算机可读存储介质，在所述可执行指令由电子设备执行时，使得所述电子设备：
获取全局地理环境信息和用户预设的虚拟墙信息；
基于所述全局地理环境信息构建全局环境地图；
获取用户在移动设备上设置的导航任务，其中，所述导航任务包括目的地位置；
基于所述目的地位置、所述预设的虚拟墙信息及获取的所述移动设备的初始位置，在所述全局环境地图上为所述导航任务规划并筛选出最佳导航路径。
与现有技术相比，本申请通过获取全局地理环境信息和用户预设的虚拟 墙信息；基于所述全局地理环境信息构建全局环境地图；获取用户在移动设备上设置的导航任务，其中，所述导航任务包括目的地位置；基于所述目的地位置、所述预设的虚拟墙信息及获取的所述移动设备的初始位置，在所述全局环境地图上为所述导航任务规划并筛选出最佳导航路径，使得通过预设的虚拟墙信息能够在不需要额外的成本生产额外辅助的硬件设备来为导航任务进行路径规划，使得使用更加的方便、灵活、快捷，从而节省了人力物力等成本，同时通过预设的虚拟墙信息来虚拟现实的障碍物，避免了改变现实环境，使得基于预设的虚拟墙信息在全局环境地图上为导航任务规划并筛选出最佳导航路径的过程更加方便和智能化，使得规划筛选出的最佳导航路径更精确。
附图说明
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述，本申请的其它特征、目的和优点将会变得更明显：
图1示出根据本申请的一个方面，提供了一种导航路径规划方法的流程示意图；
图2示出根据本申请的一个方面的将导航路径规划方法应用于移动设备的预设的规则式虚拟墙系统的结构示意图。
附图中相同或相似的附图标记代表相同或相似的部件。
具体实施方式
下面结合附图对本申请作进一步详细描述。
在本申请一个典型的配置中，终端、服务网络的设备和可信方均包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。
内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash  RAM)。内存是计算机可读介质的示例。
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括非暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。
图1示出根据本申请的一个方面，提供了一种导航路径规划方法的流程示意图，应用于基于预设的虚拟墙为移动设备在移动过程中的导航避障的导航过程中，该方法包括步骤S11、步骤S12、步骤S13和步骤S14，具体步骤包括：
所述步骤S11，获取全局地理环境信息和用户预设的虚拟墙信息；其中，所述全局地理环境信息可以包括实际场景中的实际地理位置信息(例如实际地理定位位置、经纬度信息等)和实际环境信息(实际环境的相对建筑、障碍物及实际路况等)等，所述预设的虚拟墙信息可以包括预设的虚拟墙的自身定位位置、相对位置(例如相对于全局环境中的障碍物等参照物的相对位置等)及对应的虚拟墙通过性规则等，其中，所述虚拟墙通过性规则包括禁止通过规则和单向性通过规则。
例如，在所述步骤S11中可以通过移动设备中的激光传感器、超声传感器、红外传感器、摄像装置及深度传感器等来获取实际环境中的全局地理位置；所述步骤S11中的用户可以通过图形化的编辑环境(例如虚拟墙信息的 编辑界面等)，设定、添加或者删除任意形状的带有通过性规则的预设的虚拟墙信息，并将该预设的虚拟墙信息发送至该移动设备处，以便移动设备通过执行所述步骤S11获取用户预设的虚拟墙信息。
所述步骤S12，基于所述全局地理环境信息构建全局环境地图；例如，根据获取的实际场景中的全局地理环境信息可以构建出全局环境地图，以便后续基于该全局环境地图为移动设备上的导航任务进行导航路径的规划。进一步地，所述步骤S12采用预设的同步定位于地图构建(Simultaneous Localization And Mapping，SLAM)算法，基于所述全局地理环境信息进行地图构建，得到全局环境地图，其中，所述SLAM算法用于指示使移动设备从未知环境的未知地点出发，在运动过程中通过重复观测的地理环境信息(例如墙角、柱子等)定位自身位置和姿态，在根据自身位置增量式的构建地图，从而达到同时定位和地图构建的目的。实时步骤S12通过预设的SLAM算法基于全局地理环境信息构建地图得到全局环境地图，以便后续基于该全局环境地图为移动设备的导航任务规划导航路径并实现对移动设备的实时定位。
所述步骤S13，获取用户在移动设备上设置的导航任务，其中，所述导航任务包括目的地位置；例如，用户需要移动设备到达目的地位置A，则在移动设备上设置一导航任务task1，其中，该导航任务task1中包括需要移动至的目的地位置A，并将导航任务下发至移动设备以获取。进一步地，所述步骤S13在获取用户在移动设备上设置的导航任务之后，还包括：对所述导航任务进行管理；例如，对所述导航任务的任务序列、任务的分发、任务执行逻辑及调用路径规划服务等的管理，以实现对所述导航任务的管理。
所述步骤S14，基于所述目的地位置、所述预设的虚拟墙信息及获取的所述移动设备的初始位置，在所述全局环境地图上为所述导航任务规划并筛选出最佳导航路径，使得通过预设的虚拟墙信息能够在不需要额外的成本生产额外辅助的硬件设备来为导航任务进行路径规划，使得使用更加的方便、灵活、快捷，从而节省了人力物力等成本，同时通过预设的虚拟墙信息来虚 拟现实的障碍物，避免了改变现实环境，使得基于预设的虚拟墙信息在全局环境地图上为导航任务规划并筛选出最佳导航路径的过程更加方便和智能化，使得规划筛选出的最佳导航路径更精确。
本申请一实施例中，所述步骤S11获取全局地理环境信息和用户预设的虚拟墙信息，包括：对所述预设的虚拟墙信息进行存储。即在获取了用户预设的虚拟墙信息后，需对预设的虚拟墙信息进行存储，以便后续基于该预设的虚拟墙信息在全局环境地图上为移动设备上的导航任务规划无碰撞的导航路径。
本申请一实施例，所述步骤S11中的获取全局地理环境信息和用户预设的虚拟墙信息，包括：对所述预设的虚拟墙信息进行更新。随着不同用户对导航任务的不同需求和实际场景中的地理环境的改变，需要实时地或定期地对所述步骤S11中获取并存储的预设的虚拟墙信息进行更新，具体更新包括对预设的虚拟墙信息进行增加、删除及虚拟墙的通过性规则进行更新等，以实现对预设的虚拟墙信息的更新，进而满足不同的用户需求或不同实际场景的地理环境下的导航任务的需求。
本申请一实施例中，所述步骤S14基于所述目的地位置、所述预设的虚拟墙信息及获取的所述移动设备的初始位置，在所述全局环境地图上为所述导航任务规划并筛选出最佳导航路径，包括：
获取所述移动设备所处环境的初始地理环境信息；例如，通过移动设备中的激光传感器、超声传感器、红外传感器、摄像装置及深度传感器等来获取所述移动设备所处环境的初始地理环境信息；之后，采用相关的地图匹配算法、道路匹配算法等，将所述初始地理环境信息在所述全局环境地图中进行位置匹配，得到所述移动设备在所述全局环境地图中所处的初始位置；其中，该初始位置为所述移动设备当前在所述全局环境地图中的自身定位位置，以实现对所述移动设备的定位，进而能够实时获悉该移动设备在自己所处的实际全局环境中的具体定位位置：初始位置，达到对所述移动设备进行最初 的定位的目的；接着，基于所述目的地位置、所述预设的虚拟墙信息及所述初始位置，在所述全局环境地图上为所述导航任务规划并筛选出最佳导航路径。
本申请一实施例中，所述步骤S14中的基于所述目的地位置、所述预设的虚拟墙信息及所述初始位置，在所述全局环境地图上为所述导航任务规划并筛选出最佳导航路径，包括：
从所述初始位置开始，采用预设的启发式搜索算法，在所述全局环境地图上结合所述预设的虚拟墙信息，为所述导航任务规划出从所述初始位置到所述目的地位置之间的至少一条有向导航路径；若从所述初始位置B到目的地位置A之间需要经历过3个预设的虚拟墙信息，分别依次为虚拟墙1及其通过性规则位单向通过、虚拟墙2及其通过性规则为禁止通过和虚拟墙3及其通过性规则为禁止通过，例如，从所述初始位置B开始，在所述全局环境地图上采用预设的启发式搜索算法，逐一对每个虚拟墙进行路径规划，最后得到从初始位置B到目的地位置A之间的6条有向导航路径，分别为有向导航路径1：B-R1-R2-R3-A，向导航路径2：B-R1-R4-R3-A，有向导航路径3：B-R1-R5-R3-A，有向导航路径4：B-R1-R2-R6-A，有向导航路径5：B-R1-R4-R6-A，有向导航路径6：B-R1-R5-R6-A；其中，在虚拟墙2的通过性规则为禁止通过时，为避免碰撞虚拟墙，则为所述移动设备选择的无碰撞导航路径为R2、R4或R5，在虚拟墙3的通过性规则为禁止通过时，为避免碰撞虚拟墙，则为所述移动设备选择的无碰撞导航路径为R3或R6，进而采用启发式搜索算法在所述全局环境地图上结合预设的虚拟墙信息，规划出从移动设备的初始位置至导航任务的目的地位置之间的至少一条有向导航任务，以便后续基于该至少一条导航任务筛选出最佳导航路径；最后，从所述至少一条有向导航路径中为所述导航任务筛选出最佳导航路径，进而达到为移动设备上的导航任务进行规划筛选出全局无碰撞的最佳导航路径的目的。
接着本申请的上述实施例中，所述步骤S14中的从所述至少一条有向导 航路径中为所述导航任务筛选出最佳导航路径，包括：
基于预设的估价函数，从所述至少一条有向导航路径中为所述导航任务筛选出最佳导航路径。例如，通过预设的估价函数f(x)＝g(x)+h(x)，其中，g(x)为从初始节点到节点x付出的实际代价；h(x)为从节点x到目标节点的最优路径的估计代价，在此，所述初始节点为移动设备自身的初始位置B，节点x为规划路径过程中的路径节点R1、R2、R3、R4、R5和R6；目标节点为导航任务中的目的地位置A；基于预设的估价函数，分别对上述6条有向导航路径进行代价值的计算，得到有向导航路径1、有向导航路径2、有向导航路径3、有向导航路径4、有向导航路径5及有向导航路径6的代价值分别为代价值1、代价值2、代价值3、代价值4、代价值5和代价值6，按照从小到大的顺序分别对上述代价值进行排序，得到代价值4、代价值2、代价值1、代价值6、代价值3和代价值5，将代价值最小的代价值4对应的有向导航路径4确定为为所述导航任务规划并筛选出的最佳导航路径，达到为移动设备上的导航任务进行规划筛选出全局无碰撞的最佳导航路径的目的。
接着本申请的上述实施例中，所述步骤S14中的从所述至少一条有向导航路径中为所述导航任务筛选出最佳导航路径，包括：
根据获取的所述用户对应的用户需求信息，从所述至少一条有向导航路径中为所述导航任务筛选出最佳导航路径。其中，所述用户需求信息可以包括但不限于是包括导航时间、导航路径里程、导航路径的道路情况及导航过程便捷性等。例如，用户需求信息需要考虑导航时间为最短，则从上述步骤S14中规划出的6条有向导航路径中筛选出导航时间最短的有向导航路径，若所述有向导航路径2对应的导航时间为6条有向导航路径中时间最短的，则将有向导航路径2确定为为所述导航任务规划并筛选出的最佳导航路径；又例如，若用户需求信息需要考虑导航路径的道路情况为最平稳和导航便捷性为最方便快捷，则从上述步骤S14中规划出的6条有向导航路径中筛选出道路情况最平稳且导航最方便快捷的有向导航路径，若所述有向导航路径1 对应的导航时间为6条有向导航路径中道路情况最平稳且导航最方便快捷的，则将有向导航路径1确定为为所述导航任务规划并筛选出的最佳导航路径；若用户需求信息需要综合考虑导航时间、导航路径里程、导航路径的道路情况及导航过程便捷性等所有的用户需求信息，则从上述步骤S14中规划出的6条有向导航路径中筛选出最符合用户需求信息的有向导航路径，若所述有向导航路径4对应的导航时间为6条有向导航路径中最符合用户需求信息的有向导航路径，则将有向导航路径4确定为为所述导航任务规划并筛选出的最佳导航路径，达到为移动设备上的导航任务进行规划筛选出全局无碰撞的最佳导航路径的目的。
本申请一实施例中，所述步骤S14基于所述目的地位置、所述预设的虚拟墙信息及获取的所述移动设备的初始位置，在所述全局环境地图上为所述导航任务规划并筛选出最佳导航路径之后，还包括：
获取所述移动设备的实时地理环境信息和实时速度信息，并基于所述实时地理环境信息和实时速度信息，确定所述移动设备按照所述最佳导航路径进行移动时的无碰撞移动信息；其中，实时速度信息可以包括但不限于是实时速度v，实时加速度a及实时角速度w等，其中，该无碰撞移动信息可以包括所述移动设备实时移动时的移动速度、移动方向、环境参数信息(例如道路情况、风速等)及移动平稳度信息中的一项或多项等。例如，在移动设备导航运行的实际场景中，可以通过移动设备中的激光传感器、超声传感器、红外传感器、定位传感器(例如GPS定位传感器等)、摄像装置及深度传感器等传感器来获取实际环境中的实时地理环境信息和移动设别的实时速度信息，将所有的传感器获取的实时地理环境信息(包括实时定位位置)进行融合并结合移动设备的实时速度信息，并利用移动设备的局部避障的动态窗口算法，按照所述步骤S14中规划筛选出的所述最佳导航路径进行移动时的无碰撞移动信息，使得移动设备可以基于该无碰撞移动信息无碰撞的完成用户预置的导航任务；接着基于所述无碰撞移动信息和所述移动设备的移动模型 (例如，不同的移动设备对应的移动模型不同)，生成无碰撞移动控制指令，并向所述移动设备发送所述无碰撞移动控制指令，以使移动设备根据该移动控制指令控制该移动设备能够以无碰撞移动信息中的实时速度、平稳度及前进方向等进行平滑无碰撞的移动，进而完成用户在移动设备上设置的导航任务。
本申请实施例中提供的一种基于用户预设的规则式的虚拟墙为移动设备中的导航任务的导航路径进行规划，在该导航路径规划过程中，使为移动设备的导航任务规划的导航路径能够进行避障，基于预设的虚拟墙信息实现在全局环境地图上为移动设备的导航任务规划无碰撞的最佳导航路径，无需额外辅助设备，实现限定移动设备的移动路径及活动范围的作用，并可根据实际应用场景，对预设的虚拟墙信息中的虚拟墙通过性规则进行设定，即可设定虚拟墙通过性规则为禁止通过规则和单向性通过规则，实现灵活方便且无成本地设置虚拟墙系统，更好的满足移动设备在实际应用场景中的导航需求及用户需求。
如图2所示为本申请一个方面的一种导航路径规划方法，应用于移动设备的预设的规则式虚拟墙系统，该系统由两部分组成，交互部分及算法处理部分，交互部分包括第一通信模块，和用户交互模块，算法处理部分包括第二通信模块、获取模块、任务管理调度模块、地图构建存储模块、自主定位模块及决策控制模块中的全局路径规划模块、局部路径规划模块、运动控制模块和自主移动模块，其中，该系统中的各个模块的具体执行过程如下：
第一通信模块：用于指示客户端中的通信模块，用于获取用户预设的虚拟墙信息、用户需求信息及用户需要移动设备进行导航的导航任务等信息。
用户交互模块：用于获取用户通过图形化的编辑环境(例如编辑界面等环境)，设定、添加或者删除任意形状的规则式虚拟墙信息，并将规则式虚拟墙信息、用户对移动设备的导航任务及对导航的用户需求信息通过所述第一通信模块发送至所述算法处理部分。
第二通信模块，用于与客户端的第一通信模块连接，并获取规则式虚拟墙信息、用户对移动设备的导航任务及对导航的用户需求信息，以传输给第二通信模块，其中，所述第一通信模块和第二通信模块起到数据传输的桥梁作用。
获取模块：用于获取通过客户端的第一通信模块发送的用户预设的规则式虚拟墙信息、实际应用场景中的相关地图信息(例如全局地理环境信息、实时地理环境信息及实时速度信息等)及移动设备的定位位置信息(例如初始位置等)，并将该预设的虚拟墙信息进行数据存储，以便后续基于实际应用场景对该预设的虚拟墙信息进行更新。
任务调度管理模块：用于管理用户下发的导航任务，包括对所述导航任务的任务序列、任务的分发、任务执行逻辑及调用路径规划服务等的管理，以实现对所述导航任务的管理。
地图构建存储模块：主要用于采用预设的SLAM算法基于全局地理环境信息构建地图得到全局环境地图，以便后续基于该全局环境地图为移动设备的导航任务规划导航路径并实现对移动设备的实时定位。
自主定位模块：用于通过移动设备中的激光传感器、超声传感器、红外传感器、摄像装置及深度传感器等来获取所述移动设备所处环境的初始地理环境信息；之后，采用相关的地图匹配算法、道路匹配算法等，将所述初始地理环境信息在所述全局环境地图中进行位置匹配，得到所述移动设备在所述全局环境地图中所处的初始位置；其中，该初始位置为所述移动设备当前在所述全局环境地图中的自身定位位置，以实现对所述移动设备的定位，进而能够实时获悉该移动设备在自己所处的实际全局环境中的具体定位位置：初始位置，达到对所述移动设备进行最初的定位的目的。
全局路径规划模块：用于从所述初始位置开始，采用预设的启发式搜索算法，在所述全局环境地图上结合所述预设的虚拟墙信息，为所述导航任务规划出从所述初始位置到所述目的地位置之间的至少一条有向导航路径，并 从该至少一条导航任务筛选出从初始位置到目的地位置之间的全局无碰撞的最佳导航路径，以指引移动设备按照规划筛选出的最佳导航路径完成用户下发的导航任务。进一步地，若所述全局路径规划模块为移动设备的初始位置至导航任务的目的地位置之间没有规划出无碰撞的导航路径，则结束当前的导航任务。
局部路径规划模块：用于通过移动设备中的激光传感器、超声传感器、红外传感器、定位传感器(例如GPS定位传感器等)、摄像装置及深度传感器等传感器来获取实际环境中的实时地理环境信息和移动设别的实时速度信息，将所有的传感器获取的实时地理环境信息(包括实时定位位置)进行融合并结合移动设备的实时速度信息，并利用移动设备的局部避障的动态窗口算法，按照所述步骤S14中规划筛选出的所述最佳导航路径进行移动时的无碰撞移动信息，使得移动设备可以基于该无碰撞移动信息无碰撞的完成用户预置的导航任务。
运动控制模块：用于基于局部路径规划模块中得到的无碰撞移动信息结合所述移动设备的移动模型(例如，不同的移动设备对应的移动模型不同)，生成无碰撞移动控制指令，并向所述移动设备发送所述无碰撞移动控制指令，以使移动设备根据该移动控制指令控制该移动设备能够以无碰撞移动信息中的实时速度、平稳度及前进方向等进行平滑无碰撞的移动，进而完成用户在移动设备上设置的导航任务。
自主移动模块：接收运动控制模块发送过来的无碰撞移动控制指令，控制移动设备无碰撞的移动至导航任务中的目的地位置，实现移动设备的导航与移动。
本申请实施例中的一种应用于移动设备的规则式虚拟墙系统中，能够不需要额外的成本生产额外辅助的硬件设备，使用更加的方便、灵活、快捷，除此，不用改变环境，增添删除更加方便，更加智能化，同时，也克服了干扰带来的运动行为异常，更加的精确、可靠。该方案通过交互方式，由用户 在交互界面设定、增添或者删除特定区域任意形状的规则式虚拟墙信息，并将此预设的规则式虚拟墙信息发送至算法处理部分，根据其设定的虚拟墙通过性规则，及全局地理环境信息，构建用于路径规划的全局环境地图，利用启发式搜索算法搜索最佳导航路径，为移动设备能够完成导航任务的智能移动提供无碰撞移动信息，从而无碰撞的完成导航任务。
此外，根据本申请的另一方面，还提供了一种基于计算的设备，其中，该设备包括：
处理器；以及
被安排成存储计算机可执行指令的存储器，所述可执行指令在被执行时使所述处理器：
获取全局地理环境信息和用户预设的虚拟墙信息；
基于所述全局地理环境信息构建全局环境地图；
获取用户在移动设备上设置的导航任务，其中，所述导航任务包括目的地位置；
基于所述目的地位置、所述预设的虚拟墙信息及获取的所述移动设备的初始位置，在所述全局环境地图上为所述导航任务规划并筛选出最佳导航路径。
根据本申请的另一方面，还提供了一种存储可执行指令的非暂态计算机可读存储介质，在所述可执行指令由电子设备执行时，使得所述电子设备：
获取全局地理环境信息和用户预设的虚拟墙信息；
基于所述全局地理环境信息构建全局环境地图；
获取用户在移动设备上设置的导航任务，其中，所述导航任务包括目的地位置；
基于所述目的地位置、所述预设的虚拟墙信息及获取的所述移动设备的初始位置，在所述全局环境地图上为所述导航任务规划并筛选出最佳导航路径。
综上所述，本申请通过获取全局地理环境信息和用户预设的虚拟墙信息；基于所述全局地理环境信息构建全局环境地图；获取用户在移动设备上设置的导航任务，其中，所述导航任务包括目的地位置；基于所述目的地位置、所述预设的虚拟墙信息及获取的所述移动设备的初始位置，在所述全局环境地图上为所述导航任务规划并筛选出最佳导航路径，使得通过预设的虚拟墙信息能够在不需要额外的成本生产额外辅助的硬件设备来为导航任务进行路径规划，使得使用更加的方便、灵活、快捷，从而节省了人力物力等成本，同时通过预设的虚拟墙信息来虚拟现实的障碍物，避免了改变现实环境，使得基于预设的虚拟墙信息在全局环境地图上为导航任务规划并筛选出最佳导航路径的过程更加方便和智能化，使得规划筛选出的最佳导航路径更精确。
需要注意的是，本申请可在软件和/或软件与硬件的组合体中被实施，例如，可采用专用集成电路(ASIC)、通用目的计算机或任何其他类似硬件设备来实现。在一个实施例中，本申请的软件程序可以通过处理器执行以实现上文所述步骤或功能。同样地，本申请的软件程序(包括相关的数据结构)可以被存储到计算机可读记录介质中，例如，RAM存储器，磁或光驱动器或软磁盘及类似设备。另外，本申请的一些步骤或功能可采用硬件来实现，例如，作为与处理器配合从而执行各个步骤或功能的电路。
另外，本申请的一部分可被应用为计算机程序产品，例如计算机程序指令，当其被计算机执行时，通过该计算机的操作，可以调用或提供根据本申请的方法和/或技术方案。而调用本申请的方法的程序指令，可能被存储在固定的或可移动的记录介质中，和/或通过广播或其他信号承载媒体中的数据流而被传输，和/或被存储在根据所述程序指令运行的计算机设备的工作存储器中。在此，根据本申请的一个实施例包括一个装置，该装置包括用于存储计算机程序指令的存储器和用于执行程序指令的处理器，其中，当该计算机程序指令被该处理器执行时，触发该装置运行基于前述根据本申请的多个实施例的方法和/或技术方案。
对于本领域技术人员而言，显然本申请不限于上述示范性实施例的细节，而且在不背离本申请的精神或基本特征的情况下，能够以其他的具体形式实现本申请。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本申请的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化涵括在本申请内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。此外，显然“包括”一词不排除其他单元或步骤，单数不排除复数。装置权利要求中陈述的多个单元或装置也可以由一个单元或装置通过软件或者硬件来实现。第一，第二等词语用来表示名称，而并不表示任何特定的顺序。

Claims (13)

  1. 一种导航路径规划方法，其中，所述方法包括：
    获取全局地理环境信息和用户预设的虚拟墙信息；
    基于所述全局地理环境信息构建全局环境地图；
    获取用户在移动设备上设置的导航任务，其中，所述导航任务包括目的地位置；
    基于所述目的地位置、所述预设的虚拟墙信息及获取的所述移动设备的初始位置，在所述全局环境地图上为所述导航任务规划并筛选出最佳导航路径。
  2. 根据权利要求1所述的方法，其中，所述获取全局地理环境信息和用户预设的虚拟墙信息，包括：
    对所述预设的虚拟墙信息进行存储。
  3. 根据权利要求1所述的方法，其中，所述获取全局地理环境信息和用户预设的虚拟墙信息，包括：
    对所述预设的虚拟墙信息进行更新。
  4. 根据权利要求1所述的方法，其中，所述基于所述全局地理环境信息构建全局环境地图，包括：
    采用预设的SLAM算法，基于所述全局地理环境信息进行地图构建，得到全局环境地图。
  5. 根据权利要求1所述的方法，其中，所述基于所述目的地位置、所述预设的虚拟墙信息及获取的所述移动设备的初始位置，在所述全局环境地图上为所述导航任务规划并筛选出最佳导航路径，包括：
    获取所述移动设备所处环境的初始地理环境信息；
    将所述初始地理环境信息在所述全局环境地图中进行位置匹配，得到所述移动设备在所述全局环境地图中所处的初始位置；
    基于所述目的地位置、所述预设的虚拟墙信息及所述初始位置，在所述全局环境地图上为所述导航任务规划并筛选出最佳导航路径。
  6. 根据权利要求5所述的方法，其中，所述基于所述目的地位置、所述预设的虚拟墙信息及所述初始位置，在所述全局环境地图上为所述导航任务规划并筛选出最佳导航路径，包括：
    从所述初始位置开始，采用预设的启发式搜索算法，在所述全局环境地图上结合所述预设的虚拟墙信息，为所述导航任务规划出从所述初始位置到所述目的地位置之间的至少一条有向导航路径；
    从所述至少一条有向导航路径中为所述导航任务筛选出最佳导航路径。
  7. 根据权利要求6所述的方法，其中，所述从所述至少一条有向导航路径中为所述导航任务筛选出最佳导航路径，包括：
    基于预设的估价函数，从所述至少一条有向导航路径中为所述导航任务筛选出最佳导航路径。
  8. 根据权利要求6所述的方法，其中，所述从所述至少一条有向导航路径中为所述导航任务筛选出最佳导航路径，包括：
    根据获取的所述用户对应的用户需求信息，从所述至少一条有向导航路径中为所述导航任务筛选出最佳导航路径。
  9. 根据权利要求1所述的方法，其中，所述基于所述目的地位置、所述预设的虚拟墙信息及获取的所述移动设备的初始位置，在所述全局环境地图上为所述导航任务规划并筛选出最佳导航路径之后，还包括：
    获取所述移动设备的实时地理环境信息和实时速度信息，并基于所述实时地理环境信息和实时速度信息，确定所述移动设备按照所述最佳导航路径进行移动时的无碰撞移动信息；
    基于所述无碰撞移动信息和所述移动设备的移动模型，生成无碰撞移动控制指令，并向所述移动设备发送所述无碰撞移动控制指令。
  10. 根据权利求9所述的方法，其中，所述无碰撞移动信息包括移动速度、移动方向及移动平稳度中的一项或多项。
  11. 根据权利要求1所述的方法，其中，所述获取用户在移动设备上设置的导航任务，还包括：
    对所述导航任务进行管理。
  12. 一种基于计算的设备，其中，该设备包括：
    处理器；以及
    被安排成存储计算机可执行指令的存储器，所述可执行指令在被执行时使所述处理器：
    获取全局地理环境信息和用户预设的虚拟墙信息；
    基于所述全局地理环境信息构建全局环境地图；
    获取用户在移动设备上设置的导航任务，其中，所述导航任务包括目的地位置；
    基于所述目的地位置、所述预设的虚拟墙信息及获取的所述移动设备的初始位置，在所述全局环境地图上为所述导航任务规划并筛选出最佳导航路径。
  13. 一种存储可执行指令的非暂态计算机可读存储介质，在所述可执行 指令由电子设备执行时，使得所述电子设备：
    获取全局地理环境信息和用户预设的虚拟墙信息；
    基于所述全局地理环境信息构建全局环境地图；
    获取用户在移动设备上设置的导航任务，其中，所述导航任务包括目的地位置；
    基于所述目的地位置、所述预设的虚拟墙信息及获取的所述移动设备的初始位置，在所述全局环境地图上为所述导航任务规划并筛选出最佳导航路径。
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