WO2022110853A1 - 可通行区域的探索方法、装置、存储介质及电子装置 - Google Patents

可通行区域的探索方法、装置、存储介质及电子装置 Download PDF

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Publication number
WO2022110853A1
WO2022110853A1 PCT/CN2021/108392 CN2021108392W WO2022110853A1 WO 2022110853 A1 WO2022110853 A1 WO 2022110853A1 CN 2021108392 W CN2021108392 W CN 2021108392W WO 2022110853 A1 WO2022110853 A1 WO 2022110853A1
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Prior art keywords
exploration
passable
target
area
point
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PCT/CN2021/108392
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English (en)
French (fr)
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田丰溥
丘伟楠
李建
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追觅创新科技(苏州)有限公司
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Publication of WO2022110853A1 publication Critical patent/WO2022110853A1/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
    • 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
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • Embodiments of the present invention relate to the field of communications, and in particular, to a method, a device, a storage medium, and an electronic device for exploring a passable area.
  • Autonomous exploration of robots in unknown environments has always been a research hotspot in the field of mobile robotics.
  • Autonomous exploration technology usually requires the robot to have the ability of simultaneous localization and mapping (SLAM for short), which can build an environmental map in an unknown environment.
  • SLAM simultaneous localization and mapping
  • autonomous exploration schemes are usually used in the field of robotics to discover special signs, signals, etc. existing in the environment, which are widely used.
  • the robot will generate too many collisions in the process of exploring the passable area, and the exploration is time-consuming and the success rate is low.
  • Embodiments of the present invention provide a method, device, storage medium, and electronic device for exploring a passable area, so as to at least solve the problem that robots in the related art generate too many collisions when exploring a passable area, and the exploration is time-consuming and the success rate is high. low problem.
  • a method for exploring a passable area including: dividing a passable area included in a target map, and determining at least one target passable sub-area based on the division result, wherein the The target map includes a map of the area where the robot with autonomous exploration capability is located; based on the existence state of obstacles in at least one passable sub-area of the target, a set of exploration points for exploring the passable area is determined, wherein the The exploration point set includes at least one exploration point, and different exploration points are located in different target passable sub-areas; the robot is controlled to explore the passable area based on the exploration point set.
  • an apparatus for exploring a passable area including: a dividing module, configured to divide the passable area included in the target map, and determine at least one target passable based on the division result sub-area, wherein the target map includes a map of the area where the robot with autonomous exploration capability is located; a determining module is configured to determine a target for exploring the A set of exploration points in a passable area, wherein the set of exploration points includes at least one exploration point, and different exploration points are located in different target passable sub-areas; a control module is configured to control the robot based on the set of exploration points The traversable area is explored.
  • a computer-readable storage medium is also provided, and a computer program is stored in the computer-readable storage medium, wherein the computer program is configured to execute any one of the above methods when running steps in the examples.
  • an electronic device comprising a memory and a processor, wherein the memory stores a computer program, the processor is configured to run the computer program to execute any of the above Steps in Method Examples.
  • the passable area in the target map is divided, at least one target passable sub-area is determined according to the division result, and the exploration of the passable area is determined according to the existence state of obstacles in the at least one target passable sub-area Point set, control the robot to explore the passable area according to the exploration point set.
  • the exploration point set is determined by the existence of obstacles in the target passable sub-area
  • the obstacles can be effectively avoided when the exploration point set is determined, and the robot can effectively explore the passable area according to the exploration point set. Avoid obstacles and avoid collisions. Therefore, it can solve the problems of excessive collisions, high exploration time and low success rate of robots in the related technologies when exploring passable areas.
  • the number of collisions in the area ensures the safety of the robot and its surrounding environment, and at the same time, shortens the time required for exploration and improves the success rate of exploration.
  • FIG. 1 is a block diagram of a hardware structure of a mobile terminal for a method for exploring a passable area according to an embodiment of the present invention
  • FIG. 2 is a flowchart of a method for exploring a passable area according to an embodiment of the present invention
  • FIG. 3 is a flowchart of a method for exploring a passable area according to a specific embodiment of the present invention.
  • FIG. 4 is a structural block diagram of an apparatus for searching a passable area according to an embodiment of the present invention.
  • FIG. 1 is a block diagram of a hardware structure of a mobile terminal according to a method for exploring a passable area according to an embodiment of the present invention.
  • the mobile terminal may include one or more (only one is shown in FIG.
  • processor 102 may include, but is not limited to, an MCU (Microcontroller Unit, microcontroller unit) or an FPGA (Field Programmable Gate) Array, programmable logic device) and the like) and a memory 104 for storing data, wherein the mobile terminal may further include a transmission device 106 and an input and output device 108 for communication functions.
  • MCU Microcontroller Unit, microcontroller unit
  • FPGA Field Programmable Gate
  • FIG. 1 is only a schematic diagram, which does not limit the structure of the above-mentioned mobile terminal.
  • the mobile terminal may also include more or fewer components than those shown in FIG. 1 , or have a different configuration than that shown in FIG. 1 .
  • the memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as computer programs corresponding to the method for exploring the traversable area in the embodiment of the present invention.
  • the processor 102 runs the computer programs stored in the memory 104, Thereby, various functional applications and data processing are performed, that is, the above-mentioned method is realized.
  • Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory.
  • the memory 104 may further include memory located remotely from the processor 102, and these remote memories may be connected to the mobile terminal through a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
  • Transmission device 106 is used to receive or transmit data via a network.
  • the specific example of the above-mentioned network may include a wireless network provided by a communication provider of the mobile terminal.
  • the transmission device 106 includes a network adapter (Network Interface Controller, NIC for short), which can be connected to other network devices through a base station so as to communicate with the Internet.
  • the transmission device 106 may be a radio frequency (Radio Frequency, RF for short) module, which is used to communicate with the Internet in a wireless manner.
  • RF Radio Frequency
  • FIG. 2 is a flowchart of a method for exploring a passable area according to an embodiment of the present invention, as shown in FIG. 2 , the flow includes the following steps:
  • Step S202 dividing the passable area included in the target map, and determining at least one target passable sub-area based on the division result, wherein the target map includes a map of the area where the robot with autonomous exploration capability is located;
  • Step S204 determining a set of exploration points for exploring the passable area based on the existence state of obstacles in at least one passable sub-area of the target, wherein the set of exploration points includes at least one exploration point, different Exploration points are located in different target passable sub-areas;
  • Step S206 controlling the robot to explore the passable area based on the exploration point set.
  • the robot can obtain the target map through the map management module, and calculate the passable area of the target map.
  • the passable area may include an area that can allow the robot to enter (ie, an area with a width greater than the diameter of the robot), but the width of a certain area included in the area may be smaller than the diameter of the robot.
  • the robot can be a cleaning robot, such as a sweeping robot, a factory inspection robot, or an autonomous navigation transport vehicle, drone, toy car, etc.
  • the target map can be a map generated by the robot according to the environment it is in, or it can be a map input to the robot.
  • the target map can be a map in the home environment
  • the cleaning robot can automatically build a map in the home environment to generate a map of the home environment.
  • the cleaning robot can also receive a home environment map that has been established.
  • the home environment can be mapped in advance, and the home environment map completed by the mapping can be input into the cleaning robot.
  • the cleaning robot can also obtain a map of the home environment completed by other robots.
  • the robot explores the passable area to find the target area.
  • the target area may be an area including a charging station, an area where the robot is allowed to park, an area where the robot is repaired, and the like.
  • the embodiment of the present application does not limit the target area, and the target area can be set as required.
  • the target area is an area including a charging station
  • the robot can autonomously navigate to the target area according to the target map to complete charging.
  • the robot can autonomously navigate to the target area according to the target map after the work is completed to complete the parking.
  • the execution subject of the above steps may be a robot, a background processor, or other devices with similar processing capabilities, or may be a machine at least integrated with a data processing device, where the data processing device may include a computer, a mobile phone, etc. terminal, but not limited to this.
  • the passable area in the target map is divided, at least one target passable sub-area is determined according to the division result, and the exploration passable area is determined according to the existence state of obstacles in the at least one target passable sub-area
  • the set of exploration points control the robot to explore the passable area according to the set of exploration points. Since the exploration point set is determined by the existence of obstacles in the target passable sub-area, the obstacles can be effectively avoided when the exploration point set is determined, and the robot can effectively explore the passable area according to the exploration point set. Avoid obstacles and avoid collisions. Therefore, it can solve the problems of excessive collisions, high exploration time and low success rate of robots in the related technologies when exploring passable areas.
  • the number of collisions in the area ensures the safety of the robot and its surrounding environment, and at the same time, shortens the time required for exploration and improves the success rate of exploration.
  • dividing the passable area included in the target map, and determining at least one target passable sub-area based on the division result includes: determining a target frame for dividing the passable area; using the The target frame divides the passable area to obtain at least one passable sub-area; and determines at least one target passable sub-area that satisfies the first condition from the at least one passable sub-area.
  • a target frame for dividing the passable area may be determined first, wherein the target frame may be a rectangular frame, of course, it may also be a frame of other shapes , for example, a circular frame, a polygonal frame, etc., in which the area size of the target frame can be dynamically adjusted, so as to achieve a more flexible, efficient and reasonable division of the passable area.
  • the target frame may be a rectangular frame, of course, it may also be a frame of other shapes , for example, a circular frame, a polygonal frame, etc.
  • the area size of the target frame can be dynamically adjusted, so as to achieve a more flexible, efficient and reasonable division of the passable area.
  • the area of the target frame can be adjusted to 1m 2
  • the area of the target frame can be adjusted to 4m 2 .
  • the area of the above target frame is only an exemplary illustration, and the area of the target frame can be flexibly set according to the size of the environment and the footprint of the robot itself. make restrictions.
  • the predetermined position of the passable area may be set as the starting point, wherein the predetermined position may be the lower left corner, the lower right corner, etc. of the passable area.
  • the target frame may divide the passable area with the predetermined position as the starting point to obtain at least one passable sub-area, and determine at least one target passable sub-area that satisfies the first condition from the at least one passable sub-area.
  • the first condition may be that the area of the passable area in the passable sub-area exceeds the first threshold.
  • determining from at least one of the passable sub-regions at least one of the target passable sub-regions that satisfies the first condition includes: respectively determining each passable sub-region in the at least one passable sub-region area of the passable area included in the sub-area; determining the passable sub-area whose area of the passable area included in at least one of the passable sub-areas is greater than the first threshold value as the target passable sub-area.
  • the area of the passable area included in the at least one passable sub-area can be confirmed respectively, and the passable area with the area of the passable area less than or equal to the first threshold is deleted, that is, , a passable sub-area whose area of the passable area is greater than the first threshold is determined as the target passable sub-area.
  • the size of the first threshold can be set as one-fourth of the area of the target frame (this threshold is only an exemplary illustration, other thresholds can also be set in practical applications, for example, one-fifth, one-third of the area of the target frame One, etc.), when the area of the passable area is less than or equal to one-fourth of the area of the target box, the robot may collide when exploring this area. Therefore, the area of the passable area can be less than or equal to four of the area of the target frame. One-half of the passable sub-area is deleted, thereby effectively avoiding the generated exploration point from being too close to the obstacle, thereby reducing the risk of robot collision.
  • determining a set of exploration points for exploring the traversable area based on the existence state of obstacles in at least one of the target traversable sub-areas includes: based on at least one of the target traversable sub-areas The existence state of obstacles in the area, determine at least one target passable sub-area of the first type and the second type of target passable sub-area included in the at least one target passable sub-area, wherein the first type of target is passable. There are no obstacles in the sub-area, and there are obstacles in the passable sub-area for the second type of target; determine the center point of the passable sub-area for the first type of target as the first exploration point; determine the second type of target.
  • the target point in the area where there is no obstacle in the target passable sub-area the point that satisfies the second condition included in the target point is determined as the second exploration point; based on the first exploration point and the second exploration point Exploration points determine the set of exploration points.
  • the center point of the first type of target passable sub-area where there are no obstacles in the target passable sub-area may be determined as the first exploration point, and the second target passable sub-area with obstacles Among the target points in the target-like passable sub-region, the center of the circle that satisfies the second condition is determined as the second exploration point. That is, when there is no obstacle in the target frame, the center point of the target frame can be determined as the first exploration point.
  • determining the target point in the area where there is no obstacle in the second type of target passable sub-area includes one of the following: determining that there is no obstacle in the second type of target passable sub-area The first center of the maximum inscribed circle of the area of the object is determined, and the first center is determined as the target point; Two circle centers, and the second center of the circle is determined as the target point; the center of mass of the area without obstacles in the passable sub-region of the second type of target is determined, and the center of mass is determined as the target point.
  • the center of the largest inscribed circle of a plurality of regions not including obstacles can be obtained in the frame, and the center of the largest inscribed circle that satisfies the second condition can be obtained. Determined as the second exploration point.
  • the center of circumscribed circles of a plurality of regions not including obstacles can also be obtained in this frame, and the center of the circumscribed circle of the largest circumscribed circle that satisfies the second condition is determined as the second search point.
  • the centroids of a plurality of regions not including obstacles can also be obtained in this frame, and the center of the circle that satisfies the second condition is determined as the second exploration point.
  • the second condition may be that the robot is allowed to arrive without being surrounded by obstacles.
  • determining a point included in the target point that satisfies the second condition as a second exploration point includes: determining a point included in the target point that is not surrounded by obstacles and allows the robot to reach is the second exploration point.
  • a circle center included in the multiple circle centers that is not surrounded by obstacles and allows the robot to reach may be determined as the second exploration point.
  • determining the set of exploration points based on the set consisting of the first exploration points and the second exploration points comprises: determining that the robot is allowed to reach the set of exploration points included in the first exploration points and a first point set consisting of the exploration points included in the second exploration point and allowing the robot to reach; the exploration point set is determined according to the first point set.
  • An exploration point set is determined from the point set formed by the remaining exploration points in the exploration points.
  • determining the exploration point set includes: determining the density of the exploration points included in the first point set; determining the exploration points included in the first point set In the case where the density exceeds a predetermined density threshold, delete one or more exploration points included in the first point set, and use the first point set after deleting one or more exploration points as the exploration point set, wherein , the density of the exploration points included in the exploration point set is less than or equal to the predetermined density threshold.
  • one or more exploration points included in the first point set may be deleted, so that the density of the remaining point set is less than or equal to a predetermined threshold, for example, when the density of the exploration points included in the first point set exceeds the predetermined density threshold, 40% of the exploration points in the first point set can be deleted (40% is only an example, in practical applications, It is also possible to delete 50% of the exploration points, or delete 35% of the exploration points, etc.), and determine the remaining 60% of the point set as the exploration point set.
  • One or more exploration points included in the first point set may be deleted by random deletion.
  • the predetermined density threshold may be a user-defined value, and the user may customize the predetermined density threshold according to the size of the environment where the robot is located and the size of the robot.
  • one or more exploration points included in the first point set may also be deleted through Euclidean distance.
  • the other exploration points are closer to the exploration point e, it can be considered that the exploration point density in the area where the exploration point e is located exceeds the predetermined density threshold. Then delete the exploration point that is closer to the exploration point e.
  • the exploration point e 1 and the exploration point e are 1.1m
  • the Euclidean distance between the exploration point e 2 and the exploration point e is 1.3m
  • controlling the robot to explore the passable area based on the exploration point set includes: determining an exploration point included in the exploration point set that the robot has not reached; The distance from the exploration point that the robot has not reached and the time that the robot travels to the exploration point that the robot has not reached, determine the first target exploration point; control the robot to drive to the first target A search point is performed, and a target passable sub-area where the first target search point is located is searched according to a target search method at the first target search point.
  • the navigation module in the robot can control the robot to explore the exploration points in the exploration point set, that is, control the robot to move to the exploration point that has not been reached in the exploration point set.
  • the robot can slowly rotate 360 degrees after reaching an unreached exploration point to find a recharging signal and determine whether the area includes a charging station. That is, the recharge sensor of the robot can detect the signal in real time. When the recharge signal is detected, it can exit the exploration process or continue to explore the next exploration point. For example, when the environment where the robot is located is a home environment, in most cases, there is only one charging station in an area. Therefore, after the robot detects the recharging signal, it can exit the exploration process. When the environment where the robot is located is a warehouse, in most cases, the warehouse can include multiple charging stations.
  • the robot detects the recharging signal, it can continue to explore the next exploration point until all the exploration points are explored. Done, find the multiple charging stations included in the warehouse. If it is determined that the area includes a charging station, the area can be marked, and when the robot needs to be charged next time, it can directly move to the area for charging, and there is no need to explore the area again. Of course, after the robot marks the charging station in the area, it can also send the marked area to other robots, and other robots can directly move to the charging station for charging according to the exploration result of the robot, without exploring the area.
  • the robot after the robot explores an exploration point, it can delete the point in the exploration point set, and when the exploration point in the exploration point set is empty, it is considered that all the exploration points have been explored.
  • the robot after the robot explores an exploration point, it can mark the exploration point, indicating that the exploration point has been explored. When all the exploration points in the exploration point set are marked, it is considered that all the exploration points have been explored.
  • the exploration point with the least cost that is, the first target exploration point
  • the time and distance when the robot reaches each unreached exploration point can be determined according to the current position of the robot and the position of each unreached exploration point, and the first target exploration point is comprehensively determined according to the distance and time.
  • the first target exploration point is determined based on the distance between the robot and the exploration point that the robot has not visited and the time the robot travels to the exploration point that the robot has not visited Including: determining the distance between the robot and the exploration point that the robot has not reached and the sum of the weighted values of the time when the robot travels to the exploration point that the robot has not reached; The exploration point of is determined as the first target exploration point.
  • the distance and time of the robot moving from the current position to the position of the unreached exploration point can be determined respectively, and then the sum of the weighted value of the distance and the time can be calculated, and the exploration point with the smallest sum of the weighted value is determined.
  • Explore points for the first objective is explored points for the first objective.
  • the robot After the robot moves to the first target exploration point, it can continue to calculate the distance and time from the current position to the position of the unreached exploration point, and determine the exploration point with the smallest sum of weighted values as the new first target exploration. point. That is, after the robot moves from the current position to the first target exploration point, it does not need to return to the current position, but directly moves to the next exploration point, saving time for exploration.
  • controlling the robot to explore the passable area based on the exploration point set includes: determining an exploration point included in the exploration point set that the robot has not reached; determining based on a predetermined method Determine the global optimal path for the robot to reach all the exploration points included in the exploration points that the robot has not reached; determine the exploration point adjacent to the robot included in the global optimal path as the second target Exploration point; control the robot to drive to the second target exploration point, and explore the target passable sub-area where the second target exploration point is located at the second target exploration point according to the target exploration method.
  • a simulated annealing algorithm can be used to calculate the global optimal path from the current position of the robot, and each time the next adjacent point in the calculated global optimal path is taken as the second target exploration point, and the robot is controlled to drive. After reaching the second target exploration point, the robot can slowly turn 360 degrees to find the recharging signal and determine whether there is a charging station in the area.
  • the recharge sensor of the robot can detect the signal in real time. When the recharge signal is detected, it can exit the exploration process or continue to explore the next exploration point. It should be noted that the robot may use other methods to determine whether the area where the exploration point is located includes a charging station, which is not limited in this embodiment.
  • the environment where the robot is located is a home environment, in most cases, there is only one charging station in an area. Therefore, after the robot detects the recharging signal, it can exit the exploration process.
  • the environment where the robot is located is a warehouse, in most cases, the warehouse can include multiple charging stations. Therefore, after the robot detects the recharging signal, it can continue to explore the next exploration point until all exploration points are explored. Done, find the multiple charging stations included in the warehouse. If it is determined that the area includes a charging station, the area can be marked, and when the robot needs to be charged next time, it can directly move to the area for charging, and there is no need to explore the area again.
  • the robot marks the charging station in the area it can also send the marked area to other robots, and other robots can directly move to the charging station for charging according to the robot's exploration results, without exploring the area.
  • the steps of using the simulated annealing algorithm to calculate the global optimal path from the current position of the robot are as follows:
  • first preset threshold and the second preset threshold may be user-defined values, and the present invention does not limit the first preset threshold and the second preset threshold, the first preset threshold and the second preset threshold are not limited.
  • the thresholds can be the same or different.
  • the following example illustrates the steps of the simulated annealing algorithm to calculate the global optimal path from the current position of the robot:
  • the exploration point set includes 5 unexplored points A, B, C, D, and E, assuming that the distance from A ⁇ C is 5, the distance from C ⁇ E is 3, the distance from E ⁇ B is 6, and the distance from B ⁇ D is 11, and the distance from D ⁇ A is 5.
  • FIG. 3 is a flow chart of a method for exploring a passable area according to the specific implementation of the present invention. As shown in FIG. 3 , each step in the flow can be executed by a robot or a processor provided in the robot, wherein the flow includes: Follow the steps below:
  • step S302 a map is acquired and a passable area of the current map is calculated.
  • Step S304 taking the lower left corner of the passable area as a starting point, and dividing the passable area by a rectangular box to obtain a set C of possible charging bases.
  • the passable area C i in the current rectangular frame is less than or equal to a certain threshold, and the rectangular frame is deleted from the rectangular frame set C.
  • the center point of the rectangular frame is set as the exploration point E i of the frame.
  • step S306 the set E of exploration points is obtained by calculation according to the state of each rectangular frame in the set C.
  • Step S308 find the point e with the minimum cost from the set E.
  • step S310 it is determined whether E is empty. When the determination result is yes, step S324 is performed, and when the determination result is no, step S312 is performed.
  • Step S312 navigate to e.
  • step S314 it is determined whether e is reachable. When the determination is yes, step S316 is performed, and when the determination result is no, step S318 is performed.
  • Step S316 slowly rotate 360 degrees on the spot to find the recharging signal.
  • Step S318, delete e from E.
  • Step S320 it is detected that the conditions for exit are met.
  • a non-rectangular frame can also be used to divide the target map, and the set of exploration points can be determined according to the area obtained after the division, and random seed points at certain intervals, that is, exploration points, can also be directly generated in the target map, and then Explore the area where the exploration point is located.
  • the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is better implementation.
  • the technical solutions of the embodiments of the present invention may be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products are stored in a storage medium (such as ROM/RAM, magnetic CD, CD), including several instructions to make a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present invention.
  • a storage medium such as ROM/RAM, magnetic CD, CD
  • a device for searching for a target area is also provided, and the device is used to implement the above-mentioned embodiments and preferred implementations, and what has been described will not be repeated.
  • the term "module” may be a combination of software and/or hardware that implements a predetermined function.
  • the apparatus described in the following embodiments is preferably implemented in software, implementations in hardware, or a combination of software and hardware, are also possible and contemplated.
  • FIG. 4 is a structural block diagram of an apparatus for exploring a passable area according to an embodiment of the present invention. As shown in FIG. 4 , the apparatus includes:
  • the dividing module 42 is used to divide the passable area included in the target map, and determine at least one target passable sub-area based on the division result, wherein the target map includes a map of the area where the robot with autonomous exploration capability is located;
  • a determination module 44 configured to determine a set of exploration points for exploring the passable area based on the existence state of obstacles in at least one passable sub-area of the target, wherein the set of exploration points includes at least one exploration point , different exploration points are located in different target passable sub-regions;
  • the control module 46 is configured to control the robot to explore the passable area based on the exploration point set.
  • the dividing module 42 corresponds to the above-mentioned map management module
  • the control module 46 corresponds to the above-mentioned navigation module and decision-making module.
  • the dividing module 42 may divide the passable area included in the target map in the following manner, and determine at least one target passable sub-area based on the division result: a target frame of a passable area; use the target frame to divide the passable area to obtain at least one passable sub-area; determine at least one passable target that satisfies the first condition from the at least one passable sub-area sub area.
  • the dividing module 42 may determine at least one target passable sub-area that satisfies the first condition from the at least one passable sub-area by: determining at least one of the passable sub-areas respectively. The passable area area included in each passable sub-area in the passable sub-area; the passable sub-area whose area of the passable area included in at least one of the passable sub-areas is greater than the first threshold is determined as the target passable area sub area.
  • the determining module 44 may determine a set of exploration points for exploring the passable area based on the existence state of obstacles in at least one of the target passable sub-areas in the following manner: Based on the existence state of obstacles in at least one of the target passable sub-areas, a first type of target passable sub-area and a second type of target passable sub-area included in the at least one target passable sub-area are determined, wherein , there is no obstacle in the passable sub-area of the first type of target, and there is an obstacle in the passable sub-area of the second type of target; the center point of the passable sub-area of the first type of target is determined as the first Exploration point; determine the target point in the area where there are no obstacles in the passable sub-area of the second type of target, and determine the point included in the target point that satisfies the second condition as the second exploration point; based on the The first exploration point and the second exploration point determine the set of exploration points.
  • the determining module 44 may realize determining the target point in the area without obstacles in the passable sub-area of the second type of target by one of the following methods: determining the target of the second type Determine the first center of the largest inscribed circle of the area without obstacles in the passable sub-region, and determine the first center as the target point; determine that there are no obstacles in the passable sub-region of the second type of target The second center of the largest circumcircle of the area of for the target point.
  • the determining module 44 may determine the point included in the target point that satisfies the second condition as the second exploration point by: determining the point included in the target point that is not obstructed A point surrounded by objects and allowing the robot to reach is determined as the second exploration point.
  • the determining module 44 may determine the set of exploration points based on the set formed by the first exploration point and the second exploration point by: determining that the set of exploration points consists of the first exploration point A first point set consisting of an exploration point included in the point that allows the robot to reach, and an exploration point included in the second exploration point that allows the robot to reach; according to the first point set, determine the Explore point sets.
  • the determining module 44 may determine the exploration point set according to the first point set by: determining the density of the exploration points included in the first point set; When the density of the exploration points included in the first point set exceeds a predetermined density threshold, delete one or more exploration points included in the first point set, and delete the first point after one or more exploration points. set as the set of exploration points, wherein the density of the exploration points included in the set of exploration points is less than or equal to the predetermined density threshold.
  • control module 46 may control the robot to explore the passable area based on the exploration point set by determining that the robot included in the exploration point set has not arrived
  • the first target exploration point is determined based on the distance between the robot and the exploration point that the robot has not reached and the time when the robot travels to the exploration point that the robot has not reached;
  • the robot travels to the first target exploration point, and searches the target passable sub-area where the first target exploration point is located at the first target exploration point according to a target exploration method.
  • control module 46 can implement the exploration based on the distance between the robot and the exploration point that the robot has not reached and the robot travels to the exploration point that the robot has not reached in the following manner Determine the first target exploration point: determine the distance between the robot and the exploration point that the robot has not reached and the weighted value of the time when the robot travels to the exploration point that the robot has not reached. and; determining the exploration point corresponding to the sum of the minimum weighted value as the first target exploration point.
  • control module 46 may further control the robot to explore the passable area based on the exploration point set by determining that the robot included in the exploration point set does not The exploration points that have been reached; determine the global optimal path for the robot to reach all the exploration points included in the exploration points that the robot has not reached based on a predetermined method; The adjacent exploration point is determined as the second target exploration point; the robot is controlled to drive to the second target exploration point, and at the second target exploration point, according to the target exploration method, the second target exploration point is located.
  • the above modules can be implemented by software or hardware, and the latter can be implemented in the following ways, but not limited to this: the above modules are all located in the same processor; or, the above modules can be combined in any combination The forms are located in different processors.
  • Embodiments of the present invention further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, wherein the computer program is configured to execute the steps in any of the above method embodiments when running.
  • the above-mentioned computer-readable storage medium may include, but is not limited to: a USB flash drive, a read-only memory (Read-Only Memory, referred to as ROM for short), and a random access memory (Random Access Memory, referred to as RAM for short) , mobile hard disk, magnetic disk or CD-ROM and other media that can store computer programs.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • An embodiment of the present invention also provides an electronic device, comprising a memory and a processor, where a computer program is stored in the memory, and the processor is configured to run the computer program to perform the steps in any of the above method embodiments, wherein , the electronic device can be a robot (such as a cleaning robot, a factory inspection robot), an autonomous navigation transport vehicle, a drone, a toy car, etc.
  • a robot such as a cleaning robot, a factory inspection robot
  • autonomous navigation transport vehicle such as a robot, a robot, a toy car, etc.
  • the above-mentioned electronic device may further include a transmission device and an input-output device, wherein the transmission device is connected to the above-mentioned processor, and the input-output device is connected to the above-mentioned processor.
  • each module or each step of the above-mentioned embodiments of the present invention can be implemented by a general-purpose computing device, and they can be centralized on a single computing device, or distributed in multiple computing devices. network, they can be implemented in program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, can be executed in a different order than here.
  • the steps shown or described can be implemented either by making them into individual integrated circuit modules, or making multiple modules or steps in them into a single integrated circuit module. As such, the present invention is not limited to any particular combination of hardware and software.

Abstract

一种可通行区域的探索方法、装置、存储介质及电子装置，探索方法包括对目标地图中包括的可通行区域进行划分，并基于划分结果确定至少一个目标可通行子区域，其中，目标地图包括具备自主探索能力的机器人所在区域的地图(S202)；基于至少一个目标可通行子区域内的障碍物的存在状态，确定用于探索可通行区域的探索点集，其中，探索点集中包括至少一个探索点，不同的探索点位于不同的目标可通行子区域内(S204)；控制机器人基于探索点集对可通行区域进行探索(S206)。该探索方法解决了相关技术中存在的机器人在探索可通行区域时产生过多碰撞，探索耗时高，成功率低的问题，减少了机器人在探索可通行区域时产生碰撞的次数，保证了机器人及其周围环境的安全，缩短了探索所需时间，提高了探索的成功率。

Description

可通行区域的探索方法、装置、存储介质及电子装置 技术领域
本发明实施例涉及通信领域，具体而言，涉及一种可通行区域的探索方法、装置、存储介质及电子装置。
背景技术
机器人在未知环境下自主探索一直是移动机器人领域的研究热点。自主探索技术通常要求机器人具有同步定位与地图构建(Simultaneous localization and mapping，简称为SLAM)等能力，可以在未知的环境中建立环境地图。
在相关技术中，机器人领域通常使用自主探索方案来发现环境中存在的特殊标识、信号等，使用范围广泛。然而，由于环境的复杂度以及传感器的测量范围和误差的局限性等因素制约，机器人在探索可通行区域的过程中会产生过多的碰撞,探索耗时高，成功率低。
针对相关技术中存在的上述问题，目前尚未提出有效的解决方案。
发明内容
本发明实施例提供了一种可通行区域的探索方法、装置、存储介质及电子装置，以至少解决相关技术中存在的机器人在探索可通行区域时产生过多碰撞，探索耗时高，成功率低的问题。
根据本发明的一个实施例，提供了一种可通行区域的探索方法，包括：对目标地图中包括的可通行区域进行划分，并基于划分结果确定出至少一个目标可通行子区域，其中，所述目标地图包括具备自主探索能力的机器人所在区域的地图；基于至少一个所述目标可通行子区域内的障碍物的存在状态，确定用于探索所述可通行区域的探索点集，其中，所述探索点集中包括至少一个探索点，不同的探索点位于不同的目标可通行子区域内；控制所述机器人基于所述探索点集对所述可通行区域进行探索。
根据本发明的另一个实施例，提供了一种可通行区域的探索装置，包括：划分模块，用于对目标地图中包括的可通行区域进行划分，并基于划分结果确定出至少一个目标可通行子区域，其中，所述目标地图包括具备自主探索能力 的机器人所在区域的地图；确定模块，用于基于至少一个所述目标可通行子区域内的障碍物的存在状态，确定用于探索所述可通行区域的探索点集，其中，所述探索点集中包括至少一个探索点，不同的探索点位于不同的目标可通行子区域内；控制模块，用于控制所述机器人基于所述探索点集对所述可通行区域进行探索。
根据本发明的又一个实施例，还提供了一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机程序，其中，所述计算机程序被设置为运行时执行上述任一项方法实施例中的步骤。
根据本发明的又一个实施例，还提供了一种电子装置，包括存储器和处理器，所述存储器中存储有计算机程序，所述处理器被设置为运行所述计算机程序以执行上述任一项方法实施例中的步骤。
通过本发明，对目标地图中的可通行区域进行划分，根据划分结果确定出至少一个目标可通行子区域，根据至少一个目标可通行子区域内的障碍物的存在状态确定探索可通行区域的探索点集，控制机器人根据探索点集对可通行区域进行探索。由于探索点集是通过目标可通行子区域内的障碍物的存在状态确定的，在确定探索点集时可以有效地避开障碍物，则机器人在根据探索点集探索可通行区域时，能够有效地避开障碍物，避免碰撞的发生，因此，可以解决相关技术中存在的机器人在探索可通行区域时产生过多碰撞,探索耗时高，成功率低的问题，减少了机器人在探索可通行区域时产生碰撞的次数，保证了机器人及其周围环境的安全，同时，缩短了探索所需时间，提高了探索的成功率。
附图说明
图1是本发明实施例的一种可通行区域的探索方法的移动终端的硬件结构框图；
图2是根据本发明实施例的可通行区域的探索方法的流程图；
图3是根据本发明具体实施例的可通行区域的探索方法流程图；
图4是根据本发明实施例的可通行区域的探索装置的结构框图。
具体实施方式
下文中将参考附图并结合实施例来详细说明本发明的实施例。
需要说明的是，本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。
本发明实施例中所提供的方法实施例可以在移动终端、计算机终端或者类似的运算装置中执行。以运行在移动终端为例，图1是本发明实施例的一种可通行区域的探索方法的移动终端的硬件结构框图。如图1所示，移动终端可以包括一个或多个(图1中仅示出一个)处理器102(处理器102可以包括但不限于MCU(Microcontroller Unit，微控制单元)或FPGA(Field Programmable Gate Array，可编程逻辑器件)等的处理装置)和用于存储数据的存储器104，其中，上述移动终端还可以包括用于通信功能的传输设备106以及输入输出设备108。本领域普通技术人员可以理解，图1所示的结构仅为示意，其并不对上述移动终端的结构造成限定。例如，移动终端还可包括比图1中所示更多或者更少的组件，或者具有与图1所示不同的配置。
存储器104可用于存储计算机程序，例如，应用软件的软件程序以及模块，如本发明实施例中的可通行区域的探索方法对应的计算机程序，处理器102通过运行存储在存储器104内的计算机程序，从而执行各种功能应用以及数据处理，即实现上述的方法。存储器104可包括高速随机存储器，还可包括非易失性存储器，如一个或者多个磁性存储装置、闪存、或者其他非易失性固态存储器。在一些实例中，存储器104可进一步包括相对于处理器102远程设置的存储器，这些远程存储器可以通过网络连接至移动终端。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
传输设备106用于经由一个网络接收或者发送数据。上述的网络具体实例可包括移动终端的通信供应商提供的无线网络。在一个实例中，传输设备106包括一个网络适配器(Network Interface Controller，简称为NIC)，其可通过基站与其他网络设备相连从而可与互联网进行通讯。在一个实例中，传输设备106可以为射频(Radio Frequency，简称为RF)模块，其用于通过无线方式与互联网进行通讯。
在本实施例中提供了一种可通行区域的探索方法，图2是根据本发明实施 例的可通行区域的探索方法的流程图，如图2所示，该流程包括如下步骤：
步骤S202，对目标地图中包括的可通行区域进行划分，并基于划分结果确定至少一个目标可通行子区域，其中，所述目标地图包括具备自主探索能力的机器人所在区域的地图；
步骤S204，基于至少一个所述目标可通行子区域内的障碍物的存在状态，确定用于探索所述可通行区域的探索点集，其中，所述探索点集中包括至少一个探索点，不同的探索点位于不同的目标可通行子区域内；
步骤S206，控制所述机器人基于所述探索点集对所述可通行区域进行探索。
在上述实施例中，机器人可以通过地图管理模块获取目标地图，并计算目标地图的可通行区域。其中，可通行区域可以是包括有能够让机器人进入(即，宽度大于机器人直径的区域)的区域，但该区域中的包括的某个区域的宽度可能小于机器人的直径。机器人可以是清洁机器人，如扫地机器人、厂房巡检机器人，还可以是自主导航运输车、无人机、玩具车等。目标地图可以是机器人根据所处环境生成的地图，还可以是输入至机器人中的地图。例如，当机器人是清洁机器人时，目标地图可以是家居环境中的地图，清洁机器人可以在家居环境中自动建图，生成家居环境地图。当然，清洁机器人还可以接收已经建立好的家居环境地图，例如，可预先对家居环境进行建图，将建图完成的家居环境地图输入至清洁机器人中。此外，清洁机器人还可以获取其他机器人建图完成的家居环境地图。
在上述实施例中，机器人对可通行区域进行探索，以寻找目标区域。目标区域可以为包括充电站的区域、允许机器人停放的区域、维修机器人的区域等。本申请实施例不对目标区域进行限定，目标区域可根据需要进行设定。当目标区域为包括充电站的区域的情况下，机器人在电量低时，可以根据目标地图自主导航到目标区域，完成充电。当目标区域为允许机器人停放的区域的情况下，机器人在工作完成后，可以根据目标地图自主导航到目标区域，完成停放。
可选地，上述步骤的执行主体可以是机器人、后台处理器，或者其他的具备类似处理能力的设备，还可以是至少集成有数据处理设备的机器，其中，数据处理设备可以包括计算机、手机等终端，但不限于此。
通过本发明实施例，对目标地图中的可通行区域进行划分，根据划分结果 确定出至少一个目标可通行子区域，根据至少一个目标可通行子区域内的障碍物的存在状态确定探索可通行区域的探索点集，控制机器人根据探索点集对可通行区域进行探索。由于探索点集是通过目标可通行子区域内的障碍物的存在状态确定的，在确定探索点集时可以有效地避开障碍物，则机器人在根据探索点集探索可通行区域时，能够有效地避开障碍物，避免碰撞的发生，因此，可以解决相关技术中存在的机器人在探索可通行区域时产生过多碰撞,探索耗时高，成功率低的问题，减少了机器人在探索可通行区域时产生碰撞的次数，保证了机器人及其周围环境的安全，同时，缩短了探索所需时间，提高了探索的成功率。
在一个示例性实施例中，对目标地图中包括的可通行区域进行划分，并基于划分结果确定至少一个目标可通行子区域包括：确定用于分割所述可通行区域的目标框；利用所述目标框分割所述可通行区域，以得到至少一个可通行子区域；从至少一个所述可通行子区域中确定满足第一条件的至少一个所述目标可通行子区域。在本实施例中，在确定出目标地图中包括的可通行区域后，可以先确定用于分割可通行区域的目标框，其中，目标框可以为矩形框，当然，也可以是其他形状的框，例如，圆形框，多边形框等，其中，目标框的面积大小可以动态调节，从而实现更灵活、高效、合理地划分可通行区域。例如，当机器人处于家居环境时，目标框的面积可以调整为1m 2，当机器人处于仓库中时，目标框的面积可以调整为4m 2。需要说明的是，上述目标框的面积仅是一种示例性说明，目标框的面积可以根据所处环境的大小及机器人自身的占地面等灵活地设置，本发明实施例对目标框的面积不做限制。在确定目标框后，可以将可通行区域的预定位置设置为起点，其中，预定位置可以是可通行区域的左下角、右下角等。在确定预定位置后，目标框可以以预定位置为起点分割可通行区域，得到至少一个可通行子区域，从至少一个可通行子区域中确定出满足第一条件的至少一个目标可通行子区域。其中，第一条件可以是可通行子区域中的可通行区域的面积超过第一阈值。
在一个示例性实施例中，从至少一个所述可通行子区域中确定满足第一条件的至少一个所述目标可通行子区域包括：分别确定至少一个所述可通行子区域中每个可通行子区域包括的可通行区域面积；将至少一个所述可通行子区域 中包括的可通行区域面积大于第一阈值的可通行子区域确定为所述目标可通行子区域。在本实施例中，在得到至少一个可通行子区域后，可以分别确认至少一个可通行子区域中包括的可通行区域面积，将可通行区域面积小于等于第一阈值的可通行区域删除，即，将可通行区域面积大于第一阈值的可通行子区域确定为目标可通行子区域。其中，第一阈值的大小可以设置为目标框面积的四分之一(该阈值仅是示例性说明，在实际应用中还可以设置其他阈值，例如，目标框面积的五分之一、三分之一等)，当可通行区域的面积小于或等于目标框面积的四分之一时，机器人探索该区域可能会发生碰撞，因此，可以将可通行区域的面积小于或等于目标框面积的四分之一的可通行子区域删除，进而有效避免生成的探索点离障碍物过近，从而降低了机器人碰撞的风险。
在一个示例性实施例中，基于至少一个所述目标可通行子区域内的障碍物的存在状态，确定用于探索所述可通行区域的探索点集包括：基于至少一个所述目标可通行子区域内的障碍物的存在状态，确定至少一个所述目标可通行子区域中包括的第一类目标可通行子区域以及第二类目标可通行子区域，其中，所述第一类目标可通行子区域中不存在障碍物，所述第二类目标可通行子区域中存在障碍物；将所述第一类目标可通行子区域的中心点确定为第一探索点；确定所述第二类目标可通行子区域中不存在障碍物的区域中的目标点，将所述目标点中包括的满足第二条件的点确定为第二探索点；基于所述第一探索点和所述第二探索点确定所述探索点集。在本实施例中，可以将目标可通行子区域中不存在障碍物的第一类目标可通行子区域的中心点确定为第一探索点，将目标可通行子区域中存在障碍物的第二类目标可通行子区域中的目标点中满足第二条件的圆心确定为第二探索点。即，当目标框中没有障碍物时，可以将目标框的中心点确定为第一探索点。
在一个示例性实施例中，确定所述第二类目标可通行子区域中不存在障碍物的区域中的目标点包括以下之一：确定所述第二类目标可通行子区域中不存在障碍物的区域的最大内切圆的第一圆心，将所述第一圆心确定为所述目标点；确定所述第二类目标可通行子区域中不存在障碍物的区域的最大外接圆的第二圆心，将所述第二圆心确定为所述目标点；确定所述第二类目标可通行子区域中不存在障碍物的区域的质心，将所述质心确定为所述目标点。在本实施例中， 当目标框中存在障碍物时，可以在该框中得到多个不包括障碍物的区域的最大内切圆的圆心，将最大内切圆圆心中满足第二条件的圆心确定为第二探索点。还可以在该框中得到多个不包括障碍物的区域的外切圆的圆心，将最大外切圆圆心中满足第二条件的圆心确定为第二探索点。当然，也可以在该框中得到多个不包括障碍物的区域的质心，将质心中满足第二条件的圆心确定为第二探索点。其中，第二条件可以为允许机器人到达，且不被障碍物包围。
在一个示例性实施例中，将所述目标点中包括的满足第二条件的点确定为第二探索点包括：将目标点中包括的未被障碍物包围且允许所述机器人到达的点确定为所述第二探索点。在本实施例中，在确定出多个内切圆圆心后，可以将多个圆心中包括的未被障碍物包围且允许机器人到达的圆心确定为第二探索点。
在一个示例性实施例中，基于所述第一探索点和所述第二探索点所构成的集合确定所述探索点集包括：确定由所述第一探索点中包括的允许所述机器人到达的探索点，以及所述第二探索点中包括的允许所述机器人到达的探索点所构成的第一点集；根据所述第一点集，确定所述探索点集。在本实施例中，可以将第一探索点中不允许机器人到达的探索点删除，将第二探索点中不允许机器人到达的探索点删除，在第一探索点中剩余的探索点以及第二探索点中剩余的探索点构成的点集中确定出探索点集。
在一个示例性实施例中，根据所述第一点集，确定所述探索点集包括：确定所述第一点集中包括的探索点的密度；在确定所述第一点集中包括的探索点的密度超过预定密度阈值的情况下，删除所述第一点集中包括的一个或多个探索点，并将删除掉一个或多个探索点后的第一点集作为所述探索点集，其中，所述探索点集中包括的探索点的密度小于或等于所述预定密度阈值。在本实施例中，在确定第一点集中包括的探索点的密度超过预定密度阈值的情况下，可以删除第一点集中包括的一个或多个探索点，以使剩余的点集的密度小于或等于预定阈值，例如，当第一点集中包括的探索点的密度超于预定密度阈值时，可以删除第一点集中40％的探索点(40％仅是示例性说明，在实际应用中，还可以删除50％的探索点，或者删除35％的探索点等)，将剩余60％的点集确定为探索点集。可以采用随机删除的方式删除第一点集中包括的一个或多个探索点。 还可以根据探索点的分布，将探索点分成若干个区域，删除密集度大的区域中包括的一个或多个探索点。其中，预定密度阈值可以是自定义的值，用户可以根据机器人所在环境的大小及机器人的大小自定义该预定密度阈值。
在本实施例中，还可以通过欧式距离删除第一点集中包括的一个或多个探索点。首先确定距离机器人最近的探索点e，计算其他探索点距离探索点e的欧式距离，当其他探索点距离探索点e较近时，可以认为探索点e所在区域的探索点密度超过预定密度阈值，则删除距离探索点e较近的探索点。例如，当探索点e 1与探索点e的欧式距离为1.1m，探索点e 2与探索点e的欧式距离为1.3m时，则可以认为探索点e 1距离探索点e较近，探索点e 2距离探索点e适当，则可以删除探索点e 1，保留探索点e 2。
在一个示例性实施例中，控制所述机器人基于所述探索点集对所述可通行区域进行探索包括：确定所述探索点集中包括的所述机器人未到达过的探索点；基于所述机器人与所述机器人未到达过的探索点之间的距离以及所述机器人行驶至所述机器人未到达过的探索点的时间，确定第一目标探索点；控制所述机器人行驶至所述第一目标探索点，并在所述第一目标探索点处按照目标探索方式对所述第一目标探索点所在的目标可通行子区域进行探索。在本实施例中，在确定探索点集后，机器人中的导航模块可以控制机器人探索探索点集中的探索点，即控制机器人运动至探索点集中未到达过的探索点。当机器人探索的目标区域为包括充电站的区域时，机器人在到达未到达过的探索点后，可以缓慢旋转360度，用来寻找回充信号，确定该区域中是否包括充电站。即，机器人的回充传感器可以实时检测信号，在检测到回充信号时，可以退出探索流程，也可以继续探索下一探索点。例如，当机器人所处的环境为家居环境时，大多情况下，一个区域内仅存在一个充电站，因此，在机器人检测到回充信号后，可以退出探索流程。当机器人所处的环境为仓库时，大多情况下，仓库中可以包括多个充电站，因此，在机器人检测到回充信号后，可以继续探索下一个探索点，直至将所有的探索点均探索完成，找到仓库中包括的多个充电站。在确定该区域包括充电站的情况下，可以对该区域进行标记，在机器人下次需要充电时，可直接运动至该区域进行充电，无需对该区域再次探索。当然，当机器人对该区域中的充电站进行标记后，还可以将标记的区域发送给其他机器人， 其他机器人可以根据该机器人的探索结果直接运动至充电站进行充电，无需探索该区域。
在本实施例中，机器人探索一个探索点后，可以在探索点集中删除该点，当探索点集中的探索点为空时，则认为探索完所有的探索点。当然，机器人探索一个探索点后，可以对该探索点进行标记，表示该探索点已探索完毕，当探索点集中的所有的探索点均被标记后，则认为探索完所有的探索点。
在本实施例中，可以根据机器人中包括的决策模块依据当前机器人位置以及地图信息，从探索点集中寻找代价最小的探索点，即第一目标探索点。可以根据机器人当前的位置以及各个未到达过的探索点的位置确定机器人分别到达各个未到达过的探索点的时间以及距离，根据距离和时间综合确定出第一目标探索点。
在一个示例性实施例中，基于所述机器人与所述机器人未到达过的探索点之间的距离以及所述机器人行驶至所述机器人未到达过的探索点的时间，确定第一目标探索点包括：确定所述机器人与所述机器人未到达过的探索点之间的距离以及所述机器人行驶至所述机器人未到达过的探索点的时间的加权值之和；将最小加权值之和对应的探索点确定为所述第一目标探索点。在本实施例中，可以分别确定机器人从当前的位置运动到未到达过的探索点的位置的距离和时间，然后计算距离和时间的加权值之和，将加权值之和最小的探索点确定为第一目标探索点。机器人在运动至第一目标探索点后，可以继续计算从当前的位置运动到未到达过的探索点的位置的距离和时间，将加权值之和最小的探索点确定为新的第一目标探索点。即，机器人从当前位置移动到第一目标探索点后，无需返回到当前位置，直接运动至下一探索点，节省探索的时间。
在一个示例性实施例中，控制所述机器人基于所述探索点集对所述可通行区域进行探索包括：确定所述探索点集中包括的所述机器人未到达过的探索点；基于预定方式确定出所述机器人到达所述机器人未到达过的探索点中包括的所有探索点的全局最优路径；将所述全局最优路径中包括的与所述机器人相邻的探索点确定为第二目标探索点；控制所述机器人行驶至所述第二目标探索点，并在所述第二目标探索点处按照目标探索方式对所述第二目标探索点所在的目标可通行子区域进行探索。在本实施例中，可以利用模拟退火算法计算出从机 器人当前位置出发的全局最优路径，每次取计算得到的全局最优路径中的下一个邻近点为第二目标探索点，控制机器人行驶至第二目标探索点后，机器人可以缓慢转360度，用来寻找回充信号，确定该区域中是否包括充电站。例如，机器人的回充传感器可以实时检测信号，在检测到回充信号时，可以退出探索流程，也可以继续探索下一探索点。需要说明的是，机器人可以采用其他方法来确定探索点所在区域是否包括充电站，本实施例对此不作限定。例如，当机器人所处的环境为家居环境时，大多情况下，一个区域内仅存在一个充电站，因此，在机器人检测到回充信号后，可以退出探索流程。当机器人所处的环境为仓库时，大多情况下，仓库中可以包括多个充电站，因此，在机器人检测到回充信号后，可以继续探索下一个探索点，直至将所有的探索点均探索完成，找到仓库中包括的多个充电站。在确定该区域包括充电站的情况下，可以对该区域进行标记，在机器人下次需要充电时，可直接运动至该区域进行充电，无需对该区域再次探索。当然，当机器人对该区域中的充电站进行标记后，还可以将标记的区域发送给其他机器人，其他机器人可以根据该机器人的探索结果直接运动至充电站进行充电，无需探索该区域。
在上述实施例中，利用模拟退火算法计算出从机器人当前位置出发的全局最优路径的步骤如下：
S1，计算探索点集中机器人未达到过的探索点d i到集合中其他机器人未达到过的探索点d i(i≠j)的距离d ij。
S2，设置一个初始温度t 0，随机初始化一个初始访问序列(需要是一个闭环)，计算序列相邻探索点的距离之和，记为路径总长度L old。
S3.1，随机交换序列中一对或多对探索点的顺序，生成一个新的访问序列。
S3.2，计算新的访问序列的路径总长度L new，若L new＜L old，则将L new视为新的最优解，更新其值，L old＝L new，否则继续。
S3.3，循环上述步骤3.1-3.2，当循环次数等于预设次数k时，进行退火判断，能量计算公式为
Figure PCTCN2021108392-appb-000001
(L new<L old)，其中，T表示当前温度。根据能量所对应的温度T确定是否接受此次退火获得的最优解，接受条件为能量所对应的温度小于第一预设阈值。
S3.4，如果接受，温度T下降较大值t 1，否则下降较小值t 2；判断下降后的 温度是否小于第二预设阈值，若是，则返回成功，否则，返回S3.1。
S4，循环S3.1-S3.4步骤，直至确定出全局最优路径。
需要说明的是，第一预设阈值与第二预设阈值可以是自定义的值，本发明对第一预设阈值和第二预设阈值不做限制，第一预设阈值与第二预设阈值可以相同，也可以不同。
下面举例说明模拟退火算法计算出从机器人当前位置出发的全局最优路径的步骤：
S1，探索点集中包括A、B、C、D、E5个未探索点，假设A→C的距离为5，C→E的距离为3，E→B的距离为6，B→D的距离为11，D→A的距离为5。
S2，随机初始化一个访问序列：A→C→E→B→D→A(需要是一个闭环)，则路径总长度L old为30。
S3.1，随机交换探索点集中的一对或者多对未探索点的顺序，例如，只交换一对点(C，B)的顺序，交换后的顺序是A→B→E→C→D→A。
S3.2，计算新的访问序列的路径总长度L new，假设L new为20。 Lnew＜ Lold，则更新L old， Lold的值变为20。
S3.3，将3.1-3.2这两个步骤循环k次，此时L old是这k次里路径总长度最短的局部最优解(因为只随机尝试了k次)。此时根据来判断是否接受此次的L。
S3.4，判断当前温度是否下降到预定阈值以下，若是则返回成功，否则返回3.1继续。
S4，循环S3.1-S3.4步骤，直至确定出全局最优路径。
下面结合具体实施方式对可通行区域的探索方法进行说明：
图3是根据本发明具体实施里的可通行区域的探索方法流程图，如图3所示，该流程中的各个步骤均可以由机器人或者机器人内设置的处理器来执行，其中，该流程包括如下步骤：
步骤S302，获取地图并计算当前地图的可通行区域。
步骤S304，以可通行区域的左下角为起点，将可通行区域使用矩形方框进行分割，得到一组可能存在充电座的集合C。
i.当前矩形框中C i可通行区域小于等于一定阈值，则将该矩形框从矩型框集合C中删除。
ii.当前矩形框C i中没有任何障碍物信息，则将该矩形框的中心点设为该框的探索点E i。
iii.当前矩形框C i中有障碍物，则取该矩形框剩余可通行区域的最大内切圆的圆心为该框的探索点E i，或者取该矩形框剩余可通行区域的最大外接圆的圆心为该框的探求点E i，或者取该矩形框剩余可通行区域的质心为该框的探求点E i。
步骤S306，根据集合C中每个矩形框状态计算得到探索点集合E。
步骤S308，从集合E中寻找代价最小点e。
步骤S310，判断E是否为空，当判断结果为是时，执行步骤S324，当判断结果为否时，执行步骤S312。
步骤S312，导航前往e。
步骤S314，判断e是否可达，当判断是否为是时，执行步骤S316，当判断结果为否时，执行步骤S318。
步骤S316，原地缓慢旋转360度，用来寻找回充信号。
步骤S318，从E中删除e。
步骤S320，检测到符合退出的条件。
步骤S324，退出。
在前述实施例中，也可以使用非矩形框对目标地图进行划分，根据划分后得到的区域确定探索点集，还可以直接在目标地图中生成间隔一定的随机种子点，即探索点，再对探索点所在的区域进行探索。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到根据上述实施例的方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明实施例的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、 光盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，或者网络设备等)执行本发明各个实施例所述的方法。
在本实施例中还提供了一种目标区域的探索装置，该装置用于实现上述实施例及优选实施方式，已经进行过说明的不再赘述。如以下所使用的，术语“模块”可以实现预定功能的软件和/或硬件的组合。尽管以下实施例所描述的装置较佳地以软件来实现，但是硬件，或者软件和硬件的组合的实现也是可能并被构想的。
图4是根据本发明实施例的可通行区域的探索装置的结构框图，如图4所示，该装置包括：
划分模块42，用于对目标地图中包括的可通行区域进行划分，并基于划分结果确定出至少一个目标可通行子区域，其中，所述目标地图包括具备自主探索能力的机器人所在区域的地图；
确定模块44，用于基于至少一个所述目标可通行子区域内的障碍物的存在状态，确定用于探索所述可通行区域的探索点集，其中，所述探索点集中包括至少一个探索点，不同的探索点位于不同的目标可通行子区域内；
控制模块46，用于控制所述机器人基于所述探索点集对所述可通行区域进行探索。
其中，所述划分模块42对应于上述地图管理模块，控制模块46对应于上述导航模块和决策模块。
在一个示例性实施例中，所述划分模块42可以通过如下方式实现对目标地图中包括的可通行区域进行划分，并基于划分结果确定至少一个目标可通行子区域：确定用于分割所述可通行区域的目标框；利用所述目标框分割所述可通行区域，以得到至少一个可通行子区域；从至少一个所述可通行子区域中确定满足第一条件的至少一个所述目标可通行子区域。
在一个示例性实施例中，所述划分模块42可以通过如下方式实现从至少一个所述可通行子区域中确定满足第一条件的至少一个所述目标可通行子区域：分别确定至少一个所述可通行子区域中每个可通行子区域包括的可通行区域面积；将至少一个所述可通行子区域中包括的可通行区域面积大于第一阈值的可 通行子区域确定为所述目标可通行子区域。
在一个示例性实施例中，所述确定模块44可以通过如下方式实现基于至少一个所述目标可通行子区域内的障碍物的存在状态，确定用于探索所述可通行区域的探索点集：基于至少一个所述目标可通行子区域内的障碍物的存在状态，确定至少一个所述目标可通行子区域中包括的第一类目标可通行子区域以及第二类目标可通行子区域，其中，所述第一类目标可通行子区域中不存在障碍物，所述第二类目标可通行子区域中存在障碍物；将所述第一类目标可通行子区域的中心点确定为第一探索点；确定所述第二类目标可通行子区域中不存在障碍物的区域中的目标点，将所述目标点中包括的满足第二条件的点确定为第二探索点；基于所述第一探索点和所述第二探索点确定所述探索点集。
在一个示例性实施例中，所述确定模块44可以通过如下方式之一实现确定所述第二类目标可通行子区域中不存在障碍物的区域中的目标点：确定所述第二类目标可通行子区域中不存在障碍物的区域的最大内切圆的第一圆心，将所述第一圆心确定为所述目标点；确定所述第二类目标可通行子区域中不存在障碍物的区域的最大外接圆的第二圆心，将所述第二圆心确定为所述目标点；确定所述第二类目标可通行子区域中不存在障碍物的区域的质心，将所述质心确定为所述目标点。
在一个示例性实施例中，所述确定模块44可以通过如下方式实现将所述目标点中包括的满足第二条件的点确定为第二探索点：将所述目标点中包括的未被障碍物包围且允许所述机器人到达的点确定为所述第二探索点。
在一个示例性实施例中，所述确定模块44可以通过如下方式实现基于所述第一探索点和所述第二探索点所构成的集合确定所述探索点集：确定由所述第一探索点中包括的允许所述机器人到达的探索点，以及所述第二探索点中包括的允许所述机器人到达的探索点所构成的第一点集；根据所述第一点集，确定所述探索点集。
在一个示例性实施例中，所述确定模块44可以通过如下方式实现根据所述第一点集，确定所述探索点集：确定所述第一点集中包括的探索点的密度；在确定所述第一点集中包括的探索点的密度超过预定密度阈值的情况下，删除所述第一点集中包括的一个或多个探索点，并将删除掉一个或多个探索点后的第 一点集作为所述探索点集，其中，所述探索点集中包括的探索点的密度小于或等于所述预定密度阈值。
在一个示例性实施例中，所述控制模块46可以通过如下方式实现控制所述机器人基于所述探索点集对所述可通行区域进行探索：确定所述探索点集中包括的所述机器人未到达过的探索点；基于所述机器人与所述机器人未到达过的探索点之间的距离以及所述机器人行驶至所述机器人未到达过的探索点的时间，确定第一目标探索点；控制所述机器人行驶至所述第一目标探索点，并在所述第一目标探索点处按照目标探索方式对所述第一目标探索点所在的目标可通行子区域进行探索。
在一个示例性实施例中，所述控制模块46可以通过如下方式实现基于所述机器人与所述机器人未到达过的探索点之间的距离以及所述机器人行驶至所述机器人未到达过的探索点的时间，确定第一目标探索点：确定所述机器人与所述机器人未到达过的探索点之间的距离以及所述机器人行驶至所述机器人未到达过的探索点的时间的加权值之和；将最小加权值之和对应的探索点确定为所述第一目标探索点。
在一个示例性实施例中，所述控制模块46还可以通过如下方式实现控制所述机器人基于所述探索点集对所述可通行区域进行探索：确定所述探索点集中包括的所述机器人未到达过的探索点；基于预定方式确定出所述机器人到达所述机器人未到达过的探索点中包括的所有探索点的全局最优路径；将所述全局最优路径中包括的与所述机器人相邻的探索点确定为第二目标探索点；控制所述机器人行驶至所述第二目标探索点，并在所述第二目标探索点处按照目标探索方式对所述第二目标探索点所在的目标可通行子区域进行探索。
需要说明的是，上述各个模块是可以通过软件或硬件来实现的，对于后者，可以通过以下方式实现，但不限于此：上述模块均位于同一处理器中；或者，上述各个模块以任意组合的形式分别位于不同的处理器中。
本发明的实施例还提供了一种计算机可读存储介质，该计算机可读存储介质中存储有计算机程序，其中，该计算机程序被设置为运行时执行上述任一项方法实施例中的步骤。
在一个示例性实施例中，上述计算机可读存储介质可以包括但不限于：U 盘、只读存储器(Read-Only Memory，简称为ROM)、随机存取存储器(Random Access Memory，简称为RAM)、移动硬盘、磁碟或者光盘等各种可以存储计算机程序的介质。
本发明的实施例还提供了一种电子装置，包括存储器和处理器，该存储器中存储有计算机程序，该处理器被设置为运行计算机程序以执行上述任一项方法实施例中的步骤，其中，电子装置可以为机器人(如清洁机器人、厂房巡检机器人)、自主导航运输车、无人机、玩具车等。
在一个示例性实施例中，上述电子装置还可以包括传输设备以及输入输出设备，其中，该传输设备和上述处理器连接，该输入输出设备和上述处理器连接。
本实施例中的具体示例可以参考上述实施例及示例性实施方式中所描述的示例，本实施例在此不再赘述。
显然，本领域的技术人员应该明白，上述的本发明实施例的各模块或各步骤可以用通用的计算装置来实现，它们可以集中在单个的计算装置上，或者分布在多个计算装置所组成的网络上，它们可以用计算装置可执行的程序代码来实现，从而，可以将它们存储在存储装置中由计算装置来执行，并且在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤，或者将它们分别制作成各个集成电路模块，或者将它们中的多个模块或步骤制作成单个集成电路模块来实现。这样，本发明不限制于任何特定的硬件和软件结合。
以上所述仅为本发明的具体实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (14)

  1. 一种可通行区域的探索方法，其特征在于，包括：
    对目标地图中包括的可通行区域进行划分，并基于划分结果确定至少一个目标可通行子区域，其中，所述目标地图包括具备自主探索能力的机器人所在区域的地图；
    基于至少一个所述目标可通行子区域内的障碍物的存在状态，确定用于探索所述可通行区域的探索点集，其中，所述探索点集中包括至少一个探索点，不同的探索点位于不同的目标可通行子区域内；
    控制所述机器人基于所述探索点集对所述可通行区域进行探索。
  2. 根据权利要求1所述的方法，其特征在于，对目标地图中包括的可通行区域进行划分，并基于划分结果确定至少一个目标可通行子区域包括：
    确定用于分割所述可通行区域的目标框；
    利用所述目标框分割所述可通行区域，以得到至少一个可通行子区域；
    从至少一个所述可通行子区域中确定满足第一条件的至少一个所述目标可通行子区域。
  3. 根据权利要求2所述的方法，其特征在于，从至少一个所述可通行子区域中确定满足第一条件的至少一个所述目标可通行子区域包括：
    分别确定至少一个所述可通行子区域中每个可通行子区域包括的可通行区域面积；
    将至少一个所述可通行子区域中包括的可通行区域面积大于第一阈值的可通行子区域确定为所述目标可通行子区域。
  4. 根据权利要求1所述的方法，其特征在于，基于至少一个所述目标可通行子区域内的障碍物的存在状态，确定用于探索所述可通行区域的探索点集包括：
    基于至少一个所述目标可通行子区域内的障碍物的存在状态，确定至少一个所述目标可通行子区域中包括的第一类目标可通行子区域以及第二类目标可通行子区域，其中，所述第一类目标可通行子区域中不存在障碍物，所述第二类目标可通行子区域中存在障碍物；
    将所述第一类目标可通行子区域的中心点确定为第一探索点；
    确定所述第二类目标可通行子区域中不存在障碍物的区域中的目标点，将所述目标点中包括的满足第二条件的点确定为第二探索点；
    基于所述第一探索点和所述第二探索点确定所述探索点集。
  5. 根据权利要求4所述的方法，其特征在于，确定所述第二类目标可通行子区域中不存在障碍物的区域中的目标点包括以下之一：
    确定所述第二类目标可通行子区域中不存在障碍物的区域的最大内切圆的第一圆心，将所述第一圆心确定为所述目标点；
    确定所述第二类目标可通行子区域中不存在障碍物的区域的最大外接圆的第二圆心，将所述第二圆心确定为所述目标点；
    确定所述第二类目标可通行子区域中不存在障碍物的区域的质心，将所述质心确定为所述目标点。
  6. 根据权利要求4所述的方法，其特征在于，将所述目标点中包括的满足第二条件的点确定为第二探索点包括：
    将所述目标点中包括的未被障碍物包围且允许所述机器人到达的点确定为所述第二探索点。
  7. 根据权利要求4所述的方法，其特征在于，基于所述第一探索点和所述第二探索点所构成的集合确定所述探索点集包括：
    确定由所述第一探索点中包括的允许所述机器人到达的探索点，以及所述第二探索点中包括的允许所述机器人到达的探索点所构成的第一点集；
    根据所述第一点集，确定所述探索点集。
  8. 根据权利要求7所述的方法，其特征在于，根据所述第一点集，确定所述探索点集包括：
    确定所述第一点集中包括的探索点的密度；
    在确定所述第一点集中包括的探索点的密度超过预定密度阈值的情况下，删除所述第一点集中包括的一个或多个探索点，并将删除掉一个或多个探索点 后的第一点集作为所述探索点集，其中，所述探索点集中包括的探索点的密度小于或等于所述预定密度阈值。
  9. 根据权利要求1所述的方法，其特征在于，控制所述机器人基于所述探索点集对所述可通行区域进行探索包括：
    确定所述探索点集中包括的所述机器人未到达过的探索点；
    基于所述机器人与所述机器人未到达过的探索点之间的距离以及所述机器人行驶至所述机器人未到达过的探索点所需的时间，确定第一目标探索点；
    控制所述机器人行驶至所述第一目标探索点，并在所述第一目标探索点处按照目标探索方式对所述第一目标探索点所在的目标可通行子区域进行探索。
  10. 根据权利要求9所述的方法，其特征在于，基于所述机器人与所述机器人未到达过的探索点之间的距离以及所述机器人行驶至所述机器人未到达过的探索点的时间，确定第一目标探索点包括：
    确定所述机器人与所述机器人未到达过的探索点之间的距离以及所述机器人行驶至所述机器人未到达过的探索点的时间的加权值之和；
    将最小加权值之和对应的探索点确定为所述第一目标探索点。
  11. 根据权利要求1所述的方法，其特征在于，控制所述机器人基于所述探索点集对所述可通行区域进行探索包括：
    确定所述探索点集中包括的所述机器人未到达过的探索点；
    基于预定方式确定出所述机器人到达所述机器人未到达过的探索点中包括的所有探索点的全局最优路径；
    将所述全局最优路径中包括的与所述机器人相邻的探索点确定为第二目标探索点；
    控制所述机器人行驶至所述第二目标探索点，并在所述第二目标探索点处按照目标探索方式对所述第二目标探索点所在的目标可通行子区域进行探索。
  12. 一种可通行区域的探索装置，其特征在于，包括：
    划分模块，用于对目标地图中包括的可通行区域进行划分，并基于划分结果确定出至少一个目标可通行子区域，其中，所述目标地图包括具备自主探索能力的机器人所在区域的地图；
    确定模块，用于基于至少一个所述目标可通行子区域内的障碍物的存在状态，确定用于探索所述可通行区域的探索点集，其中，所述探索点集中包括至少一个探索点，不同的探索点位于不同的目标可通行子区域内；
    控制模块，用于控制所述机器人基于所述探索点集对所述可通行区域进行探索。
  13. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机程序，其中，所述计算机程序被设置为运行时执行所述权利要求1至11任一项中所述的方法。
  14. 一种电子装置，包括存储器和处理器，其特征在于，所述存储器中存储有计算机程序，所述处理器被设置为运行所述计算机程序以执行所述权利要求1至11任一项中所述的方法。
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