CN113033907A

CN113033907A - Path planning method and device, electronic equipment and storage medium

Info

Publication number: CN113033907A
Application number: CN202110375278.7A
Authority: CN
Inventors: 潘晶; 沈满; 唐志灏; 浦希成; 陆凌飞
Original assignee: Shanghai Timi Robot Co ltd
Current assignee: Shanghai Timi Robot Co ltd
Priority date: 2021-04-07
Filing date: 2021-04-07
Publication date: 2021-06-25

Abstract

The application provides a path planning method and device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring a starting point position and an end point position; according to a first path diagram of a floor where a starting position is located and a second path diagram of a floor where a finishing position is located, a first path from the starting position to each exit of the corresponding floor and a first path length are obtained, and the finishing position corresponds to a second path from each entrance of the floor to the finishing position and a second path length; for each outlet, obtaining a third route from the outlet to each inlet and a third route length according to the cross-layer network diagram; and obtaining a target route with the shortest total route length from the starting position to the end position according to the first route and the first route length, the second route and the second route length, and the third route length. According to the scheme, the optimal route can be planned, the complexity of path planning is reduced, and the planning efficiency is improved.

Description

Path planning method and device, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of robotics, and in particular, to a path planning method and apparatus, an electronic device, and a storage medium.

Background

As medical service robots have become more and more popular, there are various types of service robots in hospitals, such as a guide robot, a transport robot, and the like. In actual work in a hospital, a robot tends to move between different floors while performing a particular work or while being dispatched. Taking the medical material transportation robot as an example, the medical material transportation robot generally transports medical materials to different floors.

The robot often involves a plurality of maps when moving between different floors, so the robot needs to switch the maps at the map handover position, load a new map, and adopt the switched map to plan the path after coordinate conversion.

Disclosure of Invention

The embodiment of the application provides a path planning method, which is used for reducing the complexity of path planning and improving the planning efficiency.

The embodiment of the application provides a path planning method, which comprises the following steps:

acquiring a starting point position and an end point position;

according to the first path diagram of the floor where the starting position is located and the second path diagram of the floor where the end position is located, a first path from the starting position to each exit of the corresponding floor and a first path length are obtained, and the end position corresponds to a second path from each entrance of the floor to the end position and a second path length;

for each outlet, obtaining a third route from the outlet to each inlet and a third route length according to a cross-layer network diagram;

and obtaining a target route with the shortest total route length from the starting position to the end position according to the first route and the first route length, the second route and the second route length, and the third route length.

In one embodiment, if the starting location and the ending location are on the same floor, the method further comprises:

and obtaining a target route with the shortest total route length from the starting position to the end position through a shortest path algorithm according to the single-layer path graph corresponding to the floor.

In an embodiment, the obtaining, according to the first path map of the floor where the starting position is located and the second path map of the floor where the ending position is located, the first path and the first path length from the starting position to each exit of the corresponding floor, and the second path length from each entrance of the corresponding floor to the ending position at the ending position includes:

acquiring a first path diagram of a floor where the starting position is located and a second path diagram of a floor where the ending position is located;

according to all the outlets indicated in the first path diagram and the path length between each logic point, for each outlet, screening the shortest path from the starting position to each outlet through a shortest path algorithm to obtain the first path and the first path length;

and screening the shortest path from each entrance to the end point position by a shortest path algorithm aiming at each entrance according to all the entrances indicated in the second path diagram and the path length between each logic point to obtain the second route and the length of the second route.

In an embodiment, the filtering, for each exit, a shortest path from the starting position to each exit by a shortest path algorithm according to the path lengths between all exits and each logical point indicated in the first path map to obtain the first route and the first route length includes:

setting a target position on a path closest to the starting point position according to the first path diagram and the starting point position;

and screening the shortest path from the target position to each outlet through a shortest path algorithm aiming at each outlet according to all outlets indicated in the first path diagram and the path length between each logic point to obtain the first route and the first route length.

In an embodiment, the filtering, for each entry, a shortest path from each entry to the end position according to all entries indicated in the second path diagram and a path length between each logical point by using a shortest path algorithm to obtain the second route and a second route length includes:

setting a target position on a path closest to the end position according to the second path diagram and the end position;

and screening the shortest path from the target position to each entry through a shortest path algorithm aiming at each entry according to all entries indicated in the second path diagram and the path length between each logic point to obtain the second route and the length of the second route.

In an embodiment, the obtaining, for each of the outlets, a third route and a third route length from the outlet to each of the inlets according to a cross-layer network map includes:

and according to the path length between the entrances and the exits of the same floor and the path length between the entrances and the exits of different floors indicated by the cross-floor network diagram, aiming at all exits of floors corresponding to the starting position and all entrances of floors corresponding to the ending position, screening the shortest path from each exit to each entrance through a shortest path algorithm to obtain the third route and the length of the third route.

In an embodiment, the obtaining, according to the first route and the first route length, the second route and the second route length, and the third route length, the target route with the shortest total route length from the starting position to the ending position includes:

for any outlet and any inlet, obtaining the total route length from the starting position to the end position through the outlet and the inlet according to the first route length corresponding to the outlet, the second route length corresponding to the inlet and the third route length corresponding to the outlet and the inlet;

and screening out the target route with the shortest total route length according to the total route lengths corresponding to the combinations of different exits and different entrances.

In an embodiment, before the first path map according to the floor where the starting position is located and the second path map according to the floor where the ending position is located, the method further includes:

and constructing a cross-floor network map and a single-floor path map corresponding to each floor according to the floor path file and the elevator file.

In an embodiment, the constructing a cross-floor network graph and a single-floor path graph corresponding to each floor according to the floor path file and the elevator file includes:

according to the floor path file and the elevator file, a single-layer network graph, a floor logic point and an elevator logic point corresponding to each floor are constructed;

building an entrance logic point corresponding to each floor according to the passing type of different elevators on each floor indicated by the elevator file;

and connecting the floor logic points, the elevator logic points and the entrance logic points according to the entrance and exit directions of the entrance logic points to form the cross-floor network diagram.

In an embodiment, the connecting the floor logical point, the elevator logical point, and the entrance logical point according to the entrance and exit direction of the entrance logical point to form the cross-floor network map includes:

and connecting the floor logic points, the elevator logic points and the entrance logic points through directed line segments according to the entrance and exit directions of the entrance and exit logic points, and marking the path lengths among different entrance and exit logic points to obtain the cross-floor network diagram.

An embodiment of the present application provides a path planning apparatus, including:

the position acquisition module is used for acquiring a starting position and an end position;

the single-layer planning unit is used for obtaining a first route from the starting position to each exit of the corresponding floor and a first route length according to the first route map of the floor where the starting position is located and the second route map of the floor where the end position is located, and the end position corresponds to the second route from each entrance of the floor to the end position and the second route length;

a cross-layer planning unit, configured to obtain, for each exit, a third route from the exit to each entry and a third route length according to a cross-layer network diagram;

and the path screening unit is used for obtaining the target route with the shortest total route length from the starting position to the end position according to the first route and the first route length, the second route and the second route length, and the third route length.

An embodiment of the present application provides an electronic device, which includes:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to perform the path planning method described above.

An embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and the computer program can be executed by a processor to complete the above path planning method.

According to the technical scheme provided by the embodiment of the application, the target route with the shortest total route length can be screened out based on the first route map of the floor where the starting point position is located, the second route map of the floor where the end point position is located and the cross-floor network map, so that the working efficiency of the robot can be improved, and the complexity of route planning is reduced and the planning efficiency is improved because the maps of all floors are not required to be called for many times and coordinate transformation is not required.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly described below.

Fig. 1 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure;

fig. 2 is a schematic flowchart of a path planning method according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a single layer routing diagram provided by an embodiment of the present application;

FIG. 4 is a schematic visualization diagram of a first path diagram provided by an embodiment of the present application;

FIG. 5 is a cross-layer network diagram provided by an embodiment of the present application;

fig. 6 is a detailed flowchart of step S240 provided in the embodiment of the present application;

FIG. 7 is a schematic diagram illustrating a planning principle of the shortest total route according to an embodiment of the present disclosure;

fig. 8 is a detailed flowchart of step S220 provided in an embodiment of the present application;

fig. 9 is a visual display diagram of a floor path file and an elevator file provided by an embodiment of the present application;

fig. 10 is a schematic diagram of a construction process of a cross-layer network diagram and a single-layer network diagram provided by an embodiment of the present application;

FIG. 11 is a cross-layer network diagram illustration provided by another embodiment of the present application;

fig. 12 is a block diagram of a path planning apparatus according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

Like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

Fig. 1 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device 100 may be a robot capable of moving, such as a transport robot, a guide robot, a cleaning robot, and the like. As shown in fig. 1, the electronic device 100 may be configured to execute the path planning method provided in the embodiment of the present application. As shown in fig. 1, the electronic device 100 includes: one or more processors 102, and one or more memories 104 storing processor-executable instructions. Wherein the processor 102 is configured to execute a path planning method provided in the following embodiments of the present application.

The processor 102 may be a device containing a Central Processing Unit (CPU), a Graphics Processing Unit (GPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, may process data for other components in the electronic device 100, and may control other components in the electronic device 100 to perform desired functions.

The memory 104 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium and executed by processor 102 to implement the path planning method described below. Various applications and various data, such as various data used and/or generated by the applications, may also be stored in the computer-readable storage medium.

In one embodiment, the electronic device 100 shown in FIG. 1 may also include an input device 106, an output device 108, and a data acquisition device 110, which are interconnected via a bus system 112 and/or other form of connection mechanism (not shown). It should be noted that the components and structure of the electronic device 100 shown in fig. 1 are exemplary only, and not limiting, and the electronic device 100 may have other components and structures as desired.

The input device 106 may be a device used by a user to input instructions and may include one or more of a keyboard, a mouse, a microphone, a touch screen, and the like. The output device 108 may output various information (e.g., images or sounds) to the outside (e.g., a user), and may include one or more of a display, a speaker, and the like. The data acquisition device 110 may acquire positional information of the robot and store the acquired positional information in the memory 104 for use by other components. The data acquisition device 110 may illustratively be a GPS positioning system.

In an embodiment, the devices in the exemplary electronic device 100 for implementing the path planning method according to the embodiment of the present application may be integrally disposed, or may be disposed in a decentralized manner, such as integrally disposing the processor 102, the memory 104, the input device 106 and the output device 108, and disposing the data acquisition device 110 separately.

Fig. 2 is a schematic flow chart of a path planning method provided in the embodiment of the present application. As shown in fig. 2, the method includes the following steps S210 to S240.

Step S210: a start position and an end position are acquired.

The starting position refers to a position coordinate where the robot is currently located when planning a path, for example, (x0, y0, z0), and the ending position refers to a position coordinate of a destination to which the robot needs to go, for example, (x1, y1, z 1). Wherein z0 and z1 may represent different floors.

Step S220: and obtaining a first route from the starting position to each exit of the corresponding floor and a first route length according to the first route map of the floor where the starting position is located and the second route map of the floor where the end position is located, wherein the end position corresponds to a second route from each entrance of the floor to the end position and a second route length.

The first path map is a single-floor path map of a floor where the starting point position is located. The second route map is a single-floor route map of the floor where the destination location is located. For the purpose of distinction, the first path diagram and the second path diagram are referred to as a first path diagram and a second path diagram, respectively. The first path diagram and the second path diagram can be drawn in advance and stored in the robot local or the server side. All possible paths from one point to another and the distance or elapsed time for each path are plotted in the single-layer path graph. Fig. 3 is a schematic diagram of a single-layer routing diagram provided in an embodiment of the present application. As shown in fig. 3, assuming that routes from a to b may be selected from logical points 1 to 6 to 5, from logical points 1 to 3 to 6 to 5, from logical points 1 to 2 to 3 to 6 to 5, and so on, the single-layer path diagram indicates the distance or time from one logical point to another logical point, for example, 14 minutes from logical point 1 to

logical point

6, and 9 minutes from logical point 1 to logical point 3. The logical points in the single-floor route map indicate the end points of each route in the floor (e.g., an elevator, an intersection, a floor entrance, etc.).

In an embodiment, the single-level path diagram is directional, for example, the robot may go from clean area to contaminated area, but not from contaminated area to clean area, specifically, as shown in fig. 3, assuming that from a to b, it may be routed from logical points 1 to 6 to 5, or from logical points 1 to 3 to 6 to 5, or from logical points 1 to 2 to 3 to 6 to 5, and if logical point 3 is located in the contaminated area and logical point 5 is located in the clean area, it may not go through logical point 3 to logical point 5.

The entrance and the exit are arranged on each floor, and for a general shopping mall, the elevator can enter or exit, so that the exit and the entrance on the same floor can be in the same position. For special scenes such as hospitals and the like, a certain elevator port of some floors can only enter and cannot exit, and a certain elevator port of some floors can only exit and cannot enter, so that an exit and an entrance of the same floor can be in different positions. The exit in the embodiment of the present application refers to the position of an elevator entrance that can be selected when going to leave from a certain floor. The location of the exits and entrances to each floor may be noted in advance in the single-level routing graph of each floor.

The first route is a route from the starting position to all exits of the floor, and if there are A, B, C exits, the number of the first route can be A, B, C. In one embodiment, the first route may be a route having a shortest distance from the starting position to each exit, and similarly, the first route length may be a travel distance from the starting position to each exit. In another embodiment, the first route may also be a route with the shortest time from the starting position to each exit, and similarly, the length of the first route may also be the travel time from the starting position to each exit. Due to environmental factors, the number of people in some areas may be large, the running speed of the robot is affected, and the route with the shortest running distance may not be the route with the shortest running time. Based on historical tests, the time that the robot travels between different logical points can be labeled in advance.

The second route is a route from all entrances to the destination position on the floor where the destination position is located, and if there are D, E entrances, there may be D, E two routes. As above, the second route may be a distance-shortest route or a time-shortest route from each entrance to the end position, and the second route length may be a travel distance or a travel time of the robot from the entrance to the end position.

Assuming that the time consumption between different logic points is marked in fig. 3 from a to b, as shown in fig. 3, it can be seen from fig. 3 that the total time consumption from logic point 1 to logic point 3 to logic point 6 to logic point 5 is 20 minutes, which is the shortest path of the total time consumption, i.e. the shortest path from point a to point b is from 1-3-6-5.

In an embodiment, before the step S220, it may be further determined whether the starting position and the ending position are on the same floor; for example, assuming that the coordinates of the start point position are represented by (x0, y0, z0) and the coordinates of the end point position are represented by (x1, y1, z1), if z0 is z1, the start point position and the end point position belong to the same floor, and are not equal, the start point position and the end point position do not belong to the same floor.

If the starting position and the ending position are not on the same floor, the step S220 is executed. And if the destination route is on the same floor, obtaining a target route with the shortest total route length from the starting position to the destination position through a shortest path algorithm according to the single-layer path graph corresponding to the floor.

Assuming that the starting position and the ending position are both on the third floor, according to the single-layer path diagram of the third floor, assuming that a represents the starting position and b represents the ending position as shown in fig. 3, the shortest path (the target route with the shortest total route length) from the point a to the point b can be obtained by a shortest path algorithm (e.g. Dijkstra algorithm) to be 1-3-6-5. The shortest overall route length may be the shortest distance of the overall route or the shortest time consuming of the overall route.

Step S230: and aiming at each outlet, obtaining a third route from the outlet to each inlet and a third route length according to a cross-layer network diagram.

The cross-layer network graph refers to all paths passing from one point to another point between different layers and the distance or time consumption of each path. Similar to the single-layer path graph, the cross-layer network graph can be drawn in advance and stored in the robot local or the server, and the distance or the time consumption between each logic point can be labeled in advance based on historical tests. The third route refers to all shortest routes from different outlets to different inlets. Assuming A, B, C exits and D, E entrances, the third route may have 6, the shortest route from a to D, a shortest route from a to E, a shortest route from B to D, a shortest route from B to E, a shortest route from C to D, and a shortest route from C to E. Here, the shortest route may be the shortest time or the shortest distance, and likewise, the length of the third route may be the distance of the third route or the time consumed by the third route.

Fig. 4 is a schematic visualization diagram of a first path diagram provided by an embodiment of the present application. As shown in fig. 4, the first route may comprise one shortest route to elevator 1 and one shortest route to elevator 2, assuming there are 2 elevator exits at the same floor. Fig. 5 is a schematic diagram of a cross-layer network provided in an embodiment of the present application. As shown in fig. 5, it is assumed that the length from the starting position to the entrance/exit of elevator 1 is 10 and the length from the starting position to the entrance/exit of elevator 2 is 220. According to the path lengths between the entrances and exits of the same floor (such as the cross-floor internal length 230 of the first floor and the cross-floor internal length 200 of the second floor) and the path lengths between the entrances and exits of different floors (such as the path length between the F1 entrance of the elevator 2 and the F2 entrance of the elevator 2 and the path length between the F1 entrance of the elevator 1 and the F2 entrance of the elevator 1), which are indicated by the cross-floor network diagram, for all the exits (such as the entrances of the elevators 1-F1 and the elevators 2-F1) of the floors corresponding to the starting position and all the entrances (the entrances of the elevators 1-F3) of the floors corresponding to the ending position, the shortest path from each exit to each entrance is screened through a shortest path algorithm (such as Dijkstra algorithm), and a third.

As shown in fig. 5, it is assumed that the elevator exit of each floor is also an entrance, the starting point is on the first floor, the terminal point is on the third floor, the first floor has two exits (elevator 1-F1 entrance, elevator 2-F1 entrance), and the third floor has only one exit (elevator 1-F3 entrance). Therefore, the robot can find out the shortest path from the entrance of the elevator 1-F1 to the entrance of the elevator 1-F3 and the shortest path from the entrance of the elevator 2-F1 to the entrance of the elevator 1-F3 through the Dijkstra algorithm, and the two paths are used as a third route. In the embodiment of the application, the shortest path or the shortest path refers to the shortest consumed time or the shortest distance, and the length of the route in the same way refers to the consumed time length or the distance length.

Step S240: and obtaining a target route with the shortest total route length from the starting position to the end position according to the first route and the first route length, the second route and the second route length, and the third route length.

The total route length refers to the total time or the total distance from a floor exit from a starting position to a starting position (first route length), from a floor exit from a starting position to a floor entrance from a destination position (third route length), from a floor entrance to a destination position at a destination position (second route length), and the like. The target route is a route in which the total time or the total distance from the start position to the end position is shortest.

In an embodiment, as shown in fig. 6, the step S240 specifically includes the following steps S241 to S243.

Step S241: and aiming at any outlet and any inlet, obtaining the total length of a route from the starting position to the end position through the outlet and the inlet according to the first route length corresponding to the outlet, the second route length corresponding to the inlet and the third route length corresponding to the outlet and the inlet.

Taking the above example where there are A, B, C outlets and D, E two inlets, as shown in fig. 7, there may be 3 first routes, assuming that the route lengths are p1, p2, and p3, respectively, 2 second routes, assuming that the route lengths are n1 and n2, respectively, and 6 third routes, assuming that the route lengths are m1, m2, m3, m4, m5, and m6, respectively.

The total route length Q1 is p1+ m1+ n1 when going from the start to the a exit to the D entrance to the end;

the total route length Q2 is p1+ m2+ n2 when going from the beginning to the a outlet to the E inlet to the end;

the total route length Q3 is p2+ m3+ n1 when going from the beginning to the B outlet to the D inlet to the end;

the total route length Q4 is p2+ m4+ n2 when going from the beginning to the B outlet to the E inlet to the end;

the total route length Q5 is p3+ m5+ n1 when going from the beginning to the C exit to the D entrance to the end;

the total route length Q6 is p3+ m6+ n2 when going from the beginning to the C exit to the E entrance to the end;

step S242: and screening out the target route with the shortest total route length according to the total route lengths corresponding to the combinations of different exits and different entrances.

Taking fig. 7 as an example, by comparing Q1 to Q6, assuming that the value of Q3 is the smallest, the route distance or time taken from the starting point to the B exit to the D entrance to the end point can be considered to be the shortest. In this case, the outlet B may be regarded as a target outlet, and the inlet D may be regarded as a target inlet.

Taking fig. 7 as an example, a first route from the starting point position to the B exit, a third route from the B exit to the D entrance, and a second route from the D entrance to the end point position are connected to form a target route from the starting point position to the end point position.

For example, conventionally, from first floor to fifth floor, a shortest route (e.g., from the starting point to the exit a) is selected from the first floor, and a shortest route (e.g., from the entrance E to the destination) is selected from the fifth floor, but the route from the exit a to the entrance E may be longer, resulting in the overall route not being shortest.

In an embodiment, as shown in fig. 8, the step S220 specifically includes:

step S221: and acquiring a first path map of the floor where the starting position is located and a second path map of the floor where the ending position is located.

Step S222: and screening the shortest path from the starting position to each exit by a shortest path algorithm aiming at each exit according to all exits indicated in the first path diagram and the path length between each logic point to obtain the first route and the first route length.

The exit in the first path diagram may be represented by an exit logical point, and taking fig. 3 as an example, each numbered circle represents a logical point, and the path length may be a distance between a logical point and a logical point or a time consumption. At least one exit logical point exists in the first path diagram. For example, if there are 2 egress logical points, the Dijkstra algorithm may be used to screen out the shortest path from the starting location to the first egress logical point, and the Dijkstra algorithm may be used to screen out the shortest path (shortest distance or shortest time) from the starting location to the first egress logical point, that is, the first route includes two shortest paths to 2 egress ports, and the length of the first route includes the distance or elapsed time from the starting location to the first egress port, and the distance or elapsed time from the starting location to the second egress port.

Since the single-level path graph is similar to the network shown in FIG. 3, in one embodiment, the starting point location may not be on the path between the logical point and the logical point, for example, at the P point location, so the target location is set on the path closest to the starting point location according to the first path graph and the starting point location. For example, the robot is first moved from a starting position (e.g., a P-point position) to a path closest to the starting position (e.g., a path between logic point 3 and logic point 4) to obtain a target position (e.g., a black-dot position in fig. 3). The target position may be considered to be the position where the robot is moving on the closest path. Then, the screening of the shortest path from the starting position to each exit may be to screen the shortest path from the target position to each exit, use the shortest path from the target position to each exit as the first route, and use the distance or time consumed from the target position to each exit as the length of the first route.

Step S223: and screening the shortest path from each entrance to the end point position by a shortest path algorithm aiming at each entrance according to all the entrances indicated in the second path diagram and the path length between each logic point to obtain the second route and the length of the second route.

The sequence of the step S222 and the step S223 is not limited. The entry in the second path diagram may also be represented by one entry logical point, and the distance or elapsed time between one logical point and another logical point may be referred to as a path length. Assuming that there are 2 entries, the Dijkstra algorithm may be used to screen out the shortest path (shortest distance or shortest time) from the first entry logic point to the destination location, and the Dijkstra algorithm may be used to screen out the shortest path (shortest distance or shortest time) from the second entry logic point to the destination location, that is, the second route includes two shortest paths from the 2 entries to the destination location, and the length of the second route includes the distance or elapsed time from the first entry to the destination location and the distance or elapsed time from the second entry to the destination location.

In an embodiment, if the end point position may not be located on the path between the logical point and the logical point, the target position needs to be set on the path closest to the end point position, and then, according to all entries indicated in the second path diagram and the path length between each logical point, for each entry, the shortest path from each entry to the target position is screened through a shortest path algorithm, so as to obtain the second route and the second route length. The embodiment for calculating the second route and the length of the second route is the same as or similar to the embodiment when the starting position is not on the path between the logic point and the logic point, and is not described herein again.

In an embodiment, before the step S220, the method provided in the embodiment of the present application further includes: and constructing a cross-floor network map and a single-floor path map corresponding to each floor according to the floor path file and the elevator file.

The format of the floor path file and the elevator file may be a GeoJson format. The floor path file for each floor separately generates path map data (i.e., a single-layer network map) for that floor. And connecting the floors by using the elevator files of the floors to construct a cross-floor network diagram. Fig. 9 is a visual presentation of a floor path file and an elevator file, as shown in fig. 9, including a path map (represented by three lines, respectively) and elevator points for three floors.

In one embodiment, as shown in fig. 10, the process of building the cross-layer network graph and the single-layer network graph includes the following steps.

Step S1010: and constructing a single-layer network graph, a floor logic point and an elevator logic point corresponding to each floor according to the floor path file and the elevator file.

By traversing all the floor path files and the elevator files, when the floor path files are traversed, floor logic points are added according to floor names, as shown in fig. 11, the F1 logic point, the F2 logic point and the F3 logic point are all floor logic points, and a single-layer network graph of each floor is synchronously constructed.

When traversing to an elevator file, firstly, judging whether the elevator exists or not through an elevator number, if so, skipping the step, and if not, adding a corresponding elevator logic point, as shown in fig. 11, wherein the elevator logic point can be represented by a diamond and marked as an elevator 1 logic point.

Step S1020: and constructing an entrance logic point corresponding to each floor according to the passing type of different elevators on each floor indicated by the elevator file.

The traffic type can be one of four types, namely getting-on, getting-off, bidirectional and non-stop. After the elevator logical point addition is completed, an elevator-floor entrance logical point needs to be added. If there is no stop at a floor, the entrance logical point may not be constructed at that floor. As shown in fig. 11, the logical points of the entrance of each of the elevators 1-F1, 1-F2, and 1-F3 are all entrance logical points, which can be represented by rectangles.

Step S1030: and connecting the floor logic points, the elevator logic points and the entrance logic points according to the entrance and exit directions of the entrance logic points to form the cross-floor network diagram.

As shown in fig. 11, connecting the F1 logic point with the elevator 1-F1 entrance logic point, connecting the elevator 1-F1 entrance logic point with the elevator logic point, connecting the F2 logic point with the elevator 1-F2 entrance logic point, connecting the elevator 1-F2 entrance logic point with the elevator logic point, connecting the F3 logic point with the elevator 1-F3 entrance logic point, and connecting the elevator 1-F3 entrance logic point with the elevator logic point forms a cross-floor network diagram from first floor to third floor, and can mark the path length from one logic point to another logic point.

In one embodiment, according to the entrance and exit direction of the entrance and exit logical points, the floor logical points, the elevator logical points and the entrance and exit logical points are connected through directed line segments, and the path lengths among different entrance and exit logical points are marked to obtain the cross-floor network diagram.

As shown in fig. 11, the entrance logic points of elevators 1-F1, 1-F2, and 1-F3 are all bidirectional, so that bidirectional arrows can be used to connect the elevator logic points and the floor logic points. For the case that there are multiple elevators, the path lengths between different entrance and exit logic points can be calculated, as shown in fig. 5, for the floor F1, the path length between the entrance and exit logic points of elevators 1-F1 and 2-F1 can be marked as 230, for the floor F2, the path length between the entrance and exit logic points of elevators 1-F2 and 2-F2 can be marked as 200, and further, the path lengths between the entrance and exit logic points of elevators 2-F1 and 2-F2, for example, can be marked as different floors, so as to obtain the cross-floor network diagram shown in fig. 5. And then, path planning can be carried out based on the cross-floor network diagram and the single-layer network diagram of each floor.

The following are embodiments of the apparatus of the present application, which can be used to implement the above-mentioned embodiments of the method for detecting an object based on radar waves of the present application. For details that are not disclosed in the embodiments of the apparatus of the present application, please refer to the embodiments of the target detection method based on radar waves of the present application.

Fig. 12 is a block diagram of a path planning apparatus according to an embodiment of the present application. As shown in fig. 12, the apparatus includes: a location acquisition module 1210, a single-layer planning unit 1220, a cross-layer planning unit 1230, and a path screening unit 1240.

A position obtaining module 1210, configured to obtain a start position and an end position.

The single-floor planning unit 1220 is configured to obtain a first route from the starting point to each exit of the corresponding floor and a first route length according to the first path diagram of the floor where the starting point is located and the second path diagram of the floor where the end point is located, where the end point corresponds to the second route from each entrance of the floor to the end point and the second route length.

A cross-layer planning unit 1230, configured to obtain, for each exit, a third route from the exit to each entry and a third route length according to a cross-layer network map.

And a path screening unit 1240, configured to obtain a target route with a shortest total route length from the starting position to the ending position according to the first route and the first route length, the second route and the second route length, and the third route length.

The implementation process of the functions and actions of each module in the above device is specifically described in the implementation process of the corresponding step in the above path planning method, and is not described herein again.

In the embodiments provided in the present application, the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

Claims

1. A method of path planning, comprising:

acquiring a starting point position and an end point position;

2. The method of claim 1, wherein if the starting location and the ending location are on the same floor, the method further comprises:

3. The method of claim 1, wherein obtaining a first route from the starting location to each exit of the corresponding floor and a first route length according to the first route map of the floor where the starting location is located and the second route map of the floor where the ending location is located, and wherein the ending location corresponds to a second route from each entrance of the floor to the ending location and a second route length comprises:

4. The method of claim 3, wherein the filtering, for each exit, a shortest path from the starting location to each exit by a shortest path algorithm according to the path lengths between all exits and each logical point indicated in the first path map to obtain the first route and a first route length comprises:

5. The method of claim 3, wherein the filtering, for each entry, a shortest path from each entry to the destination location by a shortest path algorithm according to all entries indicated in the second path graph and a path length between each logical point, resulting in the second route and a second route length, comprises:

and screening the shortest path from each entrance to the target position through a shortest path algorithm aiming at each entrance according to all the entrances indicated in the second path diagram and the path length between each logic point to obtain the second route and the length of the second route.

6. The method of claim 1, wherein the obtaining, for each of the outlets, a third route from the outlet to each of the inlets and a third route length according to a cross-layer network map comprises:

7. The method of claim 1, wherein obtaining the target route having the shortest total route length from the starting location to the ending location according to the first route and the first route length, the second route and the second route length, the third route and the third route length comprises:

8. The method of claim 1, wherein prior to the first path map based on the floor at the starting location and the second path map based on the floor at the ending location, the method further comprises:

9. The method of claim 8, wherein constructing the cross-floor network graph and the single-floor path graph corresponding to each floor according to the floor path file and the elevator file comprises:

10. The method of claim 9, wherein said connecting said floor logical points, elevator logical points, and doorway logical points according to the direction of entry and exit of said doorway logical points to form said cross-floor network map comprises:

11. A path planning apparatus, comprising:

12. An electronic device, characterized in that the electronic device comprises:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to perform the path planning method of any of claims 1-10.

13. A computer-readable storage medium, characterized in that the storage medium stores a computer program executable by a processor to perform the path planning method according to any of claims 1-10.