CN114415654B - Method and equipment for generating escape path - Google Patents
Method and equipment for generating escape path Download PDFInfo
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- CN114415654B CN114415654B CN202111458569.9A CN202111458569A CN114415654B CN 114415654 B CN114415654 B CN 114415654B CN 202111458569 A CN202111458569 A CN 202111458569A CN 114415654 B CN114415654 B CN 114415654B
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000007717 exclusion Effects 0.000 claims abstract description 139
- 230000003247 decreasing effect Effects 0.000 claims abstract description 14
- 238000012216 screening Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims 1
- 230000015654 memory Effects 0.000 description 15
- 230000007423 decrease Effects 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 238000004590 computer program Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000005291 magnetic effect Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000012217 deletion Methods 0.000 description 3
- 230000037430 deletion Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
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- 238000004364 calculation method Methods 0.000 description 1
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- 230000003068 static effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The application aims to provide a generation method and equipment of a getting rid of poverty path, which respectively construct a cost map for at least one virtual exclusion zone in a grid form, wherein each virtual exclusion zone comprises a core zone and an escape zone; the cost value of the core area in the cost map corresponding to each virtual exclusion area is higher than the cost value of the escape area, the cost value of the core area is kept unchanged, and the cost value of the escape area is gradually decreased from one side close to the core area; acquiring the current position of the robot; matching a target virtual exclusion zone where the robot is located based on the current position of the robot and a grid position of the robot in the target virtual exclusion zone; and generating a target escape path of the robot based on the cost map corresponding to the target virtual exclusion zone and the grid position of the robot in the target virtual exclusion zone, so that when the robot falls into a forbidden zone, the robot does not need to manually watch and escape autonomously, and the safety is ensured.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a method and an apparatus for generating a escaping path.
Background
With the rapid development of computer science, robot technology is becoming more and more exquisite, and various robots are also appearing in real life, which brings great convenience and unexpected surprise to people's life. In the daily operation process of the robot, because the laser radar is in a limited area such as high-transparency glass, stairs and uneven and infeasible areas in the scene, a certain mark can be added in a map on the basis of not adding other observation sensors to inform the robot system that the area is infeasible, and the area is a dangerous area.
In the prior art, a warning of a dangerous area can be formed by adding virtual walls in a map, wherein the virtual walls can be designed as straight virtual walls, curved virtual walls, rectangular virtual walls or closed-loop virtual walls with any shape, and the like, so that on-site operation and maintenance personnel can randomly select one or more virtual walls to be added in the map according to actual requirements of the site. In order to avoid the robot from pressing to the virtual wall, the distance of the radius of the robot is expanded in all directions outwards by the virtual wall, as shown in the white part area of fig. 1, the cost value (cost value) of the search path within the radius is consistent, the cost value is high, the path cannot be searched, and the robot cannot arrive independently under normal conditions, so that the robot cannot approach.
However, the virtual wall designed as shown in fig. 1 has certain defects, that is, because the cost values of the search paths within the radius of the virtual wall are the same, no gradient difference exists, the robot can be forced to push onto the virtual wall in operation, for example, the robot is forced to push onto the virtual wall, or the robot is on the virtual wall side, and is retreated to the virtual wall due to obstacle avoidance, or the robot is positioned on the virtual wall side, so that the situation that the robot floats into the virtual wall and the like occurs, and the robot cannot automatically search paths and is normally trapped, thereby influencing the unmanned robot.
Disclosure of Invention
The application aims to provide a method and equipment for generating a getting rid of trapping paths, which not only realize that a robot can search out the getting rid of trapping paths in a virtual forbidden zone, but also achieve the aim of autonomously getting rid of trapping the robot in the virtual forbidden zone.
According to one aspect of the present application, there is provided a method for generating a escape path, wherein the method includes:
respectively constructing a cost map for at least one virtual exclusion zone in a grid form, wherein each virtual exclusion zone comprises a core zone and an escape zone; the cost value of the core area in the cost map corresponding to each virtual exclusion area is higher than the cost value of the escape area, the cost value of the core area is kept unchanged, and the cost value of the escape area is gradually decreased from one side close to the core area;
acquiring the current position of the robot;
matching a target virtual exclusion zone where the robot is located based on the current position of the robot and a grid position of the robot in the target virtual exclusion zone;
And generating a target escape path of the robot based on the cost map corresponding to the target virtual exclusion zone and the grid position of the robot in the target virtual exclusion zone.
Further, in the above method, the method further includes: at least one virtual exclusion zone and an interface to which the virtual exclusion zone belongs are created.
Further, in the above method, the method further includes: and updating the at least one virtual exclusion zone.
Further, in the above method, the generating a target escape path of the robot based on the cost map corresponding to the target virtual exclusion zone and the grid position of the robot in the target virtual exclusion zone includes:
Planning at least one escape path for the robot based on a cost map corresponding to the target virtual exclusion zone and grid positions of the robot in the target virtual exclusion zone, wherein the trend of each escape path is from big to small;
And determining a target escaping path of the robot from the at least one escaping path.
Further, in the above method, the determining the target escape path of the robot from the at least one escape path includes:
screening an optimal escape path from the at least one escape path; and determining the optimal escape path as a target escape path of the robot.
According to another aspect of the present application, there is also provided a non-volatile storage medium having stored thereon computer readable instructions which, when executed by a processor, cause the processor to implement a method of generating a escape route as described above.
According to another aspect of the present application, there is also provided an apparatus for generating a escaping path, wherein the apparatus includes:
one or more processors;
A computer readable medium for storing one or more computer readable instructions,
The one or more computer-readable instructions, when executed by the one or more processors, cause the one or more processors to implement a method of generating a escape path as described above.
Compared with the prior art, the cost map is respectively constructed for at least one virtual exclusion zone in the form of a grid, and each virtual exclusion zone comprises a core zone and an escape zone; the cost value of the core area in the cost map corresponding to each virtual exclusion area is higher than the cost value of the escape area, the cost value of the core area is kept unchanged, and the cost value of the escape area is gradually decreased from one side close to the core area; in an actual application scene, acquiring the current position of a robot; matching a target virtual exclusion zone where the robot is located based on the current position of the robot and a grid position of the robot in the target virtual exclusion zone; based on the cost map corresponding to the target virtual exclusion zone and the grid position of the robot in the target virtual exclusion zone, a target escape path of the robot is generated, so that the robot can escape autonomously through the searched target escape path when the robot falls into the virtual exclusion zone carelessly in the operation process, no manual watching is needed in the whole process, meanwhile, the occurrence of unsafe events such as collision, falling and the like caused by the robot in a special scene is effectively prevented, and the safety of the robot is further ensured.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the accompanying drawings in which:
FIG. 1 illustrates a schematic view of an actual scenario of a virtual wall design in accordance with an aspect of the present application;
FIG. 2 is a flow chart of a method of generating a escape route according to the present application;
Fig. 3 illustrates a visual view of a method of adding virtual exclusion zones in a real application scenario in accordance with an aspect of the application.
The same or similar reference numbers in the drawings refer to the same or similar parts.
Detailed Description
The application is described in further detail below with reference to the accompanying drawings.
In one exemplary configuration of the application, the terminal, the device of the service network, and the trusted party each include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash memory (flashRAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer readable media, as defined herein, does not include non-transitory computer readable media (transmission media), such as modulated data signals and carrier waves.
As shown in fig. 2, an aspect of the present application proposes a flow chart of a method for generating a escape path, where the method includes steps S11, S12, S13 and S14, and specifically includes the following steps:
Step S11, respectively constructing a cost map for at least one virtual exclusion zone in a grid form, wherein each virtual exclusion zone comprises a core zone and an escape zone, as shown in FIG. 3, a blank part in FIG. 3 is the escape zone, and a slash shadow part is the core zone; the cost value of the core area in the cost map corresponding to each virtual exclusion area is higher than the cost value of the escape area, the cost value of the core area is kept unchanged, and the cost value of the escape area is gradually decreased from one side close to the core area.
It should be noted that, the cost value of the escape area gradually decreases according to a preset decreasing value, or gradually decreases according to a preset decreasing proportion, or gradually decreases randomly, so that the cost values of the escape area and the core area of the virtual forbidden area form a decreasing gradient difference, so that the robot can find a target escaping path according to the difference of the cost value of each grid later, and the technical bottleneck of the prior art is broken through.
In a preferred embodiment of the present application, the cost value of the core area is preferably 255, for example, the cost value of the core area of the virtual exclusion area is preferably 255, if the cost value of the escape area is gradually decreased according to a preset decrease value, and the preset decrease value is preferably 10, the cost value of the first grid at the side of the escape area near the core area is 245, and the cost value of the second grid is 235, … …, so as to recursively reach the last grid of the escape area, that is, the side of the escape area is a safety area. If the cost value of the escape area is gradually decreased according to a preset decreasing proportion, at this time, the decreasing proportion is selected to be 5%, the cost value of the first grid at one side of the escape area, which is close to the core area, is 242.25, the cost value of the second grid is 254.36 and … …, and the steps are repeated until the last grid, namely, one side of the escape area is a safety area. If the cost value of the escape area is gradually decreased at random, no recursive calculation is needed, the cost value of the first grid at one side of the escape area, which is close to the core area, is 200, the cost value of the second grid is 190, the cost value of the third grid is 150, the cost value of the fourth grid is 149, … …, and the gradual decrease of the cost values of all grids in the escape area is realized until the last grid, namely, one side of the escape area is a safety area.
In the actual application scenario, step S12, the current position of the robot is obtained.
And step S13, matching a target virtual exclusion zone where the robot is located and grid positions of the robot in the target virtual exclusion zone based on the current position of the robot.
In step S13, if the robot is determined to be in the safety area according to the positioning, it is not necessary to plan the target escape route, and the position of the virtual exclusion zone is effectively avoided; if the robot is judged to be in the core area or the escape area in the virtual exclusion area according to the positioning, a path is further planned according to the real-time position of the robot, for example, in a field operation environment, a virtual exclusion area 1 and a virtual exclusion area 2 exist, a robot A and a robot B are in operation, if the robot A and the robot B walk forward together, the robot A carelessly falls into the virtual exclusion area 1, at the moment, the robot A obtains the current position and judges to be in the virtual exclusion area 1 according to the real-time positioning, then the robot A changes the forward walking path, the path is re-planned, and the robot autonomously escapes from the virtual exclusion area, so that the real-time current position of the robot is realized, the target virtual exclusion area where the robot is located and the grid position in the virtual exclusion area can be obtained through the fastest analysis, and corresponding escaping measures can be made as soon as possible.
And S14, generating a target escape path of the robot based on the cost map corresponding to the target virtual exclusion zone and the grid position of the robot in the target virtual exclusion zone.
Through the steps S11 to S14, the situation that the robot falls into the virtual exclusion zone can be achieved, and the created cost map corresponding to the target virtual exclusion zone and the current position of the robot can be combined to perform autonomous escape, so that the robot does not need to be manually watched in the operation process, meanwhile, the occurrence of events such as collision of the robot is effectively prevented, the safety of the robot is guaranteed, and the application of the robot is more humanized.
In a preferred embodiment of the present application, there are a virtual exclusion zone 1 and a virtual exclusion zone 2, wherein the cost value of the core zone is a constant value 255, and the escape zone of the virtual exclusion zone 1 is a preset low value: 10 gradually decreases, and the escape zone of the virtual forbidden zone 2 gradually decreases according to random, and a cost map is constructed by a grid map method is preferred; at this time, the robot a and the robot B normally operate, if the robot a carelessly falls into the virtual exclusion zone 2, the robot a obtains the current position, determines the M-th grid in the virtual exclusion zone 2 according to the real-time positioning, analyzes the cost map, and utilizes the gradient difference formed by the cost values of the grids in the virtual exclusion zone 2 to plan the target escape path, so that the robot a can escape from the virtual exclusion zone 2 by planning the target escape path.
Following the above-described embodiment of the present application, the method further comprises: at least one virtual exclusion zone and an interface to which the virtual exclusion zone belongs are created.
Here, creating a virtual exclusion zone requires acquiring a data structure of this virtual exclusion zone. The data structure of the virtual exclusion zone includes: the forbidden zone ID (identity number Identity document), the starting point, the end point, the length, the width, the position of the escape zone, and the size of the escape zone, it should be noted that the forbidden zone ID can uniquely determine a virtual forbidden zone corresponding to the forbidden zone ID; the escape area location may be set inwardly, outwardly and to the right. The interface of the virtual exclusion zone comprises: the interface is added, the interface is deleted and the interface is emptied, wherein the deletion interface and the emptying interface uniquely determine the virtual exclusion zone to be operated based on the exclusion zone ID of the virtual exclusion zone, the corresponding virtual exclusion zone can be set according to requirements, the modification of the virtual exclusion zone is realized by using the calling interface, the practicability of the virtual exclusion zone is improved, and the experience of a user is enhanced.
For example, in a preferred embodiment of the present application, according to the deployment on site, a virtual exclusion zone 1 needs to be created at the step, and according to the deployment scenario, the data structure of the virtual exclusion zone 1 is input: forbidden zone ID:1, starting point: (0, 0), the terminal point (100 ), the length is 100 meters, the width is 10 meters, the escape area is arranged outwards, the size of the escape area is 5 meters, and the virtual forbidden zone 1 meeting the requirements can be arranged. In the subsequent application scenario, if the scenario is replaced, the virtual exclusion zone at the step disappears, that is, the virtual exclusion zone 1 does not need to be set at the step, and the deletion interface is called to delete the virtual exclusion zone based on the exclusion zone ID of the virtual exclusion zone deleted is 1, so that the purpose of replacing the scenario is achieved.
Following the above embodiment of the present application, at least one virtual exclusion zone and an interface to which the virtual exclusion zone belongs are created, and the method further includes: updating the at least one virtual exclusion zone, wherein updating the exclusion zone comprises: and adding and deleting forbidden zones and modifying.
In a preferred embodiment of the present application, in the existing scenario, there are a virtual exclusion zone 1, a virtual exclusion zone 2, a virtual exclusion zone 3, an add interface, a delete interface and a change interface, and three virtual exclusion zones are updated according to the deployment requirement of the scenario: the virtual exclusion zone 4 is added, the virtual exclusion zone 1 and the virtual exclusion zone 2 are deleted, the virtual exclusion zone 3 is changed, and the width of the virtual exclusion zone 3 is increased by 0.2 meter. When adding the virtual exclusion zone 4, the data structure of the virtual exclusion zone 4 to be created is input depending on the addition interface: forbidden zone ID:4, starting point: (-100, 0), end point (-100, 100), length 100m, width 10m, escape area set right, escape area size 5m, can create virtual forbidden zone 4 meeting the requirement; in the process of deleting the virtual exclusion zone 1 and the virtual exclusion zone 2, two virtual exclusion zones meeting the conditions are uniquely determined based on the exclusion zone ID2 of the virtual exclusion zone and the exclusion zone ID4 of the virtual exclusion zone depending on a deletion interface, and are deleted; when the virtual exclusion zone 3 is changed, the virtual exclusion zone conforming to the condition is uniquely determined depending on the current exclusion zone interface and the exclusion zone ID3 of the virtual machine, and the width of the virtual exclusion zone 3 is increased by 0.2 meter at the moment to obtain the virtual exclusion zone 3 conforming to the updating requirement, so that the interface is utilized to greatly facilitate the change of the virtual exclusion zone, optimize the whole technical scheme, and enhance the use range of the virtual exclusion zone, thereby sublimating the whole technical scheme.
Next, according to the above embodiment of the present application, the generating a target escape path of the robot based on the cost map corresponding to the target virtual exclusion zone and the grid position of the robot in the target virtual exclusion zone specifically includes:
Planning at least one escape path for the robot based on a cost map corresponding to the target virtual exclusion zone and grid positions of the robot in the target virtual exclusion zone, wherein the trend of each escape path is from big to small;
And determining a target escaping path of the robot from the at least one escaping path.
After the robot falls into the virtual exclusion zone, planning a getting-out path according to the gradient difference of the cost value between grids in the target virtual exclusion zone where the robot is located based on the cost map and the grid position of the virtual exclusion zone where the robot belongs, wherein the planned getting-out path is mainly obtained according to the trend of the cost value between grids from large to small, so that at least one getting-out path is finally obtained, gradient difference generated by the cost value of each grid in the cost map is reasonably utilized, and automatic getting-out of the robot is realized.
For example, in a preferred embodiment of the present application, there are a virtual exclusion zone 1 and a virtual exclusion zone 2, and a robot a and a robot B normally operate, if an unsafe event occurs in the robot a, the robot a obtains its current position at this time, and then, according to the cost value distribution of the virtual exclusion zone 2 in the cost map, a getting-out path L1, a getting-out path L2, getting-out paths L3, … …, a getting-out path L (N-1) and a getting-out path L (N) are planned according to the trend of the cost value from large to small, where N is a positive integer greater than or equal to 1; then, a target escape path serving as a robot is selected from the planned escape path L1, escape path L2, escape paths L3 and … …, escape path L (N-1) and escape path L (N), for example, if a selected target escape path is: and the robot can autonomously get rid of the trapping from the target virtual forbidden zone according to the route trend of the trapping path 8.
In the foregoing embodiment of the present application, the determining, from the at least one escape path, the target escape path of the robot includes:
screening an optimal escape path from the at least one escape path; and determining the optimal escape path as a target escape path of the robot.
It should be noted that, the optimal escape path may select the escape path with the shortest path from the escape paths as the optimal escape path, or may select the escape path with the least energy consumption from the escape paths as the optimal escape path, or may select the escape path with the least time from the escape paths as the optimal escape path, etc. in the actual application scenario, the optimal escape path corresponding to the scene may be obtained according to the scene requirement, thereby enhancing the escape flexibility, protecting the safety of the robot, and enabling the robot to escape rapidly.
For example, in the robot competition field, the robot a falls into the virtual exclusion zone 1, and according to the cost map and the cost value of each grid, the planned escaping path is: in the escape path L1, the escape path L2, the escape paths L3, … …, the escape path L (N-1) and the escape path L (N), one escape path serving as a target of the robot is selected, in this case, if the escape path L3 is the escape path L1, the escape path L2, the escape path L3, … …, the escape path L (N-1) and the escape path L (N) with the shortest time, the optimal escape path L3 with the shortest time is determined as the target escape path of the robot A, so that the robot autonomously selects the escape path L3 with the shortest time in the escape path as the optimal escape path, namely selects the escape path L3 as the target escape path of the robot A, and the robot can be fully sent to the robot in a competition, thereby better meeting the escape requirements of the robot under different application scenes.
According to another aspect of the present application, there is also provided a non-volatile storage medium having stored thereon computer readable instructions which, when executed by a processor, cause the processor to implement a method of generating a escape path as described above.
According to another aspect of the present application, there is also provided an apparatus for generating a escaping path, wherein the apparatus includes:
one or more processors;
A computer readable medium for storing one or more computer readable instructions,
The one or more computer-readable instructions, when executed by the one or more processors, cause the one or more processors to implement a method of generating a escape path for an apparatus as described above.
For details of each embodiment in the apparatus of the method for generating a getting rid of poverty path, refer to the corresponding portion of the embodiment of the method for generating a getting rid of poverty path of the above apparatus, and will not be described herein again.
In summary, the cost map is respectively constructed for at least one virtual exclusion zone in the form of a grid, and each virtual exclusion zone comprises a core zone and an escape zone; the cost value of the core area in the cost map corresponding to each virtual exclusion area is higher than the cost value of the escape area, the cost value of the core area is kept unchanged, and the cost value of the escape area is gradually decreased from one side close to the core area; acquiring the current position of the robot; matching a target virtual exclusion zone where the robot is located based on the current position of the robot and a grid position of the robot in the target virtual exclusion zone; based on the cost map corresponding to the target virtual exclusion zone and the grid position of the robot in the target virtual exclusion zone, a target escape path of the robot is generated, so that the robot can escape autonomously through the searched target escape path when the robot falls into the virtual exclusion zone carelessly in the operation process, no manual watching is needed in the whole process, meanwhile, the occurrence of unsafe events such as collision, falling and the like caused by the robot in a special scene is effectively prevented, and the safety of the robot is further ensured.
It should be noted that the present application may be implemented in software and/or a combination of software and hardware, e.g., using Application Specific Integrated Circuits (ASIC), a general purpose computer or any other similar hardware device. In one embodiment, the software program of the present application may be executed by a processor to perform the steps or functions described above. Likewise, the software programs of the present application (including associated data structures) may be stored on a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. In addition, some steps or functions of the present application may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
Furthermore, portions of the present application may be implemented as a computer program product, such as computer program instructions, which when executed by a computer, may invoke or provide methods and/or techniques in accordance with the present application by way of operation of the computer. Program instructions for invoking the inventive methods may be stored in fixed or removable recording media and/or transmitted via a data stream in a broadcast or other signal bearing medium and/or stored within a working memory of a computer device operating according to the program instructions. An embodiment according to the application comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to operate a method and/or a solution according to the embodiments of the application as described above.
It will be evident to those skilled in the art that the application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is evident that the word "comprising" does not exclude other elements or steps, and that the singular does not exclude a plurality. A plurality of units or means recited in the apparatus claims can also be implemented by means of one unit or means in software or hardware. The terms first, second, etc. are used to denote a name, but not any particular order.
Claims (7)
1. A method of generating a escape path, wherein the method comprises:
respectively constructing a cost map for at least one virtual exclusion zone in a grid form, wherein each virtual exclusion zone comprises a core zone and an escape zone; the cost value of the core area in the cost map corresponding to each virtual exclusion area is higher than the cost value of the escape area, the cost value of the core area is kept unchanged, and the cost value of the escape area is gradually decreased from one side close to the core area;
acquiring the current position of the robot;
matching a target virtual exclusion zone where the robot is located based on the current position of the robot and a grid position of the robot in the target virtual exclusion zone;
And generating a target getting-out path of the robot based on the cost map corresponding to the target virtual exclusion zone and the grid position of the robot in the target virtual exclusion zone, wherein the trend of the target getting-out path is from large to small in cost value.
2. The method of claim 1, wherein the method further comprises:
At least one virtual exclusion zone and an interface to which the virtual exclusion zone belongs are created.
3. The method of claim 2, wherein the method further comprises:
And updating the at least one virtual exclusion zone.
4. The method of claim 1, wherein the generating the target escape path of the robot based on the cost map corresponding to the target virtual exclusion zone and the grid location of the robot within the target virtual exclusion zone comprises:
Planning at least one escape path for the robot based on a cost map corresponding to the target virtual exclusion zone and grid positions of the robot in the target virtual exclusion zone, wherein the trend of each escape path is from big to small;
And determining a target escaping path of the robot from the at least one escaping path.
5. The method of claim 4, wherein the determining the target escape path of the robot from the at least one escape path comprises:
Screening an optimal escape path from the at least one escape path;
and determining the optimal escape path as a target escape path of the robot.
6. A non-volatile storage medium having stored thereon computer readable instructions which, when executed by a processor, cause the processor to implement the method of any of claims 1 to 5.
7. A virtual exclusion zone construction method and equipment, wherein the equipment comprises the following steps:
one or more processors;
A computer readable medium for storing one or more computer readable instructions,
When executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1 to 5.
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