Cross-regional path planning method and device and storage medium

Abstract

The invention discloses a cross-regional path planning method and device and a storage medium, and the method comprises the steps: obtaining a task starting point and a task ending point of a mobile device, taking a working region where the task starting point is located as a starting point region, and taking a working region where the task ending point is located as an ending point region; determining a communicated working area between the starting point area and the ending point area, and taking the communicated working area as a passing area; extracting a candidate path between the task starting point and the task ending point, wherein the candidate path contains a region road section of the passing region; calculating the total path cost of each candidate path based on the cost corresponding to the area road section of the passing area in the road section cost table corresponding to the passing area; and selecting a target driving path according to the total path cost. According to the method, the step of calculating the cost of the regional road section passing through the region in the path planning process can be reduced, so that the time and the computing power resource required for calculating the total cost of the path are saved.

Description

Technical Field

[0001] The present application relates to the field of map navigation technology, and in particular to a cross-regional path planning method, device and storage medium. Background Art

[0002] At present, more and more scenarios are applied to unsupervised mobile devices, such as automated guided vehicles (AGVs), sweeping robots, driverless vehicles, etc. How to quickly and accurately plan a safe and efficient optimal path in a complex environment is the key to whether these mobile devices can effectively perform tasks.

[0003] For example, an automated guided vehicle is a vehicle that is responsible for towing or carrying goods in industrial operations. It generally plans the path from the starting point to the end point according to the set topological map, and automatically drives from the starting point to the end point according to the planned path. It is a widely used transportation equipment in automated workshops, warehouses, and docks. With the increase in industrial scale and the subdivision of factory scenes, the number of AGV equipment and the workload have increased significantly. In particular, when the starting point and end point of a task are in different areas and the task needs to be performed across regions, whether the AGV equipment can quickly and accurately select the optimal driving path corresponding to the task to be performed restricts the factory's production efficiency. Summary of the invention

[0004] In order to solve the above technical problems, the present application at least provides a cross-regional path planning method, device and storage medium.

[0005] The first aspect of the present application provides a cross-regional path planning method, wherein a path planning scenario contains multiple work areas, and the work areas are connected by adjacent channels. The work areas correspond to a road segment cost table, and the road segment cost table is used to store the costs corresponding to the regional road segments contained in the work area. The regional road segment refers to the drivable road segment between the entrances and exits corresponding to the adjacent channels in the work area, and the cost refers to the resources required for a mobile device to travel on the regional road segment. The method includes: obtaining a task starting point and a task end point of the mobile device, taking the work area where the task starting point is located as the starting point area, and taking the work area where the task end point is located as the end point area; determining the work area connected between the starting point area and the end point area, and taking the connected work area as the passing area; extracting candidate paths between the task starting point and the task end point, wherein the candidate paths contain regional road segments of the passing area; calculating the total path cost of each candidate path based on the costs corresponding to the regional road segments of the passing area in the road segment cost table corresponding to the passing area; selecting a candidate path whose total path cost meets a preset condition as the target driving path of the mobile device.

[0006] In one embodiment, the route area corresponds to multiple road segment cost tables; before calculating the total path cost of each candidate path based on the cost corresponding to the regional road segment of the route area in the road segment cost table corresponding to the route area, the method also includes: selecting a road segment cost table matching the mobile device from the multiple road segment cost tables; calculating the total path cost of each candidate path based on the cost corresponding to the regional road segment of the route area in the road segment cost table corresponding to the route area, including: calculating the total path cost of each candidate path based on the cost corresponding to the regional road segment of the route area in the matching road segment cost table.

[0007] In one embodiment, different road segment cost tables are associated with different equipment parameters and / or transport loads; a road segment cost table matching a mobile device is selected from multiple road segment cost tables, including: determining the equipment parameters of the mobile device and / or the transport load carried by the mobile device; based on the equipment parameters of the mobile device and / or the transport load carried by the mobile device, a matching road segment cost table is selected from multiple road segment cost tables corresponding to the passing area.

[0008] In one embodiment, the method also includes: in response to changes in entrances and exits corresponding to adjacent channels in the working area and / or changes in map attributes corresponding to the working area and / or additions or reductions in equipment parameters and / or additions or reductions in types of transport loads, updating the road segment cost table corresponding to the working area.

[0009] In one embodiment, extracting candidate paths between a task start point and a task end point includes: taking an adjacent channel between a start point area and a passing area as a start point target channel, and taking an adjacent channel between a passing area and a terminal area as a terminal target channel; extracting a regional section from the task start point to the start point target channel to obtain a first section corresponding to the start point area; extracting a regional section from the start point target channel to the terminal target channel to obtain a second section corresponding to the passing area; extracting a regional section from the terminal target channel to the task end point to obtain a third section corresponding to the terminal area; combining and splicing the first section, the second section, and the third section to obtain a candidate path between the task start point and the task end point.

[0010] In one embodiment, the regional road section from the starting target channel to the end target channel is extracted to obtain the second road section corresponding to the passing area, including: in response to the existence of a prohibited driving area corresponding to a mobile device in the passing area, all regional road sections corresponding to the passing area are obtained, and the regional road section from the starting target channel to the end target channel that does not pass through the prohibited driving area is selected to obtain the second road section corresponding to the passing area.

[0011] In one embodiment, the method also includes: if there is a prohibited driving area corresponding to the mobile device in the passing area, then all regional road sections in the passing area that have not passed through the prohibited driving area are selected, and a section cost table is constructed based on the costs corresponding to the selected candidate sections to obtain a special cost table of the mobile device relative to the prohibited driving area in the passing area; based on the costs corresponding to the regional sections of the passing area in the section cost table corresponding to the passing area, the total path cost of each candidate path is calculated, including: based on the special cost table of the mobile device relative to the prohibited driving area in the passing area, the total path cost of each candidate path is calculated.

[0012] In one embodiment, the total path cost of each candidate path is calculated based on the cost corresponding to the regional road segment of the passing area in the road segment cost table corresponding to the passing area, including: querying the cost corresponding to the regional road segment of the passing area in the road segment cost table corresponding to the passing area to obtain the passing road segment cost; and, based on a preset cost calculation function, respectively calculating the cost corresponding to the regional road segment of the starting point area and the regional road segment of the end point area to obtain the starting point road segment cost and the end point road segment cost; summing the passing road segment cost, the starting point road segment cost and the end point road segment cost to obtain the total path cost of the candidate path; or, summing all the passing road segment costs, and using the sum result as the total path cost corresponding to the candidate path.

[0013] The second aspect of the present application provides a cross-regional path planning device, wherein the path planning scene contains multiple working areas, the working areas are connected by adjacent channels, and the working areas correspond to a section cost table, which is used to store the costs corresponding to the regional sections contained in the working area, the regional sections refer to the drivable sections between the entrances and exits corresponding to the adjacent channels in the working area, and the costs refer to the resources required for the mobile device to travel on the regional sections. The device includes: a starting area determination module, which is used to obtain the task starting point and task end point of the mobile device, and the working area where the task starting point is located is used as the starting area, and the working area where the task end point is located is used as the end point area; a passing area determination module, which is used to determine the working area connected between the starting area and the end point area, and the connected working area is used as the passing area; a candidate path extraction module, which is used to extract candidate paths between the task starting point and the task end point, and the candidate paths contain regional sections of the passing area; a cost calculation module, which is used to calculate the total path cost of each candidate path based on the costs corresponding to the regional sections of the passing area in the section cost table corresponding to the passing area; and a target path selection module, which is used to select a candidate path whose total path cost meets a preset condition as the target driving path of the mobile device.

[0014] A third aspect of the present application provides an electronic device, including a memory and a processor, wherein the processor is used to execute program instructions stored in the memory to implement the above-mentioned cross-region path planning method.

[0015] A fourth aspect of the present application provides a computer-readable storage medium having program instructions stored thereon, which implement the above-mentioned cross-region path planning method when the program instructions are executed by a processor.

[0016] The above scheme obtains the task starting point and task end point of the mobile device, takes the working area where the task starting point is located as the starting point area, and takes the working area where the task end point is located as the end point area; determines the working area connected between the starting point area and the end point area, and takes the connected working area as the passing area; extracts the candidate path between the task starting point and the task end point, and the candidate path contains the regional road segment of the passing area; calculates the total path cost of each candidate path based on the cost corresponding to the regional road segment of the passing area in the road segment cost table corresponding to the passing area; selects the candidate path whose total path cost meets the preset conditions as the target driving path of the mobile device, which can reduce the steps of calculating the cost of the regional road segment of the passing area in the path planning process, thereby saving the time and computing power resources required for calculating the total path cost.

[0017] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0019] Figure 1 It is a schematic diagram of an implementation environment of a solution provided by an embodiment of the present application;

[0020] Figure 2 is a flow chart of a cross-region path planning method shown in an exemplary embodiment of the present application;

[0021] Figure 3 is a schematic diagram of a path planning scenario shown in an exemplary embodiment of the present application;

[0022] Figure 4 is a schematic diagram of a path planning scenario shown in another exemplary embodiment of the present application;

[0023] Figure 5 An exemplary embodiment of the present application is shown Figure 3 Schematic diagram of the road segment cost table corresponding to area 2;

[0024] Figure 6 is a schematic diagram of a plurality of road section cost tables corresponding to a working area shown in an exemplary embodiment of the present application;

[0025] Figure 7is a schematic diagram showing an exemplary embodiment of the present application for updating a road section cost table according to changes in an entrance and exit;

[0026] Figure 8 is a schematic diagram of a working area shown in an exemplary embodiment of the present application;

[0027] Fig. 9 is a block diagram of a cross-region path planning device shown in an exemplary embodiment of the present application;

[0028] Fig.10 is a schematic structural diagram of an electronic device shown in an exemplary embodiment of the present application;

[0029] Fig.11 It is a schematic diagram of the structure of a computer-readable storage medium shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0030] The scheme of the embodiment of the present application is described in detail below in conjunction with the drawings of the specification.

[0031] In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures, interfaces, and technologies are provided to facilitate a thorough understanding of the present application.

[0032] The term "and / or" in this article is only an association information describing the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the previous and next associated objects are in an "or" relationship. In addition, "many" in this article means two or more than two. In addition, the term "at least one" in this article means any combination of at least two of any one or more of a plurality of, for example, including at least one of A, B, and C, can mean including any one or more elements selected from the set consisting of A, B, and C.

[0033] The following is a description of the cross-region path planning method provided in an embodiment of the present application.

[0034] Please refer to Figure 1 , which shows a schematic diagram of a solution implementation environment provided by an embodiment of the present application. The solution implementation environment may include a mobile device 110 and a server 120, and the mobile device 110 and the server 120 are connected to each other for communication.

[0035] The mobile device 110 may be a sweeping robot, a freight robot, an automatic guided vehicle, a drone, an unmanned vehicle, etc., and the present application does not limit the type of the mobile device. The mobile device 110 performs corresponding tasks in a path planning scenario, which is composed of multiple connected working areas.

[0036] Server 120 can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers. It can also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDN), as well as big data and artificial intelligence platforms.

[0037] Exemplarily, the mobile device 110 pre-stores a regional map of each work area in the path planning scenario, and the mobile device 110 needs to start from the task starting point and drive to the task end point to perform the corresponding task. Specifically, the mobile device 110 extracts one or more candidate paths from the task starting point to the task end point based on the regional map of each work area, and obtains the cost of the regional road segment by directly querying the road segment cost table corresponding to each work area pre-stored in the mobile device 110, thereby directly calculating the total path cost of the candidate path based on the queried cost, so as to determine whether the candidate path can be used as the target driving path based on the total path cost.

[0038] Exemplarily, the area map of each work area, the road cost table corresponding to each work area and other data can also be stored in the server 120. The server 120 performs path planning based on the task starting point and task end point feedback from the mobile device 110 to obtain the target driving path, and sends the target driving path to the mobile device 110.

[0039] In the multi-sensor based positioning and navigation method provided in the embodiment of the present application, the execution subject of each step can be the mobile device 110, or the server 120, or the mobile device 110 and the server 120 can cooperate with each other to execute the method, that is, part of the steps of the method are executed by the mobile device 110 and the other steps are executed by the server 120.

[0040] See also Figure 2 , Figure 2 is a flow chart of a cross-region path planning method shown in an exemplary embodiment of the present application. The cross-region path planning method can be applied to Figure 1 It should be understood that the method can also be applied to other exemplary implementation environments and be specifically executed by devices in other implementation environments, and this embodiment does not limit the implementation environment to which the method is applicable.

[0041] like Figure 2 As shown, the cross-region path planning method includes at least steps S210 to S250, which are described in detail as follows:

[0042] Step S210: Obtain the task start point and task end point of the mobile device, and use the working area where the task start point is located as the start point area, and use the working area where the task end point is located as the end point area.

[0043] Mobile devices perform tasks in path planning scenarios, such as cargo handling tasks, floor cleaning tasks, etc. Mobile devices need to perform path planning in path planning scenarios to control the movement of the mobile devices according to the planning results.

[0044] The path planning scenario in this application contains multiple working areas, and the working areas are connected by adjacent channels.

[0045] For example, see Figure 3 , Figure 3 This is a schematic diagram of a path planning scenario shown in an exemplary embodiment of the present application, such as Figure 3 As shown, the working area of ​​the path planning scenario includes area 1, area 2 and area 3. Area 1 and area 2 are connected through adjacent channel 1, adjacent channel 2 and adjacent channel 3. Adjacent channel 1 corresponds to exit 1 of area 1 and entrance 1 of area 2; adjacent channel 2 corresponds to exit 2 of area 1 and entrance 2 of area 2; adjacent channel 3 corresponds to exit 3 of area 1 and entrance 3 of area 2; area 2 and area 3 are connected through adjacent channel 4, adjacent channel 5 and adjacent channel 6. Adjacent channel 4 corresponds to exit 4 of area 2 and entrance 4 of area 3; adjacent channel 5 corresponds to exit 5 of area 2 and entrance 5 of area 3; adjacent channel 6 corresponds to exit 6 of area 2 and entrance 6 of area 3.

[0046] The task start point and task end point of the mobile device are obtained, and the working area where the task start point is located is used as the start point area, and the working area where the task end point is located is used as the end point area.

[0047] For example, Figure 3 If the task starting point of the mobile device is in area 1, area 1 is used as the starting point area; if the task ending point of the mobile device is in area 3, area 3 is used as the ending point area.

[0048] Step S220: Determine the working area connected between the starting area and the end area, and use the connected working area as the passing area.

[0049] There is a passing area between the starting area and the ending area, and the mobile device needs to pass through the passing area to reach the ending area from the starting area.

[0050] Specifically, the passing area is determined according to the working area connected between the starting area and the end area.

[0051] For example, continue as Figure 3As shown, the working area connected between area 1 and area 3 is area 2, and area 2 is used as the passing area.

[0052] It should be noted that the number of the transit areas is at least one. For example, see Figure 4 , Figure 4 This is a schematic diagram of a path planning scenario shown in another exemplary embodiment of the present application, such as Figure 4 As shown, the starting area is area 1, and the end area is area 5. Area 1 and area 5 can be connected through area 2 and area 3, and can also be connected through area 4, that is, the passing areas corresponding to area 1 and area 5 include area 2, area 3 and area 4.

[0053] Step S230: extracting candidate paths between the task start point and the task end point, wherein the candidate paths contain regional road segments passing through the area.

[0054] A candidate path refers to a path that can go from the task starting point to the task end point. The number of candidate paths is one or more, for example, Figure 3 The number of candidate paths in is 9.

[0055] Exemplarily, regional maps of the starting area, the ending area, and the passing area may be obtained, and drivable paths from the task starting point to the task ending point may be extracted through the regional maps to obtain candidate paths.

[0056] Exemplarily, it is also possible to pre-cachrow the regional road sections between the entrances and exits corresponding to each adjacent channel in the transit area and / or the regional road sections from the task starting point to the starting area exit and / or the regional road sections from the end area exit to the task end point, and combine and construct the candidate path based on the connectivity relationship between these road sections.

[0057] Since the mobile device must pass through the passing area to reach the task destination, the candidate path must contain regional road segments of the passing area.

[0058] Step S240: Calculate the total path cost of each candidate path based on the cost corresponding to the regional road segment of the passed area in the road segment cost table corresponding to the passed area.

[0059] A segment cost table corresponding to the working area is pre-stored. The segment cost table is used to store the costs corresponding to the regional segments contained in the working area; the regional segment refers to the drivable segment between the entrances and exits corresponding to the adjacent channels in the working area, such as Figure 3 At least one drivable road section between the entrance 1 and the exit 4 of the middle area 2; the cost refers to the resources required for the mobile device to travel on the regional road section, such as the time required, the kinetic energy required, etc.

[0060] For example, see Figure 5 , Figure 5 An exemplary embodiment of the present application is shown Figure 3 The schematic diagram of the road segment cost table corresponding to area 2 is as follows: Figure 5 As shown, each entrance and exit of area 2 can be combined to obtain 9 area sections, and each area section corresponds to a cost, such as entrance 1 and exit 4 correspond to cost a14, entrance 1 and exit 5 correspond to cost a15, and so on.

[0061] Among them, the historical driving records of each mobile device can be counted to obtain the cost required for driving in a specified area section; or the cost required for driving in a specified area section can be calculated according to a preset cost calculation function.

[0062] The costs of the regional road segments contained in each working area are calculated in advance, and the calculated costs are stored. Therefore, when the mobile device performs path planning later, the road segment cost table corresponding to the passed area can be directly queried for the passed area to directly obtain the costs corresponding to the regional road segments of the passed area in the candidate path, and then calculate the total path cost of the candidate path. Compared with the prior art that requires real-time calculation of the costs of all road segments in the candidate path, the present application can reduce the steps of calculating the costs of the regional road segments in the passed area during the path planning process, thereby saving the time and computing power resources required for calculating the total path cost.

[0063] For example, in addition to querying and obtaining the costs corresponding to the regional road segments of the passed-through area in the candidate path, the costs corresponding to the road segments in the starting area and the road segments in the end point area can also be calculated according to the conventional cost calculation method, so as to combine the costs corresponding to the regional road segments in the passed-through area, the costs corresponding to the road segments in the starting area and the road segments in the end point area, and calculate the total path cost that the mobile device needs to spend to complete the candidate path, thereby ensuring the accuracy of the calculated total path cost.

[0064] Exemplarily, after obtaining the cost corresponding to the regional road segments of the area passed through in the candidate path through query, the total path cost required for the candidate path can be directly calculated based only on the cost corresponding to the regional road segments of the area passed through, such as summing up the costs of all regional road segments of the area passed through in the candidate path, and using the sum result as the total path cost corresponding to the candidate path, so as to maximize the efficiency of the total path cost.

[0065] In some implementations, the calculation method of the total path cost can be flexibly selected according to the specific application scenario, such as the urgency of the task to be performed, the remaining computing power resources of the method execution subject, etc. For example, if the urgency of the task to be performed is greater than the preset urgency or the remaining computing power resources are less than the preset resource threshold, the total path cost required for the candidate path is directly calculated based only on the cost corresponding to the regional road segment of the passing area; otherwise, the total path cost required for the mobile device to complete the candidate path is calculated by combining the cost corresponding to the regional road segment of the passing area, the cost corresponding to the road segment of the starting area, and the cost corresponding to the road segment of the end area.

[0066] Step S250: selecting a candidate path whose total path cost meets a preset condition as the target driving path of the mobile device.

[0067] For example, a candidate path with the smallest total path cost is selected as the target driving path of the mobile device.

[0068] For another example, a candidate path whose total path cost is less than a preset cost threshold and whose total path cost is the smallest is selected as the target driving path of the mobile device.

[0069] Next, some embodiments of the present application are described by way of example.

[0070] The number of the road segment cost tables corresponding to the route area may be one or more.

[0071] In some embodiments, the route area corresponds to multiple segment cost tables. Before calculating the total path cost, it is necessary to select a segment cost table that matches the mobile device from the multiple segment cost tables to calculate the total path cost of each candidate path based on the costs corresponding to the regional segments of the routed area in the matching segment cost table.

[0072] Specifically, different road segment cost tables are associated with different equipment parameters and / or transport loads.

[0073] The equipment parameters include but are not limited to equipment type, equipment volume, etc.

[0074] Exemplarily, the cost required for a mobile device corresponding to different device parameters to travel in a specified area road section is calculated in advance; or, the cost required for a mobile device carrying different transport loads to travel in a specified area road section is calculated in advance; or, the cost required for a mobile device corresponding to different device parameters to travel in a specified area road section when carrying different transport loads is calculated in advance.

[0075] The cost of driving in a specified area section can be obtained by counting the historical driving records of each mobile device; or the cost of driving in a specified area section can be calculated according to a preset cost calculation function, such as the cost of driving in a specified area section according to parameters such as the device type, device volume, type of transport load, length of the area section, flatness of the area section, etc. of the mobile device. This application does not limit the specific calculation method of the cost.

[0076] Through the above method, a more accurate road section cost table is constructed.

[0077] For an example, see Figure 6 , Figure 6 This is a schematic diagram of a plurality of road segment cost tables corresponding to a working area shown in an exemplary embodiment of the present application, such as Figure 6 As shown, the working area includes road segment cost tables corresponding to n equipment types respectively.

[0078] Furthermore, the device parameters of the mobile device and / or the transport load carried by the mobile device are determined; based on the device parameters of the mobile device and / or the transport load carried by the mobile device, a matching road segment cost table is selected from a plurality of road segment cost tables corresponding to the passed area; based on the costs corresponding to the regional road segments of the passed area in the matching road segment cost table, the total path cost of each candidate path is calculated.

[0079] Specifically, multiple road section cost tables corresponding to the passed area are obtained, each road section cost table corresponds to different equipment parameters and / or transportation loads, and according to the equipment parameters of the current mobile device and / or the transportation load carried by the mobile device, a road section cost table matching the current mobile device is determined from the multiple road section cost tables corresponding to the passed area.

[0080] For example, the passing area includes road segment cost tables corresponding to n device types respectively, the device type of the current mobile device is obtained, and the road segment cost table consistent with the device type of the current mobile device is queried from the n road segment cost tables corresponding to the passing area to obtain a matching road segment cost table.

[0081] According to the selected matching road segment cost table, the total path cost of the candidate path is calculated.

[0082] In some implementations, the stored road segment cost table may also be updated in a timely manner according to changes in the application scenario.

[0083] Exemplarily, in response to changes in entrances and exits corresponding to adjacent channels in the working area and / or changes in map attributes corresponding to the working area and / or additions or reductions in equipment parameters and / or additions or reductions in types of transport loads, the road section cost table corresponding to the working area is updated.

[0084] For an example, see Figure 7 , Figure 7 FIG. 1 is a schematic diagram showing an exemplary embodiment of the present application for updating a road section cost table according to changes in an entrance and exit, such as Figure 7 As shown, if it is detected that there is an increase, reduction or position change of an exit or entrance in the working area, it is determined that the entrance and exit corresponding to the adjacent channel in the working area has changed, and the corresponding table entry and related cost value of the road section cost table are modified accordingly.

[0085] Of course, when changes are detected in the map attributes of the working area, such as when new or reduced obstacles are detected, the obstacles are moved, etc., the costs corresponding to the affected area sections in the section cost table can be updated; when new or reduced equipment parameters are detected, such as new or reduced equipment types, the corresponding table entries in the section cost table can be updated; when new or reduced transport load types are detected, the corresponding table entries in the section cost table can be updated.

[0086] According to the changes in application scenarios, the road section cost table is timely maintained and updated to ensure the accuracy of the cost values ​​in the road section cost table.

[0087] In some implementations, step S230 extracts a candidate path between the task start point and the task end point, including:

[0088] Step S231: taking the adjacent channel between the starting area and the passing area as the starting target channel, and taking the adjacent channel between the passing area and the ending area as the ending target channel.

[0089] For example, see Figure 3 In the figure, the adjacent channels between area 1 and area 2 include adjacent channel 1, adjacent channel 2 and adjacent channel 3. Adjacent channel 1, adjacent channel 2 and adjacent channel 3 are used as starting target channels, and mobile devices can move to the passing area through the starting target channels; the adjacent channels between area 2 and area 3 include adjacent channel 4, adjacent channel 5 and adjacent channel 6. Adjacent channel 4, adjacent channel 5 and adjacent channel 6 are used as terminal target channels, and mobile devices can move from the passing area to the terminal area through the terminal target channels.

[0090] Step S232: extract the regional road section from the task starting point to the starting target channel to obtain the first section corresponding to the starting area; extract the regional road section from the starting target channel to the end target channel to obtain the second section corresponding to the passing area; extract the regional road section from the end target channel to the task end point to obtain the third section corresponding to the end point area.

[0091] For example, see Figure 3There are 3 sections from the mission starting point in area 1 to adjacent channel 1, adjacent channel 2 or adjacent channel 3, which are regarded as the first section; there are 9 sections between adjacent channel 1, adjacent channel 2 or adjacent channel 3 and adjacent channel 4, adjacent channel 5 and adjacent channel 6 in area 2, which are regarded as the second section; there are 3 sections from adjacent channel 1, adjacent channel 2 or adjacent channel 3 to the mission end point in area 3, which are regarded as the third section.

[0092] It should be noted that if there are multiple transit areas and they are interconnected, that is, the mobile device needs to pass through at least two transit areas in sequence to reach the terminal area, then it is necessary to determine the adjacent channels connecting the transit areas, and based on the adjacent channels connecting the transit areas and the running direction of the mobile device, determine the second section of each transit area respectively.

[0093] Step S233: Combine and concatenate the first section, the second section, and the third section to obtain a candidate path between the task start point and the task end point.

[0094] According to the connectivity among the first road section, the second road section and the third road section, the first road section, the second road section and the third road section are combined and spliced ​​to obtain a candidate path between the task starting point and the task end point.

[0095] For example, Figure 3 In the above, we get three first sections from the task starting point to exit 1, exit 2 and exit 3; nine second sections from entrance 1, entrance 2 and entrance 3 to exit 4, exit 5 and exit 6 respectively; and three third sections from entrance 4, entrance 5 and entrance 6 to the task end point respectively. By splicing the above first sections, second sections and third sections, we get nine candidate paths.

[0096] In some embodiments, different mobile devices may have different map areas that can be driven in the same working area. For example, see Figure 8 , Figure 8 This is a schematic diagram of a working area shown in an exemplary embodiment of the present application. Figure 8 As shown, a prohibited driving area is set for special mobile devices in the working area, and the special mobile device cannot drive in the prohibited driving area, wherein the special mobile device can be a mobile device of a specified type or a mobile device with a specified identification.

[0097] For this type of special mobile device, when extracting the regional road section from the starting target channel to the end target channel to obtain the second road section corresponding to the passing area, it includes: in response to the existence of a prohibited driving area corresponding to the mobile device in the passing area, obtaining all regional road sections corresponding to the passing area, selecting the regional road section from the starting target channel to the end target channel that does not pass through the prohibited driving area, and obtaining the second road section corresponding to the passing area.

[0098] That is, the road sections in the areas where special mobile equipment cannot travel are filtered out to ensure the accuracy of the subsequent candidate path construction.

[0099] Furthermore, it also includes: if there is a prohibited driving area corresponding to the mobile device in the passing area, then all regional road sections in the passing area that have not passed through the prohibited driving area are selected, and a section cost table is constructed based on the costs corresponding to the selected candidate sections to obtain a special cost table for the mobile device relative to the prohibited driving area in the passing area; based on the costs corresponding to the regional sections of the passing area in the section cost table corresponding to the passing area, the total path cost of each candidate path is calculated, including: based on the special cost table of the mobile device relative to the prohibited driving area in the passing area, the total path cost of each candidate path is calculated.

[0100] That is, when the current mobile device is detected as a special mobile device, a special cost table corresponding to the special mobile device is constructed based on all the regional road sections in the passing area that do not pass through the prohibited driving area. Optionally, before constructing the special cost table corresponding to the special mobile device, it can be detected whether a special cost table corresponding to the special mobile device already exists. If so, the special cost table is directly used to calculate the total path cost of each candidate path. If not, a special cost table corresponding to the special mobile device is constructed, and the total path cost of each candidate path is calculated based on the constructed special cost table.

[0101] In actual application scenarios, the cost table of special mobile devices is maintained separately. When the special mobile device is used, a characteristic cost table belonging to the special mobile device is established, and subsequent maintenance and updates are performed. This reduces the cost table storage resources and maintenance resources that require special consideration of the special mobile device in the entire path planning method, and simplifies the cost of establishing, updating and maintaining the cross-regional path cost table.

[0102] In some implementations, in step S240, based on the cost corresponding to the regional road segment of the passing area in the road segment cost table corresponding to the passing area, the total path cost of each candidate path is calculated, including:

[0103] Step S241: query the cost corresponding to the regional road segment of the passed area in the road segment cost table corresponding to the passed area to obtain the passed road segment cost; and, based on the preset cost function, respectively calculate the costs corresponding to the regional road segment of the starting area and the regional road segment of the end point area to obtain the starting point road segment cost and the end point road segment cost.

[0104] Directly query the cost of the passing section in the candidate path based on the matched section cost table to obtain the passing section cost.

[0105] In addition, the costs corresponding to the regional road section of the starting area and the regional road section of the end area are calculated respectively according to the preset cost function.

[0106] For example, based on parameters such as the device type, device volume, type of transport load, length of the regional road section, and flatness of the regional road section of the mobile equipment, the cost required to travel in the regional road section of the starting area and the regional road section of the end area is calculated to obtain the starting section cost and the end section cost.

[0107] It should be noted that the specific calculation method of the starting point section cost and the end point section cost may be the same as or different from the specific calculation method of the cost in constructing the section cost table, and this application does not limit this.

[0108] Optionally, the number of factors required for reference in calculating the cost of the starting section and the cost of the end section is less than the number of factors required for reference in calculating the cost in the section cost table. Generally speaking, the fewer the number of factors required for reference, the smaller the corresponding time resources and computing power resources spent. For example, the starting section cost and the end section cost can be calculated only based on the length of the section, while the cost in the section cost table is calculated based on the historical driving record of the mobile device, the type of device, the volume of the device, the type of transport load, the length of the regional section, the flatness of the regional section and other parameters, so as to improve the accuracy of the total cost of the subsequent path while further reducing the time resources and computing power resources required for cost calculation.

[0109] Step S242: summing the cost of the passing section, the cost of the starting section and the cost of the end section to obtain the total path cost of the candidate path.

[0110] The cost of the passing section, the starting section and the end section of the same candidate section are summed up, and the sum result is used as the total path cost of the candidate path.

[0111] In some implementations, the costs of all the traversed sections may be directly summed, and the sum result may be used as the total path cost corresponding to the candidate path.

[0112] By directly querying the cost of the traversed road segments, the time and computing resources required to calculate the total cost of the entire candidate path can be reduced.

[0113] Exemplarily, after the total path cost of each candidate path is obtained, the candidate path with the smallest total path cost is selected as the target driving path of the mobile device.

[0114] The cross-regional path planning method provided by the present application obtains the task starting point and task end point of the mobile device, takes the working area where the task starting point is located as the starting point area, and takes the working area where the task end point is located as the end point area; determines the working area connected between the starting point area and the end point area, and takes the connected working area as the passing area; extracts candidate paths between the task starting point and the task end point, and the candidate paths contain regional road segments of the passing area; calculates the total path cost of each candidate path based on the cost corresponding to the regional road segments of the passing area in the road segment cost table corresponding to the passing area; selects the candidate path whose total path cost meets the preset conditions as the target driving path of the mobile device, which can reduce the steps of calculating the cost of the regional road segments of the passing area during the path planning process, thereby saving the time and computing power resources required for calculating the total path cost.

[0115] Fig. 9 FIG. 1 is a block diagram of a cross-region path planning device shown in an exemplary embodiment of the present application. Fig. 9 As shown, the exemplary cross-region path planning device 900 includes: a starting region determination module 910, a passing region determination module 920, a candidate path extraction module 930, a cost calculation module 940 and a target path selection module 950. Specifically:

[0116] The starting area determination module 910 is used to obtain the task starting point and task end point of the mobile device, and take the working area where the task starting point is located as the starting area, and take the working area where the task end point is located as the end area;

[0117] A passing area determination module 920 is used to determine a working area connected between the starting area and the end area, and use the connected working area as a passing area;

[0118] A candidate path extraction module 930 is used to extract candidate paths between a task start point and a task end point, wherein the candidate paths contain regional road segments passing through the area;

[0119] A cost calculation module 940, configured to calculate the total path cost of each candidate path based on the cost corresponding to the regional road segment of the passing area in the road segment cost table corresponding to the passing area;

[0120] The target path selection module 950 is used to select a candidate path whose total path cost meets a preset condition as a target driving path for the mobile device.

[0121] It should be noted that the cross-regional path planning device provided in the above embodiment and the cross-regional path planning method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment and will not be repeated here. In practical applications, the cross-regional path planning device provided in the above embodiment can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0122] See also Fig.10 , Fig.10 1 is a schematic diagram of the structure of an embodiment of an electronic device of the present application. The electronic device 1000 includes a memory 1001 and a processor 1002, and the processor 1002 is used to execute program instructions stored in the memory 1001 to implement the steps in any of the above-mentioned cross-regional path planning method embodiments. In a specific implementation scenario, the electronic device 1000 may include but is not limited to: a microcomputer, a server, and in addition, the electronic device 1000 may also include a mobile device such as a laptop computer and a tablet computer, which is not limited here.

[0123] Specifically, the processor 1002 is used to control itself and the memory 1001 to implement the steps in any of the above-mentioned cross-regional path planning method embodiments. The processor 1002 may also be referred to as a central processing unit (CPU). The processor 1002 may be an integrated circuit chip having signal processing capabilities. The processor 1002 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. In addition, the processor 1002 may be implemented by an integrated circuit chip.

[0124] See also Fig.11 , Fig.11 The computer-readable storage medium 1100 stores program instructions 1110 that can be executed by a processor, and the program instructions 1110 are used to implement the steps in any of the above cross-region path planning method embodiments.

[0125] In some embodiments, the functions or modules included in the device provided by the embodiments of the present disclosure can be used to execute the method described in the above method embodiments. The specific implementation can refer to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0126] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0127] In the several embodiments provided in the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation described above is only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0128] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or part of the contribution to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform all or part of the steps of each implementation method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program code.

Claims

1. A cross-regional path planning method, characterized in that: The path planning scenario contains multiple working areas, the working areas are connected by adjacent channels, the working areas correspond to a road section cost table, the road section cost table is used to store the cost corresponding to the regional road section contained in the working area, the regional road section refers to the drivable road section between the entrances and exits corresponding to the adjacent channels in the working area, and the cost refers to the resources required for the mobile device to travel in the regional road section. The method includes: Obtaining a task start point and a task end point of a mobile device, taking a working area where the task start point is located as a starting area, and taking a working area where the task end point is located as an end area; Determine a working area connected between the starting area and the end area, and use the connected working area as a passing area; Extracting a candidate path between the task starting point and the task end point, wherein the candidate path contains a regional road section of the passing area; Calculate the total path cost of each candidate path based on the cost corresponding to the regional road segment of the passing area in the road segment cost table corresponding to the passing area; A candidate path whose total path cost meets a preset condition is selected as the target driving path of the mobile device.

2. The method according to claim 1, characterized in that: The route area corresponds to a plurality of road segment cost tables; before calculating the total path cost of each candidate path based on the cost corresponding to the regional road segment of the route area in the road segment cost table corresponding to the route area, the method further includes: Selecting a road segment cost table matching the mobile device from the plurality of road segment cost tables; The calculating of the total path cost of each candidate path based on the cost corresponding to the regional road segment of the passing area in the road segment cost table corresponding to the passing area includes: The total path cost of each candidate path is calculated based on the costs corresponding to the regional road segments of the passing area in the matching road segment cost table.

3. The method according to claim 2, characterized in that Different road segment cost tables are associated with different equipment parameters and / or transport loads; the step of selecting a road segment cost table that matches the mobile equipment from the plurality of road segment cost tables comprises: determining equipment parameters of the mobile device and / or a transport load carried by the mobile device; Based on the device parameters of the mobile device and / or the transport load carried by the mobile device, a matching road segment cost table is selected from a plurality of road segment cost tables corresponding to the passing area.

4. The method according to claim 2, characterized in that: The method further comprises: In response to changes in entrances and exits corresponding to adjacent channels in the working area and / or changes in map attributes corresponding to the working area and / or additions or reductions in equipment parameters and / or additions or reductions in types of transport loads, the road section cost table corresponding to the working area is updated.

5. The method according to claim 1, characterized in that The extracting a candidate path between the task starting point and the task end point includes: The adjacent channel between the starting area and the passing area is used as the starting target channel, and the adjacent channel between the passing area and the ending area is used as the ending target channel; Extract the regional road section from the mission starting point to the starting point target channel to obtain a first road section corresponding to the starting point area; extract the regional road section from the starting point target channel to the terminal target channel to obtain a second road section corresponding to the passing area; extract the regional road section from the terminal target channel to the mission terminal to obtain a third road section corresponding to the terminal area; The first road section, the second road section and the third road section are combined and concatenated to obtain a candidate path between the task starting point and the task end point.

6. The method according to claim 5, characterized in that The extracting the regional road section from the starting target channel to the end target channel to obtain the second road section corresponding to the passing area includes: In response to the existence of a prohibited driving area corresponding to the mobile device in the passing area, all regional road sections corresponding to the passing area are obtained, and the regional road section from the starting target channel to the end target channel that does not pass through the prohibited driving area is selected to obtain a second road section corresponding to the passing area.

7. The method according to claim 6, characterized in that The method further comprises: If there is a prohibited driving area corresponding to the mobile device in the passing area, all regional road segments in the passing area that do not pass through the prohibited driving area are selected, and a road segment cost table is constructed based on the costs corresponding to the selected candidate road segments to obtain a special cost table of the mobile device in the passing area relative to the prohibited driving area; The calculating of the total path cost of each candidate path based on the cost corresponding to the regional road segment of the passing area in the road segment cost table corresponding to the passing area includes: Based on the special cost table of the mobile device in the passing area relative to the prohibited driving area, the total path cost of each candidate path is calculated.

8. The method according to claim 1, characterized in that The calculating of the total path cost of each candidate path based on the cost corresponding to the regional road segment of the passing area in the road segment cost table corresponding to the passing area includes: Query the cost corresponding to the regional road section of the passing area in the road section cost table corresponding to the passing area to obtain the passing road section cost; and Based on a preset cost calculation function, respectively calculate the costs corresponding to the regional road section of the starting area and the regional road section of the end area to obtain the starting section cost and the end section cost; The cost of the passing section, the cost of the starting section and the cost of the end section are summed to obtain the total path cost of the candidate path; Alternatively, the costs of all the traversed sections are summed up, and the sum result is used as the total path cost corresponding to the candidate path.

9. An electronic device, characterized in that: The electronic device comprises a memory and a processor, wherein the processor is configured to execute program instructions stored in the memory to implement the steps in the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program instructions, and the program instructions can be executed by a processor to implement the steps in the method according to any one of claims 1 to 8.

Images