Path confirmation method, device, electronic device and storage medium

Abstract

The present invention provides a path selection method, device, electronic device and storage medium, the method comprising: marking the edges of all grids in the grid map based on the positions of the grids where the starting point, the end point and the obstacles are located in the grid map; and determining at least one target path from the starting point to the end point in the grid map based on the markings of the edges of all grids. The present invention determines a target path from the starting point to the end point by marking the edges in the grid map with obstacles, which greatly reduces the complexity of the algorithm, thereby reducing energy consumption and improving the efficiency of path determination.

Description

Technical Field

[0001] The present invention relates to the field of machine learning technology, and in particular to a path confirmation method, device, electronic device and storage medium. Background Art

[0002] The development of computers and communications has made people's lives easier and faster. Path planning has become a core issue in the field of intelligent path exploration research. The main function is to find a collision-free path from a known starting point to a known end point in the environment. The key issue of the connected path is the search algorithm.

[0003] Traditional path planning uses an iterative traversal algorithm to explore paths. The current related algorithms are to traverse the entire graph from the starting point, continuously explore or diffuse, and continuously resolve conflicts and collisions to find a connecting path between the starting point and the end point. This algorithm can rely on computing power, exhaust all possibilities, and ultimately find the best conclusion.

[0004] However, this algorithm that obtains iteration and traversal exploration is not necessarily the most efficient algorithm. In addition, due to the excessive number of iterations, all possibilities need to be traversed, especially as the number of nodes increases, the complexity will increase exponentially. At this time, the amount of data calculation is astonishing, the energy consumption is high, and the work efficiency is low. Summary of the invention

[0005] The present invention provides a path confirmation method, device, electronic device and storage medium, which are used to solve the defects of high computational complexity, high energy consumption and low working efficiency in the prior art, reduce computational complexity and energy consumption, and improve working efficiency.

[0006] In a first aspect, the present invention provides a path confirmation method, comprising:

[0007] Based on the positions of the grids where the starting point, the end point and the obstacles are located in the grid map, the edges of all the grids in the grid map are marked; based on the markings of the edges of all the grids, at least one target path from the starting point to the end point in the grid map is determined.

[0008] Optionally, according to a path confirmation method provided by the present invention, marking the edges of all grids in the grid map based on the positions of the starting point, the end point and the grid where the obstacle is located in the grid map includes:

[0009] The edges at the border in the grid map are marked as disabled; based on the position of the grid where the obstacle is located in the grid map, all the edges of the grid where the obstacle is located are marked as disabled.

[0010] Optionally, according to a path confirmation method provided by the present invention, marking the edges of all grids in the grid map based on the positions of the starting point, the end point and the grid where the obstacle is located in the grid map includes:

[0011] Mark the unmarked edges in the grid map until all the edges in the grid map are marked.

[0012] Optionally, according to a path confirmation method provided by the present invention, marking unmarked edges in a grid map includes:

[0013] Mark the remaining edges of the grid with only two edges marked as disabled as passed.

[0014] Optionally, according to a path confirmation method provided by the present invention, marking unmarked edges in a grid map includes:

[0015] Mark the remaining edges of the grid with two edges marked as passed and one edge marked as disabled as disabled; and / or mark the remaining edges of the grid with two edges marked as disabled and one edge marked as passed as passed.

[0016] Optionally, according to a path confirmation method provided by the present invention, marking unmarked edges in a grid map includes:

[0017] Based on the exhaustive traversal algorithm, the unmarked edges in the grid map are marked.

[0018] Optionally, according to a path confirmation method provided by the present invention, determining at least one target path in the grid map based on the markings of the edges of all grids includes: determining the target path based on all edges marked as passed.

[0019] In a second aspect, the present invention provides a path confirmation device, comprising:

[0020] A marking module, based on the positions of the starting point, the end point and the grid where the obstacle is located in the grid map, marks the edges of all grids in the grid map;

[0021] A determination module is used to determine at least one target path from the starting point to the end point in the grid map based on the markings of the edges of all the grids.

[0022] In a third aspect, the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the path confirmation method provided in the first aspect when executing the program.

[0023] In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the path confirmation method provided in the first aspect.

[0024] The present invention provides a path confirmation method, device, electronic device and storage medium. The present invention performs grid mapping on the path confirmation method, based on the positions of the grids where the starting point, the end point and the obstacles are located in the grid map, and by marking the edges of all grids in the grid map, at least one target path from the starting point to the end point is determined, thereby reducing the algorithm complexity, reducing energy consumption and improving the efficiency of path determination. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 It is a flow chart of a path confirmation method provided by the present invention;

[0027] Figure 2 This is one of the schematic diagrams of the steps of a path determination method provided by the present invention;

[0028] Figure 3 This is the second schematic diagram of the steps of a path determination method provided by the present invention;

[0029] Figure 4 This is the third schematic diagram of the steps of a path determination method provided by the present invention;

[0030] Figure 5 This is a fourth schematic diagram of the steps of a path determination method provided by the present invention;

[0031] Figure 6 This is the fifth step schematic diagram of a path determination method provided by the present invention;

[0032] Figure 7 This is the sixth schematic diagram of the steps of a path determination method provided by the present invention;

[0033] Figure 8 This is the seventh step schematic diagram of a path determination method provided by the present invention;

[0034] Fig. 9 This is the eighth step schematic diagram of a path determination method provided by the present invention;

[0035] Fig.10This is a ninth step schematic diagram of a path determination method provided by the present invention;

[0036] Fig.11 It is a structural schematic diagram of a path confirmation device provided by the present invention;

[0037] Fig.12 It is a schematic diagram of the physical structure of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] Figure 1 is a flow chart of a path confirmation method provided by the present invention, such as Figure 1 As shown, the method comprises the following steps:

[0041] Step 110, marking the edges of all grids in the grid map based on the positions of the starting point, the end point and the grid where the obstacle is located in the grid map;

[0042] Optionally, when establishing a grid map, the following prerequisites need to be met: the location of obstacles is known and there are no dynamic obstacles.

[0043] Optionally, a two-dimensional map is created using a square grid, and the side length of the grid can be customized.

[0044] Alternatively, taking the working robot as an example, the side length of the grid can be the minimum rotation diameter of the working robot itself. If the obstacle is smaller than the grid area, the obstacle is enlarged into a square. If the obstacle is larger than the square area, it can be represented by two squares. If the obstacle area is larger, it can be represented by multiple squares. Then the connected grids are used to represent the robot's walking unit path.

[0045] Optionally, in the present invention, the grid map may also use other quadrilaterals such as rectangles and trapezoids to establish a two-dimensional grid map.

[0046] Optionally, at least one target path in the grid map is at least one navigable path from a known starting point to a known end point without intersection or conflict.

[0047] Optionally, Figure 2 This is one of the schematic diagrams of the steps of a path determination method provided by the present invention. After modeling, the robot waits for path planning space such as Figure 2 As shown in the figure, the white part is the free grid, the part with the prohibition mark is the obstacle grid, the part with the "start" mark is the starting grid, and the part with the "stop" mark is the ending grid.

[0048] When constructing a grid map, a coordinate system is established with the first grid in the upper left corner of the map as the origin. Each grid can be represented by the coordinate form of X[Y]. For example, the first grid in the upper left corner is represented as a[1], and the last grid in the lower right corner is f[6].

[0049] Optionally, when constructing a grid map, a coordinate system can be established with the top right corner, bottom left corner, first grid in the bottom right corner of the map or any grid in the grid map as the origin. The above definition method is more conducive to simplifying it into an array or list in computer language, which is convenient for expression and calculation.

[0050] Optionally, the edges of all grids in the grid map are marked.

[0051] Optionally, the present invention provides a CL3-1 algorithm, in which the positions of the start and end points are determined, such as Figure 2 As shown in the figure, the upper left corner a[1] grid is the start grid, and the lower right corner f[6] grid is the end grid. The entire plane can be represented by 6 arrays. Each data contains 6 cells, and each grid contains 5 attributes. The cell information structure in the grid map is shown in Table 1 below.

[0052] Table 1

[0053] bStatus grid type flag (0: available 1: occupied 2: obstruction) bUFlag upper edge - flag bit (0: unmarked 1: passed 2: disabled) bLFlag left - mark bit (0: not marked 1 passed 2: disabled) bRFlag right - mark bit (0: not marked 1: passed 2: disabled) bDFlag lower edge - mark bit (0: not marked 1: passed 2: disabled)

[0054] Mark the edges of all grids in the grid map according to the cell information structure in Table 1. The edges of the grid can be marked as passed or disabled according to different situations.

[0055] Step 120: Determine at least one target path from the starting point to the end point in the grid map based on the labels of the edges of all the grids.

[0056] Optionally, all grid edges are marked as passed or disabled according to certain rules, and at least one target path from the starting point to the end point in the grid map is determined according to the marking.

[0057] Optionally, the grid where the starting point is located can be Figure 2 The starting grid in the example, the grid where the end point is located can be Figure 2 The grid where the starting point and the grid where the end point are located can be any known non-obstruction grid in the grid map, and the grid type of both can be marked as 1 (occupied), and both are marked as "start" or "stop" in the grid map. The two can be adjacent or non-adjacent, and can be located at the boundary of the grid map or not at the boundary of the grid map, and the present invention does not limit this.

[0058] Optionally, when marking the edges of all grids in the grid map, the grids whose grid type is marked as 1 (occupied) or are marked as "start" or "stop" in the grid map are directly skipped.

[0059] The present invention converts the path confirmation method into a two-dimensional grid map, adopts a coordinate system method, and determines at least one target path by marking the edges of the grid map, thereby reducing the algorithm complexity, reducing energy consumption, and improving the efficiency of path determination.

[0060] Optionally, based on the positions of the grids where the starting point, the end point and the obstacles are located in the grid map, marking the edges of all grids in the grid map includes:

[0061] Mark the edges at the border of the grid map as disabled;

[0062] Based on the position of the grid where the obstacle is located in the grid map, all edges of the grid where the obstacle is located are marked as disabled.

[0063] Optionally, all edges in the grid map that are located at each boundary can be marked as disabled;

[0064] Optionally, Figure 3 This is a second schematic diagram of the steps of a path determination method provided by the present invention. Figure 3 As shown, in multiple arrays, the grid types (bStatus) of obstacles a[6], b[3], c[4], d[6], e[3], and f[4] are set to 2 (obstacle), and then each boundary in the two-dimensional map is set to 2 (disabled).

[0065] Optionally, a fast grid map peripheral marking algorithm is used: because a multi-array method is used, it can be directly marked without traversal and judgment. All upper marks of a[*], all lower marks of f[*], all left marks of *[1], and all right marks of *[6] can be directly disabled, which is intuitively represented by an X mark.

[0066] Optionally, based on the positions of the grids where the obstacles are located in the grid map, all edges of the grids where the obstacles are located are marked as disabled.

[0067] Optionally, Figure 4 This is the third schematic diagram of the steps of a path determination method provided by the present invention. Figure 4 As shown, the four sides of the obstacle grid - bUFlag, bLFlag, bRFlag, bDFlag are set to 2 (disabled), that is, Figure 4 The disabled mark X.

[0068] By disabling the edge markings at the boundaries of the grid map and disabling all edge markings in the grid where the obstacles are located, the number of optional path selections is reduced, further reducing the complexity of the calculation, reducing energy consumption, and improving the efficiency of the robot's operation.

[0069] Optionally, based on the positions of the grids where the starting point, the end point and the obstacles are located in the grid map, marking the edges of all grids in the grid map includes:

[0070] Mark the unmarked edges in the grid map until all the edges in the grid map are marked.

[0071] Specifically, after determining the disabled marks of the edges of the grid boundary and all the edges of the grid where the obstacle is located, the unmarked edges in the grid map are marked according to certain rules until all the edges in the grid map are marked, or there is no way to continue marking according to the current rules.

[0072] Optionally, when there is no way to continue marking according to the current rule, an exhaustive traversal algorithm is used to mark the remaining edges that cannot be marked, and a grid map with all grid edges marked is obtained. For example, any of the remaining two edges of a grid with only two edges marked, one of which is marked as passed and the other as disabled, is marked as passed.

[0073] Optionally, the certain rules may include: marking the remaining edges of the grid with only two sides marked as disabled as passed; marking the remaining edges of the grid with two sides marked as passed and one side marked as disabled as disabled; marking the remaining edges of the grid with two sides marked as disabled and one side marked as passed as passed.

[0074] By marking the unmarked edges in the grid map, the possibility of path selection is further reduced, the complexity of calculation is reduced, the energy consumption is reduced, and the work efficiency is improved.

[0075] Optionally, the remaining edges of the grid with only two edges marked as disabled are marked as passed.

[0076] Optionally, Figure 5 This is a fourth schematic diagram of the steps of a path determination method provided by the present invention. Figure 5 As shown, all grid nodes in the grid map are traversed in sequence, and grids with a barrier or occupied status are directly skipped to reduce the amount of calculation. If there are two edge marks as disabled on the available grid node, both edge marks are set to 1 (passed), which is represented by a line running through the grid. Such as a[3], a[4], a[5], b[6], e[1], e[6], f[2], f[3], f[4], etc. At the same time, the grid bStaus (grid status) is set to 1 (occupied). For an edge of a unit grid to be set to 1 (passed), it means that the edge of the unit grid adjacent to the edge is also set to 1 (passed), such as the b[5] grid, because the adjacent lower edge of a[5] and the left side of b[6] are connected by a line, then the corresponding upper and right sides of b[5] are also set to 1 (passed).

[0077] Optionally, marking the remaining edges of the grid having two edges marked as passed and one edge marked as disabled as disabled;

[0078] Optionally, Figure 6 This is the fifth step schematic diagram of a path determination method provided by the present invention. Figure 6 As shown in , all grid nodes are traversed in sequence, and grids with obstacle or occupied status are directly skipped, which further reduces the amount of calculation. In the case where two sides of the available grid are passed by wires (that is, two sides are marked as passed), and the third side has a disabled mark, the remaining side is marked as disabled. For example, the upper side and the right side of b[5] are both passed by wires, that is, there is a passed mark, and the left side is marked as disabled. At this time, the lower side of b[5] is marked as disabled. Using the above method, the upper side marks of c[5], e[2], and f[5] are set to disabled, and the disabled marks are in Figure 6 Indicated by X.

[0079] Optionally, the remaining edges of a grid that has two edges marked as disabled and one edge marked as passed are marked as passed.

[0080] Optionally, Figure 7 This is the sixth schematic diagram of the path determination method provided by the present invention. Figure 7 As shown, all grid nodes in the grid map are traversed in sequence, and grids with obstacle or occupied status are directly skipped. If there are disabled marks on both sides and a wired node on one side, a connection is made on the remaining side. That is, if two sides are marked as disabled and one side is marked as passed, the remaining side is marked as passed. For example, the bottom and right sides of e[6] both have disabled marked nodes and the left side has a passed mark. At this time, the top side of e[6] is marked as passed.

[0081] Optionally, marking the unmarked edges in the grid map includes: marking the unmarked edges in the grid map based on an exhaustive traversal algorithm.

[0082] Optionally, when marking the unmarked edges in the grid map, the unmarked edges in the grid map can be marked based on an exhaustive traversal algorithm. For example, all grids can be traversed. In the first step, the remaining edges of the grid with only two edges marked as disabled can be marked as passed; in the second step, the remaining edges of the grid with two edges marked as passed and one edge marked as disabled can be marked as disabled; in the third step, the remaining edges of the grid with two edges marked as disabled and one edge marked as passed can be marked as passed, until all the unmarked edges of all grids are marked, or they can no longer be marked using the above rules. At this point, a grid map of all edges marked according to the above three steps can be obtained.

[0083] Optionally, Figure 8 This is the seventh schematic diagram of the path determination method provided by the present invention. Figure 8 As described above, at this time, all the paths that can be directly determined according to the above rules have been found. Next, for the remaining grid nodes in the above figure, such as a[1], a[2], b[1], b[2], c[1], c[2], the traditional exhaustive traversal method is used to explore. For example, if only two sides of the grid are marked, and one side is marked as passed and the other side is marked as disabled, any of the remaining two sides is marked as passed. At this time, there may be multiple exploration results. According to this method, the unmarked edges in the grid map are marked.

[0084] Optionally, determining at least one target path from the starting point to the end point in the grid map based on the markings of the edges of all grids includes: determining the target path from the starting point to the end point based on all edges marked as passed.

[0085] Optionally, according to all the edges marked as passed, one of the paths is determined as a target path from the starting point to the end point. The target path is a target path from the starting point to the end point without intersection and conflict.

[0086] For example, Fig. 9 This is a schematic diagram of the eighth step of a path determination method provided by the present invention. Fig. 9 The target path is one of the target paths in the grid map.

[0087] For example, Fig.10 This is a ninth step schematic diagram of a path determination method provided by the present invention, such as Fig.10 The above is another target path in the grid map.

[0088] Optionally, taking the robot determining the target path as an example, at this time, according to all the edges marked as passed, the determined path has been planned in the previous steps, and there are not many feasible paths left. At this time, the exhaustive traversal method is used for exploration, which greatly reduces the complexity of the algorithm, reduces the energy consumption of the robot, and improves the work efficiency of the robot.

[0089] The algorithm completes the path traversal without conflicts or intersections, and all judgments and position setting operations are completed with O(n) computational complexity, which is exponentially lower than the O(n2) complexity of the traditional exhaustive algorithm. In the final scenario where the rules cannot be used, most grids have completed the traversal planning when the traditional exploration method is used, which greatly reduces the iterated data.

[0090] Optionally, the CL3-1 algorithm does not use multiple arrays in its implementation, but uses a more efficient multidimensional array method, which is actually BYTE tMAP[m][n][q], where m and n are dimensions and q is an attribute set. In this example, it represents the five attributes of bStatus, bUFlag, bLFlag, bRFlag, and bDFlag for each grid. In this way, the calculation can be performed more quickly through the two-dimensional array subscript calculation method, which further realizes the calculation of O(1) complexity.

[0091] For example, if the bottom edge of one grid is set to passed, the top edge of the corresponding grid below also needs to be set to passed, such as Figure 5 In the example, a[5].bDFlag is set to 1, and b[5].bUFlag is set to 1. This is very convenient when using array subscripts.

[0092] tMAP[1][4][1]=tMap[1+1][4][4]=1; this one sentence can complete the simultaneous marking of two grids.

[0093] That is, by adding or subtracting the array index, you can directly access the adjacent cells above, below, left, and right for operation. You can also traverse all cells by conveniently operating the array index. The grid map can be represented in the following ways.

[0094]

[0095] The present invention adopts a multidimensional array and uses a subscript method to locate adjacent unit grids on the left and right of the upper line, which is easy to achieve the advantages of fast positioning by subscript method, fast convergence speed, strong global search capability, etc.

[0096] Optionally, the present invention adopts an autonomous CL3-1 algorithm to seek a collision-free path from a known starting point to a known end point in an environment with obstacles, and the algorithm has the lowest cost.

[0097] Traditional path planning algorithms are mostly iterative traversal path exploration, which continuously traverses and tries until a path that meets the conditions is found. Due to the excessive number of iterations, the algorithm needs to traverse all possibilities, especially as the number of nodes increases, the algorithm complexity will increase exponentially, and the amount of data calculation is amazing. The number of iterations required for the path traversal of each traditional algorithm under 35 nodes is shown in Table 2 below:

[0098] Table 2

[0099] algorithm Convergent Algebra Tabu Search Algorithm 329 Ant Colony Algorithm 97 Genetic Algorithms 127 Hybrid Algorithm 86

[0100] The CL3-1 algorithm in the present invention only needs 9 iterations to complete, and there is no conflict, no duplication, no rollback, etc.

[0101] Optionally, when the present invention is applied to a working robot with limited power, quick planning can be performed in advance before the operation, so that the working mode can be quickly started to improve work efficiency. For example, when a sweeping robot encounters a working scene with obstacles, the planned traversal path can be completed before the action, avoiding repeated attempts and fallback operations caused by constantly exploring the path during work, so as to save power and improve energy consumption ratio, while reducing the complexity of calculation, fast calculation and fast start, and improving work efficiency.

[0102] A path confirmation method provided by the present invention uses a grid map method in a two-dimensional binary map to find a non-conflicting traversal connection path. The advantages of this method are simplicity, small amount of calculation, and low calculation complexity. Compared with the exhaustive exploration method, it has fast calculation speed and low algorithm complexity. It does not require the fitness judgment function of the relevant algorithm, does not involve complex scenarios such as selection, crossover, and mutation, reduces energy consumption, and improves path confirmation efficiency.

[0103] Fig.11 is a schematic diagram of the structure of a path confirmation device provided by the present invention, such as Fig.11 The path confirmation device includes a marking module 1110 and a determination module 1120, wherein:

[0104] The marking module 1110 is used to mark the edges of all grids in the grid map based on the positions of the grids where the starting point, the end point and the obstacles are located in the grid map;

[0105] The determination module 1120 is used to determine at least one target path from the starting point to the end point in the grid map based on the labels of the edges of all the grids.

[0106] Optionally, the path confirmation device marks the edges of all grids in the grid map based on the positions of the starting point, the end point and the grids where obstacles are located in the grid map through the marking module 1110, and based on the markings of the edges of all grids, determines at least one target path from the starting point to the end point in the grid map through the determination module 1120.

[0107] The present invention converts the path confirmation method into a two-dimensional grid map, adopts a coordinate system method, and determines at least one target path by marking the edges of the grid map, thereby reducing the algorithm complexity, reducing energy consumption, and improving the work efficiency of the robot operation.

[0108] The path confirmation device provided by the present invention is described below. The path confirmation device described below and the path confirmation method described above can be referred to each other.

[0109] Optionally, marking the edges of all grids in the grid map based on the positions of the starting point, the end point and the grid where the obstacle is located in the grid map includes:

[0110] Mark the edges at the border of the grid map as disabled;

[0111] Based on the position of the grid where the obstacle is located in the grid map, all edges of the grid where the obstacle is located are marked as disabled.

[0112] Optionally, marking the edges of all grids in the grid map based on the positions of the starting point, the end point and the grid where the obstacle is located in the grid map includes:

[0113] Mark the unmarked edges in the grid map until all the edges in the grid map are marked.

[0114] Optionally, marking unmarked edges in the grid map includes:

[0115] Mark the remaining edges of the grid with only two edges marked as disabled as passed.

[0116] Optionally, marking unmarked edges in the grid map includes:

[0117] Mark the remaining edges of the grid that has two edges marked as passed and one edge marked as disabled as disabled; and / or

[0118] Marks the remaining edges of a raster that has two edges marked as disabled and one edge marked as passed as passed.

[0119] Optionally, marking unmarked edges in the grid map includes:

[0120] Based on the exhaustive traversal algorithm, the unmarked edges in the grid map are marked.

[0121] Optionally, the determining at least one target path from the starting point to the end point in the grid map based on the markings of the edges of all grids includes:

[0122] Based on all the edges marked as passed, the target path from the starting point to the end point is determined.

[0123] Fig.12 An example of a physical structure diagram of an electronic device is shown in FIG. Fig.12 As shown, the electronic device may include: a processor 1210, a communication interface 1220, a memory 1230 and a communication bus 1240, wherein the processor 1210, the communication interface 1220, and the memory 1230 communicate with each other through the communication bus 1240. The processor 1210 may call the logic instructions in the memory 1230 to execute the path confirmation method, which includes:

[0124] Based on the positions of the grids where the starting point, the end point and the obstacles are located in the grid map, marking the edges of all grids in the grid map;

[0125] At least one target path from the starting point to the end point in the grid map is determined based on the labels of the edges of all the grids.

[0126] In addition, the logic instructions in the above-mentioned memory 1230 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0127] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method is implemented to perform the above-mentioned path confirmation method, the method comprising:

[0128] Based on the positions of the grids where the starting point, the end point and the obstacles are located in the grid map, marking the edges of all grids in the grid map;

[0129] At least one target path from the starting point to the end point in the grid map is determined based on the labels of the edges of all the grids.

[0130] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0131] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0132] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A path confirmation method, characterized in that: include: Based on the positions of the starting point, the end point and the grid where the obstacle is located in the grid map, the edges of all grids in the grid map are marked; specifically, the unmarked edges in the grid map are marked until all the edges in the grid map are marked; wherein, the remaining edges of the grid with only two edges marked as disabled are marked as passed, and the remaining edges of the grid with two edges marked as passed and one edge marked as disabled are marked as disabled; and / or, the remaining edges of the grid with two edges marked as disabled and one edge marked as passed are marked as passed; At least one target path from the starting point to the end point in the grid map is determined based on the labels of the edges of all the grids.

2. The path confirmation method according to claim 1, characterized in that: The marking of the edges of all grids in the grid map based on the positions of the starting point, the end point and the grid where the obstacle is located in the grid map includes: Mark the edges at the border of the grid map as disabled; Based on the position of the grid where the obstacle is located in the grid map, all edges of the grid where the obstacle is located are marked as disabled.

3. The path confirmation method according to claim 1, characterized in that: The marking of unmarked edges in the grid map includes: Based on the exhaustive traversal algorithm, the unmarked edges in the grid map are marked.

4. The path confirmation method according to claim 3, characterized in that: The step of determining at least one target path from the starting point to the end point in the grid map based on the markings of the edges of all the grids comprises: Based on all the edges marked as passed, the target path from the starting point to the end point is determined.

5. A path confirmation device, characterized in that: include: The marking module is used to mark the edges of all grids in the grid map based on the positions of the starting point, the end point and the grid where the obstacle is located in the grid map; specifically, the marking of the unmarked edges in the grid map until all the edges in the grid map are marked; wherein, the remaining edges of the grid with only two edges marked as disabled are marked as passed, and the remaining edges of the grid with two edges marked as passed and one edge marked as disabled are marked as disabled; and / or, the remaining edges of the grid with two edges marked as disabled and one edge marked as passed are marked as passed; A determination module is used to determine at least one target path from the starting point to the end point in the grid map based on the markings of the edges of all the grids.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the path confirmation method according to any one of claims 1 to 4 are implemented.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the path confirmation method according to any one of claims 1 to 4 are implemented.

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