Path planning method, device, C-arm X-ray machine, mobile medical equipment and program product

Abstract

The present application relates to a path planning method, device, C-arm X-ray machine, mobile medical equipment and program product. The method includes: obtaining an initial planned path of a mobile device; determining whether there is a collision event on the initial planned path by simulating a scene in which the mobile device moves along the initial planned path; if there is a collision event, adjusting the initial planned path according to the path planning strategy corresponding to the collision event to obtain a target planned path; and controlling the movement of the mobile device based on the target planned path. By adopting this method, it is possible to simulate collision detection and simulate path adjustment on the initial planned path of the mobile device with the help of a simulated moving scene, thereby obtaining a target planned path after obstacle avoidance, so that the mobile device no longer collides with surrounding objects during the actual movement along the target planned path, thereby improving the obstacle avoidance capability of the planned path and improving the movement efficiency of the mobile device.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a path planning method, device, C-arm X-ray machine, mobile medical equipment and program product. Background Art

[0002] With the development of robotics technology, its application in the medical field is becoming more and more extensive. For example, the latest medical imaging system controlled by a robotic arm sets the scanning frame of the medical imaging system at the end of the robotic arm, and the end scanning frame is moved to the scanning position by the robotic arm to achieve medical scanning; or, after the scanning is completed, the end scanning frame is moved to another position by the robotic arm. Traditionally, the movement path is usually planned in advance according to the starting position and the end position of the robotic arm, and during the movement of the robotic arm, the robotic arm is controlled to move to the end position according to the pre-planned path.

[0003] However, the paths planned by traditional path planning methods have poor obstacle avoidance capabilities, causing the robot arm to frequently collide and stop moving during movement. Summary of the invention

[0004] Based on this, it is necessary to provide a path planning method, device, C-arm X-ray machine, mobile medical equipment, computer-readable storage medium and computer program product that can improve the obstacle avoidance capability of the robotic arm and thereby improve the movement efficiency of the robotic arm in order to address the above-mentioned technical problems.

[0005] In a first aspect, the present application provides a path planning method, comprising:

[0006] Obtaining an initial planned path of the mobile device;

[0007] By simulating a scenario in which the mobile device moves along the initial planned path, determining whether there is a collision event on the initial planned path;

[0008] If there is a collision event, the initial planned path is adjusted according to the path planning strategy corresponding to the collision event to obtain the target planned path;

[0009] The mobile device is controlled to move based on the target planning path.

[0010] In one embodiment, the collision event includes a starting point collision event, and the initial planned path is adjusted according to the path planning strategy corresponding to the collision event to obtain the target planned path, including:

[0011] determining a first disengagement direction and a first disengagement distance of the mobile device at a starting point;

[0012] Determine a new starting position of the mobile device according to the original starting position of the mobile device, the first disengagement direction, and the first disengagement distance;

[0013] Path planning is performed according to the original starting position, the new starting position and the original target position of the mobile device to obtain a target planned path.

[0014] In one embodiment, determining a first disengagement direction and a first disengagement distance of the mobile device at a starting point includes:

[0015] Controlling the mobile device to move from a starting point to at least one preset movement direction, and determining a candidate escape direction of the mobile device according to a collision condition of the mobile device in each preset movement direction;

[0016] The mobile device is controlled to move from the starting point to each candidate escape direction respectively, and a first escape direction and a first escape distance are determined according to the escape status of the mobile device in each candidate escape direction.

[0017] In one embodiment, controlling the mobile device to move from a starting point to at least one preset movement direction, and determining a candidate escape direction of the mobile device according to a collision condition of the mobile device in each preset movement direction, includes:

[0018] For each preset movement direction, controlling the moving device to move a first preset step length from a starting point to the preset movement direction;

[0019] The distance between the mobile device and surrounding objects in the scene after moving in the preset movement direction is determined, and the preset movement direction corresponding to the distance that meets the preset distance requirement is determined as a candidate escape direction of the mobile device.

[0020] In one embodiment, controlling the mobile device to move from a starting point to each candidate escape direction respectively, and determining a first escape direction and a first escape distance according to the escape status of the mobile device in each candidate escape direction, includes:

[0021] For each candidate escape direction, controlling the moving device to move from the starting point to the candidate escape direction according to a second preset step length;

[0022] Evaluate the disengagement situation of the mobile device in the candidate disengagement direction to obtain an evaluation result corresponding to the candidate disengagement direction;

[0023] A candidate disengagement direction corresponding to an evaluation result that meets a preset evaluation requirement is determined as a first disengagement direction, and a first disengagement distance is determined according to the number of movements corresponding to the first disengagement direction and a second preset step length.

[0024] In one embodiment, evaluating the disengagement situation of the mobile device in the candidate disengagement direction to obtain the evaluation result corresponding to the candidate disengagement direction includes:

[0025] The candidate escape directions are evaluated according to weights corresponding to the candidate escape directions and the number of movements used to escape from the preset collision area, and evaluation results corresponding to the candidate escape directions are obtained.

[0026] In one embodiment, the collision event includes a process point collision event, and the initial planned path is adjusted according to the path planning strategy corresponding to the collision event to obtain the target planned path, including:

[0027] determining whether a first collision object at a process point corresponding to the collision event is a movable object;

[0028] If the first collision object is a movable object, determining a first escape path of the first collision object, and adjusting the initial planned path according to the first escape path to obtain a target planned path;

[0029] If the first collision object is an immovable object, the feedback path planning fails.

[0030] In one embodiment, adjusting the initial planned path according to the first escape path to obtain the target planned path includes:

[0031] After the first collision object moves according to the first escape path, determining whether the process point collision event is resolved;

[0032] If it is solved, the initial planning path is determined as the target planning path;

[0033] If the problem is not solved, obstacle avoidance path planning is performed on the mobile device at the process point to obtain the target planned path.

[0034] In one embodiment, determining a first escape path of a first collision object includes:

[0035] determining a second disengagement direction and a second disengagement distance of the first collision object at the process point;

[0036] A first escape path of the first collision object is determined according to the second escape direction and the second escape distance.

[0037] In one embodiment, the collision event includes a target point collision event, and the initial planned path is adjusted according to the path planning strategy corresponding to the collision event to obtain the target planned path, including:

[0038] determining whether a second collision object at the target point corresponding to the collision event is a movable object;

[0039] If the second collision object is a movable object, determining a second escape path of the second collision object, and determining a target planning path according to the second escape path;

[0040] If the second collision object is an immovable object, a new target posture of the mobile device is determined, and a path planning is performed according to the new target posture and the original starting posture of the mobile device to obtain a target planned path.

[0041] In one embodiment, determining the target planning path according to the second disengagement path includes:

[0042] After the second collision object moves according to the second escape path, determining whether the target point collision event is resolved;

[0043] If it is solved, the initial planning path is determined as the target planning path;

[0044] If it is not resolved, a new target position of the mobile device is determined, and path planning is performed according to the new target position and the original starting position of the mobile device to obtain a target planned path.

[0045] In one embodiment, the method further comprises:

[0046] Determine whether the target point collision event is a posture collision event;

[0047] If so, under the condition that the target posture of the mobile device remains unchanged, a new target posture of the mobile device without collision is determined, and a path is planned according to the new target posture and the original starting posture to obtain a target planning path;

[0048] If not, a step of determining whether the second collision object at the target point corresponding to the collision event is a movable object is performed.

[0049] In one embodiment, the collision event includes a target point collision event, and the initial planned path is adjusted according to the path planning strategy corresponding to the collision event to obtain the target planned path, including:

[0050] Determine a new target pose of the mobile device without collision;

[0051] Path planning is performed according to the new target position and the original starting position of the mobile device to obtain the target planned path.

[0052] In one embodiment, determining a new target pose of the mobile device without collision includes:

[0053] determining a third disengagement direction and a third disengagement distance of the mobile device at the target point;

[0054] A new target posture of the mobile device without collision is determined according to the original target posture of the mobile device, the third escape direction and the third escape distance.

[0055] In one of the embodiments, the posture of the new target posture of the mobile device without collision is the same as the posture of the original target posture of the mobile device.

[0056] In one embodiment, determining whether there is a collision event on the initial planned path by simulating a scene in which the mobile device moves along the initial planned path includes:

[0057] For each position point on the initial planned path, by simulating a scene in which the mobile device moves along the initial planned path, determining whether the mobile device collides with surrounding objects in the scene at the position point;

[0058] If a collision occurs, it is determined that there is a collision event in the initial planned path;

[0059] If no collision occurs, it is determined that there is no collision event on the initial planned path.

[0060] In a second aspect, the present application also provides a path planning device, comprising:

[0061] An acquisition module, used to acquire an initial planned path of the mobile device;

[0062] A determination module, used to determine whether there is a collision event on the initial planned path by simulating a scene in which the mobile device moves along the initial planned path;

[0063] An adjustment module is used to adjust the initial planned path according to the path planning strategy corresponding to the collision event to obtain a target planned path if a collision event occurs;

[0064] The control module is used to control the movement of the mobile device based on the target planning path.

[0065] In a third aspect, the present application further provides a C-arm X-ray machine, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the path planning method in the first aspect when executing the computer program.

[0066] In a fourth aspect, the present application further provides a mobile medical device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the path planning method in the first aspect when executing the computer program.

[0067] In a fifth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the path planning method in the first aspect are implemented.

[0068] In a sixth aspect, the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the path planning method in the first aspect above.

[0069] In the above-mentioned path planning method, device, C-arm X-ray machine, mobile medical equipment, storage medium and computer program product, the computer device can first obtain the initial planning path of the mobile device from the original starting position to the original target position, and then, by simulating the scene of the mobile device moving according to the initial planning path, determine whether there is a collision event in the initial planning path; if there is a collision event, adjust the initial planning path according to the path planning strategy corresponding to the collision event to obtain the target planning path, and then control the movement of the mobile device based on the target planning path. That is, the path planning method proposed in the embodiment of the present application can simulate collision detection on the initial planning path of the mobile device by means of a simulated moving scene, and when it is determined that there is a collision in the process of the mobile device simulating the movement according to the initial planning path, adjust the initial planning path to avoid obstacles according to the path planning strategy corresponding to different collision events, so as to obtain the target planning path after obstacle avoidance, so that the mobile device will no longer collide with surrounding objects in the process of actually moving according to the target planning path, thereby avoiding the phenomenon that the mobile device stops moving due to a collision during the movement process, and further avoiding re-planning the path of the mobile device, which can improve the obstacle avoidance capability of the planned path and improve the movement efficiency of the mobile device. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0071] Figure 1 A diagram of an application environment of a path planning method in an embodiment;

[0072] Figure 2 A schematic diagram of a process flow of a path planning method in one embodiment;

[0073] Figure 3 is a flow chart of a path planning method in another embodiment;

[0074] Figure 4 is a flow chart of a path planning method in another embodiment;

[0075] Figure 5is a flow chart of a path planning method in another embodiment;

[0076] Figure 6 is a flow chart of a path planning method in another embodiment;

[0077] Figure 7 is a flow chart of a path planning method in another embodiment;

[0078] Figure 8 is a flow chart of a path planning method in another embodiment;

[0079] Fig. 9 is a flow chart of a path planning method in another embodiment;

[0080] Fig.10 is a flow chart of a path planning method in another embodiment;

[0081] Fig.11 is a flow chart of a path planning method in another embodiment;

[0082] Fig.12 is a flow chart of a path planning method in another embodiment;

[0083] Fig.13 is a structural block diagram of a path planning device in one embodiment;

[0084] Fig.14 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0085] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0086] With the development of robot technology, its application in the medical field is becoming more and more extensive. Currently, medical imaging systems controlled by robotic arms, such as X-ray Digital Subtraction Angiography (DSA), are angiography machines with a multi-degree-of-freedom robot as the frame structure. In this type of medical imaging system, the scanning frame of the medical imaging system is set at the end of the robotic arm, and the end scanning frame is moved to the scanning position by the robotic arm to achieve medical scanning; or, after the scan is completed, the end scanning frame is moved to other positions by the robotic arm.

[0087] Traditionally, a moving path is usually planned in advance based on the starting position and the end position of the robot arm, and during the movement of the robot arm, the robot arm is controlled to move to the end position according to the pre-planned path.

[0088] However, the paths planned by traditional path planning methods have poor obstacle avoidance capabilities, causing the robot arm to frequently collide and stop moving during movement.

[0089] Based on this, an embodiment of the present application proposes a path planning method, which performs a movement test on the planned path of the robot arm through a simulated environment, and adopts different path planning strategies to adjust the planned path with collisions to obtain a target planned path without collisions, so that the robot arm can move from the starting position to the end position according to the target planned path, and during the movement process, it will not stop moving due to collision, so that the robot arm can move to the end position in one go, thereby improving the movement efficiency of the robot arm.

[0090] The path planning method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. The computer device 102 may be a control device for a mobile device, for example, the mobile device may be a robotic arm, and the computer device 102 may be a robotic arm control terminal for controlling the robotic arm of a medical imaging device; the computer device 102 may also be a control terminal for the entire medical imaging device, which may not only control the robotic arm of the medical imaging device, but also perform imaging control on the medical imaging device. Optionally, the computer device 102 may also be a mobile device, such as a mobile medical device, including but not limited to a mobile ultrasound device, a mobile CT device, etc.;

[0091] Exemplarily, the computer device 102 may include a display interface for providing a user interaction function, in which the user may input the end position of the mobile device, and optionally, the user may directly input the target posture of the mobile device at the end position, so that the mobile device can move to the user's desired target posture according to the user's instructions; wherein the target posture refers to the target position and target posture of the mobile device at the end position. The computer device 102 may also automatically determine the target posture of the mobile device according to the medical scanning protocol, so that the medical scan of the object to be measured can be performed at the target posture.

[0092] In an exemplary embodiment, Figure 2 As shown, a path planning method is provided, which is applied to Figure 1 The computer device in is taken as an example to illustrate, including the following steps 202 to 206.

[0093] in:

[0094] Step 202: Acquire an initial planned path of the mobile device.

[0095] Among them, the initial planning path is determined based on the original starting position and the original target position of the mobile device. In the case where the mobile device is a robotic arm, the original starting position of the mobile device can be the starting position of the end of the robotic arm in a stationary state before the mobile device moves; the original target position of the mobile device can be the target position of the end of the robotic arm to be reached by the user after the movement, or the target position of the end of the robotic arm that matches the scanning position determined by the computer device according to the scanning protocol. It should be noted that moving the end of the robotic arm to the target position can refer to moving the robotic arm to a position corresponding to the area of ​​interest (or lesion area) of the subject, and usually this movement can be called "parking".

[0096] Exemplarily, when controlling the movement of a mobile device, the computer device may first obtain the original starting position and the original target position of the mobile device, and then use a path planning algorithm to plan an initial planned path of the mobile device from the original starting position to the original target position.

[0097] Optionally, when performing path planning, the computer device may first obtain a spatial layout diagram of the space where the medical imaging device is located, and then, based on the spatial layout diagram, use a path planning algorithm to plan an initial planned path for the mobile device from the original starting position to the original target position.

[0098] Step 204 , by simulating a scenario in which the mobile device moves along the initial planned path, it is determined whether there is a collision event on the initial planned path.

[0099] Exemplarily, the collision events occurring during the entire movement process can be divided into: starting point collision events, process point collision events and target point collision events, wherein the starting point collision event indicates that the mobile device collides with other surrounding objects in the original starting position, the process point collision event indicates that the mobile device collides with other surrounding objects in the process of moving from the original starting position to the original target position, and the target point collision event indicates that the mobile device collides with other surrounding objects when moving to the original target position.

[0100] Exemplarily, the collision events existing in the initial planned path may include one or more types, that is, the initial planned path may involve only one type of collision event, or may involve multiple collision events simultaneously.

[0101] Exemplarily, the computer device may pre-build a scene for simulating the movement of the mobile device, and the scene may be a three-dimensional simulation scene, in which the virtual images of all devices or some important devices in the space where the medical imaging device is located may be included. In one implementation, the computer device may construct a three-dimensional simulation scene based on the spatial layout diagram of the space where the medical imaging device is located and the size parameters of each device; in another implementation, the computer device may also collect data from the devices in the space where the medical imaging device is located through a data acquisition device, thereby constructing a three-dimensional simulation scene based on the collected data; wherein the data acquisition device may include but is not limited to various types of photography / video devices, various types of scanning devices, and various types of measuring devices, such as cameras, infrared scanners, ultrasound scanners, laser scanners, etc.

[0102] It should be noted that the dimensions, sizes and relative positions of each device in the three-dimensional simulation scene are consistent with the dimensions, sizes and relative positions of each device in the real space where the medical imaging device is located, that is, the three-dimensional simulation scene is a simulated scene that is completely matched or nearly consistent with the real scene where the medical imaging device is located after being scaled down in proportion.

[0103] Exemplarily, the computer device can also output and display the constructed three-dimensional simulation scene, for example, the three-dimensional simulation scene can be displayed on the display interface of the computer device or on a display screen connected to the computer device; the three-dimensional simulation scene can also be displayed at a certain position in the real space using extended reality technology, and the three-dimensional simulation scene at this time is a virtual scene. Exemplarily, the three-dimensional simulation scene includes at least virtual medical imaging equipment, a virtual scanning bed, etc.

[0104] Based on this, in this scenario, the computer device can control the virtual mobile device to move according to the initial planned path, and determine whether there is a collision event during the entire movement process; the existence of a collision event means that the mobile device will collide with other objects in the real scene while moving from the original starting position to the original target position according to the initial planned path.

[0105] In this embodiment, by simulating the movement of the mobile device in a simulated scene, it is possible to avoid safety hazards caused by continuous collisions of the mobile device during the movement in a real scene. Therefore, by simulating all objects in the real scene and the entire movement process of the mobile device in the simulated scene, when it is determined that there will be a collision during the movement, the collision can be avoided in time, thereby obtaining a safe and collision-free planned path, which enables the mobile device to move according to the safe and collision-free planned path in the real scene, which not only avoids the safety hazards caused by the collision, but also improves the movement efficiency.

[0106] Step 206 : If a collision event occurs, the initial planned path is adjusted according to the path planning strategy corresponding to the collision event to obtain a target planned path.

[0107] For example, for different types of collision events, path planning strategies corresponding to different types of collision events can be set; that is, path planning strategies corresponding to starting point collision events are pre-set, path planning strategies corresponding to process point collision events are pre-set, and path planning strategies corresponding to target point collision events are pre-set. Optionally, the path planning strategies corresponding to different types of collision events can be the same or different.

[0108] Optionally, the path planning strategy may include, but is not limited to, strategies such as determining a collision escape path of the mobile device at the collision location, determining a moving path of the collision object, and determining a new position without collision. It should be noted that the path planning strategies corresponding to different types of collision events may include one or a combination of strategies listed above or not listed, and the embodiments of the present application do not specifically limit this.

[0109] For example, when there is a collision event in the initial planning path, the computer device can use the path planning strategy corresponding to the collision event to adjust the initial planning path to obtain an adjusted target planning path. When there are multiple collision events in the initial planning path, the computer device can use the path planning strategy corresponding to each collision event to avoid the collision position, thereby obtaining a target planning path that eliminates all collisions.

[0110] Step 208 , controlling the movement of the robot arm based on the target planning path.

[0111] Exemplarily, when the computer device determines that there is no collision on the target planning path, it can also control the movement of the mobile device based on the target planning path.

[0112] In the above path planning method, the computer device can first obtain the initial planning path of the mobile device from the original starting position to the original target position, and then, by simulating the scene of the mobile device moving according to the initial planning path, determine whether there is a collision event in the initial planning path; if there is a collision event, adjust the initial planning path according to the path planning strategy corresponding to the collision event to obtain the target planning path, and then control the movement of the mechanical arm based on the target planning path. That is, the path planning method proposed in the embodiment of the present application can simulate collision detection on the initial planning path of the mobile device by means of a simulated moving scene, and when it is determined that there is a collision in the process of the mobile device simulating the movement according to the initial planning path, adjust the initial planning path to avoid obstacles according to the path planning strategy corresponding to different collision events, so as to obtain the target planning path after obstacle avoidance, so that the mobile device will no longer collide with surrounding objects in the process of actually moving according to the target planning path, thereby avoiding the phenomenon that the mobile device stops moving due to a collision during the movement, and further avoiding the re-planning of the path of the mobile device, which can improve the obstacle avoidance ability of the planned path and improve the movement efficiency of the mobile device.

[0113] The path planning strategies for the start point collision event, process point collision event and target point collision event are described in detail below.

[0114] In an exemplary embodiment, Figure 3 As shown, in the case where the collision event of the initial planned path includes a collision event at the starting point, the above step 206 may include steps 302 to 306. Among them:

[0115] Step 302: Determine a first disengagement direction and a first disengagement distance of the mobile device at a starting point.

[0116] When there is a collision event at the starting point of the initial planned path, it means that the mobile device has collided with the surrounding objects at the starting point; it should be noted that the collision in the embodiment of the present application can be expressed as the distance between the mobile device and the surrounding objects is less than or equal to the preset distance threshold, that is, when the mobile device is within the collision area of ​​the surrounding objects, it can be said that the mobile device has collided with the surrounding objects.

[0117] Exemplarily, for a collision event at the starting point, an attempt can be made to perform a collision escape on the mobile device, that is, when the surrounding objects that collide with the mobile device do not change their posture, the mobile device is moved so that the mobile device escapes from the collision area of ​​the surrounding objects, thereby obtaining a collision escape path for the mobile device at the starting point, and then path planning is performed based on the new starting posture of the mobile device after the escape and the original target posture. When there is no collision event in the intermediate planned path between the planned new starting posture and the original target posture, the collision escape path and the intermediate planned path are merged to obtain a collision-free target planning path from the original starting posture to the original target posture of the mobile device.

[0118] Exemplarily, when determining the collision escape path of the mobile device at the starting point, the first escape direction and the first escape distance of the mobile device at the starting point can be determined in the above-mentioned simulation scenario, and the first escape distance is the moving distance in the first escape direction; of course, the first escape direction and the first escape distance of the mobile device at the starting point can also be determined in a real scenario, and the embodiments of the present application do not specifically limit this.

[0119] Exemplarily, since the mobile device can translate and rotate along the three axes XYZ respectively when moving, and the three axes XYZ all include a positive axis direction and a negative axis direction, the moving direction of the mobile device can include 12 moving directions; taking a simulation scenario as an example, the computer device can perform movement tests on the mobile device along the 12 moving directions at the starting point in the simulation scenario, so as to determine the first escape direction that can escape from the collision area and the first escape distance in the first escape direction, wherein the first escape direction is one of the 12 moving directions, and the first escape distance can be the minimum moving distance of the mobile device along the first escape direction at the starting point to escape from the collision area.

[0120] It should be noted that, when the first disengagement direction is a rotation direction, the first disengagement distance may be a rotation angle in the rotation direction.

[0121] Step 304 : determining a new starting position of the mobile device according to the original starting position of the mobile device, the first disengagement direction, and the first disengagement distance.

[0122] For example, when the first disengagement direction and the first disengagement distance of the mobile device at the starting point are determined, the terminal posture of the mobile device after moving the first disengagement distance from the original starting posture in the first disengagement direction can be determined according to the original starting posture of the mobile device as the new starting posture of the mobile device. When the mobile device is at the position point of the new starting posture, it will not collide with surrounding objects.

[0123] Step 306 , performing path planning according to the original starting position, the new starting position and the original target position of the mobile device to obtain a target planned path.

[0124] Exemplarily, when a new starting position of the mobile device is determined, a collision escape path of the mobile device from the original starting position to the new starting position can also be determined based on the first escape direction and the first escape distance; then, the computer device can also re-plan the path based on the new starting position of the mobile device and the original target position of the mobile device to obtain an intermediate planned path from the new starting position to the original target position of the mobile device; exemplarily, for the intermediate planned path, a collision detection can be performed on the intermediate planned path in a simulation scene, and when it is determined that there is no collision event on the intermediate planned path, the collision escape path from the original starting position to the new starting position of the mobile device and the intermediate planned path from the new starting position to the original target position are merged, so that the target planned path from the original starting position to the original target position of the mobile device can be obtained; the target planned path is the planned path after obstacle avoidance adjustment is made to the initial planned path.

[0125] Exemplarily, when it is determined that a collision event exists in the intermediate planned path, the intermediate planned path can be adjusted according to the path planning strategies corresponding to different collision events until an intermediate planned path without collision is obtained; or the path can be re-planned according to the new starting position and the original target position of the mobile device to obtain a new intermediate planned path, and it can be verified whether the new intermediate planned path has a collision until an intermediate planned path without collision is obtained.

[0126] In this embodiment, for the collision event at the starting point, since the mobile device has already collided with the surrounding objects at the starting point, in this case, it is possible to consider moving the mobile device out of the collision area, find a new starting position, and then perform path planning based on the new starting position and the original target position. Combined with the collision escape path between the original starting position and the new starting position of the mobile device, the target planning path after obstacle avoidance adjustment between the original starting position and the original target position of the mobile device can be obtained. This method can avoid the collision event of the mobile device at the starting point, so that the mobile device can bypass the collision object at the starting point and move to the original target position, improve the obstacle avoidance capability of the mobile device, and thus improve the movement efficiency of the mobile device.

[0127] In an exemplary embodiment, Figure 4 As shown, the above step 302 may include steps 402 to 404. Among them:

[0128] Step 402 : Control the mobile device to move from the starting point to at least one preset movement direction, and determine a candidate escape direction of the mobile device according to the collision conditions of the mobile device in each preset movement direction.

[0129] Exemplarily, the preset movement directions may include the above-mentioned 12 directions, namely, the translation and rotation directions along the positive and negative axes of the three coordinate axes X, Y, and Z; exemplary, for the preset movement directions, the user can also set and modify them by himself, for example: only allowing the mobile device to perform translation operations, then the preset running directions may include 6 directions, namely, the translation directions along the positive and negative axes of the three coordinate axes X, Y, and Z.

[0130] Exemplarily, when the computer device determines the preset movement direction of the mobile device, it can control the mobile device to move from the starting point to each preset movement direction in the scene, and then determine the candidate escape direction of the mobile device according to the collision situation of the mobile device in each preset movement direction. For example: the computer device can control the mobile device to move from the starting point to each preset movement direction according to the preset movement step length, and after moving the preset movement step length in each preset movement direction, determine the collision situation of the mobile device in each preset movement direction, wherein the collision situation may include aggravated collision or weakened collision, aggravated collision means that the distance between the mobile device and the collision object is getting smaller and smaller, and weakened collision means that the distance between the mobile device and the collision object is getting larger and larger; based on this, if the collision situation of the mobile device after moving in the preset movement direction is a weakened collision, the preset movement direction can be determined as a candidate escape direction. Among them, the candidate escape direction may include one or more.

[0131] It should be noted that after the computer device controls the mobile device to move a preset moving step along the previous preset movement direction, it can restore the mobile device to the original starting position, and then control the mobile device to move from the original starting position to the next preset movement direction by a preset moving step; this cycle is repeated until the mobile device has moved from the starting point to all preset movement directions.

[0132] Step 404 , controlling the mobile device to move from the starting point to each candidate escape direction respectively, and determining a first escape direction and a first escape distance according to the escape status of the mobile device in each candidate escape direction.

[0133] The candidate escape direction is used to indicate that the mobile device can escape from the collision area of ​​surrounding objects when moving along the candidate escape direction, thereby avoiding collision with surrounding objects.

[0134] Exemplarily, for each candidate disengagement direction, the computer device can, in the scene, control a mobile device in the scene to move from a starting point toward the candidate disengagement direction until the mobile device successfully disengages in the candidate disengagement direction, and determine a disengagement situation in which the mobile device successfully disengages in the candidate disengagement direction; then, based on the disengagement situation in each candidate disengagement direction, determine the optimal disengagement direction as the first disengagement direction, and use the moving distance in the first disengagement direction as the first disengagement distance corresponding to the first disengagement direction.

[0135] Exemplarily, the disengagement situation of the mobile device in the candidate disengagement direction may include but is not limited to the number of movements, the moving step length, the moving distance, the moving duration, etc. Based on this, when selecting the optimal disengagement direction, the optimal disengagement direction that satisfies the preset screening rule may be selected from multiple candidate disengagement directions according to the preset screening rule, wherein the preset screening rule is related to one or more disengagement parameters in the above disengagement situation; the setting of the preset screening rule is not limited in the embodiment of the present application.

[0136] Exemplarily, the moving step lengths when the mobile device moves in each candidate escape direction may be the same or different; for example, different moving step lengths corresponding to different candidate escape directions may be set according to the priority of the escape direction desired by the user; for example, if the user expects the mobile device to escape from the positive direction of the X-axis first, then when the candidate escape direction is the positive direction of the X-axis, a larger moving step length may be set so that the mobile device can escape from the positive direction of the X-axis faster.

[0137] In this embodiment, when determining the first disengagement direction and the first disengagement distance of the mobile device at the starting point, the mobile device can be controlled to move from the starting point to at least one preset motion direction, and the candidate disengagement direction of the mobile device can be determined according to the collision situation of the mobile device in each preset motion direction; then, the mobile device is controlled to move from the starting point to each candidate disengagement direction, and the first disengagement direction and the first disengagement distance can be determined according to the disengagement situation of the mobile device in each candidate disengagement direction. That is, in the embodiment of the present application, the candidate disengagement direction with reduced collision is first determined according to the collision situation of the mobile device in all preset motion directions, and then the optimal candidate disengagement direction is selected as the first disengagement direction of the mobile device at the starting point according to the specific disengagement situation of the mobile device in each candidate disengagement direction, and the first disengagement distance in the first disengagement direction is further determined; therefore, the embodiment of the present application provides a specific implementation method for determining the disengagement direction and the disengagement distance, so as to improve the feasibility of the collision disengagement of the mobile device, and further improve the anti-collision capability of the mobile device and the moving efficiency of the mobile device.

[0138] In an exemplary embodiment, Figure 5As shown, the above step 402 may include steps 502 to 506. Among them:

[0139] Step 502: for each preset movement direction, control the mobile device to move from a starting point to the preset movement direction by a first preset step length.

[0140] Exemplarily, when the preset movement direction is a translation direction, the first preset step length of the mobile device's translation in each preset movement direction can be the same, that is, the mobile device translates the same distance; when the preset movement direction is a rotation direction, the first preset step length of the mobile device's rotation in each preset movement direction can be the same, that is, the mobile device rotates the same angle.

[0141] When conducting a collision and disengagement simulation test, the computer device can control the mobile device in the scene to move the first preset step length from the starting point to each preset motion direction; wherein, after moving the first preset step length to the current preset motion direction, the mobile device can be controlled to return to the original starting position, that is, return to the starting point, and then move the first preset step length to the next preset motion direction.

[0142] Step 504 , determining the distance between the mobile device and surrounding objects in the scene after moving in the preset movement direction, and determining the preset movement direction corresponding to the distance that meets the preset distance requirement as a candidate escape direction of the mobile device.

[0143] Exemplarily, for each preset motion direction, when the mobile device in the scene moves a first preset step length toward the preset motion direction, the distance between the mobile device after movement and the surrounding objects in the scene can be further determined; optionally, when there are multiple surrounding objects, the sum of the distances between the mobile device after movement and each surrounding object in the scene can be determined.

[0144] It should be noted that the surrounding objects in the scene can be objects that collide with the mobile device at the starting point, or objects that collide with any point of the mobile device, or all objects in the scene, etc.; the embodiments of the present application do not make specific limitations on this.

[0145] Exemplarily, the preset distance requirement may include a maximum distance, a distance greater than a preset distance threshold, a first preset number arranged in a preset distance order, and a distance after movement greater than or equal to a distance before movement, etc.

[0146] Exemplarily, when the distance between the mobile device and surrounding objects after moving along each preset motion direction is determined, it is also possible to first determine, for each preset motion direction, whether the preset motion direction is a direction for intensified collision or a direction for weakened collision based on the distance between the mobile device and surrounding objects after moving in the preset motion direction and the distance between the mobile device and surrounding objects before moving, thereby screening out one or more preset motion directions for weakened collision from multiple preset motion directions; then, among the one or more preset motion directions for weakened collision, determine one or more candidate motion directions based on the distance of each preset motion direction; for example: arrange the multiple preset motion directions for weakened collision in order of distance from largest to smallest, and use the top three preset motion directions as candidate motion directions for the mobile device.

[0147] In this embodiment, when determining the candidate movement directions of the mobile device, for each preset movement direction, the mobile device can be controlled to move a first preset step length from the starting point to the preset movement direction, and the distance between the mobile device and the surrounding objects in the scene after moving in the preset movement direction can be determined; then, the preset movement direction corresponding to the distance that meets the preset distance requirement is determined as the candidate escape direction of the mobile device. That is, in this embodiment, the mobile device can be controlled to move the same first preset step length along each preset movement direction, and the movement collision of the mobile device after moving in different preset movement directions can be judged according to the distance between the mobile device and the surrounding objects after moving in each preset movement direction, and the candidate escape direction that can be escaped is selected according to the preset distance requirement; that is, this embodiment provides a specific implementation method for determining the candidate escape direction, which further improves the feasibility of collision escape of the mobile device, thereby improving the anti-collision capability of the mobile device, and improving the movement efficiency of the mobile device.

[0148] In an exemplary embodiment, Figure 6 As shown, the above step 404 may include steps 602 to 606. Among them:

[0149] Step 602: for each candidate escape direction, control the mobile device to move from the starting point to the candidate escape direction according to a second preset step length.

[0150] The second preset step length may be the same as or different from the first preset step length. In addition, the second preset step lengths corresponding to different preset motion directions may be the same or different.

[0151] Exemplarily, when selecting the best first disengagement direction from the candidate disengagement directions, the second preset step length corresponding to each preset motion direction may be set according to the disengagement priority of each preset motion direction; that is, for each preset motion direction of translation, the translation distance may be the same or different; for each preset motion direction of rotation, the rotation angle may also be the same or different. For example: for translation in the positive direction of the X-axis, the corresponding second preset step length may be 5 cm, for translation in the positive direction of the Y-axis, the corresponding second preset step length may be 3 cm, and for translation in the positive direction of the Z-axis, the corresponding second preset step length may be 1 cm.

[0152] Exemplarily, for each candidate escape direction, the computer device can control the mobile device in the scene to move from the starting point to the candidate escape direction according to the second preset step length corresponding to the candidate escape direction; that is, control the mobile device to move for the first time from the starting point to the candidate escape direction according to the second preset step length corresponding to the candidate escape direction, and perform the evaluation process of the following step 604 after the movement; if it is able to escape after the first movement, or the evaluation result meets the preset evaluation requirements, the movement can be stopped; otherwise, the movement can continue, that is, the movement can be performed in a loop, and before the end of the loop, the mobile device is controlled to continue to move the second preset step length in the candidate escape direction, and the evaluation process of the following step 604 is continued after the second movement; then, before the end of the loop, the mobile device is controlled to continue to move the second preset step length in the candidate escape direction to complete the third movement and evaluation, and the cycle is repeated until the end of the loop.

[0153] For other candidate disengagement directions, the above-mentioned movement control method is also sampled, and simulated movement is performed on each candidate disengagement direction to complete the simulated disengagement test.

[0154] Step 604 , evaluating the disengagement situation of the mobile device in the candidate disengagement direction, and obtaining an evaluation result corresponding to the candidate disengagement direction.

[0155] Exemplarily, when conducting an evaluation, taking the evaluation form of scoring as an example, the corresponding evaluation result can be a score. Based on this, the score can be accumulated according to the weight and the number of moves. For example, when the weight is 5, each move will accumulate 5 points. For example, after the first move, 5 points are obtained, after the second move, 10 points are obtained, after the third move, 15 points are obtained, and so on, until the end of the movement, the total score can be obtained.

[0156] Exemplarily, the corresponding weights for different departure directions may be different. For example, different weights may be set according to priorities. The higher the priority, the greater the corresponding weight value.

[0157] Exemplarily, if the mobile device can escape from the preset collision area in the candidate escape direction after moving once, the score corresponding to the candidate escape direction can be determined to be a first value, for example, the first value can be a full score, or a specific value less than the full score. If the mobile device moves cyclically in the candidate escape direction until the preset cycle cutoff condition is met and still does not escape from the preset collision area, it can be explained that under the set cycle conditions, the mobile device cannot escape from the candidate escape direction successfully. In this case, the score corresponding to the candidate escape direction can be determined to be a second value; for example: the second value can be 0 points, or a negative score, or other positive score values. If the mobile device escapes from the preset collision area during the process of cyclic movement in the candidate escape direction, it means that the mobile device can escape from the candidate escape direction successfully. At this time, the score corresponding to the candidate escape direction can be scored according to the weight corresponding to the candidate escape direction and the number of movements used to escape the preset collision area; that is, the score is equal to the product of the weight corresponding to the candidate escape direction and the number of movements used.

[0158] Exemplarily, the preset loop cutoff condition may include but is not limited to exceeding the maximum number of movements, the score exceeding the score threshold, the moving distance exceeding the maximum travel distance of the mobile device in the candidate escape direction, etc.; wherein the maximum number of movements is the maximum value of the number of movements in each candidate escape direction, and the number of movements in a candidate escape direction may be determined by the ratio of the maximum travel distance in the candidate escape direction to the second preset step length corresponding to the candidate escape direction; in addition, the score thresholds corresponding to different candidate escape directions may be the same or different; the maximum travel distances of the mobile device corresponding to different candidate escape directions may be the same or different; in actual applications, it may be flexibly set and adjusted according to the scenario requirements of the mobile device, and the embodiments of the present application do not specifically limit this.

[0159] Exemplarily, when the mobile device performs a circular movement in a candidate disengagement direction, if it is within the maximum number of movements, and the moving distance of the mobile device does not exceed the maximum travel distance of the mobile device in the candidate disengagement direction, and the score after the current circular movement does not exceed the score threshold, and the mobile device is outside the preset collision area of ​​the surrounding objects with which it collides after the current circular movement, then it can be said that the mobile device has successfully disengaged after the current circular movement; wherein the robot is still in the preset collision area of ​​the surrounding objects with which it collides after the previous circular movement.

[0160] Exemplarily, when a scoring mechanism is used to determine the direction of departure, not only a reward mechanism, i.e., cumulative weights, can be used, but also a penalty mechanism, i.e., decreasing weights; for example: when a mobile device is cyclically moving in a certain direction of departure, if the collision between the mobile device and surrounding objects is aggravated after the movement, a penalty mechanism can be used to reduce the corresponding weights to obtain the score after the movement; if the collision between the mobile device and surrounding objects is weakened after the movement, a reward mechanism can be used to increase the corresponding weights to obtain the score after the movement. It should be noted that when a mobile device is continuously moving in a certain direction of departure, it is possible that the collision with the first surrounding object is weakened, but the collision with the second surrounding object is aggravated, that is, it is separated from the first surrounding object and collides with the second surrounding object; therefore, in the process of cyclic movement, a reward mechanism and a penalty mechanism can also be used at the same time, and the embodiments of the present application do not limit this.

[0161] Exemplarily, during the evaluation, a machine learning model may be used to evaluate the disengagement of the mobile device in the candidate disengagement direction, so as to output an evaluation result corresponding to the candidate disengagement direction; for example, a scene image after each movement of the mobile device in the candidate disengagement direction is obtained, and the scene image after each movement is input into the machine learning model, and the disengagement after the movement is analyzed by the machine learning model to obtain an evaluation result corresponding to the candidate disengagement direction. Optionally, the computer device may also determine whether to continue to control the mobile device to make the next movement based on the analysis result of the disengagement of the scene image after the movement by the machine learning model.

[0162] It should be noted that, in addition to scoring, the above-mentioned evaluation forms may also adopt other evaluation forms, such as evaluation indicators, etc., and the corresponding evaluation results may include evaluation indicator results.

[0163] Step 606: determine the candidate disengagement direction corresponding to the evaluation result that meets the preset evaluation requirement as the first disengagement direction, and determine the first disengagement distance according to the number of movements corresponding to the first disengagement direction and the second preset step length.

[0164] Exemplarily, taking the evaluation form of scoring as an example, the preset evaluation requirement may be a maximum score requirement. When the computer device obtains the score corresponding to each candidate disengagement direction, it may select the candidate disengagement direction corresponding to the maximum score as the first disengagement direction of the mobile device at the starting point; and, the computer device may also determine the moving distance of the mobile device in the first disengagement direction according to the product of the number of movements corresponding to the first disengagement direction and the second preset step length corresponding to the first disengagement direction, as the first disengagement distance corresponding to the first disengagement direction.

[0165] In addition, when the evaluation form is other evaluation forms, the preset evaluation requirements can be flexibly set according to the specific evaluation form. For example, when the evaluation form is an evaluation index, the preset evaluation requirements can include the maximum evaluation index value / minimum evaluation index value.

[0166] In this embodiment, a movement combined with evaluation mechanism can be used to control the mobile device in the scene to perform simulated movement tests from the starting point to each candidate disengagement direction, and obtain the disengagement evaluation results of the mobile device in each candidate disengagement direction. Then, based on the disengagement evaluation results of each candidate disengagement direction, a candidate disengagement direction that meets the preset evaluation requirements is selected from multiple candidate disengagement directions as the first disengagement direction of the mobile device at the starting point, and a first disengagement distance corresponding to the first disengagement direction is determined based on the number of movements in the first disengagement direction and the corresponding second preset step size; that is, a specific implementation method for determining the disengagement direction and the disengagement distance is provided in this embodiment, which further improves the feasibility of collision disengagement of the mobile device, thereby improving the anti-collision capability of the mobile device and improving the movement efficiency of the mobile device.

[0167] In an exemplary embodiment, Figure 7 As shown, in the case where the collision event of the initial planned path includes a process point collision event, the above step 206 may include steps 702 to 706. Among them:

[0168] Step 702: Determine whether the first collision object at the process point corresponding to the collision event is a movable object.

[0169] For example, the collision object may include movable objects, such as a hospital bed, a surgical cart, etc., or may include immovable objects, such as a wall, the bottom of a hospital bed, or other fixed objects, etc. In the simulation scene, the spatial structure where the medical imaging device is located and all objects or some important objects in the space may be included. Based on this, in the simulation scene, the mobile device may be controlled to move along the initial planned path, thereby determining the collision event of the mobile device on the initial planned path.

[0170] Exemplarily, when it is determined that there is a collision event on the initial planned path, such as a starting point collision event, a process point collision event, a target point collision event, etc., the collision object corresponding to the collision event can be moved so that after the collision object is moved, the collision between the mobile device and the surrounding objects during the movement of the mobile device along the initial planned path can be eliminated; the obstacle avoidance path planning of the mobile device can also be performed based on the collision object, such as determining the disengagement direction and disengagement distance of the mobile device at the collision position point, thereby obtaining an obstacle avoidance path planning for the mobile device to avoid the collision object.

[0171] Exemplarily, for a process point collision event, it can be determined whether the first collision object at the process point corresponding to the process point collision event is a movable object. Optionally, the computer device can identify the first collision object that collides with the mobile device at the process point in the scene, and determine whether the first collision object is a movable object based on the properties of the first collision object. For example: when the first collision object is a wall or the bottom of a hospital bed, it can be determined that the first collision object is an immovable object; when the first collision object is a hospital bed or a surgical cart, it can be determined that the first collision object is a movable object.

[0172] Step 704: If the first collision object is a movable object, a first escape path of the first collision object is determined, and the initial planned path is adjusted according to the first escape path to obtain a target planned path.

[0173] Exemplarily, when it is determined that the first collision object is a movable object, an attempt can be made to move the first collision object so that the first collision object escapes from the collision area of ​​the mobile device, thereby eliminating the collision between the first collision object and the mobile device. Optionally, in the simulation scenario, a first escape path of the first collision object can be determined, so that the first collision object can be moved according to the first escape path, and the initial planned path can be adjusted according to the first collision object after the movement to obtain a target planned path.

[0174] Exemplarily, when determining the first escape path of the first collision object, the first collision object may be randomly moved in the scene, and it is determined whether the first collision object after the movement escapes from the collision area of ​​the mobile device; if the first collision object after the movement escapes from the collision area of ​​the mobile device, the moving path may be determined as the first escape path of the first collision object. Exemplarily, the computer device may also perform an escape test on the first collision object according to a preset escape rule corresponding to the collision object, thereby determining the first escape path of the first collision object.

[0175] Exemplarily, when the first escape path of the first collision object is obtained, the initial planning path of the mobile device can be adjusted according to the first escape path, so as to obtain the target planning path of the mobile device. Optionally, the computer device can control the movement of the first collision object according to the first escape path, and after the first collision object moves according to the first escape path, determine whether the collision event at the process point is resolved; if it is resolved, it can be said that the first collision object after movement has escaped the collision with the mobile device, and the mobile device will not collide with the first collision object after movement when it moves to the process point according to the initial planning path. In this case, there is no need to adjust the initial planning path, that is, the computer device can directly determine the initial planning path as the target planning path; if it is not resolved, it means that after moving the first collision object, the collision between the first collision object and the mobile device at the process point cannot be eliminated. At this time, the obstacle avoidance path planning can be performed on the mobile device at the process point to obtain the target planning path.

[0176] Exemplarily, if the collision between the first collision object and the mobile device is weakened after the first collision object moves along the first escape path, the obstacle avoidance path can be planned for the mobile device at the process point based on the first collision object after the movement to obtain the target planned path; that is, when controlling the mobile device to move in the real object space, the mobile device can be controlled to move according to the target planned path on the one hand, and the first collision object can be controlled to move according to the first escape path to avoid obstacles on the other hand, and the obstacle avoidance movement of the mobile device can be realized through the cooperation between the first collision object and the mobile device.

[0177] For example, if the collision between the first collision object and the mobile device intensifies after the first collision object moves according to the first escape path, the mobile device can be planned for obstacle avoidance at the process point based on the first collision object when it is not moving, and the target planning path can be obtained; that is, when controlling the mobile device to move in the real object space, it is only necessary to control the mobile device to move according to the target planning path, without moving the first collision object. Compared with the path planning when the collision degree is higher, the lower the collision degree, the less difficult the obstacle avoidance path planning is, and the smaller the difference between the target planning path obtained by the obstacle avoidance path planning and the initial planning path, the shorter the path detoured by the target planning path at the process point, and the higher the overall movement efficiency of the mobile device under the target planning path.

[0178] Step 706: If the first collision object is an immovable object, feedback path planning fails.

[0179] For example, if the first collision object that collides with the mobile device at a process point while the mobile device is moving along the initially planned path is an immovable object, the mobile device is most likely unable to adjust its posture or re-plan a moving path that can avoid the first collision object. Therefore, in this case, the path planning failure can be fed back to the user to instruct the user to redetermine the new target posture of the mobile device.

[0180] In this embodiment, for a process point collision event, the mobile device collides with surrounding objects while moving according to the initial planned path. At this time, it can be determined whether the first collision object occurring at the process point is a movable object. If the first collision object is a movable object, the first escape path of the first collision object can be determined, and the initial planned path of the mobile device can be adjusted according to the first escape path to obtain the target planned path of the mobile device; if the first collision object is an immovable object, the path planning failure can be directly fed back to instruct the user to redetermine the new target position of the mobile device and re-plan the path; by adopting this method, the path adjustment can be performed in advance for collision events occurring during the movement of the mobile device, thereby improving the obstacle avoidance capability of the mobile device, avoiding the situation in which the mobile device stops moving due to a collision during the movement, and causing invalid movement of the mobile device, thereby improving the movement efficiency of the mobile device.

[0181] In an exemplary embodiment, Figure 8 As shown, the above step 704 may include steps 802 to 804. Among them:

[0182] Step 802 : determining a second separation direction and a second separation distance of the first collision object at a process point.

[0183] For example, when simulating and determining the second separation direction and the second separation distance of the first collision object at the process point, the same method as above can be used. Figure 4 In the illustrated embodiment, the first disengagement direction and the first disengagement distance of the mobile device at the starting point are determined in a similar manner, that is, in the scene, the first collision object is controlled to move from the process point to a plurality of preset motion directions respectively, and the candidate disengagement directions of the first collision object are determined according to the collision conditions of the first collision object in each preset motion direction; then, the first collision object is controlled to move from the process point to each candidate disengagement direction respectively, and the second disengagement direction and the second disengagement distance of the first collision object at the process point are determined according to the disengagement conditions of the first collision object in each candidate disengagement direction.

[0184] Among them, controlling the first collision object to move from the process point to multiple preset motion directions respectively, and determining the candidate escape direction of the first collision object according to the collision situation of the first collision object in each preset motion direction, can include: for each preset motion direction, controlling the first collision object to move from the process point to the preset motion direction by a first preset step length, and determining the distance between the first collision object and the mobile device in the scene at the process point after moving in the preset motion direction; determining the preset motion direction corresponding to the distance that meets the preset distance requirement as the candidate escape direction of the first collision object.

[0185] Exemplarily, if it is determined based on the distance that the collision between the first collision object and the mobile device is weakened after the movement, the preset movement direction corresponding to the distance can be determined as a candidate escape direction of the first collision object; if there are a large number of preset movement directions that reduce the collision between the first collision object and the mobile device, a preset number of preset movement directions can be further screened out from the preset movement directions for the weakened collision as candidate escape directions, such as determining three candidate escape directions.

[0186] It should be noted that, for the first collision object, the collision object can usually be translated but not rotated, so the preset movement direction for the first collision object can include 6 directions, namely the translation directions of the positive and negative coordinate axes of the three coordinate axes X, Y, and Z. Of course, for the first collision object that can be translated and rotated, it is also possible to select a disengagement direction from the above 12 preset movement directions, and the embodiment of the present application does not specifically limit this.

[0187] Among them, controlling the first collision object to move from the process point to each candidate separation direction respectively, and determining the second separation direction and the second separation distance of the first collision object at the process point according to the separation situation of the first collision object in each candidate separation direction, can include: for each candidate separation direction, controlling the first collision object to move cyclically from the process point to the candidate separation direction according to a second preset step length; evaluating the separation situation of the first collision object in the cyclic movement in the candidate separation direction to obtain an evaluation result corresponding to the candidate separation direction; determining the candidate separation direction corresponding to the evaluation result that meets the preset evaluation requirements as the second separation direction, and determining the second separation distance according to the number of movements corresponding to the second separation direction and the second preset step length.

[0188] Among them, taking the evaluation form as scoring and the evaluation result as a score as an example, an evaluation is performed based on the separation situation of the first collision object in the candidate separation direction during cyclic movement to obtain an evaluation result corresponding to the candidate separation direction, which may include: if the first collision object has not separated from the preset collision area after cyclically moving in the candidate separation direction until a preset cycle cutoff condition is met, determining that the score corresponding to the candidate separation direction is a first value; if the first collision object separates from the preset collision area during the process of cyclically moving in the candidate separation direction, a score is performed based on the weight corresponding to the candidate separation direction and the number of movements used to separate from the preset collision area to obtain a score corresponding to the candidate separation direction.

[0189] Exemplarily, this step may also include: if the first collision object moves cyclically in the candidate escape direction until a preset loop cutoff condition is met, regardless of whether the escape is successful or not, a score may be scored based on the weight corresponding to the candidate escape direction and the number of movements used to escape from the preset collision area to obtain a score corresponding to the candidate escape direction; wherein the preset loop cutoff condition in this example may also include successful escape.

[0190] Based on this, when determining the second disengagement direction of the first collision object according to the scores corresponding to each candidate disengagement direction, the candidate disengagement direction with the highest score can be preferentially selected from the candidate disengagement directions that have successfully disengaged as the second disengagement direction of the first collision object; if there is no candidate disengagement direction that has successfully disengaged, then the candidate disengagement direction with the highest score can also be selected according to the scores of each candidate disengagement direction as the second disengagement direction of the first collision object; it should be noted that after the first collision object moves in the candidate disengagement direction that has not successfully disengaged but has the highest score, the degree of collision between the first collision object after movement and the mobile device at the collision process point is smaller.

[0191] Step 804 : determining a first escape path of the first collision object according to the second escape direction and the second escape distance.

[0192] Exemplarily, when the computer device determines the second disengagement direction and the second disengagement distance of the first collision object, it can determine the first disengagement path of the first collision object according to the original position of the first collision object, the second disengagement direction and the second disengagement distance, that is, the first disengagement path starts from the original position of the first collision object and moves the second disengagement distance along the second disengagement direction.

[0193] In this embodiment, when determining the first escape path of the first collision object, the second escape direction and the second escape distance of the first collision object at the process point can be determined first; then, based on the second escape direction and the second escape distance, the first escape path of the first collision object can be determined; using this method, the first escape path of the first collision object that collides with the mobile device at the process point in the process of the mobile device moving according to the initial planned path can be determined, so that after the first collision object moves according to the first escape path, the collision with the mobile device can be avoided or weakened, thereby improving the obstacle avoidance capability of the mobile device.

[0194] In an exemplary embodiment, Fig. 9 As shown, in the case where the collision event of the initial planned path includes a target point collision event, the above step 206 may include steps 902 to 906. Among them:

[0195] Step 902: Determine whether the second collision object at the target point corresponding to the collision event is a movable object.

[0196] For example, when the mobile device moves from the original starting position to the original target position according to the initial planned path, the mobile device may collide with surrounding objects when moving to the original target position. The collision event at this time can be called a target point collision event. With respect to the path planning strategy for the target point collision event, the computer device can also adopt a method of removing the second collision object that collides with the mobile device at the target point to avoid the collision of the mobile device at the target point; based on this, the computer device can determine whether the second collision object at the target point corresponding to the target point collision event is a movable object.

[0197] Exemplarily, the computer device may first identify a second collision object that collides with the mobile device at the target point in the scene, and then determine whether the second collision object is a movable object according to the properties of the second collision object.

[0198] Step 904: If the second collision object is a movable object, a second escape path of the second collision object is determined, and a target planning path is determined according to the second escape path.

[0199] For example, the specific implementation of this step can refer to the above step 704 and the above step 705. Figure 8 The specific implementation of step 704 is shown and will not be repeated here.

[0200] Exemplarily, in this example, the step of adjusting the initial planned path according to the second escape path to obtain the target planned path may include: after the second collision object moves according to the second escape path, determining whether the target point collision event is resolved; if resolved, determining the initial planned path as the target planned path; if not resolved, determining the new target posture of the mobile device, and performing path planning according to the new target posture of the mobile device and the original starting posture to obtain the target planned path.

[0201] That is to say, after the second collision object moves according to the second escape path, if the moved second collision object still collides with the mobile device at the target point, it means that the collision problem of the mobile device at the target point cannot be avoided by moving the second collision object. At this time, the collision at the original target posture cannot be avoided, and you can choose to redetermine the new target posture; exemplarily, in this case, the computer device can redetermine the new target posture of the mobile device, and perform path planning based on the new target posture and the original starting posture of the mobile device; wherein the new target posture of the mobile device can be a target posture that is close to the original target posture of the mobile device but does not collide with surrounding objects. Exemplarily, the new target position corresponding to the new target posture is different from the original target position corresponding to the original target posture, and / or the new target posture corresponding to the new target posture is different from the original target posture corresponding to the original target posture.

[0202] For example, the method of determining the new target position of the mobile device can refer to the above Figure 3-Figure 6 The disengagement strategy of the mobile device at the starting point described in the illustrated embodiment is to determine a third disengagement direction and a third disengagement distance of the mobile device at the target point, thereby determining a new target posture that is closer to the original target posture and can escape from the collision area based on the third disengagement direction and the third disengagement distance of the mobile device at the target point.

[0203] Step 906: If the second collision object is an immovable object, a new target posture of the mobile device is determined, and a path is planned according to the new target posture and the original starting posture of the mobile device to obtain a target planned path.

[0204] Exemplarily, in the case where the second collision object at the target point is an immovable object, the computer device can also determine a new target posture around the original target posture without collision, and perform path planning based on the new target posture and the original starting posture to obtain a target planning path. That is, for the path planning strategy of target point collision, the mobile device can also be controlled to move to a position near the target point without collision. If it is an image scanning scene, when the mobile device moves to a new target posture near the original target posture, the user can manually adjust the bed and / or the scanning gantry at the end of the mobile device so that the center of the field of the scanning gantry matches the position of the object to be scanned on the bed, thereby realizing image scanning. If it is a non-image scanning scene, such as moving the scanning gantry to other positions that do not affect the user's operation after the scanning is completed, at this time, if there is a collision at the original target posture input by the user, the computer device can automatically adjust the mobile device to move to a new target posture close to the original target posture without collision, which can also meet the mobile control requirements of the mobile device in the non-image scanning scene.

[0205] In this embodiment, for a target point collision event, when the mobile device moves to the original target posture according to the initial planning path, it collides with surrounding objects. At this time, it can be determined whether the second collision object at the target point corresponding to the collision event is a movable object; if the second collision object is a movable object, the second escape path of the second collision object is determined, and the target planning path is determined according to the second escape path; if the second collision object is an immovable object, the new target posture of the mobile device is determined, and the path is planned according to the new target posture and the original starting posture to obtain the target planning path. In other words, if a collision occurs when the mobile device moves to the terminal posture, it can be attempted to avoid obstacles and move out the second collision object that collides at the terminal posture. If the second collision object can move out of the collision area, the mobile device can be controlled according to the initial planning path. If the second collision object cannot move out of the collision area, or the second collision object is an immovable object, a new target posture near the original target posture and without collision with surrounding objects can be re-determined, and then the path is planned according to the new target posture and the original starting posture; the obstacle avoidance capability of the mobile device is improved, thereby improving the movement efficiency of the mobile device.

[0206] In an exemplary embodiment, Fig.10 As shown, for a target point collision event, if the target point collision is a target posture collision, that is, there is a collision of target postures at the target position, in this case, the path planning strategy corresponding to the target point collision event may also include steps 1002 to 1006. Among them:

[0207] Step 1002: Determine whether the target point collision event is a gesture collision event.

[0208] Among them, the posture collision event is used to characterize that when the mobile device is at the original target position corresponding to the original target posture, the original target posture of the mobile device at the original target position will collide with surrounding objects; it can indirectly explain that the mobile device may not collide with surrounding objects when it is in other postures except the original target posture at the original target position.

[0209] Exemplarily, the computer device may adjust the posture of the mobile device at the original target position in a simulated scene. If there is no collision between the adjusted posture at the original target position and surrounding objects, it may be determined that the target point collision event is specifically a posture collision event.

[0210] Step 1004: If yes, then while ensuring that the target posture of the mobile device remains unchanged, determine a new target posture of the mobile device without collision, and perform path planning based on the new target posture and the original starting posture to obtain a target planned path.

[0211] Usually, for image scanning scenarios, doctors may need to scan the object to be scanned on the bed from different scanning angles, so as to obtain medical images of the object to be scanned at different scanning angles. For different scanning angles, the medical imaging equipment also needs to rotate to different postures to meet the scanning of different scanning angles. At this time, it is necessary to control the scanning gantry at the end to be in different target postures through the mobile device, so as to realize the scanning of the object to be scanned. However, when the scanning gantry at the end of the mobile device is in the target posture and collides with the surrounding objects, an optional implementation method can also adjust the target position of the mobile device while ensuring that the target posture of the mobile device remains unchanged, so as to obtain a new target posture without collision, that is, the new target position of the mobile device is combined with the target posture of the mobile device to form a new target posture of the mobile device.

[0212] Next, the computer device can perform path planning based on the new target position and the original starting position of the mobile device, thereby obtaining a target planning path of the mobile device; wherein the target planning path is a collision-free moving path from the original starting position to the new target position.

[0213] In this example, while ensuring that the target posture of the mobile device remains unchanged, the method of determining a new target posture near the original target posture of the mobile device without collision can refer to the above Figure 3-Figure 6The disengagement strategy of the mobile device at the starting point described in the illustrated embodiment, that is, determining the third disengagement direction and the third disengagement distance of the mobile device at the target point, thereby determining a new target posture that is closer to the original target posture and can escape from the collision area according to the third disengagement direction and the third disengagement distance of the mobile device at the target point; however, it should be noted that when determining the third disengagement direction of the mobile device at the target point in this example, the preset motion directions involved are 6 motion directions including the translation directions of the positive and negative axes of the three coordinate axes X, Y, and Z. Since it is necessary to ensure that the target posture of the mobile device remains unchanged, there is no need to rotate the end posture of the mobile device, so the preset motion direction does not include the rotation directions of the positive and negative axes of the three coordinate axes X, Y, and Z.

[0214] Step 1006: If not, then executing the step of determining whether the second collision object at the target point corresponding to the collision event is a movable object.

[0215] For example, when the target point collision event is not a posture collision event, the relevant content of the above step 902 can be executed, that is, whether the second collision object at the target point corresponding to the target point collision event is a movable object is determined, that is, the second collision object that collides with the mobile device at the target point is first moved, and then the target planning path of the mobile device is determined. For specific implementation methods, please refer to the above Fig. 9 The description of the related contents of the illustrated embodiment will not be repeated here.

[0216] In this embodiment, for the case where the target point collision is a posture collision, it is also possible to first consider determining a new target posture that is near the original target posture and does not collide with surrounding objects while keeping the target posture unchanged, and then perform path planning based on the new target posture and the original starting posture, so that the mobile device can move to the vicinity of the original target posture and maintain the target posture that the medical imaging device should have when scanning; on this basis, the user only needs to fine-tune the bed to scan the object to be scanned through the medical imaging device; this method can improve the movement efficiency of the mobile device and reduce the difficulty of manual adjustment for users, thereby improving the user experience.

[0217] In an exemplary embodiment, Fig.11 As shown, in the case where the collision event of the initial planned path includes a target point collision event, the above step 206 may also include steps 1102 to 1104. Among them:

[0218] Step 1102 , determining a new target pose of the mobile device without collision.

[0219] Exemplarily, in the case where there is a collision with the target point, the computer device can also directly determine a new target position of the mobile device that is near the original target position and does not collide with surrounding objects, so that the mobile device can be moved to a position close to the original target position for the user to perform manual fine-tuning.

[0220] Exemplarily, the computer device may adjust the original target position of the mobile device in the simulation environment to determine a new target position after escaping the collision; optionally, the method for determining the new target position of the mobile device may refer to the above Figure 3-Figure 6 The disengagement strategy of the mobile device at the starting point described in the illustrated embodiment is to determine the third disengagement direction and the third disengagement distance of the mobile device at the target point in the scene, and then determine the new target posture of the mobile device without collision based on the original target posture, the third disengagement direction and the third disengagement distance of the mobile device. When the third disengagement direction and the third disengagement distance of the mobile device at the target point are determined, the mobile device can be controlled to move the third disengagement distance from the original target posture along the third disengagement direction to obtain the new target posture of the mobile device.

[0221] Exemplarily, the position of the new target posture of the mobile device without collision is different from the position of the original target posture of the mobile device, and / or the posture of the new target posture of the mobile device without collision is different from the posture of the original target posture of the mobile device. Optionally, in order to meet the requirements of medical imaging scanning, it can be ensured that the posture of the new target posture of the mobile device without collision is the same as the posture of the original target posture of the mobile device.

[0222] Step 1104 , performing path planning according to the new target position and the original starting position of the mobile device to obtain a target planned path.

[0223] Exemplarily, the computer device can perform path planning based on the new target posture and the original starting posture to obtain an intermediate planned path; and perform collision detection on the intermediate planned path in a simulation environment. If there is no collision event on the intermediate planned path, the intermediate planned path can be determined as the target planned path of the mobile device; if there is a collision event on the intermediate planned path, the path planning strategy corresponding to the different collision events described in any of the above embodiments can be used to continue to adjust the intermediate planned path, and finally obtain a target planned path without collision.

[0224] In this embodiment, for a target point collision event, the computer device can also directly determine a new target position of the mobile device without collision in the scene, and perform path planning based on the new target position and the original starting position of the mobile device to obtain a target planning path. By adopting this method, when there is a collision with the original target position, the mobile device can be controlled to move to a new target position near the original target position and without collision with surrounding objects, thereby improving the anti-collision capability of the mobile device. In addition, in the medical image scanning scenario, the user can also manually fine-tune the bed to complete the image scanning. Compared with the mobile scanning frame, the mobile bed is easier and more convenient for the user, thereby improving the scanning efficiency.

[0225] In an exemplary embodiment, Fig.12 As shown, the above step 204 may include steps 1202 to 1206. Among them:

[0226] Step 1202 , for each position point on the initial planned path, by simulating a scene in which the mobile device moves along the initial planned path, it is determined whether the mobile device collides with surrounding objects in the scene at the position point.

[0227] For example, when performing collision detection on the initial planned path through a simulation scene, the initial planned path can be divided into multiple position points, and in the simulation scene, the mobile device is controlled to move to each position point in turn, and at each position point, it is identified whether a collision occurs between the mobile device and surrounding objects.

[0228] Step 1204: If a collision occurs, determine whether there is a collision event in the initial planned path.

[0229] For example, if the mobile device collides with surrounding objects at the starting position, it can be determined that there is a starting point collision in the initial planned path; if the mobile device collides with surrounding objects at any intermediate process point, it can be determined that there is a process point collision in the initial planned path; if the mobile device collides with surrounding objects at the target position, it can be determined that there is a target point collision in the initial planned path.

[0230] Step 1206: If no collision occurs, determine that there is no collision event on the initial planned path.

[0231] For example, if the mobile device does not collide with surrounding objects at each position point on the initial planned path, it can be determined that there is no collision event on the initial planned path.

[0232] In this embodiment, the computer device can build a simulation scene including the space where the medical imaging device is located and important equipment in the space, wherein the medical imaging device is an imaging device controlled by a mobile device, and the imaging device is arranged at the end of the mobile device. The imaging device is driven to different spatial positions by the movement of the mobile device to meet different scanning requirements; with the help of this simulation scene, the computer device can perform collision detection and path adjustment on the planned initial planning path in advance, so as to obtain the target planning path of the mobile device that can actively avoid obstacles, thereby improving the obstacle avoidance capability of the mobile device, and further improving the movement efficiency of the mobile device.

[0233] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0234] Based on the same inventive concept, the embodiment of the present application also provides a path planning device for implementing the path planning method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more path planning device embodiments provided below can refer to the limitations of the path planning method above, and will not be repeated here.

[0235] In an exemplary embodiment, Fig.13 As shown, a path planning device is provided, including: an acquisition module 1302, a determination module 1304, an adjustment module 1306 and a control module 1308, wherein:

[0236] The acquisition module 1302 is used to acquire an initial planned path of the mobile device.

[0237] The determination module 1304 is used to determine whether there is a collision event on the initial planned path by simulating a scene in which the mobile device moves along the initial planned path.

[0238] The adjustment module 1306 is used to adjust the initial planned path according to the path planning strategy corresponding to the collision event to obtain a target planned path if a collision event occurs.

[0239] The control module is used to control the movement of the mobile device based on the target planning path.

[0240] In one embodiment, the collision event includes a starting point collision event, and the adjustment module 1306 includes:

[0241] A first determination submodule, configured to determine a first disengagement direction and a first disengagement distance of the mobile device at a starting point;

[0242] A second determination submodule is used to determine a new starting posture of the mobile device according to the original starting posture of the mobile device, the first disengagement direction and the first disengagement distance;

[0243] The first adjustment submodule is used to perform path planning according to the original starting position, the new starting position and the original target position of the mobile device to obtain a target planned path.

[0244] In one embodiment, the first determination submodule includes:

[0245] A first determining unit, configured to control the mobile device to move from a starting point to at least one preset movement direction, and determine a candidate escape direction of the mobile device according to a collision condition of the mobile device in each preset movement direction;

[0246] The second determining unit is used to control the mobile device to move from the starting point to each candidate escape direction respectively, and determine the first escape direction and the first escape distance according to the escape status of the mobile device in each candidate escape direction.

[0247] In one embodiment, the first determining unit includes:

[0248] A first control subunit, for controlling the moving device to move a first preset step length from a starting point to a preset moving direction for each preset moving direction;

[0249] The first determination subunit is used to determine the distance between the mobile device and surrounding objects in the scene after moving in a preset motion direction, and determine the preset motion direction corresponding to the distance that meets the preset distance requirement as a candidate escape direction of the mobile device.

[0250] In one embodiment, the second determining unit includes:

[0251] A second control subunit is used to control the moving device to move from the starting point to the candidate escape direction according to a second preset step length for each candidate escape direction;

[0252] An evaluation subunit, configured to evaluate the disengagement situation of the mobile device in the candidate disengagement direction, and obtain an evaluation result corresponding to the candidate disengagement direction;

[0253] The second determining subunit is used to determine the candidate disengagement direction corresponding to the evaluation result that meets the preset evaluation requirement as the first disengagement direction, and determine the first disengagement distance according to the number of movements corresponding to the first disengagement direction and the second preset step length.

[0254] In one of the embodiments, the evaluation subunit is specifically used to evaluate the candidate escape directions according to the weights corresponding to the candidate escape directions and the number of moves used to escape from the preset collision area, so as to obtain the evaluation results corresponding to the candidate escape directions.

[0255] In one embodiment, the collision event includes a process point collision event, and the adjustment module 1306 includes:

[0256] A third determination submodule is used to determine whether the first collision object at the process point corresponding to the collision event is a movable object;

[0257] A second adjustment submodule is used to determine a first escape path of the first collision object when the first collision object is a movable object, and adjust the initial planned path according to the first escape path to obtain a target planned path;

[0258] The feedback submodule is used to feedback the failure of path planning when the first collision object is an immovable object.

[0259] In one embodiment, the second adjustment submodule includes:

[0260] a third determination unit, configured to determine whether the process point collision event is resolved after the first collision object moves according to the first escape path;

[0261] a fourth determination unit, configured to determine the initial planned path as the target planned path when the process point collision event is resolved;

[0262] The first path planning unit is used to perform obstacle avoidance path planning for the mobile device at the process point when the collision event at the process point is not resolved, so as to obtain a target planned path.

[0263] In one embodiment, the second adjustment submodule includes:

[0264] a fifth determining unit, configured to determine a second separation direction and a second separation distance of the first collision object at a process point;

[0265] The sixth determining unit is configured to determine a first escape path of the first collision object according to the second escape direction and the second escape distance.

[0266] In one embodiment, the collision event includes a target point collision event, and the adjustment module 1306 includes:

[0267] a fourth determination submodule, configured to determine whether a second collision object at the target point corresponding to the collision event is a movable object;

[0268] A third adjustment submodule, configured to determine a second escape path of the second collision object when the second collision object is a movable object, and determine a target planning path according to the second escape path;

[0269] The first path planning submodule is used to determine the new target posture of the mobile device when the second collision object is an immovable object, and perform path planning according to the new target posture and the original starting posture to obtain the target planning path.

[0270] In one embodiment, the third adjustment submodule includes:

[0271] A seventh determination unit, configured to determine whether the target point collision event is resolved after the second collision object moves according to the second escape path;

[0272] an eighth determination unit, configured to determine the initial planned path as the target planned path when the target point collision event is resolved;

[0273] The second path planning unit is used to determine a new target position of the mobile device when the target point collision event is not resolved, and to perform path planning according to the new target position and the original starting position to obtain a target planned path.

[0274] In one embodiment, the adjustment module 1306 further includes:

[0275] A fifth determination submodule, used to determine whether the target point collision event is a posture collision event;

[0276] The second path planning submodule is used to determine a new target posture of the mobile device without collision when it is determined that the target point collision event is a posture collision event, and to perform path planning according to the new target posture and the original starting posture to obtain a target planning path while ensuring that the target posture of the mobile device remains unchanged;

[0277] The fourth determination submodule is used to, when it is determined that the target point collision event is not a posture collision event, execute the step of determining whether the second collision object at the target point corresponding to the collision event is a movable object.

[0278] In one embodiment, the collision event includes a target point collision event, and the adjustment module 1306 includes:

[0279] A sixth determination submodule, used to determine a new target posture in which the mobile device does not collide;

[0280] The third path planning submodule is used to perform path planning according to the new target position and original starting position of the mobile device to obtain a target planned path.

[0281] In one embodiment, the sixth determination submodule includes:

[0282] a ninth determining unit, configured to determine a third escape direction and a third escape distance of the mobile device at the target point;

[0283] The tenth determining unit is used to determine a new target posture of the mobile device without collision according to the original target posture of the mobile device, the third escape direction and the third escape distance.

[0284] In one of the embodiments, the posture of the new target posture of the mobile device without collision is the same as the posture of the original target posture of the mobile device.

[0285] In one embodiment, the determination module 1304 includes:

[0286] A seventh determination submodule is used to determine, for each position point on the initial planning path, whether the mobile device collides with surrounding objects in the scene at the position point by simulating a scene in which the mobile device moves along the initial planning path;

[0287] an eighth determination submodule, for determining, in the event of a collision, whether a collision event exists in the initial planned path;

[0288] The ninth determination submodule is used to determine that there is no collision event on the initial planned path when no collision occurs.

[0289] Each module in the above-mentioned path planning device can be implemented in whole or in part by software, hardware or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0290] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal. The terminal may be used for, but not limited to, path planning, path display, mobile device control, scanning control, image display, etc. The internal structure diagram thereof may be as follows: Fig.14As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a path planning method is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0291] Those skilled in the art will understand that Fig.14 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0292] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the steps of the path planning method in any of the above embodiments are implemented.

[0293] In an exemplary embodiment, a C-arm X-ray machine is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps of the path planning method in any of the above embodiments when executing the computer program.

[0294] In an exemplary embodiment, a mobile medical device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps of the path planning method in any of the above embodiments when executing the computer program.

[0295] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the path planning method in any of the above embodiments are implemented.

[0296] In one embodiment, a computer program product is provided, including a computer program, which implements the steps of the path planning method in any of the above embodiments when executed by a processor.

[0297] It should be noted that the data involved in this application (including but not limited to data used for analysis, data stored, data displayed, etc.) are information and data fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0298] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0299] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0300] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A path planning method, characterized in that: The method comprises: Obtaining an initial planned path of the mobile device; By simulating a scenario in which a mobile device moves along the initial planned path, determining whether there is a collision event on the initial planned path; If the collision event occurs, the initial planned path is adjusted according to the path planning strategy corresponding to the collision event to obtain a target planned path; The mobile device is controlled to move based on the target planning path.

2. The method according to claim 1, characterized in that The collision event includes a starting point collision event, and the initial planned path is adjusted according to a path planning strategy corresponding to the collision event to obtain a target planned path, including: determining a first disengagement direction and a first disengagement distance of the mobile device at a starting point; Determining a new starting position of the mobile device according to the original starting position of the mobile device, the first disengagement direction, and the first disengagement distance; Path planning is performed according to the original starting position, the new starting position and the original target position of the mobile device to obtain the target planned path.

3. The method according to claim 2, characterized in that Determining a first disengagement direction and a first disengagement distance of the mobile device at a starting point includes: Controlling the mobile device to move from the starting point to at least one preset movement direction, and determining a candidate escape direction of the mobile device according to a collision condition of the mobile device in each of the preset movement directions; The mobile device is controlled to move from the starting point to each of the candidate escape directions respectively, and the first escape direction and the first escape distance are determined according to the escape status of the mobile device in each of the candidate escape directions.

4. The method according to claim 3, characterized in that The controlling the mobile device to move from the starting point to at least one preset movement direction respectively, and determining a candidate escape direction of the mobile device according to a collision condition of the mobile device in each of the preset movement directions, comprises: For each of the preset movement directions, controlling the moving device to move from the starting point to the preset movement direction by a first preset step length; The distance between the mobile device and surrounding objects in the scene after moving in the preset motion direction is determined, and the preset motion direction corresponding to the distance that meets the preset distance requirement is determined as a candidate escape direction of the mobile device.

5. The method according to claim 3, characterized in that: The controlling the mobile device to move from the starting point to each of the candidate escape directions respectively, and determining the first escape direction and the first escape distance according to the escape status of the mobile device in each of the candidate escape directions, comprises: For each of the candidate escape directions, controlling the moving device to move from the starting point to the candidate escape direction according to a second preset step length; evaluating, according to the disengagement condition of the mobile device moving in the candidate disengagement direction, obtaining an evaluation result corresponding to the candidate disengagement direction; A candidate disengagement direction corresponding to the evaluation result that meets a preset evaluation requirement is determined as the first disengagement direction, and the first disengagement distance is determined according to the number of movements corresponding to the first disengagement direction and the second preset step length.

6. The method according to claim 5, characterized in that The step of evaluating the disengagement situation of the mobile device in the candidate disengagement direction to obtain an evaluation result corresponding to the candidate disengagement direction includes: The candidate escape directions are evaluated according to weights corresponding to the candidate escape directions and the number of movements used to escape from the preset collision area, to obtain evaluation results corresponding to the candidate escape directions.

7. The method according to claim 1, characterized in that The collision event includes a process point collision event, and the initial planned path is adjusted according to the path planning strategy corresponding to the collision event to obtain a target planned path, including: determining whether a first collision object at a process point corresponding to the collision event is a movable object; If the first collision object is a movable object, determining a first escape path of the first collision object, and adjusting the initial planned path according to the first escape path to obtain the target planned path; If the first collision object is an immovable object, the feedback path planning fails.

8. The method according to claim 7, characterized in that The adjusting the initial planned path according to the first escape path to obtain the target planned path includes: After the first collision object moves according to the first escape path, determining whether the process point collision event is resolved; If the problem is solved, the initial planning path is determined as the target planning path; If the problem is not solved, obstacle avoidance path planning is performed on the mobile device at the process point to obtain the target planned path.

9. The method according to claim 7, characterized in that: The determining a first escape path of the first collision object comprises: determining a second disengagement direction and a second disengagement distance of the first collision object at the process point; A first escape path of the first collision object is determined according to the second escape direction and the second escape distance.

10. The method according to claim 1, characterized in that The collision event includes a target point collision event, and the initial planned path is adjusted according to the path planning strategy corresponding to the collision event to obtain a target planned path, including: determining whether a second collision object at the target point corresponding to the collision event is a movable object; If the second collision object is a movable object, determining a second escape path of the second collision object, and determining the target planning path according to the second escape path; If the second collision object is an immovable object, a new target posture of the mobile device is determined, and a path planning is performed according to the new target posture and the original starting posture to obtain the target planned path.

11. The method according to claim 10, characterized in that The determining the target planned path according to the second escape path includes: After the second collision object moves according to the second escape path, determining whether the target point collision event is resolved; If the problem is solved, the initial planning path is determined as the target planning path; If the problem is not solved, a new target position of the mobile device is determined, and a path is planned according to the new target position and the original starting position to obtain the target planned path.

12. A path planning device, characterized in that: The device comprises: An acquisition module, used to acquire an initial planned path of the mobile device; A determination module, configured to determine whether there is a collision event on the initial planned path by simulating a scene in which a mobile device moves along the initial planned path; an adjustment module, configured to adjust the initial planned path according to the path planning strategy corresponding to the collision event to obtain a target planned path if the collision event occurs; A control module is used to control the movement of the mobile device based on the target planning path.

13. A C-arm X-ray machine, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 11 are implemented.

14. A mobile medical device, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 11 are implemented.

15. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented.

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