Method and device for determining reachability of points in map, equipment and computer medium
By generating the first map and the second map, the reachability of the map points can be quickly determined, which solves the problem of low efficiency in determining the reachability of map points in multi-robot path planning and realizes efficient path planning.
Patent Information
- Application Number
- CN202410362683.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-27
- Publication Date
- 2025-09-30
AI Technical Summary
In the existing technology, when planning multi-robot paths, the efficiency of determining the reachability of map midpoints is low, resulting in large amounts of calculations and a long time consumption.
By generating a first map in response to the setting operation of reachable points in the original map, and generating a second map based on the setting operation of reachable points in the target grid map, the reachability of the reachable points in the first map is verified using the second map, thereby achieving rapid determination of the reachability of points in the map.
It improves the speed and efficiency of determining the reachability of map points, reduces the amount of calculation, and can verify the reachability of a large number of points in a short period of time, reducing troubleshooting and operating costs.
Smart Images
Figure CN120721072A_ABST
Abstract
Description
Technical Field
[0001] The present application belongs to the field of path planning technology, and in particular relates to a method, device, equipment and computer medium for determining the reachability of a point in a map. Background Art
[0002] In some scenarios, when performing path distance search for robots to achieve path planning, it involves path planning for multiple robots. If the grid map based on it is small, it will lead to a large grid search volume and low data processing efficiency. In order to reduce the amount of calculation and perform global path planning for multiple robots in a shorter period of time, it is necessary to rasterize the initial map with a higher resolution into a grid map with a lower resolution.
[0003] The search map used in the multi-machine robot path planning system is a raster map that is a result of raster merging of the initial map. The initial map is obtained from the global map when the robot builds the map, and there is a strict correspondence between the global map and the raster map. In actual business scenarios, part of the global map will be modified as the environment changes, such as adding or reducing business points. At this time, as the global map is modified, the raster map needs to be modified synchronously. After the modification is completed, whether the global map and the raster map match and whether all business points are reachable in the raster map need to be verified before release. In related technologies, the commonly used verification method is: using a verification robot to travel for each business point based on the global map after the modification is completed to determine whether each business point is reachable, which wastes a lot of time and has low verification efficiency. Summary of the Invention
[0004] The embodiment of the present application provides an implementation solution that is different from the prior art to solve the technical problem in the related art that a lot of time is wasted and the determination efficiency is low when determining the reachability of points in a map.
[0005] In a first aspect, a method for determining the reachability of a point in a map is provided, comprising:
[0006] In response to a setting operation on at least one first reachable point in the original map, a first map is obtained;
[0007] In response to a setting operation on at least one second reachable point in a target grid map corresponding to the original map, a second map is obtained, wherein the at least one first reachable point corresponds to the at least one second reachable point;
[0008] Verify based on the second map whether the at least one first reachable point is reachable when path planning is performed based on the second map, and obtain at least one verification result corresponding to the at least one first reachable point.
[0009] In a second aspect, the present application provides a device for determining the reachability of a point in a map, comprising:
[0010] a response unit, configured to obtain a first map in response to a setting operation on at least one first reachable point in the original map;
[0011] The response unit is further configured to obtain a second map in response to a setting operation of at least one second reachable point in the target grid map corresponding to the original map, wherein the at least one first reachable point corresponds to the at least one second reachable point;
[0012] A verification unit is used to verify, based on the second map, whether the at least one first reachable point is reachable when path planning is performed based on the second map, and obtain at least one verification result corresponding to the at least one first reachable point.
[0013] In a third aspect, the present application provides an electronic device comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute any method in the first aspect or any possible implementation of the first aspect by executing the executable instructions.
[0014] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any method in the first aspect or any possible implementation manner of the first aspect.
[0015] The present application provides a solution for obtaining a first map in response to a setting operation on at least one first reachable point in an original map; obtaining a second map in response to a setting operation on at least one second reachable point in a target grid map corresponding to the original map, wherein the at least one first reachable point corresponds to the at least one second reachable point; and verifying whether the at least one first reachable point is reachable when path planning is performed based on the second map based on the second map, thereby obtaining at least one verification result corresponding to the at least one first reachable point. This solution can rely solely on the second map obtained after setting the reachable points in the target grid map corresponding to the global map (original map) to determine whether each first reachable point in the global map is reachable when path planning is performed based on the second map. This solution can automatically determine the reachability of points in the map, quickly determine the reachability of points in the map, and achieve high efficiency in determining the reachability of points in the map. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:
[0017] Figure 1a A schematic diagram of the structure of a system provided in one embodiment of the present application;
[0018] Figure 1b A schematic diagram of a scenario of a method for determining the reachability of a point on a map provided in one embodiment of the present application;
[0019] Figure 2 A flowchart of a method for determining the reachability of a point on a map provided in one embodiment of the present application;
[0020] Figure 3 A schematic diagram of the structure of a device for determining the reachability of a point on a map provided in one embodiment of the present application;
[0021] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION
[0022] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present application, but should not be understood as limiting the present application.
[0023] The terms "first" and "second" in the specification, claims and drawings of the embodiments of the present application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.
[0024] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.
[0025] Figure 1a This is a schematic diagram of a system structure provided by an exemplary embodiment of the present application, the system comprising: a terminal 10 and a target device 30; wherein:
[0026] The aforementioned terminal 10 can be specifically used for:
[0027] In response to a setting operation on at least one first reachable point in the original map, a first map is obtained;
[0028] In response to a setting operation on at least one second reachable point in a target grid map corresponding to the original map, a second map is obtained, wherein the at least one first reachable point corresponds to the at least one second reachable point;
[0029] Verify based on the second map whether the at least one first reachable point is reachable when path planning is performed based on the second map, and obtain at least one verification result corresponding to the at least one first reachable point.
[0030] In some embodiments of the present application, see further Figure 1a As shown, the aforementioned system may further include a server 20. Specifically, after obtaining the first map and the second map, the terminal 10 may send the first map and the second map to the server 20, so that the server 20 verifies based on the second map whether the at least one first reachable point is reachable when the path planning is performed based on the second map, and obtains at least one verification result corresponding to the at least one first reachable point.
[0031] Optionally, if the terminal 10 or the server 20 determines that the at least one verification result indicates that there is no point with a verification result of being unreachable among the at least one first reachable point, it is further configured to:
[0032] sending the first map to at least one target device;
[0033] performing path planning for the at least one target device based on the second map, and obtaining target path information of a to-be-traveled path of each target device in the at least one target device;
[0034] The target path information of the to-be-traveled path of each target device is sent to the corresponding target device, so that each target device travels based on the received target path information and the first map.
[0035] In this application, the target device 30 refers to a movable device, such as a robot, an unmanned vehicle, a toy vehicle, etc.
[0036] In some optional embodiments of the present application, the aforementioned system may further include a server 40, see Figure 1bAs shown, after obtaining the first map and the second map, the terminal 10 may transmit the second map to the server 40. The server 20 then retrieves the second map from the server 40 and verifies, based on the second map, whether the at least one first reachable point is reachable when planning a path based on the second map, thereby obtaining at least one verification result corresponding to the at least one first reachable point. The server 20 may be a multi-machine system for planning paths for multiple target devices, and the server 40 may be a server for managing a grid map.
[0037] Optionally, when the terminal 10 verifies based on the second map whether the at least one first reachable point is reachable when path planning is performed based on the second map, obtains at least one verification result corresponding to the at least one first reachable point, and determines that the at least one verification result indicates that there is no point in the at least one first reachable point whose verification result is unreachable, it is also used to: send the first map to the server 20, so that the server 20 sends the first map to at least one target device; perform path planning for the at least one target device based on the second map, and obtain target path information of the path to be traveled of each target device in the at least one target device; send the target path information of the path to be traveled of each target device to the corresponding target device, so that each target device travels based on the received target path information and the first map.
[0038] Figure 2 A method for determining the reachability of a point in a map is provided as an exemplary embodiment of the present application. The method can be applied to the aforementioned terminal 10 or the aforementioned server 20, or can be performed jointly by the terminal 10 and the server 20, which is not limited in this application. Specifically, the method includes at least the following steps S201-S204:
[0039] S201: Obtain a first map in response to a setting operation of at least one first reachable point in an original map;
[0040] In this application, the original map may refer to a map created by a mapping device traveling in a preset area according to a mapping method and based on environmental information acquired in real time.
[0041] Optionally, the original map may also be a two-dimensional map obtained by creating a map based on environmental information acquired in real time when the mapping device travels in a preset area according to the mapping method.
[0042] Optionally, the first reachable point in this application refers to a business point that the target device can reach in the original map. The business point is a point where the target device needs to travel to and pause to handle business. The business may be picking up express delivery, placing items, etc. This application does not limit this.
[0043] The aforementioned first map is an original map after setting at least one first reachable point in the original map.
[0044] Optionally, relevant personnel may mark each first reachable point on the original map through a display page displaying the original map, thereby completing the setting operation of at least one first reachable point in the original map.
[0045] S202: In response to a setting operation on at least one second reachable point in the target grid map corresponding to the original map, obtaining a second map, wherein the at least one first reachable point corresponds to the at least one second reachable point;
[0046] In some optional embodiments of the present application, regarding a method for determining a target grid map corresponding to an original map, the method further includes the following S01-S04:
[0047] S01. In response to a map display operation, display the original map;
[0048] In some optional embodiments of the present application, the above method further includes displaying a raster map editing page; the aforementioned map display operation is triggered by the user clicking a map display button on the map editing page.
[0049] In some optional embodiments of the present application, the aforementioned map display operation may also be an operation in which the user clicks a map import button on a map editing page.
[0050] Optionally, the aforementioned original map is a two-dimensional map.
[0051] Optionally, the aforementioned original map is a three-dimensional map.
[0052] Accordingly, when the original map is a two-dimensional map, the grid map after merging it is a two-dimensional grid map. When the original map is a three-dimensional map, the grid map after merging it is a three-dimensional grid map.
[0053] In this application, when the original map is a two-dimensional map, the original map is a two-dimensional pixel map, each pixel can be regarded as a grid, and the original map itself is also a grid map.
[0054] S02. Obtaining grid map merging information, the grid map merging information including: first relationship information between the grid size of the original map and the grid size of the initial grid map, and second relationship information between the grid passage information in the original map and the grid passage information in the initial grid map;
[0055] In some optional embodiments of the present application, the first relationship information between the grid size of the original map and the grid size of the initial grid map may include: a multiple relationship between the grid size of the initial grid map and the grid size of the original map.
[0056] The grid merging process in this application refers to merging the grids of the original map with smaller grids to obtain an initial grid map with larger grids. The size of the grids in the merged initial grid map is larger than the size of the grids in the original map before merging.
[0057] Optionally, the aforementioned multiple relationship may also refer to a multiple relationship between the grid size of the initial grid map and the side length of the grid size in the original map.
[0058] In some optional embodiments of the present application, the second relationship information between the grid passage information in the original map and the grid passage information in the initial grid map includes: when the original map is grid-merged, the relationship between the passage information of multiple grids in the original map merged into one grid in the initial grid map and the passage information of the one grid.
[0059] In some optional embodiments of the present application, the relationship between the passage information of the multiple grids and the passage information of the one grid may include: when the ratio of the number of grids with passage information of impassable to the total number of grids in the multiple grids is less than a preset threshold, then the passage information of the one grid into which the multiple grids are merged is passable; otherwise, the passage information of the one grid into which the multiple grids are merged is impassable.
[0060] S03. In response to the grid map display information, perform grid merging on the original map based on the grid map merging information to obtain the initial grid map, and display the initial grid map, wherein the initial grid map includes a pass identifier for indicating pass information of each grid in the initial grid map, wherein the pass information of the grid indicates whether the grid is passable;
[0061] In some optional embodiments of the present application, different passage information has different passage identifiers, and the passage identifiers of different passage information may include any one or more of the following: points of different colors within the grid, different colors of the grid, and images of different shapes within the grid.
[0062] For example, a red point in a grid in the initial grid map indicates that the grid is an impassable grid; a green point in a grid in the initial grid map indicates that the grid is a passable grid; a blue point in a grid in the initial grid map indicates that the grid is a waiting point; and a gray point in a grid in the initial grid map indicates that the grid is a non-waiting point.
[0063] S04. In response to a user's instruction to edit the initial grid map, edit the initial grid map to obtain the target grid map.
[0064] In some optional embodiments of the present application, in the aforementioned S04, in response to the user's editing instruction for the initial grid map, the initial grid map is edited, including: in response to the user's editing instruction for the grid type of any one or more grids in the initial grid map, the grid type of any one or more grids is edited, and the grid type of the grid includes any one or more of the following: a passable grid, an inpassable grid, a waiting grid, and a non-waiting grid.
[0065] The grid type of the grid is used to indicate the travel information of the target device at the grid when planning the path of the target device based on the target grid map. Accordingly, the travel information includes: passable, impassable, waitable, and non-waitable.
[0066] It should be noted that the travel information of the target device at a grid refers to the passage information of the grid.
[0067] Specifically, when the grid type of the grid is a passable grid, the travel information of the target device at the grid is passable; when the grid type of the grid is an impassable grid, the travel information of the target device at the grid is impassable; when the grid type of the grid is a waitable grid, the travel information of the target device at the grid is waitable; when the grid type of the grid is a non-waitable grid, the travel information of the target device at the grid is non-waitable.
[0068] The target device can wait at a grid cell, meaning that the target device can remain at that grid cell for a specified period of time without moving forward. For example, the target device can remain at that grid cell for a specified period of time while waiting for congestion in its direction of travel or at its destination to be resolved. Upon detecting that congestion in its direction of travel or at its destination has resolved, the target device stops waiting and continues moving forward.
[0069] A target device cannot wait at a grid cell, meaning it cannot remain at that grid cell for a specified period of time without moving forward. For example, a target device cannot remain at that grid cell while waiting for congestion in its direction of travel or at its destination to resolve. However, it can remain at a nearby waiting grid cell for a specified period of time. Upon detecting that congestion in its direction of travel or at its destination has resolved, the target device stops waiting and continues moving forward.
[0070] Optionally, the second reachable points in the present application are reachable points marked in the target grid map by relevant personnel based on the first reachable points marked in the original map, and correspond to the first reachable points.
[0071] Optionally, the number of first reachable points included in the original map is the same as the number of second reachable points in the target grid map, and the second reachable points correspond one-to-one to the first reachable points.
[0072] The aforementioned second map is a target grid map obtained by setting at least one second reachable point in the target grid map.
[0073] Optionally, relevant personnel may mark each second reachable point on the target grid map through a display page displaying the target grid map, thereby completing the setting operation of at least one second reachable point in the target grid map.
[0074] S203: Verify, based on the second map, whether the at least one first reachable point is reachable when path planning is performed based on the second map, and obtain at least one verification result corresponding to the at least one first reachable point.
[0075] Among them, the verification result corresponds one-to-one to the first reachable point, and the verification result is used to indicate whether the corresponding first reachable point is reachable when path planning is performed based on the second map. The verification result can specifically be reachable or unreachable.
[0076] Optionally, the first reachable point is reachable when path planning is performed based on the second map, which means that the first reachable point is reachable in the original map, and the third reachable point corresponding to the first reachable point in the second map is reachable in the second map.
[0077] In some optional embodiments of the present application, in S203, verifying, based on the second map, whether the at least one first reachable point is reachable when path planning is performed based on the second map, and obtaining at least one verification result corresponding to the at least one first reachable point, includes the following S2031-S2032:
[0078] S2031. Acquire multiple reachable path distance tables corresponding to multiple passable points included in the second map, wherein the reachable path distance table corresponding to each passable point is a list consisting of distances of paths starting from the passable point and ending at each remaining passable point among the multiple passable points except the passable point;
[0079] Optionally, the traversable point in the second map refers to a traversable grid in the second map.
[0080] S2032. Verify, according to the multiple reachable path distance tables, whether the at least one first reachable point is reachable when path planning is performed based on the second map, and obtain at least one verification result corresponding to the at least one first reachable point.
[0081] In some optional embodiments of the present application, in the aforementioned S2032, verifying whether the at least one first reachable point is reachable when path planning is performed based on the second map according to the multiple reachable path distance tables, and obtaining at least one verification result corresponding to the at least one first reachable point, includes the following S321-S322:
[0082] S321. For each first reachable point in the at least one first reachable point, determine a third reachable point corresponding to the first reachable point in the second map, to obtain at least one third reachable point corresponding to the at least one first reachable point;
[0083] Optionally, in the second map, the grid where the third reachable point corresponding to the first reachable point is located is formed by merging a plurality of grids including the first reachable point in the original map.
[0084] S322. For each third reachable point among the at least one third reachable point, determine whether the distance of the path starting from the third reachable point and ending at each remaining third reachable point among the at least one third reachable point except the third reachable point is included in the multiple reachable path distance tables; if so, determine that the verification result of the first reachable point corresponding to the third reachable point is reachable; if not, determine that the verification result of the first reachable point corresponding to the third reachable point is unreachable, and then obtain at least one verification result corresponding to the at least one first reachable point.
[0085] In some optional embodiments of the present application, in the aforementioned S321, determining a third reachable point corresponding to the first reachable point in the second map includes the following S211-S222:
[0086] S211. Obtain a coordinate conversion matrix between coordinates corresponding to the first map and coordinates corresponding to the second map;
[0087] S212: Perform coordinate transformation on the first reachable point based on the coordinate transformation matrix to obtain a third reachable point corresponding to the first reachable point in the second map.
[0088] Optionally, the coordinate system of the first reachable point in the first map is a world coordinate system.
[0089] Optionally, the coordinate system of the third reachable point in the second map is a grid coordinate system.
[0090] In some optional embodiments of the present application, the method further includes: if the at least one verification result indicates that there is a point in the at least one first reachable point whose verification result is unreachable, prompting the user to modify the unreachable point again in the original map.
[0091] In some optional embodiments of the present application, the method further includes: if the at least one verification result indicates that there is no point in the at least one first reachable point whose verification result is unreachable, executing the following S1-S3:
[0092] S1. Sending the first map to at least one target device;
[0093] In this application, the target device refers to a movable device, such as a robot, an unmanned vehicle, a toy vehicle, etc.
[0094] S2. Performing path planning for the at least one target device based on the second map to obtain target path information of a to-be-traveled path for each target device in the at least one target device;
[0095] In some optional embodiments of the present application, in the aforementioned S2, performing path planning for the at least one target device based on the second map to obtain target path information of the to-be-traveled path of each target device in the at least one target device includes the following S31-S32:
[0096] S31. For each target device among the at least one target device, perform path planning for the target device based on the second map to obtain initial path information of a grid path of the target device traveling from a first starting position to a first target position in the second map;
[0097] S32: Convert the initial path information of the raster path of the target device traveling from the first starting position to the first target position in the second map into target path information of the path of the target device traveling from the second starting position to the second target position in the first map.
[0098] The aforementioned initial path information is a set of coordinates in the second map, and the aforementioned target path information is a set of coordinates in the first map.
[0099] The first starting position corresponds to the second starting position, and the first target position corresponds to the second target position.
[0100] S2. Send target path information of the to-be-traveled path of each target device to the corresponding target device, so that each target device travels based on the received target path information and the first map.
[0101] In some optional embodiments of the present application, when the aforementioned method is jointly executed by a terminal and a server, the server is initialized at startup and determines by calculation a plurality of reachable path distance tables corresponding to a plurality of traversable points included in the second map. The terminal calls a point reachability check interface and transmits the first map, or the first map and at least one first reachable point to the server. The server (multi-machine system) performs a coordinate system transformation on each first reachable point and converts it into each third reachable point. The grid coordinate list of each third reachable point can be expressed as: [grid(i0,j0),grid(i1,j1),...,grid(iN,jN)]. For each grid coordinate, it is queried whether the distance from the grid coordinate to the remaining grid coordinates in the grid coordinate list except the grid coordinate is included in the plurality of reachable path distance tables. If so, it means that the verification result of the first reachable point corresponding to the grid coordinate is reachable. If not, it means that the verification result of the first reachable point corresponding to the grid coordinate is unreachable.
[0102] The solution of this application can efficiently and quickly determine the verification results of each first reachable point, transforming the complex connected area problem into a single-source path distance problem. Whether the grid point itself is unreachable or it is in an isolated area, it can be verified using the grid point pair method. This has high performance and does not require real-time calculation of the path distance length or connectivity between points. The reachability of 400 points can be verified within 10ms. In addition, through point reachability verification, problems with points in the map can be discovered in advance, reducing problem investigation costs and operating costs.
[0103] The present application provides a solution for obtaining a first map in response to a setting operation on at least one first reachable point in an original map; obtaining a second map in response to a setting operation on at least one second reachable point in a target grid map corresponding to the original map, wherein the at least one first reachable point corresponds to the at least one second reachable point; and verifying whether the at least one first reachable point is reachable when path planning is performed based on the second map based on the second map, thereby obtaining at least one verification result corresponding to the at least one first reachable point. This solution can rely solely on the second map obtained after setting the reachable points in the target grid map corresponding to the global map (original map) to determine whether each first reachable point in the global map is reachable when path planning is performed based on the second map. This solution can automatically determine the reachability of points in the map, quickly determine the reachability of points in the map, and achieve high efficiency in determining the reachability of points in the map.
[0104] Figure 3 A schematic diagram of a device for determining the reachability of a point on a map provided in an exemplary embodiment of the present application is provided. The device includes:
[0105] A response unit 31 is configured to obtain a first map in response to a setting operation of at least one first reachable point in the original map;
[0106] The response unit 31 is further configured to obtain a second map in response to a setting operation of at least one second reachable point in the target grid map corresponding to the original map, wherein the at least one first reachable point corresponds to the at least one second reachable point;
[0107] The verification unit 32 is configured to verify, based on the second map, whether the at least one first reachable point is reachable when path planning is performed based on the second map, and obtain at least one verification result corresponding to the at least one first reachable point.
[0108] According to one or more embodiments of the present application, the aforementioned apparatus, when used to verify, based on the second map, whether the at least one first reachable point is reachable when path planning is performed based on the second map, and obtaining at least one verification result corresponding to the at least one first reachable point, is specifically configured to:
[0109] Obtaining multiple reachable path distance tables corresponding to multiple passable points included in the second map, wherein the reachable path distance table corresponding to each passable point is a list consisting of distances of paths starting from the passable point and ending at each remaining passable point among the multiple passable points except the passable point;
[0110] Verify whether the at least one first reachable point is reachable when path planning is performed based on the second map according to the multiple reachable path distance tables, and obtain at least one verification result corresponding to the at least one first reachable point.
[0111] According to one or more embodiments of the present application, the aforementioned device, when used to verify whether the at least one first reachable point is reachable when path planning is performed based on the second map according to the multiple reachable path distance tables, and obtain at least one verification result corresponding to the at least one first reachable point, is specifically used to:
[0112] For each first reachable point in the at least one first reachable point, determining a third reachable point corresponding to the first reachable point in the second map, to obtain at least one third reachable point corresponding to the at least one first reachable point;
[0113] For each third reachable point in the at least one third reachable point, determine whether the distance of the path with the third reachable point as the starting point and the remaining third reachable points in the at least one third reachable point except the third reachable point as the end point is included in the multiple reachable path distance tables. If so, determine that the verification result of the first reachable point corresponding to the third reachable point is reachable; if not, determine that the verification result of the first reachable point corresponding to the third reachable point is unreachable, and then obtain at least one verification result corresponding to the at least one first reachable point.
[0114] According to one or more embodiments of the present application, when the aforementioned apparatus is used to determine the third reachable point corresponding to the first reachable point in the second map, it is specifically configured to:
[0115] Obtaining a coordinate conversion matrix between coordinates corresponding to the first map and coordinates corresponding to the second map;
[0116] The coordinates of the first reachable point are transformed based on the coordinate transformation matrix to obtain a third reachable point corresponding to the first reachable point in the second map.
[0117] According to one or more embodiments of the present application, the aforementioned device is also used to: if the at least one verification result indicates that there is a point in the at least one first reachable point whose verification result is unreachable, prompt the user to modify the unreachable point again in the original map.
[0118] According to one or more embodiments of the present application, the aforementioned apparatus is further configured to: if the at least one verification result indicates that there is no point in the at least one first reachable point for which the verification result is unreachable, then
[0119] sending the first map to at least one target device;
[0120] performing path planning for the at least one target device based on the second map, and obtaining target path information of a to-be-traveled path of each target device in the at least one target device;
[0121] The target path information of the to-be-traveled path of each target device is sent to the corresponding target device, so that each target device travels based on the received target path information and the first map.
[0122] According to one or more embodiments of the present application, the aforementioned device is further used to:
[0123] In response to a map display operation, displaying the original map;
[0124] Obtaining grid map merging information, the grid map merging information including: first relationship information between a grid size of the original map and a grid size of the initial grid map, and second relationship information between grid passage information in the original map and grid passage information in the initial grid map;
[0125] In response to the grid map display information, performing grid merging on the original map based on the grid map merging information to obtain the initial grid map, and displaying the initial grid map, wherein the initial grid map includes a pass identifier for indicating pass information of each grid in the initial grid map, wherein the pass information of the grid indicates whether the grid is passable;
[0126] In response to a user's instruction to edit the initial grid map, the initial grid map is edited to obtain the target grid map.
[0127] It should be understood that the device embodiments and the method embodiments may correspond to each other, and similar descriptions may refer to the method embodiments. To avoid repetition, they will not be described in detail here. Specifically, the device can perform the above-mentioned method embodiments, and the aforementioned and other operations and / or functions of each module in the device are the corresponding processes in each method in the above-mentioned method embodiments, which will not be described in detail here for the sake of brevity.
[0128] The apparatus of the embodiment of the present application is described above from the perspective of functional modules in conjunction with the accompanying drawings. It should be understood that the functional module can be implemented in hardware form, can be implemented by instructions in software form, or can be implemented by a combination of hardware and software modules. Specifically, the steps of the method embodiment in the embodiment of the present application can be completed by the hardware integrated logic circuit and / or software form instructions in the processor, and the steps of the method disclosed in the embodiment of the present application can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. Optionally, the software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps in the above method embodiment in conjunction with its hardware.
[0129] Figure 4 : is a schematic block diagram of an electronic device provided in an embodiment of the present application, and the electronic device may include:
[0130] The memory 401 and the processor 402 are configured to store computer programs and transmit the program code to the processor 402. In other words, the processor 402 can call and run the computer program from the memory 401 to implement the method in the embodiment of the present application.
[0131] For example, the processor 402 may be configured to execute the above method embodiments according to instructions in the computer program.
[0132] In some embodiments of the present application, the processor 402 may include but is not limited to:
[0133] General-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc.
[0134] In some embodiments of the present application, the memory 401 includes but is not limited to:
[0135] Volatile memory and / or non-volatile memory. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus random access memory (DR RAM).
[0136] In some embodiments of the present application, the computer program may be divided into one or more modules, which are stored in the memory 401 and executed by the processor 402 to implement the method provided by the present application. The one or more modules may be a series of computer program instruction segments capable of implementing specific functions, and the instruction segments are used to describe the execution process of the computer program in the electronic device.
[0137] like Figure 4 As shown, the electronic device may further include:
[0138] The transceiver 403 may be connected to the processor 402 or the memory 401 .
[0139] The processor 402 may control the transceiver 403 to communicate with other devices. Specifically, the processor 402 may send information or data to other devices or receive information or data sent by other devices. The transceiver 403 may include a transmitter and a receiver. The transceiver 403 may further include one or more antennas.
[0140] It should be understood that the various components in the electronic device are connected via a bus system, wherein the bus system includes not only a data bus but also a power bus, a control bus and a status signal bus.
[0141] The present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a computer, enables the computer to perform the method of the above-mentioned method embodiment. In other words, the present application also provides a computer program product containing instructions, which, when executed by a computer, enables the computer to perform the method of the above-mentioned method embodiment.
[0142] When software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a digital video disc (DVD)), or a semiconductor medium (e.g., a solid state drive (SSD)).
[0143] According to one or more embodiments of the present application, a method for determining the reachability of a point in a map is provided, comprising:
[0144] In response to a setting operation on at least one first reachable point in the original map, a first map is obtained;
[0145] In response to a setting operation on at least one second reachable point in a target grid map corresponding to the original map, a second map is obtained, wherein the at least one first reachable point corresponds to the at least one second reachable point;
[0146] Verify based on the second map whether the at least one first reachable point is reachable when path planning is performed based on the second map, and obtain at least one verification result corresponding to the at least one first reachable point.
[0147] According to one or more embodiments of the present application, verifying, based on the second map, whether the at least one first reachable point is reachable when path planning is performed based on the second map, and obtaining at least one verification result corresponding to the at least one first reachable point includes:
[0148] Obtaining multiple reachable path distance tables corresponding to multiple passable points included in the second map, wherein the reachable path distance table corresponding to each passable point is a list consisting of distances of paths starting from the passable point and ending at each remaining passable point among the multiple passable points except the passable point;
[0149] Verify whether the at least one first reachable point is reachable when path planning is performed based on the second map according to the multiple reachable path distance tables, and obtain at least one verification result corresponding to the at least one first reachable point.
[0150] According to one or more embodiments of the present application, verifying whether the at least one first reachable point is reachable when path planning is performed based on the second map according to the multiple reachable path distance tables, and obtaining at least one verification result corresponding to the at least one first reachable point includes:
[0151] For each first reachable point in the at least one first reachable point, determining a third reachable point corresponding to the first reachable point in the second map, to obtain at least one third reachable point corresponding to the at least one first reachable point;
[0152] For each third reachable point in the at least one third reachable point, determine whether the distance of the path with the third reachable point as the starting point and the remaining third reachable points in the at least one third reachable point except the third reachable point as the end point is included in the multiple reachable path distance tables. If so, determine that the verification result of the first reachable point corresponding to the third reachable point is reachable; if not, determine that the verification result of the first reachable point corresponding to the third reachable point is unreachable, and then obtain at least one verification result corresponding to the at least one first reachable point.
[0153] According to one or more embodiments of the present application, determining a third reachable point corresponding to the first reachable point in the second map includes:
[0154] Obtaining a coordinate conversion matrix between coordinates corresponding to the first map and coordinates corresponding to the second map;
[0155] The coordinates of the first reachable point are transformed based on the coordinate transformation matrix to obtain a third reachable point corresponding to the first reachable point in the second map.
[0156] According to one or more embodiments of the present application, the method further includes: if the at least one verification result indicates that there is a point in the at least one first reachable point whose verification result is unreachable, prompting the user to modify the unreachable point again in the original map.
[0157] According to one or more embodiments of the present application, the method further includes: if the at least one check result indicates that there is no point with a check result of being unreachable in the at least one first reachable point,
[0158] sending the first map to at least one target device;
[0159] performing path planning for the at least one target device based on the second map, and obtaining target path information of a to-be-traveled path of each target device in the at least one target device;
[0160] The target path information of the to-be-traveled path of each target device is sent to the corresponding target device, so that each target device travels based on the received target path information and the first map.
[0161] According to one or more embodiments of the present application, the method further includes:
[0162] In response to a map display operation, displaying the original map;
[0163] Obtaining grid map merging information, the grid map merging information including: first relationship information between a grid size of the original map and a grid size of the initial grid map, and second relationship information between grid passage information in the original map and grid passage information in the initial grid map;
[0164] In response to the grid map display information, performing grid merging on the original map based on the grid map merging information to obtain the initial grid map, and displaying the initial grid map, wherein the initial grid map includes a pass identifier for indicating pass information of each grid in the initial grid map, wherein the pass information of the grid indicates whether the grid is passable;
[0165] In response to a user's instruction to edit the initial grid map, the initial grid map is edited to obtain the target grid map.
[0166] According to one or more embodiments of the present application, a device for determining the reachability of a point in a map is provided, the device comprising:
[0167] a response unit, configured to obtain a first map in response to a setting operation on at least one first reachable point in the original map;
[0168] The response unit is further configured to obtain a second map in response to a setting operation of at least one second reachable point in the target grid map corresponding to the original map, wherein the at least one first reachable point corresponds to the at least one second reachable point;
[0169] A verification unit is used to verify, based on the second map, whether the at least one first reachable point is reachable when path planning is performed based on the second map, and obtain at least one verification result corresponding to the at least one first reachable point.
[0170] According to one or more embodiments of the present application, the aforementioned apparatus, when used to verify, based on the second map, whether the at least one first reachable point is reachable when path planning is performed based on the second map, and obtaining at least one verification result corresponding to the at least one first reachable point, is specifically configured to:
[0171] Obtaining multiple reachable path distance tables corresponding to multiple passable points included in the second map, wherein the reachable path distance table corresponding to each passable point is a list consisting of distances of paths starting from the passable point and ending at each remaining passable point among the multiple passable points except the passable point;
[0172] Verify whether the at least one first reachable point is reachable when path planning is performed based on the second map according to the multiple reachable path distance tables, and obtain at least one verification result corresponding to the at least one first reachable point.
[0173] According to one or more embodiments of the present application, the aforementioned device, when used to verify whether the at least one first reachable point is reachable when path planning is performed based on the second map according to the multiple reachable path distance tables, and obtain at least one verification result corresponding to the at least one first reachable point, is specifically used to:
[0174] For each first reachable point in the at least one first reachable point, determining a third reachable point corresponding to the first reachable point in the second map, to obtain at least one third reachable point corresponding to the at least one first reachable point;
[0175] For each third reachable point in the at least one third reachable point, determine whether the distance of the path with the third reachable point as the starting point and the remaining third reachable points in the at least one third reachable point except the third reachable point as the end point is included in the multiple reachable path distance tables. If so, determine that the verification result of the first reachable point corresponding to the third reachable point is reachable; if not, determine that the verification result of the first reachable point corresponding to the third reachable point is unreachable, and then obtain at least one verification result corresponding to the at least one first reachable point.
[0176] According to one or more embodiments of the present application, when the aforementioned apparatus is used to determine the third reachable point corresponding to the first reachable point in the second map, it is specifically configured to:
[0177] Obtaining a coordinate conversion matrix between coordinates corresponding to the first map and coordinates corresponding to the second map;
[0178] The coordinates of the first reachable point are transformed based on the coordinate transformation matrix to obtain a third reachable point corresponding to the first reachable point in the second map.
[0179] According to one or more embodiments of the present application, the aforementioned device is also used to: if the at least one verification result indicates that there is a point in the at least one first reachable point whose verification result is unreachable, prompt the user to modify the unreachable point again in the original map.
[0180] According to one or more embodiments of the present application, the aforementioned apparatus is further configured to: if the at least one verification result indicates that there is no point in the at least one first reachable point for which the verification result is unreachable, then
[0181] sending the first map to at least one target device;
[0182] performing path planning for the at least one target device based on the second map, and obtaining target path information of a to-be-traveled path of each target device in the at least one target device;
[0183] The target path information of the to-be-traveled path of each target device is sent to the corresponding target device, so that each target device travels based on the received target path information and the first map.
[0184] According to one or more embodiments of the present application, the aforementioned device is further used to:
[0185] In response to a map display operation, displaying the original map;
[0186] Obtaining grid map merging information, the grid map merging information including: first relationship information between a grid size of the original map and a grid size of the initial grid map, and second relationship information between grid passage information in the original map and grid passage information in the initial grid map;
[0187] In response to the grid map display information, performing grid merging on the original map based on the grid map merging information to obtain the initial grid map, and displaying the initial grid map, wherein the initial grid map includes a pass identifier for indicating pass information of each grid in the initial grid map, wherein the pass information of the grid indicates whether the grid is passable;
[0188] In response to a user's instruction to edit the initial grid map, the initial grid map is edited to obtain the target grid map.
[0189] According to one or more embodiments of the present application, an electronic device is provided, including:
[0190] processor; and
[0191] a memory for storing executable instructions of the processor;
[0192] The processor is configured to perform the aforementioned methods by executing the executable instructions.
[0193] According to one or more embodiments of the present application, a computer-readable storage medium stores a computer program, which implements the aforementioned methods when executed by a processor.
[0194] Those skilled in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.
[0195] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the modules is merely a logical function division. In actual implementation, there may be other division methods, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.
[0196] Modules described as separate components may or may not be physically separate, and components displayed as modules may or may not be physical modules, i.e., they may be located in one place or distributed across multiple network elements. Some or all of the modules may be selected based on actual needs to achieve the purpose of the present embodiment. For example, the functional modules in the various embodiments of the present application may be integrated into a processing module, or each module may exist physically separately, or two or more modules may be integrated into a single module.
[0197] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.
Claims
1. A method for determining the reachability of a point in a map, characterized in that: include: In response to a setting operation on at least one first reachable point in the original map, a first map is obtained; In response to a setting operation on at least one second reachable point in a target grid map corresponding to the original map, a second map is obtained, wherein the at least one first reachable point corresponds to the at least one second reachable point; Verify based on the second map whether the at least one first reachable point is reachable when path planning is performed based on the second map, and obtain at least one verification result corresponding to the at least one first reachable point.
2. The method according to claim 1, characterized in that Verifying, based on the second map, whether the at least one first reachable point is reachable when path planning is performed based on the second map, and obtaining at least one verification result corresponding to the at least one first reachable point includes: Obtaining multiple reachable path distance tables corresponding to multiple passable points included in the second map, wherein the reachable path distance table corresponding to each passable point is a list consisting of distances of paths starting from the passable point and ending at each remaining passable point among the multiple passable points except the passable point; Verify whether the at least one first reachable point is reachable when path planning is performed based on the second map according to the multiple reachable path distance tables, and obtain at least one verification result corresponding to the at least one first reachable point.
3. The method according to claim 2, characterized in that Verifying, according to the plurality of reachable path distance tables, whether the at least one first reachable point is reachable when path planning is performed based on the second map, and obtaining at least one verification result corresponding to the at least one first reachable point includes: For each first reachable point in the at least one first reachable point, determining a third reachable point corresponding to the first reachable point in the second map, to obtain at least one third reachable point corresponding to the at least one first reachable point; For each third reachable point in the at least one third reachable point, determine whether the distance of the path with the third reachable point as the starting point and the remaining third reachable points in the at least one third reachable point except the third reachable point as the end point is included in the multiple reachable path distance tables. If so, determine that the verification result of the first reachable point corresponding to the third reachable point is reachable; if not, determine that the verification result of the first reachable point corresponding to the third reachable point is unreachable, and then obtain at least one verification result corresponding to the at least one first reachable point.
4. The method according to claim 3, characterized in that The determining of a third reachable point corresponding to the first reachable point in the second map includes: Obtaining a coordinate conversion matrix between coordinates corresponding to the first map and coordinates corresponding to the second map; The coordinates of the first reachable point are transformed based on the coordinate transformation matrix to obtain a third reachable point corresponding to the first reachable point in the second map.
5. The method according to claim 1, characterized in that The method further includes: if the at least one verification result indicates that there is a point in the at least one first reachable point that is verified to be unreachable, prompting the user to modify the unreachable point in the original map again.
6. The method according to claim 1, wherein The method further includes: if the at least one check result indicates that there is no point in the at least one first reachable point for which the check result is unreachable, sending the first map to at least one target device; performing path planning for the at least one target device based on the second map, and obtaining target path information of a to-be-traveled path of each target device in the at least one target device; The target path information of the to-be-traveled path of each target device is sent to the corresponding target device, so that each target device travels based on the received target path information and the first map.
7. The method according to claim 1, characterized in that The method further comprises: In response to a map display operation, displaying the original map; Obtaining grid map merging information, the grid map merging information including: first relationship information between a grid size of the original map and a grid size of the initial grid map, and second relationship information between grid passage information in the original map and grid passage information in the initial grid map; In response to the grid map display information, performing grid merging on the original map based on the grid map merging information to obtain the initial grid map, and displaying the initial grid map, wherein the initial grid map includes a pass identifier for indicating pass information of each grid in the initial grid map, wherein the pass information of the grid indicates whether the grid is passable; In response to a user's instruction to edit the initial grid map, the initial grid map is edited to obtain the target grid map.
8. A device for determining the reachability of a point in a map, characterized in that: include: a response unit, configured to obtain a first map in response to a setting operation on at least one first reachable point in the original map; The response unit is further configured to obtain a second map in response to a setting operation of at least one second reachable point in the target grid map corresponding to the original map, wherein the at least one first reachable point corresponds to the at least one second reachable point; A verification unit is used to verify, based on the second map, whether the at least one first reachable point is reachable when path planning is performed based on the second map, and obtain at least one verification result corresponding to the at least one first reachable point.
9. An electronic device, characterized in that: include: processor; as well as a memory for storing executable instructions of the processor; The processor is configured to perform the method according to any one of claims 1 to 7 by executing the executable instructions.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.