CN112540607B

CN112540607B - Path planning method, path planning device, electronic equipment and storage medium

Info

Publication number: CN112540607B
Application number: CN202010260838.XA
Authority: CN
Inventors: 刘大志; 孙其民; 顾震江
Original assignee: Uditech Co Ltd
Current assignee: Youdi Robot (Wuxi) Co.,Ltd.
Priority date: 2020-04-03
Filing date: 2020-04-03
Publication date: 2024-08-02
Anticipated expiration: 2040-04-03
Also published as: CN112540607A

Abstract

The application is applicable to the technical field of robots, and provides a path planning method, which comprises the following steps: acquiring a static map of a current environment and a dynamic map of a target road section in the current environment from a server; detecting the target road section to obtain environment data of the target road section; and determining a first path according to the static map, the dynamic map and the environment data. It can be understood that the static map, the dynamic map and the environmental data can enable the robot to refer to the environmental data detected by other robots when planning the path, so that the efficiency and the success rate of path planning are improved.

Description

Path planning method, path planning device, electronic equipment and storage medium

Technical Field

The application belongs to the technical field of robots, and particularly relates to a method and a device for path planning, electronic equipment and a storage medium.

Background

Mobile service robots are often required to move from one location to another to complete a work task, and it is seen that the positioning navigation capability of the robot is a fundamental guarantee of completing the work task. The navigation positioning of the robot is generally based on a scene map established in advance, and the accuracy of the map has great influence on the moving efficiency of the robot. However, the working environment of the robot often has dynamic changes, such as walking of a person, movement of an object, and the like, which brings great challenges to navigation and obstacle avoidance processing of the robot. In the running process of the robot, if the robot cannot make a correct judgment in time, collision, blocking and other phenomena can occur, and even safety accidents are caused in serious cases.

The service robot generally adopts a laser radar, constructs a navigation map based on synchronous positioning and mapping (simultaneous localization AND MAPPING, SLAM) technology, and utilizes the laser radar to perform real-time detection and obstacle avoidance. For these implementation-based navigation methods to build maps, the greatest challenge comes from environmental dynamics. The dynamic change of the environment can cause the inconsistency of the environment of the robot in the actual running process and the navigation map, thereby bringing barriers to the path planning of the robot and reducing the efficiency of the path planning of the robot.

Disclosure of Invention

The embodiment of the application provides a path planning method, a path planning device, electronic equipment and a storage medium. At least part of the above problems can be solved.

In a first aspect, an embodiment of the present application provides a method for path planning, which is applied to a robot, including:

acquiring a static map of a current environment and a dynamic map of a target road section in the current environment from a server;

Detecting the target road section to obtain environment data of the target road section;

And determining a first path according to the static map, the dynamic map and the environment data.

It can be understood that the static map, the dynamic map and the environmental data can enable the robot to refer to the environmental data detected by other robots when planning the path, so that the efficiency and the success rate of path planning are improved.

In a second aspect, an embodiment of the present application provides a method for path planning, which is applied to a server, and includes:

Transmitting a static map of the current environment and a dynamic map of a target road section in the current environment to the robot; the static map and the dynamic map are used for indicating the robot to determine a first path according to the detected environment data of the target road section, the static map and the dynamic map.

In a third aspect, an embodiment of the present application provides a path planning apparatus, applied to a robot, including:

the acquisition module is used for acquiring a static map of the current environment and a dynamic map of a target road section in the current environment from the server;

The detection module is used for detecting a target road section and obtaining environment data of the target road section;

and the path determining module is used for determining a first path according to the static map, the dynamic map and the environment data.

In a fourth aspect, an embodiment of the present application provides a path planning apparatus, applied to a server, including:

The sending module is used for sending the static map of the current environment and the dynamic map of the target road section in the current environment to the current robot; the static map and the dynamic map are used for indicating the robot to determine a first path according to the detected environment data of the target road section, the static map and the dynamic map.

In a fifth aspect, an embodiment of the present application provides an electronic device, including:

A memory, a processor and a computer program stored in the memory and executable on the processor, which when executed by the processor, performs the method steps of the first aspect described above.

In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, including: the computer-readable storage medium stores a computer program which, when executed by a processor, implements the method steps of the first aspect described above.

In a seventh aspect, embodiments of the present application provide a computer program product for causing an electronic device to carry out the method steps of the first aspect described above when the computer program product is run on the electronic device.

It will be appreciated that the advantages of the second to seventh aspects may be found in the relevant description of the first aspect, and are not described here again.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a static map according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a dynamic map according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a static map overlaid with a dynamic map according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a site setup provided by an embodiment of the present application;

FIG. 5 is a schematic diagram of a robot path planning system according to an embodiment of the present application;

FIG. 6 is a flow chart of a method for path planning according to an embodiment of the present application;

FIG. 7 is a schematic view of a change in the environment of a robot in accordance with one embodiment of the present application;

FIG. 8 is a schematic diagram of a path planning provided by an embodiment of the present application;

FIG. 9 is a flow chart of a method of path planning according to another embodiment of the present application;

FIG. 10 is a schematic diagram of an apparatus for path planning according to an embodiment of the present application;

FIG. 11 is a schematic structural diagram of a path planning apparatus according to another embodiment of the present application;

Fig. 12 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

As used in the present description and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".

Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

The embodiment of the application provides a path planning method for a robot, wherein the robot performs path planning by combining detected environmental data, a static map and a dynamic map, so that the decision efficiency of robot navigation obstacle avoidance is improved.

The static map is a global map established by a conventional method, for example, a global map of the current environment of the robot is established by a SLAM map establishment method and the like. The location and properties of the fixtures in the current environment of the robot marked by the static map are used to express which areas in the current environment are reachable and which are not, so that the static map will not change for a long period of time once established.

The dynamic map is a map dynamically updated by a server according to dynamic map data reported by one or more robots in real time. Dynamic maps are an additional part on the static map that marks the dynamic changes of the environment in the static map. In some embodiments, the dynamic map may be superimposed on the static map by means of a layer, and the dynamic information of the current environment is superimposed on the static map, where the superimposed layer is dynamically changed and may be a superposition of one or more layers of dynamic maps. In some embodiments, each road segment corresponds to one or more dynamic maps to facilitate updating the dynamic map of the road segment in real time, and in some embodiments, a road segment refers to a traffic area from one site to another site.

In some embodiments, the dynamic map information is generally expressed in the same manner as a static map. For example, a static map adopts a grid map, and a dynamic map also adopts a grid map; for example, if the static map uses a point cloud map, the dynamic map also uses a point cloud map. In some embodiments, dynamic maps may also take different expressions than static maps, such as static maps taking a grid map and dynamic maps taking a point cloud map. When the dynamic map and the static map are different in expression mode, the data of the dynamic map can be converted into a static map format when planning and navigating according to the path of the dynamic map, so that the data of the dynamic map and the static map are conveniently fused.

It will be appreciated that dynamic map information is typically much smaller than the amount of static map data, unless there are too many changes in the static map's corresponding scene, at which point a new static map should be redrawn. On the other hand, the data amount of the dynamic map is also related to the type of sensor that the robot acquires the dynamic map information.

In some embodiments, such as the static map shown in fig. 1, the static map may be a map representation suitable for a specific robot, for example, a 2D map may be used, a 3D map may be used, or even a multi-information fusion map containing semantic information may be used, which is not particularly limited in the present application. Taking a 2D grid map as an example, dividing a plane space of the whole robot running environment into a grid map, respectively marking occupied and unoccupied states according to the occupied condition of the grid, and defining an unoccupied area as an area which can be used by the robot. Sometimes, for convenience of navigation processing, some grid areas actually occupied by no object are marked as forbidden areas, and are also marked as occupied artificially or marked as another state different from occupied and unoccupied. In fig. 1, dark color indicates an occupied grid, and white indicates no occupancy. As with the dynamic map shown in fig. 2, the dynamic map records only the states of a small number of grids near the traffic zone boundaries. The grid of black areas in fig. 2 identifies that the area is occupied and the grid of white areas identifies that the area is unoccupied. Fig. 3 shows the effect of the superposition of a static map and a dynamic map, and the change of the traffic area can be seen.

In some embodiments, as shown in fig. 4, the key locations of the robot passing area are site marked in a static map or a partial map. The visual representation mode of the station is exemplified by using a graphic symbol, such as trapezoid to represent charging potential, circle to represent task point and hexagon to represent intersection; one or more sites may be located at an intersection. The site types can be freely defined, and the number and the total amount of the types are not limited. The site setting is to facilitate the robot to conduct sectional planning on the travelling path and to record travelling tracks among the sites, and travelling attributes of the robot from one site to another site are convenient; the travel attributes include, but are not limited to, robot travel result information for successful arrival at the next site, robot deadlock, security incidents, unknown conditions, and the like. Robot deadlock refers to the robot being trapped and unable to reach the next site because it does not find a suitable path. The unknown state refers to the fact that the server does not acquire whether the robot reaches the next station, which may be caused by the fact that the robot fails before the travel attribute should be reported to the server, or may be caused by the fact that the reporting of the communication fails.

Fig. 5 shows a robot path planning system according to an embodiment of the present application. The system comprises: a server 10, one or more robots 20.

Wherein the server 10 communicates with the robot 20 via a wireless communication network.

Wherein the server 10 includes, but is not limited to, a desktop computer, a laptop computer, a stand-alone server, a server cluster, a distributed server, or a cloud server.

The server is used for receiving map parameters sent by each robot to construct and update the dynamic map.

Fig. 6 illustrates a path planning method according to an embodiment of the present application, which is applied to the robot 20 in the robot path planning system illustrated in fig. 5 and may be implemented by software and/or hardware of the robot. As shown in fig. 6, the method includes steps S110 to S130. The specific implementation principle of each step is as follows:

S110, acquiring a static map of the current environment and a dynamic map of a target road section in the current environment from a server.

In some embodiments, the target segment is a segment of the robot from the current origin to the next site. The station is a mark for marking the key position of the robot passing area in a static map or a local map.

In some embodiments, the robot obtains a static map of the current environment and a dynamic map of the target road segments in the current environment from a server through a wireless communication network and temporarily stores the static map and the dynamic map in a storage device of the robot. Without limitation, the robot may acquire a static map only once, and acquire a dynamic map from a server each time path planning and navigation are required. Dynamic maps of all road segments can also be acquired at one time.

And S120, detecting the target road section to obtain environment data of the target road section.

In some embodiments, the robot detects the target segment by an environmental detection device, including but not limited to visual sensing devices, lidar, ultrasonic radar, and radio frequency radar, among others, that may be used to detect obstacles around the robot.

The environmental data may be point cloud data or raster data, and is used for identifying information of a movable area and information of an obstacle area of a current road section where the robot is located.

In some embodiments, in actual work, the robot scans and detects a target road section through a laser radar to obtain passable area information and non-passable area information in the surrounding environment of the target road section; the accessible area is an area which can be reached by the robot; the non-passable area is an area occupied by an obstacle and inaccessible to the robot.

In some embodiments, the environmental data may also be a change in the robot-detected traffic boundary of the target road segment relative to the static map.

In some embodiments, the robot detects the target road section, and compares the environmental data with the static map after obtaining the environmental data of the target road section to obtain a detection result of the traffic area difference; the detection result comprises map parameters of the traffic area difference; uploading the detection result to a server; the detection result is used for indicating the server to update the dynamic map of the target road section by adopting the map parameters. The method for detecting the target road section by the robot further comprises, without limitation, after the robot detects the target road section and obtains the environmental data of the target road section: comparing the environment data with the static map to obtain a passing area detection result; the passing area detection result comprises map parameters of a difference area between a passable area corresponding to the current environment data and a passable area on a static map on the target road section; uploading the passing area detection result to a server; and the passing area detection result is used for indicating the server to update the dynamic map of the target road section according to the map parameters. Illustratively, the server sets an unvented area in the dynamic map as a passable area according to the map parameters; the server sets the passable area in the dynamic map as the non-passable area according to the map parameters; the server receives map parameters sent by the robot, and if the target road section does not have a corresponding dynamic map, the server generates a corresponding dynamic map for the road section according to the map parameters; for example, if the detection result of the target road section is that the difference between the static map and the environmental data is smaller than the preset condition, the server deletes the dynamic map corresponding to the road section.

Specifically, when detecting that the deviation between the detection data of the current environment and the static map meets the preset condition, recording the scanning data of the environment, such as point cloud data, as dynamic map data, and recording the pose of the robot when the data are collected, wherein the pose is used for registering the dynamic map data and the global map. In some embodiments, the preset condition is that the ratio of the deviation to the static map is greater than a preset ratio. In some embodiments, the preset condition is that the area of the deviation area is greater than a preset area. As shown in fig. 7, the gray areas in the figure represent dynamically increasing obstructions in the traffic area. The dynamic map data reflects boundary changes in a viable area in the environment, one that is larger and one that is smaller, such as due to a shift in the location of furniture in the environment.

As a and b in fig. 7 are different states of the same target road section, wherein the gray area in b is an impermissible area caused by a temporary obstacle, the change from a to b is that the passable area becomes smaller, whereas the change from b to a is that the passable area becomes larger. The robot converts the deviation into map parameters, such as point cloud data or raster data, and sends the map parameters to the server. After receiving the map parameters, the server updates the dynamic map of the target road section, specifically, generates a dynamic map according to the map parameters, or changes the corresponding area in the dynamic map into a passable area or a non-passable area according to the map parameters.

In some embodiments, if the target road segment does not have a corresponding dynamic map, the server generates a dynamic map corresponding to the road segment and records the generation time of the dynamic map. In some embodiments, if the target road segment has a corresponding dynamic map, the server records the update time to update the dynamic map.

S130, determining a first path according to the static map, the dynamic map and the environment data.

In some embodiments, the robot performs path planning to determine the first path according to the static map, the dynamic map and the environment data. The first path is a path of the robot from the current position to the next station.

In some embodiments, determining a first path from the static map, the dynamic map, and the environmental data includes: comparing the environment data with the static map to obtain a first comparison result; if the first comparison result is that the environment data is matched with the static map, determining a first path according to the static map; and if the first comparison result is that the environment data is not matched with the static map, determining the first path according to the environment data and the dynamic map.

Specifically, the robot compares the environment data with the static map, if the deviation between the passable area and the non-passable area in the environment data and the static map meets the preset condition, the environment data is considered to be not matched with the static map, and if the deviation does not meet the preset condition, the environment data is considered to be matched with the static map. In a non-limiting manner, the preset condition is that the ratio of the deviation to the static map is greater than a preset ratio. The preset condition is that the area of the deviation is larger than the preset area. If the comparison result is that the current environment is matched with the static map, the current environment is not obviously changed, and the path planning can be carried out according to the passable area and the non-passable area which are given in the static map. If the comparison result is not matched, the current environment is changed recently relative to the static map, and if other robots have found the change, the related dynamic map and path strategy of the change can have reference effect on planning a path and avoiding obstacles of the current robot. At this time, a dynamic map needs to be introduced, and the first path is determined according to the environment data and the dynamic map.

In some embodiments, if the robot performs path planning to determine the first path according to the static map, it should be understood that the passable area and the non-passable area in the static map of the target road section have not changed or have changed before but have been recovered, which further indicates that the dynamic map of the current target road section has failed, and after determining the first path according to the static map, the method further includes: sending the first comparison result to a server; the first comparison result is used for indicating the server to delete the dynamic map of the target road section.

In some embodiments, determining the first path from the environmental data and the dynamic map comprises: fusing the dynamic map and the static map to obtain a fused map, and comparing the environment data with the fused map to obtain a second comparison result; if the second comparison result is that the environment data is matched with the fusion map, a path strategy corresponding to the dynamic map is obtained, and a first path is planned according to the path strategy; and if the second comparison result is that the environment data is not matched with the fusion map, planning the first path according to the environment data. And fusing the dynamic map and the static map to obtain a fused map, wherein the fused map comprises the static map and the dynamic map, and a complete map containing dynamic map information is obtained.

It should be noted that, each robot records a travel track in a process from one station to another station, the travel track and the travel attribute are uploaded to a server, and the server generates a path strategy corresponding to the dynamic map of the road section. The path strategy corresponding to the dynamic map can be used as a reference for robots of other paths on the road section. As shown in fig. 4, in the static map or the partial map, the key positions of the robot passing area are site marked. The trapezoid represents a charging potential, the circle represents a task point, and the hexagon represents an intersection; one or more sites may be located at an intersection. The site types can be freely defined, and the number and the total amount of the types are not limited. The method is convenient for the robot to conduct sectional planning on the travelling path, and the robot to record the travelling track of the robot between stations and the travelling attribute of the robot from one station to the other station; the travel attributes include, but are not limited to, robot travel result information for successful arrival at the next site, robot deadlock, security incidents, unknown conditions, and the like. Robot deadlock refers to the robot being trapped and unable to reach the next site because it does not find a suitable path. The unknown state refers to the fact that the server does not acquire whether the robot reaches the next station, which may be caused by the fact that the robot fails before the travel attribute should be reported to the server, or may be caused by the fact that the reporting of the communication fails.

In some embodiments, after determining the first path from the static map, further comprising: sending the first comparison result to a server; the first comparison result is used for indicating the server to delete the dynamic map of the target road section. It should be understood that if the static map of the current environment matches the environment data detected by the robot, it is indicated that the current road section environment does not significantly change in comparison with the static map, and further it is indicated that the environment changes reflected by the dynamic map generated by the environment data uploaded to the server by other robots have failed, so that the dynamic map of the target road section is deleted to prevent the robot from being interfered by the erroneous data.

In some embodiments, planning the first path according to the path policy includes: acquiring the travelling attribute of the path strategy; and if the travelling attribute is successful in reaching the next station, planning a first path according to the path strategy, otherwise, avoiding the path strategy when planning the first path. In a specific example, the robot acquires a path strategy corresponding to the dynamic map of the current target road section, where the path strategy includes the travel track and travel attribute of other robots. The travel attributes include, but are not limited to, robot travel result information for successful arrival at the next site, robot deadlock, security incidents, unknown conditions, and the like. It will be appreciated that if the travel attribute of the other robot is successful in reaching the next station, the current robot may perform path planning with reference to the travel trajectory of the robot that successfully reached the next station. Otherwise, for example, the travelling attribute is that the robot is deadlocked, the travelling tracks of other robots can be considered to be incapable of reaching the next station; when the current robot plans the path, the current robot avoids the travelling tracks of the robots with the path planning failure to carry out the path planning, and the problem of path planning failure similar to the previous failed robot can be avoided.

Fig. 8 shows a schematic diagram of a path planning decision for a dynamic map-based path strategy. Assuming that the robot walks to the point A, the dynamic map and path strategy information are detected, and the dynamic map data are consistent with the current environment detection characteristics, at the moment, the robot needs to make a steering navigation decision at the point A. If there is no dynamic map, the navigation obstacle avoidance method of the robot may try to detect paths in different directions, such as from four directions shown in fig. 8, but it is not necessarily possible to find a suitable direction quickly. If the track P in the path strategy is used as a reference and the path attribute of the path strategy is that the next station is successfully reached, the robot can preferentially detect the direction approaching to the track P, and the decision speed is increased.

In some embodiments, planning the first path according to the dynamic map and the environmental data further comprises checking a generation time of the dynamic map, and if the generation time of the dynamic map exceeds a preset duration, for example 24 hours, discarding the dynamic map, and planning the path according to the environmental data. It can be understood that the dynamic map is used for identifying the dynamic change of the current running environment of the robot, if the generation time of the dynamic map is too early, the dynamic map is likely to fail, and the dynamic map exceeding the effective time is directly ignored, so that error data can be avoided, and the path planning efficiency is improved.

In some embodiments, planning the first path according to the dynamic map and the environmental data further includes checking a generation time of the dynamic map, if the generation time of the dynamic map exceeds a preset time period from a current time, checking an update time of the dynamic map, and if the update time does not exceed the preset update time period, for example, 1 hour, considering that the dynamic map is still available; and comparing the current environment data with the dynamic map, and if the comparison is consistent, marking the update time of the dynamic map as the current time, wherein the current detection of the environment by the robot verifies that the dynamic map is effective currently.

In some embodiments, after planning the first path according to the environmental data, further comprising: comparing the environment data with the static map to obtain a detection result of the traffic area difference; map parameters of the obstacle detection result packet passing area differences; comparing the environment data with the static map to obtain a passing area detection result; and the passing area detection result comprises map parameters of a difference area between the passable area corresponding to the environment data and the passable area on the static map in the target road section. The robot sends a second comparison result, the map parameters and the first path to the server; and the second comparison result is used for indicating the server to replace the map parameters of the dynamic map target road section by adopting the map parameters and replace the path strategies corresponding to the dynamic map by adopting the path strategies of the first path. It can be understood that when the robot compares the environment data with the fusion map, the comparison result is that the fusion map is not matched with the environment data, and it is indicated that the dynamic map corresponding to the fusion map has failed. At this time, path planning should be performed with reference to the changes of the feasible and infeasible areas in the environment data detected by the robot to determine the navigation path. And recording the navigation path and uploading the navigation path to a server. After receiving the navigation path, the server updates the path strategy in the dynamic map by adopting the navigation path so as to be used for reference of robots on the road section in other paths.

It can be understood that by means of the static map, the dynamic map and the environment data, the robot can refer to the environment data detected by other robots when performing path planning, and therefore the efficiency and the success rate of path planning are improved.

Fig. 9 illustrates a path planning method according to an embodiment of the present application, which is applied to the server 10 in the robot path planning system illustrated in fig. 5 and may be implemented by software and/or hardware of the server. As shown in fig. 9, the method includes step S210. The specific implementation principle of the steps is as follows:

s210, sending a static map of the current environment and a dynamic map of a target road section in the current environment to the robot; the static map and the dynamic map are used for indicating the robot to determine a first path according to the detected environment data of the target road section, the static map and the dynamic map.

In some embodiments, the server stores a static map of each robot work environment and a dynamic map of each road segment. In a non-limiting manner, the server responds to the map server request of the robot and sends a static map of the current working environment of the robot and a dynamic map of the target road section of travel of the robot to the robot. Illustratively, the robots are one or more robots, for each of which a static map of its current work environment and a dynamic map of a target road segment in the current work environment are sent to the robot.

In some embodiments, the server receives map parameters of the target road segment sent by the robot; and updating the dynamic map according to the map parameters. Illustratively, map parameters sent by one or more robots are received. For example, after receiving the map parameters, the server sets the non-passable area in the dynamic map as a passable area according to the map parameters; or the server sets the passable area in the dynamic map as the non-passable area according to the map parameters; the server receives the map parameters, and judges that if the target road section does not have a corresponding dynamic map, the server generates a corresponding dynamic map for the road section according to the map parameters; the server, after receiving the map parameters, determines that if the difference between the static map and the environmental data is smaller than a preset condition, deletes the dynamic map corresponding to the road. In some embodiments, after receiving the map parameters, if the target road segment does not have a corresponding dynamic map, the server generates a dynamic map corresponding to the road segment, and records the generation time of the dynamic map. In some embodiments, if the target road segment has a corresponding dynamic map, the server records the update time to update the dynamic map. In some embodiments, after receiving the travel track and the travel attribute reported by the robot, the server generates a path policy of the dynamic map of the target road section.

It is to be understood that the present embodiment and the above embodiments are based on the same inventive concept, and various implementations and combinations of implementations and beneficial effects thereof in the above embodiments are also applicable to the present embodiment and are not described herein again.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.

Corresponding to the method for path planning shown in fig. 6, fig. 10 shows a path planning apparatus according to an embodiment of the present application, including:

the acquisition module M110 is used for acquiring a static map of the current environment and a dynamic map of a target road section in the current environment from the server;

the detection module M120 is used for detecting a target road section to obtain environment data of the target road section;

the path determining module M130 is configured to determine a first path according to the static map, the dynamic map and the environmental data.

It will be appreciated that various implementations and combinations of implementations and advantageous effects thereof in the above embodiments are equally applicable to this embodiment, and will not be described here again.

Corresponding to the method for path planning shown in fig. 9, fig. 11 shows a path planning apparatus according to an embodiment of the present application, including:

The sending module M210 is configured to send a static map of the current environment and a dynamic map of a target road section in the current environment to the current robot; the static map and the dynamic map are used for indicating the robot to determine a first path according to the detected environment data of the target road section, the static map and the dynamic map.

Fig. 12 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic equipment is used for realizing the robot or the server in the implementation of the application. As shown in fig. 12, the electronic device D10 of this embodiment includes: at least one processor D100 (only one is shown in fig. 12), a memory D101 and a computer program D102 stored in the memory D101 and executable on the at least one processor D100, the processor D100 implementing the steps in any of the various method embodiments described above when executing the computer program D102. Or the processor D100, when executing the computer program D102, performs the functions of the modules/units in the above-described device embodiments.

The electronic device D10 may be a computing device such as a desktop computer, a notebook computer, a palm computer, a cloud server, etc. The electronic device may include, but is not limited to, a processor D100, a memory D101. It will be appreciated by those skilled in the art that fig. 12 is merely an example of the electronic device D10 and is not meant to be limiting of the electronic device D10, and may include more or fewer components than shown, or may combine certain components, or may include different components, such as input-output devices, network access devices, etc.

The Processor D100 may be a central processing unit (Central Processing Unit, CPU), the Processor D100 may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL processors, DSPs), application SPECIFIC INTEGRATED Circuits (ASICs), off-the-shelf Programmable gate arrays (fieldprogrammable GATE ARRAY, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory D101 may in some embodiments be an internal storage unit of the electronic device D10, such as a hard disk or a memory of the electronic device D10. The memory D101 may also be an external storage device of the electronic device D10 in other embodiments, for example, a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD) or the like, which are provided on the electronic device D10. Further, the memory D101 may also include both an internal storage unit and an external storage device of the electronic device D10. The memory D101 is used for storing an operating system, an application program, a boot loader (BootLoader), data, other programs, etc., such as program codes of the computer program. The memory D101 may also be used to temporarily store data that has been output or is to be output.

It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, implements steps for implementing the various method embodiments described above.

Embodiments of the present application provide a computer program product which, when run on an electronic device, causes the electronic device to perform steps that may be carried out in the various method embodiments described above.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing device/terminal apparatus, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other manners. For example, the apparatus/network device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. A method of path planning, for use with a robot, the method comprising:

Determining a first path according to the static map, the dynamic map and the environment data;

determining a first path from the static map, the dynamic map, and the environmental data, comprising:

comparing the environment data with the static map to obtain a first comparison result;

if the first comparison result is that the environment data is matched with the static map, determining a first path according to the static map;

If the first comparison result is that the environment data is not matched with the static map, determining the first path according to the environment data and the dynamic map;

determining the first path from the environmental data and the dynamic map includes: fusing the dynamic map and the static map to obtain a fused map, and comparing the environment data with the fused map to obtain a second comparison result;

If the second comparison result is that the environment data is matched with the fusion map, a path strategy corresponding to the dynamic map is obtained, and a first path is planned according to the path strategy;

and if the second comparison result is that the environment data is not matched with the fusion map, planning the first path according to the environment data.

2. The method of claim 1, wherein planning a first path according to the path policy comprises:

Acquiring the travelling attribute of the path strategy;

And if the travelling attribute is successful in reaching the next station, planning a first path according to the path strategy, otherwise, avoiding the path strategy when planning the first path.

3. The method of claim 1, wherein detecting the target link, after obtaining the environmental data of the target link, further comprises:

comparing the environment data with the static map to obtain a detection result of the traffic area difference; the detection result comprises map parameters of the traffic area difference;

uploading the detection result to a server; the detection result is used for indicating the server to update the dynamic map of the target road section by adopting the map parameters.

4. The method of claim 1, further comprising, after determining the first path from the static map:

Sending the first comparison result to a server; the first comparison result is used for indicating the server to delete the dynamic map of the target road section.

5. The method of claim 1, further comprising, after planning the first path based on the environmental data:

comparing the environment data with the static map to obtain a detection result of the traffic area difference; map parameters of the detection result packet passing area difference;

Sending a second comparison result, the map parameters and the first path to the server; and the second comparison result is used for indicating the server to replace the map parameters of the dynamic map target road section by adopting the map parameters and replace the path strategies corresponding to the dynamic map by adopting the path strategies of the first path.

6. A method of path planning, applied to a server, the method comprising:

Transmitting a static map of the current environment and a dynamic map of a target road section in the current environment to the robot; the static map and the dynamic map are used for indicating the robot to determine a first path according to the detected environment data of the target road section, the static map and the dynamic map; wherein the determining a first path according to the detected environmental data of the target road section, the static map and the dynamic map includes: comparing the environment data with the static map to obtain a first comparison result; if the first comparison result is that the environment data is matched with the static map, determining a first path according to the static map; if the first comparison result is that the environment data is not matched with the static map, fusing the dynamic map and the static map to obtain a fused map, and comparing the environment data with the fused map to obtain a second comparison result; if the second comparison result is that the environment data is matched with the fusion map, a path strategy corresponding to the dynamic map is obtained, and a first path is planned according to the path strategy; and if the second comparison result is that the environment data is not matched with the fusion map, planning the first path according to the environment data.

7. The method of claim 6, wherein the method further comprises:

receiving map parameters of the target road section sent by the robot; and updating the dynamic map according to the map parameters.

8. A path planning apparatus, for use with a robot, comprising:

The path determining module is used for determining a first path according to the static map, the dynamic map and the environment data; wherein determining a first path from the static map, the dynamic map, and the environmental data comprises: comparing the environment data with the static map to obtain a first comparison result; if the first comparison result is that the environment data is matched with the static map, determining a first path according to the static map; if the first comparison result is that the environment data is not matched with the static map, fusing the dynamic map and the static map to obtain a fused map, and comparing the environment data with the fused map to obtain a second comparison result; if the second comparison result is that the environment data is matched with the fusion map, a path strategy corresponding to the dynamic map is obtained, and a first path is planned according to the path strategy; and if the second comparison result is that the environment data is not matched with the fusion map, planning the first path according to the environment data.

9. A path planning apparatus, applied to a server, comprising:

The sending module is used for sending the static map of the current environment and the dynamic map of the target road section in the current environment to the current robot; the static map and the dynamic map are used for indicating the robot to determine a first path according to the detected environment data of the target road section, the static map and the dynamic map; wherein the determining a first path according to the detected environmental data of the target road section, the static map and the dynamic map includes: comparing the environment data with the static map to obtain a first comparison result; if the first comparison result is that the environment data is matched with the static map, determining a first path according to the static map; if the first comparison result is that the environment data is not matched with the static map, fusing the dynamic map and the static map to obtain a fused map, and comparing the environment data with the fused map to obtain a second comparison result; if the second comparison result is that the environment data is matched with the fusion map, a path strategy corresponding to the dynamic map is obtained, and a first path is planned according to the path strategy; and if the second comparison result is that the environment data is not matched with the fusion map, planning the first path according to the environment data.

10. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method of any one of claims 1 to 5 or of claims 6 or 7 when executing the computer program.

11. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements any one of claims 1 to 5, or

The method of claim 6 or 7.