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Path planning method and device, equipment and storage medium

A path planning, to-be-planned technology, applied in image enhancement, image analysis, data processing applications, etc., can solve problems such as lack of three-dimensional information, inability to cover the randomness of obstacle areas, and inability to avoid obstacles, and improve work efficiency. Effect

Active Publication Date: 2020-12-01
GUANGDONG BOZHILIN ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The full-coverage path in the prior art is generally planned based on two-dimensional information, but this planning method lacks three-dimensional information of physical objects on the N+1 layer, cannot cover obstacle areas and has strong randomness, and is not suitable for When the truss robot encounters obstacles and avoids obstacles, the operating efficiency of the truss robot is reduced

Method used

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  • Path planning method and device, equipment and storage medium
  • Path planning method and device, equipment and storage medium
  • Path planning method and device, equipment and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0028] figure 1 It is a schematic flowchart of a path planning method provided in Embodiment 1 of the present invention. This embodiment can be applied to the grid of the environmental grayscale grid map when the environmental grayscale grid map is determined according to the point cloud data. In the case of traversing to generate a target planning path, the method may be performed by a path planning apparatus, wherein the apparatus may be implemented in software and / or hardware, and is generally integrated in a path planning apparatus. For details, see figure 1 As shown, the method may include the following steps:

[0029] S110. Determine the environmental grayscale grid map of the plane to be planned.

[0030] The plane to be planned may be a building floor or a ground. The environmental grayscale grid map is a two-dimensional grid map corresponding to the point cloud data, including the three-dimensional information of obstacles on the plane to be planned. like figure...

Embodiment 2

[0045] Image 6 This is a schematic flowchart of a path planning method according to Embodiment 2 of the present invention. The technical solution of this embodiment adds new steps on the basis of the above-mentioned embodiment. Optionally, before the determination of the environmental grayscale grid map of the plane to be planned, the method further includes: acquiring the first coordinate data of any point cloud data, the pixel size of the initial grid map, and the point The minimum coordinates of the cloud data; the second coordinate data of the grid point corresponding to any point cloud data is calculated according to the first coordinate data, the pixel size and the minimum coordinates; according to the first coordinate data of the point cloud data The coordinate data and the second coordinate data of the grid point determine the mapping relationship. For the part not described in detail in the method embodiment, please refer to the above-mentioned embodiment. For det...

Embodiment 3

[0080] Figure 7 This is a schematic structural diagram of a path planning apparatus provided in Embodiment 3 of the present invention. see Figure 7 As shown, the device includes: an environment grayscale grid map determination module 310 , a grid traversal module 320 , a target traversal grid determination module 330 and a target planning path generation module 340 .

[0081] Wherein, the environmental grayscale grid map determination module 310 is used to determine the environmental grayscale grid map of the plane to be planned, wherein the environmental grayscale grid map includes three-dimensional information of obstacles on the plane to be planned;

[0082] The grid traversal module 320 is configured to perform expansion processing on the obstacle grid in the environmental grayscale grid image, and perform expansion processing on the expanded environmental grayscale grid based on the starting point of the expanded environmental grayscale grid image. Traverse the graph ...

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Abstract

The embodiment of the invention discloses a path planning method and device, equipment and a storage medium. The method comprises the steps of: determining an environment gray grid map of a to-be-planned plane; carrying out expansion processing on obstacle grids of the environment gray scale grid map; traversing the expanded environment gray scale grid map, determining a first type of grids and asecond type of grids, determining a target traversing grid by combining the three-dimensional information of the obstacle and the position of the second type of grids, and determining a target planning path based on the first type of grids, the second type of grids and the target traversing grid. By determining the first type of grids and the second type of grids respectively and combining the same with the three-dimensional information of obstacles, full-coverage traversal is carried out on the expanded environment gray scale grid map, the purpose of determining target traversal grids and theoptimal target planning path is achieved, and the effect of improving the operation efficiency of the mobile equipment is achieved.

Description

technical field [0001] Embodiments of the present invention relate to a path planning technology, and in particular, to a path planning method, apparatus, device, and storage medium. Background technique [0002] In the field of construction, a self-elevating building platform is a building platform that can be continuously lifted with the height of the floor during the building process. Various intelligent devices are integrated on the platform, such as a truss robot. A truss robot is a robot suspended on the N+1 floor that can operate automatically. If the truss robot encounters an obstacle during the operation, it will continue to move after crossing the obstacle. [0003] In general, before the truss-type robot performs operations, it is necessary to carry out full coverage path planning for the truss-type robot. The full coverage path in the prior art is generally planned based on two-dimensional information, but this planning method lacks the three-dimensional inform...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T5/00G06T5/30G06T7/11G06T7/136G06T7/187G06T7/62G06T17/00G06Q10/04
CPCG06T17/00G06T7/11G06T7/136G06T5/30G06T7/187G06Q10/047G06T7/62G06T5/70
Inventor 熊晶吴则刚贾宁杨海溢傅志刚周森标
Owner GUANGDONG BOZHILIN ROBOT CO LTD
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