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A path planning method, device, equipment and storage medium

A path planning, technology to be planned, applied in the direction of image enhancement, image analysis, data processing applications, etc., can solve the problems of lack of three-dimensional information, can not cover the randomness of the obstacle area, not suitable for avoiding obstacles, etc., to improve the operation efficiency Effect

Active Publication Date: 2021-02-12
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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  • A path planning method, device, equipment and storage medium
  • A path planning method, device, equipment and storage medium
  • A path planning method, device, equipment and storage medium

Examples

Experimental program
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Embodiment 1

[0028] figure 1 It is a schematic flow chart of a path planning method provided by Embodiment 1 of the present invention. This embodiment is applicable to the grid of the environment gray-scale raster map when the environment gray-scale raster map is determined according to the point cloud data. In the case of traversing to generate a target planned path, the method can be executed by a path planning device, wherein the device can be implemented by software and / or hardware, and is generally integrated in a path planning device. For details, see figure 1 As shown, the method may include the following steps:

[0029] S110. Determine the environment grayscale raster map of the plane to be planned.

[0030] Wherein, the plane to be planned may be a building floor or a ground. The environment grayscale raster image is a two-dimensional raster image corresponding to point cloud data, including three-dimensional information of obstacles on the plane to be planned. Such as figur...

Embodiment 2

[0045] Figure 6 It is a schematic flowchart of a path planning method provided by Embodiment 2 of the present invention. The technical solution of this embodiment adds new steps on the basis of the foregoing embodiments. Optionally, before the determination of the environmental grayscale grid image 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 image, and the point The minimum coordinates of the cloud data; calculate the second coordinate data of the grid point corresponding to any point cloud data according to the first coordinate data, the pixel size and the minimum coordinate; according to the first coordinate data of the point cloud data The coordinate data and the second coordinate data of the grid points determine the mapping relationship. For the parts not described in detail in the method embodiment, please refer to the above embodiment. For details, see Figu...

Embodiment 3

[0080] Figure 7 It is a schematic structural diagram of a path planning device provided by Embodiment 3 of the present invention. see Figure 7 As shown, the device includes: an environment gray scale raster 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 environment grayscale grid image determining module 310 is used to determine the environment grayscale grid image of the plane to be planned, wherein the environment grayscale grid image 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 environment gray-scale grid map, and to process the expanded environment gray-scale grid based on the starting point of the expanded environment gray-scale grid map. The graph is traversed to determine the first type ...

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Abstract

The embodiment of the invention discloses a path planning method, device, equipment and storage medium. Determine the environmental grayscale grid map of the plane to be planned, after expanding the obstacle grid of the environmental grayscale grid map, traverse the expanded environmental grayscale grid map, and determine the first type of grid and the second type The second-type grid combines the three-dimensional information of the obstacle and the position of the second-type grid to determine the target traversal grid, and determines the target planning path based on the first-type grid, the second-type grid and the target traversal grid. By determining the first type of grid and the second type of grid respectively and combining the three-dimensional information of obstacles, the full coverage traversal of the expanded environmental gray scale grid map is achieved to determine the target traversal grid and the optimal target planning path The purpose is to achieve the effect of improving the operation efficiency of mobile equipment.

Description

technical field [0001] Embodiments of the present invention relate to path planning technologies, and in particular, to a path planning method, device, equipment, and storage medium. Background technique [0002] In the field of construction, a self-elevating building platform is a building platform that can continuously rise with the height of the building during the building process. The platform integrates a variety of intelligent devices, such as truss robots. The truss robot is a robot that is suspended on the N+1 floor and can work automatically. If the truss robot encounters an obstacle during the operation, it will continue to move after crossing the obstacle. [0003] In general, full-coverage path planning for the gantry robot is required before the gantry robot performs operations. 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 ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T5/00G06T5/30G06T7/11G06T7/136G06T7/187G06T7/62G06T17/00G06Q10/04
CPCG06Q10/047G06T5/002G06T5/30G06T17/00G06T7/11G06T7/136G06T7/187G06T7/62
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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