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1. WO2020134082 - PATH PLANNING METHOD AND APPARATUS, AND MOBILE DEVICE

Publication Number WO/2020/134082
Publication Date 02.07.2020
International Application No. PCT/CN2019/098779
International Filing Date 01.08.2019
IPC
G01S 17/93 2006.01
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88Lidar systems, specially adapted for specific applications
93for anti-collision purposes
CPC
G01C 21/20
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
20Instruments for performing navigational calculations
G01S 17/006
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
006Theoretical aspects
G01S 17/89
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88Lidar systems specially adapted for specific applications
89for mapping or imaging
G01S 17/93
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88Lidar systems specially adapted for specific applications
93for anti-collision purposes
G06Q 10/047
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
QDATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES, NOT OTHERWISE PROVIDED FOR
10Administration; Management
04Forecasting or optimisation, e.g. linear programming, "travelling salesman problem" or "cutting stock problem"
047Optimisation of routes, e.g. "travelling salesman problem"
G06T 7/11
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
10Segmentation; Edge detection
11Region-based segmentation
Applicants
  • 歌尔股份有限公司 GOERTEK INC. [CN]/[CN]
Inventors
  • 李保明 LI, Baoming
  • 邹李兵 ZOU, Libing
  • 戴天荣 DAI, Tianrong
Priority Data
201811628415.828.12.2018CN
Publication Language Chinese (ZH)
Filing Language Chinese (ZH)
Designated States
Title
(EN) PATH PLANNING METHOD AND APPARATUS, AND MOBILE DEVICE
(FR) PROCÉDÉ ET APPAREIL DE PLANIFICATION DE TRAJET ET DISPOSITIF MOBILE
(ZH) 一种路径规划方法、装置和移动设备
Abstract
(EN)
A path planning method and apparatus (700), and a mobile device. The present method comprises: collecting environmental information in a viewing angle by means of a sensor of a mobile device, and processing the environmental information by using a simultaneous localization and mapping (SLAM) construction algorithm to construct and obtain a grid map (S101); dividing the grid map to obtain pixel blocks, using an area composed of pixel blocks not occupied by obstacles as a search area for path planning, and obtaining a processed grid map (S102); using pixel points in the search area to determine a reference point, laying out topological points on the processed grid map according to the determined reference point and constructing and obtaining a topological map (S103); and according to the constructed topological map, using a predetermined algorithm to calculate an optimal path between a starting point and a set target point (S104). The embodiments improve path planning efficiency and conserve storage resources.
(FR)
La présente invention porte sur un procédé et sur un appareil (700) de planification de trajet, ainsi que sur un dispositif mobile. Le présent procédé consiste : à collecter des informations environnementales dans un angle de visualisation au moyen d'un capteur d'un dispositif mobile et à traiter les informations environnementales en utilisant un algorithme de construction de cartographie et de localisation simultanées (SLAM pour Simultaneous Localization And Mapping) pour construire et obtenir une carte à quadrillage (S101) ; à diviser la carte à quadrillage pour obtenir des blocs de pixels, à utiliser une zone composée de blocs de pixels non occupés par des obstacles comme zone de recherche pour la planification de trajet et à obtenir une carte à quadrillage traitée (S102) ; à utiliser des points de pixel dans la zone de recherche pour déterminer un point de référence, à mettre des points topologiques sur la carte à quadrillage traitée selon le point de référence déterminé et à construire et à obtenir une carte topologique (S103) ; et selon la carte topologique construite, à utiliser un algorithme prédéterminé pour calculer un trajet optimal entre un point de départ et un point cible défini (S104). Les modes de réalisation améliorent l'efficacité de planification de trajet et conservent des ressources de stockage.
(ZH)
一种路径规划方法、装置(700)和移动设备,本方法包括:通过移动设备的传感器采集视角内的环境信息,利用同步定位与地图构建SLAM算法对环境信息进行处理,构建得到栅格地图(S101);对栅格地图进行划分得到像素块,将无障碍物占用的像素块构成的区域作为路径规划的搜索区域,并得到处理后的栅格地图(S102);利用搜索区域中的像素点确定基准点,根据确定的基准点在处理后的栅格地图上布设拓扑点并构建得到拓扑地图(S103);根据构建的拓扑地图,利用预定的算法计算起始点到设置的目标点之间的最优路径(S104),实施例提高了路径规划效率且节约了存储资源。
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