CN104864863A - Route selection method and electronic equipment - Google Patents
Route selection method and electronic equipment Download PDFInfo
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- CN104864863A CN104864863A CN201410060384.6A CN201410060384A CN104864863A CN 104864863 A CN104864863 A CN 104864863A CN 201410060384 A CN201410060384 A CN 201410060384A CN 104864863 A CN104864863 A CN 104864863A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
Abstract
The invention provides a route selection method and an electronic equipment, and belongs to the field of robot. According to the route selection method, route selection is carried out based on detected data of each time, historical data is not needed, calculation is simple, in-time judgment on route can be achieved, and calculation performance is improved. The route selection method comprises following steps: route information of the current environment of the electronic equipment is detected based on a preset strategy; trafficability characteristic of a current route of the electronic equipment is estimated based on the route information, the diameter of the electronic equipment, and a preset safe distance threshold; if the trafficability characteristic of the current route of the electronic equipment determined to be poor, all the windows with trafficability characteristic in a current detection range are determined based on the route information, the diameter of the electronic equipment, and the preset safe distance threshold, and an optimal route with excellent trafficability characteristic is selected from the windows with trafficability characteristic.
Description
Technical field
The present invention relates to robot field, particularly relate to a kind of routing resource and electronic equipment.
Background technology
In Robotics, path planning is an important research direction in robot application, mobile robot, when barrier and routing information the unknown, by sensor senses environment and oneself state, realizes object-oriented autokinetic movement in the environment having barrier.
In prior art, the paths planning method adopted is: the position first adopting sensor senses surrounding space barrier, and the motion state of position to mobile robot of the barrier collected according to sensor is predicted, then early warning analysis is carried out to the result of prediction, and then select a nothing to touch path.
But this paths planning method, owing to being carry out discontinuity prediction to the collision accident in path, calculating more complicated, judges not prompt enough.
Summary of the invention
Embodiments of the invention provide a kind of routing resource and electronic equipment, and the data based on each detection carry out routing, without the need to historical data, calculate simple, make timely judgement simultaneously, improve calculated performance to path.
For achieving the above object, embodiments of the invention adopt following technical scheme:
First aspect, the embodiment of the present invention provides a kind of method of routing, is applied to electronic equipment, comprising:
The routing information of described electronic equipment current environment is detected according to preset strategy;
According to described routing information, the diameter of described electronic equipment, and the path of the current advance of electronic equipment described in the safe distance threshold decision preset whether by;
If the path determining the current advance of described electronic equipment not by, then according to described routing information, the diameter of described electronic equipment, and the safe distance threshold value preset, determine in current investigative range each by window, wherein, described by window be included in the safe distance threshold range of described electronic equipment, between two adjacent barrier by path;
From described optimum by path by selecting window.
In the first possible implementation of first aspect, in conjunction with first aspect, described routing information comprises the length in path and the angle in path, and the length in described path is specially: on described path, the distance between described electronic equipment and nearest barrier; The angle in described path is specially: the angle between described path and preset reference line.
In the implementation that the second of first aspect is possible, in conjunction with first aspect, described according to described routing information, the diameter of described electronic equipment, and the path of the current advance of electronic equipment described in the safe distance threshold decision preset whether by, comprise:
If the path of the current advance of described electronic equipment is less than described default safe distance threshold value, then the path determining the current advance of described electronic equipment not by;
Or,
If the length that there is the first path is less than or equal to described safe distance threshold value, and the distance in the path of the end points in described first path and the current advance of described electronic equipment is less than or equal to the diameter of described electronic equipment, then the path determining the current advance of described electronic equipment not by.
In the third possible implementation of first aspect, in conjunction with the first possible implementation of first aspect or the possible implementation of the second of first aspect, described according to described routing information, the diameter of described electronic equipment, and the safe distance threshold value preset, determine in current investigative range each by window, comprising:
The path in each path and described default safe distance threshold value are compared respectively, obtains the path that length is less than or equal to described default safe distance threshold value;
Described length is less than or equal in the path of described default safe distance threshold value, path angle be the path of arithmetic sequence end points between connecting line as the barrier in the safe distance threshold range of described electronic equipment;
Path between every two adjacent barrier in the safe distance threshold range of described electronic equipment is formed candidate window respectively;
To delete in described candidate window not by path, obtain by window.
In the 4th kind of possible implementation of first aspect, in conjunction with the third possible implementation of first aspect, in the described candidate window of described deletion not by path, comprise:
Obtain the distance between the barrier adjacent with described second path of the second path in described candidate window;
If the distance between the barrier that described second path is adjacent with described second path is less than or equal to the path of described electronic equipment diameter, then delete described second path.
In the 5th kind of possible implementation of first aspect, in conjunction with first aspect to any one the possible implementation in the 4th kind of possible implementation of first aspect, described from described optimum by path by selecting window, comprising:
Obtain the described angle by the every paths in window and the first connecting line; Wherein, described first connecting line is the connecting line between described electronic equipment and target;
The minimum path of angle between described first connecting line is selected to be optimum by path.
Second aspect, the embodiment of the present invention provides a kind of electronic equipment, comprising:
Probe unit, for detecting the routing information of described electronic equipment current environment according to preset strategy, described routing information comprises the length in path and the angle in path; Wherein, the length in described path refers to: on described path, the distance between described electronic equipment and nearest barrier; The angle in described path refers to: the angle between described path and preset reference line;
Judging unit, for according to described routing information, the diameter of described electronic equipment, and the path of the current advance of electronic equipment described in the safe distance threshold decision preset whether by;
Window determining unit, for determine the current advance of described electronic equipment when judging unit path not by time, according to described routing information, the diameter of described electronic equipment, and preset safe distance threshold value, determine in current investigative range each by window, wherein, described by window be included in the safe distance threshold range of described electronic equipment, between two adjacent barrier by path;
Selection unit, optimum by path by selecting in window for what determine from described window determining unit.
In the first possible implementation of second aspect, in conjunction with second aspect, described routing information comprises the length in path and the angle in path, and the length in described path is specially: on described path, the distance between described electronic equipment and nearest barrier; The angle in described path is specially: the angle between described path and preset reference line.
In the implementation that the second of second aspect is possible, in conjunction with the first possible implementation of second aspect, described judging unit specifically for,
If the path of the current advance of described electronic equipment is less than described default safe distance threshold value, then the path determining the current advance of described electronic equipment not by;
Or,
If the length that there is the first path is less than or equal to described safe distance threshold value, and the distance in the path of the end points in described first path and the current advance of described electronic equipment is less than or equal to the diameter of described electronic equipment, then the path determining the current advance of described electronic equipment not by.
In the third possible implementation of second aspect, in conjunction with the first possible implementation of second aspect or the possible implementation of the second of second aspect, described window determining unit specifically for,
The path in each path and described default safe distance threshold value are compared respectively, obtains the path that length is less than or equal to described default safe distance threshold value;
Described length is less than or equal in the path of described default safe distance threshold value, path angle be the path of arithmetic sequence end points between connecting line as the barrier in the safe distance threshold range of described electronic equipment;
Path between every two adjacent barrier in the safe distance threshold range of described electronic equipment is formed candidate window respectively;
To delete in described candidate window not by path, obtain by window.
In the 4th kind of possible implementation of second aspect, in conjunction with the third possible implementation of second aspect, described window determining unit specifically for,
Obtain the distance between the barrier adjacent with described second path of the second path in described candidate window;
If the distance between the barrier that described second path is adjacent with described second path is less than or equal to the path of described electronic equipment diameter, then delete described second path.
In the 5th kind of possible implementation of second aspect, in conjunction with second aspect to any one the possible implementation in the 4th kind of possible implementation of second aspect, described selection unit specifically for,
Obtain the described angle by the every paths in window and the first connecting line; Wherein, described first connecting line is the connecting line between described electronic equipment and target;
The minimum path of angle between described first connecting line is selected to be optimum by path.
The embodiment of the present invention provides a kind of routing resource and electronic equipment, according to the routing information of preset strategy detection electronic equipment current environment, according to described routing information, the diameter of described electronic equipment, and the path of the current advance of electronic equipment described in the safe distance threshold decision preset whether by; If the path determining the current advance of described electronic equipment not by, then according to described routing information, the diameter of described electronic equipment, and the safe distance threshold value preset, determine in current investigative range each by window, from described optimum by path by selecting window.As from the foregoing, the routing resource that the embodiment of the present invention provides, data based on each detection carry out routing, without the need to historical data, calculate simple, timely judgement is made to path simultaneously, improve calculated performance, avoid in prior art and calculate more complicated and judge defect not prompt enough.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The process flow diagram of a kind of routing resource that Fig. 1 provides for the embodiment of the present invention;
Fig. 2 is the schematic diagram of the routing information detected;
Fig. 3 is the path of the current advance of electronic equipment is not by the schematic diagram in path;
Fig. 4 selects the optimum schematic diagram by path according to detective path;
The structural drawing of a kind of electronic equipment that Fig. 5 provides for the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Embodiment one
The embodiment of the present invention provides a kind of routing resource, and the method can be performed by electronic equipment, and as shown in Figure 1, described method can comprise the following steps:
101: electronic equipment detects the routing information of described electronic equipment current environment according to preset strategy.
Wherein, described routing information comprises the length in path and the angle in path; The length in described path specifically refers to: on described path, the distance between described electronic equipment and nearest barrier; The angle in described path specifically refers to: the angle between described path and preset reference line.
Wherein, described electronic equipment can for can by the object of self power movement, or be the object by external force movement, and such as, electronic equipment can be automobile, Autonomous Mobile Robot etc.In order to simplify, in the accompanying drawing involved by the embodiment of the present invention, electronic equipment is processed as a particle.
Preferably, electronic equipment can utilize the routing information of the principle of reflection detection electronic equipment current environment of light.Such as, electronic equipment can penetrate a branch of very thin laser beam to specific direction, this laser beam is on this specific direction, after the barrier nearest with electronic equipment reflects, return along this specific direction, electronic equipment receives this laser beam returned, suppose that laser beam is t from the time interval be transmitted between reception, the propagation rate of laser is c, the then length L=c*t/2 in path, the angle in path is the angle between this specific direction and preset reference line, the angle of preset reference line can be pre-set by electronic equipment, the present embodiment does not limit this, such as, it can be the direction of the line between electronic equipment and target.It should be noted that, if do not have barrier in the specified direction, then the length in path can be ∞.
Wherein, described preset strategy can be undertaken pre-configured by electronic equipment or staff, can comprise at least one item of following parameter:
1, investigative range
Wherein, investigative range refers to the angular range detected, can represent by the angle maximum relative to datum line and the angle minimum relative to datum line, such as: as shown in Figure 2, the direction of current for electronic equipment advance is set to datum line, increases if clockwise direction is angle, counterclockwise for angle reduces, the angle minimum relative to datum line is-90 degree, and the angle maximum relative to datum line is 90 degree, then investigative range be-90 to spend between 90 degree.
2, investigation depth
Wherein, investigation depth refers to the ultimate range of the obstacle distance electronic equipment that electronic equipment can detect.
3, the differential seat angle between adjacent path
Wherein, differential seat angle between adjacent path can represent the density in the path of detection gained, when investigative range one timing, differential seat angle between adjacent path is larger, and the number of paths of acquisition is fewer, and the density in path is less, otherwise, differential seat angle between adjacent path is less, and the number of paths of acquisition is larger, and the density in path is larger.Optionally, the differential seat angle between the adjacent light beam that the differential seat angle between adjacent path can be sent by electronic equipment realizes.
As shown in Figure 2, for the schematic diagram of the routing information of the electronic equipment current environment of detection, wherein, investigative range is pre-set for-90 degree are to 90 degree, investigation depth is 50m, namely can detect-90 degree to the barrier situation in the scope 50m of 90 degree, the angle intervals of the detection light sent is 7.5 degree, then can detect the routing information of 25 paths, 7.5 degree, every paths interval, as can be seen from the figure, the path of the every paths detected is different, and path angle is that-90 degree are to 90 degree.
102: according to described routing information, the diameter of described electronic equipment, and the path of the current advance of electronic equipment described in the safe distance threshold decision preset whether by.
Wherein, the diameter of described electronic equipment represents the maximum diameter of electronic equipment, can be stored in electronic equipment.
Wherein, safe distance threshold value is the length that electronic equipment is preset, and can be designated as L
0; Described safe distance threshold value can be arranged as required, and the embodiment of the present invention does not limit this.Electronic equipment can judge whether to there is barrier according to the length in safe distance threshold value and path, such as, see Fig. 3, take electronic equipment as the center of circle, radius r=L
0scope in be set to safe range, if the length in the first path is less than or equal to safe distance threshold value, then represent in safe range that there is barrier in the first path; If the second path is greater than safe distance threshold value, then representing, in safe range, the second path does not have barrier.
Wherein, described according to described routing information, the diameter of described electronic equipment, and the path of the current advance of electronic equipment described in the safe distance threshold decision preset whether by, any one mode following can be comprised:
First kind of way:
Judge whether the length in the path of the current advance of electronic equipment is less than described default safe distance threshold value;
If the length in the path of the current advance of described electronic equipment is less than described default safe distance threshold value, then the path determining the current advance of described electronic equipment not by.
Such as, as shown in Figure 2, the path of the current advance of electronic equipment is detective path 1, and the length in path 1 is less than r, is namely less than safe distance threshold value L
0, so, determine safe distance threshold value L
0in, described electronic equipment working direction has barrier, the path of current advance be not by.
The second way:
If the length in the path of the current advance of described electronic equipment is greater than described default safe distance threshold value, then judge whether that the length in existence first path is less than or equal to described safe distance threshold value, and the distance in the path of the end points in described first path and the current advance of described electronic equipment is less than or equal to the diameter of described electronic equipment;
If the length that there is the first path is less than or equal to described safe distance threshold value, and the distance in the path of the end points in described first path and the current advance of described electronic equipment is less than or equal to the diameter of described electronic equipment, then the path determining the current advance of described electronic equipment not by.
Wherein, the end points in the first path is the position on the first path residing for barrier.
The length in the first path is less than or equal to described safe distance threshold value, illustrate, in safe range, the first path exists barrier, if the distance between the path that electronic equipment advances and the end points in the first path is less than or equal to the diameter of electronic equipment, then represent that described electronic equipment may touch the barrier on described first path in the process of advancing, if the distance between the path that electronic equipment advances and the end points in the first path is greater than the diameter of electronic equipment, then represent that described electronic equipment can not touch the barrier on the first path in the process of advancing.
Such as, see Fig. 3, take electronic equipment as the center of circle, radius r=L
0scope in be set to safe range, L
0for safe distance threshold value, the path of the current advance of electronic equipment is path 1, and the path in path 1 is greater than r, the length in the first path (path 2 in Fig. 3) is less than safe distance threshold value, the end points in the first path is designated as A, A is d to the distance in the path (path 1) of the current advance of electronic equipment, if d is less than the diameter of electronic equipment, the barrier that can collide in safe range on the first path is described in the process that electronic equipment moves forward along current path (path 1), so, determine the path (path 1) of the current advance of electronic equipment be not by.
103: if the path determining the current advance of described electronic equipment not by, then according to described routing information, the diameter of described electronic equipment, and the safe distance threshold value preset, determine in current investigative range each by window, wherein, described by window be included in described electronic equipment preset safe distance threshold range in, between two adjacent barrier by path.
Exemplary, shown according to described routing information, the diameter of described electronic equipment, and the safe distance threshold value preset, determine in current investigative range each by window, can comprise:
1, the path in each path and described default safe distance threshold value are compared respectively, obtain the path that length is less than or equal to described default safe distance threshold value;
2, described length is less than or equal in the path of described default safe distance threshold value, path angle be the path of arithmetic sequence end points between connecting line as the barrier in the safe distance threshold range of described electronic equipment.
Such as, see Fig. 4, in electronic equipment front-90, degree detects 25 paths in the scope of 90 degree, and the differential seat angle between adjacent path is 7.5 degree, take electronic equipment as the center of circle, radius r=L
0do circle, wherein, L
0for safe distance threshold value, then radius r=L
0scope in the length in path be less than r, be the path reflected through barrier, as can be seen from the figure, for datum line, path angle is the paths of-90 degree, path angle is the path of-82.5 degree, path angle is the path of-75 degree, path angle is the path of-22.5 degree, path angle is the path of-15 degree, path angle is the path of-7.5 degree, path angle is the path of 0 degree, path angle is the path of 7.5 degree, path angle is the path of 15 degree, path angle is the path of 22.5 degree, path angle is the path of 30 degree, path angle is the path of 75 degree, to be the path of 82.5 degree and path angle be path angle that the path of 90 degree is less than r, so, be the paths of-90 degree by path angle, path angle be-82.5 degree paths and path angle be-75 degree path end points between connecting line be defined as barrier 1, by path angle be-22.5 degree paths, path angle is the path of-15 degree, path angle is the path of-7.5 degree, path angle is the path of 0 degree, path angle is the path of 7.5 degree, path angle is the path of 15 degree, connecting line between the end points in path angle to be the path of 22.5 degree and path angle the be path of 30 degree is defined as barrier 2, is the path of 75 degree by path angle, connecting line between the end points in path angle to be the path of 82.5 degree and path angle the be path of 90 degree is defined as barrier 3.
3, the path between every two adjacent barrier in the safe distance threshold range of described electronic equipment is formed candidate window respectively.
Wherein, candidate window is the region not having barrier in the safe distance threshold range of described electronic equipment.
Such as, see Fig. 4, electronic equipment front-90 degree to barrier in the safe distance threshold range of 90 degree is: barrier 1, barrier 2 and barrier 3, path between barrier 1 and barrier 2 is: path 1, path 2, path 3, path 4, path 5 and path 6, and the path between barrier 2 and barrier 3 is: path 7, path 8, path 9, path 10 and path 11; By path 1, path 2, path 3, path 4, path 5, path 6, path 7, path 8, path 9, path 10 and path 11, so, path 1, path 2, path 3, path 4, path 5 and path 6 are formed candidate window 1, path 7, path 8, path 9, path 10 and path 11 are formed candidate window 2.
4, to delete in described candidate window not by path, obtain by window.
Wherein, in the described candidate window of described deletion not by path, comprise:
Obtain the distance between the barrier adjacent with described second path of the second path in described candidate window;
If the distance between the barrier that described second path is adjacent with described second path is less than or equal to the path of described electronic equipment diameter, then delete described second path.
Such as, suppose that the distance of path n distance the first barrier is designated as d1, the distance of distance the second barrier is designated as d2, if at least one is less than or equal to the diameter of electronic equipment in d1 and d2, determines that path n is not by path, deletes path n.
Wherein, it should be noted that, the distance between the barrier that described second path is adjacent with described second path is the distance between the end points of the nearest barrier in described second path and described second path.
According to said method, see Fig. 4, electronic equipment front-90 degree is designated as an A to the end points of barrier 1 in the safe distance threshold range of 90 degree, the end points on barrier 2 left side is designated as a B, end points on the right of barrier 2 is designated as a C, the end points of barrier 3 is designated as a D, and the path between barrier 1 and barrier 2 is: path 1, path 2, path 3, path 4, path 5, path 6, and the path between barrier 2 and barrier 3 is: path 7, path 8, path 9, path 10 and path 11, acquisition approach 1, path 2, path 3, path 4, path 5, path 6, path 7, path 8, path 9, distance between the end points of path 10 and path 11 and nearest barrier, the distance obtained between path 1 and some A is less than the diameter of described electronic equipment, distance between path 6 and some B is less than the diameter of described electronic equipment, distance between path 7 and some C is less than the diameter of described electronic equipment, distance between path 11 and some D is less than the diameter of described electronic equipment, distance between the end points of other paths and nearest barrier is all greater than the diameter of described electronic equipment, so, delete path 1, path 6, path 7 and path 11, determine the path 2 between barrier 1 and barrier 2, path 3, the region that path 4 and path 5 form is by window 1, path 8 between barrier 2 and barrier 3, the region that path 9 and path 10 form is by window 2.
104: from described optimum by path by selecting window.
Exemplary, described from described optimum by path by selecting window, can comprise:
Obtain the described angle by the every paths in window and the first connecting line; Wherein, described first connecting line is the connecting line between described electronic equipment and target;
The minimum path of angle between described first connecting line is selected to be optimum by path.
Such as, as shown in Figure 4, connect electronic equipment and target, travel through by window 1 and by the path in window 2, obtaining the path minimum with connecting line angle is path 5, so selecting paths 5 is as the progress path at electronic equipment lower a moment.
As from the foregoing, embodiments provide a kind of routing resource, according to the routing information of preset strategy detection electronic equipment current environment, according to described routing information, the diameter of described electronic equipment, and the path of the current advance of electronic equipment described in the safe distance threshold decision preset whether by; If the path determining the current advance of described electronic equipment not by, then according to described routing information, the diameter of described electronic equipment, and the safe distance threshold value preset, determine in current investigative range each by window, from described optimum by path by selecting window.So, the data based on each detection carry out routing, without the need to historical data, calculate simple, make timely judgement simultaneously, improve calculated performance, avoid in prior art and calculate more complicated and judge defect not prompt enough path.
Embodiment two
The embodiment of the present invention provides a kind of electronic equipment 50, and described electronic equipment can for can by the object of self power movement, or be the object by external force movement, and such as, electronic equipment can be automobile, Autonomous Mobile Robot etc.; As shown in Figure 5, described electronic equipment 50 comprises:
Probe unit 501, for detecting the routing information of described electronic equipment current environment according to preset strategy.
Wherein, described routing information comprises the length in path and the angle in path; The length in described path specifically refers to: on described path, the distance between described electronic equipment and nearest barrier; The angle in described path specifically refers to: the angle between described path and preset reference line.
Preferably, probe unit 501 can be 2D depth transducer or 3D depth transducer, and utilize the routing information of the principle of reflection detection electronic equipment current environment of light, routing information comprises the length in path and the angle in path.Such as, probe unit 501 can penetrate a branch of very thin laser beam to specific direction, this laser beam is on this specific direction, after the barrier nearest with electronic equipment reflects, return along this specific direction, electronic equipment receives this laser beam returned, suppose that laser beam is t from the time interval be transmitted between reception, the propagation rate of laser is c, the then length L=c*t/2 in path, the angle in path is the angle between this specific direction and preset reference line, the angle of preset reference line can be pre-set by electronic equipment, the present embodiment does not limit this, such as, it can be the direction of the line between electronic equipment and target.It should be noted that, if do not have barrier in the specified direction, then the length in path can be ∞.
Wherein, described preset strategy can be undertaken pre-configured by electronic equipment or staff, can comprise at least one item of following parameter:
1, investigative range
Wherein, investigative range refers to the angular range detected, can represent by the angle maximum relative to datum line and the angle minimum relative to datum line, such as: as shown in Figure 2, the direction of current for electronic equipment advance is set to datum line, increase if clockwise direction is angle, counterclockwise for angle reduces, the angle minimum relative to datum line is-90 degree, and the angle maximum relative to datum line is 90 degree, then investigative range be-90 degree between 90 degree, path angle is-90 to spend to 90 degree.
2, investigation depth
Wherein, investigation depth refers to the ultimate range of the obstacle distance electronic equipment that electronic equipment can detect.
3, the differential seat angle between adjacent path
Wherein, differential seat angle between adjacent path can represent the density in the path of detection gained, when investigative range one timing, differential seat angle between adjacent path is larger, and the number of paths of acquisition is fewer, and the density in path is less, otherwise, differential seat angle between adjacent path is less, and the number of paths of acquisition is larger, and the density in path is larger.Optionally, the differential seat angle between the adjacent light beam that the differential seat angle between adjacent path can be sent by electronic equipment realizes.
As shown in Figure 2, for the schematic diagram of the routing information of the electronic equipment current environment of detection, wherein, pre-set investigative range for-90 degree are to 90 degree, investigation depth is 50m, namely-90 degree can be detected to the barrier situation in the scope 50m of 90 degree, the angle intervals of the detection light sent is 7.5 degree, then can detect the routing information of 25 paths, 7.5 degree, every paths interval, as can be seen from the figure, the path of the every paths detected is different.
Wherein, the diameter of described electronic equipment represents the maximum diameter of electronic equipment, can be stored in electronic equipment.
Wherein, safe distance threshold value is the length that electronic equipment is preset, and can be designated as L
0; Described safe distance threshold value can be arranged as required, and the embodiment of the present invention does not limit this.Judging unit 502 can judge whether to there is barrier according to the length in safe distance threshold value and path, such as, see Fig. 3, take electronic equipment as the center of circle, radius r=L
0scope in be set to safe range, if the length in the first path is less than or equal to safe distance threshold value, then represent in safe range that there is barrier in the first path; If the second path is greater than safe distance threshold value, then representing, in safe range, the second path does not have barrier.
Judging unit 502, for according to described routing information, the diameter of described electronic equipment, and the path of the current advance of electronic equipment described in the safe distance threshold decision preset whether by.
Window determining unit 503, for determine the current advance of described electronic equipment when judging unit 502 path not by time, according to described routing information, the diameter of described electronic equipment, and preset safe distance threshold value, determine in current investigative range each by window, wherein, described by window be included in described electronic equipment preset safe distance threshold range in, between two adjacent barrier by path.
Selection unit 504, for from described optimum by path by selecting in window.
Further, judging unit 502 specifically for, the path judging the current advance of described electronic equipment by two kinds, following (1)-(2) mode whether by, below these two kinds of modes are described respectively:
(1) judge whether the length in the path of the current advance of electronic equipment is less than described default safe distance threshold value;
If the length in the path of the current advance of described electronic equipment is less than described default safe distance threshold value, then the path determining the current advance of described electronic equipment not by.
Such as, as shown in Figure 2, the path of the current advance of electronic equipment is detective path 1, and the length in path 1 is less than r, is namely less than safe distance threshold value L
0, so, determine safe distance threshold value L
0in, described electronic equipment working direction has barrier, the path of current advance be not by.
(2) if the length in the path of the current advance of described electronic equipment is greater than described default safe distance threshold value, then judge whether that the length in existence first path is less than or equal to described safe distance threshold value, and the distance in the path of the end points in described first path and the current advance of described electronic equipment is less than or equal to the diameter of described electronic equipment;
If the length that there is the first path is less than or equal to described safe distance threshold value, and the distance in the path of the end points in described first path and the current advance of described electronic equipment is less than or equal to the diameter of described electronic equipment, then the path determining the current advance of described electronic equipment not by.
Wherein, the end points in the first path is the position on the first path residing for barrier.
The length in the first path is less than or equal to described safe distance threshold value, illustrate, in safe range, the first path exists barrier, if the distance between the path that electronic equipment advances and the end points in the first path is less than or equal to the diameter of electronic equipment, then represent that described electronic equipment may touch the barrier on described first path in the process of advancing, if the distance between the path that electronic equipment advances and the end points in the first path is greater than the diameter of electronic equipment, then represent that described electronic equipment can not touch the barrier on the first path in the process of advancing.
Such as, see Fig. 3, take electronic equipment as the center of circle, radius r=L
0scope in be set to safe range, L
0for safe distance threshold value, the path of the current advance of electronic equipment is path 1, and the path in path 1 is greater than r, the length in the first path (path 2 in Fig. 3) is less than safe distance threshold value, the end points in the first path is designated as A, A is d to the distance in the path (path 1) of the current advance of electronic equipment, if d is less than the diameter of electronic equipment, the barrier that can collide in safe range on the first path is described in the process that electronic equipment moves forward along current path (path 1), so, determine the path (path 1) of the current advance of electronic equipment be not by.
Further, window determining unit 503 specifically for,
1, the path in each path and described default safe distance threshold value are compared respectively, obtain the path that length is less than or equal to described default safe distance threshold value.
2, described length is less than or equal in the path of described default safe distance threshold value, path angle be the path of arithmetic sequence end points between connecting line as the barrier in the safe distance threshold range of described electronic equipment.
Such as, see Fig. 4, in electronic equipment front-90, degree detects 25 paths in the scope of 90 degree, and the differential seat angle between adjacent path is 7.5 degree, take electronic equipment as the center of circle, radius r=L
0do circle, wherein, L
0for safe distance threshold value, then radius r=L
0scope in the length in path be less than r, be the path reflected through barrier, as can be seen from the figure, for datum line, path angle is the paths of-90 degree, path angle is the path of-82.5 degree, path angle is the path of-75 degree, path angle is the path of-22.5 degree, path angle is the path of-15 degree, path angle is the path of-7.5 degree, path angle is the path of 0 degree, path angle is the path of 7.5 degree, path angle is the path of 15 degree, path angle is the path of 22.5 degree, path angle is the path of 30 degree, path angle is the path of 75 degree, to be the path of 82.5 degree and path angle be path angle that the path of 90 degree is less than r, so, be the paths of-90 degree by path angle, path angle be-82.5 degree paths and path angle be-75 degree path end points between connecting line be defined as barrier 1, by path angle be-22.5 degree paths, path angle is the path of-15 degree, path angle is the path of-7.5 degree, path angle is the path of 0 degree, path angle is the path of 7.5 degree, path angle is the path of 15 degree, connecting line between the end points in path angle to be the path of 22.5 degree and path angle the be path of 30 degree is defined as barrier 2, is the path of 75 degree by path angle, connecting line between the end points in path angle to be the path of 82.5 degree and path angle the be path of 90 degree is defined as barrier 3.
3, the path between every two adjacent barrier in the safe distance threshold range of described electronic equipment is formed candidate window respectively.
Wherein, candidate window is the region not having barrier in the safe distance threshold range of described electronic equipment.
Such as, see Fig. 4, electronic equipment front-90 degree to barrier in the safe distance threshold range of 90 degree is: barrier 1, barrier 2 and barrier 3, path between barrier 1 and barrier 2 is: path 1, path 2, path 3, path 4, path 5 and path 6, and the path between barrier 2 and barrier 3 is: path 7, path 8, path 9, path 10 and path 11; By path 1, path 2, path 3, path 4, path 5, path 6, path 7, path 8, path 9, path 10 and path 11, so, path 1, path 2, path 3, path 4, path 5 and path 6 are formed candidate window 1, path 7, path 8, path 9, path 10 and path 11 are formed candidate window 2.
4, to delete in described candidate window not by path, obtain by window.
Wherein, in the described candidate window of described deletion not by path, comprise:
Obtain the distance between the barrier adjacent with described second path of the second path in described candidate window;
If the distance between the barrier that described second path is adjacent with described second path is less than or equal to the path of described electronic equipment diameter, then delete described second path.
Such as, suppose that the distance of path n distance the first barrier is designated as d1, the distance of distance the second barrier is designated as d2, if at least one is less than or equal to the diameter of electronic equipment in d1 and d2, determines that path n is not by path, deletes path n.
Wherein, it should be noted that, the distance between the barrier that described second path is adjacent with described second path is the distance between the end points of the nearest barrier in described second path and described second path.
According to said method, see Fig. 4, electronic equipment front-90 degree is designated as an A to the end points of barrier 1 in the safe distance threshold range of 90 degree, the end points on barrier 2 left side is designated as a B, end points on the right of barrier 2 is designated as a C, the end points of barrier 3 is designated as a D, and the path between barrier 1 and barrier 2 is: path 1, path 2, path 3, path 4, path 5, path 6, and the path between barrier 2 and barrier 3 is: path 7, path 8, path 9, path 10 and path 11, acquisition approach 1, path 2, path 3, path 4, path 5, path 6, path 7, path 8, path 9, distance between the end points of path 10 and path 11 and nearest barrier, the distance obtained between path 1 and some A is less than the diameter of described electronic equipment, distance between path 6 and some B is less than the diameter of described electronic equipment, distance between path 7 and some C is less than the diameter of described electronic equipment, distance between path 11 and some D is less than the diameter of described electronic equipment, distance between the end points of other paths and nearest barrier is all greater than the diameter of described electronic equipment, so, delete path 1, path 6, path 7 and path 11, determine the path 2 between barrier 1 and barrier 2, path 3, the region that path 4 and path 5 form is by window 1, path 8 between barrier 2 and barrier 3, the region that path 9 and path 10 form is by window 2.
Further, selection unit 504 specifically for,
Obtain the described angle by the every paths in window and the first connecting line; Wherein, described first connecting line is the connecting line between described electronic equipment and target;
The minimum path of angle between described first connecting line is selected to be optimum by path.
Such as, as shown in Figure 4, connect electronic equipment and target, travel through by window 1 and by the path in window 2, obtaining the path minimum with connecting line angle is path 5, so selecting paths 5 is as the progress path at electronic equipment lower a moment.
As from the foregoing, embodiments provide a kind of electronic equipment, the routing information of described electronic equipment current environment is detected according to preset strategy, according to described routing information, the diameter of described electronic equipment, and the path of the current advance of electronic equipment described in the safe distance threshold decision preset whether by; If the path determining the current advance of described electronic equipment not by, then according to described routing information, the diameter of described electronic equipment, and the safe distance threshold value preset, determine in current investigative range each by window, from described optimum by path by selecting window.So, the data based on each detection carry out routing, without the need to historical data, calculate simple, make timely judgement simultaneously, improve calculated performance, avoid in prior art and calculate more complicated and judge defect not prompt enough path.
In several embodiments that the application provides, should be understood that, disclosed system, apparatus and method, can realize by another way.Such as, device embodiment described above is only schematic, such as, the division of described unit, be only a kind of logic function to divide, actual can have other dividing mode when realizing, such as multiple unit or assembly can in conjunction with or another system can be integrated into, or some features can be ignored, or do not perform.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be by some interfaces, and the indirect coupling of device or unit or communication connection can be electrical, machinery or other form.
The described unit illustrated as separating component or can may not be and physically separates, and the parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed in multiple network element.Some or all of unit wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, also can be that the independent physics of unit comprises, also can two or more unit in a unit integrated.Above-mentioned integrated unit both can adopt the form of hardware to realize, and the form that hardware also can be adopted to add SFU software functional unit realizes.
The above-mentioned integrated unit realized with the form of SFU software functional unit, can be stored in a computer read/write memory medium.Above-mentioned SFU software functional unit is stored in a storage medium, comprises the part steps of some instructions in order to make a computer equipment (can be personal computer, server, or the network equipment etc.) perform method described in each embodiment of the present invention.And aforesaid storage medium comprises: USB flash disk, portable hard drive, ROM (read-only memory) (Read-Only Memory, be called for short ROM), random access memory (Random Access Memory, be called for short RAM), magnetic disc or CD etc. various can be program code stored medium.
Last it is noted that above embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (12)
1. a routing resource, is applied to electronic equipment, it is characterized in that, comprising:
The routing information of described electronic equipment current environment is detected according to preset strategy;
According to described routing information, the diameter of described electronic equipment, and the path of the current advance of electronic equipment described in the safe distance threshold decision preset whether by;
If the path determining the current advance of described electronic equipment not by, then according to described routing information, the diameter of described electronic equipment, and the safe distance threshold value preset, determine in current investigative range each by window, wherein, described by window be included in the safe distance threshold range of described electronic equipment, between two adjacent barrier by path;
From described optimum by path by selecting window.
2. routing resource according to claim 1, is characterized in that, described routing information comprises the length in path and the angle in path, and the length in described path is specially: on described path, the distance between described electronic equipment and nearest barrier; The angle in described path is specially: the angle between described path and preset reference line.
3. routing resource according to claim 2, is characterized in that, described according to described routing information, the diameter of described electronic equipment, and the path of the current advance of electronic equipment described in the safe distance threshold decision preset whether by, comprise:
If the path of the current advance of described electronic equipment is less than described default safe distance threshold value, then the path determining the current advance of described electronic equipment not by;
Or,
If the length that there is the first path is less than or equal to described safe distance threshold value, and the distance in the path of the end points in described first path and the current advance of described electronic equipment is less than or equal to the diameter of described electronic equipment, then the path determining the current advance of described electronic equipment not by.
4. the routing resource according to Claims 2 or 3, is characterized in that, described according to described routing information, the diameter of described electronic equipment, and preset safe distance threshold value, determine in current investigative range each by window, comprising:
The path in each path and described default safe distance threshold value are compared respectively, obtains the path that length is less than or equal to described default safe distance threshold value;
Described length is less than or equal in the path of described default safe distance threshold value, path angle be the path of arithmetic sequence end points between connecting line as the barrier in the safe distance threshold range of described electronic equipment;
Path between every two adjacent barrier in the safe distance threshold range of described electronic equipment is formed candidate window respectively;
To delete in described candidate window not by path, obtain by window.
5. routing resource according to claim 4, is characterized in that, in the described candidate window of described deletion not by path, comprise:
Obtain the distance between the barrier adjacent with described second path of the second path in described candidate window;
If the distance between the barrier that described second path is adjacent with described second path is less than or equal to the path of described electronic equipment diameter, then delete described second path.
6. the routing resource according to any one of claim 1-5, is characterized in that, described from described optimum by path by selecting window, comprising:
Obtain the described angle by the every paths in window and the first connecting line; Wherein, described first connecting line is the connecting line between described electronic equipment and target;
The minimum path of angle between described first connecting line is selected to be optimum by path.
7. an electronic equipment, is characterized in that, comprising:
Probe unit, for detecting the routing information of described electronic equipment current environment according to preset strategy;
Judging unit, for according to described routing information, the diameter of described electronic equipment, and the path of the current advance of electronic equipment described in the safe distance threshold decision preset whether by;
Window determining unit, for determine the current advance of described electronic equipment when judging unit path not by time, according to described routing information, the diameter of described electronic equipment, and preset safe distance threshold value, determine in current investigative range each by window, wherein, described by window be included in the safe distance threshold range of described electronic equipment, between two adjacent barrier by path;
Selection unit, optimum by path by selecting in window for what determine from described window determining unit.
8. electronic equipment according to claim 7, is characterized in that, described routing information comprises the length in path and the angle in path, and the length in described path is specially: on described path, the distance between described electronic equipment and nearest barrier; The angle in described path is specially: the angle between described path and preset reference line.
9. electronic equipment according to claim 8, is characterized in that, described judging unit specifically for,
If the path of the current advance of described electronic equipment is less than described default safe distance threshold value, then the path determining the current advance of described electronic equipment not by;
Or,
If the length that there is the first path is less than or equal to described safe distance threshold value, and the distance in the path of the end points in described first path and the current advance of described electronic equipment is less than or equal to the diameter of described electronic equipment, then the path determining the current advance of described electronic equipment not by.
10. electronic equipment according to claim 8 or claim 9, is characterized in that, described window determining unit specifically for,
The path in each path and described default safe distance threshold value are compared respectively, obtains the path that length is less than or equal to described default safe distance threshold value;
Described length is less than or equal in the path of described default safe distance threshold value, path angle be the path of arithmetic sequence end points between connecting line as the barrier in the safe distance threshold range of described electronic equipment;
Path between every two adjacent barrier in the safe distance threshold range of described electronic equipment is formed candidate window respectively;
To delete in described candidate window not by path, obtain by window.
11. electronic equipments according to claim 10, is characterized in that, described window determining unit specifically for,
Obtain the distance between the barrier adjacent with described second path of the second path in described candidate window;
If the distance between the barrier that described second path is adjacent with described second path is less than or equal to the path of described electronic equipment diameter, then delete described second path.
12. electronic equipments according to any one of claim 7-11, is characterized in that, described selection unit specifically for,
Obtain the described angle by the every paths in window and the first connecting line; Wherein, described first connecting line is the connecting line between described electronic equipment and target;
The minimum path of angle between described first connecting line is selected to be optimum by path.
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