CN105841704A - Determination method and device of moving path - Google Patents
Determination method and device of moving path Download PDFInfo
- Publication number
- CN105841704A CN105841704A CN201610230815.8A CN201610230815A CN105841704A CN 105841704 A CN105841704 A CN 105841704A CN 201610230815 A CN201610230815 A CN 201610230815A CN 105841704 A CN105841704 A CN 105841704A
- Authority
- CN
- China
- Prior art keywords
- node
- road sign
- barrier
- mobile terminal
- present
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- G01C21/20—Instruments for performing navigational calculations
-
- 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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to the technical field of artificial intelligence, and especially relates to a determination method and device of moving path. The method includes: using an initial position of a mobile terminal in an area coordinate graph as a current node, determining if an obstacle is placed between the current node and a goal node, selecting a guidepost node having no obstacle placed between the current node and the guidepost node from the guidepost nodes in the area coordinate graph as a next guidepost node of the current node if the obstacle is placed, using the next guidepost node as the current node, returning the step of determining if the obstacle is placed between the current node and the goal node until no obstacle placed between the current node and the goal node, and determining the moving path according to the recorded next guidepost node in order. The method only needs the processor to perform path computation by means of presupposed guidepost node and obstacle, so that the requirement of the processing capacity of the processor is not high. Moreover, the method needs not too many hardware devices such as sensor and camera, and the hardware cost is reduced.
Description
Technical field
The present invention relates to field of artificial intelligence, particularly relate to determination method and the dress of a kind of mobile route
Put.
Background technology
Mobile terminal divides a variety of, wherein of greatest concern with service type mobile terminal, such as service type robot
Deng.The design of service type mobile terminal relates to the technology of many aspects, and wherein mobile navigation technology is to compare pass
One of technology of key, it is mainly for realizing under relatively complex environment, and mobile terminal moves from initial position
Planning to the mobile route of target location.
In prior art, common mobile navigation technology, there are vision guided navigation method and avoidance obstacle navigation method etc..
Wherein, vision guided navigation method mainly by the camera collection visual pattern on mobile terminal, then utilizes image
The correlation technique analyses such as process, computer vision, Model Identification obtain movable information and the space of mobile terminal
Positional information, thus realize navigation；And avoidance obstacle navigation method is the barrier-avoiding method under a kind of dynamic environment,
The method utilizes sensor to gather the depth information of mobile terminal surrounding environment, and according to the real-time sensing obtained
Device metrical information, adjusts path to avoid colliding.
Above-mentioned vision guided navigation method there is problems of the method and belongs to fuzzy navigation, and accuracy is low, process big
The video information of amount, requires the highest to processor technical capability, is unfavorable for device miniaturization, simultaneously video
Signal is affected bigger by light, it is necessary to carry out in the environment of photoenvironment is good；And avoidance obstacle navigation method
There is also amount of calculation bigger, the problems such as convergence rate is relatively slow, local minimum, thus cause navigation accurately
Spend not high enough.
In sum, the navigation mode of mobile terminal of the prior art exist the disposal ability to processor want
Seek the problem that comparison is high.
Summary of the invention
The present invention provides the determination method and device of a kind of mobile route, in order to solve movement of the prior art
There is the disposal ability to processor and require higher problem in the navigation mode of terminal.
On the one hand, the embodiment of the present invention provides a kind of determination method of mobile route, including:
Obtain mobile terminal initial position in area coordinate figure and using described initial position as working as prosthomere
Point；
Judge that whether having barrier, described destination node between described present node and destination node is described shifting
Dynamic terminal intends the target location arrived, and described barrier positional information in described area coordinate figure is in advance
Set；
If it is determined that have barrier between described present node and described destination node, then from described area coordinate figure
In road sign node in determine the road sign node not having barrier between described present node；If it is determined that road
The quantity of mark node more than 1, then according to the weights of the road sign node determined, determines that described mobile terminal is from institute
State next road sign node that present node arrives, the information of record next road sign node described and by described next
Road sign node, as present node, returns to judge whether have obstacle between described present node and destination node
The step of thing, until not having barrier between described present node and described destination node；Wherein, described road
The weights of mark node are used for representing that this road sign node is defined as next road sign degree of node；
According to the information of next road sign node described in recording successively, determine the mobile road of described mobile terminal
Footpath.
On the other hand, the embodiment of the present invention provides the determination device of a kind of mobile route, including:
Initial position acquiring unit, for obtaining mobile terminal initial position in area coordinate figure and by institute
State initial position as present node；
Barrier judgment unit, is used for judging whether have barrier between described present node and destination node,
Described destination node is the target location that described mobile terminal is intended arriving, and described barrier is at described area coordinate
Positional information in figure is set in advance；
Road sign node selects unit, for if it is determined that have obstacle between described present node and described destination node
Thing, then determine do not have barrier between described present node in the road sign node from described area coordinate figure
Road sign node；If it is determined that the quantity of road sign node more than 1, then according to the weights of the road sign node determined,
Determine next road sign node that described mobile terminal arrives from described present node, record next road sign described joint
Point information and using next road sign node described as present node, return to judge described present node and mesh
The step of barrier whether is had, until not having between described present node and described destination node between mark node
Barrier；Wherein, the weights of described road sign node are used for representing that this road sign node is defined as next road sign node
Number of times；
Mobile route determines unit, for the information according to next the road sign node described recorded successively, determines
The mobile route of described mobile terminal.
The method that the embodiment of the present invention provides, obtains mobile terminal initial position in area coordinate figure and incites somebody to action
This initial position is as present node, it is judged that whether have barrier between present node and destination node, if really
Surely there is barrier, then the road sign node from area coordinate figure determines do not have barrier between present node
Road sign node, and one of them road sign node is defined as next road sign node of present node, then will
This next road sign node, as present node, continually looks for next road sign node, until present node and target
Till there is no barrier between node, then according to the information of next the road sign nodes all recorded successively, really
Determine the mobile route of mobile terminal.The method, according to road sign node set in advance, determines one from initially
Position starts, and is then passed through road sign node, finally arrives the mobile route of destination node, the embodiment of the present invention
In by the road sign node preset and barrier, it is only necessary to processor carries out path computing, thus the party
Method is less demanding to the disposal ability of processor, therefore without putting into too much hardware device, such as sensor,
Image first-class, reduce hardware cost and the requirement to ambient light etc..
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, institute in embodiment being described below
The accompanying drawing used is needed to briefly introduce, it should be apparent that, the accompanying drawing in describing below is only the present invention's
Some embodiments, from the point of view of those of ordinary skill in the art, in the premise not paying creative work
Under, it is also possible to other accompanying drawing is obtained according to these accompanying drawings.
The scene schematic diagram that Fig. 1 is suitable for by the embodiment of the present invention；
The determination method flow diagram of a kind of mobile route that Fig. 2 provides for the embodiment of the present invention；
A kind of exemplary plot determining mobile route that Fig. 3 provides for the embodiment of the present invention；
Fig. 4 determines the exemplary plot of mobile route for the another kind that the embodiment of the present invention provides；
The determination method detail flowchart of a kind of mobile route that Fig. 5 provides for the embodiment of the present invention；
The determination device schematic diagram of a kind of mobile route that Fig. 6 provides for the embodiment of the present invention.
Detailed description of the invention
In order to make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to this
Bright it is described in further detail, it is clear that described embodiment is only a part of embodiment of the present invention,
Rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not doing
Go out all other embodiments obtained under creative work premise, broadly fall into the scope of protection of the invention.
Below in conjunction with Figure of description, the embodiment of the present invention is described in further detail.
As it is shown in figure 1, the scene schematic diagram being suitable for by the embodiment of the present invention.It should be noted that Fig. 1
In application scenarios be intended only as citing and illustrate, in actual applications, concrete application scenarios can be according to reality
Border needs and selectes.
Mobile terminal is positioned at a specific region, such as, can be in a dining room scene, Ke Yishi
It is in a market scene, it is also possible to be in household scene etc..Wherein, mobile terminal can be
The robot of one service type, can be automatic cleaner etc., as long as have an artificial intelligence function can
The machinery equipment of movement, can serve as the mobile terminal in the embodiment of the present invention.
In FIG, a kind of application scenarios that mobile terminal is suitable for, i.e. mobile terminal are exemplarily given
It is under household scene, services while convenience is provided for house person.In FIG, household scene there is kitchen
Multiple regions such as room, dining room, parlor, master room, toilet, guest room one, guest room two and balcony.Mobile
The initial position of terminal is positioned at the Y of balcony, is currently needed for the target location of movement at the Z in guest room two,
Why mobile terminal needs to move at Y at Z, it may be possible to because mobile terminal receives guest room two
Certain instruction at place (instruction that such as user issues by remote controller, or user passes through at guest room two
Certain jingle bell button etc.), need mobile terminal to move at Z, provide service for the user at Z, such as
Pouring, transport goods, thus mobile terminal is it needs to be determined that move at the current location Y of mobile terminal
The mobile route at Z at guest room two, moves at Z at Y then along the mobile route determined.
In embodiments of the present invention, when being embodied as, there is a following precondition: first, mobile terminal
In or certain ppu prestored the area coordinate figure that current household scene is corresponding, with Fig. 1
As a example by, mobile terminal or certain ppu have prestored the area coordinate that this household scene is corresponding
Figure, for example, it is assumed that household scene is a rectangle, first can select a coordinate in household scene
Initial point, after setting up coordinate system, generates an area coordinate figure, can be then many by this household scene partitioning
The least individual grid, e.g. 100*200, totally 20000 grids, then with the center in a grid
The coordinate of point represents the coordinate of this grid, such that it is able to record these 20000 in this area coordinate figure
Coordinate points, is used for marking the coordinate of this household scene.The most concrete how by certain position in household scene
Being mapped in area coordinate, the present invention is not specifically limited；Additionally, this area coordinate figure also stored for house
Occupy the coordinate information of all barriers in scene, the coordinate information of such as wall, the coordinate of the bed in room
Information, the coordinate information etc. of the tables and chairs in parlor；Second, it is assumed that the barrier in household scene is static；
3rd, area coordinate figure have recorded the coordinate information of multiple road sign node set in advance, with Fig. 1 be
Example, the node A shown in it～node M are multiple road sign node set in advance, and these road signs
The coordinate information of node is pre-stored within mobile terminal or certain ppu, needs explanation
It is that these road sign nodes can be virtual, more specifically, simply have recorded the seat of these road sign nodes
Mark information, but the entity existence that these road sign nodes are the most corresponding；Certainly, can also in household scene
Set the road sign node of entity.
Wherein, area coordinate figure can be by carrying out round scanning in described household scene by mobile terminal
Rear calculating generates, it is also possible to by being manually entered；For the coordinate information of road sign node, equally may be used
With by mobile terminal by automatically generating (as scanned main current mouth) after scanning, it is also possible to be logical
Input after crossing artificial setting.
In embodiments of the present invention, by above-mentioned area coordinate figure set in advance, many in area coordinate figure
The coordinate information of individual road sign node, the coordinate information of the barrier in area coordinate figure, final purpose is intended to
Determine an executable mobile route that can move at initial position Y at the Z of target location, institute
Call executable path to refer to mobile terminal and can not encounter barrier in moving process, such as mobile eventually
End directly cannot move to target location Z from initial position Y, because there being barrier obstruction between Y and Z,
But mobile terminal can pass through mobile route: Y-> A-> C-> G-> Z, realize arriving at Z at Y
Purpose.
As in figure 2 it is shown, the determination method flow diagram of a kind of mobile route provided for the embodiment of the present invention, bag
Include:
Step 201, obtain mobile terminal initial position in area coordinate figure and described initial position is made
For present node；
Step 202, judge whether have barrier between described present node and destination node；
Step 203 is if it is determined that have barrier between described present node and described destination node, then from described
Road sign node in area coordinate figure determines do not have the road sign node of barrier between described present node；
If it is determined that the quantity of road sign node more than 1, then according to the weights of the road sign node determined, determine described shifting
Next road sign node that dynamic terminal arrives from described present node, the information of record next road sign node described is also
Using next road sign node described as present node, return to judge between described present node and destination node
Whether there is the step of barrier, until there is no barrier between described present node and described destination node；
The information of next road sign node described that step 204, basis record successively, determines described mobile terminal
Mobile route.
The method that above-mentioned steps 201～204 gives the mobile route determining mobile terminal.Wherein, in step
In 201, first obtain mobile terminal initial position in area coordinate figure and using described initial position as
Present node, wherein, the acquisition mode of the initial position of mobile terminal according to the application type of mobile terminal,
At least can be there to be following two mode:
One, mobile terminal is from a fixing position every time；
Under this application type, mobile terminal is from a fixing position every time, when receiving clothes
After business instruction, just leave for providing service, after service is provided, moves back to this fixing position, thus
In advance this fixing position coordinate information in area coordinate figure can be recorded, as initial bit
Put, such that it is able to directly get mobile terminal initial position in area coordinate figure.
The advantage using the method to obtain mobile terminal initial position in area coordinate figure is, it is not necessary to mistake
Many hardware supported, less demanding to the disposal ability of processor.
Two, mobile terminal is not every time fixing from one position；
Under this application type, each initial position of mobile terminal is not fixed, thus mobile terminal cannot be straight
Obtain and take initial position, but need to be determined by certain mode the initial position of self.
It is a variety of that mobile terminal determines that the mode of the initial position of self has, and the most exemplarily provides two kinds of sides
Formula.
First, mobile terminal is provided with position coordinates sensing module, such as, is similar to the mileage in taxi
Meter, thus mobile terminal is mobile when, it is possible to record the current location of self all the time, thus when mobile
Terminal is it needs to be determined that during self initial position, directly obtain the current location of self, and by this present bit
Put as initial position.
Second, mobile terminal is provided with detector, such as acoustic detector etc., thus when mobile terminal needs
When determining the initial position of self, can be by sending sound wave, the echo then received by basis,
Detect the relative position that mobile terminal self is positioned in household scene, then sit according to the region prestored
Mark on a map, calculate the initial position of self.
Above two mode obtains the advantage of mobile terminal position in area coordinate figure and is, due to movement
Terminal can be obtained from the position in area coordinate figure in real time, and therefore mobile terminal provides service every time
Afterwards without returning initial position, decrease the displacement of mobile terminal, improve the effect of mobile terminal
Rate.
Said method gives the various ways obtaining mobile terminal initial position in area coordinate figure, tool
Which kind of in body application, it is not limited to use mode.
In step 201, after getting mobile terminal initial position in area coordinate figure, this is first
Beginning position is as present node, as it is shown in figure 1, the initial position of mobile terminal is at Y, present node is then
For Y.
In above-mentioned steps 202, it is judged that whether have barrier between present node and destination node, wherein, mesh
Mark node refers to the target location that mobile terminal is intended arriving, as it is shown in figure 1, target location therein is Z
Place, i.e. destination node is Z；And the positional information that barrier is in area coordinate figure is set in advance.
In FIG, owing to node Y is present node, then judge present node Y and destination node Z it
Between whether have barrier, when determine there is no barrier between present node Y and destination node Z time, permissible
Directly determine that mobile route is: Y-> Z；When determining there is barrier between present node Y and destination node Z
Time, then directly cannot move to Z from Y, but it needs to be determined that go out other mobile route.
Wherein, how to judge whether have barrier between present node and destination node, have various ways, one
Planting embodiment alternatively is: is provided with inductor on mobile terminals, can detect movement in real time
Whether the surrounding of terminal has a barrier, but this mode needs to provide the support of hardware device, such as inductor,
Therefore, whether the embodiment of the present invention provides another to judge between present node and destination node has barrier
Method.
Alternatively, judge whether have barrier between present node and destination node in the following manner: according to
Present node and the position of destination node, determine in area coordinate figure one from described present node to described
The line of the position of destination node；According to described barrier positional information in described area coordinate figure, sentence
Whether disconnected described line has common factor with described barrier；If it is determined that described line and described all barriers have friendship
Collection, it is determined that have barrier between described present node and described destination node；If it is determined that described line and institute
State all barriers not occur simultaneously, it is determined that between described present node and described destination node, there is no obstacle
Thing.
Specifically, in aforesaid way, owing to having prestored area coordinate figure information and area coordinate figure
In the coordinate information of all barriers, thus determine in area coordinate figure and save from present node to target
After line between point, namely determine the coordinate information of this line, such that it is able to by judging this line
Whether there is common factor between the coordinate information of coordinate information and all barriers, determine that present node saves with target
Whether barrier is had between point.In area coordinate figure, however, it is determined that the coordinate information of described line and barrier
Coordinate information have common factor, it is determined that have barrier between present node and destination node；If it is determined that described company
The coordinate information of line does not occur simultaneously with the coordinate information of barrier, it is determined that between present node and destination node
There is no barrier.Wherein it is desired to explanation, at the coordinate letter of the coordinate information with barrier judging line
Whether breath when having common factor, can be directly judge between the coordinate information of line and the coordinate information of barrier be
The no coordinate points having coincidence, in actual applications, it is also possible to be when coordinate information and the barrier judging line
Coordinate information between minimum range less than preset threshold value time, be also considered as coordinate information and the obstacle of line
The coordinate information of thing has common factor, because mobile terminal itself also has certain size size, it is ensured that
Mobile terminal can pass through, and will not encounter barrier it is necessary to ensure that mobile terminal is when mobile and obstacle
Thing keeps certain distance.Thus the method directly can be according to the barrier prestored in area coordinate figure
Positional information, it is possible to judge whether present node has barrier between destination node, this judgement side
Method is very quick, and amount of calculation is little, and without providing hardware detecting device, such as inductor etc., so that it may
To realize judging whether present node has barrier between destination node rapidly and accurately.
In above-mentioned steps 203, there is barrier between present node and destination node when determining in step 202.
Time, then the road sign node from area coordinate figure determines the road not having barrier between described present node
Mark node.For example, with reference to Fig. 1, it is assumed that present node is node Y, the road sign in area coordinate figure
Node is road sign node A～road sign node M, in these nodes, and does not has obstacle between present node Y
The road sign node of thing only has road sign node A, does not has the road sign of barrier to save between that i.e. determine and present node
The quantity of point is equal to 1, then next road arrived as mobile terminal from present node by the road sign node determined
Mark node, records the information of next road sign node described and using next road sign node described as present node,
Then proceed to judge whether have barrier between described present node and destination node, until described present node
And there is no barrier between described destination node, i.e. determine that road sign node A is under present node Y arrives
One road sign node, the information of record road sign node A, such as coordinate information, then road sign node A is made
For present node, continue to judge whether have barrier between present node A and destination node Z, owing to working as
Barrier is had between front nodal point A and destination node Z, it is determined that and there is no barrier between present node A
All road sign nodes, as it is shown in figure 1, there is no the road sign of barrier between that determine and present node A
Node has road sign node B, road sign node C, road sign node D, therefore to be moved for present node A next
Road sign node can only be in these 3 road sign nodes, is exactly it needs to be determined that present node A to move below
Next the road sign node moved specifically which.
Alternatively, a kind of implementation is: do not have the road sign of barrier to save between that determine and present node
When the quantity of point is more than 1, then according to the weights of the road sign node determined, determine that described mobile terminal is from described
Next road sign node that present node arrives, records the information of next road sign node described and by next road described
Mark node, as present node, then returnes to judge whether have barrier between described present node and destination node
Hinder the step of thing, until there is no barrier between described present node and described destination node.
Wherein, the weights of road sign node are used for representing that this road sign node is defined as next road sign degree of node,
In an initial condition, the weights of all road sign nodes are both configured to 0, when a road sign node is selected for working as
During front nodal point next road sign node to be moved to, then the weights of this road sign node are added 1, represent this road sign
The number of times that node occurs in mobile route adds once.
With reference to Fig. 1, present node is A, does not has the road sign of barrier between that determine and present node A
Node has road sign node B, road sign node C, road sign node D.Now, road sign node B, road sign node
C, the weights of road sign node D are all 0, and the weights of present node A are 1 (because present node A is
It is determined next the road sign node being chosen as in mobile route), then according to road sign node B, road sign
Node C, the weights of road sign node D, determine next road that mobile terminal arrives from described present node A
Mark node.Specifically, there are following two kinds of implementations.
Mode one, next road sign only selecting present node to arrive according to the weights of the road sign node determined save
Point；
In this approach, can be that the minimum road sign node of weights directly selecting the road sign node determined is made
For next road sign node, when the weights having multiple road sign node are all minimum, then can be to select the most at random
Select a road sign node as next road sign node.Such as, when present node is A, road sign node B, road
Mark node C, the weights of road sign node D are all 0, the most therefrom randomly choose a road sign node as currently
Next road sign node of node A, such as, select road sign node C, or select road sign node B, or
It is to select road sign node D.
Mode two, according between weights and road sign node and the destination node of the road sign node determined away from
From, select next road sign node that present node arrives；
Specifically, from the road sign node determined, first select the road sign node that weights are minimum；If weights are minimum
The quantity of road sign node more than 1, then select one to save with described target from the minimum road sign node of weights
The road sign node that distance between point is minimum, is defined as described mobile terminal from described by the road sign node of selection
Next road sign node that present node arrives, and update the weights of the road sign node of described selection；
If the quantity of the road sign node that weights are minimum is equal to 1, then the road sign node that described weights are minimum is determined
Next the road sign node arrived from described present node for described mobile terminal, and update described weights minimum
The weights of road sign node.
In conjunction with Fig. 1, or as a example by present node is for road sign node A, the road that the weights currently determined are minimum
Mark node has 3, respectively road sign node B, road sign node C and road sign node D (weights are all 0),
Then road sign node nearest for its mid-range objectives node Z is defined as next road sign node, owing to road sign saves
Point C distance objective node Z is nearest, the most directly determines that road sign node C is present node A
Next road sign node, then also need to record next road sign node information (i.e. record present node A's
Next road sign node is road sign node C), then the weights of road sign node C are increased by 1 (road sign node C
Weights increase after become 1 from 0), and using road sign node C as present node, continue to judge current
Whether barrier is had, if it has, then also need to determine present node C between node C and destination node Z
Next road sign node, until there is no barrier between present node and destination node Z.
If additionally, in step 203, determining the road sign node not having barrier between present node
Quantity equal to 0, i.e. can not find next road sign node of present node, then directly generate warning information and broadcast
Report, for example, with reference to Fig. 1, it is assumed that do not have road sign node A, only road sign node B～road sign in Fig. 1
Node M, now, when starting most, present node is node Y, due to all of road sign node (i.e. road
Mark node B～road sign node M) and present node Y between have barrier, thus result in can not find current
Next road sign node of node Y, at this point it is possible to determine and one cannot be found to arrive mesh from initial position Y
The mobile route of cursor position Z, thus it is directly produced warning information, such as warning information content is for " can not find
Mobile route ", or " current location is wrong, and work of asking someone is corrected " etc., and pass through voice system
Report, so that user is after hearing warning information, the current location of active accommodation mobile terminal, so that
Mobile terminal can correctly determine mobile route.
In above-mentioned steps 204, according to the information of next the road sign node all of recorded successively in step 203
(such as coordinate information), determines the mobile route of described mobile terminal.
Below in conjunction with Fig. 1, the method for the application embodiment of the present invention is determined at initial position Y to target
At the Z of position, the mobile route of (i.e. destination node Z) does complete explanation.
Step 1, the weights of the road sign node A in area coordinate figure～road sign node M are all initialized as
0；
Coordinate information at step 2, acquisition mobile terminal initial position Y in area coordinate figure, and will
Initial position Y is as present node；
Step 3, owing to having barrier between present node Y and destination node Z, it is determined that with present node
The all road sign nodes not having barrier before Y are: road sign node A, since it is determined that road sign node
Quantity is equal to 1, then road sign node A is directly defined as next road sign node of present node Y, and record is worked as
Next road sign node of front nodal point Y is road sign node A, and is defined as currently by next road sign node A
Then the weights of road sign node A are increased by 1 (being become 1 from 0 after increasing weights) by node；
Step 4, owing to having barrier between present node A and destination node Z, it is determined that with present node
The all road sign nodes not having barrier before A are: road sign node B, road sign node C, road sign node D,
And by the road sign node C that wherein weights are minimum and distance objective node Z is nearest, it is defined as road sign node A's
Next road sign node, next road sign node of record present node A is road sign node C, and by next road
Mark node C is defined as present node, then the weights of road sign node C increases by 1 (by 0 after increase weights
Become 1)；
Step 5, owing to having barrier between present node C and destination node Z, it is determined that with present node
The all road sign nodes not having barrier before C are: road sign node B, road sign node D, road sign node F,
Road sign node G, and by road sign node G (its Road nearest to wherein weights minimum and distance objective node Z
Mark node B, road sign node D, road sign node F, the weights of road sign node G are 0) it is defined as road sign
Next road sign node of node C, next road sign node of record present node C is road sign node G, and
Next road sign node G is defined as present node, then the weights of road sign node G is increased by 1 and (increase power
1 is become from 0) after value；
Step 6, owing to there is no barrier between present node G and destination node Z, the most directly may determine that
The next node of present node G is destination node Z；
Step 7, according to the initial position Y of mobile terminal, next road sign node all of of recording successively
Information (i.e. road sign node A, road sign node C, road sign node G) and destination node Z, determine shifting
The mobile route of dynamic terminal.
In step 7, specifically, at least can be to have following two mode to determine the mobile road of mobile terminal
Footpath, separately below explanation:
Mode one, directly by the initial position Y of mobile terminal, next road sign node all of of recording successively
Information and destination node in each node, all as a node of mobile route；
For example, reference Fig. 3, a kind of exemplary plot determining mobile route provided for the embodiment of the present invention,
According to above-mentioned steps 1～the method for step 6, then next road sign node of final entry is respectively as follows: road sign node
A, road sign node D, road sign node C, road sign node F, road sign node J, road sign node K, road sign save
Point L, then according to which one, the mobile route the most finally determined is: initial position Y-> road
Mark node A-> road sign node D-> road sign node C-> road sign node F-> road sign node J-> road sign node K->
Road sign node L-> destination node Z.
For another example, with reference to Fig. 4, the another kind provided for the embodiment of the present invention determines the exemplary plot of mobile route,
According to above-mentioned steps 1～the method for step 6, then next road sign node of final entry is respectively as follows: road sign node
L, road sign node M, road sign node L, road sign node K, road sign node J, road sign node F, road sign save
Point C, in this mode one, the mobile route the most finally determined is: initial position Y-> road sign
Node L-> road sign node M-> road sign node L-> road sign node K-> road sign node J-> road sign node F-> road
Mark node C-> destination node Z.
Therefore according to which one, one can finally be determined from initial position Y to destination node Z (i.e.
Target location Z) mobile route, but which one still has a place that can optimize, such as, at figure
In 3, in mobile route, it is road sign node D after road sign node A, is then road after road sign node D
Mark node C, but from Fig. 3, it can be seen that actually road sign node A is can directly to arrive road sign joint
Point C's, without first arriving road sign node D, arrive road sign node C the most again.Same problem is at figure
Becoming apparent from 4, initial position Y first arrives road sign node L, then arrives road sign node M, the most again
Returned to road sign node L, the most just arrived road sign node K, but figure 4, it is seen that directly from
It is the most easily that initial position Y arrives road sign node K, and first arrives road sign node L and road sign node
M is unnecessary action, can reduce the mobile efficiency of mobile terminal, therefore can come to provide another mode
Replacement mode one.
Mode two, determine the mobile route after optimization
Specifically, according to mobile terminal initial position in area coordinate figure, next road sign of recording successively
The information of node and destination node, determine the initial path of mobile terminal；For the first segment in initial path
Point and Section Point, if not having barrier between first node and Section Point, then delete first node and the
All nodes between two nodes, the initial path after being updated；Initial path after updating, determines
Mobile route for mobile terminal.
In which two, according to mobile terminal initial position in area coordinate figure, record successively under
The information of one road sign node and destination node, determine the initial path of mobile terminal, with mode one is identical.
With reference to Fig. 3, the initial path determined is: initial position Y-> road sign node A-> road sign node D-> road sign saves
Point C-> road sign node F-> road sign node J-> road sign node K-> road sign node L-> destination node Z.Reference
Fig. 4, the initial path determined is: initial position Y-> road sign node L-> road sign node M-> road sign node
L-> road sign node K-> road sign node J-> road sign node F-> road sign node C-> destination node Z.
It follows that need to be updated initial path, the initial path after being updated, concrete mode is:
For the first node in initial path and Section Point, if there is no obstacle between first node and Section Point
Thing, the then all nodes between deletion first node and Section Point, the initial path after being updated, its
Middle first node is any node in initial path, and Section Point is also any node in initial path,
First node can be identical with Section Point；Preferably, first node differs with Section Point.
Assume in the initial path determined that one has n node, if first node and Section Point can be
Identical node, the most at most passes throughSecondary judgement (i.e. judges have between first node and Section Point
Clear), it is possible to the initial path after being updated；If first node and Section Point cannot
It is identical node, the most at most passes throughSecondary judgement (i.e. judges between first node and Section Point
Have clear), it is possible to the initial path after being updated.
With reference to Fig. 3, because there is no barrier (i.e. road sign node A between road sign node A and road sign node C
Can directly arrive road sign node C), therefore delete all roads between road sign node A and road sign node C
Mark node (i.e. deleting road sign node D), the initial path after the renewal obtained is: initial position Y->
Road sign node A-> road sign node C-> road sign node F-> road sign node J-> road sign node K-> road sign node L->
Destination node Z, the initial path after updating the most at last is defined as the mobile route of mobile terminal.
With reference to Fig. 4, because there is no barrier (i.e. initial position Y between initial position Y and road sign node K
Can directly arrive road sign node K), therefore delete all roads between initial position Y and road sign node K
Mark node (i.e. deleting road sign node L, road sign node M and road sign node L), after the renewal obtained
Initial path be: initial position Y-> road sign node K-> road sign node J-> road sign node F-> road sign node
C-> destination node Z, the initial path after updating the most at last is defined as the mobile route of mobile terminal.
The most by the way two, compared to aforesaid way one, the mobile route obtained more optimizes, joint
About execution time of mobile route, decrease the resource consumption that mobile terminal is unnecessary, thus be one more
Excellent scheme.
Below as a example by Fig. 4, by the way of form, describe according to Fig. 4 determine from initial position
Y is to the mobile route of target location Z, and wherein, the initial weight of road sign node A～road sign node M all sets
It is set to 0.With reference to form 1, for the determination method signal table of mobile route in Fig. 4.
The determination method signal table of mobile route in table 1 Fig. 4
Then according to this table 1, can obtain initial path is: initial position Y-> road sign node L-> road sign saves
Point M-> road sign node L-> road sign node K-> road sign node J-> road sign node F-> road sign node C-> target
Node Z, is then optimized above-mentioned initial path, and the mobile route after being optimized is: initial position
Y-> road sign node K-> road sign node J-> road sign node F-> road sign node C-> destination node Z.
The method that the embodiment of the present invention provides, obtains mobile terminal initial position in area coordinate figure and incites somebody to action
This initial position is as present node, it is judged that whether have barrier between present node and destination node, if really
Surely there is barrier, then the road sign node from area coordinate figure determines do not have barrier between present node
Road sign node, and one of them road sign node is defined as next road sign node of present node, then will
This next road sign node, as present node, continually looks for next road sign node, until present node and target
Till there is no barrier between node, then according to the information of next the road sign nodes all recorded successively, really
Determine the mobile route of mobile terminal.The method, according to road sign node set in advance, determines one from initially
Position starts, and is then passed through road sign node, finally arrives the mobile route of destination node, the embodiment of the present invention
In by the road sign node preset and barrier, it is only necessary to processor carries out path computing, thus the party
Method is less demanding to the disposal ability of processor, therefore without putting into too much hardware device, such as sensor,
Image first-class, reduce hardware cost and the requirement to ambient light etc..
Below the determination method of the mobile route that the embodiment of the present invention provides is described in detail, as it is shown in figure 5,
The determination method detail flowchart of a kind of mobile route provided for the embodiment of the present invention, including:
Step 501, the weights initializing all road sign nodes are 0；
Step 502, obtain mobile terminal initial position in area coordinate figure and using initial position as working as
Front nodal point；
Step 503, judge whether have barrier between present node and destination node, if it is not, then forward step to
Rapid 514, the most then forward step 504 to；
Step 504, road sign node from area coordinate figure determine do not have barrier between present node
All road sign nodes；
The quantity of the road sign node that step 505, judgement determine whether more than 0, the most then forwards step 507 to,
If it is not, then forward step 506 to；
Step 506, generation warning information are also reported；
The quantity of the road sign node that step 507, judgement determine whether more than 1, the most then forwards step 508 to,
If it is not, then forward step 509 to；
Step 508, the road sign node that selection weights are minimum from the road sign node determined；
Step 509, this road sign node is defined as next road sign node that mobile terminal arrives from present node,
And update the weights of this road sign node；
Step 510, judge that the quantity of the minimum road sign node of weights whether more than 1, the most then forwards step to
Rapid 512, if it is not, then forward step 511 to；
Step 511, road sign node minimum for weights is defined as next that mobile terminal arrives from present node
Road sign node, and update the weights of the minimum road sign node of weights；
Step 512, select the distance between and destination node minimum from the minimum road sign node of weights
Road sign node, the road sign node of selection is defined as next road that mobile terminal arrives from described present node
Mark node, and the weights of more the newly selected road sign node；
Step 513, the information of record next road sign node described and using next road sign node described as currently
Node；
The information of next road sign node that step 514, basis record successively, determines the initial road of mobile terminal
Footpath；
Step 515, initial path to described mobile terminal are optimized, and obtain the mobile road of mobile terminal
Footpath；
Specifically, for the first node in described initial path and Section Point, if described first node with
There is no barrier between described Section Point, then delete the institute between described first node and described Section Point
There is node, the initial path after being updated；By the initial path after described renewal, it is defined as described movement
The mobile route of terminal.
Step 516, mobile terminal move according to described mobile route.
The method that the embodiment of the present invention provides, obtains mobile terminal initial position in area coordinate figure and incites somebody to action
This initial position is as present node, it is judged that whether have barrier between present node and destination node, if really
Surely there is barrier, then the road sign node from area coordinate figure determines do not have barrier between present node
Road sign node, and one of them road sign node is defined as next road sign node of present node, then will
This next road sign node, as present node, continually looks for next road sign node, until present node and target
Till there is no barrier between node, then according to the information of next the road sign nodes all recorded successively, really
Determine the mobile route of mobile terminal.The method, according to road sign node set in advance, determines one from initially
Position starts, and is then passed through road sign node, finally arrives the mobile route of destination node, the embodiment of the present invention
In by the road sign node preset and barrier, it is only necessary to processor carries out path computing, thus the party
Method is less demanding to the disposal ability of processor, therefore without putting into too much hardware device, such as sensor,
Image first-class, reduce hardware cost and the requirement to ambient light etc..
Based on identical technology design, the embodiment of the present invention also provides for the determination device of a kind of mobile route.As
Shown in Fig. 6, the determination device schematic diagram of a kind of mobile route provided for the embodiment of the present invention, including:
Initial position acquiring unit 601, for obtaining mobile terminal initial position in area coordinate figure also
Using described initial position as present node；
Barrier judgment unit 602, is used for judging whether have obstacle between described present node and destination node
Thing, described destination node is the target location that described mobile terminal is intended arriving, and described barrier is in described region
Positional information in coordinate diagram is set in advance；
Road sign node selects unit 603, for if it is determined that have between described present node and described destination node
Barrier, then determine in the road sign node from described area coordinate figure and do not hinder between described present node
Hinder the road sign node of thing；If it is determined that the quantity of road sign node more than 1, then according to the road sign node determined
Weights, determine next road sign node that described mobile terminal arrives from described present node, record described next
The information of road sign node and using next road sign node described as present node, return to judge described in work as prosthomere
Whether have the step of barrier between point and destination node, until described present node and described destination node it
Between there is no barrier；Wherein, the weights of described road sign node are used for representing that this road sign node is defined as next road
Mark degree of node；
Mobile route determines unit 604, for the information according to next the road sign node described recorded successively,
Determine the mobile route of described mobile terminal.
Alternatively, described road sign node selects unit 603, specifically for:
The road sign node that weights are minimum is selected from the road sign node determined；
If the quantity of the road sign node of weights minimum is more than 1, then from the road sign node of weights minimum, select one
The road sign node that distance between individual and described destination node is minimum, is defined as described by the road sign node of selection
Next road sign node that mobile terminal arrives from described present node, and update the road sign node of described selection
Weights；
If the quantity of the road sign node that weights are minimum is equal to 1, then the road sign node that described weights are minimum is determined
Next the road sign node arrived from described present node for described mobile terminal, and update described weights minimum
The weights of road sign node.
Alternatively, described mobile route determines unit 604, specifically for:
According to described mobile terminal initial position in area coordinate figure, successively record described in next road sign
The information of node and described destination node, determine the initial path of described mobile terminal；
For the first node in described initial path and Section Point, if described first node and described second
There is no barrier between node, then delete all nodes between described first node and described Section Point,
Initial path after being updated；
By the initial path after described renewal, it is defined as the mobile route of described mobile terminal.
Alternatively, described barrier judgment unit 602, specifically for according to following method judge described currently
A barrier whether is had between node and destination node:
According to described present node and the position of described destination node, area coordinate figure determines one from institute
State the present node line to the position of described destination node；
According to described barrier positional information in described area coordinate figure, it is judged that described line and described barrier
Hinder whether thing has common factor；
If it is determined that described line and described all barriers have common factor, it is determined that described present node and described mesh
Barrier is had between mark node；
If it is determined that described line does not occur simultaneously with described all barriers, it is determined that described present node is with described
Barrier is not had between destination node.
Alternatively, described road sign node selects unit 603, is additionally operable to:
Road sign node from described area coordinate figure determines do not have barrier between described present node
Road sign node after, however, it is determined that the quantity of road sign node equal to 1, then using the road sign node that determines as
Next road sign node that described mobile terminal arrives from described present node, record next road sign node described
Information and using next road sign node described as present node, return to judge that described present node saves with target
The step of barrier whether is had, until not having obstacle between described present node and described destination node between point
Thing；
If it is determined that the quantity of road sign node equal to 0, then generate warning information and report.
In the embodiment of the present invention, obtain mobile terminal initial position in area coordinate figure and by this initial bit
Put as present node, it is judged that whether have barrier between present node and destination node, however, it is determined that have obstacle
Thing, then determine in the road sign node from area coordinate figure that the road sign not having barrier between present node saves
Point, and one of them road sign node is defined as next road sign node of present node, then by this next road
Mark node, as present node, continually looks for next road sign node, until between present node and destination node
Till there is no barrier, then according to the information of next the road sign nodes all recorded successively, determine mobile whole
The mobile route of end.This device according to road sign node set in advance, determine one from the beginning of initial position,
It is then passed through road sign node, finally arrives the mobile route of destination node, by presetting in the embodiment of the present invention
Road sign node and barrier, it is only necessary to processor carries out path computing, thus this device is to processor
Disposal ability less demanding, therefore without putting into too much hardware device, such as sensor, image first-class,
Reduce hardware cost and the requirement to ambient light etc..
The present invention is with reference to method, equipment (system) and computer program product according to embodiments of the present invention
The flow chart of product and/or block diagram describe.It should be understood that can by computer program instructions flowchart and
/ or block diagram in each flow process and/or flow process in square frame and flow chart and/or block diagram and/
Or the combination of square frame.These computer program instructions can be provided to all-purpose computer, special-purpose computer, embedding
The processor of formula processor or other programmable data processing device is to produce a machine so that by calculating
The instruction that the processor of machine or other programmable data processing device performs produces for realizing at flow chart one
The device of the function specified in individual flow process or multiple flow process and/or one square frame of block diagram or multiple square frame.
These computer program instructions may be alternatively stored in and computer or the process of other programmable datas can be guided to set
In the standby computer-readable memory worked in a specific way so that be stored in this computer-readable memory
Instruction produce and include the manufacture of command device, this command device realizes in one flow process or multiple of flow chart
The function specified in flow process and/or one square frame of block diagram or multiple square frame.
These computer program instructions also can be loaded in computer or other programmable data processing device, makes
Sequence of operations step must be performed to produce computer implemented place on computer or other programmable devices
Reason, thus the instruction performed on computer or other programmable devices provides for realizing flow chart one
The step of the function specified in flow process or multiple flow process and/or one square frame of block diagram or multiple square frame.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know base
This creativeness concept, then can make other change and amendment to these embodiments.So, appended right is wanted
Ask and be intended to be construed to include preferred embodiment and fall into all changes and the amendment of the scope of the invention.
Obviously, those skilled in the art can carry out various change and modification without deviating from this to the present invention
Bright spirit and scope.So, if the present invention these amendment and modification belong to the claims in the present invention and
Within the scope of its equivalent technologies, then the present invention is also intended to comprise these change and modification.
Claims (10)
1. the determination method of a mobile route, it is characterised in that including:
Obtain mobile terminal initial position in area coordinate figure and using described initial position as working as prosthomere
Point；
Judge that whether having barrier, described destination node between described present node and destination node is described shifting
Dynamic terminal intends the target location arrived, and described barrier positional information in described area coordinate figure is in advance
Set；
If it is determined that have barrier between described present node and described destination node, then from described area coordinate figure
In road sign node in determine the road sign node not having barrier between described present node；If it is determined that road
The quantity of mark node more than 1, then according to the weights of the road sign node determined, determines that described mobile terminal is from institute
State next road sign node that present node arrives, the information of record next road sign node described and by described next
Road sign node, as present node, returns to judge whether have obstacle between described present node and destination node
The step of thing, until not having barrier between described present node and described destination node；Wherein, described road
The weights of mark node are used for representing that this road sign node is defined as next road sign degree of node；
According to the information of next road sign node described in recording successively, determine the mobile road of described mobile terminal
Footpath.
2. the method for claim 1, it is characterised in that described according to the road sign node determined
Weights, determine next road sign node that described mobile terminal arrives from described present node, including:
The road sign node that weights are minimum is selected from the road sign node determined；
If the quantity of the road sign node of weights minimum is more than 1, then from the road sign node of weights minimum, select one
The road sign node that distance between individual and described destination node is minimum, is defined as described by the road sign node of selection
Next road sign node that mobile terminal arrives from described present node, and update the road sign node of described selection
Weights；
If the quantity of the road sign node that weights are minimum is equal to 1, then the road sign node that described weights are minimum is determined
Next the road sign node arrived from described present node for described mobile terminal, and update described weights minimum
The weights of road sign node.
3. the method for claim 1, it is characterised in that described basis record successively described under
The information of one road sign node, determines the mobile route of described mobile terminal, including:
According to described mobile terminal initial position in area coordinate figure, successively record described in next road sign
The information of node and described destination node, determine the initial path of described mobile terminal；
For the first node in described initial path and Section Point, if described first node and described second
There is no barrier between node, then delete all nodes between described first node and described Section Point,
Initial path after being updated；
By the initial path after described renewal, it is defined as the mobile route of described mobile terminal.
4. the method as according to any one of claims 1 to 3, it is characterised in that sentence according to following method
Break and between described present node and destination node, whether have barrier:
According to described present node and the position of described destination node, in described area coordinate figure, determine one
From described present node to the line of the position of described destination node；
According to described barrier positional information in described area coordinate figure, it is judged that described line and described barrier
Hinder whether thing has common factor；
If it is determined that described line and described all barriers have common factor, it is determined that described present node and described mesh
Barrier is had between mark node；
If it is determined that described line does not occur simultaneously with described all barriers, it is determined that described present node is with described
Barrier is not had between destination node.
5. the method as according to any one of claims 1 to 3, it is characterised in that described from described region
After road sign node in coordinate diagram determines the road sign node not having barrier between described present node,
Also include:
If it is determined that the quantity of road sign node equal to 1, then using the road sign node that determines as described mobile terminal
Next the road sign node arrived from described present node, records the information of next road sign node described and by described
Next road sign node, as present node, returns to judge whether have between described present node and destination node
The step of barrier, until not having barrier between described present node and described destination node；
If it is determined that the quantity of road sign node equal to 0, then generate warning information and report.
6. the determination device of a mobile route, it is characterised in that including:
Initial position acquiring unit, for obtaining mobile terminal initial position in area coordinate figure and by institute
State initial position as present node；
Barrier judgment unit, is used for judging whether have barrier between described present node and destination node,
Described destination node is the target location that described mobile terminal is intended arriving, and described barrier is at described area coordinate
Positional information in figure is set in advance；
Road sign node selects unit, for if it is determined that have obstacle between described present node and described destination node
Thing, then determine do not have barrier between described present node in the road sign node from described area coordinate figure
Road sign node；If it is determined that the quantity of road sign node more than 1, then according to the weights of the road sign node determined,
Determine next road sign node that described mobile terminal arrives from described present node, record next road sign described joint
Point information and using next road sign node described as present node, return to judge described present node and mesh
The step of barrier whether is had, until not having between described present node and described destination node between mark node
Barrier；Wherein, the weights of described road sign node are used for representing that this road sign node is defined as next road sign node
Number of times；
Mobile route determines unit, for the information according to next the road sign node described recorded successively, determines
The mobile route of described mobile terminal.
7. device as claimed in claim 6, it is characterised in that described road sign node selects unit, tool
Body is used for:
The road sign node that weights are minimum is selected from the road sign node determined；
If the quantity of the road sign node of weights minimum is more than 1, then from the road sign node of weights minimum, select one
The road sign node that distance between individual and described destination node is minimum, is defined as described by the road sign node of selection
Next road sign node that mobile terminal arrives from described present node, and update the road sign node of described selection
Weights；
If the quantity of the road sign node that weights are minimum is equal to 1, then the road sign node that described weights are minimum is determined
Next the road sign node arrived from described present node for described mobile terminal, and update described weights minimum
The weights of road sign node.
8. device as claimed in claim 6, it is characterised in that described mobile route determines unit, tool
Body is used for:
According to described mobile terminal initial position in area coordinate figure, successively record described in next road sign
The information of node and described destination node, determine the initial path of described mobile terminal；
For the first node in described initial path and Section Point, if described first node and described second
There is no barrier between node, then delete all nodes between described first node and described Section Point,
Initial path after being updated；
By the initial path after described renewal, it is defined as the mobile route of described mobile terminal.
9. the device as according to any one of claim 6～8, it is characterised in that described barrier judgment
Unit, specifically for judging whether have obstacle between described present node and destination node according to following method
Thing:
According to described present node and the position of described destination node, in described area coordinate figure, determine one
From described present node to the line of the position of described destination node；
According to described barrier positional information in described area coordinate figure, it is judged that described line and described barrier
Hinder whether thing has common factor；
If it is determined that described line and described all barriers have common factor, it is determined that described present node and described mesh
Barrier is had between mark node；
If it is determined that described line does not occur simultaneously with described all barriers, it is determined that described present node is with described
Barrier is not had between destination node.
10. the device as according to any one of claim 6～8, it is characterised in that described road sign node selects
Select unit, be additionally operable to:
Road sign node from described area coordinate figure determines do not have barrier between described present node
Road sign node after, however, it is determined that the quantity of road sign node equal to 1, then using the road sign node that determines as
Next road sign node that described mobile terminal arrives from described present node, record next road sign node described
Information and using next road sign node described as present node, return to judge that described present node saves with target
The step of barrier whether is had, until not having obstacle between described present node and described destination node between point
Thing；
If it is determined that the quantity of road sign node equal to 0, then generate warning information and report.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610230815.8A CN105841704B (en) | 2016-04-13 | 2016-04-13 | A kind of determination method and device of movement routine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610230815.8A CN105841704B (en) | 2016-04-13 | 2016-04-13 | A kind of determination method and device of movement routine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105841704A true CN105841704A (en) | 2016-08-10 |
| CN105841704B CN105841704B (en) | 2019-01-18 |
Family
ID=56597636
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610230815.8A Expired - Fee Related CN105841704B (en) | 2016-04-13 | 2016-04-13 | A kind of determination method and device of movement routine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105841704B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106482739A (en) * | 2016-11-30 | 2017-03-08 | 英华达（上海）科技有限公司 | Automatical pilot transportation vehicle air navigation aid |
| CN108326849A (en) * | 2018-01-04 | 2018-07-27 | 浙江大学 | A kind of multi-degree-of-freemechanical mechanical arm dynamic obstacle avoidance paths planning method based on modified embedded-atom method |
| CN109661359A (en) * | 2016-09-05 | 2019-04-19 | 株式会社理光 | Movement routine determines methods and procedures |
| WO2019080679A1 (en) * | 2017-10-25 | 2019-05-02 | 上海思岚科技有限公司 | Method and device for constructing structure map for mobile robot |
| WO2021227459A1 (en) * | 2020-05-14 | 2021-11-18 | 特斯联科技集团有限公司 | Guidance control method and device, and storage medium and service robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102778229A (en) * | 2012-05-31 | 2012-11-14 | 重庆邮电大学 | Mobile Agent path planning method based on improved ant colony algorithm under unknown environment |
| CN102929286A (en) * | 2012-11-26 | 2013-02-13 | 北京理工大学 | Rapid planning method for surface global path of planet |
| CN104050390A (en) * | 2014-06-30 | 2014-09-17 | 西南交通大学 | Mobile robot path planning method based on variable-dimension particle swarm membrane algorithm |
| WO2015167220A1 (en) * | 2014-05-02 | 2015-11-05 | 한화테크윈 주식회사 | Device for planning path of mobile robot and method for planning path of mobile robot |
| CN105138859A (en) * | 2015-09-30 | 2015-12-09 | 四川师范大学 | Three-dimensional panorama roaming path finding method and system |
-
2016
- 2016-04-13 CN CN201610230815.8A patent/CN105841704B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102778229A (en) * | 2012-05-31 | 2012-11-14 | 重庆邮电大学 | Mobile Agent path planning method based on improved ant colony algorithm under unknown environment |
| CN102929286A (en) * | 2012-11-26 | 2013-02-13 | 北京理工大学 | Rapid planning method for surface global path of planet |
| WO2015167220A1 (en) * | 2014-05-02 | 2015-11-05 | 한화테크윈 주식회사 | Device for planning path of mobile robot and method for planning path of mobile robot |
| CN104050390A (en) * | 2014-06-30 | 2014-09-17 | 西南交通大学 | Mobile robot path planning method based on variable-dimension particle swarm membrane algorithm |
| CN105138859A (en) * | 2015-09-30 | 2015-12-09 | 四川师范大学 | Three-dimensional panorama roaming path finding method and system |
Non-Patent Citations (1)
| Title |
|---|
| 隋岩: "智能移动机器人路径规划方法研究", 《中国优秀硕士学位论文全文数据库·信息科技辑》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109661359A (en) * | 2016-09-05 | 2019-04-19 | 株式会社理光 | Movement routine determines methods and procedures |
| CN109661359B (en) * | 2016-09-05 | 2021-05-07 | 株式会社理光 | Moving path determining method and computer-readable storage medium |
| US11034517B2 (en) | 2016-09-05 | 2021-06-15 | Ricoh Company, Ltd. | Movement route determination method and program |
| CN106482739A (en) * | 2016-11-30 | 2017-03-08 | 英华达（上海）科技有限公司 | Automatical pilot transportation vehicle air navigation aid |
| WO2019080679A1 (en) * | 2017-10-25 | 2019-05-02 | 上海思岚科技有限公司 | Method and device for constructing structure map for mobile robot |
| CN108326849A (en) * | 2018-01-04 | 2018-07-27 | 浙江大学 | A kind of multi-degree-of-freemechanical mechanical arm dynamic obstacle avoidance paths planning method based on modified embedded-atom method |
| CN108326849B (en) * | 2018-01-04 | 2019-08-30 | 浙江大学 | A kind of multi-degree-of-freemechanical mechanical arm dynamic obstacle avoidance paths planning method based on modified embedded-atom method |
| WO2021227459A1 (en) * | 2020-05-14 | 2021-11-18 | 特斯联科技集团有限公司 | Guidance control method and device, and storage medium and service robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105841704B (en) | 2019-01-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105841704A (en) | Determination method and device of moving path | |
| CN105190239B (en) | For using the directionality and X-ray view techniques of the navigation of mobile device | |
| US8036775B2 (en) | Obstacle avoidance system for a user guided mobile robot | |
| US8966390B2 (en) | Method and apparatus for visually indicating location probability | |
| TW201144759A (en) | Using filtering with mobile device positioning in a constrained environment | |
| CN107423786A (en) | A kind of positioning navigation method based on Quick Response Code, device and equipment | |
| CN102142081B (en) | Image processing device, image processing method, and program | |
| CN108875804A (en) | A kind of data processing method and relevant apparatus based on laser point cloud data | |
| JP6181595B2 (en) | Map network data automatic generation device, network data automatic generation method, and network data automatic generation program | |
| US11118911B2 (en) | Localized map generation | |
| KR20190082923A (en) | Method and apparatus for drawing room layout | |
| WO2012009330A1 (en) | Methods and apparatuses for use in generating an encoded routeability graph description | |
| CN106289298A (en) | The display packing of point of interest and device, onboard navigation system | |
| CN104507047A (en) | Method and device for acquiring POI (point of interest) areas | |
| JP5302016B2 (en) | Spatial information management system, map information server device, and program | |
| Ng et al. | Design of a mobile augmented reality-based indoor navigation system | |
| CN110470308A (en) | A kind of obstacle avoidance system and method | |
| US9301094B2 (en) | Methods, systems and computer-readable media for tracking a position of an object | |
| CN112327828A (en) | Path planning method and device and computer readable storage medium | |
| CN108801259A (en) | A kind of indoor navigation method, device and mobile terminal | |
| JP2006227744A (en) | Information generation device, retrieval device, distribution device and information distribution system | |
| CN109472416A (en) | Indoor path planning method and device based on automatic road network data extraction, and client | |
| CN110087185A (en) | Commercial circle fence generation method, device, equipment and computer readable storage medium | |
| JP7160257B2 (en) | Information processing device, information processing method, and program | |
| JP5037660B2 (en) | Distribution apparatus and information distribution system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180222 Address after: 510663 Shenzhou Road, Guangzhou Science City, Guangzhou, Guangzhou economic and Technological Development Zone, Guangdong Province, No. 10 Applicant after: COMBA TELECOM SYSTEMS (CHINA) Ltd. Applicant after: COMBA TELECOM SYSTEMS (GUANGZHOU) Ltd. Applicant after: COMBA TELECOM TECHNOLOGY (GUANGZHOU) Ltd. Applicant after: TIANJIN COMBA TELECOM SYSTEMS Ltd. Address before: 510663 Guangdong city of Guangzhou Province Economic and Technological Development Zone Jinbi Road No. 6 Applicant before: COMBA TELECOM SYSTEMS (GUANGZHOU) Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200117 Address after: 510663 No. 10, Shenzhou Road, Science City, Guangzhou, economic and Technological Development Zone, Huangpu District, Guangzhou, Guangdong Province Patentee after: COMBA TELECOM SYSTEMS (CHINA) Ltd. Address before: 510663 Shenzhou Road, Guangzhou Science City, Guangzhou, Guangzhou economic and Technological Development Zone, Guangdong Province, No. 10 Co-patentee before: COMBA TELECOM SYSTEMS (GUANGZHOU) Ltd. Patentee before: COMBA TELECOM SYSTEMS (CHINA) Ltd. Co-patentee before: COMBA TELECOM TECHNOLOGY (GUANGZHOU) Ltd. Co-patentee before: TIANJIN COMBA TELECOM SYSTEMS Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190118 |