CN105841704B - A kind of determination method and device of movement routine - Google Patents
A kind of determination method and device of movement routine Download PDFInfo
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- CN105841704B CN105841704B CN201610230815.8A CN201610230815A CN105841704B CN 105841704 B CN105841704 B CN 105841704B CN 201610230815 A CN201610230815 A CN 201610230815A CN 105841704 B CN105841704 B CN 105841704B
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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
- G01C21/20—Instruments for performing navigational calculations
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The present invention relates to field of artificial intelligence, more particularly to a kind of determination method and device of movement routine, it include: the initial position using mobile terminal in area coordinate figure as present node, judge whether there is barrier between present node and destination node, if there is barrier, then select one from the road sign node in area coordinate figure does not have the road sign node of barrier between present node, next road sign node as present node, then using next road sign node as present node, back to judging whether there is the step of barrier between present node and destination node, until there is no barrier between present node and destination node；Movement routine is determined according to the next road sign node successively recorded.This method passes through preset road sign node and barrier, it is only necessary to which processor carries out path computing, thus of less demanding to the processing capacity of processor, there is no need to put into excessive hardware device, such as sensor, camera etc., reduces hardware cost.
Description
Technical field
The present invention relates to field of artificial intelligence more particularly to a kind of determination method and devices of movement routine.
Background technique
Mobile terminal point many kinds, wherein it is of greatest concern with service type mobile terminal, such as service humanoid robot etc..Service
The design of type mobile terminal is related to the technology of many aspects, and wherein mobile navigation technology is crucial one of the technology of comparison, master
It will be in order to realize under more complex environment, mobile terminal is moved to the planning of the movement routine of target position from initial position.
In the prior art, common mobile navigation technology has vision guided navigation method and avoidance obstacle navigation method etc..Wherein, depending on
Feel that navigation method mainly acquires visual pattern by the camera on mobile terminal, then utilizes image procossing, computer vision, mould
The relevant technologies such as type identification are analyzed to obtain the motion information of mobile terminal and spatial positional information, to realize navigation；And avoidance
Control navigation method is the barrier-avoiding method under a kind of dynamic environment, this method using sensor acquisition mobile terminal ambient enviroment depth
Information is spent, and according to obtained real time sensor metrical information, adjusts path is to avoid colliding.
For above-mentioned vision guided navigation method the problem is that this method belongs to fuzzy navigation, accuracy is low, to handle a large amount of view
Frequency information, requires processor technical capability very high, is unfavorable for device miniaturization, at the same vision signal by light influenced compared with
Greatly, it is necessary to be carried out under the good environment of light environment；And avoidance obstacle navigation method is there is also calculation amount is bigger, convergence rate
Relatively slowly, not high enough so as to cause navigation precision the problems such as local minimum.
The processing capacity of processor is required to compare in conclusion the navigation mode of mobile terminal in the prior art exists
High problem.
Summary of the invention
The present invention provides a kind of determination method and device of movement routine, to solve mobile terminal in the prior art
Navigation mode there is a problem of requiring the processing capacity of processor relatively high.
On the one hand, the embodiment of the present invention provides a kind of determination method of movement routine, comprising:
Obtain initial position of the mobile terminal in area coordinate figure and using the initial position as present node；
Judge whether there is barrier between the present node and destination node, the destination node is the mobile terminal
The quasi- target position reached, location information of the barrier in the area coordinate figure are preset；
If it is determined that having barrier between the present node and the destination node, then from the road in the area coordinate figure
There is no the road sign node of barrier between the determining and described present node in mark node；If it is determined that the quantity of road sign node be greater than
1, then according to the weight of determining road sign node, determine next road sign section that the mobile terminal is reached from the present node
Point, records the information of next road sign node and using next road sign node as present node, back to described in judgement
Whether there is the step of barrier between present node and destination node, until not having between the present node and the destination node
There is barrier；Wherein, the weight of the road sign node is for indicating that the road sign node is determined as next road sign degree of node；
According to the information of the next road sign node successively recorded, the movement routine of the mobile terminal is determined.
On the other hand, the embodiment of the present invention provides a kind of determining device of movement routine, comprising:
Initial position acquiring unit, for obtaining initial position of the mobile terminal in area coordinate figure and will be described initial
Position is as present node；
Barrier judgment unit, for judging whether there is barrier between the present node and destination node, the mesh
Marking node is the quasi- target position reached of the mobile terminal, and location information of the barrier in the area coordinate figure is
It is preset；
Road sign node selecting unit, for if it is determined that having barrier between the present node and the destination node, then
There is no the road sign node of barrier between present node determining and described in the road sign node in the area coordinate figure；If really
The quantity of fixed road sign node is greater than 1, then according to the weight of determining road sign node, determines the mobile terminal from described current
Next road sign node that node reaches records the information of next road sign node and using next road sign node as current
Node, back to judging whether there is the step of barrier between the present node and destination node, until the present node
There is no barrier between the destination node；Wherein, the weight of the road sign node is for indicating that the road sign node is determined as
Next road sign degree of node；
Movement routine determination unit determines the shifting for the information according to the next road sign node successively recorded
The movement routine of dynamic terminal.
Method provided in an embodiment of the present invention obtains initial position of the mobile terminal in area coordinate figure and this is initial
Position judges whether there is barrier between present node and destination node as present node, however, it is determined that has barrier, the area Ze Cong
It is determined in road sign node in the coordinate diagram of domain and there is no a road sign node of barrier between present node, and by one of road sign
Node is determined as next road sign node of present node, then using next road sign node as present node, continually looks for down
One road sign node, until there is no barrier between present node and destination node, then according to successively record it is all under
The information of one road sign node, determines the movement routine of mobile terminal.This method determines one according to preset road sign node
It is a then to pass through road sign node since initial position, the movement routine of destination node is finally reached, is led in the embodiment of the present invention
Cross preset road sign node and barrier, it is only necessary to which processor carries out path computing, thus this method is to the place of processor
It is not high to manage Capability Requirement, there is no need to put into excessive hardware device, such as sensor, camera etc., reduces hardware cost
And the requirement to ambient light etc..
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly introduced, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without any creative labor, it can also be obtained according to these attached drawings
His attached drawing.
The schematic diagram of a scenario that Fig. 1 is applicable in by the embodiment of the present invention；
Fig. 2 is a kind of determination method flow diagram of movement routine provided in an embodiment of the present invention；
Fig. 3 is a kind of exemplary diagram of determining movement routine provided in an embodiment of the present invention；
Fig. 4 is another exemplary diagram for determining movement routine provided in an embodiment of the present invention；
Fig. 5 is a kind of determination method detail flowchart of movement routine provided in an embodiment of the present invention；
Fig. 6 is a kind of determination schematic device of movement routine provided in an embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
The embodiment of the present invention is described in further detail with reference to the accompanying drawings of the specification.
As shown in Figure 1, the schematic diagram of a scenario being applicable in by the embodiment of the present invention.It should be noted that the applied field in Fig. 1
Scape is intended only as citing and is illustrated, and in practical applications, concrete application scene can be selected according to actual needs.
Mobile terminal is located in a specific region, such as can be in a dining room scene, can be in one
A market scene, can also be in household scene etc..Wherein, mobile terminal can be the machine of a service type
People can be automatic cleaner etc., as long as the movable machine equipment with artificial intelligence function, all can serve as this
Mobile terminal in inventive embodiments.
In Fig. 1, a kind of application scenarios that mobile terminal is applicable in illustratively are given, i.e. mobile terminal is in household
Under scene, serviced while convenience is provided for house person.In Fig. 1, have in household scene kitchen, dining room, parlor, master room,
The multiple regions such as toilet, guest room one, guest room two and balcony.The initial position of mobile terminal is located at the Y of balcony, current to need
At the Z in guest room two, why mobile terminal needs to be moved at Z from Y for mobile target position, it may be possible to because mobile whole
Termination receives some instruction at guest room two, and (such as the instruction that is issued by remote controler of user or user pass through guest room two
Some jingle bell button etc. at place), it needs mobile terminal to be moved at Z, provides service for the user at Z, for example pour, carry goods
Object etc., so that mobile terminal is it needs to be determined that mobile road at the Z being moved at guest room two from the current location Y of mobile terminal
Diameter is moved at Z from Y then along the movement routine determined.
In embodiments of the present invention, when it is implemented, there is following precondition: first, in mobile terminal either
The corresponding area coordinate figure of current household scene has been stored in advance in some ppu, and by taking Fig. 1 as an example, mobile terminal is either
The corresponding area coordinate figure of the household scene has been stored in advance in some ppu, for example, it is assumed that household scene is one long
It is rectangular, a coordinate origin can be selected first in household scene, after establishing coordinate system, generate an area coordinate figure, so
It afterwards can be the grid of multiple very littles, e.g. 100*200, totally 20000 grids, then with one by the household scene partitioning
The coordinate of central point in grid represents the coordinate of the grid, so as to recorded in the area coordinate figure this 20000
A coordinate points, for marking the coordinate of the household scene.Certainly specific how some position in household scene to be mapped to area
In the coordinate of domain, the present invention is not specifically limited；In addition, all barriers in household scene are also stored in the area coordinate figure
Coordinate information, such as the coordinate information of wall, the coordinate information of the bed in room, the coordinate information etc. of the tables and chairs in parlor；
Second, it is assumed that the barrier in household scene is static；Third has recorded multiple preset roads in area coordinate figure
Mark node coordinate information, by taking Fig. 1 as an example, shown in node A~node M be preset multiple road sign nodes,
And the coordinate information of these road sign nodes is pre-stored in mobile terminal either some ppu, needs to illustrate
It is that these road sign nodes can be virtual, more specifically, only has recorded the coordinate information of these road sign nodes, but this
There is no corresponding entities to exist for a little road sign nodes；Certainly, the road sign node of entity can also be set in household scene.
Wherein, area coordinate figure can be by mobile terminal by calculating after carrying out round scanning in the household scene
It generates, is also possible to by being manually entered；For the coordinate information of road sign node, it equally can be and passed through by mobile terminal
(such as scan main current mouth) that automatically generates after scanning is also possible to by inputting after manually setting.
In embodiments of the present invention, multiple road signs by above-mentioned preset area coordinate figure, in area coordinate figure
The coordinate information of node, the coordinate information of the barrier in area coordinate figure, final purpose be to determine one can be from first
The executable movement routine being moved at the Z of target position at beginning position Y, so-called executable path refer to mobile terminal
Barrier cannot be encountered in moving process, such as mobile terminal can not directly be moved to target position Z from initial position Y, because
There is barrier obstruction between Y and Z, but mobile terminal can pass through movement routine: Y- > A- > C- > G- > Z, to realize from Y
Reach the purpose at Z.
As shown in Fig. 2, being a kind of determination method flow diagram of movement routine provided in an embodiment of the present invention, comprising:
Step 201 obtains initial position of the mobile terminal in area coordinate figure and using the initial position as currently
Node；
Step 202 judges whether there is barrier between the present node and destination node；
Step 203, if it is determined that having barrier between the present node and the destination node, then from the area coordinate
There is no the road sign node of barrier between the determining and described present node in road sign node in figure；If it is determined that road sign node
Quantity is greater than 1, then according to the weight of determining road sign node, it is next to determine that the mobile terminal is reached from the present node
Road sign node, records the information of next road sign node and using next road sign node as present node, back to sentencing
Whether have barrier the step of, until the present node and the destination node if breaking between the present node and destination node
Between there is no barrier；
The information for next road sign node that step 204, basis successively record, determines the mobile road of the mobile terminal
Diameter.
Above-mentioned steps 201~204 give the method for the movement routine of determining mobile terminal.Wherein, in step 201,
Initial position of the mobile terminal in area coordinate figure is obtained first and using the initial position as present node, wherein shifting
The acquisition modes of the initial position of dynamic terminal can at least have following two mode according to the application type of mobile terminal:
One, mobile terminal is from a fixed position every time；
Under the application type, mobile terminal is from a fixed position, when receiving service order every time
Afterwards, offer service is just provided, the position of the fixation is moved back to after service is provided, thus can be in advance by the fixation
Coordinate information of the position in area coordinate figure is recorded, mobile whole so as to directly get as initial position
Hold the initial position in area coordinate figure.
The advantages of obtaining initial position of the mobile terminal in area coordinate figure using this method be, without excessive hard
Part is supported, of less demanding to the processing capacity of processor.
Two, mobile terminal is not every time from a fixed position；
Under the application type, each initial position of mobile terminal is not fixed, thus mobile terminal can not directly acquire
Initial position, but need to determine the initial position of itself by certain mode.
Mobile terminal determines there are many kinds of the modes of the initial position of itself, illustratively provides two ways below.
First, position coordinates sensing module is installed in mobile terminal, such as similar to the odometer in taxi, thus
Mobile terminal can record the current location of itself when mobile always, thus when mobile terminal it needs to be determined that itself
Initial position when, directly acquire the current location of itself, and using the current location as initial position.
Second, detector, such as acoustic detector etc. are installed in mobile terminal, thus work as mobile terminal it needs to be determined that from
It, can be by issuing sound wave, then by detecting mobile terminal itself position according to the echo received when the initial position of body
Relative position in household scene, then area coordinate figure according to the pre-stored data, calculates the initial position of itself.
Above two mode obtains the advantages of position of the mobile terminal in area coordinate figure and is, since mobile terminal can
With the position being obtained from area coordinate figure in real time, therefore mobile terminal provides service every time and has been not necessarily to return just later
Beginning position reduces the moving distance of mobile terminal, improves the efficiency of mobile terminal.
The above method gives the various ways for obtaining initial position of the mobile terminal in area coordinate figure, concrete application
In, it is not limited to which kind of mode used.
In step 201, mobile terminal is got after the initial position in area coordinate figure, which is made
For present node, as shown in Figure 1, the initial position of mobile terminal is at Y, present node is then Y.
In above-mentioned steps 202, judge whether there is barrier between present node and destination node, wherein destination node refers to
Be the quasi- target position reached of mobile terminal, as shown in Figure 1, target position therein is that Z locates, i.e., destination node is Z；And
Location information of the barrier in area coordinate figure is preset.
In Fig. 1, since node Y is present node, then judge whether there is obstacle between present node Y and destination node Z
Object can directly determine movement routine are as follows: Y- > Z when determining does not have barrier between present node Y and destination node Z；When
It determines when having barrier between present node Y and destination node Z, then directly can not be moved to Z from Y, but it needs to be determined that go out it
Its movement routine.
Wherein, how to judge whether there is barrier between present node and destination node, there are many modes, and one kind is optionally
Embodiment are as follows: inductor is installed on mobile terminals, whether can detect in real time around mobile terminal has barrier
Hinder object, but this mode needs to provide the support of hardware device, such as inductor, therefore, the embodiment of the present invention provides other one
Kind judges the method for whether having barrier between present node and destination node.
Optionally, judge whether there is barrier between present node and destination node in the following manner: according to working as prosthomere
The position of point and destination node, determination one is from the present node to the position of the destination node in area coordinate figure
Line；According to location information of the barrier in the area coordinate figure, judge whether are the line and the barrier
There is intersection；If it is determined that the line and all barriers have intersection, it is determined that the present node and the destination node
Between have barrier；If it is determined that the line and all barriers do not have intersection, it is determined that the present node with it is described
There is no barrier between destination node.
Specifically, in the above method, the institute by being stored in advance in area coordinate figure information and area coordinate figure
Have the coordinate information of barrier, thus determined in area coordinate figure line between present node to destination node it
Afterwards, namely the coordinate information of the line is determined, so as to by judge the seat of the coordinate information of the line with all barriers
Whether there is intersection between mark information, whether has barrier between present node and destination node to determine.In area coordinate figure,
If it is determined that the coordinate information of the line and the coordinate information of barrier have intersection, it is determined that between present node and destination node
There is barrier；If it is determined that the coordinate information of the line and the coordinate information of barrier do not have intersection, it is determined that present node with
There is no barrier between destination node.Wherein, it should be noted that believe in the coordinate for the coordinate information and barrier for judging line
Whether whether breath when having intersection, can be directly to judge to have between the coordinate information of line and the coordinate information of barrier and be overlapped
Coordinate points can also be the minimum worked as and judged between the coordinate information of line and the coordinate information of barrier in practical applications
When distance is less than preset threshold value, the coordinate information of the coordinate information and barrier of also thinking line has intersection, because moving
Dynamic terminal itself is also to have certain size size, it is ensured that mobile terminal can pass through, will not encounter barrier it is necessary to
Guarantee that mobile terminal keeps certain distance with barrier when moving.Thus this method directly can be with obstacle according to the pre-stored data
Location information of the object in area coordinate figure, so that it may judge whether present node has barrier between destination node, it should
Judgment method is very quick, and calculation amount is small, and without offer hardware detecting device, such as inductor etc., so that it may realize
Rapidly and accurately judge whether present node has barrier between destination node.
In above-mentioned steps 203, when determine has barrier between present node and destination node in step 202, then from
There is no the road sign node of barrier between the determining and described present node in road sign node in area coordinate figure.For example,
Referring to Fig.1, it is assumed that present node is node Y, and the road sign node in area coordinate figure is road sign node A~road sign node M, at this
In a little nodes, there is no the road sign node of barrier there was only road sign node A, that is, determine and present node between present node Y
Between there is no the quantity of the road sign node of barrier to be equal to 1, then using determining road sign node as mobile terminal from present node
The next road sign node reached records the information of next road sign node and using next road sign node as working as prosthomere
Point then proceedes to judge whether have barrier between the present node and destination node, until the present node with it is described
There is no barrier between destination node, that is, determines that road sign node A is next road sign node that present node Y is reached, record road sign
The information of node A, such as coordinate information continue to judge present node A and target then using road sign node A as present node
Whether there is barrier between node Z, due to having barrier between present node A and destination node Z, it is determined that with present node A
Between there is no all road sign nodes of barrier, as shown in Figure 1, that determines does not have the road of barrier between present node A
Mark node has road sign node B, road sign node C, road sign node D, therefore the present node A next road sign node to be moved can only be
One in this 3 road sign nodes, be exactly it needs to be determined which the present node A next road sign node to be moved to is specifically below
One.
Optionally, a kind of implementation are as follows: when the number of the determining road sign node for not having barrier between present node
When amount is greater than 1, then according to the weight of determining road sign node, it is next to determine that the mobile terminal is reached from the present node
Road sign node, records the information of next road sign node and using next road sign node as present node, then returns
To judging whether there is the step of barrier between the present node and destination node, until the present node and the target
There is no barrier between node.
Wherein, the weight of road sign node is for indicating that the road sign node is determined as next road sign degree of node, initial
Under state, the weight of all road sign nodes is both configured to 0, to be moved to down when a road sign node is selected for present node
When one road sign node, then the weight of the road sign node is added 1, indicates that the number that the road sign node occurs in movement routine increases
It is primary.
Referring to Fig.1, present node A, the road sign node for not having barrier between present node A determined have road sign
Node B, road sign node C, road sign node D.At this point, the weight of road sign node B, road sign node C, road sign node D are all 0, currently
The weight of node A is 1 (because present node A has been determined being selected as a next road sign node in movement routine), so
Afterwards according to the weight of road sign node B, road sign node C, road sign node D, determine mobile terminal under present node A arrival
One road sign node.Specifically, there are following two kinds of implementations.
Mode one, the next road sign node for only present node being selected to reach according to the weight of determining road sign node；
In this approach, it can be the minimum road sign node of weight for directly selecting determining road sign node as next
Road sign node then can be when there is the weight of multiple road sign nodes to be all minimum and therefrom randomly choose a road sign node work
For next road sign node.For example, present node be A when, road sign node B, road sign node C, road sign node D weight be all 0, then
Next road sign node of the road sign node as present node A, such as selection road sign node C are therefrom randomly choosed, either
Select road sign node B, or selection road sign node D.
Mode two, weight and the distance between road sign node and destination node according to determining road sign node, to select
Select next road sign node of present node arrival；
Specifically, the smallest road sign node of weight is selected first from determining road sign node；If the smallest road sign of weight
The quantity of node is greater than 1, then selects the distance between one and the destination node minimum from the smallest road sign node of weight
Road sign node, the road sign node of selection is determined as next road sign section that the mobile terminal is reached from the present node
Point, and update the weight of the selected road sign node；
If the quantity of the smallest road sign node of weight is equal to 1, the smallest road sign node of the weight is determined as described
Next road sign node that mobile terminal is reached from the present node, and update the weight of the smallest road sign node of the weight.
In conjunction with Fig. 1, or by taking present node is road sign node A as an example, currently the determining the smallest road sign node of weight has 3
It is a, respectively road sign node B, road sign node C and road sign node D (weight is all 0), then by its mid-range objectives node Z
Nearest road sign node is determined as next road sign node, since road sign node C distance objective node Z is nearest, in this method
In directly determine road sign node C be present node A next road sign node, then also need to record the information of a road sign node
(i.e. next road sign node of record present node A is road sign node C), then increases by 1 (road sign section for the weight of road sign node C
Become 1) after the weight increase of point C from 0, and using road sign node C as present node, continues to judge present node C and target
Whether there is barrier between node Z, if so, next road sign node it needs to be determined that present node C is then gone back, until present node
Until there is no barrier between destination node Z.
In addition, if in step 203, determining the quantity etc. for the road sign node for not having barrier between present node
In 0, that is, it can not find next road sign node of present node, then directly generate warning information and broadcast, for example, referring to Fig.1,
Assuming that there is no road sign node A in Fig. 1, only road sign node B~road sign node M, at this point, present node is section when most starting
Point Y, due to having barrier between all road sign nodes (i.e. road sign node B~road sign node M) and present node Y, thus
Lead to the next road sign node that can not find present node Y, at this point it is possible to which determination, which can not find one, reaches mesh from initial position Y
The movement routine of cursor position Z, thus warning information is directly produced, such as warning information content is " can not find movement routine ", or
Person is " current location is wrong, artificial corrigendum " etc., and is broadcasted by voice system, so that user is hearing alarm
After information, the current location of active accommodation mobile terminal, so that mobile terminal can correctly determine movement routine.
In above-mentioned steps 204, (such as sat according to the information of all next road sign nodes successively recorded in step 203
Mark information), determine the movement routine of the mobile terminal.
Below with reference to Fig. 1, the method for the application embodiment of the present invention is determined from initial position Y at the Z of target position
The movement routine of (i.e. destination node Z) does complete explanation.
Road sign node A~road sign node M weight in area coordinate figure is all initialized as 0 by step 1；
Step 2 obtains coordinate information of the mobile terminal at the initial position Y in area coordinate figure, and by initial position Y
As present node；
Step 3, due to having barrier between present node Y and destination node Z, it is determined that do not have before with present node Y
All road sign nodes of barrier are as follows: road sign node A, since it is determined that road sign node quantity be equal to 1, then directly by road sign
Node A is determined as next road sign node of present node Y, and next road sign node of record present node Y is road sign node A, with
And next road sign node A is determined as present node, the weight of road sign node A, which is then increased by 1, (is become after increase weight from 0
1)；
Step 4, due to having barrier between present node A and destination node Z, it is determined that do not have before with present node A
All road sign nodes of barrier are as follows: road sign node B, road sign node C, road sign node D, and will wherein weight it is minimum and apart from mesh
The nearest road sign node C of node Z is marked, next road sign node of road sign node A is determined as, records next road sign of present node A
Node is road sign node C, and next road sign node C is determined as present node, and the weight of road sign node C is then increased by 1
(becoming 1 from 0 after increase weight)；
Step 5, due to having barrier between present node C and destination node Z, it is determined that do not have before with present node C
All road sign nodes of barrier are as follows: road sign node B, road sign node D, road sign node F, road sign node G, and will wherein weight is most
Road sign node G (wherein road sign node B, road sign node D, road sign node F, road sign node G small and that distance objective node Z is nearest
Weight be the next road sign node for 0) being determined as road sign node C, record present node C next road sign node be road sign section
Point G, and next road sign node G is determined as present node, the weight of road sign node G is then increased by 1 (increase after weight by
1) 0 becomes；
Step 6, due to there is no barrier between present node G and destination node Z, then can directly determine present node G
Next node be destination node Z；
Information (the i.e. road of step 7, all next road sign nodes according to the initial position Y of mobile terminal, successively recorded
Mark node A, road sign node C, road sign node G) and destination node Z, determine the movement routine of mobile terminal.
In step 7, specifically, following two mode can at least determines the movement routine of mobile terminal, below
Illustrate respectively:
Mode one, the information of all next road sign nodes directly recorded by the initial position Y of mobile terminal, successively with
And each of destination node node, all as a node of movement routine；
It for example, is a kind of exemplary diagram of determining movement routine provided in an embodiment of the present invention, according to upper referring to Fig. 3
Step 1~step 6 method is stated, 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 node L, then it is final true in step 7 according to which one
Fixed movement routine are as follows: initial position Y- > road sign node A- > road sign node D- > road sign node C- > road sign node F- > road sign section
Point J- > road sign node K- > road sign node L- > destination node Z.
For another example, referring to Fig. 4, the exemplary diagram of movement routine is determined for another kind provided in an embodiment of the present invention, according to upper
Step 1~step 6 method is stated, 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 node C, in this mode one, it is final in step 7 to determine
Movement routine are as follows: 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.
Therefore according to which one, can finally determine one from initial position Y to destination node Z (i.e. target position
Z movement routine), but which one still has the place that can optimize, for example, in Fig. 3, in movement routine, road sign section
It is road sign node D after point A, is then road sign node C after road sign node D, but from Fig. 3, it can be seen that actually road
Mark node A can directly reach road sign node C, without first reaching road sign node D, then reach road sign node C again.Together
The problem of sample, becomes apparent in Fig. 4, and initial position Y first reaches road sign node L, then reaches road sign node M, is then returned to
Then road sign node L just reaches road sign node K, but figure 4, it is seen that directly reaches road sign section from initial position Y
Point K is the most easily, and first to reach road sign node L and road sign node M is extra movement, can reduce the movement of mobile terminal
Efficiency, therefore another mode can be provided to replace mode one.
Mode two determines the movement routine after optimization
Specifically, the initial position according to mobile terminal in area coordinate figure, the next road sign node successively recorded
Information and destination node determine the initial path of mobile terminal；For the first node and second node in initial path, if
There is no barrier between one node and second node, then deletes all nodes between first node and second node, obtain more
Initial path after new；By updated initial path, it is determined as the movement routine of mobile terminal.
In which two, next road sign for according to initial position of the mobile terminal in area coordinate figure, successively recording
The information and destination node of node, determine the initial path of mobile terminal, are identical with mode one.With reference to Fig. 3, what is determined is first
Beginning path are as follows: initial position Y- > road sign node A- > road sign node D- > road sign node C- > road sign node F- > road sign node J- > road
Mark node K- > road sign node L- > destination node Z.With reference to Fig. 4, determining initial path are as follows: 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.
Next, needing to be updated initial path, updated initial path, concrete mode are obtained are as follows: for just
First node and second node in beginning path delete first segment if not having barrier between first node and second node
All nodes between point and second node, obtain updated initial path, and wherein first node is appointing in initial path
One node, second node are also any node in initial path, and first node can be identical with second node；Preferably,
One node and second node be not identical.
Assuming that determine initial path in a shared n node, if first node and second node can be it is identical
Node then at most passes throughSecondary judgement (judging there is clear between first node and second node), so that it may
Obtain updated initial path；If first node and second node cannot be identical nodes, at most pass throughSecondary judgement (judging there is clear between first node and second node), so that it may obtain updated initial
Path.
Referring to Fig. 3, because not having barrier between road sign node A and road sign node C, (i.e. road sign node A can be arrived directly
Up to road sign node C), therefore all road sign nodes deleted between road sign node A and road sign node C (delete road sign node
D), the updated initial path obtained are as follows: 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, is finally determined as mobile terminal for updated initial path
Movement routine.
Referring to Fig. 4, because not having barrier between initial position Y and road sign node K, (i.e. initial position Y can be arrived directly
Up to road sign node K), therefore all road sign nodes deleted between initial position Y and road sign node K (delete road sign node
L, road sign node M and road sign node L), obtained updated initial path are as follows: initial position Y- > road sign node K- > road sign
Node J- > road sign node F- > road sign node C- > destination node Z, is finally determined as mobile terminal for updated initial path
Movement routine.
Therefore through the above way two, compared to aforesaid way one, obtained movement routine more optimizes, and has saved movement
The execution time in path reduces the unnecessary resource consumption of mobile terminal, thus is a kind of more optimal solution.
Below by taking Fig. 4 as an example, by way of table, to describe to be determined according to Fig. 4 slave initial position Y to target position
Set the movement routine of Z, wherein road sign node A~road sign node M initial weight is both configured to 0.It is in Fig. 4 referring to table 1
The determination method schematic table of movement routine.
The determination method schematic table of movement routine in 1 Fig. 4 of table
Then according to the table 1, available initial path are as follows: initial position Y- > road sign node L- > road sign node M -> road
Node L- > road sign node K- > road sign node J- > road sign node F- > road sign node C- > destination node Z is marked, then to above-mentioned initial
Path optimizes, the movement routine after being optimized are as follows: initial position Y- > road sign node K- > road sign node J- > road sign node
F- > road sign node C- > destination node Z.
Method provided in an embodiment of the present invention obtains initial position of the mobile terminal in area coordinate figure and this is initial
Position judges whether there is barrier between present node and destination node as present node, however, it is determined that has barrier, the area Ze Cong
It is determined in road sign node in the coordinate diagram of domain and there is no a road sign node of barrier between present node, and by one of road sign
Node is determined as next road sign node of present node, then using next road sign node as present node, continually looks for down
One road sign node, until there is no barrier between present node and destination node, then according to successively record it is all under
The information of one road sign node, determines the movement routine of mobile terminal.This method determines one according to preset road sign node
It is a then to pass through road sign node since initial position, the movement routine of destination node is finally reached, is led in the embodiment of the present invention
Cross preset road sign node and barrier, it is only necessary to which processor carries out path computing, thus this method is to the place of processor
It is not high to manage Capability Requirement, there is no need to put into excessive hardware device, such as sensor, camera etc., reduces hardware cost
And the requirement to ambient light etc..
The determination method of movement routine provided in an embodiment of the present invention is described in detail below, as shown in figure 5, being this hair
A kind of determination method detail flowchart for movement routine that bright embodiment provides, comprising:
Step 501, the weight for initializing all road sign nodes are 0；
Step 502 obtains initial position of the mobile terminal in area coordinate figure and using initial position as present node；
Step 503 judges whether there is barrier between present node and destination node, if it is not, step 514 is then gone to, if
It is then to go to step 504；
Step 504, from there is no all of barrier between determining in the road sign node in area coordinate figure and present node
Road sign node；
Step 505 judges whether the quantity of determining road sign node is greater than 0, if so, step 507 is gone to, if it is not, then
Go to step 506；
Step 506 generates warning information and broadcasts；
Step 507 judges whether the quantity of determining road sign node is greater than 1, if so, step 508 is gone to, if it is not, then
Go to step 509；
Step 508 selects the smallest road sign node of weight from determining road sign node；
The road sign node is determined as next road sign node that mobile terminal is reached from present node, and updated by step 509
The weight of the road sign node；
Step 510 judges whether the quantity of the smallest road sign node of weight is greater than 1, if so, step 512 is gone to, if
It is no, then go to step 511；
The smallest road sign node of weight is determined as next road sign section that mobile terminal is reached from present node by step 511
Point, and update the weight of the smallest road sign node of weight；
Step 512 selects the smallest road sign of the distance between one and destination node from the smallest road sign node of weight
The road sign node of selection is determined as next road sign node that mobile terminal is reached from the present node, and updates choosing by node
The weight for the road sign node selected；
Step 513, the information for recording next road sign node and using next road sign node as present node；
The information for next road sign node that step 514, basis successively record, determines the initial path of mobile terminal；
Step 515 optimizes the initial path of the mobile terminal, obtains the movement routine of mobile terminal；
Specifically, for the first node and second node in the initial path, if the first node and described the
There is no barrier between two nodes, then deletes all nodes between the first node and the second node, updated
Initial path afterwards；By the updated initial path, it is determined as the movement routine of the mobile terminal.
Step 516, mobile terminal are moved according to the movement routine.
Method provided in an embodiment of the present invention obtains initial position of the mobile terminal in area coordinate figure and this is initial
Position judges whether there is barrier between present node and destination node as present node, however, it is determined that has barrier, the area Ze Cong
It is determined in road sign node in the coordinate diagram of domain and there is no a road sign node of barrier between present node, and by one of road sign
Node is determined as next road sign node of present node, then using next road sign node as present node, continually looks for down
One road sign node, until there is no barrier between present node and destination node, then according to successively record it is all under
The information of one road sign node, determines the movement routine of mobile terminal.This method determines one according to preset road sign node
It is a then to pass through road sign node since initial position, the movement routine of destination node is finally reached, is led in the embodiment of the present invention
Cross preset road sign node and barrier, it is only necessary to which processor carries out path computing, thus this method is to the place of processor
It is not high to manage Capability Requirement, there is no need to put into excessive hardware device, such as sensor, camera etc., reduces hardware cost
And the requirement to ambient light etc..
Based on the same technical idea, the embodiment of the present invention also provides a kind of determining device of movement routine.Such as Fig. 6 institute
Show, be a kind of determination schematic device of movement routine provided in an embodiment of the present invention, comprising:
Initial position acquiring unit 601, for obtaining initial position of the mobile terminal in area coordinate figure and will be described
Initial position is as present node；
Barrier judgment unit 602, it is described for judging whether there is barrier between the present node and destination node
Destination node is the quasi- target position reached of the mobile terminal, location information of the barrier in the area coordinate figure
It is preset；
Road sign node selecting unit 603, for if it is determined that have barrier between the present node and the destination node,
Then there is no the road sign node of barrier between present node determining and described in the road sign node in the area coordinate figure；If
The quantity of determining road sign node is greater than 1, then according to the weight of determining road sign node, determines that the mobile terminal is worked as described in
Next road sign node that front nodal point reaches records the information of next road sign node and using next road sign node as working as
Front nodal point, back to judging whether there is the step of barrier between the present node and destination node, until described work as prosthomere
There is no barrier between point and the destination node；Wherein, the weight of the road sign node is for indicating that the road sign node determines
For next road sign degree of node；
Movement routine determination unit 604, described in determining according to the information of next road sign node successively recorded
The movement routine of mobile terminal.
Optionally, the road sign node selecting unit 603, is specifically used for:
The smallest road sign node of weight is selected from determining road sign node；
If the quantity of the smallest road sign node of weight is greater than 1, one and institute are selected from the smallest road sign node of weight
State the smallest road sign node of the distance between destination node, by the road sign node of selection be determined as the mobile terminal from described in work as
Next road sign node that front nodal point reaches, and update the weight of the selected road sign node；
If the quantity of the smallest road sign node of weight is equal to 1, the smallest road sign node of the weight is determined as described
Next road sign node that mobile terminal is reached from the present node, and update the weight of the smallest road sign node of the weight.
Optionally, the movement routine determination unit 604, is specifically used for:
According to initial position of the mobile terminal in area coordinate figure, successively the next road sign node recorded
Information and the destination node, determine the initial path of the mobile terminal；
For the first node and second node in the initial path, if the first node and the second node it
Between without barrier, then delete all nodes between the first node and the second node, obtain updated initial
Path；
By the updated initial path, it is determined as the movement routine of the mobile terminal.
Optionally, the barrier judgment unit 602 is specifically used for judging the present node and mesh according to following method
Whether there is barrier between mark node:
According to the position of the present node and the destination node, determined in area coordinate figure one from described current
Line of the node to the position of the destination node；
According to location information of the barrier in the area coordinate figure, judge that the line is with the barrier
It is no to have intersection；
If it is determined that the line and all barriers have intersection, it is determined that the present node and the destination node
Between have barrier；
If it is determined that the line and all barriers do not have intersection, it is determined that the present node and the target section
There is no barrier between point.
Optionally, the road sign node selecting unit 603, is also used to:
There is no the road sign of barrier between present node determining and described in the road sign node in the area coordinate figure
After node, however, it is determined that road sign node quantity be equal to 1, then using determining road sign node as the mobile terminal from described in
Present node reach next road sign node, record the information of next road sign node and using next road sign node as
Present node, back to judging whether there is the step of barrier between the present node and destination node, until described current
There is no barrier between node and the destination node；
If it is determined that road sign node quantity be equal to 0, then generate warning information and broadcast.
In the embodiment of the present invention, obtain initial position of the mobile terminal in area coordinate figure and using the initial position as
Present node judges whether there is barrier between present node and destination node, however, it is determined that has barrier, then from area coordinate figure
In road sign node in determine and there is no a road sign node of barrier between present node, and one of road sign node is determined
Next road sign section is continually looked for then using next road sign node as present node for next road sign node of present node
Point, until not having barrier between present node and destination node, then according to all next road sign sections successively recorded
The information of point, determines the movement routine of mobile terminal.The device according to preset road sign node, determine one from initial
Position starts, and then passes through road sign node, finally reaches the movement routine of destination node, passes through in the embodiment of the present invention preset
Road sign node and barrier, it is only necessary to which processor carries out path computing, thus the device wants the processing capacity of processor
It asks not high, there is no need to put into excessive hardware device, such as sensor, camera etc., reduces hardware cost and to environment
The requirement of light etc..
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications can be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of determination method of movement routine characterized by comprising
Obtain initial position of the mobile terminal in area coordinate figure and using the initial position as present node；
Judge whether there is barrier between the present node and destination node, the destination node is that the mobile terminal is intended arriving
The target position reached, location information of the barrier in the area coordinate figure are preset；
If it is determined that having barrier between the present node and the destination node, then from the road sign section in the area coordinate figure
There is no the road sign node of barrier between the determining and described present node in point；If it is determined that road sign node quantity be greater than 1, then
According to the weight of determining road sign node, next road sign node that the mobile terminal is reached from the present node is determined, remember
It records the information of next road sign node and using next road sign node as present node, works as prosthomere back to judgement is described
Whether there is the step of barrier between point and destination node, until there is no obstacle between the present node and the destination node
Object；Wherein, the weight of the road sign node is for indicating that the road sign node is determined as next road sign degree of node；
According to the information of the next road sign node successively recorded, the movement routine of the mobile terminal is determined.
2. the method as described in claim 1, which is characterized in that the weight according to determining road sign node, determine described in
Next road sign node that mobile terminal is reached from the present node, comprising:
The smallest road sign node of weight is selected from determining road sign node；
If the quantity of the smallest road sign node of weight is greater than 1, one and the mesh are selected from the smallest road sign node of weight
The smallest road sign node of the distance between node is marked, the road sign node of selection is determined as the mobile terminal and works as prosthomere from described
Next road sign node that point reaches, and update the weight of the selected road sign node；
If the quantity of the smallest road sign node of weight is equal to 1, the smallest road sign node of the weight is determined as the movement
Next road sign node that terminal is reached from the present node, and update the weight of the smallest road sign node of the weight.
3. the method as described in claim 1, which is characterized in that the letter for next road sign node that the basis successively records
Breath, determines the movement routine of the mobile terminal, comprising:
According to initial position of the mobile terminal in area coordinate figure, successively the information of the next road sign node recorded
And the destination node, determine the initial path of the mobile terminal；
For the first node and second node in the initial path, if not having between the first node and the second node
There is barrier, then deletes all nodes between the first node and the second node, obtain updated initial path；
By the updated initial path, it is determined as the movement routine of the mobile terminal.
4. method according to any one of claims 1 to 3, which is characterized in that work as prosthomere according to the judgement of following method is described
Whether there is barrier between point and destination node:
According to the position of the present node and the destination node, determined in the area coordinate figure one from described current
Line of the node to the position of the destination node；
According to location information of the barrier in the area coordinate figure, judge whether the line has with the barrier
Intersection；
If it is determined that the line and all barriers have intersection, it is determined that between the present node and the destination node
There is barrier；
If it is determined that the line and all barriers do not have intersection, it is determined that the present node and the destination node it
Between without barrier.
5. method according to any one of claims 1 to 3, which is characterized in that the road from the area coordinate figure
It marks in node after there is no the road sign node of barrier between the determining and described present node, further includes:
If it is determined that the quantity of road sign node be equal to 1, then using determining road sign node as the mobile terminal from described current
Next road sign node that node reaches records the information of next road sign node and using next road sign node as current
Node, back to judging whether there is the step of barrier between the present node and destination node, until the present node
There is no barrier between the destination node；
If it is determined that road sign node quantity be equal to 0, then generate warning information and broadcast.
6. a kind of determining device of movement routine characterized by comprising
Initial position acquiring unit, for obtaining initial position of the mobile terminal in area coordinate figure and by the initial position
As present node；
Barrier judgment unit, for judging whether there is barrier between the present node and destination node, the target section
Point is the quasi- target position reached of the mobile terminal, and location information of the barrier in the area coordinate figure is preparatory
Setting；
Road sign node selecting unit, for if it is determined that having barrier between the present node and the destination node, then from institute
Stating in the road sign node in area coordinate figure does not have the road sign node of barrier between the determining and described present node；If it is determined that
The quantity of road sign node is greater than 1, then according to the weight of determining road sign node, determines the mobile terminal from the present node
The next road sign node reached records the information of next road sign node and using next road sign node as working as prosthomere
Point, back to judging whether there is the step of barrier between the present node and destination node, until the present node with
There is no barrier between the destination node；Wherein, the weight of the road sign node is under indicating that the road sign node is determined as
One road sign degree of node；
Movement routine determination unit determines described mobile whole for the information according to the next road sign node successively recorded
The movement routine at end.
7. device as claimed in claim 6, which is characterized in that the road sign node selecting unit is specifically used for:
The smallest road sign node of weight is selected from determining road sign node；
If the quantity of the smallest road sign node of weight is greater than 1, one and the mesh are selected from the smallest road sign node of weight
The smallest road sign node of the distance between node is marked, the road sign node of selection is determined as the mobile terminal and works as prosthomere from described
Next road sign node that point reaches, and update the weight of the selected road sign node；
If the quantity of the smallest road sign node of weight is equal to 1, the smallest road sign node of the weight is determined as the movement
Next road sign node that terminal is reached from the present node, and update the weight of the smallest road sign node of the weight.
8. device as claimed in claim 6, which is characterized in that the movement routine determination unit is specifically used for:
According to initial position of the mobile terminal in area coordinate figure, successively the information of the next road sign node recorded
And the destination node, determine the initial path of the mobile terminal；
For the first node and second node in the initial path, if not having between the first node and the second node
There is barrier, then deletes all nodes between the first node and the second node, obtain updated initial path；
By the updated initial path, it is determined as the movement routine of the mobile terminal.
9. the device as described in any one of claim 6~8, which is characterized in that the barrier judgment unit is specifically used for
Judge whether there is barrier between the present node and destination node according to following method:
According to the position of the present node and the destination node, determined in the area coordinate figure one from described current
Line of the node to the position of the destination node；
According to location information of the barrier in the area coordinate figure, judge whether the line has with the barrier
Intersection；
If it is determined that the line and all barriers have intersection, it is determined that between the present node and the destination node
There is barrier；
If it is determined that the line and all barriers do not have intersection, it is determined that the present node and the destination node it
Between without barrier.
10. the device as described in any one of claim 6~8, which is characterized in that the road sign node selecting unit is also used
In:
There is no the road sign node of barrier between present node determining and described in the road sign node in the area coordinate figure
Later, however, it is determined that the quantity of road sign node be equal to 1, then using determining road sign node as the mobile terminal from described current
Next road sign node that node reaches records the information of next road sign node and using next road sign node as current
Node, back to judging whether there is the step of barrier between the present node and destination node, until the present node
There is no barrier between the destination node；
If it is determined that road sign node quantity be equal to 0, then generate warning information and broadcast.
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| CN109661359B (en) * | 2016-09-05 | 2021-05-07 | 株式会社理光 | Moving path determining method and computer-readable storage medium |
| CN106482739B (en) * | 2016-11-30 | 2020-07-17 | 英华达（上海）科技有限公司 | Navigation method of automatic guided transport vehicle |
| CN107806881A (en) * | 2017-10-25 | 2018-03-16 | 上海思岚科技有限公司 | Mobile robot builds the method and apparatus of structure map |
| 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 |
| CN111694353A (en) * | 2020-05-14 | 2020-09-22 | 特斯联科技集团有限公司 | Guidance control method and device, storage medium and service robot |
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