CN106547272B - The method and apparatus for determining equipment movement routine - Google Patents
The method and apparatus for determining equipment movement routine Download PDFInfo
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- CN106547272B CN106547272B CN201610946903.8A CN201610946903A CN106547272B CN 106547272 B CN106547272 B CN 106547272B CN 201610946903 A CN201610946903 A CN 201610946903A CN 106547272 B CN106547272 B CN 106547272B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
Abstract
This application discloses a kind of method and apparatus of determining equipment movement routine.One specific embodiment of the method includes: the current location information and target position information for obtaining equipment to be moved；It determines that the first branch and current location where the current location of equipment to be moved reach the first node that backbone successively passes through by current location information, determines that the second branch and backbone where the target position of equipment to be moved reach the second node that target position is at least successively passed through by target position information；Determine that the first branch reaches second branch and successively passes through third node by current location information and target position information；Determine successively to be the movement routine of equipment to be moved by the path of the first node, the third node, the second node.The validity of path planning can be improved in the embodiment.
Description
Technical field
This application involves field of computer technology, and in particular to field of automation technology, more particularly to determine that equipment is mobile
The method and apparatus in path.
Background technique
Path planning typically refers to find a nothing from initial state to dbjective state in the environment with barrier
The process of collision path.Currently, in the path planning of automation equipment (such as robot), the movement routine of equipment is often
The path of preset fixed route or the path planning algorithm acquisition by such as A star algorithm, method of exhaustion etc.
In application scenes, such as the homing guidance that logistics field is transported goods between the shelf of regular arrangement is mobile
Robot (Automated Guided Vehicle, AGV), it is inflexible although preset fixed route is simple, such as nothing
Method plans the path etc. except preset path；It is most short generally for finding during passage path planning algorithm to acquisite approachs
Path or optimal path need controller largely to be scanned or iterated to calculate, and process is many and diverse and operation energy to controller
Force request is higher.Therefore, existing paths planning method is not simple enough or inflexible, so as to cause the effective of path planning
Property is not high.
Summary of the invention
The purpose of the application is the method and apparatus for proposing a kind of improved determining equipment movement routine, more than solving
The technical issues of background technology part is mentioned.
On the one hand, this application provides a kind of methods of determining equipment movement routine, which comprises obtains to be moved
The current location information and target position information of equipment；The current of the equipment to be moved is determined by the current location information
The first branch where position and the first node that backbone successively passes through is reached from current location, passes through the target position
Information determine second branch where the target position of the equipment to be moved and from backbone reach target position at least according to
The second node of secondary process；Determine that the first branch reaches by the current location information and the target position information
The third node that the second branch is successively passed through, wherein the third node is the host node on backbone, the host node
The node intersected including each branch with the backbone；It determines successively by the first node, the third node, described
The path of second node is the movement routine of the equipment to be moved.
In some embodiments, the digit of the vertex ticks of the node of each item branch road from the host node terminad be according to
Secondary incremental arrangement, and a high position for latter label is identical as previous label.
In some embodiments, the current location information includes present node label, and the target position information includes
Destination node label；And where the current location for determining the equipment to be moved by the current location information
It includes: to mark highest by the present node that the first branch and current location, which reach the first node that backbone successively passes through,
Position determines the first branch；Successively decrease successively according to digit from the high-order value of present node label, determines described first
Node；And the second branch where the target position for determining the equipment to be moved by the target position information
And it includes: to mark highest order true by the destination node that backbone, which reaches the second node that target position is at least successively passed through,
The fixed second branch；It is incremented by the high-order value successively marked from the destination node according to digit, determines the second node.
In some embodiments, the node of every branch road is stored with array form.
In some embodiments, each node on the backbone is stored with array form.
Second aspect, this application provides a kind of device of determining equipment movement routine, described device includes: acquisition mould
Block is configured to obtain the current location information and target position information of equipment to be moved；Branch node determining module, configuration are used
In the first branch where the current location for determining the equipment to be moved by the current location information and from present bit
It sets and reaches the first node that backbone successively passes through, the target position of the equipment to be moved is determined by the target position information
It sets the second branch at place and reaches the second node that target position is at least successively passed through from backbone；Backbone node determines
Module, is configured to the current location information and the target position information determines described in the first branch arrival
The third node that second branch is successively passed through, wherein the third node is the host node on backbone, and the host node includes
The node that each branch intersects with the backbone；Movement routine determining module is configured to determine successively by described first
Node, the third node, the second node path be the equipment to be moved movement routine.
In some embodiments, the digit of the vertex ticks of the node of each item branch road from the host node terminad be according to
Secondary incremental arrangement, and a high position for latter label is identical as previous label.
In some embodiments, the current location information includes present node label, and the target position information includes
Destination node label；And the branch node determining module includes first branch node determination unit and second branch node
Determination unit, in which: the first branch node determination unit is configured to: determination unit is marked most by the present node
A high position determines the first branch；Successively decrease the high-order value successively marked from the present node according to digit, determines described the
One node；And the second branch node determination unit is configured to: marking highest order to determine institute by the destination node
State second branch；It is incremented by the high-order value successively marked from the destination node according to digit, determines the second node.
In some embodiments, the node of every branch road is stored with array form.
In some embodiments, each node on the backbone is stored with array form.
The method and apparatus of determining equipment movement routine provided by the present application, by the current location for obtaining equipment to be moved
Information and target position information then determine the first branch where the current location of equipment to be moved by current location information
And the first node that backbone successively passes through is reached from current location, the mesh of equipment to be moved is determined by target position information
Second branch where cursor position and the second node that target position is at least successively passed through is reached from backbone, then by working as
Front position information and target position information determine that the first branch reaches the third node that second branch is successively passed through, wherein the
Three nodes are the host node on backbone, and host node includes the node that each branch intersects with backbone, and finally determination successively passes through
Cross first node, third node, second node path be the movement routine of equipment to be moved, due to without carrying out complicated algorithm
The operations such as scanning, iteration determine movement routine, and can be flexibly true according to the current location of equipment to be moved and target position
Determine movement routine, the validity of path planning can be improved.
Detailed description of the invention
By reading the detailed description referring to made by the following drawings to non-limiting embodiment, other spies of the application
Sign, objects and advantages will become more apparent upon:
Fig. 1 shows the exemplary system architecture that can apply the embodiment of the present application；
Fig. 2 is the flow chart according to the application one embodiment of the method for locking equipment movement routine really；
Fig. 3 is the road environment according to the application one embodiment of the method for locking equipment movement routine really；
Fig. 4 is that simplified map and path planning schematic diagram are carried out according to the road environment of Fig. 3；
Fig. 5 is the structural schematic diagram according to the application one embodiment of the device of locking equipment movement routine really；
Fig. 6 is adapted for the structural schematic diagram for the computer system for realizing the electronic equipment of the embodiment of the present application.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to related invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 shows the exemplary system architecture 100 that can apply the embodiment of the present application.
As shown in Figure 1, system architecture 100 may include terminal device 101,102,103 and server 104.Terminal device
101, it can be communicated by network between 102,103 and server 104, network here may include various connection classes
Type, such as wired, wireless communication link or fiber optic cables etc..
Terminal device 101,102,103 can be interacted by network with server 104, to receive or send message etc..Eventually
End equipment 101,102,103 can move in the environment of road environment 105 etc, wherein road environment 105 may include more
Branch 1051,1052,1053,1054 etc. and at least one backbone 1055.Road environment 105 can be stored in advance in clothes
It is engaged in device 104 or terminal device 101,102,103.
One of it can install on terminal device 101,102,103 but be not limited to following device or is a variety of: acquisition device,
Control device, sending device, reception device etc..Terminal device 101,102,103 for example can be transport class of electronic devices (such as
AGV), class of electronic devices etc. is cleaned, the application does not limit this.
Server 104 can be to provide the server of various services.Such as road is provided to terminal device 101,102,103 etc.
The background server etc. of diameter Planning Support.Server such as can be stored to the data received, be generated at the processing, and will processing
As a result terminal device is fed back to.
It should be noted that determining that the method for equipment movement routine can be by server provided by the embodiment of the present application
104 execute, and can also be executed by terminal device 101,102,103, the application does not limit this.For example, server 104 can be with
It is previously stored with road environment 105, target job position can be determined according to the job requirements information received, and according to end
The current work state (such as idle state) of end equipment 101,102,103 selects the terminal device for completing target job as wait move
Dynamic equipment treats the mobile road that the method that mobile device executes the application locking equipment movement routine really determines equipment to be moved
Diameter, and movement routine information or move are sent to equipment to be moved.Terminal device 101,102,103 can be deposited in advance respectively
Road environment 105 is contained, when receiving job requirements information, terminal device can determine target job position and execute this Shen
Please the method for locking equipment movement routine determines movement routine really, and is moved according to identified movement routine.
It should be understood that the number and road environment of terminal device, server in Fig. 1 are only schematical.According to
It realizes and needs, can have any number of terminal device and server, and the road environment of any item number branch.
Referring to FIG. 2, it illustrates the processes 200 of the one embodiment for the method for determining equipment movement routine.This implementation
Electronic equipment that example is main to be applied to have certain operational capability in this way (such as server shown in FIG. 1 104 or terminal are set
Standby 101,102,103) in illustrate.The method of the determination equipment movement routine, comprising the following steps:
Step 201, the current location information and target position information of equipment to be moved are obtained.
In the present embodiment, electronic equipment can first obtain target position information, and according to target position information determine to
Mobile device and the current location information for obtaining equipment to be moved, electronic equipment can also be previously stored with working as equipment to be moved
Front position information obtains target position information and pre-stored current location information in this step.
Specifically, if above-mentioned electronic equipment is server 104 as shown in Figure 1, can to terminal device 101,
102,103 etc. task schedule is carried out.Terminal device 101,102,103 etc. can be at predetermined intervals to server 104
The current state information of itself is sent, or feeds back the current state information of itself when server 104 is initiated and inquired, here
Current state information includes at least current location information, can also include but is not limited in load information, current task information etc.
It is one or more.When receiving job requirements information, server 104 can be according to terminal device 101,102,103 etc.
Current state information carries out task schedule, and determination goes the terminal device to fulfil assignment as equipment to be moved, and obtains to be moved
The current location information of equipment, such as current position coordinates, at least one of it is currently located leveling etc..Here job requirements
Information includes at least the target position information of operation starting point, can also be including mission bit stream etc..If above-mentioned electronic equipment be to
Mobile device can be previously stored with the current location information of itself and by receiving job requirements acquisition of information target position
Information, or when receiving job requirements information, obtain target position information and the current location information of itself.
In the present embodiment, electronic equipment can be previously stored with road environment information.The road environment of the present embodiment can
To be any operating environment comprising a backbone.Such as operating environment 300 shown in Fig. 3, wherein each circle indicates one
A job position, the line between job position indicate the access between two job positions.In operating environment 300, operation
Position 301,302,303,304,305 is linked to be a backbone, and each job position can lead to other operations by branch again
Position.
In some implementations, road environment information can by can show storage in the form of the electronic map of landform on the spot (such as
Form similar to Figure 3).Electronic map can show a plurality of branch and at least one backbone, and show on backbone
Possible jobs node.Current location information and target position information may include current position coordinates and target position respectively at this time
Set coordinate.
In other realizations, road environment information can also be stored with simplified electronic map.For example, electronic equipment can
It is that foundation establishes array with these possible jobs nodes to predefine possible jobs node.For example, operation shown in Fig. 3
Environment 300, with each job position for a node, the job position 301,302,303,304,305 on backbone is as master
Node is a branch by the route except the backbone of each host node, can be connected by backbone between a plurality of branch,
Then operating environment 300 can simplify into the form of map 400 shown in Fig. 4, wherein job position in Fig. 3 301,302,
303,304,305 it is corresponding in turn to the host node 1,2,3,4,5 in Fig. 4.At this point, each node in map 400 can be with array shape
Formula indicates, for example, the vertex ticks of host node can arrange in order is expressed as an array, the section of the node of every branch road
Point label can also be expressed as an array by arrangement order.Wherein, vertex ticks can be including but not limited to character, number
At least one of etc..At this point, each node can be associated with a coordinate range, when current location information includes current location
When coordinate or target position information include target location coordinate, electronic equipment can be determined with coordinate range according to the pre-stored data
Node associated by node associated by current position coordinates or target location coordinate.Here coordinate can be GPS
The latitude and longitude coordinates of (Global Positioning System, global positioning system) positioning or the ginseng of electronic equipment setting
Examining is coordinate, and the application does not limit this.
Step 202, determined by current location information the first branch where the current location of equipment to be moved and from
Current location reaches the first node that backbone successively passes through, and the target position of equipment to be moved is determined by target position information
The second branch at place and the second node at least successively passed through from backbone arrival target position.
In the present embodiment, electronic equipment can then determine the current location of equipment to be moved by current location information
The first branch at place and the first node successively passed through from current location arrival backbone, are determined by target position information
Second branch where the target position of equipment to be moved and second that target position is at least successively passed through is reached from backbone
Node.Wherein, the execution that this step respectively operates, which does not limit, executes sequence, can successively execute, also may be performed simultaneously.
It is worth noting that the first node, second node in the present embodiment may include a jobs node respectively,
It may include multiple nodes.In some implementations, first node, second node can not also include any node.
For convenience of description, referring to FIG. 4, being the simplified map 400 of road environment 300, including five branches in Fig. 4
4001,4002,4003,4004,4005 and backbone 4006, every branch road includes multiple nodes, such as branch 4003
On node 310,31,3,32,320 and backbone 4006 on node 1,2,3,4,5 etc..Wherein, each branch and master
The node that main line 4006 intersects is host node, such as node 1,2,3,4,5.Using the current location of equipment to be moved as node 310,
For target position is node 520, electronic equipment can determine the where it according to the current location information of equipment to be moved
One branch 4003 and the first node 310,31 successively passed through from current location arrival backbone 4006, believe according to target position
It ceases the second branch 4005 where determining target position and reaches the second section that target position is at least successively passed through from backbone
Point 52,520.
In some implementations of the invention, the digit of the vertex ticks of the node of each item branch road can be from host node
Terminad is in arrangement incremented by successively, and a high position for latter label is identical as previous label.It is main by taking the branch 4001 in Fig. 4 as an example
Node is 1, from host node to the vertex ticks of two ends be respectively 1,11,110 and 1,12,120, a high position for latter label,
A high position " 11 " such as " 110 " is identical as previous label " 11 ".In some implementations, current location information may include present node
Label, target position information may include destination node label.At this point, electronic equipment determined by current location information it is to be moved
The method of the first branch and the first node successively passed through from current location arrival backbone where the current location of equipment
It can be with are as follows: mark highest order to determine the first branch by present node；Successively decrease successively according to digit from the height of present node label
Position value, determines first node.Specifically, if present node be labeled as 310, take present node mark highest order be " when
Front nodal point label/10Changing coordinates mark digit -1", result 3, then the first branch is determined as the branch 4003 labeled as 3, passs according to digit
Subtracting the high-order value successively marked from present node is " present node label/100", " present node label/101" ... it is " current
Vertex ticks/10N" (N is positive integer) until " N " is equal to " changing coordinates label digit -2 ", result 310,31.It can manage
Solution, when the value of " changing coordinates mark digit -2 " is less than 0, changing coordinates label only 1, be host node, then first node
It can not include any node.Similarly, electronic equipment determines the target position place of equipment to be moved by target position information
Second branch and backbone reach the second node that at least successively passes through of target position include: by destination node label most
A high position determines second branch；It is incremented by the high-order value successively marked from destination node according to digit, determines second node.It is above-mentioned to show
It is 5 by the second branch that destination node 520 determines in example, second node includes 52,520.
Step 203, determine that the first branch reaches second branch successively by current location information and target position information
The third node of process.
In the present embodiment, electronic equipment can then be determined by current location information and target position information the
One branch and second branch further determine that the first branch reaches the third node that second branch is successively passed through.Wherein, third section
Point is the host node on backbone.
In the present embodiment, electronic equipment can be by the intersection point of the first branch and backbone as reference, and passes through the
Branch span (space-number) between one branch and second branch determines third node.Still referring to FIG. 4, in above-mentioned example, currently
Position is at node 310, and target position is at node 520, and the identified first branch and second branch are respectively to be labeled as 3,5
Branch 4003,4005, according to branch 4003 and the intersection point node 3 of backbone 4006 and the span of branch 4003,4005
(5-3)=2, determining that branch 4003 reaches the third node that branch 4005 successively passes through is node 3, node (3+1) ... node
(the aforementioned span 2 of 3+), i.e. node 3, node 4, node 5.
Step 204, determine successively to be the shifting of equipment to be moved by the path of first node, third node, second node
Dynamic path.
In the present embodiment, electronic equipment can then determine successively by said first node, third node, the second section
The path of point is the movement routine of equipment to be moved.The movement routine of equipment i.e. to be moved successively pass through present branch, backbone,
Targeted Tributary.By taking aforementioned exemplary as an example, the equipment to be moved that electronic equipment determines is from node 310 to the movement routine of node 520
For the path (path indicated in Fig. 4 with Bold arrows) for successively passing through node 310,31,3,4,5,52,520.
The present embodiment is illustrated by for the lesser biggish branch of Zhi Luxiang branch label of label, conversely, if
Current location is at node 520, and target position is at 310, and determining method of path is similar with above-mentioned example.Wherein, unlike,
Determine branch 4005 reach the third node that successively passes through of branch 4003 be node 5, node (5-1) ... node (5- it is aforementioned across
It spends 2), i.e. node 5, node 4, node 3.In some implementations, electronic equipment can first judge present branch and Targeted Tributary
Label size, then determine third node, details are not described herein.
It will be understood by those skilled in the art that when each node in the present embodiment is indicated with array form, path planning
It can be realized by mobile pointer.Such as pointer is initially directed to indicate first where the current location node of equipment to be moved
The array of branch, and it is directed toward storage current location address of node in array, pointer is then successively moved in array to direction
Then the array that pointer skips aforementioned span quantity is moved in the address of host node in array, being directed toward indicates target position node
Pointer is then successively moved into direction array in the address that host node is stored in the array of the second branch at place in array
Target position address of node.
It is worth noting that in the present embodiment, although with include a plurality of branch and a backbone road environment into
Row is described in detail, but is not limited thereto.For example, multiple and this reality can be refined as the road environment of situation complexity
The similar road environment module of road environment in example is applied, the determination that each road environment module is applicable in the present embodiment is to be moved to be set
The method of standby movement routine, multiple road environment intermodules (using each road environment module as a jobs node) can also be with
The method for being applicable in the determination equipment movement routine to be moved of the present embodiment.
As an application scenarios, by taking exemplary type framework 100 shown in FIG. 1 as an example, terminal device 101,102,103 can be with
It is the transfer robot (such as AGV) of logistics field, is previously stored with road environment 105 in server 104, server 104 can be with
Target job position is determined according to job requirements, and according to the current work state of transfer robot (such as whether in operation, removing
Fortune item quantity etc.) select the terminal device for completing target job as equipment to be moved, it treats mobile device and executes this Shen
Please the method for locking equipment movement routine determines movement routine of the equipment to be moved in road environment 105 really, and to wait move
Dynamic equipment sends movement routine information or move.In another application scenarios, such as equipment to be moved can be cleaning
Class of electronic devices (such as sweeping robot), road environment can be previously stored with by cleaning in class of electronic devices, when receiving operation
When demand information, cleaning class of electronic devices can determine that target job position executes the determination of the application according to job requirements information
The method of equipment movement routine determines its movement routine in pre-stored road environment, and according to identified movement
It is moved in path.
The method of the movement routine of the determination of the present embodiment equipment to be moved, by simplified road environment, can according to
The current location and target position of mobile device flexibly determine movement routine, so as to improve the validity of path planning.
With further reference to Fig. 5, as the realization to method shown in above-mentioned each figure, this application provides a kind of determining equipment to move
One embodiment of the device in dynamic path, the Installation practice is corresponding with embodiment of the method shown in Fig. 2, which specifically may be used
To be applied in electronic equipment.
As shown in figure 5, the device 500 of locking equipment movement routine includes: to obtain module 501, branch really described in the present embodiment
Circuit node determining module 502, backbone node determining module 503 and movement routine determining module 504.Wherein, module 501 is obtained
It may be configured to obtain the current location information and target position information of equipment to be moved；Branch node determining module 502 can
The first branch where the current location of equipment to be moved is determined and from present bit to be configured to current location information
It sets and reaches the first node that backbone successively passes through, where the target position that equipment to be moved is determined by target position information
Second branch and the second node at least successively passed through from backbone arrival target position；Backbone node determining module 503
It may be configured to determine that the first branch reaches second branch and successively passes through by current location information and target position information
Third node, wherein third node be backbone on host node, host node includes the section that each branch intersects with backbone
Point；Movement routine determining module 504 may be configured to determine successively by the road of first node, third node, second node
Diameter is the movement routine of equipment to be moved.
In some optional implementations of the present embodiment, the digit of the vertex ticks of the node of each item branch road is from main section
Point terminad is in arrangement incremented by successively, and a high position for latter label is identical as previous label.In some implementations, branch node is true
Cover half block can also include first branch node determination unit (not shown) and second branch node determination unit (not shown).When
When current location information includes present node label, first branch node determination unit can mark highest order by present node
Determine the first branch；Successively decrease successively according to digit from the high-order value of present node label, determines first node.Work as target position
When information includes destination node label, second branch node determination unit can mark highest order to determine second by destination node
Branch；It is incremented by the high-order value successively marked from destination node according to digit, determines second node.
In some optional implementations of the present embodiment, the node of every branch road is stored with array form.For example, every
The vertex ticks of item branch road is stored as an array.
In some optional implementations of the present embodiment, each node on backbone is stored with array form.
It is worth noting that determining that all modules recorded in the device 500 of equipment movement routine or unit are retouched with reference to Fig. 2
Each step in the method stated is corresponding.The operation above with respect to method description and feature are equally applicable to determining set as a result,
The device 500 of standby movement routine and module wherein included or unit, details are not described herein.
It will be understood by those skilled in the art that the device 500 of above-mentioned determining equipment movement routine further includes some other public affairs
Know structure, such as processor, memory etc., in order to unnecessarily obscure embodiment of the disclosure, these well known structures are in Fig. 5
In be not shown.
Below with reference to Fig. 6, it illustrates the computer systems 600 for the electronic equipment for being suitable for being used to realize the embodiment of the present application
Structural schematic diagram.
As shown in fig. 6, computer system 600 includes central processing unit (CPU) 601, it can be read-only according to being stored in
Program in memory (ROM) 602 or be loaded into the program in random access storage device (RAM) 603 from storage section 508 and
Execute various movements appropriate and processing.In RAM 603, also it is stored with system 600 and operates required various programs and data.
CPU601, ROM602 and RAM603 are connected with each other by bus 604.Input/output (I/O) interface 605 is also connected to bus
604。
It can connect with lower component to I/O interface 605: the importation 606 including such as keyboard, button or the like；Packet
Include the output par, c 607 of loudspeaker etc.；Storage section 608 including hard disk etc.；And including such as LAN card, modulatedemodulate
Adjust the communications portion 609 of the network interface card of device etc..Communications portion 609 is held via the network of internet, radiofrequency signal etc.
Row communication process.Driver 610 is also connected to I/O interface 605 as needed.Detachable media 611, such as disk, CD, magnetic
CD, semiconductor memory etc. are mounted on as needed on driver 610, in order to from the computer program read thereon
It is mounted into storage section 608 as needed.
Particularly, according to an embodiment of the present application, it may be implemented as computer above with reference to the process of flow chart description
Software program.For example, embodiments herein includes a kind of computer program product comprising be tangibly embodied in machine readable
Computer program on medium, the computer program include the program code for method shown in execution flow chart.At this
In the embodiment of sample, which can be downloaded and installed from network by communications portion 609, and/or from removable
Medium 611 is unloaded to be mounted.
Involved unit can be realized by way of software in the embodiment of the present application, can also pass through the side of hardware
Formula is realized.Described module also can be set in the processor, for example, can be described as: a kind of processor includes obtaining
Module, branch node determining module, backbone node determining module and movement routine determining module.The wherein title of these modules
The restriction to the module itself is not constituted under certain conditions, is also described as " being configured to obtain for example, obtaining module
Take the current location information of equipment to be moved and the module of target position information ".
As on the other hand, present invention also provides a kind of computer readable storage medium, the computer-readable storage mediums
Matter can be computer readable storage medium included in device described in above-described embodiment；It is also possible to individualism, not
The computer readable storage medium being fitted into terminal.The computer-readable recording medium storage have one or more than one
Program, when described program is executed by one or more than one processor, so that the equipment: obtaining equipment to be moved
Current location information and target position information；The current location institute of the equipment to be moved is determined by the current location information
The first branch and from current location reach the first node that successively passes through of backbone, it is true by the target position information
Second branch where the target position of the fixed equipment to be moved and target position is reached from backbone at least successively pass through
Second node；Determine that the first branch reaches described the by the current location information and the target position information
The third node that two branches successively pass through, wherein the third node is the host node on backbone, and the host node includes each
The node that branch intersects with the backbone；It determines and successively passes through the first node, the third node, second section
The path of point is the movement routine of the equipment to be moved.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (6)
1. a kind of method of determining equipment movement routine, which is characterized in that the described method includes:
Obtain the current location information and target position information of equipment to be moved；
The first branch where the current location of the equipment to be moved is determined by the current location information and from current
Position reaches the first node that backbone successively passes through, and the target of the equipment to be moved is determined by the target position information
Second branch where position and the second node that target position is at least successively passed through is reached from backbone；
Determine that the first branch reaches the second branch by the current location information and the target position information
The third node successively passed through, wherein the third node is the host node on backbone, and the host node includes each branch
The node intersected with the backbone；
Determine successively to be the equipment to be moved by the path of the first node, the third node, the second node
Movement routine；
Wherein, the digit of the vertex ticks of the node of each item branch road from the host node terminad be in arrangement incremented by successively, and
A high position for latter label is identical as previous label；The current location information includes present node label, the target position letter
Breath includes that destination node marks；And
The first branch where the current location for determining the equipment to be moved by the current location information and work as
Front position reaches the first node that backbone successively passes through
Highest order is marked to determine the first branch by the present node；
Successively decrease successively according to digit from the high-order value of present node label, determines the first node；And
Second branch and master where the target position for determining the equipment to be moved by the target position information
Main line reaches the second node that target position is at least successively passed through
Highest order is marked to determine the second branch by the destination node；
It is incremented by the high-order value successively marked from the destination node according to digit, determines the second node；
Determine that the first branch reaches the second branch by the current location information and the target position information
The third node successively passed through includes:
By the intersection point of the first branch and backbone as reference, and by the first branch and the second branch it
Between branch span determine the third node.
2. the method according to claim 1, wherein the node of every branch road is stored with array form.
3. according to the method described in claim 2, it is characterized in that, each node on the backbone is stored with array form.
4. a kind of device of determining equipment movement routine, which is characterized in that described device includes:
Module is obtained, is configured to obtain the current location information and target position information of equipment to be moved；
Branch node determining module is configured to the current location that the current location information determines the equipment to be moved
The first branch at place and the first node successively passed through from current location arrival backbone, pass through the target position information
It determines the second branch where the target position of the equipment to be moved and reaches target position from backbone and at least successively pass through
The second node crossed；
Backbone node determining module, is configured to the current location information and the target position information determines institute
It states the first branch and reaches the third node that the second branch is successively passed through, wherein the third node is the master on backbone
Node, the host node include the node that each branch intersects with the backbone；
Movement routine determining module is configured to determine successively by the first node, the third node, second section
The path of point is the movement routine of the equipment to be moved；
Wherein, the digit of the vertex ticks of the node of each item branch road from the host node terminad be in arrangement incremented by successively, and
A high position for latter label is identical as previous label；
The current location information includes present node label, and the target position information includes destination node label；And
The branch node determining module includes first branch node determination unit and second branch node determination unit, in which:
The first branch node determination unit is configured to: marking highest order to determine described first by the present node
Road；Successively decrease successively according to digit from the high-order value of present node label, determines the first node；And
The second branch node determination unit is configured to: marking highest order to determine described second by the destination node
Road；It is incremented by the high-order value successively marked from the destination node according to digit, determines the second node；
The backbone node determining module is configured to: by the intersection point of the first branch and backbone as reference, and
The third node is determined by the branch span between the first branch and the second branch.
5. device according to claim 4, which is characterized in that the node of every branch road is stored with array form.
6. device according to claim 5, which is characterized in that each node on the backbone is stored with array form.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610946903.8A CN106547272B (en) | 2016-10-26 | 2016-10-26 | The method and apparatus for determining equipment movement routine |
| PCT/CN2017/105518 WO2018077024A1 (en) | 2016-10-26 | 2017-10-10 | Method and apparatus for determining movement path of device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610946903.8A CN106547272B (en) | 2016-10-26 | 2016-10-26 | The method and apparatus for determining equipment movement routine |
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| CN106547272B (en) * | 2016-10-26 | 2019-12-03 | 北京京东尚科信息技术有限公司 | The method and apparatus for determining equipment movement routine |
| CN107677285B (en) * | 2017-04-11 | 2019-05-28 | 平安科技（深圳）有限公司 | The path planning system and method for robot |
| CN108820769B (en) * | 2018-07-23 | 2019-11-29 | 宁夏力成电气集团有限公司 | A kind of system and method based on logistics device location control |
| CN110274604B (en) * | 2018-11-06 | 2021-11-02 | 北京京东乾石科技有限公司 | Method and apparatus for generating path information |
| CN110597263B (en) * | 2019-09-25 | 2021-11-26 | 福州大学 | Automatic meal delivery path planning method for unmanned restaurant |
| CN111062075B (en) * | 2019-12-11 | 2022-12-23 | 三一筑工科技股份有限公司 | Beam-column one-pen-hoop model generation method and device and computing equipment |
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