CN107490371A - The system of selection of smart machine walking path, smart machine and storage medium - Google Patents
The system of selection of smart machine walking path, smart machine and storage medium Download PDFInfo
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- CN107490371A CN107490371A CN201710595098.3A CN201710595098A CN107490371A CN 107490371 A CN107490371 A CN 107490371A CN 201710595098 A CN201710595098 A CN 201710595098A CN 107490371 A CN107490371 A CN 107490371A
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- path
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- routing information
- walking
- travel
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
Abstract
The invention discloses a kind of smart machine walking path system of selection, comprise the following steps：In the walking process of target location is moved to, the routing information in the path in front of direction of travel is obtained；The path for allowing human body to pass through is selected according to the routing information；Walked in the path passed through based on the permission human body selected.The invention also discloses a kind of smart machine and storage medium, selects human body to be used as the selection gist of walking by space, realizes efficient and inexpensive scheme.
Description
Technical field
The present invention relates to intelligent movable apparatus field, more particularly to a kind of smart machine walking path system of selection intelligently to set
Standby and storage medium.
Background technology
Social now, removable smart machine (including robot) is increasingly popularized, but automatically walk in smart machine room
Scheme generally existing is poorly efficient and the problem of high cost.Prior art determines that smart machine whether can by building indoor map in advance
By and walk, but indoor environment often changes, and results in the need for often correcting cartographic information；Or do not building indoor map
In the case of by simply scan judge smart machine can by and walk, but because complexity indoor environment, indoor permission intelligence
The path that energy equipment passes through is more, causes to calculate cost and realizes that hardware cost is also of a relatively high.
The content of the invention
The predominating path walked in some scenes, such as device for switching, mobile object etc., smart machine room should be with people's
Walking path essentially coincides, so the selection in the path of smart machine should be the space that people can pass through, rather than smart machine
The space that can pass through.
To be set in view of the above-mentioned problems, it is an object of the invention to provide a kind of smart machine walking path system of selection, intelligence
Standby and storage medium, select human body to be used as the selection gist of walking by space, realize efficient and inexpensive scheme.
The invention provides a kind of smart machine walking path system of selection, comprise the following steps：
In the walking process of target location is moved to, the routing information in the path in front of direction of travel is obtained；
The path for allowing human body to pass through is selected according to the routing information；
Walked in the path passed through based on the permission human body selected.
Preferably, the routing information includes maximum height and the Breadth Maximum that path allows to pass through；
It is then described that the path for allowing human body to pass through is selected according to the routing information, specifically include：
Maximum height and Breadth Maximum that the path allows to pass through are extracted from the routing information；
When judging that the maximum height is more than default height threshold and the Breadth Maximum and is more than default width threshold value
When, the path is determined to allow the path that human body passes through.
Preferably, the height threshold and the width threshold value to predetermined target body by being scanned acquisition；Or
Person,
The height threshold and the width threshold value are obtained by receiving user in the numerical value that the inputting interface of offer inputs；
Or
The height threshold and the numerical value that the width threshold value is system default setting.
Preferably, after the path for being selected according to the routing information and allowing human body to pass through, in addition to：
When selecting at least two according to the routing information and allowing the path that human bodies pass through, the per paths is obtained
One direction vector points to the angle for the second direction vector that the target location is formed with the smart machine；Wherein, described
One direction vector is generated by the trend in path and the current direction of travel of the smart machine；It is then described based on described in selecting
The path for allowing human body to pass through is walked, and is specially：
Path corresponding with minimum angle is chosen to be walked as walking path, and according to the walking path.
Preferably, in addition to：
When the path for allowing human body to pass through can not be selected according to the routing information, then judged according to the routing information
With the presence or absence of the path for allowing smart machine to pass through in itself；
If so, the path then passed through in itself according to the permission smart machine selected is walked；
If it is not, determining that in front of direction of travel be Invalid path, adjust itself direction of travel and reacquisition is located at walking side
The routing information in path forwards.
Preferably, the routing information is by identifying that the path image in front of the direction of travel gathered by camera obtains；
Or the routing information is obtained by extracting the spatial distribution in front of the direction of travel scanned by pyroscan；Or
The routing information is obtained by collecting to be distributed by the space object in front of the direction of travel of ultrasonic detector detection.
Present invention also offers a kind of smart machine, including：
Path acquisition module, in the walking process of target location is moved to, obtaining in front of direction of travel
The routing information in path；
Module is chosen in path, for selecting the path for allowing human body to pass through according to the routing information；
Walking module, the path for being passed through based on the permission human body selected are walked.
Preferably, the routing information includes maximum height and the Breadth Maximum that path allows to pass through；
Then module is chosen in the path, specifically includes：
Extraction unit, the maximum height and maximum for extracting the path to allow from the routing information to pass through are wide
Degree；
Determining unit, judge that the maximum height is more than default height threshold and the Breadth Maximum is more than in advance for working as
If width threshold value when, determine the path to allow the path that passes through of human body.
Preferably, the height threshold and the width threshold value to predetermined target body by being scanned acquisition；Or
Person,
The height threshold and the width threshold value are obtained by receiving user in the numerical value that the inputting interface of offer inputs；
Or
The height threshold and the numerical value that the width threshold value is system default setting.
Preferably, in addition to：
Path selection module, at least two paths for allowing human bodies to pass through are selected according to the routing information for working as
When, obtain the second direction vector that the first direction vector per paths points to the target location formation with the smart machine
Angle；Wherein, the first direction vector is generated by the trend in path and the current direction of travel of the smart machine；
The then walking module, is specifically used for：
Path corresponding with minimum angle is chosen to be walked as walking path, and according to the walking path.
Preferably, in addition to：
Judge module, for when according to the routing information can not select allow human body pass through path when, then according to institute
State the path that routing information judges whether to allow smart machine in itself to pass through；
Selecting module, for if so, the path then passed through in itself according to the permission smart machine selected is walked；
Invalid module, for if it is not, determine direction of travel in front of be Invalid path, adjust itself direction of travel and obtain again
The routing information in path of the fetch bit in front of direction of travel.
Preferably, the routing information is by identifying that the path image in front of the direction of travel gathered by camera obtains；
Or the routing information is obtained by extracting the spatial distribution in front of the direction of travel scanned by pyroscan；Or
The routing information is obtained by collecting to be distributed by the space object in front of the direction of travel of ultrasonic detector detection.
Present invention also offers a kind of smart machine, including processor, memory and be stored in the memory and
Be configured as by the computer program of the computing device, realized described in the computing device during computer program it is above-mentioned in
Smart machine walking path system of selection described in any one.
Present invention also offers a kind of computer-readable recording medium, it is characterised in that the computer-readable storage medium
Matter includes the computer program of storage, wherein, control the computer-readable recording medium when the computer program is run
Place equipment performs the smart machine walking path system of selection described in above-mentioned middle any one.
The invention provides a kind of system of selection of smart machine walking path, smart machine and storage medium, pass through acquisition
The routing information in the path in front of direction of travel, and the path for allowing human body to pass through is selected according to the routing information simultaneously
Walked, using allow people by path as walking path select, main walking path is more easy and effective, and allows people
The path that the path relatively intelligent equipment passed through can pass through is few and to allow the path that passes through of people to change fewer, and path modification algorithm will
Ask simpler, reduce energy consumption and calculate cost, internal memory operation is more efficient.
Brief description of the drawings
In order to illustrate more clearly of technical scheme, the required accompanying drawing used in embodiment will be made below
Simply introduce, it should be apparent that, drawings in the following description are only some embodiments of the present invention, general for this area
For logical technical staff, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the schematic flow sheet for the smart machine walking path system of selection that first embodiment of the invention provides.
Fig. 2 is the schematic flow sheet for the smart machine walking path system of selection that second embodiment of the invention provides.
Fig. 3 is that occur two in the smart machine walking path system of selection that second embodiment of the invention provides to may be selected to permit
Perhaps the schematic diagram in the path that human body passes through.
Fig. 4 is the schematic flow sheet for the smart machine walking path system of selection that third embodiment of the invention provides.
Fig. 5 is the structural representation for the smart machine that fourth embodiment of the invention provides.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Referring to Fig. 1, first embodiment of the invention provides a kind of smart machine walking path system of selection, it can be by intelligence
Can equipment perform, and comprise the following steps：
S10, in the walking process of target location is moved to, obtain the path letter in the path in front of direction of travel
Breath.
In embodiments of the present invention, the smart machine is the smart machine with walking locomotivity, such as robot, machine
Device dog, machines clean work etc..The smart machine can receive the target instruction target word that the user in service space assigns for example reach doorway,
Control apparatus switch or mobile teacup etc., then the smart machine obtains target by carrying out detection to server, and then obtains
The target location of the target, such as the position of the switch of living room ceiling lamp are taken, carries out the preparation for being moved to the target location.
In embodiments of the present invention, in the walking process of target location is moved to, the smart machine is obtained positioned at row
Walk the routing information in the path in front of direction.Wherein, the routing information can be by identifying the walking side gathered by camera
Path image forwards obtains, can also be by extracting the spatial distribution in front of the direction of travel scanned by pyroscan
Information acquisition, it can also be obtained by collecting to be distributed by the space object in front of the direction of travel of ultrasonic detector detection.When
So, in other embodiments of the invention, the routing information can also by the path image that is gathered by camera and combine away from
Obtained from the distance measurement function of sensor and the direction recognition function of direction sensor, or can also be by by infrared acquisition
The space distribution information of device scanning simultaneously combines the distance measurement function of range sensor and the direction recognition function of direction sensor
Obtain, or shooting can also be combined by the space object distribution in front of the direction of travel of ultrasonic detector detection by collecting
The path image of head collection obtains, or the routing information can pass through each of ultrasonic wave, sensor, infrared ray and camera
Kind combining form obtains, and the sensor is used to perceive the spatial distribution in front of walking path with infrared ray, such as has accessible
Thing etc., the camera are used to gather the path image in front of walking path, the ultrasonic wave, for detecting in front of direction of travel
Object distribution, the distance of tested distance, the sensing are measured by the time difference after the reflection of testee, echo reception
Device, infrared ray, ultrasonic wave combination camera obtain more accurate routing information in front of walking path.
In addition, in other embodiments of the invention, the path in front of direction of travel can be also obtained by other means
Information, these schemes will not be described here within protection scope of the present invention.
S20, the path for allowing human body to pass through is selected according to the routing information.
In embodiments of the present invention, the smart machine selects the road for allowing human body to pass through according to the routing information
Footpath, usually, include various paths in service space, for example, for the path of people's walking, table is beneath, may also be formed under sofa
Path, but these paths under table, under sofa are bigger due to changing, and cause walking more more complicated.And people
The path of walking then has relative stability, such as device for switching in some scenes, mobile teacup etc., in smart machine room
The predominating path of walking should essentially coincide with the elementary path of people, so the selection in path should be the space that people can pass through, and
The space that smart machine can pass through, thus consider using allow human body by path be used as the walking road of the smart machine
Footpath.
In embodiments of the present invention, the routing information includes maximum height and the Breadth Maximum that path allows to pass through, then
In the case where that can allow the path that human body passes through in the presence of only one, the smart machine selects according to the routing information
The path for allowing human body to pass through specifically includes：The smart machine is extracted from the routing information in front of the direction of travel
Path allow the maximum height passed through and Breadth Maximum, when judging that the maximum height is more than default height threshold and described
When Breadth Maximum is more than default width threshold value, the path is determined to allow the path that human body passes through.Wherein, the height threshold
Value and the width threshold value are by being scanned acquisition to predetermined target body, such as by minimum to height in service space
User, which is scanned, obtains its height data and figure data respectively as height threshold and width threshold value；Or the height
Threshold value and the width threshold value are obtained by receiving user in the numerical value that the inputting interface of offer inputs, such as are first entering into clothes
When being engaged in indoor, the smart machine provides inputting interface so that the user in service space inputs the permission human body of user's setting themselves
The scope passed through；Or the numerical value that the height threshold and the width threshold value are system default setting, such as the intelligence sets
Standby setting acquiescence allows the range values that human body passes through, then scans the height data and body to the minimum user of height in service space
Graphic data carries out fault-tolerant.
In embodiments of the present invention, the routing information, which may also include, whether there is barrier and the barrier on the path
Hinder the volume of thing.Then in the case where that can allow the path that human body passes through in the presence of only one, the smart machine is according to
Routing information selects the path for allowing human body to pass through and specifically included：The smart machine extracts institute from the routing information
Stating the path in front of direction of travel allows the maximum height that passes through and whether there is barrier and institute on Breadth Maximum, the path
The volume of barrier is stated, when judging that the maximum height is more than default height threshold and the Breadth Maximum and is more than default width
Threshold value is spent, while meets not having on the path to have volume on barrier or the path less than default volume threshold
During barrier, the path is determined to allow the path that human body passes through.Wherein, the volume threshold is average by the acquiescence of setting one
Numerical value and scanning obtain user in service space can across the fault-tolerant acquisition of height progress.
S30, the path passed through based on the permission human body selected are walked.
In embodiments of the present invention, the smart machine enters every trade based on the path that the permission human body selected passes through
Walk, i.e., described smart machine judges that the path in front of direction of travel to allow the path that human body passes through, is then walked.
In summary, the invention provides a kind of smart machine walking path system of selection, it is located at walking side by obtaining
The routing information in path forwards, and being selected according to the routing information allows the path that passes through of human body every trade of going forward side by side to walk,
Using allow people by path be used as walking path select, main walking path road that is more easy and effective, and allowing people to pass through
The path that footpath relatively intelligent equipment can pass through is few and to allow the path that passes through of people to change fewer, and path modification algorithm requires simpler
It is single, reduce energy consumption and calculate cost, internal memory operation is more efficient.
For the ease of the understanding of the present invention, some currently preferred embodiments of the present invention will be done further retouch below
State.
Second embodiment of the invention：
Referring to Fig. 2, on the basis of first embodiment of the invention, after the S20, in addition to：
S40, when selecting the path that at least two permission human bodies pass through according to the routing information, obtain per paths
First direction vector and the smart machine point to the angle of the second direction vector that the target location is formed；Wherein, institute
First direction vector is stated to be generated by the trend in path and the current direction of travel of the smart machine.The then S30, it is specially：
Path corresponding with minimum angle is chosen to be walked as walking path, and according to the walking path.
In embodiments of the present invention, the smart machine selects the path for allowing human body to pass through in the step S20, examines
The arrangement considered in service space is had nothing in common with each other, and might have mulitpath at some crossing extends out, i.e., according to the path
The path that the permission human body that information selects passes through there may be two or more.Referring to Fig. 3, when according to the path
When information selects the active path that two permission human bodies pass through, according to the current walking of the trend in path and the smart machine
Direction generates the first direction vector, and the direction that the target location is pointed to according to the smart machine generates the second vector,
The smart machine calculate that first direction vector per paths and the smart machine point to that the target location formed the
The corner dimension of the angle of two direction vectors, the big of the angle α of the first paths and the angle β of the second paths is calculated respectively
Small, the first direction vector of the path direction of the first paths points to the target location with the smart machine in two paths
The third direction vector of angle α and the path direction of the second paths that is formed of second direction vector refer to the smart machine
Under the angle β formed to the second direction vector of the target location is compared relatively, the small path walking of angle under normal circumstances is arrived
The probability that the path of target location is shorter is higher, therefore selects the small path of angle as ensuing walking path and according to institute
State walking path to be walked, advantageously reduce and calculate cost and energy consumption, while can faster reach target location.Special instruction
Be, in embodiments of the present invention, the smart machine according to the routing information select two allow human bodies pass through it is effective
Behind path, the mesh is pointed to the smart machine by the first direction vector of path direction of the first paths is calculated
The angle α and the third direction vector of the path direction of the second paths and the intelligence that the second direction vector of cursor position is formed
The angle β that the second direction vector that equipment points to the target location is formed it is equal in magnitude when, then the smart machine according to
Former direction of travel walks on.
Certainly, it is necessary to which explanation, in other embodiments of the invention, obtaining, a plurality of path walked is (i.e. more
Bar allows the path that human body passes through) when, also it can determine that reaches the shorter road in target location by other optimized algorithms
Footpath, these schemes will not be described here within protection scope of the present invention.
Third embodiment of the invention：
Referring to Fig. 4, on the basis of first embodiment of the invention, in addition to：
S50, when the path for allowing human body to pass through can not be selected according to the routing information, then according to the routing information
Judge whether the path for allowing smart machine to pass through in itself.
S60, if so, the path then passed through in itself according to the permission smart machine selected is walked.
S70, if it is not, determining that in front of direction of travel be Invalid path, adjust itself direction of travel and reacquire positioned at row
Walk the routing information in the path in front of direction.
In embodiments of the present invention, the smart machine extracts the path from the routing information and whether there is obstacle
The relevant information of thing and the barrier volume, when getting, there is barrier in the path and the barrier volume is more than in advance
If barrier volume threshold when, i.e., path in front of direction of travel is the path that human body can not pass through, then again according to institute
State routing information and judge whether the path in front of the direction of travel allows smart machine in itself by, for example, the barrier
Volume be more than default barrier volume threshold, the remaining channel left make human body can not by but smart machine can be led to
Cross, though when detect the path in front of the direction of travel do not allow human body by allow smart machine by when, then along institute
Direction of travel is stated to walk on；When detect the path in front of the direction of travel do not allow yet smart machine by when, then really
The path determined in front of direction of travel is Invalid path, adjusts itself direction of travel and reacquires the road in front of direction of travel
Though the routing information in footpath judge whether allowing human body by or do not allow human body by allow smart machine to lead to
The path crossed, until the path for getting the path for allowing human body to pass through or allowing smart machine to pass through is walked.Wherein, institute
The volume that volume threshold is the barrier for not influenceing human body walking is stated, by the acquiescence mean values of setting one and scans acquisition service
Indoor user can across the fault-tolerant acquisition of height progress.
In embodiments of the present invention, the smart machine extracts the path from the routing information allows what is passed through
Maximum height and Breadth Maximum, preset when judging that the maximum height is less than less than default height threshold or the Breadth Maximum
Width threshold value when, i.e., the space in front of direction of travel can not make the user in service space by then again according to the path
Information judges though whether the path in front of the direction of travel allows smart machine to make in itself by, for example, the height in the path
Human body can not by but can make smart machine by, though when detecting that the path in front of the direction of travel do not allow human body to pass through
But allow smart machine by when, then walked on along the direction of travel；When detecting the path in front of the direction of travel
When not allowing the smart machine to pass through, it is determined that be Invalid path in front of direction of travel, adjust itself direction of travel and obtain again yet
The routing information in path of the fetch bit in front of direction of travel, until getting the path for allowing human body to pass through or allowing smart machine
Walked in the path passed through.
Referring to Fig. 5, fourth embodiment of the invention provides a kind of smart machine, including：
Path acquisition module 10, in the walking process of target location is moved to, obtaining in front of direction of travel
Path routing information.
Module 20 is chosen in path, for selecting the path for allowing human body to pass through according to the routing information.
Walking module 30, the path for being passed through based on the permission human body selected are walked.
Preferably, the routing information includes maximum height and the Breadth Maximum that path allows to pass through.
Then module 20 is chosen in the path, specifically includes：
Extraction unit, the maximum height and maximum for extracting the path to allow from the routing information to pass through are wide
Degree.
Determining unit, judge that the maximum height is more than default height threshold and the Breadth Maximum is more than in advance for working as
If width threshold value when, determine the path to allow the path that passes through of human body.
Preferably, the height threshold and the width threshold value to predetermined target body by being scanned acquisition.
Or the numerical value that the height threshold and the width threshold value are inputted by receiving user in the inputting interface of offer
Obtain.
Or the height threshold and the width threshold value are the numerical value that system default is set.
Preferably, in addition to：
Path selection module, at least two paths for allowing human bodies to pass through are selected according to the routing information for working as
When, obtain the second direction vector that the first direction vector per paths points to the target location formation with the smart machine
Angle；Wherein, the first direction vector is generated by the trend in path and the current direction of travel of the smart machine.
The then walking module 30, is specifically used for：
Path corresponding with minimum angle is chosen to be walked as walking path, and according to the walking path.
Preferably, in addition to：
Judge module, for when according to the routing information can not select allow human body pass through path when, then according to institute
State the path that routing information judges whether to allow smart machine in itself to pass through.
Selecting module, for if so, the path then passed through in itself according to the permission smart machine selected is walked.
Invalid module, for if it is not, determine direction of travel in front of be Invalid path, adjust itself direction of travel and obtain again
The routing information in path of the fetch bit in front of direction of travel.
Preferably, the routing information is by identifying that the path image in front of the direction of travel gathered by camera obtains；
Or the routing information is obtained by extracting the routing information in front of the direction of travel scanned by pyroscan；Or
The routing information is obtained by collecting to be distributed by the space object in front of the direction of travel of ultrasonic detector detection.
The smart machine that fifth embodiment of the invention provides.The smart machine of the embodiment includes：Camera, sensor,
Pyroscan, processor, memory and it is stored in the calculating that can be run in the memory and on the processor
Machine program, such as smart machine walking path option program.Realized described in the computing device during computer program above-mentioned each
Step in individual smart machine walking path system of selection embodiment, such as the step S10 shown in Fig. 1.
Exemplary, the computer program can be divided into one or more module/units, one or more
Individual module/unit is stored in the memory, and by the computing device, to complete the present invention.It is one or more
Individual module/unit can be the series of computation machine programmed instruction section that can complete specific function, and the instruction segment is used to describe institute
State implementation procedure of the computer program in the smart machine.
The smart machine can be the smart machine with walking locomotivity, such as robot, robot dog, machines clean
Work etc..The smart machine may include, but be not limited only to, camera, sensor, pyroscan, processor, memory.
It will be understood by those skilled in the art that the schematic diagram is only the example of smart machine, the limit to smart machine is not formed
It is fixed, it can include than illustrating more or less parts, either combine some parts or different parts, such as the intelligence
Energy equipment can also include input-output equipment, network access equipment, bus etc..
Alleged processor can be CPU (Central Processing Unit, CPU), can also be it
His general processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other PLDs, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor can also be any conventional processor
Deng the processor is the control centre of the smart machine, utilizes each of various interfaces and the whole smart machine of connection
Individual part.
The memory can be used for storing the computer program and/or module, and the processor is by running or performing
The computer program and/or module being stored in the memory, and the data being stored in memory are called, described in realization
The various functions of smart machine.The memory can mainly include storing program area and storage data field, wherein, storing program area
Can storage program area, application program (such as sound-playing function, image player function etc.) needed at least one function etc.；
Storage data field can store uses created data (such as voice data, view data etc.) etc. according to smart machine.This
Outside, memory can include high-speed random access memory, can also include nonvolatile memory, such as hard disk, internal memory, insert
Connect formula hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash memory
Block (Flash Card), at least one disk memory, flush memory device or other volatile solid-state parts.
Wherein, if module/unit that the smart machine integrates is realized in the form of SFU software functional unit and as solely
Vertical production marketing in use, can be stored in a computer read/write memory medium.Based on such understanding, this hair
The bright all or part of flow realized in above-described embodiment method, can also by computer program come instruct correlation hardware come
Complete, described computer program can be stored in a computer-readable recording medium, and the computer program is held by processor
During row, can be achieved above-mentioned each embodiment of the method the step of.Wherein, the computer program includes computer program code, institute
It can be source code form, object identification code form, executable file or some intermediate forms etc. to state computer program code.It is described
Computer-readable medium can include：Any entity or device, recording medium, the U of the computer program code can be carried
Disk, mobile hard disk, magnetic disc, CD, computer storage, read-only storage (ROM, Read-Only Memory), arbitrary access
Memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..Need
Bright, the content that the computer-readable medium includes can be entered according to legislation in jurisdiction and the requirement of patent practice
The appropriate increase and decrease of row, such as in some jurisdictions, according to legislation and patent practice, computer-readable medium does not include electricity and carried
Ripple signal and telecommunication signal.
It should be noted that device embodiment described above is only schematical, wherein described be used as separating component
The unit of explanation can be or may not be physically separate, can be as the part that unit is shown or can also
It is not physical location, you can with positioned at a place, or can also be distributed on multiple NEs.Can be according to reality
Need to select some or all of module therein to realize the purpose of this embodiment scheme.In addition, device provided by the invention
In embodiment accompanying drawing, the annexation between module represents there is communication connection between them, specifically can be implemented as one or
A plurality of communication bus or signal wire.Those of ordinary skill in the art are without creative efforts, you can to understand
And implement.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
1. a kind of smart machine walking path system of selection, it is characterised in that comprise the following steps：
In the walking process of target location is moved to, the routing information in the path in front of direction of travel is obtained；
The path for allowing human body to pass through is selected according to the routing information；
Walked in the path passed through based on the permission human body selected.
2. smart machine walking path system of selection according to claim 1, it is characterised in that
The routing information includes maximum height and the Breadth Maximum that path allows to pass through；
It is then described that the path for allowing human body to pass through is selected according to the routing information, specifically include：
Maximum height and Breadth Maximum that the path allows to pass through are extracted from the routing information；
When judging that the maximum height is more than default height threshold and the Breadth Maximum and is more than default width threshold value, really
The path that the fixed path passes through for permission human body.
3. smart machine walking path system of selection according to claim 2, it is characterised in that
The height threshold and the width threshold value to predetermined target body by being scanned acquisition；Or
The height threshold and the width threshold value are obtained by receiving user in the numerical value that the inputting interface of offer inputs；Or
Person,
The height threshold and the numerical value that the width threshold value is system default setting.
4. the smart machine walking path system of selection according to claims 1 to 3 any one, it is characterised in that in institute
State after selecting the path for allowing human body to pass through according to the routing information, in addition to：
When selecting the path that at least two permission human bodies pass through according to the routing information, the first party per paths is obtained
The angle for the second direction vector that the target location is formed is pointed to vector and the smart machine；Wherein, the first party
Generated to vector by the trend in path and the current direction of travel of the smart machine；
Then the path passed through based on the permission human body selected is walked, and is specially：
Path corresponding with minimum angle is chosen to be walked as walking path, and according to the walking path.
5. smart machine walking path system of selection according to claim 1, it is characterised in that also include：
When the path for allowing human body to pass through can not be selected according to the routing information, then judged whether according to the routing information
In the presence of the path for allowing smart machine to pass through in itself；
If so, the path then passed through in itself according to the permission smart machine selected is walked；
If it is not, determining that in front of direction of travel be Invalid path, adjust itself direction of travel and reacquire before direction of travel
The routing information in the path of side.
6. smart machine walking path system of selection according to claim 1, it is characterised in that the routing information passes through
Identification is obtained by the path image in front of the direction of travel of camera collection；Or the routing information is by extracting by infrared
Spatial distribution in front of the direction of travel of line detector scanning obtains；Or the routing information is visited by collecting by ultrasonic wave
The space object distribution surveyed in front of the direction of travel of device detection obtains.
A kind of 7. smart machine, it is characterised in that including：
Path acquisition module, in the walking process of target location is moved to, obtaining the path in front of direction of travel
Routing information；
Module is chosen in path, for selecting the path for allowing human body to pass through according to the routing information；
Walking module, the path for being passed through based on the permission human body selected are walked.
8. smart machine according to claim 7, it is characterised in that also include：
Path determination module, for when selecting the path that at least two permission human bodies pass through according to the routing information, obtaining
The first direction vector of every paths is taken to point to the folder for the second direction vector that the target location is formed with the smart machine
Angle；Wherein, the first direction vector is generated by the trend in path and the current direction of travel of the smart machine；
Then the walking module is specifically used for：
Path corresponding with minimum angle is chosen to be walked as walking path, and according to the walking path.
9. a kind of smart machine, including processor, memory and it is stored in the memory and is configured as by described
The computer program that device performs is managed, is realized described in the computing device during computer program as any one in claim 1 to 6
Smart machine walking path system of selection described in.
10. a kind of computer-readable recording medium, it is characterised in that the computer-readable recording medium includes the calculating of storage
Machine program, wherein, equipment where controlling the computer-readable recording medium when the computer program is run is performed as weighed
Profit requires the smart machine walking path system of selection described in any one in 1 to 6.
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