CN108827278A - Air navigation aid and equipment - Google Patents

Abstract

The object of the present invention is to provide a kind of air navigation aid and equipment, by extracting key point from the desired guiding trajectory, adjust key point according to the distance between adjacent key point；Using key point adjusted as corresponding target point to generate target trajectory, wherein, the target trajectory includes an at least cross-talk motion profile, every cross-talk motion profile includes at least one target point or including multiple successively continuous target points, the target end point of every cross-talk motion profile is breakpoint, and the target point of each sub- motion profile is discontinuous；It is positioned according to current location of the environmental map to mobile device, according to the positioning, control robot is successively moved along the target point in each cross-talk motion profile, and the present invention carries out physical track auxiliary without extra cost, and control robot that can be flexible and convenient is moved according to preset track.

Description

Air navigation aid and equipment

Technical field

The present invention relates to computer field more particularly to a kind of air navigation aids and equipment.

Background technique

Currently, existing mobile device is main following several along customized path navigation mode：

One, fixed physical track, such as utilize AGV, meal delivery robot and the tramcar in city etc. of magnetic stripe navigation, institute The operating path of permission is moved along preset track completely, and waiting can only be suspended by encountering barrier, can not be to the obstacle on path Object is kept away around needing to be laid with track, at high cost, path is completely fixed, the single fixation of usage scenario.

Two, the overall situation searches road navigation, such as driving digital map navigation, partial service robot navigation etc., and user only needs to input Beginning and end, it can cook up the reference path of different cost evaluations according to pre-stored cartographic information.This overall situation The mode for searching road, according to designed assessment models, it is of interest that target point is indifferent to key link, not can guarantee and stablizes one The running track of cause is unable to satisfy expection of the user to part interim key section.

Three, it is navigated using virtual rail, considers suitable running track in advance, establish virtual rail network in advance Network finds starting point and terminal to the closest approach of virtual rail, virtual rail is recycled to search out a suitable orbital path. Key road segment is effectively guaranteed in this mode, but successive time for not can guarantee the running track continuously moved and moving along track Sequence.

Summary of the invention

It is an object of the present invention to provide a kind of air navigation aid and equipment.

According to an aspect of the invention, there is provided a kind of air navigation aid, this method include：

Obtain the desired guiding trajectory that user terminal is sent；

According to the ambient enviroment constructing environment map of mobile device；

Key point is extracted from the desired guiding trajectory, key point is adjusted according to the distance between adjacent key point, wherein work as phase When the distance between adjacent key point is greater than preset threshold, intermediate key point is inserted between two adjacent key points, when When the distance between adjacent key point is less than or equal to preset threshold, by the key of the centre in three successively adjacent key point Point deletion；

Using key point adjusted as corresponding target point to generate target trajectory, wherein the target trajectory includes at least One cross-talk motion profile, every cross-talk motion profile include at least one target point or including multiple successively continuous target points, often The target end point of cross-talk motion profile is breakpoint, and the target point of each sub- motion profile is discontinuous；

Positioned according to current location of the environmental map to mobile device, according to the positioning, control robot successively along Target point movement in each cross-talk motion profile.

Further, in the above method, according to the positioning, robot is controlled successively along in each cross-talk motion profile Target point movement, including：

Step S501：According to the target trajectory generated, judgement is currently with the presence or absence of the target in the destination path of movement to be done Point, and if it exists, enter step S502, if it does not exist, enter step S514；

Step S502：Using the current target point where mobile device as a upper target point, and under being extracted in target trajectory One target point judges whether a upper target point is breakpoint as current target point, if it has not, the cross-talk fortune that explanation is current Dynamic rail mark is not covered, and is needed to continue on current cross-talk motion profile walking, is entered step S503；

Step S503：Whether the upper target point in the current cross-talk motion profile of detection is effective target point, wherein institute It states effective target point and refers to the point that mobile device has successfully arrived at, if so, entering step S504；

Step S504：Check whether current target point is accessible point, wherein the accessible point is sentenced in advance according to the environmental map It is disconnected to obtain, if so, S505 is entered step, if it is not, current target point is entered step S501 labeled as after non-effective target point；

Step S505：Local motion plans that the mobile device move to the current target point, wherein if to it is described currently Barrier is encountered in the centre of target point movement, then enters step the current target point labeled as after non-effective target point S501；If the mobile device unsuccessful movement arrives at the current target point, the current target point is labeled as effective mesh Punctuate enters step S501；

Step S514：End is moved along desired guiding trajectory.

Further, in the above method, according to the positioning, robot is controlled successively along in each cross-talk motion profile Target point movement, including：

Step S501：According to the target trajectory generated, judgement is currently with the presence or absence of the target in the destination path of movement to be done Point, and if it exists, enter step S502, if it does not exist, enter step S514；

Step S502：Using the current target point where mobile device as a upper target point, and under being extracted in target trajectory One target point judges whether a upper target point is breakpoint, if so, illustrating current target point new as current target point A cross-talk motion profile in, need to start a new cross-talk motion profile, enter step S506；

Step S506：Judge whether current target point is accessible point, if so, S507 is entered step, if it is not, entering step S501；

Step S507：Global path search is carried out in the target trajectory according to the environmental map, if can search out described The path of current target point, enters step S508；If the path of the current target point can not be searched, by current target point After non-effective target point, S501 is entered step；

Step S508：Control mobile device is moved according to the path searched to the current target point, if mobile device success The current target point is arrived at, by the current track labeled as after effective target point, enters step S501；If mobile device is not The current target point is arrived in success, enters step S509；

Step S509：Whether the number that environmental map described in judgment basis carries out global path search in the target trajectory surpasses Preset threshold is crossed, if being more than, by the current target point labeled as after non-effective target point, enters step S501；If not exceeded, Enter step S507；

Step S514：End is moved along desired guiding trajectory.

Further, in the above method, according to the positioning, robot is controlled successively along in each cross-talk motion profile Target point movement, including：

Step S501：According to the target trajectory generated, judgement is currently with the presence or absence of the target in the destination path of movement to be done Point, and if it exists, enter step S502, if it does not exist, enter step S514；

Step S502：Using the current target point where mobile device as a upper target point, and under being extracted in target trajectory One target point judges whether a upper target point is breakpoint as current target point, if it has not, the cross-talk fortune that explanation is current Dynamic rail mark is not covered, and is needed to continue on current cross-talk motion profile walking, is entered step S503；

Step S503：Whether the upper target point in the current cross-talk motion profile of detection is effective target point, wherein institute It states effective target point and refers to the point that mobile device has successfully arrived at, if it has not, entering step S510；

Step S510：Judge whether current target point is accessible point, if so, S511 is entered step, if it is not, entering step S501；

Step S511：Route searching is carried out according to the environmental map and target trajectory, if the current target point can be searched out Path, enter step S512, if the path of the current target point can not be searched, current track be denoted as non-effective mesh After punctuate, S501 is entered step；

Step S512：After the mobile device is controlled according to path cut-through object is searched, transported again to a current cross-talk Current target point movement on dynamic rail mark, if mobile device successfully arrives at current target point, by current target point labeled as effective Target point enters step S501；If mobile device arrives at current target point not successfully, S513 is entered step；

Step S513：Environmental map described in judgment basis and target trajectory carry out whether route searching number is more than threshold value, if super It crosses, by current target point labeled as after non-effective target point, enters step S501；If not exceeded, entering step S511；

Step S514：End is moved along desired guiding trajectory.

According to another aspect of the present invention, a kind of navigation equipment is additionally provided, which includes：

First device, for obtaining the desired guiding trajectory of user terminal transmission；

Second device, for the ambient enviroment constructing environment map according to mobile device；

3rd device is adjusted according to the distance between adjacent key point and is closed for extracting key point from the desired guiding trajectory Key point, wherein when the distance between adjacent key point is greater than preset threshold, between two adjacent key points in insertion Between key point, when the distance between adjacent key point is less than or equal to preset threshold, by three successively adjacent key points In centre crucial point deletion；

4th device, for using key point adjusted as corresponding target point to generate target trajectory, wherein the target Track include an at least cross-talk motion profile, every cross-talk motion profile include at least one target point or include it is multiple successively continuously Target point, the target end point of every cross-talk motion profile is breakpoint, and the target point of each sub- motion profile is discontinuous；

5th device, according to the positioning, controls machine for positioning according to current location of the environmental map to mobile device Device people successively moves along the target point in each cross-talk motion profile.

Further, in above equipment, the 5th device includes：

501st device, for according to the target trajectory generated, judgement to be currently with the presence or absence of in the destination path of movement to be done Target point, and if it exists, be transferred to the 502nd device, if it does not exist, be transferred to the 514th device；

502nd device, for using the current trace points target point where mobile device as a upper tracing point target point, and from Next tracing point target point is extracted in target trajectory as current trace points target point, judges that a upper tracing point target point is No is breakpoint, if it has not, the cross-talk motion profile of explanation currently is not covered, needs to continue on current cross-talk movement Track walking, is transferred to the 503rd device；

503rd device, for detecting whether the upper target point in a current cross-talk motion profile is effective target point, In, the effective target point refers to the point that mobile device has successfully arrived at, if so, being transferred to the 504th device；

504th device, for checking whether current target point is accessible point, wherein the accessible point is according to the environmental map Judgement obtains in advance, if so, be transferred to the 505th device, if it is not, by current target point labeled as after non-effective target point, being transferred to the 501 devices；

505th device：Local motion plans that the mobile device is moved to the current target point, wherein if working as to described Barrier is encountered in the centre of preceding target point movement, then after the current target point being labeled as non-effective target point, into the 501st Device；If the mobile device unsuccessful movement arrives at the current target point, the current target point is labeled as effective mesh Punctuate, into the 501st device；

514th device is moved for terminating along desired guiding trajectory.

Further, in above equipment, according to the positioning, the 5th device includes：

501st device, for according to the target trajectory generated, judgement to be currently with the presence or absence of in the destination path of movement to be done Target point, and if it exists, be transferred to the 502nd device, if it does not exist, be transferred to the 514th device；

502nd device for using the current target point where mobile device as a upper target point, and is mentioned from target trajectory It takes next target point as current target point, judges whether a upper target point is breakpoint, if so, illustrating current target point In a new cross-talk motion profile, needs to start a new cross-talk motion profile, be transferred to the 506th device；

506th device, for judging whether current target point is accessible point, if so, the 507th device is transferred to, if it is not, being transferred to 501 devices；

507th device, for carrying out global path search in the target trajectory according to the environmental map, if can search out The path of the current target point is transferred to the 508th device；It, will be current if the path of the current target point can not be searched After target point is labeled as non-effective target point, into being transferred to the 501st device；

508th device is moved for controlling mobile device according to the path searched to the current target point, if mobile device The current target point is arrived in success, by the current track labeled as after effective target point, is transferred to the 501st device；If mobile Equipment arrives at the current target point not successfully, is transferred to the 509th device；

509th device carries out the number of global path search for environmental map described in judgment basis in the target trajectory Whether it is more than preset threshold, if being more than, by the current target point labeled as after non-effective target point, is transferred to the 501st device；If It is less than, is transferred to the 507th device；

514th device is moved for terminating along desired guiding trajectory.

Further, in above equipment, the 5th device includes：

501st device, for according to the target trajectory generated, judgement to be currently with the presence or absence of in the destination path of movement to be done Target point, and if it exists, be transferred to the 502nd device, if it does not exist, be transferred to the 514th device；

502nd device for using the current target point where mobile device as a upper target point, and is mentioned from target trajectory It takes next target point as current target point, judges whether a upper target point is breakpoint, if it has not, one section that explanation is current Sub- motion profile is not covered, and is needed to continue on current cross-talk motion profile walking, is transferred to the 503rd device；

503rd device, for detecting whether the upper target point in a current cross-talk motion profile is effective target point, In, the effective target point refers to the point that mobile device has successfully arrived at, if it has not, being transferred to the 510th device；

510th device, for judging whether current target point is accessible point, if so, the 511st device is transferred to, if it is not, being transferred to 501 devices；

511st device, for carrying out route searching according to the environmental map and target trajectory, if the current mesh can be searched out The path of punctuate is transferred to the 512nd device, if the path of the current target point can not be searched, current track is denoted as non- After effective target point, it is transferred to the 501st device；

512nd device, after controlling the mobile device according to path cut-through object is searched, again to current one section Current target point movement on sub- motion profile, if mobile device successfully arrives at current target point, current target point is labeled as Effective target point, is transferred to the 501st device；If mobile device arrives at current target point not successfully, it is transferred to the 513rd device；

513rd device carries out whether route searching number is more than threshold value for environmental map described in judgment basis and target trajectory, If being more than, by current target point labeled as after non-effective target point, it is transferred to the 501st device；If not exceeded, being transferred to the 511st device；

514th device is moved for terminating along desired guiding trajectory.

Another side according to the present invention also provides a kind of equipment based on calculating, wherein including：

Processor；And

It is arranged to the memory of storage computer executable instructions, the executable instruction makes the processing when executed Device：

Obtain the desired guiding trajectory that user terminal is sent；

According to the ambient enviroment constructing environment map of mobile device；

Key point is extracted from the desired guiding trajectory, key point is adjusted according to the distance between adjacent key point, wherein work as phase When the distance between adjacent key point is greater than preset threshold, intermediate key point is inserted between two adjacent key points, when When the distance between adjacent key point is less than or equal to preset threshold, by the key of the centre in three successively adjacent key point Point deletion；

Using key point adjusted as corresponding target point to generate target trajectory, wherein the target trajectory includes at least One cross-talk motion profile, every cross-talk motion profile include at least one target point or including multiple successively continuous target points, often The target end point of cross-talk motion profile is breakpoint, and the target point of each sub- motion profile is discontinuous；

Positioned according to current location of the environmental map to mobile device, according to the positioning, control robot successively along Target point movement in each cross-talk motion profile.

Another side according to the present invention also provides a kind of computer readable storage medium, and being stored thereon with computer can hold Row instruction, wherein the computer executable instructions make processor when being executed by processor：

Obtain the desired guiding trajectory that user terminal is sent；

According to the ambient enviroment constructing environment map of mobile device；

Key point is extracted from the desired guiding trajectory, key point is adjusted according to the distance between adjacent key point, wherein work as phase When the distance between adjacent key point is greater than preset threshold, intermediate key point is inserted between two adjacent key points, when When the distance between adjacent key point is less than or equal to preset threshold, by the key of the centre in three successively adjacent key point Point deletion；

Using key point adjusted as corresponding target point to generate target trajectory, wherein the target trajectory includes at least One cross-talk motion profile, every cross-talk motion profile include at least one target point or including multiple successively continuous target points, often The target end point of cross-talk motion profile is breakpoint, and the target point of each sub- motion profile is discontinuous；

Positioned according to current location of the environmental map to mobile device, according to the positioning, control robot successively along Target point movement in each cross-talk motion profile.

Compared with prior art, the present invention is by extracting key point from the desired guiding trajectory, according to adjacent key point The distance between adjustment key point, wherein when the distance between adjacent key point be greater than preset threshold when, at adjacent two Intermediate key point is inserted between key point, when the distance between adjacent key point is less than or equal to preset threshold, by three The successively crucial point deletion of the centre in adjacent key point；Using key point adjusted as corresponding target point to generate mesh Mark track, wherein the target trajectory includes an at least cross-talk motion profile, and every cross-talk motion profile includes at least one target It puts or including multiple successively continuous target points, the target end point of every cross-talk motion profile is breakpoint, each sub- motion profile Target point is discontinuous；It is positioned according to current location of the environmental map to mobile device, according to the positioning, controls robot It is successively moved along the target point in each cross-talk motion profile, carries out physical track auxiliary without extra cost, it can be flexibly square Just control robot is moved according to preset track.

Detailed description of the invention

By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, other spies of the invention Sign, objects and advantages will become more apparent upon：

Fig. 1 shows the system structure diagram of one embodiment of air navigation aid of the invention；

Fig. 2 shows the flow charts of one embodiment of air navigation aid of the invention；

Fig. 3 shows the track schematic diagram that one embodiment of air navigation aid of the invention generates.

The same or similar appended drawing reference represents the same or similar component in attached drawing.

Specific embodiment

Present invention is further described in detail with reference to the accompanying drawing.

In a typical configuration of this application, terminal, the equipment of service network and trusted party include one or more Processor (CPU), input/output interface, network interface and memory.

Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/ Or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable Jie The example of matter.

Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data. The example of the storage medium of computer include, but are not limited to phase change memory (PRAM), static random access memory (SRAM), Dynamic random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electricity Erasable Programmable Read Only Memory EPROM (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic Property storage equipment or any other non-transmission medium, can be used for storing and can be accessed by a computing device information.According to herein Define, computer-readable medium does not include non-temporary computer readable media (transitory media), such as modulation data Signal and carrier wave.

The present invention provides a kind of air navigation aid, including：

Step S1 obtains the desired guiding trajectory that user terminal is sent；

Here, SLAM autonomous positioning builds figure part, generates fortune as shown in Figure 1, the present invention can be divided into user terminal, interactive portion Move path portion and along five parts of track motion parts；

Wherein, user terminal, usually cell phone application or PC epigynous computer section are substantially carried out the input of desired guiding trajectory, display environment Figure, preset track and completed motion profile；

Step S2, according to the ambient enviroment constructing environment map of mobile device；

Here, as shown in Figure 1, can build figure part by SLAM autonomous positioning carries out constructing environment map and according to the environment Building map positions the position of mobile device, provides exact position to the Navigational Movements of mobile device and ensures；

As shown in Figure 1, user terminal can be carried out by interactive portion and generate motion profile part and SLAM（simultaneous Localization and mapping, synchronous positioning and map）Autonomous positioning builds the transmission that figure part carries out data；

Step S3 extracts key point from the desired guiding trajectory, adjusts key point according to the distance between adjacent key point, In, the pass when the distance between adjacent key point is greater than preset threshold, between two adjacent key points among insertion Key point, when the distance between adjacent key point is less than or equal to preset threshold, in three successively adjacent key point Between crucial point deletion；

Here, foundation can include as shown in Figure 1, generating motion profile part with the path extraction key point of user preset, generation At least target trajectory of a cross-talk motion profile, target trajectory are used for robot navigation, when distance is larger between key point, directly Intermediate key point is inserted between two adjacent key points, key is when the distance between adjacent key point is smaller, directly It connects and deletes part intermediate point；

Step S4, using key point adjusted as corresponding target point to generate target trajectory, wherein the target trajectory packet Include an at least cross-talk motion profile, every cross-talk motion profile includes at least one target point or including multiple successively continuous targets The target end point of point, every cross-talk motion profile is breakpoint, and the target point of each sub- motion profile is discontinuous；

Step S5 is positioned according to current location of the environmental map to mobile device, according to the positioning, control robot according to The secondary target point along in each cross-talk motion profile moves.

Here, as shown in Figure 1, mobile device can be controlled along mesh according to the target trajectory of generation along track motion parts Mark track movement.

The present invention provides a kind of air navigation aid moved for mobile device along customized path, carries out without extra cost Physical track auxiliary, control robot that can be flexible and convenient are moved according to preset track.

As shown in Fig. 2, step S5 controls robot successively along the mesh in each cross-talk motion profile according to the positioning In punctuate movement, three kinds of movements can be related to：Road is searched to go the movement of track starting point, move and detour along target trajectory and come back to mesh Mark track movement.These three movements are introduced below：

In one embodiment of air navigation aid of the invention, step S5 controls robot and successively transports along each cross-talk according to the positioning Target point movement in dynamic rail mark, including moved along target trajectory, wherein including：

Step S501：According to the target trajectory generated, judgement is currently with the presence or absence of the target in the destination path of movement to be done Point, and if it exists, enter step S502, if it does not exist, enter step S514；

Step S502：Using the current target point where mobile device as a upper target point, and under being extracted in target trajectory One target point judges whether a upper target point is breakpoint as current target point, if it has not, the cross-talk fortune that explanation is current Dynamic rail mark is not covered, and is needed to continue on current cross-talk motion profile walking, is entered step S503；

Step S503：Whether the upper target point in the current cross-talk motion profile of detection is effective target point, wherein institute It states effective target point and refers to the point that mobile device has successfully arrived at, if so, entering step S504；

Step S504：Check whether current target point is accessible point, wherein the accessible point is sentenced in advance according to the environmental map It is disconnected to obtain, if so, S505 is entered step, if it is not, current target point is entered step S501 labeled as after non-effective target point；

Step S505：Local motion plans that the mobile device move to the current target point, wherein if to it is described currently Barrier is encountered in the centre of target point movement, then enters step the current target point labeled as after non-effective target point S501；If the mobile device unsuccessful movement arrives at the current target point, the current target point is labeled as effective mesh Punctuate enters step S501；

Step S514：End is moved along desired guiding trajectory.

In one embodiment of air navigation aid of the invention, step S5 controls robot successively along each section according to the positioning Target point movement in sub- motion profile, including search road and track starting point is gone to move, wherein including：

Step S501：According to the target trajectory generated, judgement is currently with the presence or absence of the target in the destination path of movement to be done Point, and if it exists, enter step S502, if it does not exist, enter step S514；

Step S502：Using the current target point where mobile device as a upper target point, and under being extracted in target trajectory One target point judges whether a upper target point is breakpoint, if so, illustrating current target point new as current target point A cross-talk motion profile in, need to start a new cross-talk motion profile, enter step S506；

Step S506：Judge whether current target point is accessible point, if so, S507 is entered step, if it is not, entering step S501；

Step S507：Global path search is carried out in the target trajectory according to the environmental map, if can search out described The path of current target point, enters step S508；If the path of the current target point can not be searched, by current target point After non-effective target point, S501 is entered step；

Step S508：Control mobile device is moved according to the path searched to the current target point, if mobile device success The current target point is arrived at, by the current track labeled as after effective target point, enters step S501；If mobile device is not The current target point is arrived in success, enters step S509；

Step S509：Whether the number that environmental map described in judgment basis carries out global path search in the target trajectory surpasses Preset threshold is crossed, if being more than, by the current target point labeled as after non-effective target point, enters step S501；If not exceeded, Enter step S507；

Step S514：End is moved along desired guiding trajectory.

In one embodiment of air navigation aid of the invention, step S5 controls robot successively along each section according to the positioning Target point movement in sub- motion profile, including detour and come back to target trajectory movement, wherein including：

Step S501：According to the target trajectory generated, judgement is currently with the presence or absence of the target in the destination path of movement to be done Point, and if it exists, enter step S502, if it does not exist, enter step S514；

Step S502：Using the current target point where mobile device as a upper target point, and under being extracted in target trajectory One target point judges whether a upper target point is breakpoint as current target point, if it has not, the cross-talk fortune that explanation is current Dynamic rail mark is not covered, and is needed to continue on current cross-talk motion profile walking, is entered step S503；

Step S503：Whether the upper target point in the current cross-talk motion profile of detection is effective target point, wherein institute It states effective target point and refers to the point that mobile device has successfully arrived at, if it has not, entering step S510；

Step S510：Judge whether current target point is accessible point, if so, S511 is entered step, if it is not, entering step S501；

Step S511：Route searching is carried out according to the environmental map and target trajectory, if the current target point can be searched out Path, enter step S512, if the path of the current target point can not be searched, current track be denoted as non-effective mesh After punctuate, S501 is entered step；

Step S512：After the mobile device is controlled according to path cut-through object is searched, transported again to a current cross-talk Current target point movement on dynamic rail mark, if mobile device successfully arrives at current target point, by current target point labeled as effective Target point enters step S501；If mobile device arrives at current target point not successfully, S513 is entered step；

Step S513：Environmental map described in judgment basis and target trajectory carry out whether route searching number is more than threshold value, if super It crosses, by current target point labeled as after non-effective target point, enters step S501；If not exceeded, entering step S511；

Step S514：End is moved along desired guiding trajectory.

The present invention can be realized mobile device and move to the greatest extent along the set goal track, and evacuation that can be autonomous Invalid partial traces and interim obstacle come back to preset track and complete remaining goal task.

Specifically, as shown in Figure 1, system structure of the invention is broadly divided into user terminal, interactive portion, SLAM autonomous positioning It builds figure part, generate path portion and along five parts of track motion parts：

As shown in Fig. 2, the specific implementation process along track motion parts is as follows：

Step S501：According to the target trajectory generated, judgement is currently with the presence or absence of the target in the destination path of movement to be done Point, and if it exists, enter step S502, if it does not exist, enter step S514；

Step S502：Using the current target point where mobile device as a upper target point, and under being extracted in target trajectory One target point judges whether a upper target point is breakpoint, if so, illustrating current target point new as current target point A cross-talk motion profile in, need to start a new cross-talk motion profile, enter step S506, if it has not, explanation is current One cross-talk motion profile is not covered, and is needed to continue on current cross-talk motion profile walking, is entered step S503；

Step S503：Whether the upper target point in the current cross-talk motion profile of detection is effective target point, wherein institute It states effective target point and refers to the point that mobile device has successfully arrived at, if so, S504 is entered step, if it has not, entering step S510；

Step S504：Check whether current target point is accessible point, wherein the accessible point is sentenced in advance according to the environmental map It is disconnected to obtain, if so, S505 is entered step, if it is not, current target point is entered step S501 labeled as after non-effective target point；

Step S505：Local motion plans that the mobile device move to the current target point, wherein if to it is described currently Barrier is encountered in the centre of target point movement, then enters step the current target point labeled as after non-effective target point S501；If the mobile device unsuccessful movement arrives at the current target point, the current target point is labeled as effective mesh Punctuate enters step S501；

Step S506：Judge whether current target point is accessible point, if so, S507 is entered step, if it is not, entering step S501；

Step S507：Global path search is carried out in the target trajectory according to the environmental map, if can search out described The path of current target point, enters step S508；If the path of the current target point can not be searched, by current target point After non-effective target point, S501 is entered step；

Step S508：Control mobile device is moved according to the path searched to the current target point, if mobile device success The current target point is arrived at, by the current track labeled as after effective target point, enters step S501；If mobile device is not The current target point is arrived in success, enters step S509；

Step S509：Whether the number that environmental map described in judgment basis carries out global path search in the target trajectory surpasses Preset threshold is crossed, if being more than, by the current target point labeled as after non-effective target point, enters step S501；If not exceeded, Enter step S507；

Step S510：Judge whether current target point is accessible point, if so, S511 is entered step, if it is not, entering step S501；

Step S511：Route searching is carried out according to the environmental map and target trajectory, if the current target point can be searched out Path, enter step S512, if the path of the current target point can not be searched, current track be denoted as non-effective mesh After punctuate, S501 is entered step；

Step S512：After the mobile device is controlled according to path cut-through object is searched, transported again to a current cross-talk Current target point movement on dynamic rail mark, if mobile device successfully arrives at current target point, by current target point labeled as effective Target point enters step S501；If mobile device arrives at current target point not successfully, S513 is entered step；

Step S513：Environmental map described in judgment basis and target trajectory carry out whether route searching number is more than threshold value, if super It crosses, by current target point labeled as after non-effective target point, enters step S501；If not exceeded, entering step S511；

Step S514：End is moved along desired guiding trajectory.

Specifically, a, b, c ... o, p, q, r are target point in Fig. 3, wherein a is initial target point, and i, r are breakpoint, is used In the sub- motion profile for distinguishing different sections, if the rectangle frame outside the d in Fig. 3 represents the start position of mobile device, e, f, g is There is the unreachable point that barrier is plugged, wherein

Searching road goes track starting point to move, including step S501, S502, S506, S507, S508, S509, wherein mobile device fortune Row mainly includes：The initial target point that each cross-talk motion profile is arrived on road is searched, such as a in Fig. 3 in the current location of slave mobile device Or j；

It detours and comes back to target trajectory movement, including step S501, S502, S503, S510, S511, S512, S513, wherein as shown in figure 3, next target point e is blocked, on current cross-talk motion profile, will successively look for down, directly To point target point h, since a upper target point g of target point h is non-effective target point, at this time can slave mobile device it is current Position searches new route and reaches h, that is, searches the new route of d to h；

It is moved along target trajectory, including step S501, step S502, step S503, step S504, step S505, wherein Including the movement between the adjacent continuous target point of same cross-talk motion profile, a to b as shown in Figure 3, b to c etc..

According to another aspect of the present invention, a kind of navigation equipment is additionally provided, which includes：

First device, for obtaining the desired guiding trajectory of user terminal transmission；

Second device, for the ambient enviroment constructing environment map according to mobile device；

3rd device is adjusted according to the distance between adjacent key point and is closed for extracting key point from the desired guiding trajectory Key point, wherein when the distance between adjacent key point is greater than preset threshold, between two adjacent key points in insertion Between key point, when the distance between adjacent key point is less than or equal to preset threshold, by three successively adjacent key points In centre crucial point deletion；

4th device, for using key point adjusted as corresponding target point to generate target trajectory, wherein the target Track include an at least cross-talk motion profile, every cross-talk motion profile include at least one target point or include it is multiple successively continuously Target point, the target end point of every cross-talk motion profile is breakpoint, and the target point of each sub- motion profile is discontinuous；

5th device, according to the positioning, controls machine for positioning according to current location of the environmental map to mobile device Device people successively moves along the target point in each cross-talk motion profile.

Further, in above equipment, the 5th device includes：

501st device, for according to the target trajectory generated, judgement to be currently with the presence or absence of in the destination path of movement to be done Target point, and if it exists, be transferred to the 502nd device, if it does not exist, be transferred to the 514th device；

502nd device, for using the current trace points target point where mobile device as a upper tracing point target point, and from Next tracing point target point is extracted in target trajectory as current trace points target point, judges that a upper tracing point target point is No is breakpoint, if it has not, the cross-talk motion profile of explanation currently is not covered, needs to continue on current cross-talk movement Track walking, is transferred to the 503rd device；

503rd device, for detecting whether the upper target point in a current cross-talk motion profile is effective target point, In, the effective target point refers to the point that mobile device has successfully arrived at, if so, being transferred to the 504th device；

504th device, for checking whether current target point is accessible point, wherein the accessible point is according to the environmental map Judgement obtains in advance, if so, be transferred to the 505th device, if it is not, by current target point labeled as after non-effective target point, being transferred to the 501 devices；

505th device：Local motion plans that the mobile device is moved to the current target point, wherein if working as to described Barrier is encountered in the centre of preceding target point movement, then after the current target point being labeled as non-effective target point, into the 501st Device；If the mobile device unsuccessful movement arrives at the current target point, the current target point is labeled as effective mesh Punctuate, into the 501st device；

514th device is moved for terminating along desired guiding trajectory.

Further, in above equipment, according to the positioning, the 5th device includes：

501st device, for according to the target trajectory generated, judgement to be currently with the presence or absence of in the destination path of movement to be done Target point, and if it exists, be transferred to the 502nd device, if it does not exist, be transferred to the 514th device；

502nd device for using the current target point where mobile device as a upper target point, and is mentioned from target trajectory It takes next target point as current target point, judges whether a upper target point is breakpoint, if so, illustrating current target point In a new cross-talk motion profile, needs to start a new cross-talk motion profile, be transferred to the 506th device；

506th device, for judging whether current target point is accessible point, if so, the 507th device is transferred to, if it is not, being transferred to 501 devices；

507th device, for carrying out global path search in the target trajectory according to the environmental map, if can search out The path of the current target point is transferred to the 508th device；It, will be current if the path of the current target point can not be searched After target point is labeled as non-effective target point, into being transferred to the 501st device；

508th device is moved for controlling mobile device according to the path searched to the current target point, if mobile device The current target point is arrived in success, by the current track labeled as after effective target point, is transferred to the 501st device；If mobile Equipment arrives at the current target point not successfully, is transferred to the 509th device；

509th device carries out the number of global path search for environmental map described in judgment basis in the target trajectory Whether it is more than preset threshold, if being more than, by the current target point labeled as after non-effective target point, is transferred to the 501st device；If It is less than, is transferred to the 507th device；

514th device is moved for terminating along desired guiding trajectory.

Further, in above equipment, the 5th device includes：

501st device, for according to the target trajectory generated, judgement to be currently with the presence or absence of in the destination path of movement to be done Target point, and if it exists, be transferred to the 502nd device, if it does not exist, be transferred to the 514th device；

502nd device for using the current target point where mobile device as a upper target point, and is mentioned from target trajectory It takes next target point as current target point, judges whether a upper target point is breakpoint, if it has not, one section that explanation is current Sub- motion profile is not covered, and is needed to continue on current cross-talk motion profile walking, is transferred to the 503rd device；

503rd device, for detecting whether the upper target point in a current cross-talk motion profile is effective target point, In, the effective target point refers to the point that mobile device has successfully arrived at, if it has not, being transferred to the 510th device；

510th device, for judging whether current target point is accessible point, if so, the 511st device is transferred to, if it is not, being transferred to 501 devices；

511st device, for carrying out route searching according to the environmental map and target trajectory, if the current mesh can be searched out The path of punctuate is transferred to the 512nd device, if the path of the current target point can not be searched, current track is denoted as non- After effective target point, it is transferred to the 501st device；

512nd device, after controlling the mobile device according to path cut-through object is searched, again to current one section Current target point movement on sub- motion profile, if mobile device successfully arrives at current target point, current target point is labeled as Effective target point, is transferred to the 501st device；If mobile device arrives at current target point not successfully, it is transferred to the 513rd device；

513rd device carries out whether route searching number is more than threshold value for environmental map described in judgment basis and target trajectory, If being more than, by current target point labeled as after non-effective target point, it is transferred to the 501st device；If not exceeded, being transferred to the 511st device；

514th device is moved for terminating along desired guiding trajectory.

Another side according to the present invention also provides a kind of equipment based on calculating, wherein including：

Processor；And

It is arranged to the memory of storage computer executable instructions, the executable instruction makes the processing when executed Device：

Obtain the desired guiding trajectory that user terminal is sent；

According to the ambient enviroment constructing environment map of mobile device；

Key point is extracted from the desired guiding trajectory, key point is adjusted according to the distance between adjacent key point, wherein work as phase When the distance between adjacent key point is greater than preset threshold, intermediate key point is inserted between two adjacent key points, when When the distance between adjacent key point is less than or equal to preset threshold, by the key of the centre in three successively adjacent key point Point deletion；

Using key point adjusted as corresponding target point to generate target trajectory, wherein the target trajectory includes at least One cross-talk motion profile, every cross-talk motion profile include at least one target point or including multiple successively continuous target points, often The target end point of cross-talk motion profile is breakpoint, and the target point of each sub- motion profile is discontinuous；

Positioned according to current location of the environmental map to mobile device, according to the positioning, control robot successively along Target point movement in each cross-talk motion profile.

Another side according to the present invention also provides a kind of computer readable storage medium, and being stored thereon with computer can hold Row instruction, wherein the computer executable instructions make processor when being executed by processor：

Obtain the desired guiding trajectory that user terminal is sent；

According to the ambient enviroment constructing environment map of mobile device；

Key point is extracted from the desired guiding trajectory, key point is adjusted according to the distance between adjacent key point, wherein work as phase When the distance between adjacent key point is greater than preset threshold, intermediate key point is inserted between two adjacent key points, when When the distance between adjacent key point is less than or equal to preset threshold, by the key of the centre in three successively adjacent key point Point deletion；

Using key point adjusted as corresponding target point to generate target trajectory, wherein the target trajectory includes at least One cross-talk motion profile, every cross-talk motion profile include at least one target point or including multiple successively continuous target points, often The target end point of cross-talk motion profile is breakpoint, and the target point of each sub- motion profile is discontinuous；

Positioned according to current location of the environmental map to mobile device, according to the positioning, control robot successively along Target point movement in each cross-talk motion profile.

The detailed content of above-mentioned each equipment and each embodiment of storage medium, for details, reference can be made to the correspondence portions of each method embodiment Point, here, repeating no more.

Obviously, those skilled in the art can carry out various modification and variations without departing from the essence of the application to the application Mind and range.In this way, if these modifications and variations of the application belong to the range of the claim of this application and its equivalent technologies Within, then the application is also intended to include these modifications and variations.

It should be noted that the present invention can be carried out in the assembly of software and/or software and hardware, for example, can adopt Use specific integrated circuit（ASIC）, general purpose computer or any other realized similar to hardware device.In one embodiment In, software program of the invention can be executed to implement the above steps or functions by processor.Similarly, of the invention Software program（Including relevant data structure）It can be stored in computer readable recording medium, for example, RAM memory, Magnetic or optical driver or floppy disc and similar devices.In addition, some of the steps or functions of the present invention may be implemented in hardware, example Such as, as the circuit cooperated with processor thereby executing each step or function.

In addition, a part of the invention can be applied to computer program product, such as computer program instructions, when its quilt When computer executes, by the operation of the computer, it can call or provide according to the method for the present invention and/or technical solution. And the program instruction of method of the invention is called, it is possibly stored in fixed or moveable recording medium, and/or pass through Broadcast or the data flow in other signal-bearing mediums and transmitted, and/or be stored according to described program instruction operation In the working storage of computer equipment.Here, according to one embodiment of present invention including a device, which includes using Memory in storage computer program instructions and processor for executing program instructions, wherein when the computer program refers to When enabling by processor execution, method and/or skill of the device operation based on aforementioned multiple embodiments according to the present invention are triggered Art scheme.

It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims Variation is included in the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.This Outside, it is clear that one word of " comprising " does not exclude other units or steps, and odd number is not excluded for plural number.That states in device claim is multiple Unit or device can also be implemented through software or hardware by a unit or device.The first, the second equal words are used to table Show title, and does not indicate any particular order.

Claims (10)

1. a kind of air navigation aid, wherein this method includes：

Obtain the desired guiding trajectory that user terminal is sent；

According to the ambient enviroment constructing environment map of mobile device；

Key point is extracted from the desired guiding trajectory, key point is adjusted according to the distance between adjacent key point, wherein work as phase When the distance between adjacent key point is greater than preset threshold, intermediate key point is inserted between two adjacent key points, when When the distance between adjacent key point is less than or equal to preset threshold, by the key of the centre in three successively adjacent key point Point deletion；

Using key point adjusted as corresponding target point to generate target trajectory, wherein the target trajectory includes at least One cross-talk motion profile, every cross-talk motion profile include at least one target point or including multiple successively continuous target points, often The target end point of cross-talk motion profile is breakpoint, and the target point of each sub- motion profile is discontinuous；

Positioned according to current location of the environmental map to mobile device, according to the positioning, control robot successively along Target point movement in each cross-talk motion profile.

2. according to the method described in claim 1, wherein, according to the positioning, controlling robot and successively being moved along each cross-talk Target point movement in track, including：

Step S501：According to the target trajectory generated, judgement is currently with the presence or absence of the target in the destination path of movement to be done Point, and if it exists, enter step S502, if it does not exist, enter step S514；

Step S502：Using the current target point where mobile device as a upper target point, and under being extracted in target trajectory One target point judges whether a upper target point is breakpoint, if it has not, entering step S503 as current target point；

Step S503：Whether the upper target point in the current cross-talk motion profile of detection is effective target point, wherein institute It states effective target point and refers to the point that mobile device has successfully arrived at, if so, entering step S504；

Step S504：Check whether current target point is accessible point, wherein the accessible point is sentenced in advance according to the environmental map It is disconnected to obtain, if so, S505 is entered step, if it is not, current target point is entered step S501 labeled as after non-effective target point；

Step S505：Local motion plans that the mobile device move to the current target point, wherein if to it is described currently Barrier is encountered in the centre of target point movement, then enters step the current target point labeled as after non-effective target point S501；If the mobile device unsuccessful movement arrives at the current target point, the current target point is labeled as effective mesh Punctuate enters step S501；

Step S514：End is moved along desired guiding trajectory.

3. according to the method described in claim 1, wherein, according to the positioning, controlling robot and successively being moved along each cross-talk Target point movement in track, including：

Step S501：According to the target trajectory generated, judgement is currently with the presence or absence of the target in the destination path of movement to be done Point, and if it exists, enter step S502, if it does not exist, enter step S514；

Step S502：Using the current target point where mobile device as a upper target point, and under being extracted in target trajectory One target point judges whether a upper target point is breakpoint, if so, illustrating current target point new as current target point A cross-talk motion profile in, need to start a new cross-talk motion profile, enter step S506；

Step S506：Judge whether current target point is accessible point, if so, S507 is entered step, if it is not, entering step S501；

Step S507：Global path search is carried out in the target trajectory according to the environmental map, if can search out described The path of current target point, enters step S508；If the path of the current target point can not be searched, by current target point After non-effective target point, S501 is entered step；

Step S508：Control mobile device is moved according to the path searched to the current target point, if mobile device success The current target point is arrived at, by the current track labeled as after effective target point, enters step S501；If mobile device is not The current target point is arrived in success, enters step S509；

Step S509：Whether the number that environmental map described in judgment basis carries out global path search in the target trajectory surpasses Preset threshold is crossed, if being more than, by the current target point labeled as after non-effective target point, enters step S501；If not exceeded, Enter step S507；

Step S514：End is moved along desired guiding trajectory.

4. according to the method described in claim 1, wherein, according to the positioning, controlling robot and successively being moved along each cross-talk Target point movement in track, including：

Step S501：According to the target trajectory generated, judgement is currently with the presence or absence of the target in the destination path of movement to be done Point, and if it exists, enter step S502, if it does not exist, enter step S514；

Step S502：Using the current target point where mobile device as a upper target point, and under being extracted in target trajectory One target point judges whether a upper target point is breakpoint as current target point, if it has not, the cross-talk fortune that explanation is current Dynamic rail mark is not covered, and is needed to continue on current cross-talk motion profile walking, is entered step S503；

Step S503：Whether the upper target point in the current cross-talk motion profile of detection is effective target point, wherein institute It states effective target point and refers to the point that mobile device has successfully arrived at, if it has not, entering step S510；

Step S510：Judge whether current target point is accessible point, if so, S511 is entered step, if it is not, entering step S501；

Step S511：Route searching is carried out according to the environmental map and target trajectory, if the current target point can be searched out Path, enter step S512, if the path of the current target point can not be searched, current track be denoted as non-effective mesh After punctuate, S501 is entered step；

Step S512：After the mobile device is controlled according to path cut-through object is searched, transported again to a current cross-talk Current target point movement on dynamic rail mark, if mobile device successfully arrives at current target point, by current target point labeled as effective Target point enters step S501；If mobile device arrives at current target point not successfully, S513 is entered step；

Step S513：Environmental map described in judgment basis and target trajectory carry out whether route searching number is more than threshold value, if super It crosses, by current target point labeled as after non-effective target point, enters step S501；If not exceeded, entering step S511；

Step S514：End is moved along desired guiding trajectory.

5. a kind of navigation equipment, wherein the equipment includes：

First device, for obtaining the desired guiding trajectory of user terminal transmission；

Second device, for the ambient enviroment constructing environment map according to mobile device；

3rd device is adjusted according to the distance between adjacent key point and is closed for extracting key point from the desired guiding trajectory Key point, wherein when the distance between adjacent key point is greater than preset threshold, between two adjacent key points in insertion Between key point, when the distance between adjacent key point is less than or equal to preset threshold, by three successively adjacent key points In centre crucial point deletion；

4th device, for using key point adjusted as corresponding target point to generate target trajectory, wherein the target Track include an at least cross-talk motion profile, every cross-talk motion profile include at least one target point or include it is multiple successively continuously Target point, the target end point of every cross-talk motion profile is breakpoint, and the target point of each sub- motion profile is discontinuous；

5th device, according to the positioning, controls machine for positioning according to current location of the environmental map to mobile device Device people successively moves along the target point in each cross-talk motion profile.

6. equipment according to claim 5, wherein the 5th device includes：

501st device, for according to the target trajectory generated, judgement to be currently with the presence or absence of in the destination path of movement to be done Target point, and if it exists, be transferred to the 502nd device, if it does not exist, be transferred to the 514th device；

502nd device, for using the current trace points target point where mobile device as a upper tracing point target point, and from Next tracing point target point is extracted in target trajectory as current trace points target point, judges that a upper tracing point target point is No is breakpoint, if it has not, being transferred to the 503rd device；

503rd device, for detecting whether the upper target point in a current cross-talk motion profile is effective target point, In, the effective target point refers to the point that mobile device has successfully arrived at, if so, being transferred to the 504th device；

504th device, for checking whether current target point is accessible point, wherein the accessible point is according to the environmental map Judgement obtains in advance, if so, be transferred to the 505th device, if it is not, by current target point labeled as after non-effective target point, being transferred to the 501 devices；

505th device：Local motion plans that the mobile device is moved to the current target point, wherein if working as to described Barrier is encountered in the centre of preceding target point movement, then after the current target point being labeled as non-effective target point, into the 501st Device；If the mobile device unsuccessful movement arrives at the current target point, the current target point is labeled as effective mesh Punctuate, into the 501st device；

514th device is moved for terminating along desired guiding trajectory.

7. equipment according to claim 5, wherein according to the positioning, the 5th device includes：

501st device, for according to the target trajectory generated, judgement to be currently with the presence or absence of in the destination path of movement to be done Target point, and if it exists, be transferred to the 502nd device, if it does not exist, be transferred to the 514th device；

502nd device for using the current target point where mobile device as a upper target point, and is mentioned from target trajectory It takes next target point as current target point, judges whether a upper target point is breakpoint, if so, illustrating current target point In a new cross-talk motion profile, needs to start a new cross-talk motion profile, be transferred to the 506th device；

506th device, for judging whether current target point is accessible point, if so, the 507th device is transferred to, if it is not, being transferred to 501 devices；

507th device, for carrying out global path search in the target trajectory according to the environmental map, if can search out The path of the current target point is transferred to the 508th device；It, will be current if the path of the current target point can not be searched After target point is labeled as non-effective target point, into being transferred to the 501st device；

508th device is moved for controlling mobile device according to the path searched to the current target point, if mobile device The current target point is arrived in success, by the current track labeled as after effective target point, is transferred to the 501st device；If mobile Equipment arrives at the current target point not successfully, is transferred to the 509th device；

509th device carries out the number of global path search for environmental map described in judgment basis in the target trajectory Whether it is more than preset threshold, if being more than, by the current target point labeled as after non-effective target point, is transferred to the 501st device；If It is less than, is transferred to the 507th device；

514th device is moved for terminating along desired guiding trajectory.

8. equipment according to claim 5, wherein the 5th device includes：

501st device, for according to the target trajectory generated, judgement to be currently with the presence or absence of in the destination path of movement to be done Target point, and if it exists, be transferred to the 502nd device, if it does not exist, be transferred to the 514th device；

502nd device for using the current target point where mobile device as a upper target point, and is mentioned from target trajectory It takes next target point as current target point, judges whether a upper target point is breakpoint, if it has not, one section that explanation is current Sub- motion profile is not covered, and is needed to continue on current cross-talk motion profile walking, is transferred to the 503rd device；

503rd device, for detecting whether the upper target point in a current cross-talk motion profile is effective target point, In, the effective target point refers to the point that mobile device has successfully arrived at, if it has not, being transferred to the 510th device；

510th device, for judging whether current target point is accessible point, if so, the 511st device is transferred to, if it is not, being transferred to 501 devices；

511st device, for carrying out route searching according to the environmental map and target trajectory, if the current mesh can be searched out The path of punctuate is transferred to the 512nd device, if the path of the current target point can not be searched, current track is denoted as non- After effective target point, it is transferred to the 501st device；

512nd device, after controlling the mobile device according to path cut-through object is searched, again to current one section Current target point movement on sub- motion profile, if mobile device successfully arrives at current target point, current target point is labeled as Effective target point, is transferred to the 501st device；If mobile device arrives at current target point not successfully, it is transferred to the 513rd device；

513rd device carries out whether route searching number is more than threshold value for environmental map described in judgment basis and target trajectory, If being more than, by current target point labeled as after non-effective target point, it is transferred to the 501st device；If not exceeded, being transferred to the 511st device；

514th device is moved for terminating along desired guiding trajectory.

9. a kind of equipment based on calculating, wherein including：

Processor；And

It is arranged to the memory of storage computer executable instructions, the executable instruction makes the processing when executed Device：

Obtain the desired guiding trajectory that user terminal is sent；

According to the ambient enviroment constructing environment map of mobile device；

Key point is extracted from the desired guiding trajectory, key point is adjusted according to the distance between adjacent key point, wherein work as phase When the distance between adjacent key point is greater than preset threshold, intermediate key point is inserted between two adjacent key points, when When the distance between adjacent key point is less than or equal to preset threshold, by the key of the centre in three successively adjacent key point Point deletion；

Using key point adjusted as corresponding target point to generate target trajectory, wherein the target trajectory includes at least One cross-talk motion profile, every cross-talk motion profile include at least one target point or including multiple successively continuous target points, often The target end point of cross-talk motion profile is breakpoint, and the target point of each sub- motion profile is discontinuous；

Positioned according to current location of the environmental map to mobile device, according to the positioning, control robot successively along Target point movement in each cross-talk motion profile.

10. a kind of computer readable storage medium, is stored thereon with computer executable instructions, wherein the computer is executable Instruction makes the processor when being executed by processor：

Obtain the desired guiding trajectory that user terminal is sent；

According to the ambient enviroment constructing environment map of mobile device；

Key point is extracted from the desired guiding trajectory, key point is adjusted according to the distance between adjacent key point, wherein work as phase When the distance between adjacent key point is greater than preset threshold, intermediate key point is inserted between two adjacent key points, when When the distance between adjacent key point is less than or equal to preset threshold, by the key of the centre in three successively adjacent key point Point deletion；

Using key point adjusted as corresponding target point to generate target trajectory, wherein the target trajectory includes at least One cross-talk motion profile, every cross-talk motion profile include at least one target point or including multiple successively continuous target points, often The target end point of cross-talk motion profile is breakpoint, and the target point of each sub- motion profile is discontinuous；

Positioned according to current location of the environmental map to mobile device, according to the positioning, control robot successively along Target point movement in each cross-talk motion profile.