CN108827278A - Air navigation aid and equipment - Google Patents

Air navigation aid and equipment Download PDF

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CN108827278A
CN108827278A CN201811173719.XA CN201811173719A CN108827278A CN 108827278 A CN108827278 A CN 108827278A CN 201811173719 A CN201811173719 A CN 201811173719A CN 108827278 A CN108827278 A CN 108827278A
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target point
point
current
target
trajectory
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CN108827278B (en
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赵永华
李宇翔
何运开
倪江荣
陈士凯
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Wish Interactive Technology Co ltd
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Shanghai Lan Bao Intelligent Technology Co Ltd
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • Automation & Control Theory (AREA)
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Abstract

本发明的目的是提供一种导航方法和设备,通过从所述预设轨迹中提取关键点,根据相邻的关键点之间的距离调整关键点;将调整后的关键点作为对应的目标点以生成目标轨迹,其中,所述目标轨迹包括至少一段子运动轨迹,每段子运动轨迹包括至少一个目标点或包括多个依次连续的目标点,每段子运动轨迹的结束目标点为断点,各子运动轨迹的目标点不连续;根据环境地图对移动设备的当前位置进行定位,根据所述定位,控制机器人依次沿着各段子运动轨迹中的目标点运动,本发明无需额外成本进行物理轨道辅助,能够灵活方便的控制机器人按照预设的轨迹运动。

The object of the present invention is to provide a navigation method and device, by extracting key points from the preset trajectory, adjusting key points according to the distance between adjacent key points; using the adjusted key points as corresponding target points To generate the target trajectory, wherein the target trajectory includes at least one section of sub-motion trajectory, each section of sub-motion trajectory includes at least one target point or includes a plurality of sequentially continuous target points, the end target point of each section of sub-motion trajectory is a breakpoint, each The target points of the sub-trajectories are discontinuous; the current position of the mobile device is positioned according to the environment map, and according to the positioning, the robot is controlled to move along the target points in each segment of the sub-trajectories in turn, and the present invention does not require additional cost for physical track assistance , can flexibly and conveniently control the robot to move according to the preset trajectory.

Description

导航方法及设备Navigation method and equipment

技术领域technical field

本发明涉及计算机领域,尤其涉及一种导航方法及设备。The invention relates to the field of computers, in particular to a navigation method and equipment.

背景技术Background technique

目前,现有的移动设备沿自定义路径导航方式主要以下几种:At present, the existing mobile devices navigate along the custom path mainly in the following ways:

一、固定的物理轨道,例如利用磁条导航的AGV、送餐机器人和城市的有轨电车等,其所允许的运行路径完全沿预设的轨道运动,遇到障碍物只能暂停等待,无法对路径上的障碍物进行避绕,需要铺设轨道,成本高,路径完全固定,使用场景单一固定。1. Fixed physical tracks, such as AGVs that use magnetic strip navigation, food delivery robots, and urban trams, etc., allow the running path to move completely along the preset track. When encountering obstacles, they can only pause and wait. To avoid obstacles on the path, it is necessary to lay tracks, which is costly, the path is completely fixed, and the use scene is single and fixed.

二、全局搜路导航,例如行车地图导航、部分服务机器人导航等,用户只需要输入起点和终点,它就能依据预先存储的地图信息规划出不同代价评估的参考路径。这种全局搜路的方式,依据设计好的评估模型,关注的是目标点,不关心中心环节,无法保证稳定一致的运行轨迹,无法满足用户对部分中间关键路段的预期。2. Global road search and navigation, such as driving map navigation, some service robot navigation, etc. Users only need to input the start point and end point, and it can plan reference paths for different cost evaluations based on pre-stored map information. This global road search method, based on the designed evaluation model, focuses on the target point and does not care about the central link. It cannot guarantee a stable and consistent running trajectory, and cannot meet the user's expectations for some intermediate key road sections.

三、利用虚拟轨道进行导航,提前考虑合适的运行轨迹,提前建立虚拟的轨道网络,找到起始点和终点到虚拟轨道的最近点,再利用虚拟轨道搜索出一条合适的轨道路径。这种方式有效的保证了关键路段,但无法保证连续运动的运行轨迹和沿轨迹运动的先后次序。3. Use virtual orbits for navigation, consider the appropriate trajectory in advance, establish a virtual orbit network in advance, find the closest point from the start point and end point to the virtual orbit, and then use the virtual orbit to search for a suitable orbit path. This method effectively guarantees the key road section, but cannot guarantee the running track of continuous motion and the sequence of movement along the track.

发明内容Contents of the invention

本发明的一个目的是提供一种导航方法及设备。An object of the present invention is to provide a navigation method and device.

根据本发明的一个方面,提供了一种导航方法,该方法包括:According to one aspect of the present invention, a navigation method is provided, the method comprising:

获取用户端发送的预设轨迹;Obtain the preset trajectory sent by the client;

根据移动设备的周围环境构建环境地图;Build an environmental map based on the surrounding environment of the mobile device;

从所述预设轨迹中提取关键点,根据相邻的关键点之间的距离调整关键点,其中,当相邻的关键点之间的距离大于预设阈值时,在相邻的两个关键点之间插入中间的关键点,当相邻的关键点之间的距离小于等于预设阈值时,将三个依次相邻的关键点中的中间的关键点删除;Key points are extracted from the preset trajectory, and key points are adjusted according to the distance between adjacent key points, wherein, when the distance between adjacent key points is greater than the preset threshold, the adjacent two key points Insert the key point in the middle between the points, and when the distance between the adjacent key points is less than or equal to the preset threshold, delete the key point in the middle of the three sequentially adjacent key points;

将调整后的关键点作为对应的目标点以生成目标轨迹,其中,所述目标轨迹包括至少一段子运动轨迹,每段子运动轨迹包括至少一个目标点或包括多个依次连续的目标点,每段子运动轨迹的结束目标点为断点,各子运动轨迹的目标点不连续;The adjusted key points are used as corresponding target points to generate target trajectories, wherein the target trajectories include at least one section of sub-motion trajectories, and each section of sub-motion trajectories includes at least one target point or a plurality of sequentially continuous target points. The end target point of the motion trajectory is a breakpoint, and the target points of each sub-motion trajectory are discontinuous;

根据环境地图对移动设备的当前位置进行定位,根据所述定位,控制机器人依次沿着各段子运动轨迹中的目标点运动。The current position of the mobile device is positioned according to the environment map, and according to the positioning, the robot is controlled to move sequentially along the target points in each segment of the motion track.

进一步的,上述方法中,根据所述定位,控制机器人依次沿着各段子运动轨迹中的目标点运动,包括:Further, in the above method, according to the positioning, the robot is controlled to move sequentially along the target points in each segment of the motion trajectory, including:

步骤S501:依据生成的目标轨迹,判断当前是否存在待完成运动的目标路径中的目标点,若存在,进入步骤S502,若不存在,进入步骤S514;Step S501: According to the generated target trajectory, judge whether there is currently a target point in the target path to complete the movement, if yes, go to step S502, if not, go to step S514;

步骤S502:将移动设备所在的当前目标点作为上一个目标点,并从目标轨迹中提取下一个目标点作为当前目标点,判断上一个目标点是否为断点,若为否,说明当前的一段子运动轨迹没有走完,需要继续沿着当前的一段子运动轨迹行走,进入步骤S503;Step S502: Take the current target point where the mobile device is located as the previous target point, and extract the next target point from the target track as the current target point, and judge whether the previous target point is a breakpoint, if not, explain the current segment If the sub-trajectory has not been completed, it is necessary to continue walking along the current section of the sub-trajectory, and enter step S503;

步骤S503:检测当前的一段子运动轨迹中的上一个目标点是否为有效目标点,其中,所述有效目标点指移动设备已经成功到达的点,若是,进入步骤S504;Step S503: Detect whether the last target point in the current segment of the sub-trajectory is a valid target point, wherein the valid target point refers to a point that the mobile device has successfully reached, if so, go to step S504;

步骤S504:检查当前目标点是否为可达点,其中,所述可达点依据所述环境地图提前判断得到,若是,进入步骤S505,若否,将当前目标点标记为非有效目标点后,进入步骤S501;Step S504: Check whether the current target point is an accessible point, wherein the accessible point is determined in advance according to the environmental map, if yes, enter step S505, if not, mark the current target point as an invalid target point, Go to step S501;

步骤S505:局部运动规划所述移动设备向所述当前目标点运动,其中,若在向所述当前目标点运动的中间碰到障碍物,则将所述当前目标点标记为非有效目标点后,进入步骤S501;若所述移动设备成功运动抵达所述当前目标点,则将所述当前目标点标记为有效目标点,进入步骤S501;Step S505: Partial motion planning for the mobile device to move towards the current target point, wherein if an obstacle is encountered in the middle of moving towards the current target point, mark the current target point as an invalid target point , enter step S501; if the mobile device successfully moves to the current target point, mark the current target point as a valid target point, and enter step S501;

步骤S514:结束沿预设轨迹运动。Step S514: End moving along the preset track.

进一步的,上述方法中,根据所述定位,控制机器人依次沿着各段子运动轨迹中的目标点运动,包括:Further, in the above method, according to the positioning, the robot is controlled to move sequentially along the target points in each segment of the motion trajectory, including:

步骤S501:依据生成的目标轨迹,判断当前是否存在待完成运动的目标路径中的目标点,若存在,进入步骤S502,若不存在,进入步骤S514;Step S501: According to the generated target trajectory, judge whether there is currently a target point in the target path to complete the movement, if yes, go to step S502, if not, go to step S514;

步骤S502:将移动设备所在的当前目标点作为上一个目标点,并从目标轨迹中提取下一个目标点作为当前目标点,判断上一个目标点是否为断点,若是,则说明当前目标点在新的一段子运动轨迹中,需要开始新的一段子运动轨迹,进入步骤S506;Step S502: Take the current target point where the mobile device is located as the previous target point, and extract the next target point from the target trajectory as the current target point, and judge whether the previous target point is a breakpoint, if so, it means that the current target point is in In the new section of sub-motion trajectory, it is necessary to start a new section of sub-motion trajectory, and enter step S506;

步骤S506:判断当前目标点是否为可达点,若是,进入步骤S507,若否,进入步骤S501;Step S506: Determine whether the current target point is an accessible point, if so, go to step S507, if not, go to step S501;

步骤S507:依据所述环境地图在所述目标轨迹中进行全局路径搜索,若能搜到去所述当前目标点的路径,进入步骤S508;若无法搜索到去所述当前目标点的路径,将当前目标点标记为非有效目标点后,进入步骤S501;Step S507: Carry out a global path search in the target trajectory according to the environmental map, if the path to the current target point can be found, go to step S508; if the path to the current target point cannot be searched, go to After the current target point is marked as an invalid target point, enter step S501;

步骤S508:控制移动设备按照搜索到的路径向所述当前目标点运动,若移动设备成功抵达所述当前目标点,将所述当前轨迹标记为有效目标点后,进入步骤S501;若移动设备未成功抵达所述当前目标点,进入步骤S509;Step S508: Control the mobile device to move to the current target point according to the searched path. If the mobile device successfully arrives at the current target point, mark the current track as a valid target point and enter step S501; if the mobile device does not successfully arrive at the current target point, enter step S509;

步骤S509:判断依据所述环境地图在所述目标轨迹中进行全局路径搜索的次数是否超过预设阈值,若超过,将所述当前目标点标记为非有效目标点后,进入步骤S501;若未超过,进入步骤S507;Step S509: Determine whether the number of global path searches in the target trajectory based on the environmental map exceeds a preset threshold, if so, mark the current target point as an invalid target point, and then enter step S501; if not Exceed, go to step S507;

步骤S514:结束沿预设轨迹运动。Step S514: End moving along the preset track.

进一步的,上述方法中,根据所述定位,控制机器人依次沿着各段子运动轨迹中的目标点运动,包括:Further, in the above method, according to the positioning, the robot is controlled to move sequentially along the target points in each segment of the motion trajectory, including:

步骤S501:依据生成的目标轨迹,判断当前是否存在待完成运动的目标路径中的目标点,若存在,进入步骤S502,若不存在,进入步骤S514;Step S501: According to the generated target trajectory, judge whether there is currently a target point in the target path to complete the movement, if yes, go to step S502, if not, go to step S514;

步骤S502:将移动设备所在的当前目标点作为上一个目标点,并从目标轨迹中提取下一个目标点作为当前目标点,判断上一个目标点是否为断点,若为否,说明当前的一段子运动轨迹没有走完,需要继续沿着当前的一段子运动轨迹行走,进入步骤S503;Step S502: Take the current target point where the mobile device is located as the previous target point, and extract the next target point from the target track as the current target point, and judge whether the previous target point is a breakpoint, if not, explain the current segment If the sub-trajectory has not been completed, it is necessary to continue walking along the current section of the sub-trajectory, and enter step S503;

步骤S503:检测当前的一段子运动轨迹中的上一个目标点是否为有效目标点,其中,所述有效目标点指移动设备已经成功到达的点,若为否,进入步骤S510;Step S503: Detect whether the last target point in the current segment of the sub-trajectory is a valid target point, wherein the valid target point refers to a point that the mobile device has successfully reached, if not, go to step S510;

步骤S510:判断当前目标点是否为可达点,若是,进入步骤S511,若否,进入步骤S501;Step S510: Determine whether the current target point is an accessible point, if yes, go to step S511, if not, go to step S501;

步骤S511:依据所述环境地图和目标轨迹进行路径搜索,若能搜到去所述当前目标点的路径,进入步骤S512,若无法搜索到去所述当前目标点的路径,将当前轨迹记为非有效目标点后,进入步骤S501;Step S511: Search for a path according to the environmental map and the target trajectory. If the path to the current target point can be found, go to step S512. If the path to the current target point cannot be found, record the current trajectory as After the non-valid target point, enter step S501;

步骤S512:控制所述移动设备按照搜索到路径绕过障碍物后,重新向当前的一段子运动轨迹上的当前目标点运动,若移动设备成功抵达当前目标点,将当前目标点标记为有效目标点,进入步骤S501;若移动设备未成功抵达当前目标点,进入步骤S513;Step S512: Control the mobile device to move to the current target point on the current sub-trajectory after bypassing the obstacle according to the searched path. If the mobile device successfully reaches the current target point, mark the current target point as a valid target point, enter step S501; if the mobile device fails to reach the current target point, enter step S513;

步骤S513:判断依据所述环境地图和目标轨迹进行路径搜索次数是否超过阈值,若超过,将当前目标点标记为非有效目标点后,进入步骤S501;若未超过,进入步骤S511;Step S513: Determine whether the number of path searches based on the environmental map and target trajectory exceeds the threshold, if so, mark the current target point as an invalid target point, and then enter step S501; if not, enter step S511;

步骤S514:结束沿预设轨迹运动。Step S514: End moving along the preset track.

根据本发明的另一方面,还提供了一种导航设备,该设备包括:According to another aspect of the present invention, there is also provided a navigation device, which includes:

第一装置,用于获取用户端发送的预设轨迹;The first device is used to obtain the preset trajectory sent by the client;

第二装置,用于根据移动设备的周围环境构建环境地图;The second device is used for constructing an environment map according to the surrounding environment of the mobile device;

第三装置,用于从所述预设轨迹中提取关键点,根据相邻的关键点之间的距离调整关键点,其中,当相邻的关键点之间的距离大于预设阈值时,在相邻的两个关键点之间插入中间的关键点,当相邻的关键点之间的距离小于等于预设阈值时,将三个依次相邻的关键点中的中间的关键点删除;The third device is used to extract key points from the preset trajectory, and adjust the key points according to the distance between adjacent key points, wherein, when the distance between adjacent key points is greater than the preset threshold, the An intermediate key point is inserted between two adjacent key points, and when the distance between adjacent key points is less than or equal to a preset threshold, the middle key point among the three sequentially adjacent key points is deleted;

第四装置,用于将调整后的关键点作为对应的目标点以生成目标轨迹,其中,所述目标轨迹包括至少一段子运动轨迹,每段子运动轨迹包括至少一个目标点或包括多个依次连续的目标点,每段子运动轨迹的结束目标点为断点,各子运动轨迹的目标点不连续;The fourth device is used to use the adjusted key points as the corresponding target points to generate the target trajectory, wherein the target trajectory includes at least one section of sub-motion trajectory, and each section of sub-motion trajectory includes at least one target point or includes multiple sequentially continuous The target point, the end target point of each sub-trajectory is a breakpoint, and the target points of each sub-trajectory are discontinuous;

第五装置,用于根据环境地图对移动设备的当前位置进行定位,根据所述定位,控制机器人依次沿着各段子运动轨迹中的目标点运动。The fifth means is used for locating the current position of the mobile device according to the environment map, and according to the locating, controlling the robot to move along the target points in each segment of the trajectory in sequence.

进一步的,上述设备中,所述第五装置包括:Further, in the above equipment, the fifth device includes:

第501装置,用于依据生成的目标轨迹,判断当前是否存在待完成运动的目标路径中的目标点,若存在,转入第502装置,若不存在,转入第514装置;The 501st means is used for judging whether there is currently a target point in the target path to be completed according to the generated target trajectory, if yes, transfer to the 502nd means, if not, transfer to the 514th means;

第502装置,用于将移动设备所在的当前轨迹点目标点作为上一个轨迹点目标点,并从目标轨迹中提取下一个轨迹点目标点作为当前轨迹点目标点,判断上一个轨迹点目标点是否为断点,若为否,说明当前的一段子运动轨迹没有走完,需要继续沿着当前的一段子运动轨迹行走,转入第503装置;The 502nd device is used to use the current track point target point where the mobile device is located as the last track point target point, and extract the next track point target point from the target track as the current track point target point, and determine the last track point target point Whether it is a breakpoint, if not, it means that the current section of the sub-motion trajectory has not been completed, and it is necessary to continue walking along the current section of the sub-motion trajectory, and turn to the 503rd device;

第503装置,用于检测当前的一段子运动轨迹中的上一个目标点是否为有效目标点,其中,所述有效目标点指移动设备已经成功到达的点,若是,转入第504装置;The 503rd means is used to detect whether the last target point in the current segment of the sub-trajectory is a valid target point, wherein the valid target point refers to a point that the mobile device has successfully reached, and if so, transfer to the 504th means;

第504装置,用于检查当前目标点是否为可达点,其中,所述可达点依据所述环境地图提前判断得到,若是,转入第505装置,若否,将当前目标点标记为非有效目标点后,转入第501装置;The 504th means is used to check whether the current target point is an accessible point, wherein the accessible point is judged in advance according to the environment map, if yes, transfer to the 505th means, if not, mark the current target point as not After the effective target point, transfer to the 501st device;

第505装置:局部运动规划所述移动设备向所述当前目标点运动,其中,若在向所述当前目标点运动的中间碰到障碍物,则将所述当前目标点标记为非有效目标点后,进入第501装置;若所述移动设备成功运动抵达所述当前目标点,则将所述当前目标点标记为有效目标点,进入第501装置;The 505th means: Local motion planning for the mobile device to move towards the current target point, wherein if an obstacle is encountered during the movement towards the current target point, mark the current target point as an invalid target point After that, enter the 501st means; if the mobile device successfully moves to the current target point, mark the current target point as a valid target point, and enter the 501st means;

第514装置,用于结束沿预设轨迹运动。The 514th means is used for ending the movement along the preset track.

进一步的,上述设备中,根据所述定位,所述第五装置包括:Further, in the above equipment, according to the positioning, the fifth device includes:

第501装置,用于依据生成的目标轨迹,判断当前是否存在待完成运动的目标路径中的目标点,若存在,转入第502装置,若不存在,转入第514装置;The 501st means is used for judging whether there is currently a target point in the target path to be completed according to the generated target trajectory, if yes, transfer to the 502nd means, if not, transfer to the 514th means;

第502装置,用于将移动设备所在的当前目标点作为上一个目标点,并从目标轨迹中提取下一个目标点作为当前目标点,判断上一个目标点是否为断点,若是,则说明当前目标点在新的一段子运动轨迹中,需要开始新的一段子运动轨迹,转入第506装置;The 502nd means is used for taking the current target point where the mobile device is located as the previous target point, and extracting the next target point from the target track as the current target point, and judging whether the previous target point is a breakpoint, and if so, indicating the current target point The target point is in a new segment of sub-trajectories, and it is necessary to start a new segment of sub-trajectories, and transfer to the 506th device;

第506装置,用于判断当前目标点是否为可达点,若是,转入第507装置,若否,转入第501装置;The 506th device is used to judge whether the current target point is an accessible point, if yes, transfer to the 507th device, if not, transfer to the 501st device;

第507装置,用于依据所述环境地图在所述目标轨迹中进行全局路径搜索,若能搜到去所述当前目标点的路径,转入第508装置;若无法搜索到去所述当前目标点的路径,将当前目标点标记为非有效目标点后,进入转入第501装置;The 507th means is used to perform a global path search in the target trajectory according to the environment map, if the path to the current target point can be found, transfer to the 508th means; if the search can not find the path to the current target point path, after marking the current target point as an invalid target point, enter and transfer to the 501st device;

第508装置,用于控制移动设备按照搜索到的路径向所述当前目标点运动,若移动设备成功抵达所述当前目标点,将所述当前轨迹标记为有效目标点后,转入第501装置;若移动设备未成功抵达所述当前目标点,转入第509装置;The 508th means is used to control the mobile device to move towards the current target point according to the searched path, if the mobile device successfully arrives at the current target point, after marking the current track as a valid target point, transfer to the 501st means ; If the mobile device fails to reach the current target point, transfer to the 509th means;

第509装置,用于判断依据所述环境地图在所述目标轨迹中进行全局路径搜索的次数是否超过预设阈值,若超过,将所述当前目标点标记为非有效目标点后,转入第501装置;若未超过,转入第507装置;The 509th device is used to judge whether the number of global path searches in the target track according to the environment map exceeds a preset threshold, and if so, mark the current target point as an invalid target point, and then transfer to the first step Device 501; if not exceeded, transfer to device 507;

第514装置,用于结束沿预设轨迹运动。The 514th means is used for ending the movement along the preset track.

进一步的,上述设备中,所述第五装置包括:Further, in the above equipment, the fifth device includes:

第501装置,用于依据生成的目标轨迹,判断当前是否存在待完成运动的目标路径中的目标点,若存在,转入第502装置,若不存在,转入第514装置;The 501st means is used for judging whether there is currently a target point in the target path to be completed according to the generated target trajectory, if yes, transfer to the 502nd means, if not, transfer to the 514th means;

第502装置,用于将移动设备所在的当前目标点作为上一个目标点,并从目标轨迹中提取下一个目标点作为当前目标点,判断上一个目标点是否为断点,若为否,说明当前的一段子运动轨迹没有走完,需要继续沿着当前的一段子运动轨迹行走,转入第503装置;The 502nd device is used for taking the current target point where the mobile device is located as the previous target point, and extracting the next target point from the target trajectory as the current target point, and judging whether the previous target point is a breakpoint, and if not, explaining The current segment of the sub-trajectory has not been completed, and it is necessary to continue walking along the current segment of the sub-trajectory, and transfer to the 503rd device;

第503装置,用于检测当前的一段子运动轨迹中的上一个目标点是否为有效目标点,其中,所述有效目标点指移动设备已经成功到达的点,若为否,转入第510装置;The 503rd means is used to detect whether the last target point in the current section of the sub-trajectory is a valid target point, wherein the valid target point refers to the point that the mobile device has successfully reached, if not, transfer to the 510th means ;

第510装置,用于判断当前目标点是否为可达点,若是,转入第511装置,若否,转入第501装置;The 510th device is used to judge whether the current target point is an accessible point, if yes, transfer to the 511th device, if not, transfer to the 501st device;

第511装置,用于依据所述环境地图和目标轨迹进行路径搜索,若能搜到去所述当前目标点的路径,转入第512装置,若无法搜索到去所述当前目标点的路径,将当前轨迹记为非有效目标点后,转入第501装置;The 511th means is used to search for a path based on the environment map and the target trajectory. If the path to the current target point can be found, transfer to the 512th means. If the path to the current target point cannot be found, After recording the current trajectory as an invalid target point, transfer to the 501st device;

第512装置,用于控制所述移动设备按照搜索到路径绕过障碍物后,重新向当前的一段子运动轨迹上的当前目标点运动,若移动设备成功抵达当前目标点,将当前目标点标记为有效目标点,转入第501装置;若移动设备未成功抵达当前目标点,转入第513装置;The 512th means is used to control the mobile device to move to the current target point on the current sub-trajectory after bypassing the obstacle according to the searched path, and mark the current target point if the mobile device successfully reaches the current target point For a valid target point, transfer to the 501st device; if the mobile device fails to reach the current target point, transfer to the 513th device;

第513装置,用于判断依据所述环境地图和目标轨迹进行路径搜索次数是否超过阈值,若超过,将当前目标点标记为非有效目标点后,转入第501装置;若未超过,转入第511装置;The 513th device is used to judge whether the number of path searches based on the environment map and the target trajectory exceeds the threshold, if so, mark the current target point as an invalid target point, and transfer to the 501st device; if not, transfer to the 501st device Device No. 511;

第514装置,用于结束沿预设轨迹运动。The 514th means is used for ending the movement along the preset track.

根据本发明的另一面,还提供一种基于计算的设备,其中,包括: According to another aspect of the present invention, there is also provided a computing-based device, including:

处理器;以及processor; and

被安排成存储计算机可执行指令的存储器,所述可执行指令在被执行时使所述处理器:A memory arranged to store computer-executable instructions that, when executed, cause the processor to:

获取用户端发送的预设轨迹;Obtain the preset trajectory sent by the client;

根据移动设备的周围环境构建环境地图;Build an environmental map based on the surrounding environment of the mobile device;

从所述预设轨迹中提取关键点,根据相邻的关键点之间的距离调整关键点,其中,当相邻的关键点之间的距离大于预设阈值时,在相邻的两个关键点之间插入中间的关键点,当相邻的关键点之间的距离小于等于预设阈值时,将三个依次相邻的关键点中的中间的关键点删除;Key points are extracted from the preset trajectory, and key points are adjusted according to the distance between adjacent key points, wherein, when the distance between adjacent key points is greater than the preset threshold, the adjacent two key points Insert the key point in the middle between the points, and when the distance between the adjacent key points is less than or equal to the preset threshold, delete the key point in the middle of the three sequentially adjacent key points;

将调整后的关键点作为对应的目标点以生成目标轨迹,其中,所述目标轨迹包括至少一段子运动轨迹,每段子运动轨迹包括至少一个目标点或包括多个依次连续的目标点,每段子运动轨迹的结束目标点为断点,各子运动轨迹的目标点不连续;The adjusted key points are used as corresponding target points to generate target trajectories, wherein the target trajectories include at least one section of sub-motion trajectories, and each section of sub-motion trajectories includes at least one target point or a plurality of sequentially continuous target points. The end target point of the motion trajectory is a breakpoint, and the target points of each sub-motion trajectory are discontinuous;

根据环境地图对移动设备的当前位置进行定位,根据所述定位,控制机器人依次沿着各段子运动轨迹中的目标点运动。The current position of the mobile device is positioned according to the environment map, and according to the positioning, the robot is controlled to move sequentially along the target points in each segment of the motion track.

根据本发明的另一面,还提供一种计算机可读存储介质,其上存储有计算机可执行指令,其中,该计算机可执行指令被处理器执行时使得该处理器:According to another aspect of the present invention, there is also provided a computer-readable storage medium on which computer-executable instructions are stored, wherein, when the computer-executable instructions are executed by a processor, the processor:

获取用户端发送的预设轨迹;Obtain the preset trajectory sent by the client;

根据移动设备的周围环境构建环境地图;Build an environmental map based on the surrounding environment of the mobile device;

从所述预设轨迹中提取关键点,根据相邻的关键点之间的距离调整关键点,其中,当相邻的关键点之间的距离大于预设阈值时,在相邻的两个关键点之间插入中间的关键点,当相邻的关键点之间的距离小于等于预设阈值时,将三个依次相邻的关键点中的中间的关键点删除;Key points are extracted from the preset trajectory, and key points are adjusted according to the distance between adjacent key points, wherein, when the distance between adjacent key points is greater than the preset threshold, the adjacent two key points Insert the key point in the middle between the points, and when the distance between the adjacent key points is less than or equal to the preset threshold, delete the key point in the middle of the three sequentially adjacent key points;

将调整后的关键点作为对应的目标点以生成目标轨迹,其中,所述目标轨迹包括至少一段子运动轨迹,每段子运动轨迹包括至少一个目标点或包括多个依次连续的目标点,每段子运动轨迹的结束目标点为断点,各子运动轨迹的目标点不连续;The adjusted key points are used as corresponding target points to generate target trajectories, wherein the target trajectories include at least one section of sub-motion trajectories, and each section of sub-motion trajectories includes at least one target point or a plurality of sequentially continuous target points. The end target point of the motion trajectory is a breakpoint, and the target points of each sub-motion trajectory are discontinuous;

根据环境地图对移动设备的当前位置进行定位,根据所述定位,控制机器人依次沿着各段子运动轨迹中的目标点运动。The current position of the mobile device is positioned according to the environment map, and according to the positioning, the robot is controlled to move sequentially along the target points in each segment of the motion track.

与现有技术相比,本发明通过从所述预设轨迹中提取关键点,根据相邻的关键点之间的距离调整关键点,其中,当相邻的关键点之间的距离大于预设阈值时,在相邻的两个关键点之间插入中间的关键点,当相邻的关键点之间的距离小于等于预设阈值时,将三个依次相邻的关键点中的中间的关键点删除;将调整后的关键点作为对应的目标点以生成目标轨迹,其中,所述目标轨迹包括至少一段子运动轨迹,每段子运动轨迹包括至少一个目标点或包括多个依次连续的目标点,每段子运动轨迹的结束目标点为断点,各子运动轨迹的目标点不连续;根据环境地图对移动设备的当前位置进行定位,根据所述定位,控制机器人依次沿着各段子运动轨迹中的目标点运动,无需额外成本进行物理轨道辅助,能够灵活方便的控制机器人按照预设的轨迹运动。Compared with the prior art, the present invention adjusts key points according to the distance between adjacent key points by extracting key points from the preset trajectory, wherein, when the distance between adjacent key points is greater than the preset When the threshold is set, the middle key point is inserted between two adjacent key points, and when the distance between adjacent key points is less than or equal to the preset threshold, the middle key point among the three sequentially adjacent key points point deletion; the adjusted key points are used as corresponding target points to generate a target trajectory, wherein the target trajectory includes at least one sub-motion trajectory, and each sub-motion trajectory includes at least one target point or a plurality of sequentially continuous target points , the end target point of each sub-trajectory is a breakpoint, and the target points of each sub-trajectory are discontinuous; the current position of the mobile device is positioned according to the environment map, and according to the positioning, the robot is controlled to follow each sub-trajectory in turn The target point movement can be done without additional cost for physical track assistance, and it can flexibly and conveniently control the robot to move according to the preset track.

附图说明Description of drawings

通过阅读参照以下附图所作的对非限制性实施例所作的详细描述,本发明的其它特征、目的和优点将会变得更明显:Other characteristics, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

图1示出本发明的导航方法一实施例的系统结构示意图;Fig. 1 shows a schematic diagram of the system structure of an embodiment of the navigation method of the present invention;

图2示出本发明的导航方法一实施例的流程图;Fig. 2 shows the flowchart of an embodiment of the navigation method of the present invention;

图3示出本发明的导航方法一实施例生成的轨迹示意图。Fig. 3 shows a schematic diagram of a trajectory generated by an embodiment of the navigation method of the present invention.

附图中相同或相似的附图标记代表相同或相似的部件。The same or similar reference numerals in the drawings represent the same or similar components.

具体实施方式Detailed ways

下面结合附图对本发明作进一步详细描述。The present invention will be described in further detail below in conjunction with the accompanying drawings.

在本申请一个典型的配置中,终端、服务网络的设备和可信方均包括一个或多个处理器 (CPU)、输入/输出接口、网络接口和内存。In a typical configuration of the present application, the terminal, the device serving the network and the trusted party all include one or more processors (CPU), input/output interfaces, network interfaces and memory.

内存可能包括计算机可读介质中的非永久性存储器,随机存取存储器 (RAM) 和/或非易失性内存等形式,如只读存储器 (ROM) 或闪存(flash RAM)。内存是计算机可读介质的示例。Memory may include non-permanent storage in computer-readable media, in the form of random access memory (RAM) and/or nonvolatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer readable media.

计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括,但不限于相变内存 (PRAM)、静态随机存取存储器 (SRAM)、动态随机存取存储器 (DRAM)、其他类型的随机存取存储器 (RAM)、只读存储器 (ROM)、电可擦除可编程只读存储器 (EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘 (DVD) 或其他光学存储、 磁盒式磁带,磁带磁盘存储或其他磁性存储设备或任何其他非传输介质,可用于存储可以被计算设备访问的信息。按照本文中的界定,计算机可读介质不包括非暂存电脑可读媒体 (transitory media),如调制的数据信号和载波。Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can be implemented by any method or technology for storage of information. Information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash memory or other memory technology, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cartridge, tape disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media excludes non-transitory computer-readable media, such as modulated data signals and carrier waves.

本发明提供一种导航方法,包括:The invention provides a navigation method, comprising:

步骤S1,获取用户端发送的预设轨迹;Step S1, obtaining the preset track sent by the client;

在此,如图1所示,本发明可以分为用户端,交互部分,SLAM自主定位建图部分、生成运动轨迹部分和沿轨迹运动部分五个部分;Here, as shown in FIG. 1 , the present invention can be divided into five parts: the user terminal, the interactive part, the SLAM self-positioning and mapping part, the part for generating motion trajectories, and the part for moving along the trajectories;

其中,用户端,通常为手机APP或PC上位机部分,主要进行预设轨迹的输入,显示环境地图、预设的轨迹和已完成的运动轨迹;Among them, the client, usually the mobile phone APP or the upper computer part of the PC, mainly performs the input of the preset trajectory, and displays the environmental map, the preset trajectory and the completed movement trajectory;

步骤S2,根据移动设备的周围环境构建环境地图;Step S2, constructing an environment map according to the surrounding environment of the mobile device;

在此,如图1所示,可以通过SLAM自主定位建图部分进行构建环境地图和依据所述环境构建地图对移动设备的位置进行定位,给移动设备的导航运动提供精确位置保障;Here, as shown in Figure 1, the SLAM autonomous positioning and mapping part can be used to construct the environment map and locate the position of the mobile device according to the environment construction map, so as to provide accurate position guarantee for the navigation movement of the mobile device;

如图1所示,可以通过交互部分进行用户端与生成运动轨迹部分和SLAM(simultaneouslocalization and mapping,同步定位与地图)自主定位建图部分进行数据的传输;As shown in Figure 1, the interactive part can be used to transmit data between the user terminal and the generated motion trajectory part and the SLAM (simultaneous localization and mapping, synchronous localization and mapping) autonomous positioning and mapping part;

步骤S3,从所述预设轨迹中提取关键点,根据相邻的关键点之间的距离调整关键点,其中,当相邻的关键点之间的距离大于预设阈值时,在相邻的两个关键点之间插入中间的关键点,当相邻的关键点之间的距离小于等于预设阈值时,将三个依次相邻的关键点中的中间的关键点删除;Step S3, extract key points from the preset trajectory, and adjust the key points according to the distance between adjacent key points, wherein, when the distance between adjacent key points is greater than the preset threshold, the adjacent key points Insert an intermediate key point between two key points, and when the distance between adjacent key points is less than or equal to a preset threshold, delete the middle key point among the three sequentially adjacent key points;

在此,如图1所示,生成运动轨迹部分,依据可以用户预设的路径提取关键点,生成包括至少一段子运动轨迹的目标轨迹,目标轨迹用于机器人导航,当关键点间距离较大时,直接在相邻的两个关键点之间插入中间的关键点,关键当相邻的关键点之间的距离较小时,直接删除部分中间点;Here, as shown in Figure 1, the motion trajectory part is generated, and the key points are extracted according to the path that can be preset by the user, and a target trajectory including at least a section of sub-motion trajectory is generated. The target trajectory is used for robot navigation. When the distance between key points is large When , directly insert the middle key point between two adjacent key points, and when the distance between the adjacent key points is small, directly delete part of the middle point;

步骤S4,将调整后的关键点作为对应的目标点以生成目标轨迹,其中,所述目标轨迹包括至少一段子运动轨迹,每段子运动轨迹包括至少一个目标点或包括多个依次连续的目标点,每段子运动轨迹的结束目标点为断点,各子运动轨迹的目标点不连续;Step S4, using the adjusted key points as corresponding target points to generate target trajectories, wherein the target trajectories include at least a section of sub-motion trajectories, and each section of sub-motion trajectories includes at least one target point or multiple successive target points , the end target point of each sub-trajectory is a breakpoint, and the target points of each sub-trajectory are discontinuous;

步骤S5,根据环境地图对移动设备的当前位置进行定位,根据所述定位,控制机器人依次沿着各段子运动轨迹中的目标点运动。In step S5, the current position of the mobile device is positioned according to the environment map, and according to the positioning, the robot is controlled to move sequentially along the target points in each segment of the motion track.

在此,如图1所示,沿轨迹运动部分可以依据生成的目标轨迹,控制移动设备沿目标轨迹运动。Here, as shown in FIG. 1 , the track moving part may control the mobile device to move along the target track according to the generated target track.

本发明提供一种用于移动设备沿自定义路径运动的导航方法,无需额外成本进行物理轨道辅助,能够灵活方便的控制机器人按照预设的轨迹运动。The invention provides a navigation method for a mobile device to move along a self-defined path, which can flexibly and conveniently control a robot to move according to a preset trajectory without additional cost for physical trajectory assistance.

如图2所示,步骤S5,根据所述定位,控制机器人依次沿着各段子运动轨迹中的目标点运动中,可以涉及三种运动:搜路去轨迹起点运动、沿目标轨迹运动和绕路重新回到目标轨迹运动。下面对这三种运动做介绍:As shown in Figure 2, in step S5, according to the positioning, the robot is controlled to move along the target points in each section of the trajectory in turn, which may involve three kinds of motion: searching for the path to the starting point of the trajectory, moving along the target trajectory and detour Return to the target trajectory movement. The three sports are described below:

本发明的导航方法一实施例中,步骤S5,根据所述定位,控制机器人依次沿着各段子运动轨迹中的目标点运动,包括沿目标轨迹运动,其中,包括:In an embodiment of the navigation method of the present invention, in step S5, according to the positioning, the robot is controlled to move along the target points in each segment of the trajectory in sequence, including moving along the target trajectory, including:

步骤S501:依据生成的目标轨迹,判断当前是否存在待完成运动的目标路径中的目标点,若存在,进入步骤S502,若不存在,进入步骤S514;Step S501: According to the generated target trajectory, judge whether there is currently a target point in the target path to complete the movement, if yes, go to step S502, if not, go to step S514;

步骤S502:将移动设备所在的当前目标点作为上一个目标点,并从目标轨迹中提取下一个目标点作为当前目标点,判断上一个目标点是否为断点,若为否,说明当前的一段子运动轨迹没有走完,需要继续沿着当前的一段子运动轨迹行走,进入步骤S503;Step S502: Take the current target point where the mobile device is located as the previous target point, and extract the next target point from the target track as the current target point, and judge whether the previous target point is a breakpoint, if not, explain the current segment If the sub-trajectory has not been completed, it is necessary to continue walking along the current section of the sub-trajectory, and enter step S503;

步骤S503:检测当前的一段子运动轨迹中的上一个目标点是否为有效目标点,其中,所述有效目标点指移动设备已经成功到达的点,若是,进入步骤S504;Step S503: Detect whether the last target point in the current segment of the sub-trajectory is a valid target point, wherein the valid target point refers to a point that the mobile device has successfully reached, if so, go to step S504;

步骤S504:检查当前目标点是否为可达点,其中,所述可达点依据所述环境地图提前判断得到,若是,进入步骤S505,若否,将当前目标点标记为非有效目标点后,进入步骤S501;Step S504: Check whether the current target point is an accessible point, wherein the accessible point is determined in advance according to the environmental map, if yes, enter step S505, if not, mark the current target point as an invalid target point, Go to step S501;

步骤S505:局部运动规划所述移动设备向所述当前目标点运动,其中,若在向所述当前目标点运动的中间碰到障碍物,则将所述当前目标点标记为非有效目标点后,进入步骤S501;若所述移动设备成功运动抵达所述当前目标点,则将所述当前目标点标记为有效目标点,进入步骤S501;Step S505: Partial motion planning for the mobile device to move towards the current target point, wherein if an obstacle is encountered in the middle of moving towards the current target point, mark the current target point as an invalid target point , enter step S501; if the mobile device successfully moves to the current target point, mark the current target point as a valid target point, and enter step S501;

步骤S514:结束沿预设轨迹运动。Step S514: End moving along the preset track.

本发明的导航方法一实施例中,步骤S5,根据所述定位,控制机器人依次沿着各段子运动轨迹中的目标点运动,包括搜路去轨迹起点运动,其中,包括:In an embodiment of the navigation method of the present invention, in step S5, according to the positioning, the robot is controlled to move along the target points in each segment of the trajectory in sequence, including searching for the path and moving to the starting point of the trajectory, including:

步骤S501:依据生成的目标轨迹,判断当前是否存在待完成运动的目标路径中的目标点,若存在,进入步骤S502,若不存在,进入步骤S514;Step S501: According to the generated target trajectory, judge whether there is currently a target point in the target path to complete the movement, if yes, go to step S502, if not, go to step S514;

步骤S502:将移动设备所在的当前目标点作为上一个目标点,并从目标轨迹中提取下一个目标点作为当前目标点,判断上一个目标点是否为断点,若是,则说明当前目标点在新的一段子运动轨迹中,需要开始新的一段子运动轨迹,进入步骤S506;Step S502: Take the current target point where the mobile device is located as the previous target point, and extract the next target point from the target trajectory as the current target point, and judge whether the previous target point is a breakpoint, if so, it means that the current target point is in In the new section of sub-motion trajectory, it is necessary to start a new section of sub-motion trajectory, and enter step S506;

步骤S506:判断当前目标点是否为可达点,若是,进入步骤S507,若否,进入步骤S501;Step S506: Determine whether the current target point is an accessible point, if so, go to step S507, if not, go to step S501;

步骤S507:依据所述环境地图在所述目标轨迹中进行全局路径搜索,若能搜到去所述当前目标点的路径,进入步骤S508;若无法搜索到去所述当前目标点的路径,将当前目标点标记为非有效目标点后,进入步骤S501;Step S507: Carry out a global path search in the target trajectory according to the environmental map, if the path to the current target point can be found, go to step S508; if the path to the current target point cannot be searched, go to After the current target point is marked as an invalid target point, enter step S501;

步骤S508:控制移动设备按照搜索到的路径向所述当前目标点运动,若移动设备成功抵达所述当前目标点,将所述当前轨迹标记为有效目标点后,进入步骤S501;若移动设备未成功抵达所述当前目标点,进入步骤S509;Step S508: Control the mobile device to move to the current target point according to the searched path. If the mobile device successfully arrives at the current target point, mark the current track as a valid target point and enter step S501; if the mobile device does not successfully arrive at the current target point, enter step S509;

步骤S509:判断依据所述环境地图在所述目标轨迹中进行全局路径搜索的次数是否超过预设阈值,若超过,将所述当前目标点标记为非有效目标点后,进入步骤S501;若未超过,进入步骤S507;Step S509: Determine whether the number of global path searches in the target trajectory based on the environmental map exceeds a preset threshold, if so, mark the current target point as an invalid target point, and then enter step S501; if not Exceed, go to step S507;

步骤S514:结束沿预设轨迹运动。Step S514: End moving along the preset track.

本发明的导航方法一实施例中,步骤S5,根据所述定位,控制机器人依次沿着各段子运动轨迹中的目标点运动,包括绕路重新回到目标轨迹运动,其中,包括:In an embodiment of the navigation method of the present invention, in step S5, according to the positioning, the robot is controlled to move along the target points in each segment of the trajectory in sequence, including detours and returning to the target trajectory, including:

步骤S501:依据生成的目标轨迹,判断当前是否存在待完成运动的目标路径中的目标点,若存在,进入步骤S502,若不存在,进入步骤S514;Step S501: According to the generated target trajectory, judge whether there is currently a target point in the target path to complete the movement, if yes, go to step S502, if not, go to step S514;

步骤S502:将移动设备所在的当前目标点作为上一个目标点,并从目标轨迹中提取下一个目标点作为当前目标点,判断上一个目标点是否为断点,若为否,说明当前的一段子运动轨迹没有走完,需要继续沿着当前的一段子运动轨迹行走,进入步骤S503;Step S502: Take the current target point where the mobile device is located as the previous target point, and extract the next target point from the target track as the current target point, and judge whether the previous target point is a breakpoint, if not, explain the current segment If the sub-trajectory has not been completed, it is necessary to continue walking along the current section of the sub-trajectory, and enter step S503;

步骤S503:检测当前的一段子运动轨迹中的上一个目标点是否为有效目标点,其中,所述有效目标点指移动设备已经成功到达的点,若为否,进入步骤S510;Step S503: Detect whether the last target point in the current segment of the sub-trajectory is a valid target point, wherein the valid target point refers to a point that the mobile device has successfully reached, if not, go to step S510;

步骤S510:判断当前目标点是否为可达点,若是,进入步骤S511,若否,进入步骤S501;Step S510: Determine whether the current target point is an accessible point, if yes, go to step S511, if not, go to step S501;

步骤S511:依据所述环境地图和目标轨迹进行路径搜索,若能搜到去所述当前目标点的路径,进入步骤S512,若无法搜索到去所述当前目标点的路径,将当前轨迹记为非有效目标点后,进入步骤S501;Step S511: Search for a path according to the environmental map and the target trajectory. If the path to the current target point can be found, go to step S512. If the path to the current target point cannot be found, record the current trajectory as After the non-valid target point, enter step S501;

步骤S512:控制所述移动设备按照搜索到路径绕过障碍物后,重新向当前的一段子运动轨迹上的当前目标点运动,若移动设备成功抵达当前目标点,将当前目标点标记为有效目标点,进入步骤S501;若移动设备未成功抵达当前目标点,进入步骤S513;Step S512: Control the mobile device to move to the current target point on the current sub-trajectory after bypassing the obstacle according to the searched path. If the mobile device successfully reaches the current target point, mark the current target point as a valid target point, enter step S501; if the mobile device fails to reach the current target point, enter step S513;

步骤S513:判断依据所述环境地图和目标轨迹进行路径搜索次数是否超过阈值,若超过,将当前目标点标记为非有效目标点后,进入步骤S501;若未超过,进入步骤S511;Step S513: Determine whether the number of path searches based on the environmental map and target trajectory exceeds the threshold, if so, mark the current target point as an invalid target point, and then enter step S501; if not, enter step S511;

步骤S514:结束沿预设轨迹运动。Step S514: End moving along the preset track.

本发明能够实现移动设备最大程度的沿预期的目标轨迹运动,并能够自主的避让无效的部分轨迹和临时的障碍,重新回到预设的轨迹完成剩下的目标任务。The invention can realize that the mobile device can move along the expected target track to the greatest extent, and can autonomously avoid invalid partial tracks and temporary obstacles, and return to the preset track to complete the remaining target tasks.

具体的,如图1所示,本发明的系统结构主要分为用户端,交互部分,SLAM自主定位建图部分、生成轨迹部分和沿轨迹运动部分五个部分:Specifically, as shown in Figure 1, the system structure of the present invention is mainly divided into five parts: the user end, the interactive part, the SLAM autonomous positioning and mapping part, the generating trajectory part and the moving along the trajectory part:

如图2所示,沿轨迹运动部分的具体实施流程如下:As shown in Figure 2, the specific implementation process of moving along the track is as follows:

步骤S501:依据生成的目标轨迹,判断当前是否存在待完成运动的目标路径中的目标点,若存在,进入步骤S502,若不存在,进入步骤S514;Step S501: According to the generated target trajectory, judge whether there is currently a target point in the target path to complete the movement, if yes, go to step S502, if not, go to step S514;

步骤S502:将移动设备所在的当前目标点作为上一个目标点,并从目标轨迹中提取下一个目标点作为当前目标点,判断上一个目标点是否为断点,若是,则说明当前目标点在新的一段子运动轨迹中,需要开始新的一段子运动轨迹,进入步骤S506,若为否,说明当前的一段子运动轨迹没有走完,需要继续沿着当前的一段子运动轨迹行走,进入步骤S503;Step S502: Take the current target point where the mobile device is located as the previous target point, and extract the next target point from the target trajectory as the current target point, and judge whether the previous target point is a breakpoint, if so, it means that the current target point is in In the new section of sub-motion trajectory, it is necessary to start a new section of sub-motion trajectory, and enter step S506. If not, it means that the current section of sub-motion trajectory has not been completed, and it is necessary to continue walking along the current section of sub-motion trajectory, and enter step S506. S503;

步骤S503:检测当前的一段子运动轨迹中的上一个目标点是否为有效目标点,其中,所述有效目标点指移动设备已经成功到达的点,若是,进入步骤S504,若为否,进入步骤S510;Step S503: Detect whether the last target point in the current section of the sub-trajectory is a valid target point, wherein the valid target point refers to the point that the mobile device has successfully reached, if yes, go to step S504, if not, go to step S504 S510;

步骤S504:检查当前目标点是否为可达点,其中,所述可达点依据所述环境地图提前判断得到,若是,进入步骤S505,若否,将当前目标点标记为非有效目标点后,进入步骤S501;Step S504: Check whether the current target point is an accessible point, wherein the accessible point is determined in advance according to the environmental map, if yes, enter step S505, if not, mark the current target point as an invalid target point, Go to step S501;

步骤S505:局部运动规划所述移动设备向所述当前目标点运动,其中,若在向所述当前目标点运动的中间碰到障碍物,则将所述当前目标点标记为非有效目标点后,进入步骤S501;若所述移动设备成功运动抵达所述当前目标点,则将所述当前目标点标记为有效目标点,进入步骤S501;Step S505: Partial motion planning for the mobile device to move towards the current target point, wherein if an obstacle is encountered in the middle of moving towards the current target point, mark the current target point as an invalid target point , enter step S501; if the mobile device successfully moves to the current target point, mark the current target point as a valid target point, and enter step S501;

步骤S506:判断当前目标点是否为可达点,若是,进入步骤S507,若否,进入步骤S501;Step S506: Determine whether the current target point is an accessible point, if so, go to step S507, if not, go to step S501;

步骤S507:依据所述环境地图在所述目标轨迹中进行全局路径搜索,若能搜到去所述当前目标点的路径,进入步骤S508;若无法搜索到去所述当前目标点的路径,将当前目标点标记为非有效目标点后,进入步骤S501;Step S507: Carry out a global path search in the target trajectory according to the environmental map, if the path to the current target point can be found, go to step S508; if the path to the current target point cannot be searched, go to After the current target point is marked as an invalid target point, enter step S501;

步骤S508:控制移动设备按照搜索到的路径向所述当前目标点运动,若移动设备成功抵达所述当前目标点,将所述当前轨迹标记为有效目标点后,进入步骤S501;若移动设备未成功抵达所述当前目标点,进入步骤S509;Step S508: Control the mobile device to move to the current target point according to the searched path. If the mobile device successfully arrives at the current target point, mark the current track as a valid target point and enter step S501; if the mobile device does not successfully arrive at the current target point, enter step S509;

步骤S509:判断依据所述环境地图在所述目标轨迹中进行全局路径搜索的次数是否超过预设阈值,若超过,将所述当前目标点标记为非有效目标点后,进入步骤S501;若未超过,进入步骤S507;Step S509: Determine whether the number of global path searches in the target trajectory based on the environmental map exceeds a preset threshold, if so, mark the current target point as an invalid target point, and then enter step S501; if not Exceed, go to step S507;

步骤S510:判断当前目标点是否为可达点,若是,进入步骤S511,若否,进入步骤S501;Step S510: Determine whether the current target point is an accessible point, if yes, go to step S511, if not, go to step S501;

步骤S511:依据所述环境地图和目标轨迹进行路径搜索,若能搜到去所述当前目标点的路径,进入步骤S512,若无法搜索到去所述当前目标点的路径,将当前轨迹记为非有效目标点后,进入步骤S501;Step S511: Search for a path according to the environmental map and the target trajectory. If the path to the current target point can be found, go to step S512. If the path to the current target point cannot be found, record the current trajectory as After the non-valid target point, enter step S501;

步骤S512:控制所述移动设备按照搜索到路径绕过障碍物后,重新向当前的一段子运动轨迹上的当前目标点运动,若移动设备成功抵达当前目标点,将当前目标点标记为有效目标点,进入步骤S501;若移动设备未成功抵达当前目标点,进入步骤S513;Step S512: Control the mobile device to move to the current target point on the current sub-trajectory after bypassing the obstacle according to the searched path. If the mobile device successfully reaches the current target point, mark the current target point as a valid target point, enter step S501; if the mobile device fails to reach the current target point, enter step S513;

步骤S513:判断依据所述环境地图和目标轨迹进行路径搜索次数是否超过阈值,若超过,将当前目标点标记为非有效目标点后,进入步骤S501;若未超过,进入步骤S511;Step S513: Determine whether the number of path searches based on the environmental map and target trajectory exceeds the threshold, if so, mark the current target point as an invalid target point, and then enter step S501; if not, enter step S511;

步骤S514:结束沿预设轨迹运动。Step S514: End moving along the preset track.

具体的,图3中,a,b,c… o,p,q,r为目标点,其中,a 为启始目标点,i,r为断点,用于区分不同段的子运动轨迹, 如图3中的d外的矩形框代表移动设备的起点位置, e,f,g是有障碍物被堵住的不可达点,其中,Specifically, in Figure 3, a, b, c... o, p, q, r are target points, where a is the initial target point, i, r are breakpoints, which are used to distinguish sub-trajectories of different segments, As shown in Figure 3, the rectangular frame outside d represents the starting position of the mobile device, e, f, and g are inaccessible points blocked by obstacles, where,

搜路去轨迹起点运动,包括步骤S501,S502,S506,S507,S508,S509,其中,移动设备运行主要包括:从移动设备的当前位置,搜路抵达各段子运动轨迹的启始目标点,如图3中的a或 j;Searching for the path to the starting point of the trajectory includes steps S501, S502, S506, S507, S508, and S509. The operation of the mobile device mainly includes: from the current position of the mobile device, searching for the path to the initial target point of each segment of the trajectory, such as a or j in Figure 3;

绕路重新回到目标轨迹运动,包括步骤S501, S502, S503, S510, S511, S512,S513,其中,如图3所示,下一个目标点e被堵,在当前段子运动轨迹上,就会依次往下找,直到点目标点h, 由于目标点h的上一个目标点g是非有效目标点,此时会从移动设备的当前位置搜新路径到达h,即搜索到d到h的新路径;Return to the target trajectory by detour, including steps S501, S502, S503, S510, S511, S512, S513, wherein, as shown in Figure 3, the next target point e is blocked, and on the current segment motion trajectory, it will Search down in turn until the target point h, because the previous target point g of the target point h is not a valid target point, at this time, a new path will be searched from the current position of the mobile device to reach h, that is, a new path from d to h will be searched ;

沿目标轨迹运动,包括步骤S501,步骤S502, 步骤S503, 步骤S504, 步骤S505,其中,包括沿同一段子运动轨迹的相邻连续目标点间的运动,如图3所示的a到b,b到c等。Moving along the target track, including step S501, step S502, step S503, step S504, step S505, wherein, including the motion between adjacent continuous target points along the same section of the track, as shown in Figure 3 a to b, b to c etc.

根据本发明的另一方面,还提供了一种导航设备,该设备包括:According to another aspect of the present invention, there is also provided a navigation device, which includes:

第一装置,用于获取用户端发送的预设轨迹;The first device is used to obtain the preset trajectory sent by the client;

第二装置,用于根据移动设备的周围环境构建环境地图;The second device is used for constructing an environment map according to the surrounding environment of the mobile device;

第三装置,用于从所述预设轨迹中提取关键点,根据相邻的关键点之间的距离调整关键点,其中,当相邻的关键点之间的距离大于预设阈值时,在相邻的两个关键点之间插入中间的关键点,当相邻的关键点之间的距离小于等于预设阈值时,将三个依次相邻的关键点中的中间的关键点删除;The third device is used to extract key points from the preset trajectory, and adjust the key points according to the distance between adjacent key points, wherein, when the distance between adjacent key points is greater than the preset threshold, the An intermediate key point is inserted between two adjacent key points, and when the distance between adjacent key points is less than or equal to a preset threshold, the middle key point among the three sequentially adjacent key points is deleted;

第四装置,用于将调整后的关键点作为对应的目标点以生成目标轨迹,其中,所述目标轨迹包括至少一段子运动轨迹,每段子运动轨迹包括至少一个目标点或包括多个依次连续的目标点,每段子运动轨迹的结束目标点为断点,各子运动轨迹的目标点不连续;The fourth device is used to use the adjusted key points as the corresponding target points to generate the target trajectory, wherein the target trajectory includes at least one section of sub-motion trajectory, and each section of sub-motion trajectory includes at least one target point or includes multiple sequentially continuous The target point, the end target point of each sub-trajectory is a breakpoint, and the target points of each sub-trajectory are discontinuous;

第五装置,用于根据环境地图对移动设备的当前位置进行定位,根据所述定位,控制机器人依次沿着各段子运动轨迹中的目标点运动。The fifth means is used for locating the current position of the mobile device according to the environment map, and according to the locating, controlling the robot to move along the target points in each segment of the trajectory in sequence.

进一步的,上述设备中,所述第五装置包括:Further, in the above equipment, the fifth device includes:

第501装置,用于依据生成的目标轨迹,判断当前是否存在待完成运动的目标路径中的目标点,若存在,转入第502装置,若不存在,转入第514装置;The 501st means is used for judging whether there is currently a target point in the target path to be completed according to the generated target trajectory, if yes, transfer to the 502nd means, if not, transfer to the 514th means;

第502装置,用于将移动设备所在的当前轨迹点目标点作为上一个轨迹点目标点,并从目标轨迹中提取下一个轨迹点目标点作为当前轨迹点目标点,判断上一个轨迹点目标点是否为断点,若为否,说明当前的一段子运动轨迹没有走完,需要继续沿着当前的一段子运动轨迹行走,转入第503装置;The 502nd device is used to use the current track point target point where the mobile device is located as the last track point target point, and extract the next track point target point from the target track as the current track point target point, and determine the last track point target point Whether it is a breakpoint, if not, it means that the current section of the sub-motion trajectory has not been completed, and it is necessary to continue walking along the current section of the sub-motion trajectory, and turn to the 503rd device;

第503装置,用于检测当前的一段子运动轨迹中的上一个目标点是否为有效目标点,其中,所述有效目标点指移动设备已经成功到达的点,若是,转入第504装置;The 503rd means is used to detect whether the last target point in the current segment of the sub-trajectory is a valid target point, wherein the valid target point refers to a point that the mobile device has successfully reached, and if so, transfer to the 504th means;

第504装置,用于检查当前目标点是否为可达点,其中,所述可达点依据所述环境地图提前判断得到,若是,转入第505装置,若否,将当前目标点标记为非有效目标点后,转入第501装置;The 504th means is used to check whether the current target point is an accessible point, wherein the accessible point is judged in advance according to the environment map, if yes, transfer to the 505th means, if not, mark the current target point as not After the effective target point, transfer to the 501st device;

第505装置:局部运动规划所述移动设备向所述当前目标点运动,其中,若在向所述当前目标点运动的中间碰到障碍物,则将所述当前目标点标记为非有效目标点后,进入第501装置;若所述移动设备成功运动抵达所述当前目标点,则将所述当前目标点标记为有效目标点,进入第501装置;The 505th means: Local motion planning for the mobile device to move towards the current target point, wherein if an obstacle is encountered during the movement towards the current target point, mark the current target point as an invalid target point After that, enter the 501st means; if the mobile device successfully moves to the current target point, mark the current target point as a valid target point, and enter the 501st means;

第514装置,用于结束沿预设轨迹运动。The 514th means is used for ending the movement along the preset trajectory.

进一步的,上述设备中,根据所述定位,所述第五装置包括:Further, in the above equipment, according to the positioning, the fifth device includes:

第501装置,用于依据生成的目标轨迹,判断当前是否存在待完成运动的目标路径中的目标点,若存在,转入第502装置,若不存在,转入第514装置;The 501st means is used for judging whether there is currently a target point in the target path to be completed according to the generated target trajectory, if yes, transfer to the 502nd means, if not, transfer to the 514th means;

第502装置,用于将移动设备所在的当前目标点作为上一个目标点,并从目标轨迹中提取下一个目标点作为当前目标点,判断上一个目标点是否为断点,若是,则说明当前目标点在新的一段子运动轨迹中,需要开始新的一段子运动轨迹,转入第506装置;The 502nd means is used for taking the current target point where the mobile device is located as the previous target point, and extracting the next target point from the target track as the current target point, and judging whether the previous target point is a breakpoint, and if so, indicating the current target point The target point is in a new segment of sub-trajectories, and it is necessary to start a new segment of sub-trajectories, and transfer to the 506th device;

第506装置,用于判断当前目标点是否为可达点,若是,转入第507装置,若否,转入第501装置;The 506th device is used to judge whether the current target point is an accessible point, if yes, transfer to the 507th device, if not, transfer to the 501st device;

第507装置,用于依据所述环境地图在所述目标轨迹中进行全局路径搜索,若能搜到去所述当前目标点的路径,转入第508装置;若无法搜索到去所述当前目标点的路径,将当前目标点标记为非有效目标点后,进入转入第501装置;The 507th means is used to perform a global path search in the target trajectory according to the environment map, if the path to the current target point can be found, transfer to the 508th means; if the search can not find the path to the current target point path, after marking the current target point as an invalid target point, enter and transfer to the 501st device;

第508装置,用于控制移动设备按照搜索到的路径向所述当前目标点运动,若移动设备成功抵达所述当前目标点,将所述当前轨迹标记为有效目标点后,转入第501装置;若移动设备未成功抵达所述当前目标点,转入第509装置;The 508th means is used to control the mobile device to move towards the current target point according to the searched path, if the mobile device successfully arrives at the current target point, after marking the current track as a valid target point, transfer to the 501st means ; If the mobile device fails to reach the current target point, transfer to the 509th means;

第509装置,用于判断依据所述环境地图在所述目标轨迹中进行全局路径搜索的次数是否超过预设阈值,若超过,将所述当前目标点标记为非有效目标点后,转入第501装置;若未超过,转入第507装置;The 509th device is used to judge whether the number of global path searches in the target track according to the environment map exceeds a preset threshold, and if so, mark the current target point as an invalid target point, and then transfer to the first step Device 501; if not exceeded, transfer to device 507;

第514装置,用于结束沿预设轨迹运动。The 514th means is used for ending the movement along the preset trajectory.

进一步的,上述设备中,所述第五装置包括:Further, in the above equipment, the fifth device includes:

第501装置,用于依据生成的目标轨迹,判断当前是否存在待完成运动的目标路径中的目标点,若存在,转入第502装置,若不存在,转入第514装置;The 501st means is used for judging whether there is currently a target point in the target path to be completed according to the generated target trajectory, if yes, transfer to the 502nd means, if not, transfer to the 514th means;

第502装置,用于将移动设备所在的当前目标点作为上一个目标点,并从目标轨迹中提取下一个目标点作为当前目标点,判断上一个目标点是否为断点,若为否,说明当前的一段子运动轨迹没有走完,需要继续沿着当前的一段子运动轨迹行走,转入第503装置;The 502nd device is used for taking the current target point where the mobile device is located as the previous target point, and extracting the next target point from the target trajectory as the current target point, and judging whether the previous target point is a breakpoint, and if not, explaining The current segment of the sub-trajectory has not been completed, and it is necessary to continue walking along the current segment of the sub-trajectory, and transfer to the 503rd device;

第503装置,用于检测当前的一段子运动轨迹中的上一个目标点是否为有效目标点,其中,所述有效目标点指移动设备已经成功到达的点,若为否,转入第510装置;The 503rd means is used to detect whether the last target point in the current section of the sub-trajectory is a valid target point, wherein the valid target point refers to the point that the mobile device has successfully reached, if not, transfer to the 510th means ;

第510装置,用于判断当前目标点是否为可达点,若是,转入第511装置,若否,转入第501装置;The 510th device is used to judge whether the current target point is an accessible point, if yes, transfer to the 511th device, if not, transfer to the 501st device;

第511装置,用于依据所述环境地图和目标轨迹进行路径搜索,若能搜到去所述当前目标点的路径,转入第512装置,若无法搜索到去所述当前目标点的路径,将当前轨迹记为非有效目标点后,转入第501装置;The 511th means is used to search for a path based on the environment map and the target trajectory. If the path to the current target point can be found, transfer to the 512th means. If the path to the current target point cannot be found, After recording the current trajectory as an invalid target point, transfer to the 501st device;

第512装置,用于控制所述移动设备按照搜索到路径绕过障碍物后,重新向当前的一段子运动轨迹上的当前目标点运动,若移动设备成功抵达当前目标点,将当前目标点标记为有效目标点,转入第501装置;若移动设备未成功抵达当前目标点,转入第513装置;The 512th means is used to control the mobile device to move to the current target point on the current sub-trajectory after bypassing the obstacle according to the searched path, and mark the current target point if the mobile device successfully reaches the current target point For a valid target point, transfer to the 501st device; if the mobile device fails to reach the current target point, transfer to the 513th device;

第513装置,用于判断依据所述环境地图和目标轨迹进行路径搜索次数是否超过阈值,若超过,将当前目标点标记为非有效目标点后,转入第501装置;若未超过,转入第511装置;The 513th device is used to judge whether the number of path searches based on the environment map and the target trajectory exceeds the threshold, if so, mark the current target point as an invalid target point, and transfer to the 501st device; if not, transfer to the 501st device Device No. 511;

第514装置,用于结束沿预设轨迹运动。The 514th means is used for ending the movement along the preset track.

根据本发明的另一面,还提供一种基于计算的设备,其中,包括: According to another aspect of the present invention, there is also provided a computing-based device, comprising:

处理器;以及processor; and

被安排成存储计算机可执行指令的存储器,所述可执行指令在被执行时使所述处理器:A memory arranged to store computer-executable instructions that, when executed, cause the processor to:

获取用户端发送的预设轨迹;Obtain the preset trajectory sent by the client;

根据移动设备的周围环境构建环境地图;Build an environmental map based on the surrounding environment of the mobile device;

从所述预设轨迹中提取关键点,根据相邻的关键点之间的距离调整关键点,其中,当相邻的关键点之间的距离大于预设阈值时,在相邻的两个关键点之间插入中间的关键点,当相邻的关键点之间的距离小于等于预设阈值时,将三个依次相邻的关键点中的中间的关键点删除;Key points are extracted from the preset trajectory, and key points are adjusted according to the distance between adjacent key points, wherein, when the distance between adjacent key points is greater than the preset threshold, the adjacent two key points Insert the key point in the middle between the points, and when the distance between the adjacent key points is less than or equal to the preset threshold, delete the key point in the middle of the three sequentially adjacent key points;

将调整后的关键点作为对应的目标点以生成目标轨迹,其中,所述目标轨迹包括至少一段子运动轨迹,每段子运动轨迹包括至少一个目标点或包括多个依次连续的目标点,每段子运动轨迹的结束目标点为断点,各子运动轨迹的目标点不连续;The adjusted key points are used as corresponding target points to generate target trajectories, wherein the target trajectories include at least one section of sub-motion trajectories, and each section of sub-motion trajectories includes at least one target point or a plurality of sequentially continuous target points. The end target point of the motion trajectory is a breakpoint, and the target points of each sub-motion trajectory are discontinuous;

根据环境地图对移动设备的当前位置进行定位,根据所述定位,控制机器人依次沿着各段子运动轨迹中的目标点运动。The current position of the mobile device is positioned according to the environment map, and according to the positioning, the robot is controlled to move sequentially along the target points in each segment of the motion track.

根据本发明的另一面,还提供一种计算机可读存储介质,其上存储有计算机可执行指令,其中,该计算机可执行指令被处理器执行时使得该处理器:According to another aspect of the present invention, there is also provided a computer-readable storage medium on which computer-executable instructions are stored, wherein, when the computer-executable instructions are executed by a processor, the processor:

获取用户端发送的预设轨迹;Obtain the preset trajectory sent by the client;

根据移动设备的周围环境构建环境地图;Build an environmental map based on the surrounding environment of the mobile device;

从所述预设轨迹中提取关键点,根据相邻的关键点之间的距离调整关键点,其中,当相邻的关键点之间的距离大于预设阈值时,在相邻的两个关键点之间插入中间的关键点,当相邻的关键点之间的距离小于等于预设阈值时,将三个依次相邻的关键点中的中间的关键点删除;Key points are extracted from the preset trajectory, and key points are adjusted according to the distance between adjacent key points, wherein, when the distance between adjacent key points is greater than the preset threshold, the adjacent two key points Insert the key point in the middle between the points, and when the distance between the adjacent key points is less than or equal to the preset threshold, delete the key point in the middle of the three sequentially adjacent key points;

将调整后的关键点作为对应的目标点以生成目标轨迹,其中,所述目标轨迹包括至少一段子运动轨迹,每段子运动轨迹包括至少一个目标点或包括多个依次连续的目标点,每段子运动轨迹的结束目标点为断点,各子运动轨迹的目标点不连续;The adjusted key points are used as corresponding target points to generate target trajectories, wherein the target trajectories include at least one section of sub-motion trajectories, and each section of sub-motion trajectories includes at least one target point or a plurality of sequentially continuous target points. The end target point of the motion trajectory is a breakpoint, and the target points of each sub-motion trajectory are discontinuous;

根据环境地图对移动设备的当前位置进行定位,根据所述定位,控制机器人依次沿着各段子运动轨迹中的目标点运动。The current position of the mobile device is positioned according to the environment map, and according to the positioning, the robot is controlled to move sequentially along the target points in each segment of the motion track.

上述各设备和存储介质各实施例的详细内容,具体可参见各方法实施例的对应部分,在此,不再赘述。For details of the above embodiments of each device and storage medium, refer to corresponding parts of each method embodiment for details, and details are not repeated here.

显然,本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的精神和范围。这样,倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内,则本申请也意图包含这些改动和变型在内。Obviously, those skilled in the art can make various changes and modifications to the application without departing from the spirit and scope of the application. In this way, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

需要注意的是,本发明可在软件和/或软件与硬件的组合体中被实施,例如,可采用专用集成电路(ASIC)、通用目的计算机或任何其他类似硬件设备来实现。在一个实施例中,本发明的软件程序可以通过处理器执行以实现上文所述步骤或功能。同样地,本发明的软件程序(包括相关的数据结构)可以被存储到计算机可读记录介质中,例如,RAM存储器,磁或光驱动器或软磁盘及类似设备。另外,本发明的一些步骤或功能可采用硬件来实现,例如,作为与处理器配合从而执行各个步骤或功能的电路。It should be noted that the present invention can be implemented in software and/or a combination of software and hardware, for example, it can be implemented by an application specific integrated circuit (ASIC), a general purpose computer or any other similar hardware devices. In one embodiment, the software program of the present invention can be executed by a processor to realize the steps or functions described above. Likewise, the software program of the present invention (including associated data structures) can be stored in a computer-readable recording medium such as RAM memory, magnetic or optical drive or floppy disk and the like. In addition, some steps or functions of the present invention may be implemented by hardware, for example, as a circuit that cooperates with a processor to execute each step or function.

另外,本发明的一部分可被应用为计算机程序产品,例如计算机程序指令,当其被计算机执行时,通过该计算机的操作,可以调用或提供根据本发明的方法和/或技术方案。而调用本发明的方法的程序指令,可能被存储在固定的或可移动的记录介质中,和/或通过广播或其他信号承载媒体中的数据流而被传输,和/或被存储在根据所述程序指令运行的计算机设备的工作存储器中。在此,根据本发明的一个实施例包括一个装置,该装置包括用于存储计算机程序指令的存储器和用于执行程序指令的处理器,其中,当该计算机程序指令被该处理器执行时,触发该装置运行基于前述根据本发明的多个实施例的方法和/或技术方案。In addition, a part of the present invention can be applied as a computer program product, such as a computer program instruction. When it is executed by a computer, the method and/or technical solution according to the present invention can be invoked or provided through the operation of the computer. The program instructions for invoking the method of the present invention may be stored in a fixed or removable recording medium, and/or transmitted through broadcasting or data streams in other signal-carrying media, and/or stored in the in the working memory of the computer device on which the program instructions described above are executed. Here, an embodiment according to the present invention comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, a trigger The operation of the device is based on the foregoing methods and/or technical solutions according to multiple embodiments of the present invention.

对于本领域技术人员而言,显然本发明不限于上述示范性实施例的细节,而且在不背离本发明的精神或基本特征的情况下,能够以其他的具体形式实现本发明。因此,无论从哪一点来看,均应将实施例看作是示范性的,而且是非限制性的,本发明的范围由所附权利要求而不是上述说明限定,因此旨在将落在权利要求的等同要件的含义和范围内的所有变化涵括在本发明内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。此外,显然“包括”一词不排除其他单元或步骤,单数不排除复数。装置权利要求中陈述的多个单元或装置也可以由一个单元或装置通过软件或者硬件来实现。第一,第二等词语用来表示名称,而并不表示任何特定的顺序。It will be apparent to those skilled in the art that the invention is not limited to the details of the above-described exemplary embodiments, but that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Accordingly, the embodiments should be regarded in all points of view as exemplary and not restrictive, the scope of the invention being defined by the appended claims rather than the foregoing description, and it is therefore intended that the scope of the invention be defined by the appended claims rather than by the foregoing description. All changes within the meaning and range of equivalents of the elements are embraced in the present invention. Any reference sign in a claim should not be construed as limiting the claim concerned. In addition, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means stated in the device claims may also be realized by one unit or device through software or hardware. The words first, second, etc. are used to denote names and do not imply 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.
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