CN108827278A - Air navigation aid and equipment - Google Patents

Abstract

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

Navigation method and equipment

technical field

The invention relates to the field of computers, in particular to a navigation method and equipment.

Background technique

At present, the existing mobile devices navigate along the custom path mainly in the following ways:

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.

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.

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.

Contents of the invention

An object of the present invention is to provide a navigation method and device.

According to one aspect of the present invention, a navigation method is provided, the method comprising:

Obtain the preset trajectory sent by the client;

Build an environmental map based on the surrounding environment of the mobile device;

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;

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;

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.

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:

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;

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;

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;

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;

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;

Step S514: End moving along the preset track.

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:

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;

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;

Step S506: Determine whether the current target point is an accessible point, if so, go to step S507, if not, go to step 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;

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;

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;

Step S514: End moving along the preset track.

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:

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;

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;

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;

Step S510: Determine whether the current target point is an accessible point, if yes, go to step S511, if not, go to step 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;

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;

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;

Step S514: End moving along the preset track.

According to another aspect of the present invention, there is also provided a navigation device, which includes:

The first device is used to obtain the preset trajectory sent by the client;

The second device is used for constructing an environment map according to the surrounding environment of the mobile device;

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;

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;

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.

Further, in the above equipment, the fifth device includes:

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;

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;

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;

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;

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;

The 514th means is used for ending the movement along the preset track.

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

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;

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;

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;

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;

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;

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;

The 514th means is used for ending the movement along the preset track.

Further, in the above equipment, the fifth device includes:

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;

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;

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 ;

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;

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;

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;

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;

The 514th means is used for ending the movement along the preset track.

According to another aspect of the present invention, there is also provided a computing-based device, including:

processor; and

A memory arranged to store computer-executable instructions that, when executed, cause the processor to:

Obtain the preset trajectory sent by the client;

Build an environmental map based on the surrounding environment of the mobile device;

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;

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;

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.

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:

Obtain the preset trajectory sent by the client;

Build an environmental map based on the surrounding environment of the mobile device;

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;

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;

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.

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.

Description of drawings

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:

Fig. 1 shows a schematic diagram of the system structure of an embodiment of the navigation method of the present invention;

Fig. 2 shows the flowchart of an embodiment of the navigation method of the present invention;

Fig. 3 shows a schematic diagram of a trajectory generated by an embodiment of the navigation method of the present invention.

The same or similar reference numerals in the drawings represent the same or similar components.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

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.

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.

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.

The invention provides a navigation method, comprising:

Step S1, obtaining the preset track sent by the client;

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;

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;

Step S2, constructing an environment map according to the surrounding environment of the mobile device;

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;

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;

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;

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;

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;

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.

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.

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.

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:

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:

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;

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;

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;

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;

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;

Step S514: End moving along the preset track.

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:

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;

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;

Step S506: Determine whether the current target point is an accessible point, if so, go to step S507, if not, go to step 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;

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;

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;

Step S514: End moving along the preset track.

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:

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;

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;

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;

Step S510: Determine whether the current target point is an accessible point, if yes, go to step S511, if not, go to step 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;

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;

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;

Step S514: End moving along the preset track.

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.

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:

As shown in Figure 2, the specific implementation process of moving along the track is as follows:

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;

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;

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;

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;

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;

Step S506: Determine whether the current target point is an accessible point, if so, go to step S507, if not, go to step 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;

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;

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;

Step S510: Determine whether the current target point is an accessible point, if yes, go to step S511, if not, go to step 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;

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;

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;

Step S514: End moving along the preset track.

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,

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;

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 ;

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.

According to another aspect of the present invention, there is also provided a navigation device, which includes:

The first device is used to obtain the preset trajectory sent by the client;

The second device is used for constructing an environment map according to the surrounding environment of the mobile device;

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;

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;

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.

Further, in the above equipment, the fifth device includes:

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;

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;

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;

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;

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;

The 514th means is used for ending the movement along the preset trajectory.

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

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;

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;

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;

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;

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;

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;

The 514th means is used for ending the movement along the preset trajectory.

Further, in the above equipment, the fifth device includes:

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;

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;

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 ;

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;

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;

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;

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;

The 514th means is used for ending the movement along the preset track.

According to another aspect of the present invention, there is also provided a computing-based device, comprising:

processor; and

A memory arranged to store computer-executable instructions that, when executed, cause the processor to:

Obtain the preset trajectory sent by the client;

Build an environmental map based on the surrounding environment of the mobile device;

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;

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;

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.

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:

Obtain the preset trajectory sent by the client;

Build an environmental map based on the surrounding environment of the mobile device;

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;

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;

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.

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.

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.

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.

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.

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.