CN108827278B - Air navigation aid and equipment - Google Patents
Air navigation aid and equipment Download PDFInfo
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- CN108827278B CN108827278B CN201811173719.XA CN201811173719A CN108827278B CN 108827278 B CN108827278 B CN 108827278B CN 201811173719 A CN201811173719 A CN 201811173719A CN 108827278 B CN108827278 B CN 108827278B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
Abstract
The object of the present invention is to provide a kind of air navigation aid and equipment, by extracting key point from the desired guiding trajectory, adjust key point according to the distance between adjacent key point；Using key point adjusted as corresponding target point to generate target trajectory, wherein, the target trajectory includes an at least cross-talk motion profile, every cross-talk motion profile includes at least one target point or including multiple successively continuous target points, the target end point of every cross-talk motion profile is breakpoint, and the target point of each sub- motion profile is discontinuous；It is positioned according to current location of the environmental map to mobile device, according to the positioning, control robot is successively moved along the target point in each cross-talk motion profile, and the present invention carries out physical track auxiliary without extra cost, and control robot that can be flexible and convenient is moved according to preset track.
Description
Technical field
The present invention relates to computer field more particularly to a kind of air navigation aids and equipment.
Background technique
Currently, existing mobile device is main following several along customized path navigation mode:
One, fixed physical track, such as AGV, meal delivery robot and the tramcar in city etc. that are navigated using magnetic stripe,
Its permitted operating path is moved along preset track completely, and waiting can only be suspended by encountering barrier, can not be on path
Barrier is kept away around needing to be laid with track, at high cost, path is completely fixed, the single fixation of usage scenario.
Two, the overall situation searches road navigation, such as driving digital map navigation, partial service robot navigation etc., and user only needs to input
Beginning and end, it can cook up the reference path of different cost evaluations according to pre-stored cartographic information.This overall situation
The mode for searching road, according to designed assessment models, it is of interest that target point is indifferent to key link, not can guarantee and stablizes one
The running track of cause is unable to satisfy expection of the user to part interim key section.
Three, it is navigated using virtual rail, considers suitable running track in advance, establish virtual rail network in advance
Network finds starting point and terminal to the closest approach of virtual rail, virtual rail is recycled to search out a suitable orbital path.
Key road segment is effectively guaranteed in this mode, but successive time for not can guarantee the running track continuously moved and moving along track
Sequence.
Summary of the invention
It is an object of the present invention to provide a kind of air navigation aid and equipment.
According to an aspect of the invention, there is provided a kind of air navigation aid, this method comprises:
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
Key when the distance between adjacent key point is greater than preset threshold, between two adjacent key points among insertion
Point, when the distance between adjacent key point is less than or equal to preset threshold, by the centre in three successively adjacent key point
Crucial point deletion；
Using key point adjusted as corresponding target point to generate target trajectory, wherein the target trajectory includes
An at least cross-talk motion profile, every cross-talk motion profile include at least one target point or including multiple successively continuous targets
The target end point of point, every cross-talk motion profile is breakpoint, and the target point of each sub- motion profile is discontinuous；
It is positioned according to current location of the environmental map to mobile device, according to the positioning, controls robot successively
It is moved along the target point in each cross-talk motion profile.
Further, in the above method, according to the positioning, robot is controlled successively along in each cross-talk motion profile
Target point movement, comprising:
Step S501: according to the target trajectory generated, judgement is currently with the presence or absence of in the destination path of movement to be done
Target point, and if it exists, enter step S502, if it does not exist, enter step S514；
Step S502: it 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 entered step S503；
Step S503: whether the upper target point detected 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, entering step S504；
Step S504: check whether current target point is accessible point, wherein the accessible point is mentioned according to the environmental map
Preceding judgement obtains, if so, S505 is entered step, if it is not, current target point is entered step labeled as after non-effective target point
S501；
Step S505: local motion plans that the mobile device is moved to the current target point, wherein if to described
Barrier is encountered in the centre of current target point movement, then after the current target point being labeled as non-effective target point, into step
Rapid S501；If the mobile device unsuccessful movement arrives at the current target point, by the current target point labeled as effective
Target point enters step S501；
Step S514: end is moved along desired guiding trajectory.
Further, in the above method, according to the positioning, robot is controlled successively along in each cross-talk motion profile
Target point movement, comprising:
Step S501: according to the target trajectory generated, judgement is currently with the presence or absence of in the destination path of movement to be done
Target point, and if it exists, enter step S502, if it does not exist, enter step S514；
Step S502: it 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, enter step S506；
Step S506: judging 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
The path of the current target point, enters step S508；If the path of the current target point can not be searched, by current mesh
After punctuate is labeled as 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
The current target point is arrived in success, by the current track labeled as after effective target point, enters step S501；If movement is set
It is standby to arrive at the current target point not successfully, enter step S509；
Step S509: the number that environmental map described in judgment basis carries out global path search in the target trajectory is
No is more than preset threshold, if being more than, by the current target point labeled as after non-effective target point, enters step S501；If not
It is more than to enter step S507；
Step S514: end is moved along desired guiding trajectory.
Further, in the above method, according to the positioning, robot is controlled successively along in each cross-talk motion profile
Target point movement, comprising:
Step S501: according to the target trajectory generated, judgement is currently with the presence or absence of in the destination path of movement to be done
Target point, and if it exists, enter step S502, if it does not exist, enter step S514；
Step S502: it 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 entered step S503；
Step S503: whether the upper target point detected 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, entering step S510；
Step S510: judging 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 mesh can be searched out
The path of punctuate, enters step S512, if the path of the current target point can not be searched, current track, which is denoted as, non-to be had
After imitating target point, S501 is entered step；
Step S512: 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, 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 being more than, by current target point labeled as after non-effective target point, S501 is entered step；If not exceeded, entering step S511；
Step S514: end is moved along desired guiding trajectory.
According to another aspect of the present invention, a kind of navigation equipment is additionally provided, which includes:
First device, for obtaining the desired guiding trajectory of user terminal transmission；
Second device, for the ambient enviroment constructing environment map according to mobile device；
3rd device is adjusted for extracting key point from the desired guiding trajectory according to the distance between adjacent key point
Whole key point, wherein when the distance between adjacent key point is greater than preset threshold, in interleaving for two adjacent key points
Enter intermediate key point, when the distance between adjacent key point is less than or equal to preset threshold, by three successively adjacent passes
The crucial point deletion of centre in key point；
4th device, for using key point adjusted as corresponding target point to generate target trajectory, wherein it is described
Target trajectory include an at least cross-talk motion profile, every cross-talk motion profile include at least one target point or including it is multiple successively
The target end point of continuous target point, every cross-talk motion profile is breakpoint, and the target point of each sub- motion profile is discontinuous；
5th device, for being positioned according to current location of the environmental map to mobile device, according to the positioning, control
Robot processed is successively moved along the target point in each cross-talk motion profile.
Further, in above equipment, the 5th device includes:
501st device, for according to the target trajectory generated, judgement currently to whether there is the destination path of movement to be done
In 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 next tracing point target point is extracted from target trajectory as current trace points target point, judge a upper track point target
Whether point is breakpoint, if it has not, the cross-talk motion profile of explanation currently is not covered, needs to continue on a current cross-talk
Motion profile walking, is transferred to the 503rd device；
503rd device, whether the upper target point for detecting in a current cross-talk motion profile is effective target
Point, wherein 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 environment
Map judges to obtain in advance, if so, the 505th device is transferred to, if it is not, current target point is turned labeled as after non-effective target point
Enter the 501st device；
505th device: local motion plans that the mobile device is moved to the current target point, wherein if to institute
Barrier is encountered in the centre for stating current target point movement, then enters the current target point labeled as after non-effective target point
501st device；If the mobile device unsuccessful movement arrives at the current target point, the current target point is labeled as having
Target point is imitated, into the 501st device；
514th device is moved for terminating along desired guiding trajectory.
Further, in above equipment, according to the positioning, the 5th device includes:
501st device, for according to the target trajectory generated, judgement currently to whether there is the destination path of movement to be done
In 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 from target trajectory
It is middle to extract next target point as current target point, judge whether a upper target point is breakpoint, if so, illustrating current mesh
Punctuate needs to start a new cross-talk motion profile, is transferred to the 506th device in a new cross-talk motion profile；
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
501st device；
507th device, for carrying out global path search in the target trajectory according to the environmental map, if can search
To the path for going the current target point, it is transferred to the 508th device；It, will if the path of the current target point can not be searched
After current target point is labeled as non-effective target point, into being transferred to the 501st device；
508th device is moved according to the path searched to the current target point for controlling mobile device, if mobile
Equipment successfully arrives at the current target point, by the current track labeled as after effective target point, is transferred to the 501st device；If
Mobile device arrives at the current target point not successfully, is transferred to the 509th device；
509th device carries out global path search for environmental map described in judgment basis in the target trajectory
Whether number is more than preset threshold, if being more than, after the current target point is labeled as non-effective target point, is transferred to the 501st dress
It sets；If not exceeded, being transferred to the 507th device；
514th device is moved for terminating along desired guiding trajectory.
Further, in above equipment, the 5th device includes:
501st device, for according to the target trajectory generated, judgement currently to whether there is the destination path of movement to be done
In 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 from target trajectory
It is middle to extract next target point as current target point, judge whether a upper target point is breakpoint, if it has not, illustrating currently
One cross-talk 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, whether the upper target point for detecting in a current cross-talk motion profile is effective target
Point, wherein 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
501st device；
511st device, for carrying out route searching according to the environmental map and target trajectory, if described work as can be searched out
The path of preceding target point is transferred to the 512nd device, if the path of the current target point can not be searched, current track is remembered
After non-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
Current target point movement on one cross-talk motion profile, if mobile device successfully arrives at current target point, by current target point mark
It is denoted 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, for environmental map described in judgment basis and target trajectory carry out route searching number whether be more than
Threshold value, by current target point labeled as after non-effective target point, is transferred to the 501st device if being more than；If not exceeded, being transferred to the 511st
Device；
514th device is moved for terminating along desired guiding trajectory.
Another side according to the present invention also provides a kind of equipment based on calculating, wherein include:
Processor；And
It is arranged to the memory of storage computer executable instructions, the executable instruction makes the place when executed
Manage 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
Key when the distance between adjacent key point is greater than preset threshold, between two adjacent key points among insertion
Point, when the distance between adjacent key point is less than or equal to preset threshold, by the centre in three successively adjacent key point
Crucial point deletion；
Using key point adjusted as corresponding target point to generate target trajectory, wherein the target trajectory includes
An at least cross-talk motion profile, every cross-talk motion profile include at least one target point or including multiple successively continuous targets
The target end point of point, every cross-talk motion profile is breakpoint, and the target point of each sub- motion profile is discontinuous；
It is positioned according to current location of the environmental map to mobile device, according to the positioning, controls robot successively
It is moved along the target point in each cross-talk motion profile.
Another side according to the present invention also provides a kind of computer readable storage medium, and being stored thereon with computer can hold
Row instruction, wherein the computer executable instructions make processor when being executed by processor:
Obtain the desired guiding trajectory that user terminal is sent；
According to the ambient enviroment constructing environment map of mobile device；
Key point is extracted from the desired guiding trajectory, key point is adjusted according to the distance between adjacent key point, wherein
Key when the distance between adjacent key point is greater than preset threshold, between two adjacent key points among insertion
Point, when the distance between adjacent key point is less than or equal to preset threshold, by the centre in three successively adjacent key point
Crucial point deletion；
Using key point adjusted as corresponding target point to generate target trajectory, wherein the target trajectory includes
An at least cross-talk motion profile, every cross-talk motion profile include at least one target point or including multiple successively continuous targets
The target end point of point, every cross-talk motion profile is breakpoint, and the target point of each sub- motion profile is discontinuous；
It is positioned according to current location of the environmental map to mobile device, according to the positioning, controls robot successively
It is moved along the target point in each cross-talk motion profile.
Compared with prior art, the present invention is by extracting key point from the desired guiding trajectory, according to adjacent key point
The distance between adjustment key point, wherein when the distance between adjacent key point be greater than preset threshold when, at adjacent two
Intermediate key point is inserted between key point, when the distance between adjacent key point is less than or equal to preset threshold, by three
The successively crucial point deletion of the centre in adjacent key point；Using key point adjusted as corresponding target point to generate mesh
Mark track, wherein the target trajectory includes an at least cross-talk motion profile, and every cross-talk motion profile includes at least one target
It puts or including multiple successively continuous target points, the target end point of every cross-talk motion profile is breakpoint, each sub- motion profile
Target point is discontinuous；It is positioned according to current location of the environmental map to mobile device, according to the positioning, controls robot
It is successively moved along the target point in each cross-talk motion profile, carries out physical track auxiliary without extra cost, it can be flexibly square
Just control robot is moved according to preset track.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, of the invention other
Feature, objects and advantages will become more apparent upon:
Fig. 1 shows the system structure diagram of one embodiment of air navigation aid of the invention；
Fig. 2 shows the flow charts of one embodiment of air navigation aid of the invention；
Fig. 3 shows the track schematic diagram that one embodiment of air navigation aid of the invention generates.
The same or similar appended drawing reference represents the same or similar component in attached drawing.
Specific embodiment
Present invention is further described in detail with reference to the accompanying drawing.
In a typical configuration of this application, terminal, the equipment of service network and trusted party include one or more
Processor (CPU), input/output interface, network interface and memory.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/
Or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable Jie
The example of matter.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data.
The example of the storage medium of computer include, but are not limited to phase change memory (PRAM), static random access memory (SRAM),
Dynamic random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electricity
Erasable Programmable Read Only Memory EPROM (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM)
(CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic
Property storage equipment or any other non-transmission medium, can be used for storing and can be accessed by a computing device information.According to herein
Define, computer-readable medium does not include non-temporary computer readable media (transitory media), such as modulation data
Signal and carrier wave.
The present invention provides a kind of air navigation aid, comprising:
Step S1 obtains the desired guiding trajectory that user terminal is sent；
Here, SLAM autonomous positioning builds figure part, life as shown in Figure 1, the present invention can be divided into user terminal, interactive portion
At motion profile part and along five parts of track motion parts；
Wherein, user terminal, usually cell phone application or PC epigynous computer section, are substantially carried out the input of desired guiding trajectory, show ring
Condition figure, preset track and completed motion profile；
Step S2, according to the ambient enviroment constructing environment map of mobile device；
Here, as shown in Figure 1, can build figure part by SLAM autonomous positioning carries out constructing environment map and according to described
Environment construction map positions the position of mobile device, provides exact position to the Navigational Movements of mobile device and ensures；
As shown in Figure 1, user terminal can be carried out by interactive portion and generate motion profile part and SLAM
(simultaneous localization and mapping, synchronous positioning and map) autonomous positioning is built figure part and is counted
According to transmission；
Step S3 extracts key point from the desired guiding trajectory, is adjusted according to the distance between adjacent key point crucial
Point, wherein when the distance between adjacent key point is greater than preset threshold, between two adjacent key points among insertion
Key point will be in three successively adjacent key point when the distance between adjacent key point is less than or equal to preset threshold
Centre crucial point deletion；
Here, foundation can be generated as shown in Figure 1, generating motion profile part with the path extraction key point of user preset
Target trajectory including an at least cross-talk motion profile, target trajectory is used for robot navigation, when distance is larger between key point,
Intermediate key point is directly inserted between two adjacent key points, key is smaller when the distance between adjacent key point
When, directly delete part intermediate point；
Step S4, using key point adjusted as corresponding target point to generate target trajectory, wherein the target track
Mark 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
The target end point of target point, every cross-talk motion profile is breakpoint, and the target point of each sub- motion profile is discontinuous；
Step S5 is positioned according to current location of the environmental map to mobile device, according to the positioning, controls machine
People successively moves along the target point in each cross-talk motion profile.
Here, as shown in Figure 1, mobile device can be controlled along mesh according to the target trajectory of generation along track motion parts
Mark track movement.
The present invention provides a kind of air navigation aid moved for mobile device along customized path, carries out without extra cost
Physical track auxiliary, control robot that can be flexible and convenient are moved according to preset track.
As shown in Fig. 2, step S5 controls robot successively along the mesh in each cross-talk motion profile according to the positioning
In punctuate movement, three kinds of movements can be related to: searching road and go the movement of track starting point, move and detour along target trajectory and come back to mesh
Mark track movement.These three movements are introduced below:
In one embodiment of air navigation aid of the invention, step S5 controls robot successively along each section according to the positioning
Target point movement in sub- motion profile, including moved along target trajectory, wherein include:
Step S501: according to the target trajectory generated, judgement is currently with the presence or absence of in the destination path of movement to be done
Target point, and if it exists, enter step S502, if it does not exist, enter step S514；
Step S502: it 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 entered step S503；
Step S503: whether the upper target point detected 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, entering step S504；
Step S504: check whether current target point is accessible point, wherein the accessible point is mentioned according to the environmental map
Preceding judgement obtains, if so, S505 is entered step, if it is not, current target point is entered step labeled as after non-effective target point
S501；
Step S505: local motion plans that the mobile device is moved to the current target point, wherein if to described
Barrier is encountered in the centre of current target point movement, then after the current target point being labeled as non-effective target point, into step
Rapid S501；If the mobile device unsuccessful movement arrives at the current target point, by the current target point labeled as effective
Target point enters step S501；
Step S514: end is moved along desired guiding trajectory.
In one embodiment of air navigation aid of the invention, step S5 controls robot successively along each section according to the positioning
Target point movement in sub- motion profile, including search road and track starting point is gone to move, wherein include:
Step S501: according to the target trajectory generated, judgement is currently with the presence or absence of in the destination path of movement to be done
Target point, and if it exists, enter step S502, if it does not exist, enter step S514；
Step S502: it 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, enter step S506；
Step S506: judging 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
The path of the current target point, enters step S508；If the path of the current target point can not be searched, by current mesh
After punctuate is labeled as 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
The current target point is arrived in success, by the current track labeled as after effective target point, enters step S501；If movement is set
It is standby to arrive at the current target point not successfully, enter step S509；
Step S509: the number that environmental map described in judgment basis carries out global path search in the target trajectory is
No is more than preset threshold, if being more than, by the current target point labeled as after non-effective target point, enters step S501；If not
It is more than to enter step S507；
Step S514: end is moved along desired guiding trajectory.
In one embodiment of air navigation aid of the invention, step S5 controls robot successively along each section according to the positioning
Target point movement in sub- motion profile, including detour and come back to target trajectory movement, wherein include:
Step S501: according to the target trajectory generated, judgement is currently with the presence or absence of in the destination path of movement to be done
Target point, and if it exists, enter step S502, if it does not exist, enter step S514；
Step S502: it 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 entered step S503；
Step S503: whether the upper target point detected 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, entering step S510；
Step S510: judging 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 mesh can be searched out
The path of punctuate, enters step S512, if the path of the current target point can not be searched, current track, which is denoted as, non-to be had
After imitating target point, S501 is entered step；
Step S512: 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, 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 being more than, by current target point labeled as after non-effective target point, S501 is entered step；If not exceeded, entering step S511；
Step S514: end is moved along desired guiding trajectory.
The present invention can be realized mobile device and move to the greatest extent along the set goal track, and evacuation that can be autonomous
Invalid partial traces and interim obstacle come back to preset track and complete remaining goal task.
Specifically, as shown in Figure 1, system structure of the invention is broadly divided into user terminal, interactive portion, SLAM autonomous positioning
It builds figure part, generate path portion and along five parts of track motion parts:
As shown in Fig. 2, the specific implementation process along track motion parts is as follows:
Step S501: according to the target trajectory generated, judgement is currently with the presence or absence of in the destination path of movement to be done
Target point, and if it exists, enter step S502, if it does not exist, enter step S514；
Step S502: it 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
It in a new cross-talk motion profile, needs to start a new cross-talk motion profile, enters step S506, if it has not, explanation is worked as
A preceding cross-talk motion profile is not covered, and is needed to continue on current cross-talk motion profile walking, is entered step S503；
Step S503: whether the upper target point detected 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, S504 is entered step, if it has not, entering step
S510；
Step S504: check whether current target point is accessible point, wherein the accessible point is mentioned according to the environmental map
Preceding judgement obtains, if so, S505 is entered step, if it is not, current target point is entered step labeled as after non-effective target point
S501；
Step S505: local motion plans that the mobile device is moved to the current target point, wherein if to described
Barrier is encountered in the centre of current target point movement, then after the current target point being labeled as non-effective target point, into step
Rapid S501；If the mobile device unsuccessful movement arrives at the current target point, by the current target point labeled as effective
Target point enters step S501；
Step S506: judging 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
The path of the current target point, enters step S508；If the path of the current target point can not be searched, by current mesh
After punctuate is labeled as 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
The current target point is arrived in success, by the current track labeled as after effective target point, enters step S501；If movement is set
It is standby to arrive at the current target point not successfully, enter step S509；
Step S509: the number that environmental map described in judgment basis carries out global path search in the target trajectory is
No is more than preset threshold, if being more than, by the current target point labeled as after non-effective target point, enters step S501；If not
It is more than to enter step S507；
Step S510: judging 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 mesh can be searched out
The path of punctuate, enters step S512, if the path of the current target point can not be searched, current track, which is denoted as, non-to be had
After imitating target point, S501 is entered step；
Step S512: 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, 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 being more than, by current target point labeled as after non-effective target point, S501 is entered step；If not exceeded, entering step S511；
Step S514: end is moved along desired guiding trajectory.
Specifically, a, b, c ... o, p, q, r are target point in Fig. 3, wherein a is initial target point, and i, r are breakpoint, is used
In the sub- motion profile for distinguishing different sections, if the rectangle frame outside the d in Fig. 3 represents the start position of mobile device, e, f, g is
There is the unreachable point that barrier is plugged, wherein
Searching road goes track starting point to move, including step S501, S502, S506, S507, S508, S509, wherein movement is set
Received shipment row specifically includes that the current location of slave mobile device, searches the initial target point that each cross-talk motion profile is arrived on road, such as Fig. 3
In a or j；
It detours and comes back to target trajectory movement, including step S501, S502, S503, S510, S511, S512,
S513, wherein as shown in figure 3, next target point e is blocked, on current cross-talk motion profile, will successively look for down, directly
To point target point h, since a upper target point g of target point h is non-effective target point, at this time can slave mobile device it is current
Position searches new route and reaches h, that is, searches the new route of d to h；
It is moved along target trajectory, including step S501, step S502, step S503, step S504, step S505,
In, including the movement between the adjacent continuous target point of same cross-talk motion profile, a to b as shown in Figure 3, b to c etc..
According to another aspect of the present invention, a kind of navigation equipment is additionally provided, which includes:
First device, for obtaining the desired guiding trajectory of user terminal transmission；
Second device, for the ambient enviroment constructing environment map according to mobile device；
3rd device is adjusted for extracting key point from the desired guiding trajectory according to the distance between adjacent key point
Whole key point, wherein when the distance between adjacent key point is greater than preset threshold, in interleaving for two adjacent key points
Enter intermediate key point, when the distance between adjacent key point is less than or equal to preset threshold, by three successively adjacent passes
The crucial point deletion of centre in key point；
4th device, for using key point adjusted as corresponding target point to generate target trajectory, wherein it is described
Target trajectory include an at least cross-talk motion profile, every cross-talk motion profile include at least one target point or including it is multiple successively
The target end point of continuous target point, every cross-talk motion profile is breakpoint, and the target point of each sub- motion profile is discontinuous；
5th device, for being positioned according to current location of the environmental map to mobile device, according to the positioning, control
Robot processed is successively moved along the target point in each cross-talk motion profile.
Further, in above equipment, the 5th device includes:
501st device, for according to the target trajectory generated, judgement currently to whether there is the destination path of movement to be done
In 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 next tracing point target point is extracted from target trajectory as current trace points target point, judge a upper track point target
Whether point is breakpoint, if it has not, the cross-talk motion profile of explanation currently is not covered, needs to continue on a current cross-talk
Motion profile walking, is transferred to the 503rd device；
503rd device, whether the upper target point for detecting in a current cross-talk motion profile is effective target
Point, wherein 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 environment
Map judges to obtain in advance, if so, the 505th device is transferred to, if it is not, current target point is turned labeled as after non-effective target point
Enter the 501st device；
505th device: local motion plans that the mobile device is moved to the current target point, wherein if to institute
Barrier is encountered in the centre for stating current target point movement, then enters the current target point labeled as after non-effective target point
501st device；If the mobile device unsuccessful movement arrives at the current target point, the current target point is labeled as having
Target point is imitated, into the 501st device；
514th device is moved for terminating along desired guiding trajectory.
Further, in above equipment, according to the positioning, the 5th device includes:
501st device, for according to the target trajectory generated, judgement currently to whether there is the destination path of movement to be done
In 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 from target trajectory
It is middle to extract next target point as current target point, judge whether a upper target point is breakpoint, if so, illustrating current mesh
Punctuate needs to start a new cross-talk motion profile, is transferred to the 506th device in a new cross-talk motion profile；
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
501st device；
507th device, for carrying out global path search in the target trajectory according to the environmental map, if can search
To the path for going the current target point, it is transferred to the 508th device；It, will if the path of the current target point can not be searched
After current target point is labeled as non-effective target point, into being transferred to the 501st device；
508th device is moved according to the path searched to the current target point for controlling mobile device, if mobile
Equipment successfully arrives at the current target point, by the current track labeled as after effective target point, is transferred to the 501st device；If
Mobile device arrives at the current target point not successfully, is transferred to the 509th device；
509th device carries out global path search for environmental map described in judgment basis in the target trajectory
Whether number is more than preset threshold, if being more than, after the current target point is labeled as non-effective target point, is transferred to the 501st dress
It sets；If not exceeded, being transferred to the 507th device；
514th device is moved for terminating along desired guiding trajectory.
Further, in above equipment, the 5th device includes:
501st device, for according to the target trajectory generated, judgement currently to whether there is the destination path of movement to be done
In 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 from target trajectory
It is middle to extract next target point as current target point, judge whether a upper target point is breakpoint, if it has not, illustrating currently
One cross-talk 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, whether the upper target point for detecting in a current cross-talk motion profile is effective target
Point, wherein 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
501st device；
511st device, for carrying out route searching according to the environmental map and target trajectory, if described work as can be searched out
The path of preceding target point is transferred to the 512nd device, if the path of the current target point can not be searched, current track is remembered
After non-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
Current target point movement on one cross-talk motion profile, if mobile device successfully arrives at current target point, by current target point mark
It is denoted 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, for environmental map described in judgment basis and target trajectory carry out route searching number whether be more than
Threshold value, by current target point labeled as after non-effective target point, is transferred to the 501st device if being more than；If not exceeded, being transferred to the 511st
Device；
514th device is moved for terminating along desired guiding trajectory.
Another side according to the present invention also provides a kind of equipment based on calculating, wherein include:
Processor；And
It is arranged to the memory of storage computer executable instructions, the executable instruction makes the place when executed
Manage 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
Key when the distance between adjacent key point is greater than preset threshold, between two adjacent key points among insertion
Point, when the distance between adjacent key point is less than or equal to preset threshold, by the centre in three successively adjacent key point
Crucial point deletion；
Using key point adjusted as corresponding target point to generate target trajectory, wherein the target trajectory includes
An at least cross-talk motion profile, every cross-talk motion profile include at least one target point or including multiple successively continuous targets
The target end point of point, every cross-talk motion profile is breakpoint, and the target point of each sub- motion profile is discontinuous；
It is positioned according to current location of the environmental map to mobile device, according to the positioning, controls robot successively
It is moved along the target point in each cross-talk motion profile.
Another side according to the present invention also provides a kind of computer readable storage medium, and being stored thereon with computer can hold
Row instruction, wherein the computer executable instructions make processor when being executed by processor:
Obtain the desired guiding trajectory that user terminal is sent；
According to the ambient enviroment constructing environment map of mobile device；
Key point is extracted from the desired guiding trajectory, key point is adjusted according to the distance between adjacent key point, wherein
Key when the distance between adjacent key point is greater than preset threshold, between two adjacent key points among insertion
Point, when the distance between adjacent key point is less than or equal to preset threshold, by the centre in three successively adjacent key point
Crucial point deletion；
Using key point adjusted as corresponding target point to generate target trajectory, wherein the target trajectory includes
An at least cross-talk motion profile, every cross-talk motion profile include at least one target point or including multiple successively continuous targets
The target end point of point, every cross-talk motion profile is breakpoint, and the target point of each sub- motion profile is discontinuous；
It is positioned according to current location of the environmental map to mobile device, according to the positioning, controls robot successively
It is moved along the target point in each cross-talk motion profile.
The detailed content of above-mentioned each equipment and each embodiment of storage medium, for details, reference can be made to the correspondence portions of each method embodiment
Point, here, repeating no more.
Obviously, those skilled in the art can carry out various modification and variations without departing from the essence of the application to the application
Mind and range.In this way, if these modifications and variations of the application belong to the range of the claim of this application and its equivalent technologies
Within, then the application is also intended to include these modifications and variations.
It should be noted that the present invention can be carried out in the assembly of software and/or software and hardware, for example, can adopt
With specific integrated circuit (ASIC), general purpose computer or any other realized similar to hardware device.In one embodiment
In, software program of the invention can be executed to implement the above steps or functions by processor.Similarly, of the invention
Software program (including relevant data structure) can be stored in computer readable recording medium, for example, RAM memory,
Magnetic or optical driver or floppy disc and similar devices.In addition, some of the steps or functions of the present invention may be implemented in hardware, example
Such as, as the circuit cooperated with processor thereby executing each step or function.
In addition, a part of the invention can be applied to computer program product, such as computer program instructions, when its quilt
When computer executes, by the operation of the computer, it can call or provide according to the method for the present invention and/or technical solution.
And the program instruction of method of the invention is called, it is possibly stored in fixed or moveable recording medium, and/or pass through
Broadcast or the data flow in other signal-bearing mediums and transmitted, and/or be stored according to described program instruction operation
In the working storage of computer equipment.Here, according to one embodiment of present invention including a device, which includes using
Memory in storage computer program instructions and processor for executing program instructions, wherein when the computer program refers to
When enabling by processor execution, method and/or skill of the device operation based on aforementioned multiple embodiments according to the present invention are triggered
Art scheme.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included in the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.This
Outside, it is clear that one word of " comprising " does not exclude other units or steps, and odd number is not excluded for plural number.That states in device claim is multiple
Unit or device can also be implemented through software or hardware by a unit or device.The first, the second equal words are used to table
Show title, and does not indicate any particular order.
Claims (10)
1. a kind of air navigation aid, wherein this method comprises:
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, when the target trajectory includes at least two cross-talk motion profile, each sub- fortune
The target point of dynamic rail mark 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, comprising:
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 detected in a current cross-talk motion profile 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, comprising:
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: judging whether current target point is accessible point, if so, S507 is entered step, if it is not, entering step S501；
Step S507: carrying out global path search according to the environmental map in the target trajectory, 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, comprising:
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 detected in a current cross-talk motion profile 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: judging 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: it after controlling the mobile device according to path cut-through object is searched, is 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, when the target trajectory includes that at least two cross-talks move rail
When mark, 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 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, 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 include:
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, when the target trajectory includes at least two cross-talk motion profile, each sub- fortune
The target point of dynamic rail mark 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, when the target trajectory includes at least two cross-talk motion profile, each sub- fortune
The target point of dynamic rail mark 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811173719.XA CN108827278B (en) | 2018-10-09 | 2018-10-09 | Air navigation aid and equipment |
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| CN109737980A (en) * | 2018-12-29 | 2019-05-10 | 上海岚豹智能科技有限公司 | A kind of air navigation aid and its corresponding robot |
| CN109753074A (en) * | 2019-01-28 | 2019-05-14 | 北京猎户星空科技有限公司 | A kind of robot cruise control method, device, control equipment and storage medium |
| CN110084825B (en) * | 2019-04-16 | 2021-06-01 | 上海岚豹智能科技有限公司 | Image edge information navigation-based method and system |
| CN110554697A (en) * | 2019-08-15 | 2019-12-10 | 北京致行慕远科技有限公司 | Travel method, travel-enabled device, and storage medium |
| CN110687923B (en) * | 2019-11-08 | 2022-06-17 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle long-distance tracking flight method, device, equipment and storage medium |
| CN111085998B (en) * | 2019-12-17 | 2021-11-09 | 珠海市一微半导体有限公司 | Method for recording motion trail of robot and method for displaying motion trail of robot |
| CN112146662B (en) * | 2020-09-29 | 2022-06-10 | 炬星科技（深圳）有限公司 | Method and device for guiding map building and computer readable storage medium |
| CN112215443A (en) * | 2020-12-03 | 2021-01-12 | 炬星科技（深圳）有限公司 | Robot rapid routing customization method and device |
| CN112712316B (en) * | 2020-12-30 | 2023-01-24 | 炬星科技（深圳）有限公司 | Graphical library bit allocation method, equipment and computer readable storage medium |
| CN113263500B (en) * | 2021-05-25 | 2022-10-21 | 深圳市优必选科技股份有限公司 | Robot autonomous operation method and device, robot and storage medium |
| CN113319859B (en) * | 2021-05-31 | 2022-06-28 | 上海节卡机器人科技有限公司 | Robot teaching method, system and device and electronic equipment |
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