CN110426038A - Robot navigation's control method, calculates equipment and computer storage medium at device - Google Patents
Robot navigation's control method, calculates equipment and computer storage medium at device Download PDFInfo
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- CN110426038A CN110426038A CN201910584551.XA CN201910584551A CN110426038A CN 110426038 A CN110426038 A CN 110426038A CN 201910584551 A CN201910584551 A CN 201910584551A CN 110426038 A CN110426038 A CN 110426038A
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- target position
- advance
- identification information
- information
- identiflication number
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
Abstract
The present embodiments relate to robotic technology fields, it discloses a kind of robot navigation's control method, device, calculate equipment and computer storage medium, this method comprises: obtaining default mark figure, the default mark figure includes at least one identification information, and the identification information includes position identiflication number and direction information；The direction information for reaching the target position is determined according to the target position and the position identiflication number that obtain in advance；It is navigated according to the direction information.By the above-mentioned means, the embodiment of the present invention realizes robot autonomous navigation.
Description
Technical field
The present embodiments relate to robotic technology fields, and in particular to a kind of robot navigation's control method, device, meter
Calculate equipment and computer storage medium.
Background technique
In order to realize that some region of independent navigation, robot establish the map of section firstly the need of laser radar.On ground
Figure is established complete after, if robot needs to navigate to target location, need first to determine the position that oneself is current, then from working as
A paths are planned to target position in front position, navigate according still further to the path of planning.
During realizing the embodiment of the present invention, inventor's discovery: the mode of existing robot autonomous navigation is first
It needs to establish piece chorography by laser radar, if the planning of section changes, robot needs to update the ground of the section
Figure, implementation cost are higher.In addition, robot navigates to target position if necessary, need to know oneself current position, then
Passage path, which is planned, determines path, which needs to use auxiliary positioning equipment and path planning algorithm, under complex environment
It will appear position inaccurate, the problem of navigational error.
Summary of the invention
In view of the above problems, the embodiment of the invention provides a kind of robot navigation's control method, the above problem is overcome
Or the above problem at least has been partially solved it.
According to an aspect of an embodiment of the present invention, a kind of robot navigation's control method is provided, which comprises
Default mark figure is obtained, the default mark figure includes at least one identification information, and the identification information includes position
Set identiflication number and direction information；
Determine that the steering for reaching the target position is believed according to the target position and the position identiflication number that obtain in advance
Breath；
It is navigated according to the direction information.
In a kind of optional mode, direction information includes corresponding less than the target position of the position identiflication number the
One directional information, and, greater than the corresponding second direction information in target position of the position identiflication number.
In a kind of optional mode, when the identification information that the default mark figure includes is one, the basis is pre-
The target position first obtained and the position identiflication number determine the direction information for reaching the target position, comprising: when described
When the target position obtained in advance is less than the position identiflication number of the identification information, the steering for reaching the target position is determined
Information is first direction information；When the target position obtained in advance is greater than the position identiflication number of the identification information,
Determine that the direction information for reaching the target position is second direction information.
In a kind of optional mode, when the identification information that the default mark figure includes is greater than one, the basis
The target position obtained in advance and the position identiflication number determine the direction information for reaching the target position, comprising: calculate
The difference of the position identiflication number of the target position obtained in advance and each identification information；By the smallest position of the difference
It sets the corresponding identification information of identiflication number and is determined as target identification information；The direction information for including according to the target identification information
Determine the direction information for reaching the target position.
It is described to be navigated according to the direction information in a kind of optional mode, comprising: according to the direction information
It navigates, until the position identiflication number is consistent with the target position obtained in advance.
In a kind of optional mode, after obtaining the default mark figure, the method also includes: according to the mark
Whether information judges the target position obtained in advance in current floor；If so, according to the target position that obtains in advance with
The position identiflication number determines the direction information of the target position；If it is not, then being navigated to according to the identification information described
Lift, and control the lift and reach floor where the target position obtained in advance.
In a kind of optional mode, the identification information includes floor information, described according to the identification information judgment
Whether the target position obtained in advance in current floor, comprising: judge the floor information whether with the preparatory acquisition
Target position in floor information it is consistent；If consistent, it is determined that the target position obtained in advance is in current floor；If no
Unanimously, it is determined that the target position obtained in advance is not in current floor.
According to another aspect of an embodiment of the present invention, a kind of robot navigation's control device is provided, comprising:
Module is obtained, for obtaining default mark figure, the default mark figure includes at least one identification information, the mark
Knowing information includes position identiflication number and direction information；Determining module is known according to the target position and the position that obtain in advance
It Bian Hao not determine the direction information for reaching the target position；Navigation module, for being navigated according to the direction information.
In a kind of optional mode, direction information includes corresponding less than the target position of the position identiflication number the
One directional information, and, greater than the corresponding second direction information in target position of the position identiflication number.
In a kind of optional mode, when the identification information that the default mark figure includes be one when, determining module into
One step is used for: when the target position obtained in advance is less than the position identiflication number of the identification information, being determined and is reached institute
The direction information for stating target position is first direction information；When the target position obtained in advance is greater than the identification information
When the identiflication number of position, determine that the direction information for reaching the target position is second direction information.
In a kind of optional mode, when the identification information that the default mark figure includes is greater than one, the determination
Module is further used for: calculating the difference of the target position obtained in advance and the position identiflication number of each identification information
Value；The corresponding identification information of the smallest position identiflication number of the difference is determined as target identification information；According to the target
The direction information that identification information includes determines the direction information for reaching the target position.
In a kind of optional mode, navigation module is further used for: being navigated according to the direction information, until institute
It is consistent with the target position obtained in advance that rheme sets identiflication number.
In a kind of optional mode, described device further include: judgment module, the first determining module, the first navigation module
And control module, wherein judgment module be used for the target position that is obtained in advance according to the identification information judgment whether
Current floor.First determining module is used for when the target position obtained in advance is in current floor, according to what is obtained in advance
Target position and the position identiflication number determine the direction information of the target position.First navigation module is used for according to
Identification information navigates to the lift.Control module reaches the target position obtained in advance for controlling the lift
The floor at place.
In a kind of optional mode, the identification information includes floor information, and the judgment module is further used for: sentencing
Whether the floor information of breaking is consistent with the floor information in the target position obtained in advance；If consistent, it is determined that described
The target position obtained in advance is in current floor；If inconsistent, it is determined that the target position obtained in advance is not or not current building
Layer.
According to another aspect of an embodiment of the present invention, a kind of calculating equipment is provided, comprising: processor, memory, communication
Interface and communication bus, the processor, the memory and the communication interface are completed mutual by the communication bus
Communication；
For the memory for storing an at least executable instruction, it is above-mentioned that the executable instruction executes the processor
A kind of step in robot navigation's control method.
Another aspect according to an embodiment of the present invention provides a kind of computer storage medium, deposits in the storage medium
An at least executable instruction is contained, the executable instruction makes the processor execute a kind of above-mentioned robot navigation's control method
In step.
The determining arrival mesh of position identiflication number and target position in default mark figure that the embodiment of the present invention passes through acquisition
The direction information of cursor position, and navigated according to direction information, in this way, robot only needs default by identifying
Position identiflication number in mark figure can realize independent navigation, and robot is not necessarily to know the position of oneself, to solve
The problem of robot localization inaccuracy in traditional robot navigation mode.In addition, when the section of robot navigation because planning again
When changing, it is only necessary to change the information in default mark figure, avoid in traditional approach, planning requires weight again every time
Newly establish the complicated processes of section map.
Above description is only the general introduction of technical solution of the embodiment of the present invention, in order to better understand the embodiment of the present invention
Technological means, and can be implemented in accordance with the contents of the specification, and in order to allow above and other mesh of the embodiment of the present invention
, feature and advantage can be more clearly understood, the followings are specific embodiments of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 shows a kind of flow chart of robot navigation's control method of first embodiment of the invention offer；
Showing for mark figure is provided in a kind of robot navigation's control method provided Fig. 2 shows first embodiment of the invention
It is intended to；
Fig. 3 shows a kind of flow chart of robot navigation's control method of second embodiment of the invention offer；
Fig. 4 shows a kind of functional block diagram of robot navigation's control device of third embodiment of the invention offer；
Fig. 5 shows a kind of structural schematic diagram of calculating equipment of fourth embodiment of the invention offer.
Specific embodiment
The exemplary embodiment that the present invention will be described in more detail below with reference to accompanying drawings.Although showing the present invention in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the present invention without should be by embodiments set forth here
It is limited.It is to be able to thoroughly understand the present invention on the contrary, providing these embodiments, and can be by the scope of the present invention
It is fully disclosed to those skilled in the art.
Fig. 1 shows a kind of flow chart of robot navigation's control method of first embodiment of the invention, as shown, should
Method the following steps are included:
Step 110: obtaining default mark figure, which includes at least one identification information, the identification information packet
Identiflication number containing position and direction information.
The application scenarios of the embodiment of the present invention are robots in a certain section progress independent navigation, which can be one
Closed room area is also possible to an open outdoor area, and each of section target position to be identified is with one
Fixed position identiflication number arrangement.By taking a certain exhibition venue in room area as an example, as shown in Fig. 2, in advance to each exhibition
Position and corner are provided with corresponding mark figure, and identifying the identification information in figure includes position identiflication number and direction information, position
The setting of identiflication number can be artificially arranged according to the preset position of mark figure, for example, having around the preset position of mark figure
Two corners, each corner have a channel, and there are several exhibition positions in channel twice, then include in the mark figure of position setting
The number of identification information be two, the position identiflication number of exhibition position is the number of the exhibition position, the corresponding channel of each corner
Exhibition position is arranged in sequence, and the position identiflication number difference of the exhibition position in adjacent channel is larger, avoids the occurrence of the position of setting
Identiflication number is consistent, or, more than the difference unanimous circumstances between a position identiflication number and target position.Angular position is known
The position identiflication number that can distinguish the exhibition position in each channel is subject in the definition of other alias, and the present invention is not to angular position
Being specifically defined for identiflication number limits.For example, the position that can define angular position is known in a kind of specific embodiment
It Bian Hao not be the average value of the position identiflication number of two exhibition positions at the corresponding feeder connection of the corner.Direction information includes to be less than
The corresponding first direction information in the target position of position identiflication number, and, the target position greater than position identiflication number is corresponding
Second direction information.For example, the target position that first row mark is less than position identiflication number in mark figure shown in Fig. 2 corresponds to
First direction information, second is classified as the corresponding position identiflication number information of direction information, and third, which is classified as, to be identified greater than position and compile
Number the corresponding second direction information in target position, first direction information and second direction information include forward, backward, to
It is left, to the right, the mark such as turn around.
Step 120: determining that the steering for reaching target position is believed according to the target position and position identiflication number that obtain in advance
Breath.
When the identification information that default mark figure includes is one, by the target position obtained in advance and the identification information
Position identiflication number compares, and when the target position obtained in advance is less than the position identiflication number of identification information, determines and reaches
The direction information of target position is first direction information, is compiled when the position that the target position obtained in advance is greater than identification information identifies
Number when, determine reach target position direction information be second direction information.
When the identification information that default mark figure includes is greater than one, robot need according to one of identification information into
Row navigation, calculates the difference of the position identiflication number of target position and each identification information obtained in advance, by difference first
The corresponding identification information of the smallest position identiflication number is determined as target identification information, and is turned according to what target identification information included
The direction information for reaching target position is determined to information.
Step 130: being navigated according to direction information.
When being navigated according to direction information, need to obtain the default mark figure in environment in real time, and according in step 120
Method determine direction information, until position identiflication number is consistent with the target position obtained in advance.
The determining arrival mesh of position identiflication number and target position in default mark figure that the embodiment of the present invention passes through acquisition
The direction information of cursor position, and navigated according to direction information, in this way, robot only needs default by identifying
Position identiflication number in mark figure can realize independent navigation, and robot is not necessarily to know the position of oneself, to solve
The problem of robot localization inaccuracy in traditional robot navigation mode.In addition, when the section of robot navigation because planning again
When changing, it is only necessary to change the information in default mark figure, avoid in traditional approach, planning requires weight again every time
Newly establish the complicated processes of section map.
Fig. 3 shows a kind of flow chart of robot navigation's control method of second embodiment of the invention, as shown in figure 3,
The embodiment compared with first embodiment, the difference is that, the embodiment is further comprising the steps of:
Step 210: whether the target position obtained in advance according to identification information judgment is in current floor, if so, executing step
Rapid 220, if it is not, executing step 230.
Current floor is the floor where the default mark figure obtained.In this step, believe in identification information comprising floor
It ceases, also includes the floor information of target position in the target position obtained in advance, by judging the floor information in identification information
It is whether consistent with the floor information in the target position obtained in advance, it can be determined that whether the target position obtained in advance is current
Floor, when the floor information in identification information is consistent with the floor information in the target position obtained in advance, determination obtains in advance
The target position taken is in current floor, when the floor information in identification information and the floor information in the target position that obtains in advance
When inconsistent, determine the target position obtained in advance not in current floor.
It is worth noting that the floor information for including in identification information can by way of position identiflication number is set into
Row setting, for example, the first digit of setting position identiflication number indicates floor information, it can also be by increasing in identification information
One column, for identifying floor information, the embodiment of the present invention is not limited with the specific appearance form of floor information in identification information.
Step 220: the direction information of target position is determined according to the target position and position identiflication number that obtain in advance.
If the target position obtained in advance determines according to the method in first embodiment in current floor and turns to letter
Breath, and navigate.
Step 230: lift being navigated to according to identification information, and controls lift and reaches the target position institute obtained in advance
Floor.
If the target position obtained in advance in current floor, the corresponding mark figure of the lift of current floor is not made
For target position, lift is navigated to according to the specific descriptions of step 120 to step 130, which is equipped with control in advance
Device, robot can be communicated with the controller of lift, and the floor where target position is sent to lift, so as to rise
Drop ladder carries the floor where robot to target position.
Whether the target position that the embodiment of the present invention is obtained in advance by judgement is in current floor, when not in current floor
When, lift is navigated to by identification information, and destination is reached by lift, to realize between different floors
Independent navigation.
Fig. 4 shows a kind of structural schematic diagram of robot navigation's control device of third embodiment of the invention.Such as Fig. 4 institute
Show, which includes: to obtain module 310, and for obtaining default mark figure, the default mark figure includes at least one mark letter
Breath, the identification information include position identiflication number and direction information.Determining module 320, according to the target position obtained in advance
The direction information for reaching the target position is determined with the position identiflication number.Navigation module 330, for according to the steering
Information is navigated.
In a kind of optional mode, direction information includes corresponding less than the target position of the position identiflication number the
One directional information, and, greater than the corresponding second direction information in target position of the position identiflication number.
In a kind of optional mode, when the identification information that the default mark figure includes is one, determining module 320
It is further used for: when the target position obtained in advance is less than the position identiflication number of the identification information, determines and reach
The direction information of the target position is first direction information；When the target position obtained in advance is greater than the identification information
Position identiflication number when, determine that the direction information for reaching the target position is second direction information.
In a kind of optional mode, when the identification information that the default mark figure includes is greater than one, the determination
Module 320 is further used for: calculating the target position obtained in advance and the position identiflication number of each identification information
Difference；The corresponding identification information of the smallest position identiflication number of the difference is determined as target identification information；According to the mesh
The direction information that mark identification information includes determines the direction information for reaching the target position.
In a kind of optional mode, navigation module 330 is further used for: being navigated according to the direction information, directly
It is consistent with the target position obtained in advance to the position identiflication number.
In a kind of optional mode, described device further include: judgment module 340, the first determining module 350, first are led
Model plane block 360 and control module 370, wherein what judgment module 340 was used to obtain in advance according to the identification information judgment
Whether target position is in current floor.First determining module 350 is used for when the target position obtained in advance is in current floor
When, the direction information of the target position is determined according to the target position and the position identiflication number that obtain in advance.First leads
Model plane block 360 is used to navigate to the lift according to the identification information.Control module 370 is arrived for controlling the lift
Floor up to where the target position obtained in advance.
In a kind of optional mode, the identification information includes floor information, and the judgment module 340 is further used
In: judge whether the floor information is consistent with the floor information in the target position obtained in advance；If consistent, it is determined that
The target position obtained in advance is in current floor；If inconsistent, it is determined that do not working as the target position obtained in advance
Preceding floor.
The embodiment of the present invention is by determining module 320 according to the position identiflication number and target in the default mark figure of acquisition
Position determines the direction information for reaching target position, and is navigated by navigation module 330 according to direction information, by this
Mode, robot are only needed by identifying that the position identiflication number in default mark figure can realize independent navigation, robot
Without knowing the position of oneself, to solve the problems, such as robot localization inaccuracy in traditional robot navigation mode.In addition,
When the section of robot navigation changes because planning again, it is only necessary to change the information in default mark figure, avoid biography
In system mode, planning requires to re-establish the complicated processes of piece chorography again every time.
The embodiment of the invention provides a kind of nonvolatile computer storage media, the computer storage medium is stored with
One of above-mentioned any means embodiment robot navigation can be performed in an at least executable instruction, the computer executable instructions
The corresponding operation of control method.
Fig. 5 shows a kind of structural schematic diagram of calculating equipment of fifth embodiment of the invention, the specific embodiment of the invention
The specific implementation for calculating equipment is not limited.
As shown in figure 5, the calculating equipment may include: processor (processor) 502, communication interface
(Communications Interface) 504, memory (memory) 506 and communication bus 508.
Wherein: processor 502, communication interface 504 and memory 506 complete mutual lead to by communication bus 508
Letter.Communication interface 504, for being communicated with the network element of other equipment such as client or other servers etc..Processor 502 is used
In executing program 510, it is corresponding can specifically to execute one of above-mentioned any means embodiment robot navigation's control method
Operation.
Specifically, program 510 may include program code, which includes computer operation instruction.
Processor 502 may be central processor CPU or specific integrated circuit ASIC (Application
Specific Integrated Circuit), or be arranged to implement the integrated electricity of one or more of the embodiment of the present invention
Road.The one or more processors that equipment includes are calculated, can be same type of processor, such as one or more CPU；It can also
To be different types of processor, such as one or more CPU and one or more ASIC.
Memory 506, for storing program 510.Memory 506 may include high speed RAM memory, it is also possible to further include
Nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.
Program 510 specifically can be used for so that processor 502 executes following operation: default mark figure is obtained, it is described default
Mark figure includes at least one identification information, and the identification information includes position identiflication number and direction information；According to obtaining in advance
The target position taken and the position identiflication number determine the direction information for reaching the target position；According to the direction information
It navigates.
In a kind of optional mode, direction information includes corresponding less than the target position of the position identiflication number the
One directional information, and, greater than the corresponding second direction information in target position of the position identiflication number.
In a kind of optional mode, in a kind of optional mode, program 510 specifically can be used for so that processor
502 execute following operation: when the target position obtained in advance is less than the position identiflication number of the identification information, determining
The direction information for reaching the target position is first direction information；When the target position obtained in advance is greater than the mark
When the position identiflication number of information, determine that the direction information for reaching the target position is second direction information.
In a kind of optional mode, in a kind of optional mode, program 510 specifically can be used for so that processor
502 execute following operation: calculating the difference of the target position obtained in advance and the position identiflication number of each identification information
Value；The corresponding identification information of the smallest position identiflication number of the difference is determined as target identification information；According to the target
The direction information that identification information includes determines the direction information for reaching the target position.
In a kind of optional mode, in a kind of optional mode, program 510 specifically can be used for so that processor
502 execute following operation: being navigated according to the direction information, until the position identiflication number and described obtaining in advance
Target position is consistent.
In a kind of optional mode, in a kind of optional mode, program 510 specifically can be used for so that processor
502 execute following operation: whether the target position obtained in advance according to the identification information judgment is in current floor；If
It is that the direction information of the target position is then determined according to the target position and the position identiflication number that obtain in advance；If it is not,
The lift is then navigated to according to the identification information, and controls the lift and reaches the target position obtained in advance
The floor at place.
In a kind of optional mode, in a kind of optional mode, program 510 specifically can be used for so that processor
502 execute following operation: judging whether the floor information is consistent with the floor information in the target position obtained in advance；
If consistent, it is determined that the target position obtained in advance is in current floor；If inconsistent, it is determined that the mesh obtained in advance
Cursor position is not in current floor.
Algorithm or display are not inherently related to any particular computer, virtual system, or other device provided herein.
Various general-purpose systems can also be used together with teachings based herein.As described above, it constructs required by this kind of system
Structure be obvious.In addition, the embodiment of the present invention is also not for any particular programming language.It should be understood that can benefit
Summary of the invention described herein is realized with various programming languages, and the description done above to language-specific is to drape over one's shoulders
Reveal preferred forms of the invention.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the present invention and help to understand one or more of the various inventive aspects, In
Above in the description of exemplary embodiment of the present invention, each feature of the embodiment of the present invention is grouped together into individually sometimes
In embodiment, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention: being wanted
Ask protection the present invention claims features more more than feature expressly recited in each claim.More precisely, such as
As following claims reflect, inventive aspect is all features less than single embodiment disclosed above.
Therefore, it then follows thus claims of specific embodiment are expressly incorporated in the specific embodiment, wherein each right is wanted
Ask itself all as a separate embodiment of the present invention.
Those skilled in the art will understand that can be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more devices different from this embodiment.It can be the module or list in embodiment
Member or component are combined into a module or unit or component, and furthermore they can be divided into multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it can use any
Combination is to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed
All process or units of what method or apparatus are combined.Unless expressly stated otherwise, this specification is (including adjoint power
Benefit require, abstract and attached drawing) disclosed in each feature can carry out generation with an alternative feature that provides the same, equivalent, or similar purpose
It replaces.
In addition, it will be appreciated by those of skill in the art that although some embodiments in this include institute in other embodiments
Including certain features rather than other feature, but the combination of the feature of different embodiment means in the scope of the present invention
Within and form different embodiments.For example, in the following claims, embodiment claimed it is any it
One can in any combination mode come using.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and ability
Field technique personnel can be designed alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer real
It is existing.In the unit claims listing several devices, several in these devices can be through the same hardware branch
To embody.The use of word first, second, and third does not indicate any sequence.These words can be explained and be run after fame
Claim.Step in above-described embodiment should not be construed as the restriction to execution sequence in addition to having specified otherwise.
Claims (10)
1. a kind of robot navigation's control method, which is characterized in that the described method includes:
Default mark figure is obtained, the default mark figure includes at least one identification information, and the identification information is known comprising position
Not Bian Hao and direction information；
The direction information for reaching the target position is determined according to the target position and the position identiflication number that obtain in advance；
It is navigated according to the direction information.
2. the method according to claim 1, wherein the direction information includes to be less than the position identiflication number
The corresponding first direction information in target position, and, greater than the corresponding second direction in target position of the position identiflication number
Information.
3. according to the method described in claim 2, it is characterized in that, when the identification information that the default mark figure includes is one
When, the target position and the position identiflication number that the basis obtains in advance determine that the steering for reaching the target position is believed
Breath, comprising:
When the target position obtained in advance is less than the position identiflication number of the identification information, determines and reach the target
The direction information of position is first direction information；
When the target position obtained in advance is greater than the position identiflication number of the identification information, determines and reach the target
The direction information of position is second direction information.
4. according to the method described in claim 2, it is characterized in that, when the identification information that the default mark figure includes is greater than one
When a, the target position and the position identiflication number that the basis obtains in advance determine that the steering for reaching the target position is believed
Breath, comprising:
Calculate the difference of the target position obtained in advance and the position identiflication number of each identification information；
The corresponding identification information of the smallest position identiflication number of the difference is determined as target identification information；
The direction information for reaching the target position is determined according to the direction information that the target identification information includes.
5. the method according to claim 1, wherein described navigate according to the direction information, comprising: root
It navigates according to the direction information, until the position identiflication number is consistent with the target position obtained in advance.
6. the method according to claim 1, wherein the method is also wrapped after obtaining the default mark figure
It includes:
Whether the target position obtained in advance according to the identification information judgment is in current floor；
If so, determining that the steering of the target position is believed according to the target position and the position identiflication number that obtain in advance
Breath；
If it is not, then navigating to the lift according to the identification information, and controls the lift and reach the preparatory acquisition
Target position where floor.
7. according to the method described in claim 6, it is characterized in that, the identification information include floor information, it is described according to institute
The target position obtained in advance described in identification information judgment is stated whether in current floor, comprising:
Judge whether the floor information is consistent with the floor information in the target position obtained in advance；
If consistent, it is determined that the target position obtained in advance is in current floor；
If inconsistent, it is determined that the target position obtained in advance is not in current floor.
8. a kind of robot navigation's control device, which is characterized in that described device includes:
Module is obtained, for obtaining default mark figure, the default mark figure includes at least one identification information, the mark letter
Breath includes position identiflication number and direction information；
Determining module determines according to the target position and the position identiflication number that obtain in advance and reaches turning for the target position
To information；
Navigation module, for being navigated according to the direction information.
9. a kind of calculating equipment, comprising: processor, memory, communication interface and communication bus, the processor, the storage
Device and the communication interface complete mutual communication by the communication bus；
The memory executes the processor according to right for storing an at least executable instruction, the executable instruction
It is required that a kind of corresponding operation of the described in any item robot navigation's control methods of 1-7.
10. a kind of computer storage medium, an at least executable instruction, the executable instruction are stored in the storage medium
Processor is set to execute a kind of corresponding operation of robot navigation's control method according to claim 1-7.
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