CN114323026A - Navigation method, control device and mobile device based on discontinuous side reference plane - Google Patents
Navigation method, control device and mobile device based on discontinuous side reference plane Download PDFInfo
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Abstract
The invention provides a navigation method, a control device and mobile equipment based on a discontinuous side reference surface. The method comprises the following steps: acquiring detection data of each distance measuring device in the moving process of mobile equipment, wherein the distance measuring devices are arranged on the mobile equipment at intervals along a calibration direction; judging whether the detection data are in a first preset range or not, wherein the first preset range is determined according to a first preset distance from the distance measuring device to the discontinuous side reference surface; and when each detection data is within the first preset range, carrying out course control on the mobile equipment according to each detection data. The navigation method associates a first preset range with a first preset distance from the distance measuring device to the discontinuous side reference surface, and can judge whether the position of each distance measuring device corresponds to the discontinuous side reference surface by judging whether the detection data are in the first preset range; the method can be used in occasions with non-continuous side reference surfaces without adopting magnetic stripe navigation.
Description
Technical Field
The invention relates to the technical field of navigation, in particular to a navigation method, a control device and mobile equipment based on a discontinuous side reference surface.
Background
At present, with the development of intelligent technology, the navigation technology is widely applied to the tracking movement of mobile devices such as an automatic guided vehicle AGV, an automatic trolley AGC, a trackless moving shelf, logistics picking, an intelligent vehicle and the like.
The existing navigation technology generally needs to have a relatively definite navigation identifier, for example, a magnetic stripe navigation mode. In some occasions, the magnetic strip is difficult to be well applied, for example, in the disinfection and sterilization work of an airplane sterilization robot, the airplane sterilization robot walks by virtue of a passageway between seats on the airplane, and the passageway is inconvenient to be provided with a magnetic strip which is easy to wear.
Disclosure of Invention
The present invention is directed to solving at least one aspect of the above problems to some extent.
In order to solve at least one aspect of the above problem, in a first aspect, the present invention provides a navigation method based on a discontinuous side reference plane, including:
acquiring detection data of each distance measuring device in the moving process of mobile equipment, wherein the distance measuring devices are arranged on the mobile equipment at intervals along a calibration direction;
judging whether the detection data are in a first preset range or not, wherein the first preset range is determined according to a first preset distance from the distance measuring device to a discontinuous side reference surface;
and when each detection data is within the first preset range, carrying out course control on the mobile equipment according to each detection data.
Optionally, the performing heading control on the mobile device according to each detection data includes:
generating yaw data of the mobile device according to the detection data, wherein the yaw data comprise a yaw angle and a yaw distance, and the yaw distance is determined according to the distance from the index point of the mobile device to the discontinuous side reference plane;
and carrying out course control on the mobile equipment according to the yaw data.
Optionally, the performing heading control on the mobile device according to the yaw data includes:
judging whether the yaw distance is within a preset yaw distance range;
when the yaw distance is not within the preset yaw distance range, carrying out course control on the mobile equipment according to the yaw distance and the yaw angle;
and when the yaw distance is within the preset yaw distance range, adjusting the course of the mobile equipment according to the yaw angle.
Optionally, the performing heading control on the mobile device according to the yaw distance and the yaw angle includes:
generating a corrected yaw angle and a first distance to move at the corrected yaw angle from the yaw angle and the yaw distance;
and controlling the mobile equipment to adjust the actual course angle to the corrected yaw angle, and moving the first distance according to the corrected yaw angle.
Optionally, the adjusting the heading of the mobile device according to the yaw angle includes:
when the yaw angle is larger than a first preset angle and smaller than a second preset angle, controlling the mobile equipment to adjust the course angle to zero degree in situ;
and when the yaw angle is smaller than or equal to the first preset angle, controlling the course of the mobile equipment to be unchanged.
Optionally, after the heading control is performed on the mobile device according to the yaw distance and the yaw angle, the navigation method further includes:
and controlling the mobile equipment to adjust the actual course angle to zero degree.
Optionally, after determining whether each of the detection data is within a first preset range, the navigation method further includes:
when the detection data is not within the first preset range, the mobile device continues to move.
The navigation method of the invention associates a first preset range with a first preset distance from the distance measuring device to the discontinuous side reference surface, and can judge whether the position of each distance measuring device corresponds to the discontinuous side reference surface by judging whether each detection data is in the first preset range; when each detection data is in the first preset range, the position of each ranging device corresponds to the discontinuous side reference surface, and each detection data can be used for judging the relative position of the mobile equipment relative to the discontinuous side reference surface and adjusting the course of the mobile equipment; the navigation method can be used in occasions with non-continuous side reference surfaces, such as airplane disinfection and sterilization occasions, and magnetic stripe navigation is not needed, so that a series of problems caused by magnetic stripe damage due to abrasion and the like are avoided.
In a second aspect, the invention provides a navigation control device based on a discontinuous side reference surface, which comprises a memory and a processor;
the memory for storing a computer program;
the processor is configured to, when executing the computer program, implement the non-continuous side reference plane-based navigation method according to any one of the first aspect.
In a third aspect, the present invention provides a mobile device, comprising the navigation control device based on the discontinuous side reference plane as described in the second aspect.
Optionally, the mobile equipment further comprises an equipment body, a walking assembly and a distance measuring device, wherein the walking assembly and the distance measuring device are arranged on the equipment body, the distance measuring device is arranged at intervals along the calibration direction, the detection direction of the distance measuring device and the calibration direction are arranged at preset included angles, and the navigation control device is in communication connection with the walking assembly and the distance measuring device respectively.
The navigation control device and the mobile device have all the advantages of the navigation method, and are not described herein again.
Drawings
FIG. 1 is a flow chart of a navigation method based on a non-continuous side reference plane according to an embodiment of the present invention;
FIG. 2 is a block diagram of a mobile device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a process for moving a mobile device in an aisle in an embodiment of the invention;
FIG. 4 is a diagram illustrating a state where a mobile device is moving according to a corrected yaw angle and a first distance in an embodiment of the present invention;
FIG. 5 is a flow chart of a navigation method based on non-continuous side reference planes according to another embodiment of the present invention.
Description of reference numerals:
1-equipment body, 2-distance measuring device, 21-first distance measuring device, 22-second distance measuring device, 23-third distance measuring device, 3-walking component, 4-discontinuous side reference surface and 5-cabin side wall.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the description of the present invention, it should be noted that terms such as "upper", "lower", "front", "rear", and the like in the embodiments indicate orientation words, which are used for simplifying the description of positional relationships based on the drawings of the specification, and do not represent that elements, devices, and the like which are referred to must operate according to specific orientations and defined operations and methods, configurations in the specification, and such orientation terms do not constitute limitations of the present invention.
A coordinate system XY is provided herein, wherein a forward direction of the X-axis represents a right direction, a reverse direction of the X-axis represents a left direction, a forward direction of the Y-axis represents a front direction, and a reverse direction of the Y-axis represents a rear direction.
As shown in fig. 1 and fig. 2, an embodiment of the present invention provides a navigation method based on a non-continuous side reference plane, where the navigation method includes:
step S1, acquiring detection data of each distance measuring device 2 in the moving process of the mobile equipment, wherein the distance measuring devices 2 are arranged on the mobile equipment at intervals along the calibration direction;
step S2, judging whether each detection data is in a first preset range, wherein the first preset range is determined according to a first preset distance Ls1 from the distance measuring device 2 to the discontinuous side reference surface 4;
and step S3, when each of the detection data is within the first preset range, performing heading control on the mobile device according to each of the detection data.
As shown in fig. 3, the navigation method of the present invention will be described in the present specification by taking an example in which the mobile device is an aircraft sterilization robot that travels in a passageway between seats of an aircraft and sterilizes a cabin of the aircraft, but the present invention is not limited to be applicable to other similar situations or devices, for example, to sterilization of trains. In this case, the side surfaces of the seats are substantially in the same plane, and the side surfaces of the seats (e.g., the side surfaces of the seat bottom, the side surfaces of the armrest, etc.) collectively form the discontinuous side reference surface 4. Such discontinuous side reference surfaces result in a significant risk of collision of the mobile device and also cause difficulties in navigation.
As shown in fig. 2, the distance measuring device 2 illustratively comprises a first distance measuring device 21 and a second distance measuring device 22 arranged on the right side of the mobile device, the first distance measuring device 21 and the second distance measuring device 22 are arranged at a second preset distance Ls2 along a calibration direction, and each of the first distance measuring device 21 and the second distance measuring device 22 can be a laser distance measuring sensor which emits a laser beam perpendicular to the calibration direction, which is generally the length direction of the mobile device.
The first and second distance measuring devices 21, 22 may measure first and second detection data, respectively, which may reflect the distance of the first and second distance measuring devices 21, 22, respectively, to the nearest object surface, which may be the cabin sidewall 5 of the aircraft and the non-continuous side reference plane 4 as described above.
The first preset distance Ls1 can be understood as the distance between the distance measuring device 2 and the non-continuous side reference surface 4 when the mobile device travels along the nominal motion path (for example, when the mobile device is located right above and travels along the center line of the passageway). The first predetermined range may be adjusted according to the first predetermined distance Ls1, for example, the lower limit of the first predetermined range may be 0.1-1 times, 0.2-0.8 times, 0.3-0.6 times, 0.5 times of the predetermined distance, the upper limit of the first predetermined range may be 1-3 times, 1.2-1.7 times, 1.3-1.6 times, 1.5 times of the predetermined distance, and the upper limit and the lower limit may be calibrated according to the specific application through experimental data.
It should be noted that, when the first detection data and the second detection data are both within the first preset range, it is indicated that the positions of the first distance measuring device 21 and the second distance measuring device 22 both correspond to the discontinuous side reference surface 4, and both of the positions may correspond to the side reference surface of the same discontinuous side reference surface 4, or may correspond to the side reference surfaces of different discontinuous side reference surfaces 4, which is not limited. When the first detection data is not within the first preset range, it indicates that the first distance measuring device 21 is outside the area corresponding to the non-continuous side reference plane 4, for example, the first distance measuring device 21 is facing the cabin sidewall 5 of the aircraft.
Illustratively, the first ranging device 21 is located in front of the second ranging device 22, and the heading control of the mobile device according to the detected data may include:
as shown in fig. 3, when the first detected data is greater than the first preset distance Ls1 and the second detected data is less than the first preset distance Ls1, the heading of the mobile device is adjusted such that the first detected data is decreased and the second detected data is increased such that the first detected data and the second detected data both approach to the first preset distance Ls 1. In this case, the front end of the mobile device is in a state of deflecting to the left, and the front end of the mobile device can be adjusted to deflect to the right side and walk, and then return to the nominal motion path of the mobile device.
Conversely, when the second detection data is greater than the first preset distance Ls1 and the first detection data is less than the first preset distance Ls1, the heading of the mobile device may be adjusted such that the first detection data increases and the second detection data decreases, which will not be described in detail herein.
The navigation method of the invention, associate the first preset range with said distance measuring apparatus 2 to the first preset distance Ls1 of the discontinuous side reference surface 4, can judge whether the position of each distance measuring apparatus 2 corresponds to the discontinuous side reference surface 4 through judging whether each said detected data is in the first preset range; when each detection data is in the first preset range, the position of each distance measuring device 2 corresponds to the discontinuous side reference surface 4, and each detection data can be used for judging the relative position of the mobile equipment relative to the discontinuous side reference surface 4 and adjusting the course of the mobile equipment; the navigation method can be used in occasions of the discontinuous side reference surface 4, such as airplane disinfection and sterilization occasions, and magnetic stripe navigation is not needed, so that a series of problems caused by magnetic stripe damage due to abrasion and the like are avoided.
In an optional embodiment of the present invention, in step S3, the heading control of the mobile device according to each of the detection data includes:
generating YAW data of the mobile device according to the detection data, wherein the YAW data comprise a YAW angle YAW and a YAW distance Ld, and the YAW distance Ld is determined according to the distance from the calibration point of the mobile device to the discontinuous side reference plane 4;
and carrying out course control on the mobile equipment according to the yaw data.
As shown in fig. 3, the content of the present invention will be described in the present specification by taking an example that the calibration point coincides with the first distance measuring device 21 and the first distance measuring device 21 is located in front of the second distance measuring device 22, wherein the YAW angle YAW can be understood as the angle between the calibration direction and the calibration motion path of the mobile device, which is the angle between the calibration direction and the positive direction of the Y-axis.
As shown in fig. 3, a YAW angle YAW is defined as atan ((| L1-L2 |)/Ls 2), where L1 is the above-described first detection data, L2 is the above-described second detection data, and Ls2 is the above-described second preset distance between the first distance measuring device 21 and the second distance measuring device 22.
Defining a yaw distance Ld as L0-Ls1, L0 as an actual distance from a calibration point to the non-continuous side reference plane 4, and L0 as max (L1, L2) cos (yaw); ls1 is the first preset distance Ls1 described above, i.e., the set value of the distance of the index point to the non-continuous-side reference plane 4.
Therefore, the YAW data such as the YAW angle YAW, the YAW distance Ld and the like can be generated according to the detection data, so as to provide a reliable data base for judging the YAW condition of the mobile device, thereby providing a reliable data basis for subsequent heading control on the mobile device, and facilitating the determination of a control strategy for the heading control, for example, the control strategy may be a strategy for returning the mobile device to a calibrated motion path.
Optionally, the performing heading control on the mobile device according to the yaw data includes:
judging whether the yaw distance Ld is within a preset yaw distance range;
when the YAW distance Ld is not within the preset YAW distance range, performing course control on the mobile equipment according to the YAW distance Ld and the YAW angle YAW;
when the YAW distance Ld is within the preset YAW distance range, the heading of the mobile device may be adjusted according to the YAW angle YAW.
For example, when the yaw distance Ld is within a preset yaw distance range (the preset yaw distance range may be a symmetrical interval with zero as a median), which indicates that the yaw degree is relatively low, it may be considered to directly adjust the heading of the mobile device so that the heading is consistent with the extending direction of the calibrated motion path. When the absolute value of the YAW distance Ld is greater than the upper limit value of the preset YAW distance range, the course of the mobile equipment needs to be adjusted according to the YAW angle YAW and the YAW distance Ld, so that the mobile equipment returns to the calibrated motion path.
Therefore, the mobile equipment can be flexibly adjusted according to the yaw data, the course accuracy requirement (collision of the mobile equipment) of the mobile equipment can be considered to a certain extent, the course adjustment time requirement is reduced, and the practicability is high.
As shown in fig. 3 and 4, further, the heading control of the mobile device according to the YAW distance Ld and the YAW angle YAW includes:
generating a corrected YAW angle YAWa and a first distance L3 moving at the corrected YAW angle YAWa from the YAW angle YAW and the YAW distance Ld;
and controlling the mobile equipment to adjust the actual course angle to the corrected yaw angle YAWa, and moving the first distance L3 according to the corrected yaw angle YAWa.
Exemplarily, the first distance L3 ═ Ld/sin (YAWa), Ld is the yaw distance described above, and YAWa is the corrected yaw angle. Optionally, the corrected YAW angle YAWa is greater than or equal to the YAW angle YAW, thereby facilitating a quick return of the mobile device to the nominal motion path.
For the convenience of understanding the solution of the present invention, it is next exemplified that the mobile device includes a set of driving wheels and two sets of driven wheels, the two sets of driven wheels are respectively located at two ends of the mobile device along the calibration direction, namely the front end and the rear end, along the calibration direction, the driving wheels are located at the middle position of the front driven wheel and the rear driven wheel, the first distance measuring device 21 and the second distance measuring device 22 are respectively located above the driving wheels and the rear driven wheel (this solution is not shown), when the mobile device moves along the calibration direction, the laser beam emitted by the first distance measuring device 21 is located directly above the axis of the driving wheels, and the course adjustment process is exemplarily described as follows:
as shown in fig. 3 and 4, when the YAW distance Ld > 0 and L1 is greater than L2, i.e., the front end of the mobile device is deflected to the left, the YAW angle is YAW, and in this case, the front end of the mobile device needs to be adjusted to be deflected to the right.
Illustratively, the right capstan is kept still, the left capstan moves forward by a fourth distance L4, L4 is tan (YAW + YAWa) × D, where D may be understood as the distance between the two capstans, (YAW + YAWa) is the angle that the mobile device actually needs to rotate to the right, where the calculation method of L4 is an approximation algorithm, and mainly considering that YAW + YAWa is not too large, it may also use the center angle to calculate the arc length to obtain L4, which is not limited.
When the YAW distance Ld is less than 0 and L1 is less than L2, i.e., the front end of the mobile device is deflected to the right, the YAW angle is YAW, and in this case, the front end of the mobile device needs to be adjusted to be deflected to the left.
At this time, the right side driving wheel may be kept still, and the left side driving wheel may be moved backward by a fifth distance, which may be tan (YAW + YAWa) × D, and will not be described in detail herein.
Thus, a corrected YAW angle YAWa and the first distance L3 are generated according to the YAW angle YAW and the YAW distance Ld (this process may need to be combined with dynamic information such as a relative position relationship between a calibration point of the mobile device and the driving wheel), so that a more reliable heading correction strategy is obtained, and the YAW distance Ld can be quickly adjusted so that the YAW distance Ld approaches zero.
Optionally, after the heading control is performed on the mobile device according to the YAW distance Ld and the YAW angle YAW, the navigation method further includes:
and controlling the mobile equipment to adjust the actual course angle to zero degree.
The adjustment is similar to the above, for example, the right driving wheel is kept still, and the left driving wheel moves forward or backward tan (yawa) D, so that the mobile device adjusts the actual heading angle to zero degrees.
Therefore, after course control is completed, the actual course angle of the mobile equipment returns to zero degrees, so that the mobile equipment continues to move along the calibrated motion path, and collision between the mobile equipment and seats on two sides of the passageway in the subsequent motion process is avoided.
Further, the adjusting the heading of the mobile device according to the YAW angle YAW includes:
when the YAW angle YAW is larger than a first preset angle and smaller than a second preset angle, controlling the mobile equipment to adjust the course angle to zero degree in situ;
and when the YAW angle YAW is smaller than or equal to the first preset angle, controlling the course of the mobile equipment to be unchanged.
That is, in the case that the YAW distance Ld is small (the absolute value is small), if the YAW angle YAW is also small, the YAW degree of the mobile device is small, the possibility of collision of the mobile device according to the current heading motion is small (for example, collision does not occur before the detection data are obtained at the side datum plane of the next discontinuous side datum plane 4), the heading of the mobile device can be kept unchanged, and the influence of frequent course adjustment on the normal operation of the mobile device, for example, the operation process of the killing robot, can be avoided.
And when the YAW distance Ld is small (the absolute value is small) and the YAW angle YAW is large, if the possibility that the mobile equipment collides when moving according to the current heading is large, the heading angle of the mobile equipment is adjusted to zero degree in situ. During the following movement of the mobile device, the yaw distance Ld (absolute value) can be kept small for a longer time, which also reduces the risk of collision of the mobile device.
Therefore, when the YAW distance Ld is within the preset YAW distance range, differential course adjustment can be performed on the mobile device according to the magnitude of the YAW angle YAW, and the course accuracy requirement (collision avoidance of the mobile device) of the mobile device and the requirement for ensuring the working efficiency are both considered.
In the above embodiment, after determining whether each of the detection data is within a first preset range, the navigation method further includes:
when the detection data is not within the first preset range, the mobile device continues to move.
That is, if any of the detected data is not within the first predetermined range, it means that the position of the first distance measuring device 21 or the second distance measuring device 22 does not correspond to the position of the discontinuous side reference surface 4, for example, does not correspond to the position of the seat, and the heading cannot be determined according to the detected data, so that the heading adjustment is not convenient.
Therefore, detection data which cannot be used for yaw judgment can be filtered, and the reliability is high.
Of course, in this case, it may further determine whether the mobile device has a collision or not according to the detection data, or determine whether each distance measuring device 2 has an abnormality or not, which may adopt related technologies, and will not be described in detail herein.
In yet another embodiment of the present invention, a navigation control device based on a discontinuous side reference plane is provided, which includes a memory and a processor;
the memory for storing a computer program;
the processor is configured to implement any one of the above-mentioned navigation methods based on the discontinuous side reference plane when executing the computer program.
Still another embodiment of the present invention provides a mobile device, which includes any one of the above-mentioned navigation control devices based on discontinuous side reference plane.
As shown in fig. 2, optionally, the mobile device further includes a device body 1, a walking assembly 3 and a distance measuring device 2, the walking assembly 3 and the distance measuring device 2 are both disposed in the device body 1, the distance measuring device 2 is disposed at intervals along a calibration direction, a detection direction of the distance measuring device 2 and the calibration direction are disposed at a preset included angle, and the navigation control device is in communication connection with the walking assembly 3 and the distance measuring device 2, respectively.
The detection direction is understood to be the direction of the signal or laser beam emitted by the distance measuring device 2.
The mobile device may be an airplane killing robot, and the navigation control device is disposed inside the device body 1, or a remote control device, which is not limited.
As shown in fig. 2, optionally, another distance measuring device 2 is further disposed at one end of the apparatus body 1 along the calibration direction, and the detection direction of the distance measuring device is consistent with the calibration direction. Illustratively, the ranging device 2 includes a third ranging device 23, and the third ranging device 23 is disposed at the front end of the mobile device.
In some cases, only the first distance measuring device 21 may be provided, and the detection direction of the first distance measuring device 21 is switched between the forward direction and the right direction by the rotating device, and whether the mobile device reaches the end point is detected when the mobile device is in the forward direction, which will not be described in detail herein.
The navigation control device and the mobile device have all the advantages of the navigation method, and are not described herein again.
As shown in fig. 5, it shows a flow chart of a navigation method based on a discontinuous side reference plane, and a third distance measuring device 23 is disposed on the corresponding mobile device. Which comprises the following steps:
the mobile device is started, the two driving wheels move at the same speed, and the first detection data L1, the second detection data L2 and the third detection data of the third distance measuring device 23 are obtained;
judging whether the mobile device reaches the target position according to the third detection data;
when the mobile device reaches the target position, the mobile equipment stops moving;
when the mobile device does not reach the target position, judging whether the first detection data L1 and the second detection data L2 are within a first preset range;
when the first detection data L1 and the second detection data L2 are not within the first preset range, the mobile device continues to move;
when the first sensing data L1 and the second sensing data L2 are within a first preset range, generating a YAW angle YAW and a YAW distance L0 of the mobile device, and determining whether the YAW distance L0 is within a preset YAW distance range;
when the yaw distance L0 is not within the preset yaw distance range, generating a corrected yaw angle and a first distance which needs to move by the corrected yaw angle, adjusting the actual course angle to the corrected yaw angle and moving by the first distance according to the corrected yaw angle, and adjusting the actual course angle to zero degree;
when the yaw distance L0 is within the preset yaw distance range, judging whether the yaw angle is smaller than or equal to a first preset angle, if so, continuing to move the mobile equipment, otherwise, adjusting the actual yaw angle to zero degree, and continuing to move the mobile equipment.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. A navigation method based on a discontinuous side reference surface is characterized by comprising the following steps:
acquiring detection data of each distance measuring device (2) in the moving process of mobile equipment, wherein the distance measuring devices (2) are arranged on the mobile equipment at intervals along a calibration direction;
judging whether the detection data are in a first preset range or not, wherein the first preset range is determined according to a first preset distance from the distance measuring device (2) to the discontinuous side reference surface (4);
and when each detection data is within the first preset range, carrying out course control on the mobile equipment according to each detection data.
2. The non-continuous side reference plane-based navigation method according to claim 1, wherein the heading control of the mobile device according to the detected data comprises:
generating yaw data of the mobile device from each of the detection data, the yaw data comprising a yaw angle and a yaw distance, the yaw distance being determined from a distance of a calibration point of the mobile device to the non-continuous side reference plane (4);
and carrying out course control on the mobile equipment according to the yaw data.
3. The non-continuous side-reference-plane-based navigation method of claim 2, wherein the heading control of the mobile device according to the yaw data comprises:
judging whether the yaw distance is within a preset yaw distance range;
when the yaw distance is not within the preset yaw distance range, carrying out course control on the mobile equipment according to the yaw distance and the yaw angle;
and when the yaw distance is within the preset yaw distance range, adjusting the course of the mobile equipment according to the yaw angle.
4. The non-continuous side reference plane based navigation method of claim 3, wherein the heading control of the mobile device according to the yaw distance and the yaw angle comprises:
generating a corrected yaw angle and a first distance to move at the corrected yaw angle from the yaw angle and the yaw distance;
and controlling the mobile equipment to adjust the actual course angle to the corrected yaw angle, and moving the first distance according to the corrected yaw angle.
5. The non-continuous side reference plane based navigation method of claim 3, wherein the adjusting the heading of the mobile device according to the yaw angle comprises:
when the yaw angle is larger than a first preset angle and smaller than a second preset angle, controlling the mobile equipment to adjust the course angle to zero degree in situ;
and when the yaw angle is smaller than or equal to the first preset angle, controlling the course of the mobile equipment to be unchanged.
6. The non-continuous side reference plane based navigation method of claim 3, further comprising, after the heading control of the mobile device according to the yaw distance and the yaw angle:
and controlling the mobile equipment to adjust the actual course angle to zero degree.
7. The method according to claim 1, wherein after determining whether each of the detection data is within a first preset range, the method further comprises:
when the detection data is not within the first preset range, the mobile device continues to move.
8. The navigation control device based on the discontinuous side reference surface is characterized by comprising a memory and a processor;
the memory for storing a computer program;
the processor, configured to, when executing the computer program, implement the discontinuous side reference plane-based navigation method according to any one of claims 1 to 7.
9. A mobile device, characterized by comprising the non-continuous side reference plane based navigation control device of claim 8.
10. The mobile device according to claim 9, further comprising a device body (1), a walking assembly (3) and a distance measuring device (2), wherein the walking assembly (3) and the distance measuring device (2) are both disposed on the device body (1), the distance measuring device (2) is disposed at intervals along a calibration direction, a detection direction of the distance measuring device (2) and the calibration direction form a preset included angle, and the navigation control device is in communication connection with the walking assembly (3) and the distance measuring device (2) respectively.
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Citations (9)
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