WO2024222011A1 - 可移动机器人及其导航方法、装置、设备、介质及产品 - Google Patents

可移动机器人及其导航方法、装置、设备、介质及产品 Download PDF

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Publication number
WO2024222011A1
WO2024222011A1 PCT/CN2023/142226 CN2023142226W WO2024222011A1 WO 2024222011 A1 WO2024222011 A1 WO 2024222011A1 CN 2023142226 W CN2023142226 W CN 2023142226W WO 2024222011 A1 WO2024222011 A1 WO 2024222011A1
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WIPO (PCT)
Prior art keywords
point
virtual barrier
navigation
coordinate
information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/142226
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English (en)
French (fr)
Inventor
杨富雄
刘丹
周震峰
张晓宇
李建锋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Gree Electric Appliances Inc of Zhuhai
Zhuhai Gree Intelligent Equipment Co Ltd
Original Assignee
Gree Electric Appliances Inc of Zhuhai
Zhuhai Gree Intelligent Equipment Co Ltd
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Application filed by Gree Electric Appliances Inc of Zhuhai, Zhuhai Gree Intelligent Equipment Co Ltd filed Critical Gree Electric Appliances Inc of Zhuhai
Publication of WO2024222011A1 publication Critical patent/WO2024222011A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/445—Program loading or initiating
    • G06F9/44521—Dynamic linking or loading; Link editing at or after load time, e.g. Java class loading
    • G06F9/44526—Plug-ins; Add-ons
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present application relates to the field of intelligent navigation technology, and in particular to a mobile robot and its navigation method, device, computer equipment, storage medium and computer program product.
  • Multi-point navigation control of mobile robots can be performed by publishing target points, allowing the mobile robots to autonomously navigate from point A to point B, then to point C, and then to point D. Since some sections of the road cannot be walked casually in actual use scenarios, in order to standardize the specific walking path of the mobile robot according to the actual application scenario, it is necessary to add electronic fences.
  • Traditional electronic fences are all physical electronic fences, which are composed of a host and a front-end detection fence.
  • the host is used to generate and receive high-voltage pulse signals, and can generate an alarm signal when the front-end detection fence is in a state of touching the grid, short circuit, or open circuit, and send it to the security alarm center;
  • the front-end detection fence is a tangible perimeter composed of components such as rods and metal wires.
  • the present application provides an efficient mobile robot navigation method, apparatus, mobile robot, computer equipment, computer-readable storage medium and computer program product.
  • the present application provides a mobile robot navigation method.
  • the method comprises:
  • the map information is parsed to obtain a virtual barrier; the virtual barrier is added to the map information in a plug-in form;
  • Path planning is performed according to the real-time location point and the target navigation point to obtain a navigation path.
  • parsing the map information to obtain the virtual barrier includes:
  • Calculation is performed according to the coordinate value parameters to obtain a virtual barrier.
  • the calculating according to the coordinate value parameters to obtain the virtual barrier includes:
  • a polygonal area is determined according to the coordinate value information, and the polygonal area is set as a virtual barrier.
  • the method further comprises:
  • the number of coordinate points is determined to be one according to the coordinate value parameters, determining a coordinate point according to the coordinate value information, and setting the coordinate point as a touch-prohibited coordinate point;
  • a prohibited touch line is determined according to the coordinate value information.
  • the method further includes:
  • an avoidance instruction is generated and sent to the controller.
  • the method further includes:
  • a stop instruction is generated and sent to the mobile robot controller.
  • the method further comprises:
  • the target navigation point is outside the virtual barrier, the target navigation point is ignored.
  • the present application also provides a mobile robot navigation device.
  • the device comprises:
  • Information acquisition module used to obtain target navigation points and map information
  • a parsing module used for parsing the map information to obtain a virtual barrier; the virtual barrier is added to the map information in a plug-in form;
  • a position acquisition module configured to acquire a real-time position point of the movable robot if the target navigation point is within the virtual barrier
  • the planning module is used to perform path planning according to the real-time location point and the target navigation point to obtain a navigation path.
  • the present application further provides a mobile robot, comprising a mobile robot body and a controller, wherein the controller stores a computer program, and when the controller executes the computer program, the following steps are implemented:
  • the map information is parsed to obtain a virtual barrier; the virtual barrier is added to the map information in a plug-in form;
  • Path planning is performed according to the real-time location point and the target navigation point to obtain a navigation path.
  • the present application further provides a computer device.
  • the computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:
  • the map information is parsed to obtain a virtual barrier; the virtual barrier is added to the map information in a plug-in form;
  • Path planning is performed according to the real-time location point and the target navigation point to obtain a navigation path.
  • the present application further provides a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:
  • the map information is parsed to obtain a virtual barrier; the virtual barrier is added to the map information in a plug-in form;
  • Path planning is performed according to the real-time location point and the target navigation point to obtain a navigation path.
  • the present application further provides a computer program product.
  • the computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:
  • the map information is parsed to obtain a virtual barrier; the virtual barrier is added to the map information in a plug-in form;
  • Path planning is performed according to the real-time location point and the target navigation point to obtain a navigation path.
  • FIG1 is a diagram of an application environment of a mobile robot navigation method according to an embodiment
  • FIG2 is a schematic diagram of a flow chart of a mobile robot navigation method according to an embodiment
  • FIG3 is a structural diagram of a mobile robot in one embodiment
  • FIG4 is a schematic flow chart of a mobile robot navigation method in another embodiment
  • FIG5 is a schematic diagram of a flow chart of a virtual barrier determination process in one embodiment
  • FIG6 is a schematic diagram of a flow chart of a navigation process of a mobile robot in an application embodiment
  • FIG7 is a block diagram of a mobile robot device according to an embodiment
  • FIG. 8 is a diagram showing the internal structure of a computer device in one embodiment.
  • Multi-point navigation control of mobile robots can be performed by publishing target points, allowing the mobile robots to autonomously navigate from point A to point B, then to point C, and then to point D. Since some sections of the road cannot be walked casually in actual use scenarios, in order to standardize the specific walking path of the mobile robot according to the actual application scenario, it is necessary to add electronic fences.
  • the physical electronic fence consists of a host and a front-end detection fence.
  • the host is used to generate and receive high-voltage pulse signals, and can generate an alarm signal when the front-end detection fence is in a state of touching the grid, short circuit, or open circuit, and send it to the security alarm center;
  • the front-end detection fence is a tangible perimeter composed of components such as poles and metal wires. Setting up an electronic fence can enable mobile robots to avoid some dangerous scenes during navigation, while physical electronic fences require a high cost. In addition, the implementation process of physical electronic fences is complicated, resulting in low navigation efficiency.
  • Cost control can be achieved by setting up virtual barriers.
  • the virtual barriers can judge the current driving behavior of the mobile robot through over-limit judgment, and implement warnings or alarms. However, if obstacles are drawn in areas where the robot is prohibited from moving on the map, objects will be added to the static layer of the map.
  • the traditional cost map based on ROS (Robot Operating System) requires a large amount of calculation, which affects the operating efficiency of the CPU (Central Processing Unit). Based on this, the present application proposes a mobile robot navigation method based on a plug-in form to implement a virtual screen. barrier.
  • the mobile robot navigation method provided in the embodiment of the present application can be applied to the application environment shown in Figure 1.
  • the user 102 interacts with the mobile robot 104.
  • the user 102 publishes the target navigation point and map information on the mobile robot 104, and the mobile robot 104 obtains the target navigation point and map information, parses the map information, and obtains a virtual barrier; the virtual barrier is added to the map information in the form of a plug-in; if the target navigation point is within the virtual barrier, the real-time position point of the mobile robot is obtained; the path is planned according to the real-time position point and the target navigation point to obtain a navigation path.
  • the mobile robot can be a sweeping robot, an industrial robot, a medical robot, a tour guide robot, etc., which is not limited in this embodiment.
  • a mobile robot navigation method is provided, which is described by taking the mobile robot 104 in FIG. 1 as an example, and includes the following steps:
  • Step 200 obtaining the target navigation point and map information.
  • the mobile robot 104 includes a ROS metasystem, a host computer scheduling system, and a slave computer control system (i.e., a controller of the mobile robot).
  • the map information includes a grid map and a cost map.
  • the grid map is a static map layer, and the robot navigation target navigation point refers to the coordinate point of the destination that the user wants the mobile robot to reach, that is, the coordinate point of the mobile robot's moving target on the grid map.
  • the user starts navigation on the ROS metasystem and publishes navigation information, which includes map information, path planner, positioning algorithm, and target navigation point.
  • the ROS metasystem navigation information is sent to the host computer scheduling system.
  • the host computer scheduling system receives the target navigation point and map information.
  • Step 400 parsing the map information to obtain a virtual barrier.
  • the virtual barrier is added to the map information in the form of a plug-in.
  • the virtual barrier is located in the forbidden barrier layer of the cost map, that is, the forbidden barrier layer is added to the cost map in the form of a plug-in, without modifying other static map layers. It will be recognized and scanned only when it is within the range of the cost map.
  • the virtual barrier can be manually deleted according to specific job requirements. The amount of calculation is small, and it will not affect the normal operation efficiency of the CPU, reduce resource waste, and is easy to operate, easy to use and maintain.
  • the virtual barrier can be a polygonal area. When the mobile robot is inside the virtual barrier, the virtual barrier can limit the range of movement of the mobile robot, and the mobile robot will not be able to leave the virtual barrier.
  • Four sides can be set to form a closed area enclosed by the four sides to obtain a virtual barrier. The user can also draw a polygonal area and use the closed area formed by the polygonal area as a virtual barrier.
  • the host computer (host computer scheduling system) of the mobile robot parses the map information, and based on the type of the virtual barrier, extracts the virtual barrier corresponding to the type of the virtual barrier from the map information, wherein the type of the virtual barrier is the type of the layer where the virtual barrier is located.
  • Step 600 If the target navigation point is within the virtual barrier, the real-time position point of the movable robot is obtained.
  • the mobile robot host computer determines the positional relationship between the target navigation point and the virtual barrier, that is, determines whether the target navigation point is within the virtual barrier.
  • “within the virtual barrier” means within the range defined by the virtual barrier.
  • the range defined by the virtual barrier can be the inside of the polygon, which corresponds to a virtual barrier of the prohibited going out type; the range defined by the virtual barrier can also be an area on the map other than the inside of the polygon (that is, the area outside the polygon on the map), which corresponds to a virtual barrier of the prohibited entering type.
  • the target navigation point is determined to be within the virtual barrier.
  • the real-time position point of the movable robot is obtained through the laser sensor (lidar) of the movable robot, that is, the coordinate point of the current movable robot in the grid map.
  • the method further includes: if the target navigation point is outside the virtual barrier, ignoring the target navigation point.
  • the target navigation point is determined to be outside the virtual barrier.
  • the route is cut off by the virtual barrier, so that no path planning is generated and the target navigation point is ignored, so that the movable robot avoids going to dangerous scenes, reflecting the high safety of applying virtual barriers, and then waits for the release of the next target navigation point.
  • Step 800 performing path planning based on the real-time location point and the target navigation point to obtain a navigation path.
  • the upper computer of the mobile robot performs global path planning and local path planning based on the real-time position point and the target navigation point. Based on the optimization method, the optimal path between the real-time position point and the target navigation point is obtained, and the navigation path is obtained. The navigation path is sent to the controller (lower computer control system), and the controller performs autonomous navigation control according to the navigation path.
  • the upper computer of the mobile robot can also perform speed planning according to the navigation path. According to the navigation path, the optimal speed is calculated along the path and motion control is performed. If the navigation process encounters external factors (virtual barriers), the current speed will be adjusted according to the speed constraint.
  • the target navigation point and map information are obtained; the map information is parsed to obtain a virtual barrier; the virtual barrier is added to the map information in a plug-in form; if the target navigation point is within the virtual barrier, the real-time position of the mobile robot is obtained; the path is planned based on the real-time position and the target navigation point to obtain a navigation path.
  • the entire solution adds a virtual barrier to the map information in a plug-in form, and then during the navigation process, a navigation path can be generated based on the positional relationship between the virtual barrier and the target navigation point, thereby achieving the physical electronic fence.
  • the effect is simple, the data processing process is simple, and the navigation efficiency is greatly improved.
  • parsing the map information to obtain the virtual barrier includes:
  • Step 420 parsing the map information to obtain prohibited barrier layer information
  • Step 440 obtaining coordinate value parameters of the virtual barrier based on the prohibited barrier layer information
  • Step 460 performing calculations based on the coordinate value parameters to obtain a virtual barrier.
  • the type of the layer where the virtual barrier is located is a prohibited barrier layer, and the prohibited barrier layer stores the coordinate point information of the virtual barrier.
  • the virtual barrier can also include information such as points and lines.
  • a prohibited type of barrier can include a stop virtual barrier, a road section virtual barrier, and an intersection virtual barrier.
  • Users can define different types of virtual barriers according to operational requirements, and can also set the size, area, and shape of different types of virtual barriers. They can also update virtual barriers according to operational requirements (such as adding or deleting virtual barriers). They only need to add virtual barrier information to the prohibited barrier layer. The implementation process is simple and the cost is low.
  • the host computer (host computer scheduling system) of the mobile robot parses the map information to obtain the cost map layer and the static map layer. Based on the type of the layer where the virtual barrier is located, the prohibited barrier layer information corresponding to the virtual barrier type is extracted from the cost map layer.
  • the prohibited barrier layer information can be a prohibited barrier layer file. After that, the coordinate value parameters of the virtual barrier are obtained from the prohibited barrier layer file, and how to calculate according to the coordinate value parameters to determine the area corresponding to the virtual barrier.
  • the host computer of the mobile robot first saves the resolution of the prohibited barrier layer, then sets the initialization boundary of the prohibited barrier layer to zero coordinates, and then obtains the coordinate value parameters, determines the virtual barrier according to the coordinate value parameters, generates the current virtual barrier area, and sets the area corresponding to the virtual barrier to be untouchable.
  • the shape and area size of the virtual barrier are determined by the coordinate value parameters.
  • the coordinate value parameters of a virtual barrier are -[[-11.15,-15.614], [-12.35,-13.89], [-10.05,-12.218]].
  • the amount of computation required for the local cost map during the navigation process of the mobile robot and the consumption of resources can be reduced, so that the mobile robot can walk smoothly, start quickly, and add, delete, modify and check virtual barriers more conveniently.
  • the traditional addition and modification of static map layers will cause the local cost map to require more computation and consume more resources.
  • the implementation in the form of a virtual plug-in not only saves time and effort, but also improves safety and stability.
  • calculating according to the coordinate value parameters to obtain the virtual barrier includes:
  • coordinate value parameters determine the number of coordinate points and coordinate value information
  • a polygonal area is determined according to the coordinate value information, and the polygonal area is set as a virtual barrier.
  • the coordinate value parameter includes the number of coordinate points and the coordinate value information of each coordinate point corresponding to the number of coordinate points.
  • the upper computer of the mobile robot first calculates the number of coordinate points from the coordinate value parameters according to the coordinate value parameters, and extracts the coordinate value information of each coordinate point. Then the virtual barrier is determined according to the number of coordinate points. As shown in FIG5 , the type of parameter is the number of coordinate points. If the number of coordinate points is greater than two, the polygonal area formed by the coordinate points is determined according to each coordinate value information, and the polygonal area is set as a virtual barrier.
  • the virtual barrier can also include a prohibited going out type and a prohibited entering type. The prohibited going out type virtual barrier indicates that the mobile robot cannot leave the virtual barrier, and the prohibited entering virtual barrier indicates that the mobile robot cannot enter the polygonal area within the virtual barrier.
  • This embodiment takes the example of a virtual barrier in a polygonal area being a prohibited going out type to illustrate the navigation control of the mobile robot.
  • the polygonal virtual barrier is of other action types, navigation can be performed according to specific operation requirements, which is not limited in this embodiment.
  • the above method further includes:
  • the coordinate point is determined according to the coordinate value information, and the coordinate point is set as a prohibited touch coordinate point;
  • the prohibited touching line is determined according to the coordinate value information.
  • the virtual barrier formed by the coordinate points is a no-touch type. Further, if the number of coordinate points is one, a single coordinate point in the coordinate value information is set as a no-touch coordinate point; if the number of coordinate points is two, the straight line where the two coordinate points are located is determined, and the straight line where the two coordinate points are located is determined as a no-touch line.
  • the coordinate value parameter of the no-touch coordinate point can be -[17.09,-6.388]
  • the coordinate value parameter of the no-touch line can be -[[8.33,2.11], [8.26,5.11]].
  • the corresponding prohibited touch type can be determined according to the number of coordinate points contained in the coordinate value parameter, and then a virtual barrier can be quickly generated. Such virtual barriers can be avoided during the navigation process, thereby improving the safety and efficiency of the mobile robot's navigation.
  • the method further includes:
  • an avoidance instruction is generated and sent to the controller.
  • the upper computer of the mobile robot After the upper computer of the mobile robot generates a navigation path, it generates navigation instructions based on the navigation path and sends the navigation instructions to the mobile robot controller (lower computer control system). After receiving the navigation instructions, the mobile robot controller converts the navigation instructions into corresponding control behaviors to perform operations.
  • the upper computer controls the laser sensor (lidar) to obtain the real-time position information of the mobile robot in real time, and determines whether the mobile robot recognizes the prohibited touch coordinate points, prohibited touch lines and the boundaries of the virtual barrier, or detects the prohibited touch coordinate points. When the distance between the punctuation, the prohibited touch line and the boundary of the virtual barrier is less than the preset safety distance threshold, the upper computer generates an avoidance instruction and sends the avoidance instruction to the lower computer controller.
  • the upper computer can also perform local navigation planning or navigation path optimization according to the prohibited touch position, so that the mobile robot can avoid hitting the virtual barrier and dangerous areas.
  • the cost map will automatically identify it as a black boundary, and the mobile robot will not leave or hit the boundary, just like a real barrier.
  • the method further includes:
  • a stop command is generated and sent to the mobile robot controller.
  • the mobile robot host computer can also determine whether the mobile robot has reached the target navigation point based on the real-time position information of the mobile robot and the target navigation point of this navigation. When it is determined that the distance between the real-time position information and the target navigation point is less than a preset error range, the mobile robot host computer generates a stop command and sends the stop command to the controller to make the robot stop navigating and wait for the release of the next target navigation point.
  • the user publishes the target navigation point in the mobile robot ROS system. Before publishing the target navigation point, the map information can also be uploaded to the ROS system.
  • the ROS system sends the map information and target navigation point to the host computer scheduling system.
  • the host computer scheduling system parses the map information, obtains the virtual barrier, and then determines whether the target navigation point is outside the virtual barrier.
  • the target navigation point is within the virtual barrier, the real-time position of the movable robot is obtained; path planning is performed according to the real-time position and the target navigation point to obtain a navigation path; based on the navigation path, a navigation instruction is generated and sent to the controller.
  • a stop command is generated and sent to the mobile robot controller, and the mobile robot stops operating and waits for the next target navigation point to be released.
  • the embodiment of the present application also provides a mobile robot navigation device for implementing the mobile robot navigation method involved above.
  • the implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more mobile robot navigation device embodiments provided below can refer to the limitations on the mobile robot navigation method above, and will not be repeated here.
  • a mobile robot navigation device including: an information acquisition module 702 , a parsing module 704 , a position acquisition module 706 and a planning module 708 , wherein:
  • Information acquisition module 702 used to acquire target navigation point and map information
  • the parsing module 704 is used to parse the map information to obtain virtual barriers; the virtual barriers are added to the map information in the form of plug-ins;
  • a position acquisition module 706 is used to acquire the real-time position point of the movable robot if the target navigation point is within the virtual barrier;
  • the planning module 708 is used to perform path planning based on the real-time location point and the target navigation point to obtain a navigation path.
  • the parsing module 704 is further used to parse the map information to obtain prohibited barrier layer information; obtain coordinate value parameters of the virtual barrier based on the prohibited barrier layer information; and calculate according to the coordinate value parameters to obtain the virtual barrier.
  • the parsing module 704 is further used to determine the number of coordinate points and coordinate value information according to the coordinate value parameters; when the number of coordinate points is greater than two, determine the polygonal area according to the coordinate value information, and set the polygonal area as a virtual barrier.
  • the analysis module 704 is also used to determine the coordinate point according to the coordinate value information and set the coordinate point as a prohibited touch coordinate point if the number of coordinate points is determined to be one according to the coordinate value parameters; if the number of coordinate points is determined to be two according to the coordinate value parameters, determine the prohibited touch line according to the coordinate value information.
  • the planning module 708 is also used to generate and send navigation instructions to the controller based on the navigation path; obtain the real-time position information of the movable robot during the movement; if it is determined based on the real-time position information during the movement that prohibited touch coordinate points, prohibited touch lines and boundaries of the virtual barrier are identified during the navigation process, then generate and send avoidance instructions to the controller.
  • the planning module 708 is further configured to generate and send a stop command to the mobile robot controller if it is determined that the mobile robot has reached the target navigation point based on the real-time position information and the target navigation point.
  • the location acquisition module 706 is further configured to ignore the target navigation point if the target navigation point is outside the virtual barrier.
  • Each module in the above-mentioned mobile robot navigation device can be implemented in whole or in part by software, hardware and a combination thereof.
  • Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.
  • a computer device which may be a terminal, and its internal structure diagram may be shown in FIG8.
  • the computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected via a system bus.
  • the processor of the computer device is used to provide computing and control capabilities.
  • the memory of the computer device includes a non-volatile storage medium and an internal memory.
  • the non-volatile storage medium stores an operating system and a computer program.
  • the internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium.
  • the communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner may be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies.
  • WIFI wireless fidelity
  • NFC near field communication
  • the display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen
  • the input device of the computer device may be a touch layer covered on the display screen, or a key, trackball or touchpad provided on the housing of the computer device, or an external keyboard, touchpad or mouse, etc.
  • FIG. 8 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied.
  • the specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.
  • a mobile robot comprising a mobile robot body and a controller, wherein the controller stores a computer program, and when the controller executes the computer program, the following steps are implemented:
  • the map information is parsed to obtain a virtual barrier; the virtual barrier is added to the map information in the form of a plug-in;
  • the real-time position point of the movable robot is obtained
  • Path planning is performed based on the real-time location point and the target navigation point to obtain the navigation path.
  • the controller when the controller executes the computer program, the following steps are further implemented: parsing the map information to obtain the prohibited barrier layer information; obtaining the coordinate value parameters of the virtual barrier based on the prohibited barrier layer information; calculating according to the coordinate value parameters to obtain the virtual barrier
  • the controller when the controller executes the computer program, the following steps are also implemented: according to the coordinate value parameters, the number of coordinate points and the coordinate value information are determined; when the number of coordinate points is greater than two, a polygonal area is determined according to the coordinate value information, and the polygonal area is set as a virtual barrier.
  • the processor executes the computer program, the following steps are also implemented: if the number of coordinate points is determined to be one according to the coordinate value parameters, the coordinate point is determined according to the coordinate value information, and the coordinate point is set as a prohibited touch coordinate point; if the number of coordinate points is determined to be two according to the coordinate value parameters, the prohibited touch line is determined according to the coordinate value information.
  • the controller also implements the following steps when executing the computer program: based on the navigation path, generating and sending navigation instructions to the controller; obtaining the real-time position information of the movable robot during the movement process; if it is determined based on the real-time position information during the movement process that prohibited touch coordinate points, prohibited touch lines and boundaries of the virtual barrier are identified during the navigation process, then generating and sending avoidance instructions to the controller.
  • the controller executes the computer program, the following steps are also implemented: if it is determined that the mobile robot has reached the target navigation point based on the real-time position information and the target navigation point, a stop command is generated and sent to the mobile robot controller.
  • the controller executes the computer program, the following steps are further implemented: if the target navigation point is outside the virtual barrier, the target navigation point is ignored.
  • a computer device including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:
  • the map information is parsed to obtain a virtual barrier; the virtual barrier is added to the map information in the form of a plug-in;
  • the real-time position point of the movable robot is obtained
  • Path planning is performed based on the real-time location point and the target navigation point to obtain the navigation path.
  • the processor executes the computer program, the following steps are further implemented: parsing the map information to obtain the prohibited barrier layer information; obtaining the coordinate value parameters of the virtual barrier based on the prohibited barrier layer information; calculating according to the coordinate value parameters to obtain the virtual barrier
  • the processor executes the computer program, the following steps are also implemented: according to the coordinate value parameters, the number of coordinate points and the coordinate value information are determined; when the number of coordinate points is greater than two, a polygonal area is determined according to the coordinate value information, and the polygonal area is set as a virtual barrier.
  • the processor executes the computer program, the following steps are also implemented: if the number of coordinate points is determined to be one according to the coordinate value parameters, the coordinate point is determined according to the coordinate value information, and the coordinate point is set as a prohibited touch coordinate point; if the number of coordinate points is determined to be two according to the coordinate value parameters, the prohibited touch line is determined according to the coordinate value information.
  • the processor also implements the following steps when executing the computer program: based on the navigation path, generating and sending navigation instructions to the controller; obtaining the real-time position information of the movable robot during the movement process; if it is determined based on the real-time position information during the movement process that prohibited touch coordinate points, prohibited touch lines and boundaries of the virtual barrier are identified during the navigation process, then generating and sending avoidance instructions to the controller.
  • the processor executes the computer program, the following steps are also implemented: if it is determined that the mobile robot has reached the target navigation point based on the real-time position information and the target navigation point, a stop command is generated and sent to the mobile robot controller.
  • the processor executes the computer program, the following steps are further implemented: if the target navigation point is outside the virtual barrier, the target navigation point is ignored.
  • a computer readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:
  • the map information is parsed to obtain a virtual barrier; the virtual barrier is added to the map information in the form of a plug-in;
  • the real-time position point of the movable robot is obtained
  • Path planning is performed based on the real-time location point and the target navigation point to obtain the navigation path.
  • the following steps are further implemented: parsing the map information to obtain the prohibited barrier layer information; obtaining the coordinate value parameters of the virtual barrier based on the prohibited barrier layer information; calculating according to the coordinate value parameters to obtain the virtual barrier
  • the following steps are also implemented: according to the coordinate value parameters, the number of coordinate points and the coordinate value information are determined; when the number of coordinate points is greater than two, a polygonal area is determined according to the coordinate value information, and the polygonal area is set as a virtual barrier.
  • the following steps are also implemented: if the number of coordinate points is determined to be one according to the coordinate value parameters, the coordinate point is determined according to the coordinate value information, and the coordinate point is set as a prohibited touch coordinate point; if the number of coordinate points is determined to be two according to the coordinate value parameters, the prohibited touch line is determined according to the coordinate value information.
  • the following steps are also implemented: based on the navigation path, generating and sending navigation instructions to the controller; obtaining the real-time position information of the movable robot during the movement process; if it is determined based on the real-time position information during the movement process that prohibited touch coordinate points, prohibited touch lines and boundaries of the virtual barrier are identified during the navigation process, then generating and sending avoidance instructions to the controller.
  • the following steps are further implemented: if it is determined that the mobile robot has reached the target navigation point based on the real-time position information and the target navigation point, a stop instruction is generated and sent to the mobile robot; Robot controller.
  • the following steps are further implemented: if the target navigation point is outside the virtual barrier, the target navigation point is ignored.
  • a computer program product comprising a computer program, which, when executed by a processor, implements the following steps:
  • the map information is parsed to obtain a virtual barrier; the virtual barrier is added to the map information in the form of a plug-in;
  • the real-time position point of the movable robot is obtained
  • Path planning is performed based on the real-time location point and the target navigation point to obtain the navigation path.
  • the following steps are further implemented: parsing the map information to obtain the prohibited barrier layer information; obtaining the coordinate value parameters of the virtual barrier based on the prohibited barrier layer information; calculating according to the coordinate value parameters to obtain the virtual barrier
  • the following steps are also implemented: according to the coordinate value parameters, the number of coordinate points and the coordinate value information are determined; when the number of coordinate points is greater than two, a polygonal area is determined according to the coordinate value information, and the polygonal area is set as a virtual barrier.
  • the following steps are also implemented: if the number of coordinate points is determined to be one according to the coordinate value parameters, the coordinate point is determined according to the coordinate value information, and the coordinate point is set as a prohibited touch coordinate point; if the number of coordinate points is determined to be two according to the coordinate value parameters, the prohibited touch line is determined according to the coordinate value information.
  • the following steps are also implemented: based on the navigation path, generating and sending navigation instructions to the controller; obtaining the real-time position information of the movable robot during the movement process; if it is determined based on the real-time position information during the movement process that prohibited touch coordinate points, prohibited touch lines and boundaries of the virtual barrier are identified during the navigation process, then generating and sending avoidance instructions to the controller.
  • the following steps are also implemented: if it is determined that the mobile robot has reached the target navigation point based on the real-time position information and the target navigation point, a stop command is generated and sent to the mobile robot controller.
  • the following steps are further implemented: if the target navigation point is outside the virtual barrier, the target navigation point is ignored.
  • Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc.
  • Volatile memory may include random access memory (RAM) or external cache memory, etc.
  • RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • the database involved in the embodiments provided in this application may include at least one of a relational database and a non-relational database.
  • Non-relational databases may include distributed databases based on blockchains, etc., without limitation.
  • the processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, etc., but is not limited thereto.

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Abstract

一种移动机器人及其导航方法、装置、计算机设备、存储介质和计算机程序产品。该方法通过获取目标导航点以及地图信息(S200)；对地图信息进行解析，获得虚拟屏障；虚拟屏障以插件化形式加入地图信息中(S400)；若目标导航点在虚拟屏障内，则获取移动机器人的实时位置点(S600)；根据实时位置点与目标导航点进行路径规划，得到导航路径(S800)。

Description

可移动机器人及其导航方法、装置、设备、介质及产品
相关申请
本申请要求2023年4月25日申请的，申请号为2023104609624，名称为“移动机器人及其导航方法、装置、计算机设备和存储介质”的中国专利申请的优先权，在此将其全文引入作为参考。
技术领域
本申请涉及智能导航技术领域，特别是涉及一种可移动机器人及其导航方法、装置、计算机设备、存储介质和计算机程序产品。
背景技术
对可移动机器人进行多点导航控制，可以通过发布目标点，让可移动机器人自主从A点导航到B点再到C点再到D点。由于实际使用场景有些路段不可以随便行走，为了根据实际应用场景规范可移动机器人的具体行走路径，需要增加电子围栏。
传统的电子围栏都是实体电子围栏，实体电子围栏由主机和前端探测围栏组成。主机用于产生和接收高压脉冲信号，并在前端探测围栏处于触网、短路、断路状态时能产生报警信号，并发送到安全报警中心；前端探测围栏是由杆及金属导线等构件组成的有形周界。
发明内容
本申请提供一种高效的可移动机器人导航方法、装置、可移动机器人、计算机设备、计算机可读存储介质和计算机程序产品。
第一方面，本申请提供了一种可移动机器人导航方法。所述方法包括：
获取目标导航点以及地图信息；
对所述地图信息进行解析，获得虚拟屏障；所述虚拟屏障以插件化形式加入所述地图信息中；
若所述目标导航点在虚拟屏障内，则获取可移动机器人的实时位置点；以及
根据所述实时位置点与所述目标导航点进行路径规划，得到导航路径。
在其中一个实施例中，所述对所述地图信息进行解析，获得虚拟屏障包括：
对所述地图信息进行解析，获得禁止屏障层信息；
基于所述禁止屏障层信息，获取虚拟屏障的坐标值参数；以及
根据所述坐标值参数进行计算，得到虚拟屏障。
在其中一个实施例中，所述根据所述坐标值参数进行计算，得到虚拟屏障包括：
根据所述坐标值参数，确定坐标点数量以及坐标值信息；以及
在所述坐标点数量大于两个的情况下，根据所述坐标值信息确定多边形区域，将所述多边形区域设置为虚拟屏障。
在其中一个实施例中，所述方法还包括：
若根据所述坐标值参数判定坐标点数量为一个，则根据所述坐标值信息确定坐标点，将所述坐标点设置为禁止触碰坐标点；以及
若根据所述坐标值参数判定坐标点数量为两个，则根据所述坐标值信息确定禁止触碰线。
在其中一个实施例中，所述根据所述实时位置点与所述目标导航点进行路径规划，得到导航路径之后，还包括：
基于所述导航路径，生成并发送导航指令至控制器；
获取所述可移动机器人的在移动过程中的实时位置信息；以及
若根据所述在移动过程中的实时位置信息，判定导航过程中识别到所述禁止触碰坐标点、所述禁止触碰线以及所述虚拟屏障的边界，则生成并发送避让指令至所述控制器。
在其中一个实施例中，所述生成并发送避让指令至所述控制器之后，还包括：
若根据所述实时位置信息以及所述目标导航点，判定所述可移动机器人到达所述目标导航点，则生成并发送停止指令至所述可移动机器人控制器。
在其中一个实施例中，所述方法还包括：
若所述目标导航点在虚拟屏障外，则忽略目标导航点。
第二方面，本申请还提供了一种可移动机器人导航装置。所述装置包括：
信息获取模块，用于获取目标导航点以及地图信息；
解析模块，用于对所述地图信息进行解析，获得虚拟屏障；所述虚拟屏障以插件化形式加入所述地图信息中；
位置获取模块，用于若所述目标导航点在虚拟屏障内，则获取可移动机器人的实时位置点；以及
规划模块，用于根据所述实时位置点与所述目标导航点进行路径规划，得到导航路径。
第三方面，本申请还提供了一种可移动机器人。包括可移动机器人本体和控制器，所述控制器存储有计算机程序，所述控制器执行所述计算机程序时实现以下步骤：
获取目标导航点以及地图信息；
对所述地图信息进行解析，获得虚拟屏障；所述虚拟屏障以插件化形式加入所述地图信息中；
若所述目标导航点在虚拟屏障内，则获取可移动机器人的实时位置点；以及
根据所述实时位置点与所述目标导航点进行路径规划，得到导航路径。
第四方面，本申请还提供了一种计算机设备。所述计算机设备包括存储器和处理器，所述存储器存储有计算机程序，所述处理器执行所述计算机程序时实现以下步骤：
获取目标导航点以及地图信息；
对所述地图信息进行解析，获得虚拟屏障；所述虚拟屏障以插件化形式加入所述地图信息中；
若所述目标导航点在虚拟屏障内，则获取可移动机器人的实时位置点；以及
根据所述实时位置点与所述目标导航点进行路径规划，得到导航路径。
第五方面，本申请还提供了一种计算机可读存储介质。所述计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现以下步骤：
获取目标导航点以及地图信息；
对所述地图信息进行解析，获得虚拟屏障；所述虚拟屏障以插件化形式加入所述地图信息中；
若所述目标导航点在虚拟屏障内，则获取可移动机器人的实时位置点；以及
根据所述实时位置点与所述目标导航点进行路径规划，得到导航路径。
第六方面，本申请还提供了一种计算机程序产品。所述计算机程序产品，包括计算机程序，该计算机程序被处理器执行时实现以下步骤：
获取目标导航点以及地图信息；
对所述地图信息进行解析，获得虚拟屏障；所述虚拟屏障以插件化形式加入所述地图信息中；
若所述目标导航点在虚拟屏障内，则获取可移动机器人的实时位置点；以及
根据所述实时位置点与所述目标导航点进行路径规划，得到导航路径。
附图说明
为了更清楚地说明本申请实施例或传统技术中的技术方案，下面将对实施例或传统技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据公 开的附图获得其他的附图。
图1为一个实施例中可移动机器人导航方法的应用环境图；
图2为一个实施例中可移动机器人导航方法的流程示意图；
图3为一个实施例中可移动机器人的结构图；
图4为另一个实施例中可移动机器人导航方法的流程示意图；
图5为一个实施例中虚拟屏障确定过程的流程示意图；
图6为一个应用实施例中可移动机器人导航过程的流程示意图；
图7为一个实施例中可移动机器人装置的结构框图；
图8为一个实施例中计算机设备的内部结构图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
对可移动机器人进行多点导航控制，可以通过发布目标点，让可移动机器人自主从A点导航到B点再到C点再到D点。由于实际使用场景中有些路段不可以随便行走，为了根据实际应用场景规范可移动机器人的具体行走路径，需要增加电子围栏。
实体电子围栏由主机和前端探测围栏组成。主机用于产生和接收高压脉冲信号，并在前端探测围栏处于触网、短路、断路状态时能产生报警信号，并发送到安全报警中心；前端探测围栏是由杆及金属导线等构件组成的有形周界。设置电子围栏可以使得可移动机器人在导航过程中能避开一些危险的场景，而实体电子围栏需要很高成本。此外，实体电子围栏实现过程复杂，导致导航效率较低。
通过设置虚拟屏障可以进行成本控制，虚拟屏障通过越限判断，判断可移动机器人当前行驶行为，实现警示或报警。然而，在地图上禁止机器人运动的区域绘制障碍物，就会在地图的静态层中加入物体。由于传统基于ROS(Robot Operating System，机器人操作系统)的代价地图需要的运算量大，影响CPU(Central Processing Unit，中央处理器)的运行效率。基于此，本申请提出一种可移动机器人导航方法，基于插件化的形式实现虚拟屏 障。
本申请实施例提供的可移动机器人导航方法，可以应用于如图1所示的应用环境中。其中，用户102与可移动机器人104进行交互。用户102在可移动机器人104上发布目标导航点以及地图信息，可移动机器人104获取目标导航点以及地图信息，对地图信息进行解析，获得虚拟屏障；虚拟屏障以插件化形式加入地图信息中；若目标导航点在虚拟屏障内，则获取可移动机器人的实时位置点；根据实时位置点与目标导航点进行路径规划，得到导航路径。其中，可移动机器人可以是扫地机器人、工业机器人、医用机器人、导游机器人等，本实施例在此不作限定。
在一个实施例中，如图2所示，提供了一种可移动机器人导航方法，以该方法应用于图1中的可移动机器人104为例进行说明，包括以下步骤：
步骤200，获取目标导航点以及地图信息。
其中，如图3所示，可移动机器人104包括ROS元系统、上位机调度系统以及下位机控制系统(即可移动机器人的控制器)。地图信息包括格栅地图以及代价地图。格栅地图即静态地图层，机器人导航目标导航点指的是用户希望可移动机器人到达的目的地的坐标点，即可移动机器人在格栅地图上的移动目标地的坐标点。
具体地，用户在ROS元系统上开启导航并发布导航信息，导航信息包括地图信息、路径规划器、定位算法以及目标导航点等。ROS元系统导航信息发送至上位机调度系统。上位机调度系统接收目标导航点以及地图信息。
步骤400，对地图信息进行解析，获得虚拟屏障。
其中，虚拟屏障以插件化形式加入地图信息中，虚拟屏障位于代价地图的禁止屏障层，即将禁止屏障层以插件化形式加入代价地图中，无需修改其他静态地图层，当处于代价地图范围时才会识别扫描到，虚拟屏障可根据具体的作业需求手动删除，运算量小，不会影响CPU正常运行效率，减少资源浪费，操作方便，易使用、易维护。虚拟屏障可以为多边形区域，当可移动机器人在虚拟屏障内部时，虚拟屏障即可限制可移动机器人的活动范围，可移动机器人将无法离开虚拟屏障。可以设置四条边，由四条边围合形成封闭区域，得到虚拟屏障，还可以由用户绘制多边形区域，将多边形区域形成的封闭区域作为虚拟屏障。
具体地，可移动机器人的上位机(上位机调度系统)对地图信息进行解析，基于虚拟屏障的类型，从地图信息中提取与虚拟屏障类型对应的虚拟屏障。其中，虚拟屏障的类型为虚拟屏障所在地图层的类型。
步骤600，若目标导航点在虚拟屏障内，则获取可移动机器人的实时位置点。
具体地，可移动机器人上位机在获取到目标导航点以及地图信息后，即可进行路径规 划，首先，可移动机器人上位机判断目标导航点与虚拟屏障的位置关系，即判断目标导航点是否在虚拟屏障内。可以理解的是，“在虚拟屏障内”表示在虚拟屏障所限定的范围内。例如，当虚拟屏障是由多边形作为边界的区域时，虚拟屏障所限定的范围可以是多边形的内部，这例如对应于禁止外出类型的虚拟屏障；虚拟屏障所限定的范围也可以是地图上除了多边形内部之外的区域(即在地图上多边形外部的区域)，这例如对应于禁止入内类型的虚拟屏障时。
示例性地，若目标导航点的横坐标大于虚拟屏障内最小横坐标、并且目标导航点的横坐标小于虚拟屏障内最大横坐标，同时目标导航点的纵坐标大于虚拟屏障内最小纵坐标、并且目标导航点的纵坐标小于虚拟屏障内最大纵坐标，则判定目标导航点在虚拟屏障内，此时，通过可移动机器人的激光传感器(激光雷达)获取可移动机器人的实时位置点，即当前可移动机器人在格栅地图中的坐标点。
在一个可选的实施例中，方法还包括：若目标导航点在虚拟屏障外，则忽略目标导航点。
具体地，若目标导航点的横坐标小于或者等于虚拟屏障内最小横坐标、或者目标导航点的横坐标大于或者等于虚拟屏障内最大横坐标，或者目标导航点的纵坐标小于或者等于虚拟屏障内最小纵坐标、或者目标导航点的纵坐标大于或者等于虚拟屏障内最大纵坐标，则判定目标导航点在虚拟屏障外，此时，通过虚拟屏障进行路线截断，从而不产生路径规划从而忽略该目标导航点，使得可移动机器人避免前往危险场景，体现应用虚拟屏障的高安全性，然后等待下一个目标导航点的发布。
步骤800，根据实时位置点与目标导航点进行路径规划，得到导航路径。
具体地，可移动机器人上位机根据实时位置点以及目标导航点进行全局路径规划及局部路径规划，基于最优化方法，获取实时位置点以及目标导航点之间的最优路径，得到导航路径，将导航路径发送至控制器(下位机控制系统)，由控制器根据导航路径进行自主导航控制。可移动机器人上位机还可以根据导航路径进行速度规划，根据导航路径，沿着路径计算最优速度并进行运动控制，导航过程中若遇到外界因素(虚拟屏障)影响会根据速度约束，调整当前速度。
上述可移动机器人导航方法中，获取目标导航点以及地图信息；对地图信息进行解析，获得虚拟屏障；虚拟屏障以插件化形式加入地图信息中；若目标导航点在虚拟屏障内，则获取可移动机器人的实时位置点；根据实时位置点与目标导航点进行路径规划，得到导航路径。整个方案通过在地图信息中以插件化的形式增加虚拟屏障，进而在导航过程中，可以基于虚拟屏障和目标导航点之间的位置关系，生成导航路径，可以达到实体电子围栏的 效果，数据处理过程简单，极大地提高了导航效率。
在一个可选的实施例中，如图4所示，对地图信息进行解析，获得虚拟屏障包括：
步骤420，对地图信息进行解析，获得禁止屏障层信息；
步骤440，基于禁止屏障层信息，获取虚拟屏障的坐标值参数；
步骤460，根据坐标值参数进行计算，得到虚拟屏障。
其中，虚拟屏障所在地图层的类型为禁止屏障层，禁止屏障层里面存储虚拟屏障的坐标点信息。虚拟屏障还可以包括点、线等信息，当虚拟屏障为点或者线时，表明为禁止通行类型的屏障，如禁止通行类型的屏障可以包括停靠站虚拟屏障、路段虚拟屏障和路口虚拟屏障等。用户可以根据作业需求定义不同类型的虚拟屏障，也可设置不同类型虚拟屏障的大小、区域以及形状，还可以根据作业需求更新虚拟屏障(如添加或者删除虚拟屏障)，仅需在禁止屏障层加入虚拟屏障信息即可，实现过程简单，成本较低。
具体地，可移动机器人的上位机(上位机调度系统)对地图信息进行解析，得到代价地图层以及静态地图层，基于虚拟屏障所在地图层的类型，从代价地图层中提取与虚拟屏障类型对应的禁止屏障层信息，禁止屏障层信息可以为禁止屏障层文件。之后，从禁止屏障层文件中获取虚拟屏障的坐标值参数，如何根据坐标值参数进行计算，确定虚拟屏障对应的区域。进一步地，可移动机器人上位机首先保存禁止屏障层的分辨率，然后对禁止屏障层设置初始化边界为零坐标，然后获取坐标值参数，根据坐标值参数确定虚拟屏障，生成当前的虚拟屏障区域，并将虚拟屏障对应的区域设置为不可触碰，虚拟屏障的形状、区域大小均由坐标值参数来确定，例如一个虚拟屏障的坐标值参数为-[[-11.15,-15.614]，[-12.35,-13.89]，[-10.05,-12.218]]。
本实施例中，通过在禁止屏障层设置虚拟屏障坐标值参数，将禁止屏障层以插件化的形式加入代价地图，可以减少可移动机器人在导航过程中局部代价地图需要的运算量、以及消耗资源，使得可移动机器人行走流畅度高，启动迅速、虚拟屏障的增删改查都更加方便。传统的添加修改静态地图层会使局部代价地图需要的运算量更大、消耗资源更多的问题，以虚拟插件化的形式实现不仅省时省力，还提高了安全性和稳定性。
在一个可选的实施例中，根据坐标值参数进行计算，得到虚拟屏障包括：
根据坐标值参数，确定坐标点数量以及坐标值信息；
在坐标点数量大于两个的情况下，根据坐标值信息确定多边形区域，将多边形区域设置为虚拟屏障。
其中，坐标值参数中包含坐标点数量以及与坐标点数量对应的每一坐标点的坐标值信息。
具体地，可移动机器人上位机首先根据坐标值参数，从坐标值参数中计算坐标点数量，并提取每一坐标点的坐标值信息。然后根据坐标点数量来确定虚拟屏障。如图5所示，参数的类型即为坐标点的数量，若坐标点数量大于两个，则根据每个坐标值信息确定坐标点围合形成的多边形区域，将多边形区域设置为虚拟屏障。虚拟屏障还可以包括禁止外出类型以及禁止入内类型，禁止外出类型的虚拟屏障表明可移动机器人无法离开虚拟屏障，禁止入内的虚拟屏障表明可移动机器人无法进入虚拟屏障内的多边形区域。本实施例以多边形区域的虚拟屏障为禁止外出类型为例对可移动机器人的导航控制进行说明，在多边形虚拟屏障为其他作用类型时，可根据具体的作业需求进行导航，本实施例在此不作限定。
在一个可选的实施例中，上述方法还包括：
若根据坐标值参数判定坐标点数量为一个，则根据坐标值信息确定坐标点，将坐标点设置为禁止触碰坐标点；
若根据坐标值参数判定坐标点数量为两个，则根据坐标值信息确定禁止触碰线。
具体地，若可移动机器人上位机判定坐标点数量小于两个，则坐标点形成的虚拟屏障为禁止触碰类型，进一步地，若坐标点数量为一个，则根据坐标值信息中单个坐标点设置为禁止触碰坐标点；若坐标点数量为两个，则确定这两个坐标点所在直线，并将两个坐标点所在直线确定为禁止触碰线。例如，禁止触碰坐标点的坐标值参数可以为-[17.09,-6.388]，禁止触碰线的坐标值参数可以为-[[8.33,2.11]，[8.26,5.11]]。
本实施例中，可以根据坐标值参数中包含的坐标点的数量，确定对应的禁止触碰类型，进而快速生成虚拟屏障，可以在导航过程中对此类虚拟屏障进行避让，提高可移动机器人导航的安全性以及导航效率。
在一个可选的实施例中，根据实时位置点与目标导航点进行路径规划，得到导航路径之后，还包括：
基于导航路径，生成并发送导航指令至控制器；
获取可移动机器人的在移动过程中的实时位置信息；
若根据在移动过程中的实时位置信息，判定导航过程中识别到禁止触碰坐标点、禁止触碰线以及虚拟屏障的边界，则生成并发送避让指令至控制器。
具体地，可移动机器人上位机生成导航路径后，基于导航路径生成导航指令，将导航指令发送至可移动机器人控制器(下位机控制系统)。可移动机器人控制接收到导航指令后，将导航指令转换成相应的控制行为进行作业，在导航过程中上位机控制激光传感器(激光雷达)实时获取可移动机器人的实时位置信息，并根据实时位置信息判断可移动机器人是否识别到禁止触碰坐标点、禁止触碰线以及虚拟屏障的边界，或者检测到与禁止触碰坐 标点、禁止触碰线以及虚拟屏障的边界的距离小于预设安全距离阈值时，上位机生成避让指令，并将避让指令发送下位机控制器，同时上位机还可根据禁止触碰位置进行局部导航规划或者进行导航路径优化，从而使可移动机器人避免撞上虚拟屏障以及危险区域。在实际应用过程中，可移动机器人导航中靠近虚拟屏障的边界时，代价地图会自动识别成黑色的边界，可移动机器人不会离开、撞上该边界，如同真实的屏障一样。
在一个可选的实施例中，生成并发送避让指令至控制器之后，还包括：
若根据实时位置信息以及目标导航点，判定可移动机器人到达目标导航点，则生成并发送停止指令至可移动机器人控制器。
具体地，可移动机器人上位机还可以根据可移动机器人的实时位置信息以及本次导航的目标导航点，判断可移动机器人是否到达目标导航点，在判定实时位置信息与目标导航点之间的距离小于预设误差范围时，可移动机器人上位机生成停止指令，并将停止指令发送至控制器，以使机器人停止导航并等待下一个目标导航点的发布。
为了易于理解本申请实施例提供的技术方案，如图6所示，以完整的可移动机器人导航过程对本申请实施例提供的可移动机器人导航方法进行简要说明：
(1)用户在可移动机器人ROS系统中发布目标导航点。在发布目标导航点之前还可以将地图信息上传至ROS系统。
(2)ROS系统将地图信息以及目标导航点发送至上位机调度系统，上位机调度系统对地图信息进行解析，获得虚拟屏障，然后判断目标导航点是否在虚拟屏障外。
(3)若目标导航点在虚拟屏障外，则忽略目标导航点，等待下一个目标导航点发布。
(4)若目标导航点在虚拟屏障内，则获取可移动机器人的实时位置点；根据实时位置点与目标导航点进行路径规划，得到导航路径；基于导航路径，生成并发送导航指令至控制器。
(5)获取可移动机器人的在移动过程中的实时位置信息；若根据在移动过程中的实时位置信息，判定导航过程中识别到禁止触碰坐标点、禁止触碰线以及虚拟屏障的边界，则生成并发送避让指令至控制器。
(6)若根据实时位置信息以及目标导航点，判定可移动机器人到达目标导航点，则生成并发送停止指令至可移动机器人控制器，可移动机器人停止作业并等待下一个目标导航点发布。
应该理解的是，虽然如上的各实施例所涉及的流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说 明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，如上的各实施例所涉及的流程图中的至少一部分步骤可以包括多个步骤或者多个阶段，这些步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤中的步骤或者阶段的至少一部分轮流或者交替地执行。
基于同样的发明构思，本申请实施例还提供了一种用于实现上述所涉及的可移动机器人导航方法的可移动机器人导航装置。该装置所提供的解决问题的实现方案与上述方法中所记载的实现方案相似，故下面所提供的一个或多个可移动机器人导航装置实施例中的具体限定可以参见上文中对于可移动机器人导航方法的限定，在此不再赘述。
在一个实施例中，如图7所示，提供了一种可移动机器人导航装置，包括：信息获取模块702、解析模块704、位置获取模块706和规划模块708，其中：
信息获取模块702，用于获取目标导航点以及地图信息；
解析模块704，用于对地图信息进行解析，获得虚拟屏障；虚拟屏障以插件化形式加入地图信息中；
位置获取模块706，用于若目标导航点在虚拟屏障内，则获取可移动机器人的实时位置点；
规划模块708，用于根据实时位置点与目标导航点进行路径规划，得到导航路径。
在其中一个实施例中，解析模块704还用于对地图信息进行解析，获得禁止屏障层信息；基于禁止屏障层信息，获取虚拟屏障的坐标值参数；根据坐标值参数进行计算，得到虚拟屏障。
在其中一个实施例中，解析模块704还用于根据坐标值参数，确定坐标点数量以及坐标值信息；在坐标点数量大于两个的情况下，根据坐标值信息确定多边形区域，将多边形区域设置为虚拟屏障。
在其中一个实施例中，解析模块704还用于若根据坐标值参数判定坐标点数量为一个，则根据坐标值信息确定坐标点，将坐标点设置为禁止触碰坐标点；若根据坐标值参数判定坐标点数量为两个，则根据坐标值信息确定禁止触碰线。
在其中一个实施例中，规划模块708还用于基于导航路径，生成并发送导航指令至控制器；获取可移动机器人的在移动过程中的实时位置信息；若根据在移动过程中的实时位置信息，判定导航过程中识别到禁止触碰坐标点、禁止触碰线以及虚拟屏障的边界，则生成并发送避让指令至控制器。
在其中一个实施例中，规划模块708还用于若根据实时位置信息以及目标导航点，判定可移动机器人到达目标导航点，则生成并发送停止指令至可移动机器人控制器。
在其中一个实施例中，位置获取模块706还用于若目标导航点在虚拟屏障外，则忽略目标导航点。
上述可移动机器人导航装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。
在一个实施例中，提供了一种计算机设备，该计算机设备可以是终端，其内部结构图可以如图8所示。该计算机设备包括通过系统总线连接的处理器、存储器、通信接口、显示屏和输入装置。其中，该计算机设备的处理器用于提供计算和控制能力。该计算机设备的存储器包括非易失性存储介质、内存储器。该非易失性存储介质存储有操作系统和计算机程序。该内存储器为非易失性存储介质中的操作系统和计算机程序的运行提供环境。该计算机设备的通信接口用于与外部的终端进行有线或无线方式的通信，无线方式可通过WIFI、移动蜂窝网络、NFC(近场通信)或其他技术实现。该计算机程序被处理器执行时以实现一种可移动机器人导航方法。该计算机设备的显示屏可以是液晶显示屏或者电子墨水显示屏，该计算机设备的输入装置可以是显示屏上覆盖的触摸层，也可以是计算机设备外壳上设置的按键、轨迹球或触控板，还可以是外接的键盘、触控板或鼠标等。
本领域技术人员可以理解，图8中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的计算机设备的限定，具体的计算机设备可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。
在一个实施例中，提供了一种可移动机器人，包括可移动机器人本体和控制器，控制器存储有计算机程序，控制器执行计算机程序时实现以下步骤：
获取目标导航点以及地图信息；
对地图信息进行解析，获得虚拟屏障；虚拟屏障以插件化形式加入地图信息中；
若目标导航点在虚拟屏障内，则获取可移动机器人的实时位置点；
根据实时位置点与目标导航点进行路径规划，得到导航路径。
在一个实施例中，控制器执行计算机程序时还实现以下步骤：对地图信息进行解析，获得禁止屏障层信息；基于禁止屏障层信息，获取虚拟屏障的坐标值参数；根据坐标值参数进行计算，得到虚拟屏障
在一个实施例中，控制器执行计算机程序时还实现以下步骤：根据坐标值参数，确定坐标点数量以及坐标值信息；在坐标点数量大于两个的情况下，根据坐标值信息确定多边形区域，将多边形区域设置为虚拟屏障。
在一个实施例中，处理器执行计算机程序时还实现以下步骤：若根据坐标值参数判定坐标点数量为一个，则根据坐标值信息确定坐标点，将坐标点设置为禁止触碰坐标点；若根据坐标值参数判定坐标点数量为两个，则根据坐标值信息确定禁止触碰线。
在一个实施例中，控制器执行计算机程序时还实现以下步骤：基于导航路径，生成并发送导航指令至控制器；获取可移动机器人的在移动过程中的实时位置信息；若根据在移动过程中的实时位置信息，判定导航过程中识别到禁止触碰坐标点、禁止触碰线以及虚拟屏障的边界，则生成并发送避让指令至控制器。
在一个实施例中，控制器执行计算机程序时还实现以下步骤：若根据实时位置信息以及目标导航点，判定可移动机器人到达目标导航点，则生成并发送停止指令至可移动机器人控制器。
在一个实施例中，控制器执行计算机程序时还实现以下步骤：若目标导航点在虚拟屏障外，则忽略目标导航点。
在一个实施例中，提供了一种计算机设备，包括存储器和处理器，存储器中存储有计算机程序，该处理器执行计算机程序时实现以下步骤：
获取目标导航点以及地图信息；
对地图信息进行解析，获得虚拟屏障；虚拟屏障以插件化形式加入地图信息中；
若目标导航点在虚拟屏障内，则获取可移动机器人的实时位置点；
根据实时位置点与目标导航点进行路径规划，得到导航路径。
在一个实施例中，处理器执行计算机程序时还实现以下步骤：对地图信息进行解析，获得禁止屏障层信息；基于禁止屏障层信息，获取虚拟屏障的坐标值参数；根据坐标值参数进行计算，得到虚拟屏障
在一个实施例中，处理器执行计算机程序时还实现以下步骤：根据坐标值参数，确定坐标点数量以及坐标值信息；在坐标点数量大于两个的情况下，根据坐标值信息确定多边形区域，将多边形区域设置为虚拟屏障。
在一个实施例中，处理器执行计算机程序时还实现以下步骤：若根据坐标值参数判定坐标点数量为一个，则根据坐标值信息确定坐标点，将坐标点设置为禁止触碰坐标点；若根据坐标值参数判定坐标点数量为两个，则根据坐标值信息确定禁止触碰线。
在一个实施例中，处理器执行计算机程序时还实现以下步骤：基于导航路径，生成并发送导航指令至控制器；获取可移动机器人的在移动过程中的实时位置信息；若根据在移动过程中的实时位置信息，判定导航过程中识别到禁止触碰坐标点、禁止触碰线以及虚拟屏障的边界，则生成并发送避让指令至控制器。
在一个实施例中，处理器执行计算机程序时还实现以下步骤：若根据实时位置信息以及目标导航点，判定可移动机器人到达目标导航点，则生成并发送停止指令至可移动机器人控制器。
在一个实施例中，处理器执行计算机程序时还实现以下步骤：若目标导航点在虚拟屏障外，则忽略目标导航点。
在一个实施例中，提供了一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时实现以下步骤：
获取目标导航点以及地图信息；
对地图信息进行解析，获得虚拟屏障；虚拟屏障以插件化形式加入地图信息中；
若目标导航点在虚拟屏障内，则获取可移动机器人的实时位置点；
根据实时位置点与目标导航点进行路径规划，得到导航路径。
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：对地图信息进行解析，获得禁止屏障层信息；基于禁止屏障层信息，获取虚拟屏障的坐标值参数；根据坐标值参数进行计算，得到虚拟屏障
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：根据坐标值参数，确定坐标点数量以及坐标值信息；在坐标点数量大于两个的情况下，根据坐标值信息确定多边形区域，将多边形区域设置为虚拟屏障。
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：若根据坐标值参数判定坐标点数量为一个，则根据坐标值信息确定坐标点，将坐标点设置为禁止触碰坐标点；若根据坐标值参数判定坐标点数量为两个，则根据坐标值信息确定禁止触碰线。
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：基于导航路径，生成并发送导航指令至控制器；获取可移动机器人的在移动过程中的实时位置信息；若根据在移动过程中的实时位置信息，判定导航过程中识别到禁止触碰坐标点、禁止触碰线以及虚拟屏障的边界，则生成并发送避让指令至控制器。
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：若根据实时位置信息以及目标导航点，判定可移动机器人到达目标导航点，则生成并发送停止指令至可移动机 器人控制器。
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：若目标导航点在虚拟屏障外，则忽略目标导航点。
在一个实施例中，提供了一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行时实现以下步骤：
获取目标导航点以及地图信息；
对地图信息进行解析，获得虚拟屏障；虚拟屏障以插件化形式加入地图信息中；
若目标导航点在虚拟屏障内，则获取可移动机器人的实时位置点；
根据实时位置点与目标导航点进行路径规划，得到导航路径。
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：对地图信息进行解析，获得禁止屏障层信息；基于禁止屏障层信息，获取虚拟屏障的坐标值参数；根据坐标值参数进行计算，得到虚拟屏障
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：根据坐标值参数，确定坐标点数量以及坐标值信息；在坐标点数量大于两个的情况下，根据坐标值信息确定多边形区域，将多边形区域设置为虚拟屏障。
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：若根据坐标值参数判定坐标点数量为一个，则根据坐标值信息确定坐标点，将坐标点设置为禁止触碰坐标点；若根据坐标值参数判定坐标点数量为两个，则根据坐标值信息确定禁止触碰线。
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：基于导航路径，生成并发送导航指令至控制器；获取可移动机器人的在移动过程中的实时位置信息；若根据在移动过程中的实时位置信息，判定导航过程中识别到禁止触碰坐标点、禁止触碰线以及虚拟屏障的边界，则生成并发送避让指令至控制器。
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：若根据实时位置信息以及目标导航点，判定可移动机器人到达目标导航点，则生成并发送停止指令至可移动机器人控制器。
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：若目标导航点在虚拟屏障外，则忽略目标导航点。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，的计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请 所提供的各实施例中所使用的对存储器、数据库或其它介质的任何引用，均可包括非易失性和易失性存储器中的至少一种。非易失性存储器可包括只读存储器(Read-Only Memory，ROM)、磁带、软盘、闪存、光存储器、高密度嵌入式非易失性存储器、阻变存储器(ReRAM)、磁变存储器(Magnetoresistive Random Access Memory，MRAM)、铁电存储器(Ferroelectric Random Access Memory，FRAM)、相变存储器(Phase Change Memory，PCM)、石墨烯存储器等。易失性存储器可包括随机存取存储器(Random Access Memory，RAM)或外部高速缓冲存储器等。作为说明而非局限，RAM可以是多种形式，比如静态随机存取存储器(Static Random Access Memory，SRAM)或动态随机存取存储器(Dynamic Random Access Memory，DRAM)等。本申请所提供的各实施例中所涉及的数据库可包括关系型数据库和非关系型数据库中至少一种。非关系型数据库可包括基于区块链的分布式数据库等，不限于此。本申请所提供的各实施例中所涉及的处理器可为通用处理器、中央处理器、图形处理器、数字信号处理器、可编程逻辑器、基于量子计算的数据处理逻辑器等，不限于此。
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请的保护范围应以所附权利要求为准。

Claims (12)

  1. 一种可移动机器人导航方法，包括：
    获取目标导航点以及地图信息；
    对所述地图信息进行解析，获得虚拟屏障；所述虚拟屏障以插件化形式加入所述地图信息中；
    若所述目标导航点在虚拟屏障内，则获取可移动机器人的实时位置点；以及
    根据所述实时位置点与所述目标导航点进行路径规划，得到导航路径。
  2. 根据权利要求1所述的方法，其中，所述对所述地图信息进行解析，获得虚拟屏障包括：
    对所述地图信息进行解析，获得禁止屏障层信息；
    基于所述禁止屏障层信息，获取虚拟屏障的坐标值参数；以及
    根据所述坐标值参数进行计算，得到虚拟屏障。
  3. 根据权利要求2所述的方法，其中，所述根据所述坐标值参数进行计算，得到虚拟屏障包括：
    根据所述坐标值参数，确定坐标点数量以及坐标值信息；以及
    在所述坐标点数量大于两个的情况下，根据所述坐标值信息确定多边形区域，将所述多边形区域设置为虚拟屏障。
  4. 根据权利要求2所述的方法，还包括：
    若根据所述坐标值参数判定坐标点数量为一个，则根据所述坐标值信息确定坐标点，将所述坐标点设置为禁止触碰坐标点；以及
    若根据所述坐标值参数判定坐标点数量为两个，则根据所述坐标值信息确定禁止触碰线。
  5. 根据权利要求4所述的方法，其中，所述根据所述实时位置点与所述目标导航点进行路径规划，得到导航路径之后，还包括：
    基于所述导航路径，生成并发送导航指令至控制器；
    获取所述可移动机器人的在移动过程中的实时位置信息；以及
    若根据所述在移动过程中的实时位置信息，判定导航过程中识别到所述禁止触碰坐标点、所述禁止触碰线以及所述虚拟屏障的边界，则生成并发送避让指令至所述控制器。
  6. 根据权利要求5所述的方法，其中，所述生成并发送避让指令至所述控制器之后，还包括：
    若根据所述实时位置信息以及所述目标导航点，判定所述可移动机器人到达所述目标导航点，则生成并发送停止指令至所述移动机器人控制器。
  7. 根据权利要求1所述的方法，还包括：
    若所述目标导航点在虚拟屏障外，则忽略目标导航点。
  8. 一种可移动机器人导航装置，包括：
    信息获取模块，用于获取目标导航点以及地图信息；
    解析模块，用于对所述地图信息进行解析，获得虚拟屏障；所述虚拟屏障以插件化形式加入所述地图信息中；
    位置获取模块，用于若所述目标导航点在虚拟屏障内，则获取可移动机器人的实时位置点；以及
    规划模块，用于根据所述实时位置点与所述目标导航点进行路径规划，得到导航路径。
  9. 一种可移动机器人，包括可移动机器人本体和控制器，所述控制器采用如权利要求1至7中任一项所述的方法对所述可移动机器人本体进行导航控制。
  10. 一种计算机设备，包括存储器和处理器，所述存储器存储有计算机程序，其中，所述处理器执行所述计算机程序时实现权利要求1至7中任一项所述的方法的步骤。
  11. 一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现权利要求1至7中任一项所述的方法的步骤。
  12. 一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行时实现权利要求1至7中任一项所述的方法的步骤。
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