Summary of the invention
In view of the above problems, the embodiment of the invention provides a kind of robot navigation's control method, the above problem is overcomeOr the above problem at least has been partially solved it.
According to an aspect of an embodiment of the present invention, a kind of robot navigation's control method is provided, which comprises
Default mark figure is obtained, the default mark figure includes at least one identification information, and the identification information includes positionSet identiflication number and direction information；
Determine that the steering for reaching the target position is believed according to the target position and the position identiflication number that obtain in advanceBreath；
It is navigated according to the direction information.
In a kind of optional mode, direction information includes corresponding less than the target position of the position identiflication number theOne directional information, and, greater than the corresponding second direction information in target position of the position identiflication number.
In a kind of optional mode, when the identification information that the default mark figure includes is one, the basis is pre-The target position first obtained and the position identiflication number determine the direction information for reaching the target position, comprising: when describedWhen the target position obtained in advance is less than the position identiflication number of the identification information, the steering for reaching the target position is determinedInformation is first direction information；When the target position obtained in advance is greater than the position identiflication number of the identification information,Determine that the direction information for reaching the target position is second direction information.
In a kind of optional mode, when the identification information that the default mark figure includes is greater than one, the basisThe target position obtained in advance and the position identiflication number determine the direction information for reaching the target position, comprising: calculateThe difference of the position identiflication number of the target position obtained in advance and each identification information；By the smallest position of the differenceIt sets the corresponding identification information of identiflication number and is determined as target identification information；The direction information for including according to the target identification informationDetermine the direction information for reaching the target position.
It is described to be navigated according to the direction information in a kind of optional mode, comprising: according to the direction informationIt navigates, until the position identiflication number is consistent with the target position obtained in advance.
In a kind of optional mode, after obtaining the default mark figure, the method also includes: according to the markWhether information judges the target position obtained in advance in current floor；If so, according to the target position that obtains in advance withThe position identiflication number determines the direction information of the target position；If it is not, then being navigated to according to the identification information describedLift, and control the lift and reach floor where the target position obtained in advance.
In a kind of optional mode, the identification information includes floor information, described according to the identification information judgmentWhether the target position obtained in advance in current floor, comprising: judge the floor information whether with the preparatory acquisitionTarget position in floor information it is consistent；If consistent, it is determined that the target position obtained in advance is in current floor；If noUnanimously, it is determined that the target position obtained in advance is not in current floor.
According to another aspect of an embodiment of the present invention, a kind of robot navigation's control device is provided, comprising:
Module is obtained, for obtaining default mark figure, the default mark figure includes at least one identification information, the markKnowing information includes position identiflication number and direction information；Determining module is known according to the target position and the position that obtain in advanceIt Bian Hao not determine the direction information for reaching the target position；Navigation module, for being navigated according to the direction information.
In a kind of optional mode, direction information includes corresponding less than the target position of the position identiflication number theOne directional information, and, greater than the corresponding second direction information in target position of the position identiflication number.
In a kind of optional mode, when the identification information that the default mark figure includes be one when, determining module intoOne step is used for: when the target position obtained in advance is less than the position identiflication number of the identification information, being determined and is reached instituteThe direction information for stating target position is first direction information；When the target position obtained in advance is greater than the identification informationWhen the identiflication number of position, determine that the direction information for reaching the target position is second direction information.
In a kind of optional mode, when the identification information that the default mark figure includes is greater than one, the determinationModule is further used for: calculating the difference of the target position obtained in advance and the position identiflication number of each identification informationValue；The corresponding identification information of the smallest position identiflication number of the difference is determined as target identification information；According to the targetThe direction information that identification information includes determines the direction information for reaching the target position.
In a kind of optional mode, navigation module is further used for: being navigated according to the direction information, until instituteIt is consistent with the target position obtained in advance that rheme sets identiflication number.
In a kind of optional mode, described device further include: judgment module, the first determining module, the first navigation moduleAnd control module, wherein judgment module be used for the target position that is obtained in advance according to the identification information judgment whetherCurrent floor.First determining module is used for when the target position obtained in advance is in current floor, according to what is obtained in advanceTarget position and the position identiflication number determine the direction information of the target position.First navigation module is used for according toIdentification information navigates to the lift.Control module reaches the target position obtained in advance for controlling the liftThe floor at place.
In a kind of optional mode, the identification information includes floor information, and the judgment module is further used for: sentencingWhether the floor information of breaking is consistent with the floor information in the target position obtained in advance；If consistent, it is determined that describedThe target position obtained in advance is in current floor；If inconsistent, it is determined that the target position obtained in advance is not or not current buildingLayer.
According to another aspect of an embodiment of the present invention, a kind of calculating equipment is provided, comprising: processor, memory, communicationInterface and communication bus, the processor, the memory and the communication interface are completed mutual by the communication busCommunication；
For the memory for storing an at least executable instruction, it is above-mentioned that the executable instruction executes the processorA kind of step in robot navigation's control method.
Another aspect according to an embodiment of the present invention provides a kind of computer storage medium, deposits in the storage mediumAn at least executable instruction is contained, the executable instruction makes the processor execute a kind of above-mentioned robot navigation's control methodIn step.
The determining arrival mesh of position identiflication number and target position in default mark figure that the embodiment of the present invention passes through acquisitionThe direction information of cursor position, and navigated according to direction information, in this way, robot only needs default by identifyingPosition identiflication number in mark figure can realize independent navigation, and robot is not necessarily to know the position of oneself, to solveThe problem of robot localization inaccuracy in traditional robot navigation mode.In addition, when the section of robot navigation because planning againWhen changing, it is only necessary to change the information in default mark figure, avoid in traditional approach, planning requires weight again every timeNewly establish the complicated processes of section map.
Above description is only the general introduction of technical solution of the embodiment of the present invention, in order to better understand the embodiment of the present inventionTechnological means, and can be implemented in accordance with the contents of the specification, and in order to allow above and other mesh of the embodiment of the present invention, feature and advantage can be more clearly understood, the followings are specific embodiments of the present invention.
Specific embodiment
The exemplary embodiment that the present invention will be described in more detail below with reference to accompanying drawings.Although showing the present invention in attached drawingExemplary embodiment, it being understood, however, that may be realized in various forms the present invention without should be by embodiments set forth hereIt is limited.It is to be able to thoroughly understand the present invention on the contrary, providing these embodiments, and can be by the scope of the present inventionIt is fully disclosed to those skilled in the art.
Fig. 1 shows a kind of flow chart of robot navigation's control method of first embodiment of the invention, as shown, shouldMethod the following steps are included:
Step 110: obtaining default mark figure, which includes at least one identification information, the identification information packetIdentiflication number containing position and direction information.
The application scenarios of the embodiment of the present invention are robots in a certain section progress independent navigation, which can be oneClosed room area is also possible to an open outdoor area, and each of section target position to be identified is with oneFixed position identiflication number arrangement.By taking a certain exhibition venue in room area as an example, as shown in Fig. 2, in advance to each exhibitionPosition and corner are provided with corresponding mark figure, and identifying the identification information in figure includes position identiflication number and direction information, positionThe setting of identiflication number can be artificially arranged according to the preset position of mark figure, for example, having around the preset position of mark figureTwo corners, each corner have a channel, and there are several exhibition positions in channel twice, then include in the mark figure of position settingThe number of identification information be two, the position identiflication number of exhibition position is the number of the exhibition position, the corresponding channel of each cornerExhibition position is arranged in sequence, and the position identiflication number difference of the exhibition position in adjacent channel is larger, avoids the occurrence of the position of settingIdentiflication number is consistent, or, more than the difference unanimous circumstances between a position identiflication number and target position.Angular position is knownThe position identiflication number that can distinguish the exhibition position in each channel is subject in the definition of other alias, and the present invention is not to angular positionBeing specifically defined for identiflication number limits.For example, the position that can define angular position is known in a kind of specific embodimentIt Bian Hao not be the average value of the position identiflication number of two exhibition positions at the corresponding feeder connection of the corner.Direction information includes to be less thanThe corresponding first direction information in the target position of position identiflication number, and, the target position greater than position identiflication number is correspondingSecond direction information.For example, the target position that first row mark is less than position identiflication number in mark figure shown in Fig. 2 corresponds toFirst direction information, second is classified as the corresponding position identiflication number information of direction information, and third, which is classified as, to be identified greater than position and compileNumber the corresponding second direction information in target position, first direction information and second direction information include forward, backward, toIt is left, to the right, the mark such as turn around.
Step 120: determining that the steering for reaching target position is believed according to the target position and position identiflication number that obtain in advanceBreath.
When the identification information that default mark figure includes is one, by the target position obtained in advance and the identification informationPosition identiflication number compares, and when the target position obtained in advance is less than the position identiflication number of identification information, determines and reachesThe direction information of target position is first direction information, is compiled when the position that the target position obtained in advance is greater than identification information identifiesNumber when, determine reach target position direction information be second direction information.
When the identification information that default mark figure includes is greater than one, robot need according to one of identification information intoRow navigation, calculates the difference of the position identiflication number of target position and each identification information obtained in advance, by difference firstThe corresponding identification information of the smallest position identiflication number is determined as target identification information, and is turned according to what target identification information includedThe direction information for reaching target position is determined to information.
Step 130: being navigated according to direction information.
When being navigated according to direction information, need to obtain the default mark figure in environment in real time, and according in step 120Method determine direction information, until position identiflication number is consistent with the target position obtained in advance.
The determining arrival mesh of position identiflication number and target position in default mark figure that the embodiment of the present invention passes through acquisitionThe direction information of cursor position, and navigated according to direction information, in this way, robot only needs default by identifyingPosition identiflication number in mark figure can realize independent navigation, and robot is not necessarily to know the position of oneself, to solveThe problem of robot localization inaccuracy in traditional robot navigation mode.In addition, when the section of robot navigation because planning againWhen changing, it is only necessary to change the information in default mark figure, avoid in traditional approach, planning requires weight again every timeNewly establish the complicated processes of section map.
Fig. 3 shows a kind of flow chart of robot navigation's control method of second embodiment of the invention, as shown in figure 3,The embodiment compared with first embodiment, the difference is that, the embodiment is further comprising the steps of:
Step 210: whether the target position obtained in advance according to identification information judgment is in current floor, if so, executing stepRapid 220, if it is not, executing step 230.
Current floor is the floor where the default mark figure obtained.In this step, believe in identification information comprising floorIt ceases, also includes the floor information of target position in the target position obtained in advance, by judging the floor information in identification informationIt is whether consistent with the floor information in the target position obtained in advance, it can be determined that whether the target position obtained in advance is currentFloor, when the floor information in identification information is consistent with the floor information in the target position obtained in advance, determination obtains in advanceThe target position taken is in current floor, when the floor information in identification information and the floor information in the target position that obtains in advanceWhen inconsistent, determine the target position obtained in advance not in current floor.
It is worth noting that the floor information for including in identification information can by way of position identiflication number is set intoRow setting, for example, the first digit of setting position identiflication number indicates floor information, it can also be by increasing in identification informationOne column, for identifying floor information, the embodiment of the present invention is not limited with the specific appearance form of floor information in identification information.
Step 220: the direction information of target position is determined according to the target position and position identiflication number that obtain in advance.
If the target position obtained in advance determines according to the method in first embodiment in current floor and turns to letterBreath, and navigate.
Step 230: lift being navigated to according to identification information, and controls lift and reaches the target position institute obtained in advanceFloor.
If the target position obtained in advance in current floor, the corresponding mark figure of the lift of current floor is not madeFor target position, lift is navigated to according to the specific descriptions of step 120 to step 130, which is equipped with control in advanceDevice, robot can be communicated with the controller of lift, and the floor where target position is sent to lift, so as to riseDrop ladder carries the floor where robot to target position.
Whether the target position that the embodiment of the present invention is obtained in advance by judgement is in current floor, when not in current floorWhen, lift is navigated to by identification information, and destination is reached by lift, to realize between different floorsIndependent navigation.
Fig. 4 shows a kind of structural schematic diagram of robot navigation's control device of third embodiment of the invention.Such as Fig. 4 instituteShow, which includes: to obtain module 310, and for obtaining default mark figure, the default mark figure includes at least one mark letterBreath, the identification information include position identiflication number and direction information.Determining module 320, according to the target position obtained in advanceThe direction information for reaching the target position is determined with the position identiflication number.Navigation module 330, for according to the steeringInformation is navigated.
In a kind of optional mode, direction information includes corresponding less than the target position of the position identiflication number theOne directional information, and, greater than the corresponding second direction information in target position of the position identiflication number.
In a kind of optional mode, when the identification information that the default mark figure includes is one, determining module 320It is further used for: when the target position obtained in advance is less than the position identiflication number of the identification information, determines and reachThe direction information of the target position is first direction information；When the target position obtained in advance is greater than the identification informationPosition identiflication number when, determine that the direction information for reaching the target position is second direction information.
In a kind of optional mode, when the identification information that the default mark figure includes is greater than one, the determinationModule 320 is further used for: calculating the target position obtained in advance and the position identiflication number of each identification informationDifference；The corresponding identification information of the smallest position identiflication number of the difference is determined as target identification information；According to the meshThe direction information that mark identification information includes determines the direction information for reaching the target position.
In a kind of optional mode, navigation module 330 is further used for: being navigated according to the direction information, directlyIt is consistent with the target position obtained in advance to the position identiflication number.
In a kind of optional mode, described device further include: judgment module 340, the first determining module 350, first are ledModel plane block 360 and control module 370, wherein what judgment module 340 was used to obtain in advance according to the identification information judgmentWhether target position is in current floor.First determining module 350 is used for when the target position obtained in advance is in current floorWhen, the direction information of the target position is determined according to the target position and the position identiflication number that obtain in advance.First leadsModel plane block 360 is used to navigate to the lift according to the identification information.Control module 370 is arrived for controlling the liftFloor up to where the target position obtained in advance.
In a kind of optional mode, the identification information includes floor information, and the judgment module 340 is further usedIn: judge whether the floor information is consistent with the floor information in the target position obtained in advance；If consistent, it is determined thatThe target position obtained in advance is in current floor；If inconsistent, it is determined that do not working as the target position obtained in advancePreceding floor.
The embodiment of the present invention is by determining module 320 according to the position identiflication number and target in the default mark figure of acquisitionPosition determines the direction information for reaching target position, and is navigated by navigation module 330 according to direction information, by thisMode, robot are only needed by identifying that the position identiflication number in default mark figure can realize independent navigation, robotWithout knowing the position of oneself, to solve the problems, such as robot localization inaccuracy in traditional robot navigation mode.In addition,When the section of robot navigation changes because planning again, it is only necessary to change the information in default mark figure, avoid biographyIn system mode, planning requires to re-establish the complicated processes of piece chorography again every time.
The embodiment of the invention provides a kind of nonvolatile computer storage media, the computer storage medium is stored withOne of above-mentioned any means embodiment robot navigation can be performed in an at least executable instruction, the computer executable instructionsThe corresponding operation of control method.
Fig. 5 shows a kind of structural schematic diagram of calculating equipment of fifth embodiment of the invention, the specific embodiment of the inventionThe specific implementation for calculating equipment is not limited.
As shown in figure 5, the calculating equipment may include: processor (processor) 502, communication interface(Communications Interface) 504, memory (memory) 506 and communication bus 508.
Wherein: processor 502, communication interface 504 and memory 506 complete mutual lead to by communication bus 508Letter.Communication interface 504, for being communicated with the network element of other equipment such as client or other servers etc..Processor 502 is usedIn executing program 510, it is corresponding can specifically to execute one of above-mentioned any means embodiment robot navigation's control methodOperation.
Specifically, program 510 may include program code, which includes computer operation instruction.
Processor 502 may be central processor CPU or specific integrated circuit ASIC (ApplicationSpecific Integrated Circuit), or be arranged to implement the integrated electricity of one or more of the embodiment of the present inventionRoad.The one or more processors that equipment includes are calculated, can be same type of processor, such as one or more CPU；It can alsoTo be different types of processor, such as one or more CPU and one or more ASIC.
Memory 506, for storing program 510.Memory 506 may include high speed RAM memory, it is also possible to further includeNonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.
Program 510 specifically can be used for so that processor 502 executes following operation: default mark figure is obtained, it is described defaultMark figure includes at least one identification information, and the identification information includes position identiflication number and direction information；According to obtaining in advanceThe target position taken and the position identiflication number determine the direction information for reaching the target position；According to the direction informationIt navigates.
In a kind of optional mode, direction information includes corresponding less than the target position of the position identiflication number theOne directional information, and, greater than the corresponding second direction information in target position of the position identiflication number.
In a kind of optional mode, in a kind of optional mode, program 510 specifically can be used for so that processor502 execute following operation: when the target position obtained in advance is less than the position identiflication number of the identification information, determiningThe direction information for reaching the target position is first direction information；When the target position obtained in advance is greater than the markWhen the position identiflication number of information, determine that the direction information for reaching the target position is second direction information.
In a kind of optional mode, in a kind of optional mode, program 510 specifically can be used for so that processor502 execute following operation: calculating the difference of the target position obtained in advance and the position identiflication number of each identification informationValue；The corresponding identification information of the smallest position identiflication number of the difference is determined as target identification information；According to the targetThe direction information that identification information includes determines the direction information for reaching the target position.
In a kind of optional mode, in a kind of optional mode, program 510 specifically can be used for so that processor502 execute following operation: being navigated according to the direction information, until the position identiflication number and described obtaining in advanceTarget position is consistent.
In a kind of optional mode, in a kind of optional mode, program 510 specifically can be used for so that processor502 execute following operation: whether the target position obtained in advance according to the identification information judgment is in current floor；IfIt is that the direction information of the target position is then determined according to the target position and the position identiflication number that obtain in advance；If it is not,The lift is then navigated to according to the identification information, and controls the lift and reaches the target position obtained in advanceThe floor at place.
In a kind of optional mode, in a kind of optional mode, program 510 specifically can be used for so that processor502 execute following operation: judging whether the floor information is consistent with the floor information in the target position obtained in advance；If consistent, it is determined that the target position obtained in advance is in current floor；If inconsistent, it is determined that the mesh obtained in advanceCursor position is not in current floor.
Algorithm or display are not inherently related to any particular computer, virtual system, or other device provided herein.Various general-purpose systems can also be used together with teachings based herein.As described above, it constructs required by this kind of systemStructure be obvious.In addition, the embodiment of the present invention is also not for any particular programming language.It should be understood that can benefitSummary of the invention described herein is realized with various programming languages, and the description done above to language-specific is to drape over one's shouldersReveal preferred forms of the invention.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the inventionExample can be practiced without these specific details.In some instances, well known method, structure is not been shown in detailAnd technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the present invention and help to understand one or more of the various inventive aspects, InAbove in the description of exemplary embodiment of the present invention, each feature of the embodiment of the present invention is grouped together into individually sometimesIn embodiment, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention: being wantedAsk protection the present invention claims features more more than feature expressly recited in each claim.More precisely, such asAs following claims reflect, inventive aspect is all features less than single embodiment disclosed above.Therefore, it then follows thus claims of specific embodiment are expressly incorporated in the specific embodiment, wherein each right is wantedAsk itself all as a separate embodiment of the present invention.
Those skilled in the art will understand that can be carried out adaptively to the module in the equipment in embodimentChange and they are arranged in one or more devices different from this embodiment.It can be the module or list in embodimentMember or component are combined into a module or unit or component, and furthermore they can be divided into multiple submodule or subelement orSub-component.Other than such feature and/or at least some of process or unit exclude each other, it can use anyCombination is to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosedAll process or units of what method or apparatus are combined.Unless expressly stated otherwise, this specification is (including adjoint powerBenefit require, abstract and attached drawing) disclosed in each feature can carry out generation with an alternative feature that provides the same, equivalent, or similar purposeIt replaces.
In addition, it will be appreciated by those of skill in the art that although some embodiments in this include institute in other embodimentsIncluding certain features rather than other feature, but the combination of the feature of different embodiment means in the scope of the present inventionWithin and form different embodiments.For example, in the following claims, embodiment claimed it is any itOne can in any combination mode come using.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and abilityField technique personnel can be designed alternative embodiment without departing from the scope of the appended claims.In the claims,Any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" does not exclude the presence of notElement or step listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of multiple suchElement.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer realIt is existing.In the unit claims listing several devices, several in these devices can be through the same hardware branchTo embody.The use of word first, second, and third does not indicate any sequence.These words can be explained and be run after fameClaim.Step in above-described embodiment should not be construed as the restriction to execution sequence in addition to having specified otherwise.