CN110162038A

CN110162038A - Control method for movement, device, storage medium and processor

Info

Publication number: CN110162038A
Application number: CN201910376840.0A
Authority: CN
Inventors: 王越; 戴舒炜
Original assignee: Which Hangzhou Science And Technology Co Ltd
Current assignee: Which Hangzhou Science And Technology Co Ltd
Priority date: 2019-05-07
Filing date: 2019-05-07
Publication date: 2019-08-23

Abstract

This application discloses a kind of control method for movement, device, storage medium and processors.This method comprises: determining that Moving Objects are moved to from initial position the mark topological path of target position based at least two positioning identifiers in target scene；Based on Moving Objects adjacent moment relative pose relationship, and the relative pose relationship in mark topological path between two neighboring positioning identifier, positioning identifier of the control Moving Objects in mark topological path is moved, to reach target position from initial position.By the application, navigation accuracy is not high when solving the problems, such as in the related technology to navigate to robot and arranges to scene demanding.

Description

Control method for movement, device, storage medium and processor

Technical field

This application involves technical field of navigation and positioning, are situated between in particular to a kind of control method for movement, device, storage Matter and processor.

Background technique

Automatic guide vehicle, abbreviation AGV, full name in English are Automated Guided Vehicle, are that one kind can be according to certainly The homing device of body installation accurately calculates position, travels along preset guide path, and the automatic obstacle that detects is kept away Exempt to collide, the automatic transport vehicle for detecting electricity and charging, is the important device in modern intelligent logistics system.In the application of AGV In scene, it is necessary to precisely identify current location, it could precise delivery and carrying product.Currently, the prime navaid mode of AGV has electricity Magnetic navigation, vision guided navigation, magnetic navigation, laser navigation, landmark navigation, the navigation based on sensing data, inertial navigation and GPS Navigation etc..

Two-dimension code navigation is laid with two dimensional code array usually in navigation area, and the ground that two dimensional code stores its position is sat Mark and/or other information, can get accurate absolute fix using this kind of mode AGV, but due between two two dimensional codes Wheeled odometer and gyroscope are relied on, cumulative errors produce very strong constraint, environment to the distance between two two dimensional codes Middle needs dispose very highdensity two dimensional code, usually in 1m or so, once the setting of two dimensional code spacing is too long, AGV be easy due to a lack of Location information and offset direction；And it is higher to environmental requirement when positioning, two dimensional code, which is blocked, will affect positioning.

Laser SLAM navigation uses a kind of laser navigation method positioned when building map, storage space is divided into several A region will have the local map of indicatrix to be put into whole map to each sector scanning characteristic value, after the completion of scanning It is middle to be used as navigation global map, but laser scanning will be will affect due to reflective, when the characteristic value when each region is identical and determined The accuracy of position, this method is disturbed larger；In addition, in big and spacious environment, since the object received is reflective less, It is easy to appear pose loss, it is very high for the static requirement of environment, if having deviation between actual scene and the map of building, Just it is unable to complete the requirement of positioning.

In order to improve navigation accuracy, the requirement arranged to environment is reduced, occurs laser in the related technology and is mutually tied with mark The navigation mode of conjunction is first obtained the global pose of environmental map and automatic guide vehicle using laser, is marked by camera Know and establishes mark in conjunction with the global pose that is identified of global pose of automatic guide vehicle with the relative pose of automatic guide vehicle Coordinate system, still, the technology are existed simultaneously using laser positioning and mark location.Still the static of environment is required very Height, once a part in global context is changed, environmental map that automatic guide vehicle is obtained using laser and complete Office's pose changes therewith, then the global pose of the automatic guide vehicle obtained with mark coordinate system and by mark coordinate system without Method is coincide, furthermore, it is necessary to obtain environmental map and global pose using laser in advance, calculates step and calculation method is more multiple It is miscellaneous.

It is not high for navigation accuracy when navigating in the related technology to robot and scene arrangement demanding is asked Topic, currently no effective solution has been proposed.

Summary of the invention

The application provides a kind of control method for movement, device, storage medium and processor, to solve in the related technology to machine Navigation accuracy is not high when device people navigates and arranges demanding problem to scene.

According to the one aspect of the application, a kind of control method for movement is provided.This method comprises: based in target scene At least two positioning identifiers determine that Moving Objects are moved to the mark topological path of target position from initial position；Based on movement Relative pose relationship of the object in adjacent moment, and the relative pose in mark topological path between two neighboring positioning identifier Relationship, positioning identifier of the control Moving Objects in mark topological path is moved, to reach target position from initial position.

Further, based on Moving Objects adjacent moment relative pose relationship, and mark topological path in it is adjacent Relative pose relationship between two positioning identifiers, positioning identifier of the control Moving Objects in mark topological path are moved It include: to determine the current location of Moving Objects relative to current identification in the relative pose relationship of adjacent moment based on Moving Objects Relative pose relationship, wherein current identification be identify topological path in the Moving Objects last time by way of positioning identifier；It is based on Next mark of current identification is relative to the relative pose relationship of current identification and the current location of Moving Objects relative to working as The relative pose relationship of preceding mark determines relative pose relationship of the current location relative to next mark of Moving Objects；It is based on The current location of Moving Objects is moved to down relative to the relative pose relationship control Moving Objects of next mark from current location One mark.

Further, the current location phase of Moving Objects is determined in the relative pose relationship of adjacent moment based on Moving Objects Comprise determining that the Moving Objects of previous moment relative to the laterally opposed of current identification the relative pose relationship of current identification Distance x_t-1And longitudinally opposed distance y_t-1, and determine relative angle of the Moving Objects of previous moment relative to current identification a_t-1；Determine the laterally opposed distance x of the Moving Objects at current time relative to the Moving Objects of previous moment_rAnd longitudinal phase Adjust the distance y_r, and the relative angle a of Moving Objects of the Moving Objects at determining current time relative to previous moment_r；Pass through following formula Calculate laterally opposed distance x of the Moving Objects at current time relative to current identification_tAnd longitudinally opposed distance y_t:

x_t=cos (a_t-1)x_r-sin(a_t-1)y_r+x_t-1

y_t=sin (a_t-1)x_r+cos(a_t-1)y_r+y_t-1

It is calculate by the following formula the relative angle a of the Moving Objects relative to current identification at current time_t:

a_t=a_t-1+a_r

Relative angle a based on the Moving Objects at current time relative to current identification_t, current time Moving Objects phase For the laterally opposed distance x of current identification_tAnd longitudinally opposed distance y_t, determine the current locations of Moving Objects relative to working as The relative pose relationship of preceding mark.

Further, the relative pose relationship control movement pair based on the current location of Moving Objects relative to next mark It include: relative pose of the current location based on Moving Objects relative to next mark as being moved to next mark from current location Relationship, planning are moved to the destination path of next mark from current location；Control Moving Objects are moved to next along destination path Mark.

Further, it includes: to be supported based on Moving Objects that control Moving Objects, which are moved to next mark along destination path, The speed limit range of minimum turning radius, the angular speed of Moving Objects and destination path region, determines the row of Moving Objects Sail speed；It controls Moving Objects and is moved to next mark according to travel speed.

Further, movement is controlled relative to the relative pose relationship of next mark in the current location based on Moving Objects After object is moved to next mark from current location, this method further include: next mark is updated to the current of Moving Objects Mark, and the relative pose relationship by Moving Objects relative to the current identification before update is reset.

Further, Moving Objects are obtained by the way of vision guided navigation in the relative pose relationship of adjacent moment, and Positioning identifier of the control Moving Objects in mark topological path is moved: control Moving Objects are along mark topological path When positioning identifier is moved, obtain in collected ground texture picture of multiple acquisition moment；Obtained for the first acquisition moment Ground texture picture, and feature is extracted from the ground texture picture at the first acquisition moment, obtain fisrt feature；By in vision The relative pose relationship of journey meter technology calculating fisrt feature and current identification；The ground texture picture at the second acquisition moment is obtained, And feature is extracted from the ground texture picture at the second acquisition moment, obtain second feature；By visual odometry technology, according to The relative pose relationship of the relative pose relationship and fisrt feature and second feature of fisrt feature and current identification calculates the The relative pose relationship of two features and current identification；According to the relative pose relationship of second feature and current identification, and it is current Relative pose relationship between mark and next mark calculates the relative pose relationship between second feature and next mark, with Obtain displacement and direction of rotation that Moving Objects are moved to next mark.

Further, Moving Objects are obtained by the way of laser navigation in the relative pose relationship of adjacent moment, and Positioning identifier of the control Moving Objects in mark topological path is moved: control Moving Objects are along mark topological path When positioning identifier is moved, obtain in collected laser positioning coordinate of multiple acquisition moment；Obtain the third acquisition moment Laser positioning coordinate, and calculate the laser positioning coordinate at third acquisition moment and the relative pose relationship of current identification；Obtain the The laser positioning at four acquisition moment, and the relative pose for the laser positioning coordinate and current identification for acquiring the moment according to third closes The relative pose relationship of system and the laser positioning coordinate at third acquisition moment and the laser positioning coordinate at the 4th acquisition moment, Obtain the laser positioning coordinate at the 4th acquisition moment and the relative pose relationship of current identification；According to the laser at the 4th acquisition moment Position the relative pose relationship between coordinate and the relative pose relationship and current identification and next mark of current identification, meter The relative pose relationship between the laser positioning coordinate and next mark at the 4th acquisition moment is calculated, is moved to obtaining Moving Objects The displacement of next mark and direction of rotation.

According to the another aspect of the application, a kind of mobile controller is provided.The device comprises determining that unit, is used for Determine that Moving Objects are opened up from the mark that initial position is moved to target position based at least two positioning identifiers in target scene Flutter path；Control unit, for based on Moving Objects adjacent moment relative pose relationship, and mark topological path in phase Relative pose relationship between adjacent two positioning identifiers, positioning identifier of the control Moving Objects in mark topological path are moved It is dynamic, to reach target position from initial position.

To achieve the goals above, according to the another aspect of the application, a kind of storage medium is provided, storage medium includes The program of storage, wherein program executes any one of the above control method for movement.

To achieve the goals above, according to the another aspect of the application, a kind of processor is provided, processor is for running Program, wherein program executes any one of the above control method for movement when running.

By the application, using following steps: determining Moving Objects based at least two positioning identifiers in target scene The mark topological path of target position is moved to from initial position；Based on Moving Objects adjacent moment relative pose relationship, And the relative pose relationship in mark topological path between two neighboring positioning identifier, control Moving Objects are along the topological road of mark Positioning identifier in diameter is moved, and to reach target position from initial position, is solved and is carried out in the related technology to robot Navigation accuracy is not high when navigation and arranges demanding problem to scene.By by Moving Objects in the opposite of adjacent moment Relative pose relationship control Moving Objects movement in position orientation relation and mark topological path between two neighboring positioning identifier, And then reached the navigation accuracy for improving robot, reduce the effect required scene arrangement.

Detailed description of the invention

The attached drawing constituted part of this application is used to provide further understanding of the present application, the schematic reality of the application Example and its explanation are applied for explaining the application, is not constituted an undue limitation on the present application.In the accompanying drawings:

Fig. 1 is the flow chart according to control method for movement provided by the embodiments of the present application；

Fig. 2 is according to t-1 moment Moving Objects in control method for movement provided by the embodiments of the present application relative to current mark The relative pose schematic diagram of knowledge；

Fig. 3 is the Moving Objects according to current time in control method for movement provided by the embodiments of the present application relative to previous The relative pose schematic diagram of the Moving Objects at moment；

Fig. 4 is the current location according to Moving Objects in control method for movement provided by the embodiments of the present application relative to next The relative pose schematic diagram of mark；And

Fig. 5 is the schematic diagram according to mobile controller provided by the embodiments of the present application.

Specific embodiment

It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection It encloses.

It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, " Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.

According to an embodiment of the present application, a kind of control method for movement is provided.

Fig. 1 is the flow chart according to the control method for movement of the embodiment of the present application.As shown in Figure 1, this method includes following Step:

Step S101 determines that Moving Objects are moved to from initial position based at least two positioning identifiers in target scene The mark topological path of target position.

It should be noted that target scene is the mobile scene of Moving Objects, multiple positioning marks are provided in target scene Know, positioning identifier can identify for two dimensional code, and two dimensional code identifies the ground coordinate information for being stored with position.Known movement pair The target position that the initial position of elephant and needs are moved to, the positioning identifier in selection target scene, setting positioning identifier it Between sequence, obtain mark topological path.

Step S102, based on Moving Objects adjacent moment relative pose relationship, and mark topological path in it is adjacent Relative pose relationship between two positioning identifiers, positioning identifier of the control Moving Objects in mark topological path are moved It is dynamic, to reach target position from initial position.

Specifically, initial position and target position can be located in the positioning identifier of mark topological path, can also be located at Except positioning identifier, when initial position is located at except positioning identifier, the positioning that Moving Objects are moved to topological path is first controlled In mark, the relative pose relationship with next positioning identifier in topological path relative to the positioning identifier where Moving Objects is made Next positioning is moved to from a positioning identifier by Moving Objects in the relative pose relationship of adjacent moment for mobile target Mark is located in mark topological path until reaching the last one positioning identifier in mark topological path in target position In the case where except positioning identifier, then from the last one positioning identifier it is moved to target position.In the embodiment of the present application, pass through Laser measurement is introduced, the density of the two dimensional code mark of deployment can be greatly lowered, usually in 3-5m or so, accurate positioning, at This is low.

In addition, it should be noted that, the relative pose relationship between two objects includes the opposite position between two objects It moves and relative angle, relative displacement includes the relative displacement in relative displacement and Y-direction in X-direction.

Optionally, in control method for movement provided by the embodiments of the present application, based on Moving Objects adjacent moment phase To the relative pose relationship between two neighboring positioning identifier in position orientation relation, and mark topological path, Moving Objects are controlled It includes: true in the relative pose relationship of adjacent moment based on Moving Objects that positioning identifier in mark topological path, which move, Determine relative pose relationship of the current location relative to current identification of Moving Objects, wherein current identification is mark topological path The middle Moving Objects last time by way of positioning identifier；Relative pose of next mark relative to current identification based on current identification Relative pose relationship of the current location of relationship and Moving Objects relative to current identification, determines the present bit of Moving Objects Set the relative pose relationship relative to next mark；Relative pose based on the current location of Moving Objects relative to next mark Relationship controls Moving Objects and is moved to next mark from current location.

It should be noted that since the coordinate record of positioning identifier is in mark, it is known that obtaining under the coordinate of current identification It is current relative to working as at current time to accumulate available Moving Objects in the relative pose relationship of adjacent moment for Moving Objects The relative pose relationship of preceding mark, due to next mark of current identification coordinate it is also known that, calculate it is next mark relative to The relative pose relationship of current identification, further according to relative pose relationship of the current location relative to current identification of Moving Objects, Relative pose relationship of next mark relative to current identification is solved, goes to next mark from current location to control Moving Objects Know.

In the case where mark topological path is made of more than two positioning identifiers, optionally, in the embodiment of the present application In the control method for movement of offer, controlled in the current location based on Moving Objects relative to the relative pose relationship of next mark After Moving Objects are moved to next mark from current location, this method further include: next mark is updated to Moving Objects Current identification, and the relative pose relationship by Moving Objects relative to the current identification before update is reset.

It should be noted that determining where Moving Objects after Moving Objects are moved to next mark from current identification Bit identification is updated to current identification, at this point, Moving Objects are led relative to the relative pose of positioning identifier before this to next Boat positioning is nonsensical, and the relative pose by Moving Objects relative to positioning identifier before this is reset, then is worked as based on updated Preceding mark re-establishes coordinate system, calculates relative pose of the Moving Objects relative to updated current identification, and so on, directly The last one positioning identifier of mark topological path is moved to Moving Objects.

It is optionally, to be provided in the embodiment of the present application in the case that t moment previous moment is the t-1 moment at current time Control method for movement in, the current location phase of Moving Objects is determined in the relative pose relationship of adjacent moment based on Moving Objects Comprise determining that the Moving Objects of previous moment relative to the laterally opposed of current identification the relative pose relationship of current identification Distance x_t-1And longitudinally opposed distance y_t-1, and determine relative angle of the Moving Objects of previous moment relative to current identification a_t-1；Determine the laterally opposed distance x of the Moving Objects at current time relative to the Moving Objects of previous moment_rAnd longitudinal phase Adjust the distance y_r, and the relative angle a of Moving Objects of the Moving Objects at determining current time relative to previous moment_r；Pass through following formula Calculate laterally opposed distance x of the Moving Objects at current time relative to current identification_tAnd longitudinally opposed distance y_t:

x_t=cos (a_t-1)x_r-sin(a_t-1)y_r+x_t-1

y_t=sin (a_t-1)x_r+cos(a_t-1)y_r+y_t-1

a_t=a_t-1+a_r

Specifically, as shown in Fig. 2, establishing coordinate system using current identification as origin, according to the phase of adjacent moment Moving Objects To position orientation relation, it is accumulated by relative pose schematic diagram of the t-1 moment Moving Objects relative to current identification.As shown in figure 3, with Position where the Moving Objects of previous moment is origin, establishes coordinate system, obtains the Moving Objects at current time relative to preceding The relative pose schematic diagram of the Moving Objects at one moment.In the case where current time is t moment, resolving obtains the fortune of t moment Dynamic laterally opposed distance x of the object relative to current identification_tAnd longitudinally opposed distance y_tAnd the Moving Objects of t moment are opposite In the relative angle a of current identification_t, that is, having obtained the current location of t moment Moving Objects relative to the opposite of current identification Position orientation relation.

Optionally, in control method for movement provided by the embodiments of the present application, the current location based on Moving Objects is opposite Controlling Moving Objects to be moved to next mark from current location in the relative pose relationship of next mark includes: based on Moving Objects Relative pose relationship of the current location relative to next mark, planning is moved to the target road of next mark from current location Diameter；It controls Moving Objects and is moved to next mark along destination path.

Specifically, as shown in figure 4, establishing coordinate system using the current location of Moving Objects as origin, Moving Objects are obtained Relative pose schematic diagram of the current location relative to next mark, design arrive (x, y) by (0,0), and angle is the destination path of a, The path can be straight line and be also possible to the curve being fitted or other kinds of path, after obtaining destination path, pass through control The direction of advance of Moving Objects, realization follow destination path.

Optionally, in control method for movement provided by the embodiments of the present application, control Moving Objects are moved along destination path To it is next mark include: based on Moving Objects support minimum turning radius, Moving Objects angular speed and destination path institute Speed limit range in region, determines the travel speed of Moving Objects；It controls Moving Objects and is moved to next mark according to travel speed Know.

It should be noted that having speed limit range in each region of target scene, Moving Objects are needed in speed limit range Interior operation, meanwhile, Moving Objects itself have the limitation of minimum turning radius, thus according to speed limit range and minimum turning radius The speed of service of Moving Objects is controlled, in addition, also needing to determine according to destination path in the case where destination path non-directional route The angular speed of Moving Objects realizes that Moving Objects follow path based on the speed of service and angular speed.

Optionally, in control method for movement provided by the embodiments of the present application, movement is obtained by the way of vision guided navigation Object adjacent moment relative pose relationship, and control Moving Objects along mark topological path in positioning identifier moved Dynamic: when positioning identifier of the control Moving Objects in mark topological path is moved, acquisition collects at multiple acquisition moment Ground texture picture；Obtain the ground texture picture at the first acquisition moment, and the ground texture picture for acquiring the moment from first Middle extraction feature, obtains fisrt feature；It is closed by the relative pose that visual odometry technology calculates fisrt feature and current identification System；The ground texture picture at the second acquisition moment is obtained, and extracts feature from the ground texture picture at the second acquisition moment, is obtained To second feature；By visual odometry technology, according to the relative pose relationship and the first spy of fisrt feature and current identification The relative pose relationship for second feature of seeking peace calculates the relative pose relationship of second feature and current identification；According to second feature It is special to calculate second for relative pose relationship between the relative pose relationship and current identification and next mark of current identification Relative pose relationship between sign and next mark, to obtain displacement and the direction of rotation that Moving Objects are moved to next mark.

Specifically, based on multiple at least two positioning identifiers in target scene, determine that Moving Objects are moved from initial position It moves to the mark topological path of target position；Control Moving Objects from initial position to target position along mark topological path along Positioning identifier moved, and obtain it is several acquisition the moment acquisition ground texture pictures；Obtained for the first acquisition moment Ground texture picture, and feature is therefrom extracted, the feature at the first acquisition moment and the transformational relation of acquisition device coordinate system are calculated, The height between camera and terrain surface specifications and direction are calculated, the characteristic point of ground texture is demarcated, fisrt feature is denoted as；It is logical Cross the ground line that visual odometry technology calculates the acquisition moment of relative pose Relation acquisition second of fisrt feature and current identification Picture is managed, and therefrom extracts feature, the feature at the second acquisition moment and the transformational relation of acquisition device coordinate system is calculated, calculates Height and direction between camera and terrain surface specifications, the characteristic point of ground texture is demarcated, second feature is denoted as；Pass through vision Odometer technology, according to the relative pose relationship of fisrt feature and second feature, to obtain second feature and current identification Relative pose relationship；According to the relative pose relationship between current identification and next mark, second feature and next mark are calculated Between relative pose relationship, calculate the displacement for being moved to next mark and direction of rotation；Next mark is updated to move The current identification of object, and the relative pose relationship by Moving Objects relative to the first identifier before update is reset.

Optionally, in control method for movement provided by the embodiments of the present application, movement is obtained by the way of laser navigation Object adjacent moment relative pose relationship, and control Moving Objects along mark topological path in positioning identifier moved Dynamic: when positioning identifier of the control Moving Objects in mark topological path is moved, acquisition collects at multiple acquisition moment Laser positioning coordinate；The laser positioning coordinate at third acquisition moment is obtained, and the laser positioning for calculating the third acquisition moment is sat The relative pose relationship of mark and current identification；The laser positioning at the 4th acquisition moment is obtained, and swashing for moment is acquired according to third When the relative pose relationship and third of light-seeking coordinate and current identification acquire laser positioning coordinate and the 4th acquisition at moment The relative pose relationship of the laser positioning coordinate at quarter, obtain the 4th acquisition the moment laser positioning coordinate and current identification it is opposite Position orientation relation；According to the relative pose relationship and current identification of the laser positioning coordinate at the 4th acquisition moment and current identification Relative pose relationship between next mark calculates the phase between the laser positioning coordinate and next mark at the 4th acquisition moment To position orientation relation, to obtain displacement and the direction of rotation that Moving Objects are moved to next mark.

Specifically, based on multiple at least two positioning identifiers in target scene, determine that Moving Objects are moved from initial position It moves to the mark topological path of target position；Moving Objects are obtained by the way of laser navigation in the relative pose of adjacent moment Relationship, and positioning identifier of the control Moving Objects in mark topological path are moved: control Moving Objects are opened up along mark When the positioning identifier flutterred in path is moved, the laser positioning in several acquisition moment acquisitions is obtained；When obtaining third acquisition The laser positioning at quarter calculates the laser positioning at third acquisition moment and the relative pose relationship of current identification；Obtain the 4th acquisition The relative pose of the laser positioning at moment, the laser positioning and the laser positioning at the 4th acquisition moment that acquire the moment according to third closes System obtains the laser positioning at the 4th acquisition moment and the relative pose relationship of current identification；According to current identification and next mark Between relative pose relationship, calculate the relative pose relationship between second feature and next mark, calculate be moved to it is next The displacement of mark and direction of rotation.Next mark is updated to the current identification of Moving Objects, and by Moving Objects relative to more The relative pose relationship of first identifier before new is reset.

In addition, it should be noted that, the application is not limited to obtain Moving Objects when adjacent from both the above navigation mode The relative pose relationship at quarter, and positioning identifier of the control Moving Objects in mark topological path are moved.

Control method for movement provided by the embodiments of the present application, by true based at least two positioning identifiers in target scene Determine the mark topological path that Moving Objects are moved to target position from initial position；Based on Moving Objects in the opposite of adjacent moment Relative pose relationship in position orientation relation, and mark topological path between two neighboring positioning identifier, controls Moving Objects edge Positioning identifier in mark topological path is moved, and to reach target position from initial position, it is right in the related technology to solve Navigation accuracy is not high when robot is navigated and arranges demanding problem to scene.By by Moving Objects adjacent Relative pose relationship in the relative pose relationship and mark topological path at moment between two neighboring positioning identifier controls fortune Dynamic object movement, and then reached the navigation accuracy for improving robot, reduce the effect required scene arrangement.

It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions It is executed in computer system, although also, logical order is shown in flow charts, and it in some cases, can be with not The sequence being same as herein executes shown or described step.

The embodiment of the present application also provides a kind of mobile controllers, it should be noted that the movement of the embodiment of the present application Control device can be used for executing provided by the embodiment of the present application for control method for movement.The embodiment of the present application is mentioned below The mobile controller of confession is introduced.

Fig. 5 is the schematic diagram according to the mobile controller of the embodiment of the present application.As shown in figure 5, the device comprises determining that Unit 10 and control unit 20.

Specifically, it is determined that unit 10, for based at least two positioning identifiers in target scene determine Moving Objects from Initial position is moved to the mark topological path of target position；Control unit 20, for based on Moving Objects in adjacent moment Relative pose relationship in relative pose relationship, and mark topological path between two neighboring positioning identifier, control movement pair As being moved along the positioning identifier identified in topological path, to reach target position from initial position.

Optionally, in mobile controller provided by the embodiments of the present application, control unit 20 includes: the first determining mould Block, for determining the current location of Moving Objects relative to current mark in the relative pose relationship of adjacent moment based on Moving Objects The relative pose relationship of knowledge, wherein current identification be identify topological path in the Moving Objects last time by way of positioning identifier；The Two determining modules, the relative pose relationship for next mark based on current identification relative to current identification, and movement pair Relative pose relationship of the current location of elephant relative to current identification determines the current location of Moving Objects relative to next mark Relative pose relationship；Control module, the relative pose for the current location based on Moving Objects relative to next mark close System's control Moving Objects are moved to next mark from current location.

Optionally, in mobile controller provided by the embodiments of the present application, the second determining module includes: the first determining son Module, for determining laterally opposed distance x of the Moving Objects relative to current identification of previous moment_t-1And it is longitudinally opposed away from From y_t-1, and determine relative angle a of the Moving Objects of previous moment relative to current identification_t-1；Second determines submodule, is used for Determine the laterally opposed distance x of the Moving Objects at current time relative to the Moving Objects of previous moment_rAnd it is longitudinally opposed away from From y_r, and the relative angle a of Moving Objects of the Moving Objects at determining current time relative to previous moment_r；First calculates submodule Block, for being calculate by the following formula the laterally opposed distance x of the Moving Objects relative to current identification at current time_tAnd longitudinal phase Adjust the distance y_t:

x_t=cos (a_t-1)x_r-sin(a_t-1)y_r+x_t-1

y_t=sin (a_t-1)x_r+cos(a_t-1)y_r+y_t-1

Second computational submodule, for being calculate by the following formula the Moving Objects at current time relative to the opposite of current identification Angle a_t:

a_t=a_t-1+a_r

Third determines submodule, the relative angle a for the Moving Objects based on current time relative to current identification_t、 Laterally opposed distance x of the Moving Objects at current time relative to current identification_tAnd longitudinally opposed distance y_t, determine movement pair Relative pose relationship of the current location of elephant relative to current identification.

Optionally, in mobile controller provided by the embodiments of the present application, control module includes: planning submodule, is used In relative pose relationship of the current location based on Moving Objects relative to next mark, planning is moved to next from current location The destination path of mark；Control submodule is moved to next mark along destination path for controlling Moving Objects.

Optionally, in mobile controller provided by the embodiments of the present application, control submodule includes: the first control submodule Block, the angular speed of minimum turning radius, Moving Objects for being supported based on Moving Objects and destination path region Speed limit range determines the travel speed of Moving Objects；Second control submodule is moved for controlling Moving Objects according to travel speed It moves to next mark.

Optionally, in mobile controller provided by the embodiments of the present application, the device further include: update module is used for Moving Objects are controlled relative to the relative pose relationship of next mark in the current location based on Moving Objects to move from current location Move to next mark, next identify be updated to the current identifications of Moving Objects, and by Moving Objects relative to update before Current identification relative pose relationship reset.

Optionally, in mobile controller provided by the embodiments of the present application, the second determining module using vision for being led The mode of boat obtains Moving Objects in the relative pose relationship of adjacent moment, and control Moving Objects are along mark topological path Positioning identifier moved, including, third control submodule, for control Moving Objects along mark topological path in positioning When mark is moved, obtain in collected ground texture picture of multiple acquisition moment；First acquisition submodule, for obtaining The ground texture picture at the first acquisition moment, and feature is extracted from the ground texture picture at the first acquisition moment, obtain first Feature；Third computational submodule, the relative pose for calculating fisrt feature and current identification by visual odometry technology close System；Second acquisition submodule, for obtaining the ground texture picture at the second acquisition moment, and the ground line for acquiring the moment from second Feature is extracted in reason picture, obtains second feature；4th computational submodule, for passing through visual odometry technology, according to first It is special to calculate second for the relative pose relationship of the relative pose relationship and fisrt feature and second feature of feature and current identification The relative pose relationship of sign and current identification；5th computational submodule, for the opposite position according to second feature and current identification Relative pose relationship between appearance relationship and current identification and next mark calculates between second feature and next mark Relative pose relationship, to obtain displacement and the direction of rotation that Moving Objects are moved to next mark.

Optionally, in mobile controller provided by the embodiments of the present application, the second determining module using laser for being led The mode of boat obtains Moving Objects in the relative pose relationship of adjacent moment, and control Moving Objects are along mark topological path Positioning identifier moved, comprising: third acquisition submodule, for control Moving Objects along mark topological path in positioning When mark is moved, obtain in collected laser positioning coordinate of multiple acquisition moment；4th acquisition submodule, for obtaining Third acquires the laser positioning coordinate at moment, and calculates the laser positioning coordinate at third acquisition moment and the opposite position of current identification Appearance relationship；5th acquisition submodule, for obtaining the laser positioning at the 4th acquisition moment, and according to the laser at third acquisition moment Position laser positioning coordinate and the 4th acquisition moment at relative pose relationship and third the acquisition moment of coordinate and current identification Laser positioning coordinate relative pose relationship, obtain the 4th acquisition the moment laser positioning coordinate and current identification opposite position Appearance relationship；6th computational submodule, for according to the laser positioning coordinate at the 4th acquisition moment and the relative pose of current identification Relative pose relationship between relationship and current identification and next mark calculates the laser positioning coordinate at the 4th acquisition moment Relative pose relationship between next mark, to obtain displacement and the direction of rotation that Moving Objects are moved to next mark.

Mobile controller provided by the embodiments of the present application, by determination unit 10 based at least two in target scene Positioning identifier determines that Moving Objects are moved to the mark topological path of target position from initial position；Control unit 20 is based on movement Relative pose relationship of the object in adjacent moment, and the relative pose in mark topological path between two neighboring positioning identifier Relationship, positioning identifier of the control Moving Objects in mark topological path is moved, to reach target position from initial position, Navigation accuracy is not high and demanding to scene arrangement when solving the problems, such as in the related technology to navigate to robot, passes through It in the relative pose relationship of adjacent moment and is identified in topological path between two neighboring positioning identifier by Moving Objects Relative pose relationship controls Moving Objects movement, and then has reached the navigation accuracy for improving robot, reduces and wants to scene arrangement The effect asked.

The mobile controller includes processor and memory, the conduct such as above-mentioned determination unit 10 and control unit 20 Program unit stores in memory, executes above procedure unit stored in memory by processor to realize corresponding function Energy.

Include kernel in processor, is gone in memory to transfer corresponding program unit by kernel.Kernel can be set one Or more, it is not high and to field come navigation accuracy when solving in the related technology to navigate to robot by adjusting kernel parameter Scape arranges demanding problem.

Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/ Or the forms such as Nonvolatile memory, if read-only memory (ROM) or flash memory (flash RAM), memory include that at least one is deposited Store up chip.

The embodiment of the invention provides a kind of storage mediums, are stored thereon with program, real when which is executed by processor The existing control method for movement.

The embodiment of the invention provides a kind of processor, the processor is for running program, wherein described program operation Control method for movement described in Shi Zhihang.

The embodiment of the invention provides a kind of equipment, equipment include processor, memory and storage on a memory and can The program run on a processor, processor perform the steps of fixed based at least two in target scene when executing program Bit identification determines that Moving Objects are moved to the mark topological path of target position from initial position；Based on Moving Objects when adjacent Relative pose relationship in the relative pose relationship at quarter, and mark topological path between two neighboring positioning identifier, control fortune Positioning identifier of the dynamic object in mark topological path is moved, to reach target position from initial position.

Based on Moving Objects in the relative pose relationship of adjacent moment, and two neighboring positioning is marked in mark topological path Relative pose relationship between knowledge, it includes: to be based on that positioning identifier of the control Moving Objects in mark topological path, which move, Moving Objects determine opposite position of the current location relative to current identification of Moving Objects in the relative pose relationship of adjacent moment Appearance relationship, wherein current identification be identify topological path in the Moving Objects last time by way of positioning identifier；Based on current identification Next mark relative to the relative pose relationship of current identification and the current location of Moving Objects relative to current identification Relative pose relationship determines relative pose relationship of the current location relative to next mark of Moving Objects；Based on Moving Objects Current location from current location be moved to next mark relative to the relative pose relationship control Moving Objects of next mark.

Determine the current location of Moving Objects relative to current in the relative pose relationship of adjacent moment based on Moving Objects The relative pose relationship of mark comprises determining that laterally opposed distance x of the Moving Objects relative to current identification of previous moment_t-1 And longitudinally opposed distance y_t-1, and determine relative angle a of the Moving Objects of previous moment relative to current identification_t-1；It determines Laterally opposed distance x of the Moving Objects at current time relative to the Moving Objects of previous moment_rAnd longitudinally opposed distance y_r, And the relative angle a of Moving Objects of the Moving Objects at determining current time relative to previous moment_r；It is calculate by the following formula current Laterally opposed distance x of the Moving Objects at moment relative to current identification_tAnd longitudinally opposed distance y_t:

x_t=cos (a_t-1)x_r-sin(a_t-1)y_r+x_t-1

y_t=sin (a_t-1)x_r+cos(a_t-1)y_r+y_t-1

a_t=a_t-1+a_r

Moving Objects are controlled from current relative to the relative pose relationship of next mark based on the current location of Moving Objects It includes: relative pose relationship of the current location based on Moving Objects relative to next mark that position, which is moved to next mark, rule Draw the destination path that next mark is moved to from current location；It controls Moving Objects and is moved to next mark along destination path.

It includes: the minimum turning half supported based on Moving Objects that control Moving Objects, which are moved to next mark along destination path, The speed limit range of diameter, the angular speed of Moving Objects and destination path region, determines the travel speed of Moving Objects；Control Moving Objects processed are moved to next mark according to travel speed.

Moving Objects are controlled from working as relative to the relative pose relationship of next mark in the current location based on Moving Objects Front position is moved to after next mark, this method further include: next mark is updated to the current identification of Moving Objects, and will Moving Objects are reset relative to the relative pose relationship of the current identification before update.

Moving Objects are obtained by the way of vision guided navigation in the relative pose relationship of adjacent moment, and control movement pair As along mark topological path in positioning identifier moved: control Moving Objects along mark topological path in positioning identifier into When row is mobile, obtain in collected ground texture picture of multiple acquisition moment；Obtain the ground texture figure at the first acquisition moment Piece, and feature is extracted from the ground texture picture at the first acquisition moment, obtain fisrt feature；Pass through visual odometry technology meter Calculate the relative pose relationship of fisrt feature and current identification；The ground texture picture at the second acquisition moment is obtained, and is adopted from second Collect in the ground texture picture at moment and extract feature, obtains second feature；By visual odometry technology, according to fisrt feature with The relative pose relationship and fisrt feature of current identification and the relative pose relationship of second feature, calculate second feature and work as The relative pose relationship of preceding mark；According to the relative pose relationship and current identification of second feature and current identification with it is next Relative pose relationship between mark calculates the relative pose relationship between second feature and next mark, to obtain movement pair Displacement and direction of rotation as being moved to next mark.

Moving Objects are obtained by the way of laser navigation in the relative pose relationship of adjacent moment, and control movement pair As along mark topological path in positioning identifier moved: control Moving Objects along mark topological path in positioning identifier into When row is mobile, obtain in collected laser positioning coordinate of multiple acquisition moment；The laser positioning for obtaining the third acquisition moment is sat Mark, and calculate the laser positioning coordinate at third acquisition moment and the relative pose relationship of current identification；Obtained for the 4th acquisition moment Laser positioning, and according to third acquire the moment laser positioning coordinate and current identification relative pose relationship and third The laser positioning coordinate at moment and the relative pose relationship of the laser positioning coordinate at the 4th acquisition moment are acquired, the 4th acquisition is obtained The laser positioning coordinate at moment and the relative pose relationship of current identification；According to the 4th acquisition the moment laser positioning coordinate with work as Relative pose relationship between the relative pose relationship and current identification and next mark of preceding mark, when calculating the 4th acquisition Relative pose relationship between the laser positioning coordinate and next mark at quarter, to obtain the position that Moving Objects are moved to next mark Shifting and direction of rotation.

Equipment herein can be server, PC, PAD, mobile phone etc..

Present invention also provides a kind of computer program products, when executing on data processing equipment, are adapted for carrying out just The program of beginningization there are as below methods step: determine Moving Objects from start bit based at least two positioning identifiers in target scene Set the mark topological path for being moved to target position；Based on Moving Objects adjacent moment relative pose relationship, and mark Relative pose relationship in topological path between two neighboring positioning identifier, control Moving Objects are determined in mark topological path Bit identification is moved, to reach target position from initial position.

Determine the current location of Moving Objects relative to current in the relative pose relationship of adjacent moment based on Moving Objects The relative pose relationship of mark comprises determining that laterally opposed distance x of the Moving Objects relative to current identification of previous moment_t-1 And longitudinally opposed distance y_t-1, and determine relative angle a of the Moving Objects of previous moment relative to current identification_t-1；It determines Laterally opposed distance x of the Moving Objects at current time relative to the Moving Objects of previous moment_rAnd longitudinally opposed distance y_r, And the relative angle a of Moving Objects of the Moving Objects at determining current time relative to previous moment；It is calculate by the following formula current Laterally opposed distance x of the Moving Objects at moment relative to current identification_tAnd longitudinally opposed distance y_t:

x_t=cos (a_t-1)x_r-sin(a_t-1)y_r+x_t-1

y_t=sin (a_t-1)x_r+cos(a_t-1)y_r+y_t-1

It is calculate by the following formula the relative angle of the Moving Objects relative to current identification at current time^a _t:

a_t=a_t-1+a_r

It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more, The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces The form of product.

The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates, Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or The function of being specified in multiple boxes.

These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one The step of function of being specified in a box or multiple boxes.

In a typical configuration, calculating equipment includes one or more processors (CPU), input/output interface, net Network interface and memory.

Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/ Or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable Jie The example of matter.

Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data. The example of the storage medium of computer includes, but are not limited to phase change memory (PRAM), static random access memory (SRAM), moves State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable Programmable read only memory (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM), Digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape magnetic disk storage or other magnetic storage devices Or any other non-transmission medium, can be used for storage can be accessed by a computing device information.As defined in this article, it calculates Machine readable medium does not include temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.

It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability It include so that the process, method, commodity or the equipment that include a series of elements not only include those elements, but also to wrap Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including element There is also other identical elements in process, method, commodity or equipment.

It will be understood by those skilled in the art that embodiments herein can provide as method, system or computer program product. Therefore, complete hardware embodiment, complete software embodiment or embodiment combining software and hardware aspects can be used in the application Form.It is deposited moreover, the application can be used to can be used in the computer that one or more wherein includes computer usable program code The shape for the computer program product implemented on storage media (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) Formula.

The above is only embodiments herein, are not intended to limit this application.To those skilled in the art, Various changes and changes are possible in this application.It is all within the spirit and principles of the present application made by any modification, equivalent replacement, Improve etc., it should be included within the scope of the claims of this application.

Claims

1. a kind of control method for movement characterized by comprising

Determine that Moving Objects are moved to from initial position the mark of target position based at least two positioning identifiers in target scene Know topological path；

It is two neighboring fixed in the relative pose relationship of adjacent moment and the mark topological path based on the Moving Objects Relative pose relationship between bit identification controls positioning identifier of the Moving Objects in the mark topological path and is moved It is dynamic, to reach the target position from the initial position.

2. the method according to claim 1, wherein based on the Moving Objects adjacent moment relative pose Relative pose relationship in relationship and the mark topological path between two neighboring positioning identifier, controls the movement pair Include: as move along the positioning identifier identified in topological path

Based on the Moving Objects the relative pose relationship of adjacent moment determine the current locations of the Moving Objects relative to The relative pose relationship of current identification, wherein the current identification is one on Moving Objects described in the mark topological path It is secondary by way of positioning identifier；

Relative pose relationship and the movement pair based on next mark of the current identification relative to the current identification Relative pose relationship of the current location of elephant relative to the current identification, determine the current locations of the Moving Objects relative to The relative pose relationship of next mark；

The relative pose relationship control movement pair of the current location based on the Moving Objects relative to next mark As being moved to next mark from the current location.

3. according to the method described in claim 2, it is characterized in that, based on the Moving Objects adjacent moment relative pose Relationship determines that the current location of the Moving Objects includes: relative to the relative pose relationship of current identification

Determine laterally opposed distance x of the Moving Objects relative to current identification of previous moment_t-1And longitudinally opposed distance y_t-1, and determine relative angle a of the Moving Objects of the previous moment relative to the current identification_t-1；

Determine the laterally opposed distance x of the Moving Objects at current time relative to the Moving Objects of previous moment_rAnd Longitudinally opposed distance y_r, and determine the movement pair of the Moving Objects at the current time relative to the previous moment The relative angle a of elephant_r；

It is calculate by the following formula the laterally opposed distance x of the Moving Objects relative to the current identification at the current time_tWith And longitudinally opposed distance y_t:

x_t=cos (a_t-1)x_r-sin(a_t-1)y_r+x_t-1

y_t=sin (a_t-1)x_r+cos(a_t-1)y_r+y_t-1

It is calculate by the following formula the relative angle a of the Moving Objects relative to the current identification at the current time_t:

a_t=a_t-1+a_r

Relative angle a of the Moving Objects based on current time relative to current identification_t, current time the movement pair As the laterally opposed distance x relative to current identification_tAnd longitudinally opposed distance y_t, determine the current location of the Moving Objects Relative pose relationship relative to current identification.

4. according to the method described in claim 2, it is characterized in that, the current location based on the Moving Objects is relative to described The relative pose relationship control Moving Objects of next mark are moved to next mark from the current location

Relative pose relationship of the current location based on the Moving Objects relative to next mark is planned from described current Position is moved to the destination path of next mark；

It controls the Moving Objects and is moved to next mark along the destination path.

5. according to the method described in claim 4, being moved to it is characterized in that, controlling the Moving Objects along the destination path It is described it is next mark include:

The angular speed and the destination path of the minimum turning radius, the Moving Objects supported based on the Moving Objects The speed limit range of region, determines the travel speed of the Moving Objects；

It controls the Moving Objects and is moved to next mark according to the travel speed.

6. according to the method described in claim 2, it is characterized in that, in the current location based on the Moving Objects relative to institute The relative pose relationship for stating next mark controls after the Moving Objects are moved to next mark from the current location, The method also includes:

Next identify is updated to the current identifications of the Moving Objects, and by the Moving Objects relative to update before The relative pose relationship of current identification is reset.

7. according to the method described in claim 2, existing it is characterized in that, obtaining the Moving Objects by the way of vision guided navigation The relative pose relationship of adjacent moment, and positioning identifier of the control Moving Objects in the mark topological path carry out It is mobile:

Control the Moving Objects along it is described mark topological path in positioning identifier moved when, obtain in multiple acquisitions Carve collected ground texture picture；

The ground texture picture at the first acquisition moment is obtained, and extracts spy from the ground texture picture at the first acquisition moment Sign, obtains fisrt feature；

The relative pose relationship of the fisrt feature Yu the current identification is calculated by visual odometry technology；

The ground texture picture at the second acquisition moment is obtained, and extracts spy from the ground texture picture at the second acquisition moment Sign, obtains second feature；

By the visual odometry technology, according to the relative pose relationship of the fisrt feature and the current identification, and The relative pose relationship of the fisrt feature and the second feature, it is opposite with the current identification to calculate the second feature Position orientation relation；

According to the relative pose relationship and the current identification of the second feature and the current identification and next mark Relative pose relationship between knowledge calculates the relative pose relationship between the second feature and next mark, to obtain The Moving Objects are moved to displacement and the direction of rotation of next mark.

8. according to the method described in claim 2, existing it is characterized in that, obtaining the Moving Objects by the way of laser navigation The relative pose relationship of adjacent moment, and positioning identifier of the control Moving Objects in the mark topological path carry out It is mobile:

Control the Moving Objects along it is described mark topological path in positioning identifier moved when, obtain in multiple acquisitions Carve collected laser positioning coordinate；

Obtain the laser positioning coordinate at third acquisition moment, and calculate the laser positioning coordinate at third acquisition moment with it is described The relative pose relationship of current identification；

It obtains the laser positioning at the 4th acquisition moment, and the laser positioning coordinate at moment and described current is acquired according to the third The laser of the relative pose relationship of mark and the laser positioning coordinate at third acquisition moment and the 4th acquisition moment The relative pose relationship of coordinate is positioned, the laser positioning coordinate for calculating the 4th acquisition moment is opposite with the current identification Position orientation relation；

According to the relative pose relationship of the laser positioning coordinate at the 4th acquisition moment and the current identification and described work as Relative pose relationship between preceding mark and next mark calculates laser positioning coordinate and the institute at the 4th acquisition moment The relative pose relationship between next mark is stated, to obtain the displacement and rotation that the Moving Objects are moved to next mark Direction.

9. a kind of mobile controller characterized by comprising

Determination unit, for determining that Moving Objects are moved to from initial position based at least two positioning identifiers in target scene The mark topological path of target position；

Control unit, for based on the Moving Objects on the topological road of the relative pose relationship of adjacent moment and the mark Relative pose relationship in diameter between two neighboring positioning identifier controls the Moving Objects along the mark topological path Positioning identifier is moved, to reach the target position from the initial position.

10. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein described program right of execution Benefit require any one of 1 to 8 described in control method for movement.

11. a kind of processor, which is characterized in that the processor is for running program, wherein right of execution when described program is run Benefit require any one of 1 to 8 described in control method for movement.