CN110377021B - Equipment control method, device, system and computer readable storage medium - Google Patents
Equipment control method, device, system and computer readable storage medium Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract
The present disclosure provides a device control method for a mobile device, the method comprising: collecting environmental information of a current position; determining a passable area corresponding to the current position based on the environment information; determining a specific position from the passable area, wherein the distance from the specific position to the target position is less than the distance from the current position to the target position; and controlling the movable device to move from the current location to the particular location.
Description
Technical Field
The present disclosure relates to the field of computer technologies, and in particular, to an apparatus control method, an apparatus control device, an apparatus control system, and a computer-readable storage medium.
Background
With the rapid development of electronic technology and the improvement of the scientific level, more and more mobile devices are applied to various fields, such as automobiles, cargo distribution vehicles, unmanned vehicles, and the like, in the fields of life and logistics. The mobile devices, especially unmanned vehicles, usually need to rely on map navigation during driving, but cannot continue driving under the condition that no map information is obtained. Therefore, how to optimize the navigation method of the mobile device becomes a problem which needs to be solved urgently at present.
In the process of implementing the concept of the present disclosure, the inventor finds that in the prior art, at least the following problem exists, and the existing mobile device has a single navigation mode, which affects the driving of the mobile device.
Disclosure of Invention
In view of the above, the present disclosure provides an optimized device control method and device control apparatus.
One aspect of the present disclosure provides a device control method for a mobile device, the method including: the method comprises the steps of collecting environment information of a current position, determining a passable area corresponding to the current position based on the environment information, determining a specific position from the passable area, wherein the distance from the specific position to a target position is smaller than the distance from the current position to the target position, and controlling the movable equipment to move from the current position to the specific position.
According to an embodiment of the present disclosure, the determining the specific position from the passable region includes: and determining a specific area from the passable area based on the position relation between the current position and the target position, and determining the specific position from the specific area.
According to an embodiment of the present disclosure, the controlling the movable device to move from the current position to the specific position includes: determining a movement path from the current location to the specific location, and controlling the movable device to move from the current location to the specific location based on the movement path.
According to an embodiment of the present disclosure, the collecting environmental information of the current location includes: and acquiring the environmental information of the current position under the condition that the electronic map does not have the information of the current position.
According to an embodiment of the present disclosure, the determining a specific area from the passable area based on the position relationship between the current position and the target position includes: determining a target direction of the current position pointing to the target position, determining a direction with an included angle with the target direction meeting a preset threshold condition as a specific direction, and taking a region between the target direction and the specific direction in the passable region as the specific region.
According to an embodiment of the present disclosure, the method further includes: determining the specific position as a first specific position after the movable device moves from the current position to the specific position, storing the movement path, determining whether the movable device can continue to move in a direction approaching the target position based on the first specific position, and controlling the movable device to return to the current position based on the stored movement path in a case where the movable device cannot continue to move in a direction approaching the target position based on the first specific position.
According to an embodiment of the present disclosure, the determining whether the first specific location can be moved further in a direction approaching the target location includes: and setting the first specific position as the current position, and if the specific position corresponding to the current position does not exist, determining that the first specific position cannot be moved continuously in the direction approaching the target position, or if the specific position corresponding to the current position does not satisfy a movement condition, determining that the first specific position cannot be moved continuously in the direction approaching the target position.
According to an embodiment of the present disclosure, the method further includes: marking the movement path in a case where the movement cannot be continued in a direction approaching the target position based on the first specific position.
Another aspect of the present disclosure provides a device control apparatus for a movable device, the apparatus including: the device comprises an acquisition module, a first determination module, a second determination module and a first control module. The mobile device comprises an acquisition module, a first determination module, a second determination module and a first control module, wherein the acquisition module acquires environmental information of a current position, the first determination module determines a passable area corresponding to the current position based on the environmental information, the second determination module determines a specific position from the passable area, the distance from the specific position to a target position is smaller than the distance from the current position to the target position, and the first control module controls the mobile device to move from the current position to the specific position.
According to an embodiment of the present disclosure, determining a specific location from the passable region includes: and determining a specific area from the passable area based on the position relation between the current position and the target position, and determining the specific position from the specific area.
According to an embodiment of the present disclosure, the controlling the movable device to move from the current position to the specific position includes: determining a movement path from the current location to the specific location, and controlling the movable device to move from the current location to the specific location based on the movement path.
According to an embodiment of the present disclosure, the collecting environmental information of the current location includes: and under the condition that the electronic map does not have the information of the current position, acquiring the environmental information of the current position.
According to an embodiment of the present disclosure, the determining a specific area from the passable area based on the position relationship between the current position and the target position includes: determining a target direction in which the current position points to the target position, determining a direction in which an included angle with the target direction meets a preset threshold condition as a specific direction, and taking a region between the target direction and the specific direction in the passable region as the specific region.
According to an embodiment of the present disclosure, the above apparatus further includes: the device comprises a third determination module, a storage module, a judgment module and a second control module. Wherein the third determination module determines the specific position as a first specific position after the movable device moves from the current position to the specific position, the storage module stores the movement path, the determination module determines whether or not the movable device can continue to move in a direction approaching the target position based on the first specific position, and the second control module controls the movable device to return to the current position based on the stored movement path in a case where the movable device cannot continue to move in a direction approaching the target position based on the first specific position.
According to an embodiment of the present disclosure, the determining whether the first specific location can move continuously in a direction approaching the target location includes: and taking the first specific position as the current position, and if the specific position corresponding to the current position does not exist, determining that the first specific position cannot be moved continuously in the direction approaching the target position, or if the specific position corresponding to the current position does not meet the movement condition, determining that the first specific position cannot be moved continuously in the direction approaching the target position.
According to an embodiment of the present disclosure, the apparatus further includes: the marking module marks the movement path in a case where the movement cannot be continued in a direction approaching the target position based on the first specific position.
Another aspect of the present disclosure provides a computer-readable storage medium storing computer-executable instructions for implementing the method as described above when executed.
Another aspect of the disclosure provides a computer program comprising computer executable instructions for implementing the method as described above when executed.
According to the embodiment of the disclosure, the problem that the navigation mode of the movable equipment is single and the driving of the movable equipment is influenced in the prior art can be at least partially solved, and therefore the technical effect of optimizing the navigation mode of the movable equipment can be achieved.
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The above and other objects, features and advantages of the present disclosure will become more apparent from the following description of embodiments of the present disclosure with reference to the accompanying drawings, in which:
fig. 1 schematically illustrates a device control method and a system architecture of device control according to an embodiment of the present disclosure;
fig. 2 schematically illustrates an application scenario of a device control method and device control according to an embodiment of the present disclosure;
FIG. 3A schematically illustrates a flow chart of a device control method according to an embodiment of the present disclosure;
FIG. 3B schematically illustrates a schematic diagram of a device control method according to an embodiment of the disclosure;
FIG. 4 schematically illustrates a flow chart of a device control method according to another embodiment of the present disclosure;
FIG. 5 schematically illustrates a block diagram of a device control apparatus according to an embodiment of the present disclosure;
FIG. 6 schematically illustrates a block diagram of a device control apparatus according to another embodiment of the present disclosure; and
FIG. 7 schematically illustrates a block diagram of a computer system suitable for device control according to an embodiment of the disclosure.
Detailed Description
Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that these descriptions are illustrative only and are not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.
Where a convention analogous to "at least one of A, B and C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B and C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.). Where a convention analogous to "A, B or at least one of C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B or C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).
An embodiment of the present disclosure provides a device control method for a mobile device, the method including: the method comprises the steps of collecting environmental information of a current position, determining a passable area corresponding to the current position based on the environmental information, determining a specific position from the passable area, wherein the distance from the specific position to a target position is smaller than the distance from the current position to the target position, and controlling the movable equipment to move from the current position to the specific position.
Fig. 1 schematically shows a system architecture of a device control method and a device control system according to an embodiment of the present disclosure. It should be noted that fig. 1 is only an example of a system architecture to which the embodiments of the present disclosure may be applied to help those skilled in the art understand the technical content of the present disclosure, and does not mean that the embodiments of the present disclosure may not be applied to other devices, systems, environments or scenarios.
As shown in fig. 1, the system architecture 100 according to this embodiment may include terminal devices 101, 102, 103, a network 104 and a server 105. The network 104 serves as a medium for providing communication links between the terminal devices 101, 102, 103 and the server 105. Network 104 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.
The user may use the terminal devices 101, 102, 103 to interact with the server 105 via the network 104 to receive or send messages or the like. The terminal devices 101, 102, 103 may have installed thereon various communication client applications, such as shopping-like applications, web browser applications, search-like applications, instant messaging tools, mailbox clients, social platform software, etc. (by way of example only).
The terminal devices 101, 102, 103 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.
The server 105 may be a server providing various services, such as a background management server (for example only) providing support for websites browsed by users using the terminal devices 101, 102, 103. The backend management server may analyze and process the received data such as the user request, and feed back a processing result (for example, a web page, information, or data obtained or generated according to the user request) to the terminal device.
It should be noted that the device control method provided by the embodiment of the present disclosure may be generally executed by the server 105. Accordingly, the device control apparatus provided by the embodiment of the present disclosure may be generally disposed in the server 105. The device control method provided by the embodiments of the present disclosure may also be performed by a server or a server cluster that is different from the server 105 and is capable of communicating with the terminal devices 101, 102, 103 and/or the server 105. Accordingly, the device control apparatus provided in the embodiment of the present disclosure may also be disposed in a server or a server cluster that is different from the server 105 and is capable of communicating with the terminal devices 101, 102, 103 and/or the server 105.
For example, the environment information of the current location collected according to the embodiment of the present disclosure may be stored in the terminal devices 101, 102, and 103, and the environment information of the current location collected is sent to the server 105 through the terminal devices 101, 102, and 103, and the server 105 may determine a passable area corresponding to the current location according to the environment information and determine a specific location from the passable area, or the terminal devices 101, 102, and 103 may also determine a passable area corresponding to the current location directly according to the environment information and determine the specific location from the passable area. In addition, the environmental information of the current position can be directly stored in the server 105, and the server 105 determines the passable area corresponding to the current position directly according to the environmental information and determines the specific position from the passable area.
It should be understood that the number of terminal devices, networks, and servers in fig. 1 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
Fig. 2 schematically illustrates an application scenario of the device control method and the device control system according to an embodiment of the present disclosure. It should be noted that fig. 2 is only an example of a scenario in which the embodiments of the present disclosure may be applied to help those skilled in the art understand the technical content of the present disclosure, but does not mean that the embodiments of the present disclosure may not be applied to other devices, systems, environments or scenarios.
As shown in fig. 2, the application scenario 200 may include, for example, a removable device 210.
The mobile device 210 may be a device capable of driving, for example, and may be an autonomous vehicle. The mobile device 210 may be, for example, an automobile, an autonomous vehicle, a smart distribution vehicle, or the like.
According to the embodiment of the present disclosure, the mobile device 210 includes, for example, a collecting device 211, and the collecting device 211 can collect environmental information of the mobile device 210. The acquisition device 211 may be a sensor such as a laser radar, a millimeter wave radar, an image pickup device, or a GPS.
The mobile device 210 can autonomously identify the surrounding environment and autonomously plan a path locally, thereby navigating without relying on a high-precision map. For example, the mobile device 210 can collect current environment information through the collection device 211, determine a drivable area based on the current environment information, and autonomously plan a path in the drivable area, thereby implementing automatic driving.
Fig. 3A schematically illustrates a flow chart of a device control method according to an embodiment of the present disclosure.
As shown in fig. 3A, the method includes operations S310 to S340.
The equipment control method of the embodiment of the disclosure is used for movable equipment, and the movable equipment can be equipment capable of automatically driving, in particular an automatic driving vehicle, an intelligent distribution vehicle and the like.
In operation S310, environment information of a current location is collected.
According to an embodiment of the present disclosure, the environment information may be, for example, environment information in which the removable device is located. The environment information may be image information acquired by a camera device, or point cloud data information acquired by a sensor, or the like. Wherein the mobile device is for example capable of collecting ambient environmental information in real time and navigating automatically in dependence of the collected environmental information.
For example, the mobile device can collect the environment information through its own collection device, which includes, for example, a sensor such as a laser radar, a millimeter wave radar, a camera, a GPS, and the like. And acquiring the environmental information of the current position of the movable equipment in real time through an acquisition device.
Alternatively, the mobile device may be able to navigate autonomously from an electronic map, including, for example, a high-precision map, when information of the current location exists on the electronic map. And acquiring the environmental information of the current position under the condition that the electronic map does not have the information of the current position.
Namely, the mobile equipment can acquire the environmental information of the current position through the acquisition device to realize autonomous navigation. Or the electronic equipment can independently navigate by depending on the electronic map, and when the electronic map has no information of the current position, such as the change of the surrounding environment, the update of the high-precision map in time, or the absence of the high-precision map in the current driving area, the environment information of the current position can be acquired by the acquisition device to realize the independent navigation.
The mobile equipment of the embodiment of the disclosure can realize automatic driving in a high-precision map navigation mode or an autonomous navigation mode of collecting environmental information, so that the navigation mode of the mobile equipment is not single any more, and the automatic driving accuracy and reliability of the mobile equipment are improved by the mutual cooperation of multiple navigation modes.
In operation S320, a passable area corresponding to the current location is determined based on the environment information.
According to embodiments of the present disclosure, the passable area may be, for example, an open road surface, and the passable area may be free of, for example, buildings, forests, lake surfaces, and other obstructing objects.
When the environment information is image information, the passable area can be determined by performing image recognition on the image information, or when the environment information is point cloud data acquired by a sensor, the passable area corresponding to the current position is determined according to the point cloud data.
In operation S330, a specific location is determined from the passable region, wherein a distance from the specific location to the target location is less than a distance from the current location to the target location.
According to embodiments of the present disclosure, the target location may be, for example, a destination that the mobile device needs to reach, such as a base station for unloading or loading the intelligent delivery vehicle when the mobile device is an intelligent delivery vehicle.
According to embodiments of the present disclosure, the particular location may be, for example, one of the locations in the navigable area. For example, the mobile device may be capable of determining a plurality of locations within the navigable area and determining a location from the plurality of locations that is closer to the target location, in particular, a distance from the particular location to the target location that is less than a distance from a current location of the mobile device to the target location.
Wherein, the specific position is determined from the passable area, and the method comprises the following steps:
first, a specific area is determined from the passable areas based on the positional relationship between the current position and the target position.
According to an embodiment of the present disclosure, the specific area is, for example, a partial area in the passable area. For example, the passable area comprises a plurality of partial areas, wherein the distance from some areas to the target position is less than the distance from the current position to the target position, and the distance from some areas to the target position is greater than the distance from the current position to the target position. The specific area may be, for example, an area whose distance to the target position is smaller than the distance from the current position to the target position among the plurality of partial areas.
In the embodiment of the present disclosure, the current location includes corresponding latitude and longitude information, the target location may include corresponding latitude and longitude information, and the location relationship between the current location and the target location may include, for example, direction information from the current location to the target location, that is, a direction in which the current location points to the target location, and a partial area closer to the direction is determined from the passable area as a specific area, where the specific area is an area closer to the target location.
Second, a specific location is determined from the specific area.
According to an embodiment of the present disclosure, the specific location may be, for example, one of the locations in the specific area. For example, the mobile device may be capable of determining a plurality of locations in a particular area and a location from the plurality of locations that is closer to the target location, in particular, a distance from the particular location to the target location that is less than a distance from a current location of the mobile device to the target location.
Wherein determining the specific area from the passable area based on the position relationship between the current position and the target position includes:
first, a target direction in which a current position points to a target position is determined.
According to the embodiment of the present disclosure, the positional relationship between the current position and the target position includes, for example, a target direction in which the current position points to the target position, and based on the target direction, for example, the positional relationship between the target position and the communication-capable area can be characterized.
Secondly, determining a direction which has an included angle with the target direction and meets a preset threshold value condition as a specific direction.
According to the embodiment of the present disclosure, the specific direction is, for example, a direction pointing away from the current position, the specific direction has an angle with respect to the target direction, the specific direction may include, for example, one direction or two directions, when two directions are included, the angle between one direction and the target direction may be a clockwise angle, the angle between the other direction and the target direction may be a counterclockwise angle, and when the angle satisfies a preset threshold, the direction corresponding to the angle is the specific direction. The preset threshold may be, for example, a specific angle value, where the preset threshold corresponding to the clockwise included angle may be the same as or different from the preset threshold corresponding to the counterclockwise included angle.
Third, a region between the target direction and the specific direction among the passable regions is set as the specific region.
For example, the target direction or the specific direction passes through the passable region, and a region between the specific direction and the target direction in the passable region is regarded as a specific region that satisfies a certain relationship with the target direction, that is, the distance from the specific region to the target position is small.
In operation S340, the movable apparatus is controlled to move from the current position to the specific position.
According to the embodiment of the disclosure, after the specific position is determined, the movable device can be controlled to automatically travel from the current position to the specific position, so that the movable device can travel towards the direction close to the target position.
Wherein controlling the movable device to move from the current position to the particular position comprises:
first, a moving path from a current location to a specific location is determined.
According to the embodiment of the present disclosure, the moving path may be, for example, a path from the current position to the specific position, and the path may be a straight path from the current position to the specific position or a curved path. Preferably, the movement path may be a straight path, but it is not excluded that the movement path may be a curved path bypassing an obstacle when the mobile device recognizes that an obstacle exists between the current location and the specific location or the road condition is not good.
Second, the movable device is controlled to move from the current position to the specific position based on the movement path.
In the embodiment of the disclosure, after the moving path is determined, the movable device is controlled to travel from the current position to the specific position, and when the movable device reaches the specific position, the next specific position can be continuously acquired, so that the process is repeated until the target position is reached.
According to the embodiment of the present disclosure, the specific location can be determined and driven from the current location to the specific location by the above method regardless of whether the mobile device is located at a straight line section or a complex intersection.
The movable equipment of the embodiment of the disclosure can determine the passable area by acquiring the environmental information of the current position, and determine the specific position from the passable area, so that the movable equipment can move to the specific position from the current position, realize that the movable equipment can autonomously identify the surrounding environment and autonomously plan the path locally, and thus navigate without depending on a high-precision map, and realize automatic driving.
The mobile equipment provided by the embodiment of the disclosure can realize automatic driving in a high-precision map navigation or environment information collection autonomous navigation mode, so that the navigation mode of the mobile equipment is no longer single, and the automatic driving accuracy and reliability of the mobile equipment are improved through mutual cooperation of multiple navigation modes.
Fig. 3B schematically shows a schematic diagram of a device control method according to an embodiment of the present disclosure.
As shown in fig. 3B, the movable device, for example, an intelligent distribution vehicle, is at the current location a, for example, and the movable device needs to reach the target location D from the current location a, for example.
First, environment information of the current location is acquired (for example, the acquisition range is a circular area in the figure), and the passable area 301 is determined based on the environment information.
According to the current position a and the target direction a of the target position D, the target direction a points to the target position D from the current position a, and a direction b and a direction c which satisfy a preset threshold with the target direction a are, for example, specific directions, where the preset threshold may be a certain angle value, for example, an included angle between the direction b and the target direction a is 45 degrees, and an included angle between the direction c and the target direction a is 45 degrees.
Thereafter, an area between the specific direction and the target direction a is determined as a specific area 302 (a thick line area in fig. 3B) from the communication-capable area 301, for example, an area between the direction B and the target direction, and an area between the direction c and the target direction a is determined as the specific area 302.
Wherein, the specific area 302 includes a plurality of positions, and a specific position B is determined from a plurality of position points, and the distance from the specific position B to the target position D is smaller than the distance from the current position a to the target position, for example, the specific position B may be the closest position to the target position D among the plurality of position points. But it is not excluded that, when there are a plurality of positions in the specific area 302 having the same distance to the target position D, a position closer to the target direction a among the plurality of positions having the same distance to the target position D may be taken as the specific position B.
In the embodiment of the disclosure, after the moving path is determined based on the current position a and the specific position B, the movable device is controlled to travel from the current position a to the specific position B, and when the movable device reaches the specific position B, the next specific position can be continuously acquired, and the process is repeated until the target position D is reached.
Fig. 4 schematically shows a flow chart of a device control method according to another embodiment of the present disclosure.
As shown in fig. 4, the method includes operations S310 to S340 and operations S410 to S450. Operations S310 to S340 are the same as or similar to the operations described above with reference to fig. 3A, and are not described again here.
In operation S410, after the movable device is moved from the current location to the specific location, the specific location is determined as a first specific location.
According to the embodiment of the present disclosure, after the specific location is determined, the movable device is controlled to travel from the current location to the specific location based on the movement path, and the specific location is taken as the first specific area.
In operation S420, the movement path is stored.
According to the embodiment of the disclosure, after the movable device moves from the current position to the specific position, the moving path is indicated to be passable, and the moving path is recorded and stored for later use.
In operation S430, it is determined whether the movement in the direction approaching the target position can be continued based on the first specific position.
In the embodiment of the present disclosure, after the movable device reaches the first specific position, it is continuously determined whether or not the traveling in the direction toward the target position can be continued based on the first specific position.
Specifically, the determining whether the first specific position can be moved further in the direction approaching the target position based on the first specific position includes:
first, the first specific location is taken as the current location. And based on the current position (first specific position), the specific position corresponding to the current position is continuously determined.
Next, when there is no specific position corresponding to the current position, it is determined that the first specific position cannot be moved further in the direction approaching the target position, or when the specific position corresponding to the current position does not satisfy the movement condition, it is determined that the first specific position cannot be moved further in the direction approaching the target position.
For example, when there is no specific position corresponding to the current position (first specific position), for example, when the current position is an end-cut and no way is available for the mobile device to travel at the current position, the mobile device is determined as being unable to move further in a direction approaching the target position based on the first specific position. Alternatively, in a case where the specific location corresponding to the current location (first specific location) does not satisfy the movement condition, for example, the corresponding specific location may have a safety problem and may not suggest walking, the movable device may be determined as being unable to move further in a direction approaching the target location based on the first specific location.
And if the specific position corresponding to the current position exists and meets the moving condition, controlling the movable equipment to move from the current position to the corresponding specific position. The specific process is the same as or similar to the method described above with reference to fig. 3A to 3B, and is not described again here.
In operation S440, in case that the movement cannot be continued in the direction approaching the target position based on the first specific position, the movable apparatus is controlled to return to the current position based on the stored movement path.
In the embodiment of the present disclosure, in a case where the determination result of the movable device is that the movable device cannot continue to move in the direction approaching the target position based on the first specific position, the movable device is controlled to return to the current position before the first specific position based on the stored movement path, and the corresponding specific position different from the first specific position is continuously determined based on the current position.
Alternatively, when the movable device travels toward the delivery destination at an earlier stage but deviates from the direction of the target position later, the farther away, the movable device may be controlled to return to the current position before the first specific position based on the stored movement path.
In operation S450, in a case where the movement cannot be continued in a direction approaching the target position based on the first specific position, the movement path is marked.
According to an embodiment of the present disclosure, in a case where the first specific location cannot be moved further in a direction approaching the target location, a moving path of the current location to the first specific location is marked so that the movable device can return to the current location before the first specific location based on the stored moving path. And, the movable apparatus can not move to the first specific location again according to the marked movement path, that is, the movable apparatus can continuously determine the corresponding specific location different from the first specific location based on the current location, and at this time, when continuously determining the next specific location, the first specific location can be excluded from being the specific location again according to the marked movement path.
Or, the movable device may mark the surrounding area where the movement path is located as an area that cannot be continued in the direction approaching the target position after marking the movement path, and when the movable device subsequently determines the specific position again, the movable device may not take the position point in the surrounding area corresponding to the movement path as the specific position any more, thereby avoiding a failure in driving caused by driving to the periphery of the first specific position again.
More specifically, the intelligent delivery vehicle can return along the road until the intersection of the travel direction is selected previously, mark that the traffic direction selected this time is the already explored and impassable direction, then select other traffic directions of the intersection, and if all the selectable traffic directions of the intersection have been explored completely, continue to back to the more previous selected intersection, and repeat.
The intelligent delivery vehicle can return to the intersection with the previous selected traveling direction along the road, and the direction is marked as the explored direction but not explored to the end. Then other traffic directions of the intersection are selected, if all the selectable traffic directions of the intersection are explored completely, the intersection is continuously retreated to the previous selected intersection, and the process is repeated.
If all the intersections are explored and can not pass through, the roads which are not explored to the end can be re-walked to continue exploration.
After the distribution destination is determined, the current intelligent distribution task is completed, the current distribution path is recorded, the related data are returned to the server, the intelligent distribution vehicle continues to perform the subsequent distribution task or returns to the stop point, all possible traffic directions are determined to be explored, but the current distribution path cannot reach the distribution destination, then the intelligent distribution vehicle abandons the current distribution task, the data are returned to the server, the subsequent distribution task is executed, or the stop point is returned, and the current distribution package is delivered again in other modes.
The embodiment of the disclosure provides a navigation method which does not depend on high-precision map data, only depends on a sensor of an intelligent distribution vehicle and a position of the vehicle, and gradually explores until a destination is reached through local path planning. The method can support the intelligent distribution vehicle to change the surrounding environment, the high-precision map is not updated in time, or the high-precision map does not cover the area, and the intelligent distribution vehicle can independently navigate and walk to reach the destination or return to the parking spot. The method can also be used for searching unknown areas and collecting data around the traveling path, so that the problems that the high-precision map is not updated in time or the high-precision map is lost are solved. The method expands the application range of the intelligent delivery vehicle and the safety and the robustness in the autonomous walking process.
Fig. 5 schematically shows a block diagram of a device control apparatus according to an embodiment of the present disclosure.
As shown in fig. 5, the device control apparatus 500 can be used for a mobile device, the device control apparatus 500 including an acquisition module 510, a first determination module 520, a second determination module 530, and a first control module 540.
The collection module 510 may be used to collect environmental information for a current location.
According to the embodiment of the disclosure, collecting environmental information of a current location includes: and acquiring the environmental information of the current position under the condition that the electronic map does not have the information of the current position.
According to the embodiment of the present disclosure, the collecting module 510 may perform, for example, the operation S310 described above with reference to fig. 3A, which is not described herein again.
The first determination module 520 may be configured to determine a passable area corresponding to the current location based on the environment information. According to an embodiment of the present disclosure, the first determining module 520 may perform, for example, operation S320 described above with reference to fig. 3A, which is not described herein again.
The second determining module 530 may be configured to determine a specific location from the passable region, wherein a distance from the specific location to the target location is smaller than a distance from the current location to the target location.
According to the embodiment of the disclosure, determining a specific position from a passable area comprises: and determining a specific area from the passable area and determining a specific position from the specific area based on the position relation between the current position and the target position.
According to the embodiment of the present disclosure, determining a specific area from a passable area based on a positional relationship between a current position and a target position includes: determining a target direction of the current position pointing to the target position, determining a direction with an included angle with the target direction meeting a preset threshold value condition as a specific direction, and taking a region between the target direction and the specific direction in the passable region as a specific region.
According to an embodiment of the present disclosure, the second determining module 530 may perform, for example, the operation S330 described above with reference to fig. 3A, which is not described herein again.
The first control module 540 may be used to control the movement of the movable device from a current location to a particular location.
According to an embodiment of the present disclosure, controlling a movable device to move from a current position to a specific position includes: determining a movement path from the current location to the specific location, and controlling the movable device to move from the current location to the specific location based on the movement path.
According to the embodiment of the present disclosure, the first control module 540 may, for example, perform the operation S340 described above with reference to fig. 3A, which is not described herein again.
Fig. 6 schematically shows a block diagram of a device control apparatus according to another embodiment of the present disclosure.
As shown in fig. 6, the device control apparatus 600 includes an acquisition module 510, a first determination module 520, a second determination module 530, a first control module 540, a third determination module 610, a storage module 620, a judgment module 630, a second control module 640, and a marking module 650. The acquisition module 510, the first determination module 520, the second determination module 530, and the first control module 540 are the same as or similar to the modules described above with reference to fig. 5, and are not repeated herein.
The third determining module 610 may be configured to determine the specific location as the first specific location after the movable device moves from the current location to the specific location. According to an embodiment of the present disclosure, the third determining module 610 may perform, for example, operation S410 described above with reference to fig. 4, which is not described herein again.
The storage module 620 may be used to store the movement path. According to the embodiment of the present disclosure, the storage module 620 may perform, for example, the operation S420 described above with reference to fig. 4, which is not described herein again.
The determining module 630 may be configured to determine whether to move further in a direction approaching the target location based on the first specific location.
According to the embodiment of the present disclosure, determining whether the first specific position can be moved continuously toward the target position includes: the first specific position is set as the current position, and if there is no specific position corresponding to the current position, it is determined that the first specific position cannot be moved further in the direction approaching the target position, or if the specific position corresponding to the current position does not satisfy the movement condition, it is determined that the first specific position cannot be moved further in the direction approaching the target position.
According to the embodiment of the present disclosure, the determining module 630 may, for example, perform the operation S430 described above with reference to fig. 4, which is not described herein again.
The second control module 640 may be configured to control the movable device to return to the current position based on the stored movement path in case the movement in the direction approaching the target position cannot be continued based on the first specific position. According to the embodiment of the present disclosure, the second control module 640 may, for example, perform the operation S440 described above with reference to fig. 4, which is not described herein again.
The marking module 650 may be configured to mark the movement path based on the first specific location failing to move further in a direction approaching the target location. According to an embodiment of the present disclosure, the marking module 650 may perform, for example, the operation S450 described above with reference to fig. 4, which is not described herein again.
Any number of modules, sub-modules, units, sub-units, or at least part of the functionality of any number thereof according to embodiments of the present disclosure may be implemented in one module. Any one or more of the modules, sub-modules, units, and sub-units according to the embodiments of the present disclosure may be implemented by being split into a plurality of modules. Any one or more of the modules, sub-modules, units, sub-units according to embodiments of the present disclosure may be implemented at least in part as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or may be implemented in any other reasonable manner of hardware or firmware by integrating or packaging a circuit, or in any one of or a suitable combination of software, hardware, and firmware implementations. Alternatively, one or more of the modules, sub-modules, units, sub-units according to embodiments of the disclosure may be at least partially implemented as a computer program module, which when executed may perform the corresponding functions.
For example, any plurality of the acquisition module 510, the first determination module 520, the second determination module 530, the first control module 540, the third determination module 610, the storage module 620, the determination module 630, the second control module 640, and the marking module 650 may be combined into one module to be implemented, or any one of them may be split into a plurality of modules. Alternatively, at least part of the functionality of one or more of these modules may be combined with at least part of the functionality of the other modules and implemented in one module. According to an embodiment of the present disclosure, at least one of the acquisition module 510, the first determination module 520, the second determination module 530, the first control module 540, the third determination module 610, the storage module 620, the determination module 630, the second control module 640, and the marking module 650 may be implemented at least in part as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or may be implemented in hardware or firmware by any other reasonable manner of integrating or packaging a circuit, or implemented in any one of three implementations of software, hardware, and firmware, or in a suitable combination of any of them. Alternatively, at least one of the acquisition module 510, the first determination module 520, the second determination module 530, the first control module 540, the third determination module 610, the storage module 620, the determination module 630, the second control module 640, and the tagging module 650 may be implemented at least in part as a computer program module that, when executed, may perform corresponding functions.
FIG. 7 schematically illustrates a block diagram of a computer system suitable for device control according to an embodiment of the disclosure. The computer system illustrated in FIG. 7 is only one example and should not impose any limitations on the scope of use or functionality of embodiments of the disclosure.
As shown in fig. 7, a computer system 700 according to an embodiment of the present disclosure includes a processor 701, which can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. The processor 701 may include, for example, a general purpose microprocessor (e.g., a CPU), an instruction set processor and/or associated chipset, and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)), among others. The processor 701 may also include on-board memory for caching purposes. The processor 701 may comprise a single processing unit or a plurality of processing units for performing the different actions of the method flows according to embodiments of the present disclosure.
In the RAM 703, various programs and data necessary for the operation of the system 700 are stored. The processor 701, the ROM 702, and the RAM 703 are connected to each other by a bus 704. The processor 701 performs various operations of the method flows according to the embodiments of the present disclosure by executing programs in the ROM 702 and/or the RAM 703. It is noted that the programs may also be stored in one or more memories other than the ROM 702 and RAM 703. The processor 701 may also perform various operations of method flows according to embodiments of the present disclosure by executing programs stored in the one or more memories.
According to an embodiment of the present disclosure, the system 700 may also include an input/output (I/O) interface 705, the input/output (I/O) interface 705 also being connected to the bus 704. The system 700 may also include one or more of the following components connected to the I/O interface 705: an input portion 706 including a keyboard, a mouse, and the like; an output section 707 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 708 including a hard disk and the like; and a communication section 709 including a network interface card such as a LAN card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. A drive 710 is also connected to the I/O interface 705 as needed. A removable medium 716 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read out therefrom is mounted into the storage section 708 as necessary.
According to embodiments of the present disclosure, method flows according to embodiments of the present disclosure may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer-readable storage medium, the computer program containing program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 709, and/or installed from the removable medium 711. The computer program, when executed by the processor 701, performs the above-described functions defined in the system of the embodiments of the present disclosure. The systems, devices, apparatuses, modules, units, etc. described above may be implemented by computer program modules according to embodiments of the present disclosure.
The present disclosure also provides a computer-readable storage medium, which may be contained in the apparatus/device/system described in the above embodiments; or may exist separately and not be assembled into the device/apparatus/system. The computer-readable storage medium carries one or more programs which, when executed, implement the method according to an embodiment of the disclosure.
According to embodiments of the present disclosure, the computer-readable storage medium may be a computer-non-volatile computer-readable storage medium, which may include, for example and without limitation: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
For example, according to an embodiment of the present disclosure, a computer-readable storage medium may include the above-described ROM 702 and/or RAM 703 and/or one or more memories other than the ROM 702 and RAM 703.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
It will be appreciated by those skilled in the art that various combinations and/or combinations of the features recited in the various embodiments of the disclosure and/or the claims may be made even if such combinations or combinations are not explicitly recited in the disclosure. In particular, various combinations and/or combinations of the features recited in the various embodiments and/or claims of the present disclosure may be made without departing from the spirit or teaching of the present disclosure. All such combinations and/or associations are within the scope of the present disclosure.
The embodiments of the present disclosure have been described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described separately above, this does not mean that the measures in the embodiments cannot be used in advantageous combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be devised by those skilled in the art without departing from the scope of the present disclosure, and such alternatives and modifications are intended to be within the scope of the present disclosure.
Claims (14)
1. A device control method for a mobile device, the method comprising:
collecting environmental information of a current position;
determining a passable area corresponding to the current position based on the environment information;
determining a specific position from the passable area, wherein the distance from the specific position to the target position is less than the distance from the current position to the target position;
controlling the movable device to move from the current location to the particular location, wherein the controlling the movable device to move from the current location to the particular location comprises: determining a movement path from the current location to the specific location; controlling the movable device to move from the current location to the particular location based on the movement path;
determining the specific location as a first specific location after the movable device moves from the current location to the specific location;
storing the moving path;
determining whether the first specific position can be moved continuously in a direction approaching the target position; and
controlling the movable device to return to the current position based on the stored movement path in a case where the movement cannot be continued in a direction approaching the target position based on the first specific position.
2. The method of claim 1, wherein said determining a particular location from said navigable area comprises:
determining a specific area from the passable area based on the position relationship between the current position and the target position;
determining the specific location from the specific area.
3. The method of claim 1, wherein the collecting environmental information of the current location comprises:
and under the condition that the electronic map does not have the information of the current position, acquiring the environmental information of the current position.
4. The method of claim 2, wherein the determining a specific area from the passable area based on the positional relationship of the current position and the target position comprises:
determining a target direction in which the current position points to the target position;
determining a direction which has an included angle with the target direction and meets a preset threshold condition as a specific direction;
and taking the area between the target direction and the specific direction in the passable area as the specific area.
5. The method of claim 1, wherein the determining based on whether the first particular location can continue to move in a direction approaching the target location comprises:
taking the first specific location as the current location;
if the specific position corresponding to the current position does not exist, determining that the vehicle cannot move continuously in the direction approaching the target position based on the first specific position, or determining that the vehicle cannot move continuously in the direction approaching the target position based on the first specific position if the specific position corresponding to the current position does not satisfy a movement condition.
6. The method of claim 1, further comprising:
marking the movement path in a case where the movement cannot be continued in a direction approaching the target position based on the first specific position.
7. A device control apparatus for a movable device, the apparatus comprising:
the acquisition module is used for acquiring environmental information of the current position;
the first determining module is used for determining a passable area corresponding to the current position based on the environment information;
the second determination module is used for determining a specific position from the passable area, wherein the distance from the specific position to the target position is smaller than the distance from the current position to the target position;
a first control module that controls the movable device to move from the current location to the particular location, wherein the controlling the movable device to move from the current location to the particular location comprises: determining a movement path from the current location to the specific location; controlling the movable device to move from the current location to the particular location based on the movement path;
a third determination module that determines the specific location as a first specific location after the movable device moves from the current location to the specific location;
a storage module which stores the moving path;
the judging module is used for judging whether the first specific position can be continuously moved towards the direction close to the target position or not; and
a second control module that controls the movable device to return to the current position based on the stored movement path in a case where the movement cannot be continued in a direction approaching the target position based on the first specific position.
8. The apparatus of claim 7, wherein the determining a particular location from the navigable area comprises:
determining a specific area from the passable area based on the position relation between the current position and the target position;
determining the specific location from the specific area.
9. The apparatus of claim 7, wherein the collecting environmental information of the current location comprises:
and under the condition that the electronic map does not have the information of the current position, acquiring the environmental information of the current position.
10. The apparatus of claim 8, wherein said determining a specific area from among the passable areas based on the positional relationship of the current position and the target position comprises:
determining a target direction in which the current position points to the target position;
determining a direction with an included angle with the target direction meeting a preset threshold condition as a specific direction;
and taking the area between the target direction and the specific direction in the passable area as the specific area.
11. The apparatus of claim 7, wherein the determination based on whether the first particular location is able to continue moving in a direction approaching the target location comprises:
taking the first specific location as the current location;
and if the specific position corresponding to the current position does not exist, determining that the mobile terminal cannot move continuously in the direction approaching the target position based on the first specific position, or if the specific position corresponding to the current position does not meet the moving condition, determining that the mobile terminal cannot move continuously in the direction approaching the target position based on the first specific position.
12. The apparatus of claim 7, further comprising:
a marking module that marks the movement path in a case where the movement cannot be continued in a direction approaching the target position based on the first specific position.
13. An appliance control system comprising:
one or more processors;
a storage device for storing one or more programs,
wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to perform the method of any of claims 1-6.
14. A computer readable storage medium having stored thereon executable instructions which, when executed by a processor, cause the processor to perform the method of any one of claims 1 to 6.
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