WO2021027966A1 - 行进方法、可行进设备和存储介质 - Google Patents
行进方法、可行进设备和存储介质 Download PDFInfo
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- 238000004364 calculation method Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 5
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- 238000004458 analytical method Methods 0.000 description 3
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
Definitions
- This application relates to traveling technology, and specifically to a traveling method, feasible traveling equipment and storage medium.
- mobile devices such as robots, balance carts, and balance wheels can realize travel through autonomous navigation, or they can be controlled by control devices to realize travel.
- the feasible advancement equipment performs route planning and control of forward, backward, turning and other travel actions according to the actual travel environment. It is necessary to constantly call computing resources and/or storage resources to maintain the feasible advancement equipment along the navigation route. Marching is a heavy burden for resources.
- the embodiments of the present application provide a traveling method, a feasible device and a storage medium, which can at least solve the problem of a large number of resources used for autonomous navigation of a feasible device and a large resource burden in related technologies.
- the embodiment of the present application provides a traveling method, the method includes:
- control command at least being used to indicate the to-be-traveled distance of the accessible device
- the obtaining at least one target location on the first route includes:
- the sequentially traveling to each of the at least one target position to complete the to-be-traveled distance includes:
- the distance between each of the at least two target positions and the end position corresponding to the to-be-traveled distance is changed from large to small, and the target positions are sequentially advanced.
- the method includes:
- the first target position and the second target position are any two adjacent target positions among the at least two target positions, and the second target position is between the end position corresponding to the distance to be traveled The distance of is smaller than the distance between the first target position and the end position corresponding to the distance to be traveled.
- the method includes:
- the method further includes:
- a first route is obtained, where the first route is a target route traveled by the accessible device to complete the to-be-traveled distance, and traveling environment data of the target route Meet the predetermined condition.
- the method before the obtaining the control command, the method further includes:
- the obtaining control command includes:
- the method further includes:
- the feasible travel device is controlled to travel from the first target position to the corrected second target position.
- the method further includes:
- the traveling environment data meets a predetermined condition, the second target position is obtained.
- the embodiment of the present application provides a feasible equipment, including:
- the first obtaining unit is configured to obtain a control command, where the control command is at least used to indicate the to-be-traveled distance of the accessible device;
- the second obtaining unit is configured to obtain a first route according to the to-be-traveled distance, wherein the first route is a route that the accessible device walks after completing the to-be-traveled distance;
- the third obtaining unit is configured to obtain at least one target position on the first route
- the traveling unit is configured to sequentially travel to each of the at least one target position to complete the to-be-traveled distance.
- the third obtaining unit is configured to obtain at least two target positions on the first route
- the traveling unit is configured to sequentially travel to the respective target positions according to the distance between each of the at least two target positions and the end position corresponding to the distance to be traveled.
- the third obtaining unit is further configured to obtain the first target position of the first route
- the traveling unit is further configured to control the feasible traveling equipment to travel to the first target position
- the third obtaining unit is further configured to obtain a second target position of the first route
- the traveling unit is further configured to control the feasible traveling device to travel from a first target position to a second target position; wherein the first target position and the second target position are among the at least two target positions The distance between any two adjacent target positions and the second target position and the end position corresponding to the distance to be traveled is smaller than the distance between the first target position and the end position corresponding to the distance to travel.
- the third obtaining unit is further configured to obtain the first target position and the second target position;
- the traveling unit is further configured to control the feasible traveling equipment to travel to the first target position and control the feasible traveling equipment to travel from the first target position to a second target position; wherein, the first target The position and the second target position are any two adjacent target positions of the at least two target positions, and the distance between the second target position and the end position corresponding to the distance to be traveled is smaller than the first The distance between the target position and the end position corresponding to the distance to be traveled.
- the above scheme also includes:
- a collection unit configured to collect travel environment data where the feasible equipment is located
- the second obtaining unit is configured to obtain a first route when the traveling environment data collected by the collecting device satisfies a predetermined condition, wherein the first route is for the feasible traveling equipment to complete the pending travel A target route traveled by distance, and travel environment data of the target route meets the predetermined condition.
- the device further includes:
- the sending unit is configured to send a notification message to the remote server when the collecting unit collects traveling environment data that meets predetermined conditions;
- the first obtaining unit is configured to receive the control command for the notification message from the remote server.
- the above scheme also includes:
- a correction unit configured to correct the second target position
- the traveling unit is configured to control the feasible traveling device to travel from the first target position to the corrected second target position.
- the above scheme also includes:
- the third obtaining unit is configured to obtain the second target position when the traveling environment data of the accessible device is collected by the collecting unit and meets a predetermined condition.
- the embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the foregoing method are implemented.
- the embodiment of the present application provides a feasible device including a memory, a processor, and a computer program stored on the memory and capable of running on the processor, and the processor implements the steps of the foregoing method when the program is executed.
- the embodiments of the present application provide a traveling method, a feasible traveling device, and a storage medium.
- the method includes: obtaining a control command, the control command being used to at least indicate the to-be-traveled distance of the accessible device; and obtaining according to the to-be-traveling distance A first route, wherein the first route is a route that the feasible travel device walks while completing the to-be-traveled distance; obtains at least one target position on the first route; sequentially travels to the at least one target position To complete the distance to be traveled.
- the distance to be traveled indicated by the control command is completed by sequentially traveling to each target position on the first route, which is equivalent to the travel of the distance to be traveled in sections.
- the calculation and/or storage resources that are called locally are less, which can greatly reduce the resource burden and thereby improve the travel efficiency.
- FIG. 1 is a schematic diagram of the implementation process of the first embodiment of the traveling method provided by this application;
- FIG. 2 is a schematic diagram of the implementation process of the second embodiment of the traveling method provided by this application.
- FIG. 3 is a schematic diagram of the implementation process of the third embodiment of the traveling method provided by this application.
- FIG. 4 is a schematic diagram of an embodiment of collected traveling images provided by this application.
- FIG. 5 is a schematic diagram 1 of obtaining a target location embodiment provided in this application:
- Fig. 6(a) and (b) are schematic diagrams for obtaining the target location embodiment provided by this application:
- FIG. 7 is a schematic diagram of the composition structure of an embodiment of a feasible equipment provided by this application.
- FIG. 8 is a schematic diagram of the hardware structure of an embodiment of a feasible device provided by this application.
- the accessible equipment involved in the following embodiments of the present application may be any reasonable equipment capable of traveling, such as a robot, a balance car, a balance wheel, a scooter, etc.
- the preferred accessible equipment is a robot.
- the embodiments of the present application can at least solve the problem of high resource burden and low traveling efficiency caused by the need for continuous call of computing resources and storage resources for autonomous navigation of feasible devices in related technologies. In addition, it can at least solve the problem of how to efficiently and quickly realize the driving of accessible equipment when the road is straight and long.
- the first embodiment of the traveling method provided in this application is applied to a viable device. As shown in FIG. 1, the method includes:
- Step 101 Obtain a control command, where the control command is at least used to indicate the to-be-traveled distance of the accessible device;
- Step 102 Obtain a first route according to the to-be-traveled distance, where the first route is a route that the viable device walks after completing the to-be-traveled distance;
- Step 103 Obtain at least one target location on the first route
- Step 104 Go to each of the at least one target position in sequence to complete the to-be-traveled distance.
- the entity performing steps 101-104 is a viable device.
- the number of the aforementioned target positions may be one, or two or more.
- the aforementioned solution is equivalent to that the viable device travels to the end position through the target position obtained.
- the feasible approach equipment regards the target position as an intermediate position between traveling from the current position to the end position, and the feasible approach equipment can travel from the current position to the intermediate position, and then travel from the intermediate position to the end position. position.
- the distance between each target position in the two target positions and the end position corresponding to the distance to be traveled is determined by Larger becomes smaller, and then proceed to each target position in sequence.
- the segmented traveling solution in the embodiment of the present application realizes the arrival of the terminal position by sequentially traveling to a target position getting closer and closer to the terminal position.
- the solution of sequentially traveling to each of the target positions can be implemented by the following method
- the solutions described in Example 2 and Example 3 are implemented.
- This application provides a second embodiment of a traveling method, which is applied to a feasible traveling device. As shown in FIG. 2, the method includes:
- Step 201 Obtain a control command, where the control command is at least used to indicate the to-be-traveled distance of the accessible device;
- Step 202 Obtain a first target position of the first route, where the first route is a route traveled by the accessible device to complete the distance to be traveled;
- Step 203 Control the feasible device to travel to the first target position
- Step 204 Obtain a second target position of the first route
- Step 205 Control the viable device to travel from the first target position to the second target position;
- Step 206 Determine whether the second target position is a position reached by the feasible traveling device traveling to the to-be-traveled distance;
- step 207 If it is determined to be no, go to step 207;
- Step 207 Determine that the second target position is the first target position, and return to step 203 to continue execution until the second target position is the position reached by the feasible traveling device traveling to the to-be-traveled distance.
- first target position and the second target position in steps 201 to 207 are any two adjacent target positions on the first route, and the end position of the second target position corresponding to the distance to be traveled is smaller than the The distance between the first target position and the end position corresponding to the distance to be traveled.
- each target position is obtained sequentially, that is, the next target position that is closer to the end position is obtained after the travel of one of the segments is completed, which is equivalent to proceeding to the current target position.
- a solution for obtaining a target position, and the next target position is closer to the end position than the current target position. This method of obtaining the target position is more flexible and has a wide range of applications. Routes with various complex road conditions such as long straight sections and curved sections.
- the aforementioned solution is equivalent to the solution of obtaining the next target position while traveling.
- This obtaining solution can obtain the next target position according to the actual traveling environment of the feasible traveling equipment, which can ensure the accuracy of obtaining the target position, and further Ensure the travel accuracy of feasible equipment.
- This application provides a third embodiment of a traveling method, which is applied to a feasible traveling device. As shown in FIG. 3, the method includes:
- Step 301 Obtain a control command, the control command at least being used to indicate the distance to be traveled by the accessible device;
- Step 302 Obtain each target position of the first route, where the first route is a route that the accessible device walks after completing the distance to be traveled;
- Step 303 Control the feasible device to travel to the first target position among the target positions;
- Step 304 Control the viable device to travel from the first target position to a second target position adjacent to the first target position among the target positions;
- Step 305 Determine whether the second target position is a position reached by the feasible travel equipment traveling to the to-be traveled distance;
- step 306 If it is determined to be no, go to step 306;
- Step 306 Determine that the second target position is the first target position, and return to step 304 to continue execution until the second target position is the feasible travel equipment to travel to the end position.
- steps 301 to 306 the end position corresponding to the second target position and the distance to be traveled is smaller than the distance between the first target position and the end position corresponding to the distance to travel.
- the method of sequentially traveling to each target position on the first route to the position reached by the feasible traveling device travels to the to-be-traveled distance.
- This solution of segmenting the to-be-traveled distance is further to pass It is a plan to proceed to the target position getting closer and closer to the end position in order to achieve the end position.
- the navigation call used in segmented travel requires less calculation and/or storage resources, which can greatly reduce resource burden and improve travel efficiency.
- different from the method of sequentially acquiring the target positions in the foregoing method embodiment 2 in the embodiment of the present application, each target position is acquired together, and the target position is reached by driving one by one to the target position getting closer and closer to the end destination. This scheme of acquiring each target position together is more suitable for long straight sections, and can realize the efficient travel of feasible equipment on long straight sections.
- the aforementioned solution of acquiring each target position together is more suitable for driving on a long straight road section because the target position on a long straight road section is easy to obtain, for example, the distance to be traveled by the feasible equipment indicated by the control command is at least two
- the position (the initial position of the accessible device) when the accessible device obtains the control command is also used as the target position, then the distance between every two adjacent target positions is equal to the divided lengths
- the distance between the starting point position and the first target position is equal to the first divided length
- the distance between the first target position and the second target position is equal to the second divided length
- the distance between the penultimate target location and the destination location is equal to the last length divided. It can be understood that the distance between every two adjacent target positions may be the same or different, depending on the specific situation.
- the method further includes:
- a first route is obtained, where the first route is a target route traveled by the accessible device to complete the distance to be traveled, and the travel environment of the target route The data meets the predetermined condition.
- the feasible approach device is controlled to travel to the first target position according to the target route, and the feasible approach device is controlled to travel from the first target position to the second target position according to the target route.
- the travel environment data that meets the predetermined condition may be environmental data characterized by a straight and long travel route of the device that can travel.
- the accessible equipment can travel along the straight long road, or along a certain line of the straight long road, such as the central line of the straight long road.
- the implementation of the scheme described in any one of the foregoing embodiments 1 to 3 is equivalent to a plan of segmented travel on a long straight section, and each segment (long straight section) is traveled separately according to the target route.
- traveling along the target route can efficiently travel to the destination.
- the solution of obtaining control commands as described above in the embodiments of the present application may be a control command generated by the feasible equipment in the case of collecting traveling environment data that meets predetermined conditions, and the control commands generated by each segment The autonomous navigation realizes travel to the destination.
- the viable device may also send a notification message to a remote server and receive the control command for the notification message from the remote server when the travel environment data that meets a predetermined condition is collected.
- the notification message is used to prompt collection of traveling environment data that meets a predetermined condition, the remote server generates and sends a control command when the notification message is received, and the feasible device receives the control command returned in response to the notification message.
- the feasible travel device travels in segments based on the to-be-traveled distance information sent by the remote server, and the remote server only needs to send a control command once.
- This kind of remote server only needs to send a control command once, and the device can travel to the destination in segments.
- the remote server sends a control command to complete one part of the journey, there is no need for more remote servers. Sending the control instructions once can complete the travel of each segment, reducing the burden on the remote server.
- the second target position may also be obtained when traveling environment data meeting a predetermined condition is collected. That is, the accessible device in the embodiment of the application collects environmental data while traveling to the current target position, and then determines the next target position when the traveling environmental data that meets the predetermined conditions is collected, so that at least the target position can be guaranteed The accuracy of the determination.
- the method further includes: correcting the second target position; correspondingly, controlling the accessible device to travel from the first target position to the corrected second target position. Further, the second target position is corrected based on the collected traveling environment data that meets the predetermined conditions. The accuracy of the second target position can be ensured, and thus the traveling accuracy of feasible equipment can be ensured.
- At least one image acquisition device is provided on the robot, and the image acquisition device may be any reasonable Cameras such as vision cameras, depth cameras, fisheye cameras, etc.
- the robot collects its traveling environment through the image acquisition device, and obtains the traveling image as shown in FIG. 4.
- the robot can analyze the road features of the traveling image. If the analysis finds that the road ahead is a straight and long road, it generates a notification message and sends the notification message and the traveling image to the server.
- the server displays the traveling image.
- the operator can observe the traveling environment of the robot based on the traveling image displayed on the server, and perform operations on the server. For example, the operator inputs information indicating that the robot advances 50m.
- the server detects this input information, generates a control command, and It is sent to the robot.
- the robot receives a control command for instructing the robot to advance 50m.
- the robot receives the control command when it detects that there is a straight long road in the current travel environment of the robot, the robot can consider the received control command to instruct it to follow the detected straight road.
- the control command for the long road (the road between the two road lines in the figure) to move forward 50m may further be a control command for moving forward 50m according to the center line of the detected straight long road.
- the robot divides the arithmetic sequence with a difference of 5m for the forward distance of 50m indicated by the remote server. For example, it is divided into four lengths of 5m, 10m, 15m, and 20m.
- the position on the center line of the road is the initial position, and the position that travels 50m along the center line of the road from the initial position is the end position. These two positions are used as special target positions. From the initial position to the end position, The distance between two adjacent target positions is 5m, 10m, 15m, and 20m. In this way, the position of each target position can be determined on the center line of the straight long road, as shown in Figure 5.
- the robot needs to relocate three (middle) target positions between the initial position and the end position, as shown in Fig. 5, target position 1, target position 2, and target position 3. It can be understood that the located target position 1 is located at a distance of 5m from the initial position of the robot on the central line of the road, and target position 2 is located at a distance of 10m from the target location 1 on the central line of the road.
- the upper, target position 3 is located at a distance of 15 m from the target position 2 on the center line of the road, and the distance of the target position 3 from the end position on the center line of the road is 20 m.
- the robot is in the initial position, takes the target position 1 as the current destination, and travels to the target position 1 at the speed obtained by autonomous navigation along the center line of the road.
- the front target position 2 is regarded as the next destination in the case that the robot has already traveled to the target position 1, and travels along the center line of the road. Go to the target position 2 at the speed obtained by the navigation, and proceed to the end position in turn.
- This solution of locating the target location together is more suitable for straight and long road sections.
- the final destination can be reached by segmenting on the straight and long roads, and efficient travel on the long straight road sections can be realized.
- the robot can also use the following scheme for segmented travel: Due to the limitation of the acquisition accuracy and range of the image acquisition device itself, the travel environment data located in the far distance of the robot may be ambiguous and unclear. In order to avoid the collection environment Road feature recognition error caused by fuzzy data.
- the robot can recognize the road features and determine the current target position while collecting images. Specifically, the image acquisition device collects environmental data when the robot is in the initial position, and analyzes the road features of the traveling image. If the analysis shows that the road ahead is a straight and long road, a notification message is sent to the server. The server generates a control command, and the robot receives a control command used to instruct the robot to advance 50m along the center line of the road.
- the robot can locate the current destination as the distance from the robot
- the initial position at 20m is shown in Figure 6(a).
- the robot is at the initial position, takes the current target position such as target position 1 as the current destination, and travels to the current destination along the center line of the road at a speed obtained by autonomous navigation.
- the robot Based on the traveling image collected from the target position 1, the robot obtains the analysis result that the road ahead is still a straight and long road, and determines that the target position 1 is not the end position, then the target position 1 is used as the initial position of the robot at this time, and the front is positioned Target position 2 which is 10 m away from target position 1 is the current destination.
- any position within 20m or less can be positioned as the next target position.
- the speed of each segment may be the same or different depending on the specific situation.
- This solution of sequentially positioning target positions based on road conditions can ensure the accuracy of target position positioning on the one hand, and on the other hand, it is more suitable for different road conditions in practical applications and has a wider range of applications.
- the distance between two adjacent target positions may be the same or different, and the target position to be positioned shall be subject to a clear collection of the traveling image.
- each segment is independently navigated, and the distance between the segments is less than 50m.
- the autonomous navigation is performed at a distance of less than 50m.
- Less computing and/or storage resources can greatly reduce the burden of resources, making resources more inclined to respond to the robot's traveling actions, such as forward actions, thereby improving traveling efficiency.
- the notification message is sent to the remote server and the control command is received, so that the robot can travel along the target route-the center line of the road, and can travel on the road with good road conditions. .
- the operator only needs to send the control command once through the remote server, and the travel of each segment can be completed without the operator having to send the control command multiple times, which reduces the burden on the operator.
- the display of the image of the near environment in the image acquisition device is more accurate, and the display of the image of the distant environment may not be accurate enough.
- the target position of the robot can be accurately located, and the positioning of the target position far away from the robot position may deviate from the target route such as the center line of the road by 1m.
- the next target position of the robot to be traveled is corrected, for example, the target position 2 that deviates from the center line of the road is deviated from The position of the central line of the road is moved to the central line of the road to ensure that the robot can travel on the target route and ensure the accuracy of travel.
- the robot can stop traveling after traveling to the final destination and notify the remote server.
- the robot encounters an abnormal situation that cannot be handled, such as an obstacle that cannot be avoided, it also sends a notification message to the remote server.
- the notification message is used to inform the robot to stop traveling and the reason that caused it to stop traveling, such as having traveled to the final destination or encountered an abnormal situation that cannot be handled.
- It can also receive a stop travel instruction from a remote server, and the robot responds to the travel instruction and responds.
- the operator observes the traveling environment of the robot through the image transmitted by the robot, such as knowing that there is an obstacle in front of the robot through the image, and generates an instruction for controlling the robot to stop traveling.
- the present application also provides an embodiment of a feasible device, as shown in FIG. 7, including: a first obtaining unit 701, a second obtaining unit 702, a third obtaining unit 703, and a traveling unit 704; wherein,
- the first obtaining unit 701 is configured to obtain a control command, where the control command is at least used to indicate the to-be-traveled distance of the accessible device;
- the second obtaining unit 702 is configured to obtain a first route according to the to-be-traveled distance, where the first route is a route that the accessible device walks after completing the to-be-traveled distance;
- the third obtaining unit 703 is configured to obtain at least one target position on the first route
- the traveling unit 704 is configured to sequentially travel to each of the at least one target position to complete the to-be-traveled distance.
- the third obtaining unit 703 is configured to obtain at least two target positions on the first route; correspondingly, the traveling unit 704 is configured to obtain at least two target positions according to The distance between each target position and the end position corresponding to the to-be-traveled distance is changed from large to small, and the target positions are sequentially advanced.
- the third obtaining unit 703 is further configured to obtain the first target position of the first route; the traveling unit 704 is further configured to control the feasible traveling device to travel to the first Target position; the third obtaining unit 703 is further configured to obtain a second target position of the first route; the traveling unit 704 is further configured to control the feasible traveling device to travel from the first target position to the second Target position; wherein the first target position and the second target position are any two adjacent target positions of the at least two target positions, and the second target position corresponds to the end point of the distance to be traveled The distance between the positions is smaller than the distance between the first target position and the end position corresponding to the distance to be traveled.
- the third obtaining unit 703 is further configured to obtain a first target position and a second target position; the traveling unit 704 is further configured to control the feasible traveling device to travel to the first target Position and control the viable device to travel from the first target position to the second target position; wherein the first target position and the second target position are any adjacent ones of the at least two target positions The distance between the two target positions and the second target position and the end position corresponding to the distance to be traveled is smaller than the distance between the first target position and the end position corresponding to the distance to travel.
- the device also includes:
- the acquisition unit (image acquisition device) is configured to collect travel environment data where the accessible device is located; in the case of collecting travel environment data that meets predetermined conditions, trigger the second obtaining unit 702 to obtain the first route,
- the first route is a target route that the viable device walks after completing the to-be-traveled distance.
- the device also includes:
- the sending unit is configured to send a notification message to a remote server when the collecting unit collects traveling environment data that meets predetermined conditions; correspondingly, the first obtaining unit 701 is configured to receive the data from the remote server for The control command of the notification message.
- the device also includes:
- a correction unit configured to correct the second target position
- the traveling unit 704 is configured to control the feasible traveling device to travel from the first target position to the corrected second target position.
- the third obtaining unit 703 is configured to obtain the second target position when the traveling environment data of the accessible device collected by the collecting unit meets a predetermined condition.
- the feasible travel equipment provided in the foregoing embodiment belongs to the same concept as the foregoing travel method embodiment, and its specific implementation process is detailed in the method embodiment, which will not be repeated here.
- the aforementioned first obtaining unit 701, second obtaining unit 702, third obtaining unit 703, and traveling unit 704 can all be composed of digital signal processing (DSP), central processing unit (CPU), logic programming array (FPGA), controller (MCU) ) And so on.
- the acquisition unit is implemented by the aforementioned image acquisition unit such as a vision camera, a depth camera, and a fisheye camera.
- the sending unit is implemented by the subsequent communication component 83.
- the embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored.
- a computer program When the program is executed by the processor, it is at least used to execute any one of the methods shown in FIGS. 1 to 6(a) and (b). step.
- the computer-readable storage medium may specifically be a memory.
- the memory may be the memory 82 shown in FIG. 8.
- FIG. 8 is a schematic diagram of the hardware structure of a viable device according to an embodiment of the application. As shown in FIG. 8, it includes: a communication component 83 for data transmission, at least one processor 81, and storage capable of running on the processor 81 The memory 82 of the computer program. The various components in the terminal are coupled together through the bus system 84. It can be understood that the bus system 84 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 84 also includes a power bus, a control bus, and a status signal bus. However, for clarity of description, various buses are marked as the bus system 84 in FIG. 8.
- the processor 81 executes at least the steps of any one of the methods shown in FIGS. 1 to 6 (a) and (b) when executing the computer program.
- the memory 82 may be a volatile memory or a non-volatile memory, and may also include both volatile and non-volatile memory.
- the non-volatile memory can be a read only memory (ROM, Read Only Memory), a programmable read only memory (PROM, Programmable Read-Only Memory), an erasable programmable read only memory (EPROM, Erasable Programmable Read- Only Memory, Electrically Erasable Programmable Read-Only Memory (EEPROM, Electrically Erasable Programmable Read-Only Memory), magnetic random access memory (FRAM, ferromagnetic random access memory), flash memory (Flash Memory), magnetic surface memory , CD-ROM, or CD-ROM (Compact Disc Read-Only Memory); magnetic surface memory can be magnetic disk storage or tape storage.
- the volatile memory may be random access memory (RAM, Random Access Memory), which is used as an external cache.
- RAM random access memory
- SRAM static random access memory
- SSRAM synchronous static random access memory
- DRAM Dynamic Random Access Memory
- SDRAM Synchronous Dynamic Random Access Memory
- DDRSDRAM Double Data Rate Synchronous Dynamic Random Access Memory
- ESDRAM enhanced -Type synchronous dynamic random access memory
- SLDRAM SyncLink Dynamic Random Access Memory
- direct memory bus random access memory DRRAM, Direct Rambus Random Access Memory
- DRRAM Direct Rambus Random Access Memory
- the memory 82 described in the embodiment of the present application is intended to include, but is not limited to, these and any other suitable types of memory.
- the method disclosed in the foregoing embodiment of the present application may be applied to the processor 81 or implemented by the processor 81.
- the processor 81 may be an integrated circuit chip with signal processing capability. In the implementation process, the steps of the foregoing method can be completed by an integrated logic circuit of hardware in the processor 81 or instructions in the form of software.
- the aforementioned processor 81 may be a general-purpose processor, a DSP, or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, and the like.
- the processor 81 may implement or execute various methods, steps, and logical block diagrams disclosed in the embodiments of the present application.
- the general-purpose processor may be a microprocessor or any conventional processor.
- the steps of the method disclosed in the embodiments of the present application may be directly embodied as being executed and completed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor.
- the software module may be located in a storage medium, and the storage medium is located in the memory 82.
- the processor 81 reads the information in the memory 82 and completes the steps of the foregoing method in combination with its hardware.
- the accessible device may be implemented by one or more application specific integrated circuits (ASIC, Application Specific Integrated Circuit), DSP, programmable logic device (PLD, Programmable Logic Device), and complex programmable logic device (CPLD). , Complex Programmable Logic Device), FPGA, general-purpose processor, controller, MCU, microprocessor (Microprocessor), or other electronic components are used to implement the aforementioned travel method.
- ASIC Application Specific Integrated Circuit
- DSP programmable logic device
- PLD programmable logic device
- CPLD complex programmable logic device
- FPGA field-programmable Logic Device
- controller MCU
- microprocessor microprocessor
- the disclosed device and method may be implemented in other ways.
- the device embodiments described above are merely illustrative.
- the division of the units is only a logical function division, and there may be other divisions in actual implementation, such as: multiple units or components can be combined, or It can be integrated into another system, or some features can be ignored or not implemented.
- the coupling, or direct coupling, or communication connection between the components shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, and may be electrical, mechanical or other forms of.
- the units described above as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units; Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
- the functional units in the embodiments of the present application can all be integrated into one processing unit, or each unit can be individually used as a unit, or two or more units can be integrated into one unit;
- the unit can be implemented in the form of hardware, or in the form of hardware plus software functional units.
- a person of ordinary skill in the art can understand that all or part of the steps in the above method embodiments can be implemented by a program instructing relevant hardware.
- the foregoing program can be stored in a computer readable storage medium. When the program is executed, it is executed. Including the steps of the foregoing method embodiment; and the foregoing storage medium includes: removable storage devices, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks, etc.
- ROM read-only memory
- RAM Random Access Memory
- magnetic disks or optical disks etc.
- the above-mentioned integrated unit of this application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium.
- the computer software product is stored in a storage medium and includes several instructions for A computer device (which may be a personal computer, a server, or a network device, etc.) executes all or part of the methods described in the various embodiments of the present application.
- the aforementioned storage media include: removable storage devices, ROM, RAM, magnetic disks, or optical disks and other media that can store program codes.
- the distance to be traveled indicated by the control command is completed by sequentially traveling to each target position on the first route, which is equivalent to the travel of the distance to be traveled in sections.
- the calculation and/or storage resources that are called locally are less, which can greatly reduce the resource burden and thereby improve the travel efficiency.
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Abstract
Description
Claims (18)
- 一种行进方法,所述方法包括:获得控制命令,所述控制命令至少用于指示可行进设备的待行进距离;依据所述待行进距离,获得第一路线,其中所述第一路线为所述可行进设备完成所述待行进距离而行走的路线;获得所述第一路线上的至少一个目标位置;依次行进至所述至少一个目标位置中的各个目标位置,以完成所述待行进距离。
- 根据权利要求1所述的方法,其中,所述获得所述第一路线上的至少一个目标位置,包括:获得所述第一路线上的至少两个目标位置;相应的,所述依次行进至所述至少一个目标位置中的各个目标位置,以完成所述待行进距离,包括:按照所述至少两个目标位置中各个目标位置与所述待行进距离对应的终点位置之间的距离由大变小,依次行进至所述各个目标位置。
- 根据权利要求2所述的方法,其中,所述方法包括:获得第一目标位置;控制所述可行进设备行进至所述第一目标位置;获得第二目标位置;控制所述可行进设备从第一目标位置行进至第二目标位置;其中,所述第一目标位置与所述第二目标位置为所述至少两个目标位置中任意相邻的两个目标位置、且第二目标位置与所述待行进距离对应的终点位置之间的距离小于所述第一目标位置与所述待行进距离对应的终点位置之间的距离。
- 根据权利要求2所述的方法,其中,所述方法包括:获得第一目标位置和第二目标位置;控制所述可行进设备行进至所述第一目标位置;控制所述可行进设备从所述第一目标位置行进至与第二目标位置;其中,所述第一目标位置与所述第二目标位置为所述至少两个目标位置中任意相邻的两个目标位置、且第二目标位置与所述待行进距离对应的终点位置之间的距离小于所述第一目标位置与所述待行进距离对应的终点位置之间的距离。
- 根据权利要求1至4任一项所述的方法,其中,所述方法还包括:采集所述可行进设备所处的行进环境数据;当所述行进环境数据满足预定条件的情况下,获得第一路线,其中所述第一路线为所述可行进设备完成所述待行进距离而行走的目标路线,所述目标路线的行进环境数据满足所述预定条件。
- 根据权利要求5所述的方法,其中,所述获得控制命令之前,所述方法还包括:在采集到满足预设条件的行进环境数据的情况下,向远程服务器发送通知消息;相应的,所述获得控制命令,包括:接收来自所述远程服务器的针对所述通知消息的所述控制命令。
- 根据权利要求3或4所述的方法,其中,所述方法还包括:对所述第二目标位置进行校正;相应的,控制所述可行进设备从第一目标位置行进至经校正的第二目标位置。
- 根据权利要求3所述的方法,其中,所述方法还包括:采集所述可行进设备所处的行进环境数据;当所述行进环境数据满足预定条件的情况下,获得所述第二目标位置。
- 一种可行进设备,包括:第一获得单元,配置为获得控制命令,所述控制命令至少用于指示可行进设备的待行进距离;第二获得单元,配置为依据所述待行进距离,获得第一路线,其中所述第一路线为所述可行进设备完成所述待行进距离而行走的路线;第三获得单元,配置为获得所述第一路线上的至少一个目标位置;行进单元,配置为依次行进至所述至少一个目标位置中的各个目标位置,以完成所述待行进距离。
- 根据权利要求9所述的设备,其中,所述第三获得单元,配置为获得所述第一路线上的至少两个目标位置;相应的,所述行进单元,配置为按照所述至少两个目标位置中各个目标位置与所述待行进距离对应的终点位置之间的距离由大变小,依次行进至所述各个目标位置。
- 根据权利要求10所述的设备,其中,所述第三获得单元,还配置为获得所述第一路线的第一目标位置;所述行进单元,还配置为控制所述可行进设备行进至所述第一目标位置;所述第三获得单元,还配置为获得所述第一路线的第二目标位置;所述行进单元,还配置为控制所述可行进设备从第一目标位置行进至第二目标位置;其中,所述第一目标位置与所述第二目标位置为所述至少两个目标位置中任意相邻的两个目标位置、且第二目标位置与所述待行进距离对应的终点位置之间的距离小于所述第一目标位置与所述待行进距离对应的终点位置之间的距离。
- 根据权利要求10所述的设备,其中,所述第三获得单元,还配置为获得第一目标位置和第二目标位置;所述行进单元,还配置为控制所述可行进设备行进至所述第一目标位置以及控制所述可行进设备从所述第一目标位置行进至第二目标位置;其中,所述第一目标位置与所述第二目标位置为所述至少两个目标位置中任意相邻的两个目标位置、且第二目标位置与所述待行进距离对应的终点位置之间的距离小于所述第一目标位置与所述待行进距离对应的终点位置之间的距离。
- 根据权利要求9至12任一项所述的设备,其中,还包括:采集单元,配置为采集所述可行进设备所处的行进环境数据;相应的,所述第二获得单元,配置为当采集装置采集到的行进环境数据满足预定条件的情况下,获得第一路线,其中所述第一路线为所述可行进设备完成所述待行进距离而行走的目标路线,所述目标路线的行进环境数据满足所述预定条件。
- 根据权利要求13所述的设备,其中,所述设备还包括:发送单元,配置为在采集单元采集到满足预定条件的行进环境数据的情况下,向远程服务器发送通知消息;相应的,所述第一获得单元,配置为接收来自所述远程服务器的针对所述通知消息的所述控制命令。
- 根据权利要求11或12所述的设备,其中,还包括:校正单元,配置为对所述第二目标位置进行校正;相应的,所述行进单元,配置为控制所述可行进设备从第一目标位置行进至经校正的第二目标位置。
- 根据权利要求11所述的设备,其中,还包括:所述第三获得单元,配置为在采集单元采集到可行进设备所处的行进 环境数据满足预定条件的情况下,获得所述第二目标位置。
- 一种计算机可读存储介质,其上存储有计算机程序,该程序被处理器执行时实现权利要求1至8任一所述方法的步骤。
- 一种可行进设备,包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序,所述处理器执行所述程序时实现权利要求1至8任一所述方法的步骤。
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