Navigation method and device, electronic equipment and computer readable storage medium

Abstract

The invention discloses a navigation method, a navigation device, electronic equipment and a computer readable storage medium, and the navigation method comprises the following steps: in response to a navigation instruction for a target object, determining the position of the target object as the current navigation position of intelligent equipment; the target object is determined in the at least one preset object; determining a distance threshold, a target orientation angle and an orientation angle threshold of the target object according to the threshold delimiting parameter of the target object; detecting that the distance between the intelligent equipment and the target object is smaller than or equal to the distance threshold in the process of controlling the intelligent equipment to navigate based on the map and the current navigation position; and controlling the intelligent equipment to stop navigation under the condition that the target orientation angle is smaller than or equal to the orientation angle threshold and the absolute value of the difference value between the current orientation angle of the intelligent equipment and the target orientation angle is smaller than or equal to the orientation angle threshold. The navigation time can be shortened, and the navigation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of navigation, and in particular to a navigation method, a navigation device, an electronic device and a computer-readable storage medium. Background Art

[0002] Currently, smart devices have been increasingly widely used in the field of navigation. Through the navigation operation of smart devices, users can be easily informed of the location of the target object. Taking the guided tour scene as an example, smart device navigation can be used to guide users to visit different exhibition halls to improve the efficiency of guided tours. However, the current efficiency of smart device navigation is relatively low, and navigation consumes a long time. Summary of the invention

[0003] In view of the above technical problems, the present application provides a navigation method, a navigation device, an electronic device and a computer-readable storage medium. The technical solutions are as follows: According to a first aspect of the present application, a navigation method is provided, which is applied to a scenario in which a smart device is used to guide at least one preset object in a target environment, wherein the target environment has a pre-built map, and the method comprises: In response to a navigation instruction for a target object, determining the position of the target object as the current navigation position of the smart device; the target object is determined in the at least one preset object; Determine the distance threshold, target orientation angle and orientation angle threshold of the target object according to the threshold demarcation parameters of the target object; During the process of controlling the smart device to navigate based on the map and the current navigation position, if it is detected that the distance between the smart device and the target object is less than or equal to the distance threshold, and the absolute value of the difference between the current heading angle of the smart device and the target heading angle is less than or equal to the heading angle threshold, the smart device is controlled to stop navigation.

[0004] According to a second aspect of the present application, a navigation device is provided, which is applied to a scenario in which a smart device is used to guide at least one preset object in a target environment, wherein the target environment has a pre-built map, and the device comprises: a determination unit, in response to a navigation instruction for a target object, determining a position of the target object as a current navigation position of the smart device; the target object is determined from the at least one preset object; The determining unit is further used to determine the distance threshold, target orientation angle and orientation angle threshold of the target object according to the threshold demarcation parameters of the target object; A control unit is used to control the smart device to stop navigating when it is detected that the distance between the smart device and the target object is less than or equal to the distance threshold, and the absolute value of the difference between the current heading angle of the smart device and the target heading angle is less than or equal to the heading angle threshold during the process of controlling the smart device to navigate based on the map and the current navigation position.

[0005] According to a third aspect of the present application, an electronic device is provided, the electronic device comprising: processor; a memory for storing processor-executable instructions; The processor is configured to implement the method as described in the first aspect.

[0006] According to a fourth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps in the method described in the first aspect are implemented.

[0007] The technical solution provided by the present application is that in a scenario where a smart device is used to guide at least one preset object in a target environment, the target environment has a pre-constructed map, and after the target object is determined in at least one preset object, the distance threshold, target orientation angle, and orientation angle threshold of the target object can be determined according to the threshold demarcation parameters of the target object. In the process of the smart device navigating the target object, if it is detected that the distance between the smart device and the target object is less than or equal to the distance threshold, and the absolute value of the difference between the current orientation angle of the smart device and the target orientation angle is less than or equal to the orientation angle threshold, the smart device is quickly controlled to stop navigation, and the navigation can be completed without accurately reaching the position of the target object, thereby shortening the navigation time and improving the navigation efficiency.

[0008] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0010] Figure 1 It is a schematic diagram of a navigation scene in the related art; Figure 2 is a flowchart of a navigation method according to an embodiment of the present application; Figure 3 This is a schematic diagram of a navigation scenario according to an embodiment of the present application; Figure 4 is a structural schematic diagram of a navigation device according to an embodiment of the present application; Figure 5 It is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0011] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be described in detail below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field should fall within the scope of protection of this application.

[0012] Currently, smart devices have been increasingly widely used in the field of navigation. Through the navigation operation of smart devices, users can be easily informed of the location of the target object. Taking the guided tour scenario as an example, smart device navigation can be used to guide users to visit different exhibition halls to improve the efficiency of guided tours. However, the current efficiency of smart device navigation is relatively low, and navigation consumes a long time. Figure 1 , an example is given for a specific application scenario of current smart device navigation: like Figure 1 As shown, taking the smart device in the navigation scenario in the related technology as an example, the smart device in this scenario can be mainly used to guide tourists to refer to different objects in a specific environment, such as visiting different theme areas in the exhibition hall. In the process of guiding tourists, the smart device needs to perform navigation operations. In the navigation process of the smart device, it is often necessary to first determine an object that needs to be navigated to, and set the location of the object as the target location. For example, the current smart device needs to guide tourists from the entrance position of the exhibition hall to the location of theme area 1 in the exhibition hall. Assuming that the entrance position is (0.0, 0.0) and the location of theme area 1 is (10.0, 10.0), the smart device often needs to accurately navigate to the target location (10.0, 10.0). The smart device navigates from the entrance position (0.0, 0.0) to the target location (10.0, 10.0). 0), it often takes a long time for the smart device to start from (0.0, 0.0), then move to the target location (10.0, 10.0), and then turn to the correct direction at the target location (10.0, 10.0) (for example, the smart device needs to accurately turn to the direction of the entrance of theme area 1, or accurately align with the direction of the signboard of theme area 1) before it can stop turning and moving to complete the operation of navigating to theme area 1. At this time, if there are other objects that need to be navigated to in the exhibition hall, such as Figure 1 As shown in the theme area 2, the smart device may have to start from theme area 1 to guide the tourists in theme area 1 to theme area 2. Similarly, the smart device also needs to accurately stay at the location of theme area 2 and accurately turn to the correct direction angle. The efficiency of smart device navigation is relatively low, which further increases the time consumed by the overall navigation of the smart device.

[0013] It is worth noting that the above introduction to the navigation scenarios of smart devices in the related art is only an exemplary display. In actual applications, other navigation scenarios are not excluded and no specific limitation is made to this.

[0014] In response to the above problems, the inventors of the present application discovered through observation and research that, taking the guided tour scenario as an example, in the process of guiding tourists to visit the exhibition hall through navigation operations, the final stop point of the smart device in each theme area of ​​the exhibition hall does not need to be completely accurate, it only needs to stop near the target location point; the final orientation angle of the smart device in each theme area does not need to be completely accurate, it only needs to turn to the vicinity of the target orientation angle, that is, the smart device only needs to guide tourists to a specific range near the target navigation position and stop navigation to achieve guided tours for tourists.

[0015] Based on this, the present application provides a navigation method, which is applied to a scenario where a smart device is used to guide at least one preset object in a target environment, wherein the target environment has a pre-built map, such as Figure 2 As shown, the method may include the following steps: S201: In response to a navigation instruction for a target object, determine a position of the target object as a current navigation position of the smart device.

[0016] The target object is determined among the at least one preset object.

[0017] S202: Determine a distance threshold, a target orientation angle, and an orientation angle threshold of the target object according to threshold delineation parameters of the target object.

[0018] S203. During the process of controlling the smart device to perform navigation based on the map and the current navigation position, if it is detected that the distance between the smart device and the target object is less than or equal to the distance threshold, and the absolute value of the difference between the current heading angle of the smart device and the target heading angle is less than or equal to the heading angle threshold, the smart device is controlled to stop navigation.

[0019] The technical solution provided by the embodiment of the present application is that in a scenario where a smart device is used to guide at least one preset object in a target environment, the target environment has a pre-constructed map. After the target object is determined in at least one preset object, the distance threshold, target orientation angle, and orientation angle threshold of the target object can be determined according to the threshold demarcation parameters of the target object. In the process of the smart device navigating the target object, if it is detected that the distance between the smart device and the target object is less than or equal to the distance threshold, and the absolute value of the difference between the current orientation angle of the smart device and the target orientation angle is less than or equal to the orientation angle threshold, a specific range near the target object is first determined, and when the smart device enters the specific range, the smart device is quickly controlled to stop navigation, and the navigation can be completed without accurately reaching the position of the target object, thereby shortening the navigation time and improving the navigation efficiency.

[0020] The execution subject of the navigation method provided in the embodiment of the present application can be implemented in a variety of specific ways. As an example, the execution subject can be the above-mentioned smart device. As another example, the execution subject can also be a control device independent of the smart device. Therefore, there is no limitation on the specific implementation of the execution subject.

[0021] The above-mentioned target environment and preset objects can have multiple specific implementations. As an example, the target environment can be an exhibition hall, and at least one preset object can be at least one theme area in the exhibition hall. In this scenario, the smart device can guide the user to visit different theme areas in the exhibition hall. The preset object can also be an exhibit in the exhibition hall, and the preset object can also be other types of objects in the exhibition hall. As another example, the target environment can also be a museum, and at least one preset object can also be at least one cultural relic in the museum. The smart device can guide the user to visit different theme areas in the exhibition hall. In this scenario, the smart device can indicate the rough location of a specific cultural relic to the user. It is worth noting that the above-mentioned introduction to the specific implementation of the target environment and the preset object is only an exemplary display. In actual applications, it is not excluded that there are other scenarios where precise navigation is not required (that is, navigation can be stopped without accurately reaching the location point of the preset object), and there is no specific limitation on this.

[0022] The map of the target environment can be pre-constructed in a variety of ways. As an example, a laser radar (LiDAR) can be provided on the smart device. The laser radar can emit a laser beam at a fixed frequency (for example, 10Hz) in the target environment to scan the target environment, generate point cloud data (each point contains distance and angle information) based on the scanning result (obtained by receiving the reflected signal of the laser beam), and then construct a map of the target environment based on the generated point cloud data. As another example, the map of the target environment constructed based on the generated point cloud data can be a two-dimensional grid map (Occupancy Grid Map), a three-dimensional point cloud map, or other types of maps. As another example, the laser radar of the smart device can scan the target environment from the entrance position of the target environment, or it can scan the target environment from any other position of the target environment, without specific limitation.

[0023] As another example, taking the target environment as a shopping mall, the preset objects may be shops in the shopping mall, etc. When pre-building a map of the shopping mall, the structure of each floor of the shopping mall can be scanned by the laser radar of the smart device, and a two-dimensional grid map of each floor can be constructed separately, wherein the location of each shop is recorded in the grid map.

[0024] It is worth noting that the above introduction to the method of pre-constructing the map of the above-mentioned target environment is only an exemplary display. In practical applications, other methods of constructing maps are not excluded. For example, taking the museum tour scene as an example, the target environment is the museum, and the preset object is the cultural relics in the museum. The above-mentioned smart device can also be provided with a visual camera (such as a multi-eye camera or an RGB depth (RGB-D) camera), and the map of the museum can be constructed through the depth information collected by the visual camera (the type of the map can be a sparse map that only stores feature points or a dense map that retains a complete three-dimensional point cloud). When the map is a dense map, the location of each cultural relic is recorded in it, and at this time the smart device can also have an explanation function, for example, by identifying the category of cultural relics (such as sculptures or oil paintings, etc.) through semantic segmentation, and giving corresponding explanations according to the identified category of cultural relics. Therefore, there is no specific limitation on the method of pre-constructing the map of the above-mentioned target environment.

[0025] It is understandable that the position of each preset object is recorded in the map of the target environment. When the navigation instructions for the target object are determined in each preset object, the position of the target object can be obtained from the map and the obtained position can be set as the current navigation position of the smart device.

[0026] The navigation instruction for the target object can be triggered in a variety of ways. As an example, when the user's voice input instruction for the target object is detected, the navigation instruction for the target object can be triggered. For example, when the user says "theme area 1" or "take me to theme area 1" to the smart device, the navigation instruction for theme area 1 is triggered. As another example, when the user's key trigger instruction for the target object is detected, the navigation instruction for the target object can be triggered. The key can be set on the smart device. The user (such as a tourist) can manually trigger the navigation instruction for the preset object (i.e., the target object) that he wants to visit, which ensures that the user's needs are met first and improves the user experience.

[0027] As another example, another triggering method for the navigation instruction for the target object may include: when there are multiple preset objects in the target environment, the target object may be determined in turn in each preset object according to a preset order, and the navigation instruction may be triggered after the target object is determined. For example, if there are theme area 1 and theme area 2 (or more theme areas) in the exhibition hall, the target objects may be automatically determined in the order of theme area 1-theme area 2, and the navigation instruction for them may be triggered after they are determined as the target objects, such as automatically determining theme area 1 as the target object first, and triggering the navigation instruction for theme area 1 first, and when the navigation process is completed, automatically determining theme area 2 as the target object and triggering the navigation instruction for theme area 2.

[0028] It is worth noting that the above-mentioned introduction to the triggering method of the navigation instruction for the target object is only an exemplary display. In practical applications, other triggering methods are not excluded and are not specifically limited to this.

[0029] When determining the distance threshold, target orientation angle, and orientation angle threshold of the target object according to the threshold demarcation parameters of the target object, taking into account the different degrees of difficulty of each preset object in the target environment being discovered by the user, some preset objects are more conspicuous and easy to be discovered by the user, so the navigation of the smart device for such preset objects can be relatively rough. Some preset objects are not very conspicuous and are not easily discovered by the user intuitively, so the navigation of the smart device for such preset objects can be relatively detailed. In response to this problem, the threshold demarcation parameters can have multiple specific implementations. As an example, when there are multiple preset objects in the target environment, the above threshold demarcation parameters may include: the volume of the target object, and / or the distance of the target object relative to the entrance position of the target environment, that is, the distance threshold, target orientation angle, and orientation angle threshold of the target object can be determined based on the volume of the target object, and / or the distance of the target object relative to the entrance position of the target environment.

[0030] As another example, the volume of the target object can be positively correlated with the distance threshold and the orientation angle threshold of the target object, that is, the larger the target object, the easier it is to be visually discovered by the user, and the larger its distance threshold and orientation angle threshold can be set, thereby reducing the navigation pressure of the smart device while ensuring that the target object is easily discovered by the user; and the smaller the target object, the more difficult it is to be visually discovered by the user, and the smaller its distance threshold and orientation angle threshold can be set, thereby ensuring that the target object can be discovered by the user and ensuring the effectiveness of the smart device navigation. As another example, the distance of the target object relative to the entrance position of the target environment can also be negatively correlated with the distance threshold and the orientation angle threshold of the target object, for example, the larger the distance of the target object relative to the entrance position of the target environment, the smaller its distance threshold and orientation angle threshold can be set; the smaller the distance of the target object relative to the entrance position of the target environment, the larger its distance threshold and orientation angle threshold can be set.

[0031] It is worth noting that the above introduction to the specific implementation of the threshold demarcation parameters is only an exemplary display. In practical applications, other specific implementations are not excluded and are not specifically limited to this.

[0032] It can be understood that the above-mentioned target orientation angle may refer to the angle that the smart device needs to be oriented to when navigating to the location of the target object.

[0033] As an example, during the navigation process of the smart device, a voice prompt may be issued at a preset frequency, and the voice prompt may include: the current distance between the smart device and the target object. As another example, the smart device may be provided with a display device, and during the navigation process of the smart device, the current distance between the smart device and the target object may be displayed on the display device provided on the smart device at a preset frequency. During the movement of the smart device, by indicating the remaining distance to the destination to the user, the user has an intuitive understanding of the journey, further improving the user experience.

[0034] The above-mentioned intelligent device can have multiple specific implementations. As an example, the intelligent device can be a robot (such as a robot with simulated limbs), or a small movable robot car, or other types of devices.

[0035] Considering that the target environment can be implemented in many ways, it can be a two-dimensional plane structure or a three-dimensional space, and the multiple preset objects therein can be distributed in a plane or in a three-dimensional space. For this problem, as an example, the smart device can be a walking robot, the map of the target environment can be a two-dimensional map, and the target environment can be the environment of the walking plane of the walking robot. As another example, the smart device can also be a flying robot (such as an aircraft such as a drone), the map of the target environment can be a three-dimensional map, and the target environment can be the environment of the flying space of the flying robot.

[0036] As another example, the target environment may be a closed environment or an open environment, which is not specifically limited.

[0037] As an example, if no navigation instruction for the target object is detected after a preset time, the smart device can be controlled to move to the entrance of the target environment based on the map of the target environment. As another example, if no navigation instruction for the target object is detected after a preset time, the smart device can also be controlled to move to any other specified location of the target environment based on the map of the target environment.

[0038] It can be understood that controlling the smart device to stop navigating may refer to controlling the smart device to stop moving and to stop turning (ie, to stop rotating or changing direction).

[0039] Combine the following Figure 3 An exemplary introduction to a navigation scenario in an embodiment of the present application is given below: like Figure 3 As shown, assuming that the target environment is an exhibition hall, and there are two preset objects, theme area 1 and theme area 2, in the exhibition hall, the smart device controls the smart device to navigate based on the map pre-built in the exhibition hall and the current navigation position. When it is detected that the distance between the smart device and the target object is less than or equal to the distance threshold, and the absolute value of the difference between the current orientation angle of the smart device and the target orientation angle is less than or equal to the orientation angle threshold, the smart device is controlled to stop navigating. For example, when the target object is theme area 1, it is detected that the distance between the smart device and theme area 1 is less than or equal to distance threshold 1 (that is, the smart device enters Figure 3 When the target object is the dotted circle of the subject area 1 shown in the figure), and the absolute value of the difference between the current heading angle of the smart device and the target heading angle of the subject area 1 is less than or equal to the heading angle threshold 1, the smart device is controlled to stop navigating; when the target object is the subject area 2, the distance threshold 2 and the heading angle threshold 2 are used as conditions for determining whether the smart device stops navigating, and the specific determination method is similar to that of the subject area 1 and will not be repeated here.

[0040] The following is an exemplary introduction to a specific navigation scenario in the embodiment of the present application: First, information preprocessing is performed: a coordinate system is constructed, with the location of the smart device's starting point as the origin, and an x-axis-y-axis coordinate system (or x-axis-y-axis-z-axis coordinate system) is constructed based on the origin. The current position coordinates of the smart device are (x, y), and the current orientation angle of the smart device is α (for example, relative to the origin and the x-axis, or other references). A set S={x, y, α} that identifies the current position information of the smart device can be constructed based on the current position coordinates of the smart device (x, y) and the current orientation angle α; the frequency at which the smart device collects the current position coordinates and the current orientation angle can be f (that is, the number of information generated within 1 second); the navigation destination coordinates (X, Y) are set, that is, the coordinates of the current navigation position of the smart device for the target object; the navigation destination orientation angle β of the smart device is set, that is, the target orientation angle that the smart device needs to reach when it arrives near the target object; and the distance threshold L and orientation angle threshold θ corresponding to the target object are set. Then, the distance between the current point and the target point is calculated: extract the set representing the current position information of the smart device at the i-th moment ={ , , }; Calculate the distance between the current location of the smart device and the destination at the i-th moment ; Calculate the absolute value of the difference between the current smart device orientation angle and the destination orientation angle; Extract the set representing the current location information of the smart device at the i-th moment ={ , , }; and calculate the absolute value of the difference between the current orientation angle of the smart device and the orientation angle of the destination at the i-th moment A=| -β|. Finally, determine when the smart device stops navigating: the distance between the current location of the smart device and the destination at the i-th moment is less than or equal to the distance threshold L, and the absolute value A of the difference between the current orientation angle of the smart device and the orientation angle of the destination at the i-th moment is less than or equal to the orientation angle threshold θ, that is, At the same time, if A≤θ, the smart device stops navigating, and it is determined that the smart device has reached the destination.

[0041] Corresponding to the above method embodiment, the present application embodiment also provides a navigation device, which is applied to a scenario where a smart device is used to guide at least one preset object in a target environment, wherein the target environment has a pre-built map, see Figure 4 As shown, the device may include: A determination unit 401, in response to a navigation instruction for a target object, determines the position of the target object as the current navigation position of the smart device; the target object is determined in the at least one preset object; The determining unit 401 is further configured to determine a distance threshold, a target orientation angle, and an orientation angle threshold of the target object according to the threshold demarcation parameters of the target object; The control unit 402 is used to control the smart device to stop navigating when it is detected that the distance between the smart device and the target object is less than or equal to the distance threshold, and the absolute value of the difference between the current heading angle of the smart device and the target heading angle is less than or equal to the heading angle threshold during the process of controlling the smart device to navigate based on the map and the current navigation position.

[0042] As an example, there are multiple preset objects in the target environment; the threshold definition parameters include: the volume of the target object, and / or the distance of the target object relative to the entrance position of the target environment.

[0043] As an example, the determination unit 401 is also used to detect a user's voice input instruction for the target object to trigger the navigation instruction, or to detect a user's key trigger instruction for the target object to trigger the navigation instruction, where the key is located on the smart device.

[0044] As an example, the determining unit 401 is also used to determine the target object in each preset object in turn according to a preset order when there are multiple preset objects in the target environment, and trigger the navigation instruction after the target object is determined.

[0045] As an example, the control unit 402 is also used to issue voice prompts at a preset frequency during the navigation process of the smart device, and the voice prompts include: the current distance between the smart device and the target object, and / or, displaying the current distance on a display device provided in the smart device at a preset frequency.

[0046] As an example, the smart device is a walking robot, the map is a two-dimensional map, and the target environment is the environment of the walking plane of the walking robot; or, the smart device is a flying robot, the map is a three-dimensional map, and the target environment is the environment of the flying space of the flying robot.

[0047] As an example, the control unit 402 is further configured to control the smart device to move to the entrance position of the target environment based on the map if the navigation instruction is not detected after a preset period of time.

[0048] The present application also provides a computer program product, including a computer program, wherein when the computer program is executed by a processor, the navigation method described in any one of the above embodiments is implemented.

[0049] The present application also provides an electronic device, such as Figure 5As shown, the electronic device includes: Processor 501; Memory 502 for storing processor executable instructions; The processor 501 is configured to implement the navigation method described in any one of the above embodiments.

[0050] The present application also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the navigation method described in any one of the above embodiments is implemented.

[0051] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only schematic, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present application scheme. A person of ordinary skill in the art can understand and implement it without paying creative labor.

[0052] The above embodiments can be applied to one or more computer devices, where the computer device is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions. The hardware of the computer device includes but is not limited to a microprocessor, an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a digital signal processor (DSP), an embedded device, etc.

[0053] The computer device may be any electronic product that can perform human-computer interaction with a user, such as a personal computer, a tablet computer, a smart phone, a personal digital assistant (PDA), a game console, an interactive network television (IPTV), a smart wearable device, etc.

[0054] The computer device may also include a network device and / or a user device, wherein the network device includes, but is not limited to, a single network server, a server group consisting of multiple network servers, or a cloud consisting of a large number of hosts or network servers based on cloud computing.

[0055] The network where the computer device is located includes but is not limited to the Internet, a wide area network, a metropolitan area network, a local area network, a virtual private network (VPN), etc.

[0056] The step division of the above methods is only for clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the protection scope of this patent; adding insignificant modifications to the algorithm or process or introducing insignificant designs without changing the core design of the algorithm and process are all within the protection scope of this application.

[0057] The description of "specific examples" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In the present application, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0058] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the inventions claimed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary techniques in the art that are not claimed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0059] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

[0060] The above is only a specific implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A navigation method, characterized in that: Applicable to a scenario where a smart device is used to guide at least one preset object in a target environment, where the target environment has a pre-built map, the method comprises: In response to a navigation instruction for a target object, determining the position of the target object as the current navigation position of the smart device; the target object is determined in the at least one preset object; Determine the distance threshold, target orientation angle and orientation angle threshold of the target object according to the threshold demarcation parameters of the target object; During the process of controlling the smart device to navigate based on the map and the current navigation position, if it is detected that the distance between the smart device and the target object is less than or equal to the distance threshold, and the absolute value of the difference between the current heading angle of the smart device and the target heading angle is less than or equal to the heading angle threshold, the smart device is controlled to stop navigation.

2. The method according to claim 1, characterized in that There are multiple preset objects in the target environment; the threshold definition parameters include: the volume of the target object, and / or the distance of the target object relative to the entrance position of the target environment.

3. The method according to claim 1, characterized in that The navigation instructions for the target object are triggered in the following ways: Detecting a user's voice input command for the target object, triggering the navigation command, or A button triggering instruction of a user for the target object is detected, thereby triggering the navigation instruction, wherein the button is arranged on the smart device.

4. The method according to claim 1, characterized in that: The navigation instructions for the target object are triggered in the following ways: When there are multiple preset objects in the target environment, the target object is determined in turn among the preset objects according to a preset order, and the navigation instruction is triggered after the target object is determined.

5. The method according to claim 1, characterized in that The method further comprises: During the navigation process of the smart device, a voice prompt is issued at a preset frequency, and the voice prompt includes: the current distance between the smart device and the target object, and / or The current distance is displayed on a display device provided in the smart device according to a preset frequency.

6. The method according to claim 1, characterized in that The intelligent device is a walking robot, the map is a two-dimensional map, and the target environment is the environment of the walking plane of the walking robot, or The intelligent device is a flying robot, the map is a three-dimensional map, and the target environment is the flying space environment of the flying robot.

7. The method according to claim 1, characterized in that The method further comprises: If the navigation instruction is not detected after a preset period of time, the smart device is controlled to move to the entrance position of the target environment based on the map.

8. A navigation device, characterized in that: Applicable to a scenario where a smart device is used to guide at least one preset object in a target environment, where the target environment has a pre-built map, the device comprises: a determination unit, in response to a navigation instruction for a target object, determining a position of the target object as a current navigation position of the smart device; the target object is determined from the at least one preset object; The determining unit is further used to determine the distance threshold, target orientation angle and orientation angle threshold of the target object according to the threshold demarcation parameters of the target object; A control unit is used to control the smart device to stop navigating when it is detected that the distance between the smart device and the target object is less than or equal to the distance threshold, and the absolute value of the difference between the current heading angle of the smart device and the target heading angle is less than or equal to the heading angle threshold during the process of controlling the smart device to navigate based on the map and the current navigation position.

9. An electronic device, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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