Navigation Method, Device, Electronic Device and Computer Readable Storage Medium

Abstract

The present application discloses a navigation method, a navigation device, an electronic device, and a computer-readable storage medium. The navigation method includes: in response to a navigation instruction for a target object, determining the position of the target object as the current navigation position of the intelligent device; the target object is determined from 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; during the process of controlling the intelligent device to perform navigation based on the map and the current navigation position, when it is detected that the distance between the intelligent 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 intelligent device and the target orientation angle is less than or equal to the orientation angle threshold, controlling the intelligent device to stop navigation. It can shorten the navigation time and improve the navigation efficiency.

Description

Technical Field

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

[0002] Currently, intelligent devices have been more and more widely used in the field of navigation. Through the navigation operation of intelligent devices, the location of a target object can be conveniently indicated to users. Taking the guided tour scenario as an example, intelligent device navigation can be used to guide users to visit different exhibition halls, improving the guided tour efficiency. However, the current navigation efficiency of intelligent devices is relatively low, and the time consumed by navigation is relatively long. 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:

[0004] According to a first aspect of the present application, there is provided a navigation method, which is applied to a scenario of guiding at least one preset object in a target environment by using an intelligent device. The target environment has a pre-constructed map. The method includes:

[0005] In response to a navigation instruction for a target object, determining the position of the target object as the current navigation position of the intelligent device; the target object is determined from the at least one preset object;

[0006] 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;

[0007] During the process of controlling the intelligent device to navigate based on the map and the current navigation position, when it is detected that the distance between the intelligent 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 intelligent device and the target orientation angle is less than or equal to the orientation angle threshold, controlling the intelligent device to stop navigation.

[0008] According to a second aspect of the present application, there is provided a navigation device, which is applied to a scenario of guiding at least one preset object in a target environment by using an intelligent device. The target environment has a pre-constructed map. The device includes:

[0009] A determination unit, which, in response to a navigation instruction for a target object, determines the position of the target object as the current navigation position of the intelligent device; the target object is determined from the at least one preset object;

[0010] The determining unit 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 delimiting parameter of the target object;

[0011] A control unit, configured to, during the process of controlling the intelligent device to navigate based on the map and the current navigation position, when it is detected that the distance between the intelligent 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 intelligent device and the target orientation angle is less than or equal to the orientation angle threshold, control the intelligent device to stop navigating.

[0012] According to a third aspect of the present application, there is provided an electronic device, which includes:

[0013] A processor;

[0014] A memory for storing processor-executable instructions;

[0015] Wherein, the processor is configured to implement the method described in the first aspect.

[0016] According to a fourth aspect of the present application, there is provided a computer-readable storage medium, 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.

[0017] In the technical solution provided by the present application, in the scenario of using an intelligent device to conduct a tour of at least one preset object in a target environment, where the target environment has a pre-constructed map, after determining a target object from at least one preset object, the distance threshold, the target orientation angle, and the orientation angle threshold of the target object can be determined according to the threshold delimiting parameter of the target object. During the process of the intelligent device navigating towards the target object, when it is detected that the distance between the intelligent 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 intelligent device and the target orientation angle is less than or equal to the orientation angle threshold, the intelligent device is quickly controlled to stop navigating, and the navigation can be completed without precisely reaching the position of the target object, thereby shortening the navigation time and improving the navigation efficiency.

[0018] It should be understood that the above general description and subsequent detailed description are only exemplary and explanatory, and cannot limit the present application. Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only some embodiments recorded in the present application, and those of ordinary skill in the art can also obtain other drawings based on these drawings.

[0020] Figure 1 is a schematic diagram of a navigation scenario in the related art;

[0021] Figure 2 is a schematic flowchart of a navigation method according to an embodiment of the present application;

[0022] Figure 3 is a schematic diagram of a navigation scenario according to an embodiment of the present application;

[0023] Figure 4 is a schematic structural diagram of a navigation device according to an embodiment of the present application;

[0024] Figure 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Detailed implementation manners

[0025] 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 with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art shall fall within the protection scope of the present application.

[0026] Currently, intelligent devices have been increasingly widely used in the navigation field. Through the navigation operation of intelligent devices, the location of the target can be conveniently indicated to users. Taking the navigation scenario as an example, intelligent devices can be used for navigation to guide users to visit different exhibition halls and improve the navigation efficiency. However, the current navigation efficiency of intelligent devices is relatively low, and the time consumed for navigation is relatively long. The following will be combined with Figure 1 , and a specific application scenario of current intelligent device navigation will be exemplarily described:

[0027] Such as Figure 1As shown, taking an intelligent device in a navigation scenario in the related art as an example, in this scenario, the intelligent device can mainly be used to guide tourists to refer to different objects in a specific environment. For example, when visiting different themed areas in an exhibition hall, the intelligent device needs to perform a navigation operation during the process of guiding tourists. During the navigation process of the intelligent device, it is often necessary to first determine an object to be navigated to currently, and set the position point of this object as the target position point. For example, currently the intelligent device needs to guide tourists from the entrance position of the exhibition hall to the position of themed area 1 in the exhibition hall. Assuming the entrance position is (0.0, 0.0) and the position of themed area 1 is (10.0, 10.0), the intelligent device often needs to accurately navigate to the target position point (10.0, 10.0). Then, during the navigation process of the intelligent device from the entrance position (0.0, 0.0) to the target position point (10.0, 10.0), it often takes a long time. The intelligent device needs to start from the point (0.0, 0.0), then move to the target position point (10.0, 10.0), and then turn to the correct orientation angle at the target position point (10.0, 10.0) (for example, the intelligent device needs to accurately turn to the orientation angle facing the entrance of themed area 1, or precisely align with the orientation angle of the sign of themed area 1) before it can stop turning and moving to complete the operation of navigating to themed area 1. At this time, if there are other objects to be navigated to in the exhibition hall, such as Figure 1 the themed area 2 shown, then the intelligent device may also need to start from themed area 1 and guide the tourists in themed area 1 to themed area 2. Similarly, the intelligent device also needs to accurately stop at the position point of themed area 2 and accurately turn to the correct orientation angle. The navigation efficiency of the intelligent device is relatively low, further increasing the time consumed by the overall navigation of the intelligent device.

[0028] It should be noted that the above introduction to the navigation scenario of the intelligent device in the related art is only an exemplary display. In actual applications, it is not excluded that there are other navigation scenarios, which are not specifically limited here.

[0029] In view of the above problems, the inventors of the present application found through observation and research that, taking the navigation scenario as an example, during the process of the intelligent device guiding tourists to visit the exhibition hall through navigation operations, the position point where the intelligent device finally stops under each themed area in the exhibition hall does not need to be completely accurate, and it only needs to stop near the target position point; the final orientation angle of the intelligent device under each themed area also does not need to be completely accurate, and it only needs to turn to near the target orientation angle. That is, the intelligent device only needs to guide the tourists to a specific range near the target navigation position and stop navigation to achieve the navigation of tourists.

[0030] Based on this, the present application provides a navigation method, which is applied to a scenario where at least one preset object in a target environment is navigated by using an intelligent device. The target environment has a pre-constructed map, such asFigure 2 As shown, the method may include the following steps:

[0031] S201. In response to a navigation instruction for a target object, determine the position of the target object as the current navigation position of the intelligent device.

[0032] The target object is determined from the at least one preset object.

[0033] S202. Determine 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.

[0034] S203. During the process of controlling the intelligent device to navigate based on the map and the current navigation position, when it is detected that the distance between the intelligent 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 intelligent device and the target orientation angle is less than or equal to the orientation angle threshold, control the intelligent device to stop navigating.

[0035] In the scenario of using an intelligent device to navigate at least one preset object in a target environment provided by the embodiments of the present application, where the target environment has a pre-constructed map, after determining the target object from the at least one preset object, the distance threshold, the target orientation angle, and the orientation angle threshold of the target object can be determined according to the threshold delimiting parameter of the target object. During the process of the intelligent device navigating for the target object, when it is detected that the distance between the intelligent 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 intelligent device and the target orientation angle is less than or equal to the orientation angle threshold, that is, a specific range near the target object is first determined, and when the intelligent device enters this specific range, the intelligent device is quickly controlled to stop navigating, and it is not necessary to accurately reach the position of the target object to complete the navigation, thereby shortening the navigation time and improving the navigation efficiency.

[0036] The execution subject of the navigation method provided by the embodiments of the present application can have various specific implementations. As an example, the execution subject can be the above-mentioned intelligent device. As another example, the execution subject can also be a control device independent of the intelligent device. Therefore, no limitation is imposed on the specific implementation of the execution subject.

[0037] The above-mentioned target environment and preset objects can have various specific implementations. As an example, the target environment can be an exhibition hall, and at least one preset object can be at least one themed area in the exhibition hall. In this scenario, the intelligent device can guide the user to visit different themed areas in the exhibition hall. The preset object can also be an exhibit in the exhibition hall, or 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 intelligent device can guide the user to visit different themed areas in the exhibition hall. In this scenario, the intelligent device can indicate the approximate location of a specific cultural relic to the user. It should be noted that the above introduction to the specific implementations of the target environment and preset objects is only an exemplary display. In actual applications, it is not excluded that there are other specific implementations of the target environment and preset objects in scenarios where precise navigation is not required (i.e., navigation can stop without precisely reaching the location point of the preset object), and no specific limitations are imposed on this.

[0038] The map of the above-mentioned target environment can be pre-constructed in various ways. As an example, a lidar (LiDAR) can be installed on the above-mentioned intelligent device, which can emit laser beams in the target environment at a fixed frequency (e.g., 10Hz) through the lidar, scan the target environment, generate point cloud data based on the scan results (obtained by receiving the reflected signals of the laser beams), and each point contains distance and angle information. Then, based on the generated point cloud data, a map of the target environment is constructed. As another example, the map of the target environment constructed based on the generated point cloud data can be a two-dimensional occupancy grid map, or a three-dimensional point cloud map, or other types of maps. As another example, the lidar of the intelligent device can start scanning the target environment from the entrance position of the target environment, or can start scanning the target environment from any other position in the target environment, and no specific limitations are imposed on this.

[0039] As another example, taking the target environment as a shopping mall, the preset object can be a store in the shopping mall, etc. When pre-constructing the map of the shopping mall, the structure of each floor of the shopping mall can be scanned through the lidar of the intelligent device, and a two-dimensional occupancy grid map of each floor can be constructed respectively, where the locations of each store are recorded in the grid map.

[0040] It should be noted that the above introduction to the method of pre - constructing the map of the target environment is only an exemplary display. In actual applications, there may be other ways to construct the map. For example, taking the museum tour scenario as an example, the target environment is the museum, and the preset objects are the cultural relics in the museum. A visual camera (such as a multi - camera or RGB - Depth (RGB - D) camera) can also be installed on the above - mentioned intelligent device. The map of the museum can be constructed through the depth information collected by this visual camera (the type of this map can be a sparse map that only saves feature points or a dense map that retains the complete three - dimensional point cloud). When the map belongs to a dense map, the positions of each cultural relic are recorded in it, and at this time, the intelligent device can also have an explanation function. For example, the category of the cultural relic (such as sculpture or oil painting, etc.) can be identified through semantic segmentation, and corresponding explanations can be made according to the identified category of the cultural relic. Therefore, the specific method of pre - constructing the map of the target environment is not specifically limited.

[0041] It can be understood that the positions of each preset object are recorded in the map of the target environment. When a navigation instruction for the target object is determined among each preset object, the position of the target object can be obtained from this map, and the obtained position is set as the current navigation position of the intelligent device.

[0042] The navigation instruction for the target object can be triggered in various ways. As an example, when a voice input instruction of the user 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 intelligent device, the navigation instruction for Theme Area 1 is triggered at this time. As another example, when a key - trigger instruction of the user for the target object is detected, the navigation instruction for the target object can be triggered, and this key can be installed on the intelligent device. The user (such as a tourist) can manually trigger the navigation instruction for the preset object (i.e., the target object) that they want to visit, ensuring the priority satisfaction of the user's needs and improving the user experience.

[0043] As another example, another triggering method of the navigation instruction for the target object can include: when there are multiple preset objects in the target environment, the target object can be determined in sequence among each preset object according to a preset order, and the navigation instruction is triggered after the target object is determined. For example, there are Theme Area 1 and Theme Area 2 (or more theme areas) in the exhibition hall. It can be automatically determined as the target object in the order of Theme Area 1 - Theme Area 2 in sequence, and the navigation instruction for it is triggered after it is determined as the target object. For example, first, Theme Area 1 is automatically determined as the target object, and the navigation instruction for Theme Area 1 is triggered first. After this navigation process is completed, then Theme Area 2 is automatically determined as the target object and the navigation instruction for Theme Area 2 is triggered.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] As an example, during the navigation of a smart device, voice prompts can be issued at a preset frequency, and the voice prompts can include: the current distance between the smart device and the target object. As another example, a display device can be provided on the smart device, and during the navigation of the smart device, the current distance between the smart device and the target object can be displayed in the display device provided on the smart device at a preset frequency. During the movement of the smart device, by indicating to the user the remaining distance to the destination, the user can have an intuitive understanding of the journey, further improving the user experience.

[0050] The above smart device can have multiple specific implementations. As an example, the smart device can be a robot (such as a robot with simulated limbs), or a small mobile vehicle, or other types of devices.

[0051] Considering that the target environment can have multiple specific implementations, it can be a two-dimensional planar structure or a three-dimensional space, and multiple preset objects therein can be distributed according to a plane or in a three-dimensional space. To address this issue, 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 where the walking plane of the walking robot is located. As another example, the smart device can also be a flying robot (such as an aircraft like a drone), the map of the target environment can be a three-dimensional map, and the target environment can be the environment where the flight space of the flying robot is located.

[0052] As another example, the target environment can be a closed environment or an open environment, and no specific limitation is made in this regard.

[0053] As an example, if no navigation instruction for the target object is detected after a preset duration, the smart device can be controlled to move to the entrance position 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 duration, the smart device can also be controlled to move to any other specified position of the target environment based on the map of the target environment.

[0054] It can be understood that controlling the smart device to stop navigation can mean controlling the smart device to stop moving and stop turning (i.e., stop rotating or stop changing direction).

[0055] The following combines Figure 3 to give an exemplary introduction to a navigation scenario in an embodiment of the present application:

[0056] As Figure 3As shown, assume the target environment is an exhibition hall, and there are two preset objects in the exhibition hall, namely theme area 1 and theme area 2. During the process of the intelligent device controlling its navigation based on the pre-constructed map of the exhibition hall and the current navigation position, when it is detected that the distance between the intelligent 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 intelligent device and the target orientation angle is less than or equal to the orientation angle threshold, the intelligent device is controlled to stop navigation. For example, when the target object is theme area 1, when it is detected that the distance between the intelligent device and theme area 1 is less than or equal to distance threshold 1 (i.e., when the intelligent device enters the virtual circle of theme area 1 shown in Figure 3 ), and the absolute value of the difference between the current orientation angle of the intelligent device and the target orientation angle of theme area 1 is less than or equal to orientation angle threshold 1, the intelligent device is controlled to stop navigation; when the target object is theme area 2, distance threshold 2 and orientation angle threshold 2 are used as conditions for determining whether the intelligent device stops navigation, and the specific determination method is similar to that of theme area 1 and will not be elaborated here.

[0057] Next, an exemplary introduction is given to a specific navigation scenario in the embodiments of the present application:

[0058] First, perform information preprocessing: construct a coordinate system with the position where the intelligent device starts as the origin, and construct an x-axis - y-axis coordinate system (or x-axis - y-axis - z-axis coordinate system) based on this origin. Then the current position coordinates of the intelligent device are (x, y), and the current orientation angle α of the intelligent device (for example, relative to the origin and the x-axis, or other references). A set S = {x, y, α} representing the current position information of the intelligent device can be constructed based on the current position coordinates (x, y) and the current orientation angle α of the intelligent device; the frequency at which the intelligent device collects the current position coordinates and the current orientation angle can be f (i.e., the number of pieces of information generated within 1 second); set the navigation destination coordinates (X, Y), that is, the coordinates of the current navigation position of the intelligent device for the target object; set the navigation destination orientation angle β of the intelligent device, that is, the target orientation angle that the intelligent device needs to reach when it arrives near the target object; set the distance threshold L and the orientation angle threshold θ corresponding to the target object. Then, calculate the distance between the current point and the target point: extract the set representing the current position information of the intelligent device at the i-th moment ={ , , }; calculate the distance between the current position of the intelligent device at the i-th moment and the destination ; calculate the absolute value of the difference between the current orientation angle of the intelligent device and the destination orientation angle; extract the set representing the current position information of the intelligent 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.

[0059] 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:

[0060] 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;

[0061] 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;

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] As an example, the control unit 402 is further configured to, during the navigation of the intelligent device, issue voice prompts at a preset frequency, where the voice prompts include: the current distance between the intelligent device and the target object, and / or display the current distance on a display device provided on the intelligent device at a preset frequency.

[0067] As an example, the intelligent device is a walking robot, the map is a two-dimensional map, and the target environment is the environment where the walking plane of the walking robot is located, or the intelligent device is a flying robot, the map is a three-dimensional map, and the target environment is the environment where the flight space of the flying robot is located.

[0068] As an example, if the navigation instruction is not detected after a preset duration, the control unit 402 is further configured to control the intelligent device to move to the entrance position of the target environment based on the map.

[0069] The present application further provides a computer program product, including a computer program, where when the computer program is executed by a processor, it implements the navigation method described in any one of the above embodiments.

[0070] The present application further provides an electronic device, as Figure 5 shown, the electronic device includes:

[0071] A processor 501;

[0072] A memory 502 for storing processor-executable instructions;

[0073] Wherein, the processor 501 is configured to implement the navigation method described in any one of the above embodiments.

[0074] The present application further provides a computer-readable storage medium, on which a computer program is stored, where when the computer program is executed by a processor, it implements the navigation method described in any one of the above embodiments.

[0075] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can refer to the partial descriptions of the method embodiments. The device embodiments described above are merely illustrative, where the modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place, or may be distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of the present application. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0076] The above embodiments can be applied to one or more computer devices, which are devices capable of automatically performing 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, microprocessors, application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0077] The computer device can be any electronic product that can interact with users. For example, personal computers, tablets, smart phones, personal digital assistants (PDAs), game consoles, Internet Protocol Televisions (IPTVs), smart wearable devices, etc.

[0078] The computer device may also include network devices and / or user devices. Among them, the network devices include, but are not limited to, a single network server, a server group composed of multiple network servers, or a cloud composed of a large number of hosts or network servers based on cloud computing.

[0079] The network where the computer device is located includes, but is not limited to, the Internet, wide area network, metropolitan area network, local area network, virtual private network (VPN), etc.

[0080] The step division of the above various methods is only for clear description. When implemented, they can be combined into one step or some steps can be split into multiple steps. As long as the same logical relationship is included, they are all within the protection scope of this patent; adding insignificant modifications to the algorithm or process or introducing insignificant designs, but not changing the core design of its algorithm and process, are all within the protection scope of this application.

[0081] Among them, the description of "specific examples" or "some examples", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of this application. In this application, the schematic expressions of the above terms do not necessarily refer to the same embodiments or examples. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0082] Other embodiments of the present application will readily occur to those skilled in the art upon considering the specification and practicing the invention 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 known common general knowledge or conventional technical means in the technical field not claimed in the present application. The specification and examples are only illustrative, and the true scope and spirit of the present application are pointed out by the following claims.

[0083] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

[0084] The above are only specific embodiments of the present application. It should be noted that for those of ordinary skill in the art, several improvements and refinements can be made without departing from the principle of the present application, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A navigation method, characterized in that, Applied to the scenario of using an intelligent device to navigate multiple preset objects existing in a target environment, the target environment having a pre-constructed map, the method includes: In response to a navigation instruction for a target object, determining the position of the target object as the current navigation position of the intelligent device; the target object is determined from among the multiple preset objects; 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; the threshold delimiting parameter includes: the volume of the target object, and / or, the distance of the target object from the entrance position of the target environment; During the process of controlling the intelligent device to navigate based on the map and the current navigation position, when it is detected that the distance between the intelligent 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 intelligent device and the target orientation angle is less than or equal to the orientation angle threshold, controlling the intelligent device to stop navigating.

2. The method according to claim 1, wherein The navigation instruction for the target object is triggered in the following manner: Detecting a voice input instruction of the user for the target object and triggering the navigation instruction, or Detecting a key trigger instruction of the user for the target object and triggering the navigation instruction, the key being provided on the intelligent device.

3. The method according to claim 1, wherein The navigation instruction for the target object is triggered in the following manner: When there are multiple preset objects in the target environment, determining a target object in sequence among the various preset objects according to a preset order, and triggering the navigation instruction after determining the target object.

4. The method according to claim 1, wherein The method further includes: During the navigation of the intelligent device, issuing a voice prompt at a preset frequency, the voice prompt including: the current distance between the intelligent device and the target object, and / or Displaying the current distance on a display device provided on the intelligent device at a preset frequency.

5. According to the method of claim 1, wherein, The intelligent device is a walking robot, the map is a two-dimensional map, and the target environment is the environment where the walking plane of the walking robot is located, or The intelligent device is a flying robot, the map is a three-dimensional map, and the target environment is the environment where the flight space of the flying robot is located.

6. The method according to claim 1, characterized in that The method further includes: If the navigation instruction is not detected after a preset duration, controlling the intelligent device to move to the entrance position of the target environment based on the map.

7. A navigation device, characterized in that, Applied to the scenario of using an intelligent device to navigate multiple preset objects existing in a target environment, the target environment having a pre-constructed map, the apparatus includes: A determination unit, which in response to a navigation instruction for a target object, determines the position of the target object as the current navigation position of the intelligent device; the target object is determined from among the multiple preset objects; The determining unit 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 delimiting parameter of the target object; the threshold delimiting parameter includes: the volume of the target object, and / or, the distance of the target object relative to the entrance position of the target environment. The control unit is configured to control the intelligent device to stop navigation when, in the process of controlling the intelligent device to navigate based on the map and the current navigation position, it is detected that the distance between the intelligent 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 intelligent device and the target orientation angle is less than or equal to the orientation angle threshold.

8. An electronic device, characterized in that, Comprising: A processor; A memory for storing processor-executable instructions; Wherein, the processor is configured to implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps in the method according to any one of claims 1 to 6.

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