Navigation system and navigation method

• US 10,353,400 B2
• Filed: 05/16/2017
• Issued: 07/16/2019
• Est. Priority Date: 05/23/2016
• Status: Active Grant

• Current Assignee: ASUSTek Computer, Inc.
• Original Assignee: ASUSTek Computer, Inc.
• Inventors: Chou, Hung-Chyun, Wu, Ting-Ying
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): Testardi, David A
• Application Number:
  US15/597,141
• Publication Number:
  US 20170336800A1
• Time in Patent Office: 791 Days
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A navigation system adapted to an electronic device is provided. The navigation system comprises: a processor configured to control a movement direction of the electronic device according to a navigation path, obtain spatial information, and set a waypoint according to the spatial information; and a plurality of distance measuring modules for measuring a waypoint distance between the electronic device and the waypoint. When the processor determines the waypoint distance is less than a waypoint threshold value, the processor is configured to calculate a first distance and a second distance according to the obstacle distances measured by the distance measuring modules. The processor is configured to control the electronic device to have a first movement, a second movement and a third movement according to the first distance and the second distance. A navigation method is further provided.

Claims

1. A navigation system, adapted to an electronic device, comprising:

a storage module for storing map information;

a processor configured to control a movement direction of the electronic device according to a navigation path, obtain spatial information, and set a waypoint according to the spatial information, wherein the processor is configured to set the navigation path and obtain the spatial information according to the map information, and the spatial information includes at least an obstacle position; and

a plurality of distance measuring circuits configured to measure a current position of the electronic device, and to determine a waypoint distance between the current position of the electronic device and the waypoint through the map information;

wherein when the processor determines the waypoint distance is less than a waypoint threshold value, the processor is configured to calculate a first distance and a second distance according to a plurality of obstacle distances measured by the distance measuring circuits, when the first distance is less than the second distance, the processor is configured to control the electronic device to have a first movement, when the first distance is larger than the second distance, the processor is configured to control the electronic device to have a second movement, when the first distance is equal to the second distance, the processor is configured to control the electronic device to have a third movement,

wherein the processor is configured to set an obstacle space starting point and an obstacle space destination according to the obstacle position and set the waypoint between the obstacle space starting point and the obstacle space destination;

wherein when the processor determines the electronic device is at the obstacle space starting point, the processor is configured to control the electronic device to move at a first traveling speed;

when the processor determines the electronic device passes by the waypoint and moves toward the obstacle space destination, the processor is configured to control the electronic device to move at a second traveling speed; and

the first traveling speed is slower than the second traveling speed.

2. The navigation system according to claim 1, wherein the distance measuring circuits are disposed in a front side, a left side, a right side, a left front side, a right front side of the electronic device.

3. The navigation system according to claim 1, wherein the obstacle distance is a distance between the electronic device and the obstacle position.

4. The navigation system according to claim 1, wherein the processor is configured to apply a fuzzy theory algorithm to the obstacle distance to obtain a turning coefficient and a traveling speed corresponding a to the first distance and the second distance.

5. The navigation system according to claim 1, wherein the first movement refers to that the electronic device moves toward a left front direction, the second movement refers to that the electronic device moves toward a right front direction, and the third movement refers to that the electronic device moves forward.

6. The navigation system according to claim 1, wherein when the first distance is less than the second distance, the processor is configured to subtract the first distance from the second distance to obtain a first difference value and determine whether the first difference value is larger than a difference threshold value, when it is determined that the first difference value is larger than the difference threshold value, the first movement of the electronic device is that the electronic device moves in a left front direction according to a first turning coefficient, when it is determined that the first difference value is not larger than the difference threshold value, the first movement of the electronic device is that the electronic device moves in a left front direction according to a second turning coefficient;

wherein an absolute value of the first turning coefficient is larger than the absolute value of the second turning coefficient.

7. The navigation system according to claim 1, wherein when the first distance is larger than the second distance, the processor is configured to subtract the second distance from the first distance to obtain a first difference value and determine whether the first difference value is larger than a difference threshold value, when it is determined that the first difference value is larger than the difference threshold value, the second movement of the electronic device controlled by the processor is that the electronic device moves in a right front direction according to a first turning coefficient, when it is determined that the first difference value is not larger than the difference threshold value, the second movement of the electronic device controlled by the processor is that the electronic device moves in a right front direction according to a second turning coefficient;

wherein an absolute value of the first turning coefficient is larger than the absolute value of the second turning coefficient.

8. The navigation system according to claim 1, wherein the processor is configured to apply a fuzzy theory algorithm to the obstacle distance to obtain the first distance and the second distance, the fuzzy theory algorithm includes a formula as follows:

if x is X, then y is Y;

Rⁿ;

if x₁ is X₁ⁿ and . . . x_i is X_iⁿ, then y is Yⁿ, n=1,2, . . . N, i=1, 2, . . . I;

wherein Rⁿ represents nth rule, n ranges from 1 to any natural number N;

x represents the obstacle distance, X represents a set of the obstacle distance;

y represents a turning coefficient and a traveling speed, Y represents a set of the turning coefficient and the traveling speed;

i represents i^th set, and i ranges from 1 to any positive natural number I.

9. A navigation method comprising:

storing a map information via a storage module;

obtaining spatial information and setting a waypoint according to the spatial information, wherein the processor is configured to set a navigation path and obtain the spatial information according to the map information, and the spatial information includes at least an obstacle position;

measuring a current position of an electronic device, and determining a waypoint distance between the current position of the electronic device and the waypoint through the map information;

determining whether the waypoint distance is less than a waypoint threshold value;

calculating to obtain a first distance and a second distance by a processor according to a plurality of obstacle distances measured by a plurality of distance measuring circuits when it is determined that the waypoint distance is less than a waypoint threshold value, wherein when the first distance is less than the second distance, the processor controls the electronic device to have a first movement, when the first distance is larger than the second distance, the processor controls the electronic device to have a second movement, and when the first distance is equal to the second distance, the processor controls the electronic device to have a third movement; and

applying a fuzzy theory algorithm to the obstacle distances by the processor to obtain a turning coefficient and a traveling speed corresponding to the first distance and the second distance.

10. The navigation method according to claim 9, wherein the navigation method further includes:

setting an obstacle space starting point and an obstacle space destination according to the obstacle position, and setting the waypoint between the obstacle space starting point and the obstacle space destination; and

determining whether the electronic device is at the obstacle space starting point by the processor;

wherein when the processor determines the electronic device is at the obstacle space starting point, the processor controls the electronic device to move at a first traveling speed;

when the processor determines the electronic device passes by the waypoint and moves toward the obstacle space destination, the processor controls the electronic device to move at a second traveling speed; and

the first traveling speed is slower than the second traveling speed.

11. The navigation method according to claim 9, wherein the distance measuring circuits are disposed in a front side, a left side, a right side, a left front side, a right front side of the electronic device.

12. The navigation method according to claim 9, wherein the obstacle distance is a distance from the electronic device to the obstacle position.

13. The navigation method according to claim 9, wherein the first movement refers to that the electronic device moves in a left front direction, the second movement refers to that the electronic device moves in a right front direction, and the third movement refers to that the electronic device moves forward.

14. The navigation method according to claim 9, wherein when the first distance is less than the second distance, the step that the processor controls the electronic device to have the first movement includes:

subtracting the first distance from the second distance to obtain a first difference value and determining whether the first difference value is larger than a difference threshold value by the processor when the first distance is less than the second distance,

controlling the electronic device to move toward a left front direction according to a first turning coefficient when the first distance is larger than the difference threshold value; and

controlling the electronic device to move toward the left front direction according to a second turning coefficient when it is determined that the first distance is not larger than the difference threshold value;

wherein an absolute value of the first turning coefficient is larger than the absolute value of the second turning coefficient.

15. The navigation method according to claim 9, wherein when the first distance is larger than the second distance, the step that the processor controls the electronic device to have the second movement includes:

subtracting the second distance from the first distance to obtain a first difference value and determining whether the first difference value is larger than a difference threshold value by the processor when the first distance is larger than the second distance;

controlling the electronic device to move in a right front direction according to a first turning coefficient when the first difference value is larger than the difference threshold value; and

controlling the electronic device to move in a right front direction according to a second turning coefficient When the first difference value is not larger than the difference threshold value;

wherein an absolute value of the first turning coefficient is larger than the absolute value of the second turning coefficient.

16. The navigation method according to claim 9, wherein the processor is configured to apply the fuzzy theory algorithm to the obstacle distance to obtain the first distance and the second distance, the fuzzy theory algorithm is:

If x is X, then y is Y;

Rⁿ;

If x₁ is X₁ⁿ and . . . x_i is X_iⁿ, then y is Yⁿ, n=1,2, . . . N, i=1, 2, . . . I;

wherein Rn represents nth rule, n ranges from 1 to any natural number N;

x represents the obstacle distance, X represents a set of the obstacle distances;

y represents a turning coefficient and a traveling speed, Y represents a set of the turning coefficient and the traveling speed;

i represents i^th set, and i ranges from 1 to any positive natural number I.

17. A navigation system, adapted to an electronic device, comprising:

a storage module for storing map information;

a processor configured to control a movement direction of the electronic device according to a navigation path, obtain spatial information, and set a waypoint according to the spatial information, wherein the processor is configured to set the navigation path and obtain the spatial information according to the map information, and the spatial information includes at least an obstacle position; and

a plurality of distance measuring circuits configured to measure a current position of the electronic device, and to determine a waypoint distance between the current position of the electronic device and the waypoint through the map information;

wherein when the processor determines the waypoint distance is less than a waypoint threshold value, the processor is configured to calculate a first distance and a second distance according to a plurality of obstacle distances measured by the distance measuring circuits, when the first distance is less than the second distance, the processor is configured to control the electronic device to have a first movement, when the first distance is larger than the second distance, the processor is configured to control the electronic device to have a second movement, when the first distance is equal to the second distance, the processor is configured to control the electronic device to have a third movement,

wherein the processor is configured to apply a fuzzy theory algorithm to the obstacle distance to obtain the first distance and the second distance, the fuzzy theory algorithm includes a formula as follows;

If x is X, then y is Y;

Rⁿ;

If x₁ is X₁ⁿ and . . . x_i is X_iⁿ, then y is Yⁿ, n=1,2, . . . N, i=1, 2, . . . I;

wherein Rⁿ represents nth rule, n ranges from 1 to any natural number N;

x represents the obstacle distance, X represents a set of the obstacle distance;

y represents a turning coefficient and a traveling speed, Y represents a set of the turning coefficient and the traveling speed;

i represents i^th set, and i ranges from 1 to any positive natural number I.