CN109901569A - Mobile device navigation method and related equipment - Google Patents
Mobile device navigation method and related equipment Download PDFInfo
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- CN109901569A CN109901569A CN201711306600.0A CN201711306600A CN109901569A CN 109901569 A CN109901569 A CN 109901569A CN 201711306600 A CN201711306600 A CN 201711306600A CN 109901569 A CN109901569 A CN 109901569A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
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Abstract
The application provides a navigation method of a mobile device, wherein the mobile device can drive along a navigation path, in the driving process, if the navigation path comprises a path crossing area, the mobile device can send an occupation request for the path crossing area to a navigation server, after the navigation server receives the occupation request, the navigation server determines whether the path crossing area is locked, if the path crossing area is not locked, a result of allowing locking can be returned to the mobile device, otherwise, if the path crossing area is locked, a result of refusing locking can be sent to the mobile device. It can be understood that the mobile devices can directly pass through the path crossing area after application success, and the mobile devices need to pause to pass through the path crossing area after application failure, so that the problem of collision possibly existing between the mobile devices is prevented. In addition, the application also provides related equipment for navigation of the mobile device, so as to ensure the application and implementation of the method in practice.
Description
Technical field
This application involves logistics technology, more specifically, being mobile device air navigation aid and relevant device.
Background technique
In order to improve logistics package storehouse in sorting efficiency, can sorting storehouse in mobile device is set, for will from point
The logistics package that sorting zone domain is sorted out is transported to target location.When needing the movement for sorting or carrying out other properties such as to charge,
Mobile device can be travelled according to respective guidance path.
Sort storehouse in mobile device be it is multiple, the case where often will appear multiple mobile devices while moving, such feelings
Under condition, the guidance path of different mobile device travelings is different, it is possible that the case where mobile device is mutually collided.
Summary of the invention
In view of this, being used for mobile device in the process of moving this application provides a kind of mobile device air navigation aid
The collision problem being likely to occur is controlled.In addition, present invention also provides the relevant devices of mobile device navigation, to guarantee
The application and realization of the method in practice.
In order to achieve the object, technical solution provided by the present application is as follows:
In a first aspect, this application provides a kind of mobile device air navigation aids, comprising:
Control target mobile device is travelled along guidance path；
Receive the occupancy to the destination path intersection region in the guidance path that the target mobile device is sent
After request, determine whether the destination path intersection region is locked；
If the destination path intersection region is not locked out, the knot for allowing to lock is returned to the target mobile device
Fruit；
If the destination path intersection region is locked, the result of refusal locking is returned to the target mobile device.
Second aspect, this application provides a kind of mobile device air navigation aids, are applied to mobile device, this method comprises:
After receiving guidance path, travelled along the guidance path；
In the process of moving, according to the pass between the path intersection region in the position of mobile device and the guidance path
System sends the request for occupying the path intersection region.
The third aspect, this application provides a kind of navigation servers, comprising:
Communication interface, for receiving the accounting for the destination path intersection region in guidance path of target mobile device transmission
With request；The result for allowing to lock is returned to the target mobile device；And refusal lock is returned to the target mobile device
Fixed result；
Processor is travelled for controlling target mobile device along guidance path；Receive pair that target mobile device is sent
After the occupancy request of destination path intersection region in guidance path, determine whether the destination path intersection region is locked；
If the destination path intersection region is not locked out, the result for allowing to lock is generated；If destination path intersection region quilt
Locking then generates the result of refusal locking.
Fourth aspect, this application provides a kind of mobile devices, comprising:
Communication interface, for receiving guidance path；And send the request for occupying the path intersection region；
Processor travels after receiving guidance path along the guidance path；And in the process of moving, root
According to the relationship between the path intersection region in the position and the guidance path of mobile device, generates and occupy the path intersection
The request in region.
5th aspect, this application provides a kind of mobile device navigation devices, comprising:
Navigation elements are travelled for controlling target mobile device along guidance path；
Lock cell is determined, for receiving that the target mobile device sends to the target road in the guidance path
After the occupancy request of diameter intersection region, determine whether the destination path intersection region is locked；
Allow lock cell, if being not locked out for the destination path intersection region, to the target mobile device
Return to the result for allowing to lock；
Refuse lock cell, if locked for the destination path intersection region, is returned to the target mobile device
Return the result of refusal locking.
6th aspect, this application provides a kind of mobile devices, comprising:
Travel unit travels after receiving guidance path along the guidance path；
Application unit, in the process of moving, being handed over according to the path in the position of mobile device and the guidance path
The relationship between region is pitched, the request for occupying the path intersection region is sent.
From the above technical scheme, this application provides a kind of mobile device air navigation aid, mobile device can be along
Guidance path traveling, in the process of moving, if including path intersection region in guidance path, mobile device can be to navigation Service
Device, which is sent, requests the occupancy of path intersection region, after navigation server receives occupancy request, determines that path intersection region is
It is no locked, if being not locked out, if can be returned to mobile device it is allowing to lock as a result, otherwise it is locked, can be to
Mobile device sends the result of refusal locking.It is understood that can directly passage path be handed over after mobile device application success
Region is pitched, needs to suspend passage path intersection region after mobile device application failure, it may between mobile device to prevent
Existing collision problem.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of application for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of structure chart of mobile device navigation system provided by the present application；
Fig. 2 is a flow chart of the mobile device air navigation aid provided by the present application applied on navigation server；
Fig. 3 is a schematic diagram in two bar navigation provided by the present application path；
Fig. 4 is another flow chart of the mobile device air navigation aid provided by the present application applied on navigation server；
Fig. 5 is another flow chart of the mobile device air navigation aid of application provided by the present application on the mobile device；
Fig. 6 is a kind of structural schematic diagram of navigation server provided by the present application；
Fig. 7 is a kind of structural schematic diagram of mobile device navigation device provided by the present application；
Fig. 8 is a kind of structural schematic diagram of mobile device provided by the present application.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
In logistics field, warehouse is for storing logistics package.In order to realize automated sorting in storehouse, can be set in warehouse
Set mobile device.The bogey such as cabinet or mobile device and logistics of logistics package can be set in mobile device itself
The bogey of package is separation, but mobile device can drive bogey to move.
In addition, mobile device also has communication interface and navigation elements, by communication interface, it can receive other equipment
The data of transmission send data to other equipment, and by navigation elements, autokinetic movement is may be implemented in it.
It is understood that in warehouse be arranged mobile device more than one, if multiple mobile devices simultaneously in warehouse
Movement, it is possible that the problem of mobile device is mutually collided.The motion collision problem that mobile device is likely to occur in order to prevent,
This application provides a kind of mobile device air navigation aids applied in navigation system.It should be noted that the mobile device is navigated
Method is not limited to apply in warehouse, can be applied in the space of other forms.In addition, mobile device
The article that is transported simultaneously is confined to logistics package, can also be the article of other forms.A kind of concrete form of mobile device is
Article bogey, but mobile device is not limited thereto, and can also be other forms.
As shown in Figure 1, navigation system may include navigation server and mobile device.Wherein, navigation server is for being
Mobile device generate guidance path, control mobile device travelled along guidance path, receive mobile device transmission to navigation
Path intersection region in path (path intersection region can be path crossover node, circular path crosspoint as shown in figure 1)
Occupancy request after, determine whether path intersection region is locked, and according to judging result to mobile device return application result.
Mobile device is travelled according to guidance path, in the process of moving, detects whether to reach the path zone of intersection in guidance path
Domain, if so, navigation server sends the request for occupying path intersection region；After receiving application result, tied according to application
Fruit determines that waiting is still suspended in passage path intersection region.
Individually below with navigation server and the angle of mobile device, mobile device air navigation aid is illustrated.
See Fig. 2, the mobile device air navigation aid provided by the present application applied on navigation server can specifically include as
Lower step S201~S203.
S201: control target mobile device is travelled along guidance path.
Wherein, the moving line of mobile device can be planned by navigation server, and be sent to movement by navigation server
Device.For example, navigation server determines that the logistics which has sort out in warehouse package needs to be transported, wrapped up for these logistics
Idle mobile device is distributed, and point is transported according to the starting transport point and purpose of logistics package, plans the movement of mobile device
Guidance path is sent to mobile device by path, motion path, that is, guidance path.
Control mobile device in this step is travelled along guidance path, including at least two forms.A kind of form is to lead
After the server that navigates generates the guidance path of mobile device, guidance path is sent to mobile device, so that mobile device is independently sharp
It is travelled with navigation elements according to the guidance path；Another form is that navigation server generates the guidance path of mobile device, will
Guidance path sends mobile device, but mobile device entirely autonomous can not be travelled according to guidance path, it is also necessary to receive navigation
The navigation directions of server.
For ease of description, the mobile device that any one can be controlled is known as target mobile device.
S202: the occupancy to the destination path intersection region in guidance path for receiving target mobile device transmission is requested
Afterwards, determine whether destination path intersection region is locked.
Wherein, guidance path can be made of multiple passage zones, and passage zone has sequence, and mobile device receives
After guidance path, according to the sequencing of passage zone in guidance path, successively pass through these passage zones.
It may include path intersection region in passage zone, it should be noted that path intersection region can be crossroad
Diameter point is also possible to one section of region of path intersection.Wherein crossedpath point can be the crosspoint of right-angled intersection, be also possible to
The road junction of T-shaped crossedpath point or other forms.As shown in figure 3, it illustrates a kind of path nets in warehouse
Schematic diagram, it is assumed that the corresponding guidance path of mobile device 1 be A1, the path net in include crossedpath point P1, P2 and
P3, it is assumed that the corresponding guidance path of mobile device 2 is A2, includes crossedpath point P2, P4 and P5 in the net of the path.Navigation
It include crossedpath point P2 in path A1 and guidance path A2, then mobile device 1, can according in guidance path driving process
It can be collided with mobile device 2 in crossedpath point P2.It is monitored and controls therefore, it is necessary to the driving process to mobile device
System.
It should be noted that may include multiple path intersection regions in guidance path, mobile device needs respectively to every
Applied a path intersection region.Navigation server receives occupancy application of the mobile device to some path intersection region
Afterwards, in order to distinguish the path intersection region and other path intersection regions, it can apply for the corresponding path zone of intersection for occupying
Domain is known as destination path intersection region.
Mobile device along guidance path during travelling, it can be determined that whether itself needs by the path zone of intersection
Domain, if so, just navigation server sends the occupancy request to path intersection region.Navigation server receives occupancy request
Afterwards, it needs to judge whether path intersection region is locked.
It should be noted that whether path intersection region is locked to may include two kinds of situations, a kind of situation is the path
Intersection region just occupied, can be currently locked, otherwise current unoccupied, will not be locked；Another situation is that should
Path intersection region, which has been preassigned, gives some mobile device, then the path intersection region can be locked.Specifically, mobile
When device sends the occupancy request to some path intersection region, the path intersection region is not reached also, while other are moved
Device may also apply occupying the path intersection region, and according to the relationship of priority, which may divide in advance
Dispensing other mobile devices.
For different situations, this application provides the different modes for judging path intersection region and whether being locked.
On how to judge whether path intersection region is currently occupied.Specifically, navigation server sends out guidance path
After giving mobile device, the driving process of mobile device can be monitored, such as guidance path can be by multiple datapath sections
Domain composition, passage zone includes that path intersection region also includes non-path intersection region, and navigation server can monitor mobile dress
It sets and which passage zone has been run over, and do not driven to there are also which passage zone.
Navigation server can monitor the travel situations of all mobile devices travelled in the net of path, and mobile device is just
By which passage zone, then the current occupancy of the passage zone is occupied.As it can be seen that navigation server can obtain road
The current occupancy of all passage zones in diameter net.In turn, destination path intersection region can be searched in path is netted, and really
Whether the current occupancy of the fixed destination path intersection region, current occupancy can represent destination path intersection region
It is occupied.
On how to judge whether path intersection region is occupied in advance.Specifically, navigation server may determine that currently
It whether also include the destination path intersection region in the guidance path of some other mobile device, and some other mobile device
Distance objective path intersection region is closer.Wherein, whether other mobile devices are relatively close at a distance from destination path intersection region, can
To be determined by the way that whether the distance between other mobile devices and destination path intersection region meet preset condition.
Meet other mobile devices of above-mentioned requirements if it exists, then can determine that other mobile devices and target are moved respectively
Whether dynamic device is and then high according to the occupancy priority of other mobile devices to the occupancy priority of the destination path intersection region
In the occupancy priority of target mobile device, to determine whether destination path intersection region is locked in advance.It is understood that
If the occupancy priority of other mobile devices is higher than the occupancy priority of target mobile device, the destination path intersection region meeting
It is occupied, otherwise can be occupied by target toter by other mobile devices.That is, if having multiple mobile devices that may account for
With certain path intersection region, path intersection region, which can be assigned to, occupies the higher mobile device of priority.
It, can be in the following manner when calculating occupancy priority of the mobile device to path intersection region: determining mobile dress
The objective attribute target attribute set, wherein objective attribute target attribute includes any one or more in following items: whether traveling cause type delivers
The priority for having article, delivering article；And the occupancy priority of mobile device is determined according to objective attribute target attribute.
Specifically, the traveling cause type of mobile device is referred to as traveling purpose type, indicates mobile device traveling
To the reason of destination what is, in specific application scenarios, different types of traveling reason accounts for path intersection region
It is different with demand levels.For example, it may be to transport logistics packet that mobile device, which is travelled to destination, in sorting warehouse
It wraps up in, it is also possible in order to go charging pile to charge, it is also possible to rest to move to rest area, in sorting application scenarios
In, this three kinds traveling cause types successively reduce the occupancy demand levels of path intersection region.
Refinement ground, even if can also distinguish between different situations for the mobile device of some traveling cause type.A kind of feelings
Condition is, in the case where the traveling cause type of mobile device is to transport logistics package, also to judge whether mobile device delivers
There is article.Because mobile device may be on the road for load article, it is also possible to which being already loaded with article is transported by article
It send to the road of some designated place, it is seen that in the case where different, mobile device may carry article and may also not deliver
There is article.If most completing to transport as standard fastly with article, the priority that the mobile device for being mounted with article can be set is higher,
Otherwise the priority for the mobile device for not being mounted with article is lower.It certainly, can be by priority under different transport standards
Height situation is oppositely arranged.
More refinement ground, even if mobile device is mounted with article, but the priority of different articles may be different.For example,
In logistics packages scene, certain logistics package needs export as early as possible, then can be set the priority of these logistics package compared with
Height, if therefore multiple mobile devices be mounted with article, but be mounted with the priority of the mobile device of priority higher building product
It is corresponding higher.
In conclusion attribute of the mobile device on objective attribute target attribute item can be determined, and according to being in advance that these attributes are set
The priority set determines the priority of mobile device.
It should be noted that the application is in other parts it is also possible that excellent with occupancy of the mobile device to path intersection region
First grade, the calculation for occupying priority also may refer to aforesaid way.
S203: if destination path intersection region is not locked out, the result for allowing to lock is returned to target mobile device；If
Destination path intersection region is locked, then the result of refusal locking is returned to target mobile device.
Wherein, if navigation server judging result is path intersection region and to be not locked out, then it represents that mobile device can be with
The path intersection region is occupied, the result for allowing to lock just is sent to mobile device.It should be noted that the result for allowing to lock
It is used to indicate target mobile device and passes through destination path intersection region.Mobile device is sent when the occupancy is requested and without the road
Diameter intersection region can pass through the path intersection region after mobile device receives the result for allowing to lock.
After mobile device successfully passes path intersection region, the stop motion if reaching guidance path terminal, if not reaching
Guidance path terminal then still travels until reaching guidance path terminal according to the method described above.After reaching guidance path terminal, judgement
Whether itself also has other unfinished guidance paths, and if it exists, then still travels, if it does not exist, then may be used according to the method described above
With the traveling task new to navigation service request.
In one case, it if path intersection region is locked by other mobile devices, is refused to target mobile device return
The result locked absolutely.The result of refusal locking is used to indicate target mobile device pause and passes through destination path intersection region.
From the above technical scheme, this application provides a kind of mobile device air navigation aid, mobile device can be along
Guidance path traveling, in the process of moving, if including path intersection region in guidance path, mobile device can be to navigation Service
Device, which is sent, requests the occupancy of path intersection region, after navigation server receives occupancy request, determines that path intersection region is
It is no locked, if being not locked out, if can be returned to mobile device it is allowing to lock as a result, otherwise it is locked, can be to
Mobile device sends the result of refusal locking.It is understood that can directly passage path be handed over after mobile device application success
Region is pitched, needs to suspend passage path intersection region after mobile device application failure, it may between mobile device to prevent
Existing collision problem.
In addition, mobile device air navigation aid provided by the present application do not need to install on the mobile device laser, radar or
The detection units such as sonar can simplify the design of mobile device to avoid the collision between mobile device.
In order to handle the mobile device that pause waits the path intersection region right to use, as shown in figure 4, the navigation of mobile device
Method can also include the following steps S404~S406 on the basis of above-mentioned shown in Fig. 2.It should be noted that in the application
Step S401~S403 be referred to step S201~S203 in Fig. 2, do not repeat herein.
S404: if destination path intersection region is locked, target mobile device is put into destination path intersection region
In waiting list.
Wherein, in the case where refusing locking, target mobile device can be put into the waiting of destination path intersection region
In queue.Specifically, a waiting list can be safeguarded for each path intersection region, what is saved in waiting list is that application accounts for
With the mobile device of path intersection region failure.
S405: all mobile devices in the waiting list of destination path intersection region are obtained；Determine all mobile devices
Occupancy priority；And according to priority is occupied, the result for allowing to lock successively is sent to each mobile device.
Wherein, in waiting mobile device can compartment of terrain navigation server send application according to preset duration
The request of occupancy, or not uninterrupted application, but navigation server is after the result for returning to refusal locking to mobile device,
Judge whether again to be to distribute the path intersection region in waiting mobile device according to predetermined manner.Predetermined manner can be with
It is after preset a period of time etc..
Navigation server can be after determining target mobile device by destination path intersection region, and acquisition is in waiting
All mobile devices.And the occupancy priority of each mobile device is determined in the way of above-mentioned determining occupancy priority,
It is of course also possible to be in above-mentioned Fig. 2 step determine occupy priority after, this step directly obtain it is determined above go out account for
Use priority.According to the sequence of priority from high to low is occupied, successively send allowing to lock to mobile device as a result, so as to moving
Dynamic device passes sequentially through destination path intersection region.
It should be noted that movement can also be recorded after navigation server sends the result of refusal locking to mobile device
The waiting time of device.For this step when calculating occupancy priority, used objective attribute target attribute is in addition to the target category in above-mentioned Fig. 2
It can also include waiting time except property.In practical applications, the priority of waiting time is set according to actual needs, such as
In order to shorten article as far as possible from the transport duration after sorting area, waiting time can be set compared to priority for other attributes
Highest, and waiting time is longer, priority is higher.Certainly, priority height can be with for waiting time and other attributes
It is other.
S406: if after preset duration, target mobile device is failure to the application result of destination path node, then mesh is modified
Mark the guidance path of mobile device.
Wherein, navigation server can be previously provided with the preset duration waited in maximum duration i.e. this step, wait
After maximum duration, if the application result of target mobile device is still failure, navigation server is target toter rule again
Guidance path is drawn, the guidance path such as planned again is sailed from neighbouring road around subsequent continue in path intersection region.
From the above technical scheme, determining whether in the target mobile device for refusal locking being capable of passage path intersection
When region, it is contemplated that the occupancy priority of all mobile devices for waiting passage path intersection region occupies priority not only
Only include waiting time, thus navigation server and the indirect mobile device for successively allowing each waiting according to waiting time it is logical
It crosses, and any one in allowing for waiting time, traveling cause type, whether carrying article, article priority etc. or more
A sequencing because usually determining passage path intersection region, so that the transport process of mobile device meets various different need
It asks.
Corresponding with the mobile device air navigation aid on navigation server is applied, present invention also provides apply in movement
Mobile device air navigation aid on device.
As shown in figure 5, application mobile device air navigation aid on the mobile device provided by the present application include S501~
S503。
S501: it after receiving guidance path, is travelled along guidance path.
Wherein, after mobile device receives guidance path, current indoor orientation method can be used and carry out navigation traveling.
Current indoor orientation method such as two-dimensional code scanning method, three-dimensional distance measuring method, entry detection method etc..It should be noted that
Navigation correlation unit, such as gyroscope, distance measuring unit can be set in mobile device.
S502: in the process of moving, detect whether to reach the path intersection region in guidance path；If so, holding
Row step S503.
Wherein, a kind of concrete mode that whether detection mobile device reaches path intersection region can be, and be filled according to mobile
Relationship between the position set and path intersection region, to judge whether mobile device reaches the path intersection region.Specifically,
Mobile device can detecte the location of itself in the process of moving, and can obtain the path zone of intersection in guidance path
Position where domain, judges whether mobile device is up to path intersection region according to positional relationship between the two.Tool
Body, mobile device judges whether the positional relationship between the position and path intersection region of itself meets preset condition, if full
Foot, then can determine that mobile device will reach path intersection region.Wherein preset condition can be distance threshold, if the two it
Between distance be less than or equal to the distance threshold, it is determined that positional relationship between the two meets preset condition.
In addition, the application, which can also provide mobile device, detects whether that soon reaching the another of path intersection region realizes
Mode.Specifically, i.e., the judgment criteria of arrival can be set in advance in mobile device, such as passes through a passage zone every time
Afterwards, then detect it is next or under several subsequent path regions whether be path intersection region.
A kind of situation be include the mark of path intersection region in the guidance path that navigation server is sent, then mobile dress
It sets in the process of moving, detects identifying whether as the mark of path intersection region for subsequent traveling node.
Specifically, path intersection region can be distinguished by identifying.By taking path intersection region is crossedpath point as an example
It is illustrated.Each path point in guidance path has respective mark, and the mark that different types of path point has is different,
Crossedpath point is the path point of one such type, therefore can be by judging whether certain path point there is the mark to sentence
Whether the path point of breaking is crossedpath point.For example, guidance path is P1 (a), P2 (a), P3 (b) and P4 (b), wherein path point
P1's and P2 is identified as a (a indicates crossedpath point), and path point P1's and P2 is identified as b (b indicates uniline path point), therefore
It can determine whether some path point is crossedpath point according to the mark in guidance path.
Another situation is path net to be stored in mobile device, and the path intersection region in the net of path has mark,
Then mobile device in the process of moving, detects identifying whether as the mark of the path intersection region in the net of path for subsequent traveling node
Know.
It specifically, does not include the mark of passage zone in the guidance path that navigation server is sent, but in mobile device
It is stored with path net, each passage zone in the net of path has mark.It therefore, can after mobile device receives guidance path
To search the mark of each passage zone in guidance path in netting from path, to judge whether the passage zone is that path intersects
Region.
Above two mode is compared, mobile device does not need store path net in first way, so as to save
The memory space of mobile device；The data volume that navigation server is sent into mobile device in the second way is less, consuming
The communication resource is less, and communication efficiency is higher.
S503: navigation server sends the request for occupying path intersection region.
Wherein, it needs if mobile device detects by path intersection region, just navigation server, which is sent, occupies the road
The request of diameter intersection region.After navigation server receives occupancy request, it can apply according to above-mentioned in navigation server
On method can mobile device be judged and is controlled by the path intersection region.
In above method, judged whether to need passage path intersection region by mobile device, it can also be by navigation server
To determine, and corresponding occupancy application result is returned to mobile device.That is the navigation server traveling that obtains multiple mobile devices
Data；According to the running data of mobile device, predicting whether to be present in same time point reaches the target of same passage zone and moves
Dynamic device；If so, determining that the mobile device passes through the sequencing of the passage zone.It wherein can be according to above-mentioned occupancy
The mode of priority determines that mobile device passes through the sequencing of the passage zone.
See Fig. 6, it illustrates a kind of structures of navigation server provided by the present application.As shown in Figure 6, navigation server can
To specifically include: memory 601, processor 602, communication interface 603 and bus 604.
Memory 601, for storing program instruction and/or data.
Processor 602, by reading the instruction and/or data that store in the memory 601, for executing following behaviour
Make: control target mobile device is travelled along guidance path；Receive target mobile device send to the target in guidance path
After the occupancy request of path intersection region, determine whether the destination path intersection region is locked；If the destination path is handed over
Fork region is not locked out, then generates the result for allowing to lock；If the destination path intersection region is locked, refusal lock is generated
Fixed result.
Communication interface 603, for receive target mobile device transmission to the destination path intersection region in guidance path
Occupancy request；The result for allowing to lock is returned to the target mobile device；And it is refused to target mobile device return
The result locked absolutely.
Bus 604, for each hardware component of navigation server to be coupled.
In one example, the processor 602 is wrapped for determining whether the destination path intersection region is locked
It includes: processor, specifically for obtaining the Current lock situation of each passage zone in the net of path；And in each datapath section
The destination path intersection region is determined in domain, and according to the Current lock situation of the destination path intersection region, determines institute
State whether destination path intersection region is currently locked.
In one example, the processor 602 is wrapped for determining whether the destination path intersection region is locked
Include: processor includes the destination path intersection region and current driving location specifically for determining whether there is guidance path
The distance between described destination path intersection region meets other mobile devices of preset condition；If it exists, it is determined that described
The occupancy priority of other mobile devices and the occupancy priority of the target mobile device；And according to other described shiftings
Whether the occupancy priority of dynamic device is higher than the occupancy priority of the target mobile device, determines the destination path zone of intersection
Whether domain is locked in advance.
In one example, if processor 602 is also used to the destination path intersection region and is locked, by the target
Mobile device is put into the waiting list of the destination path intersection region.
In one example, the processor 602 is also used to obtain in the waiting list of the destination path intersection region
All mobile devices；Determine the occupancy priority of all mobile devices；And according to priority is occupied, successively to each described
Mobile device sends the result for allowing to lock.
In one example, the processor 602 includes: processor for occupying the determination method of priority, specific to use
In the objective attribute target attribute for determining mobile device, wherein the objective attribute target attribute includes any one or more in following items: traveling
Cause type, the priority for whether carrying article, delivering article；And accounting for for mobile device is determined according to the objective attribute target attribute
Use priority.
In one example, if the processor 602 is specifically for after preset duration, the target mobile device is to described
The application result of destination path node is failure, then modifies the guidance path of the target mobile device.
In addition, present invention also provides a kind of mobile devices, comprising: memory, processor, communication interface and bus.
Memory, for storing program instruction and/or data.
Processor, by reading the instruction and/or data that store in the memory, for performing the following operations: receiving
To after guidance path, travelled along the guidance path；And in the process of moving, it according to the position of mobile device and described leads
The relationship between the intersection region of path in bit path generates the request for occupying the path intersection region.
Communication interface, for receiving guidance path；And send the request for occupying the path intersection region.
Bus, for each hardware component of navigation server to be coupled.
In one example, the processor is used in the process of moving, according to the position of mobile device and the navigation
The relationship between the intersection region of path in path sends the request for occupying the path intersection region, comprising: processor, tool
Body is in the process of moving, judging the relationship between the path intersection region in the position and the guidance path of mobile device
Whether preset condition is met, if so, sending the request for occupying the path intersection region.
See Fig. 7, it illustrates a kind of structures of mobile device navigation device provided by the present application.As shown in fig. 7, the movement
Device navigation device can specifically include: navigation elements 701 determine lock cell 702, allow lock cell 703 and refusal lock
Order member 704.Wherein:
Navigation elements 701 are travelled for controlling target mobile device along guidance path；
Lock cell 702 is determined, for receiving that the target mobile device sends to the mesh in the guidance path
After the occupancy request for marking path intersection region, determine whether the destination path intersection region is locked；
Allow lock cell 703, if being not locked out for the destination path intersection region, is filled to the target is mobile
Set the result for returning and allowing to lock；
Refuse lock cell 704, if locked for the destination path intersection region, to the target mobile device
Return to the result of refusal locking.
It, can be by it should be noted that each unit of the above mobile device navigation device is during realizing function
It is realized according to the step in above-mentioned mobile device air navigation aid.
See Fig. 8, it illustrates a kind of structures of mobile device provided by the present application.As shown in figure 8, the device can be specific
It include: travel unit 801 and application unit 802.
Travel unit 801 travels after receiving guidance path along the guidance path；
Application unit 802 is used in the process of moving, according to the path in the position of mobile device and the guidance path
Relationship between intersection region sends the request for occupying the path intersection region.
It should be noted that each unit of the above mobile device during realizing function, can be answered according to above-mentioned
It is realized for the step in the mobile device air navigation aid of mobile device.
It should be noted that all the embodiments in this specification are described in a progressive manner, each embodiment weight
Point explanation is the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to contain
Lid non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including above-mentioned element.
The foregoing description of the disclosed embodiments makes professional and technical personnel in the field can be realized or use the application.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the application.Therefore, the application
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (20)
1. a kind of mobile device air navigation aid characterized by comprising
Control target mobile device is travelled along guidance path；
The occupancy to the destination path intersection region in the guidance path that the target mobile device is sent is received to request
Afterwards, determine whether the destination path intersection region is locked；
If the destination path intersection region is not locked out, the result for allowing to lock is returned to the target mobile device；
If the destination path intersection region is locked, the result of refusal locking is returned to the target mobile device.
2. mobile device air navigation aid according to claim 1, which is characterized in that the determination destination path intersects
Whether region is locked, comprising:
Obtain the Current lock situation of each passage zone in the net of path；
The destination path intersection region is determined in each passage zone, and according to the destination path intersection region
Current lock situation, determines whether the destination path intersection region is currently locked.
3. mobile device air navigation aid according to claim 1, which is characterized in that the determination destination path intersects
Whether region is locked, comprising:
Determining whether there is guidance path includes the destination path intersection region and current driving location and the destination path
The distance between intersection region meets other mobile devices of preset condition；
If it exists, it is determined that the occupancy priority of other mobile devices and the occupancy of the target mobile device are preferential
Grade；
Whether it is higher than the occupancy priority of the target mobile device according to the occupancy priority of other mobile devices, determines
Whether the destination path intersection region is locked in advance.
4. mobile device air navigation aid according to claim 1, which is characterized in that further include:
If the destination path intersection region is locked, the target mobile device is put into the destination path intersection region
Waiting list in.
5. mobile device air navigation aid according to claim 4, which is characterized in that further include:
Obtain all mobile devices in the waiting list of the destination path intersection region；
Determine the occupancy priority of all mobile devices；
According to priority is occupied, the result for allowing to lock successively is sent to each mobile device.
6. the mobile device air navigation aid according to claim 3 or 5, which is characterized in that the determination for occupying priority
Method includes:
The objective attribute target attribute of mobile device is determined, wherein the objective attribute target attribute includes any one or more in following items: row
The priority for sailing cause type, whether carrying article, delivering article；
The occupancy priority of mobile device is determined according to the objective attribute target attribute.
7. mobile device air navigation aid according to claim 1, which is characterized in that further include:
If after preset duration, the target mobile device is failure to the application result of the destination path node, then institute is modified
State the guidance path of target mobile device.
8. a kind of mobile device air navigation aid, which is characterized in that it is applied to mobile device, this method comprises:
After receiving guidance path, travelled along the guidance path；
In the process of moving, according to the relationship between the path intersection region in the position of mobile device and the guidance path,
Send the request for occupying the path intersection region.
9. mobile device air navigation aid according to claim 8, which is characterized in that it is described in the process of moving, according to shifting
The relationship between the intersection region of path in the position and the guidance path of dynamic device, sends and occupies the path intersection region
Request, comprising:
In the process of moving, judging the relationship between the path intersection region in the position and the guidance path of mobile device is
It is no to meet preset condition, if so, sending the request for occupying the path intersection region.
10. a kind of navigation server characterized by comprising
Communication interface, for receiving asking to the occupancy of the destination path intersection region in guidance path for target mobile device transmission
It asks；The result for allowing to lock is returned to the target mobile device；And refusal locking is returned to the target mobile device
As a result；
Processor is travelled for controlling target mobile device along guidance path；Receive target mobile device send to navigation
After the occupancy request of destination path intersection region in path, determine whether the destination path intersection region is locked；If institute
It states destination path intersection region to be not locked out, then generates the result for allowing to lock；If the destination path intersection region is locked,
Then generate the result of refusal locking.
11. navigation server according to claim 10, which is characterized in that the processor is for determining the target road
Whether diameter intersection region is locked, comprising:
Processor, specifically for obtaining the Current lock situation of each passage zone in the net of path；And in each path
The destination path intersection region is determined in region, and according to the Current lock situation of the destination path intersection region, is determined
Whether the destination path intersection region is currently locked.
12. navigation server according to claim 10, which is characterized in that the processor is for determining the target road
Whether diameter intersection region is locked, comprising:
Processor includes the destination path intersection region and current driving position specifically for determining whether there is guidance path
Set other mobile devices that the distance between described destination path intersection region meets preset condition；If it exists, it is determined that institute
State the occupancy priority of other mobile devices and the occupancy priority of the target mobile device；And according to it is described other
Whether the occupancy priority of mobile device is higher than the occupancy priority of the target mobile device, determines that the destination path intersects
Whether region is locked in advance.
13. navigation server according to claim 10, which is characterized in that
Processor is locked if being also used to the destination path intersection region, the target mobile device is put into the mesh
In the waiting list for marking path intersection region.
14. navigation server according to claim 13, which is characterized in that
Processor is also used to obtain all mobile devices in the waiting list of the destination path intersection region；It determines all
The occupancy priority of mobile device；And according to priority is occupied, successively sending to each mobile device allows locking
As a result.
15. navigation server described in 2 or 14 according to claim 1, which is characterized in that the processor is for occupying priority
Determination method include:
Processor, specifically for determining the objective attribute target attribute of mobile device, wherein the objective attribute target attribute includes appointing in following items
It anticipates one or more: traveling cause type, the priority for whether carrying article, delivering article；And according to the target category
Property determines the occupancy priority of mobile device.
16. navigation server according to claim 10, which is characterized in that
Processor, if after being specifically used for preset duration, application result of the target mobile device to the destination path node
For failure, then the guidance path of the target mobile device is modified.
17. a kind of mobile device characterized by comprising
Communication interface, for receiving guidance path；And send the request for occupying the path intersection region；
Processor travels after receiving guidance path along the guidance path；And in the process of moving, according to shifting
The relationship between the intersection region of path in the position and the guidance path of dynamic device, generates and occupies the path intersection region
Request.
18. mobile device according to claim 17, which is characterized in that the processor is used in the process of moving, root
According to the relationship between the path intersection region in the position and the guidance path of mobile device, sends and occupy the path intersection
The request in region, comprising:
Processor is specifically used for judging in the process of moving that the path in the position and the guidance path of mobile device intersects
Whether the relationship between region meets preset condition, if so, sending the request for occupying the path intersection region.
19. a kind of mobile device navigation device characterized by comprising
Navigation elements are travelled for controlling target mobile device along guidance path；
Lock cell is determined, for receiving handing over the destination path in the guidance path for the target mobile device transmission
After the occupancy request for pitching region, determine whether the destination path intersection region is locked；
Allow lock cell, if being not locked out for the destination path intersection region, is returned to the target mobile device
Allow the result locked；
Refuse lock cell, if locked for the destination path intersection region, is refused to target mobile device return
The result locked absolutely.
20. a kind of mobile device characterized by comprising
Travel unit travels after receiving guidance path along the guidance path；
Application unit is used in the process of moving, according to the path zone of intersection in the position of mobile device and the guidance path
Relationship between domain sends the request for occupying the path intersection region.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711306600.0A CN109901569A (en) | 2017-12-11 | 2017-12-11 | Mobile device navigation method and related equipment |
| TW107135357A TW201928301A (en) | 2017-12-11 | 2018-10-08 | Navigation method for moving apparatus and related device |
| PCT/CN2018/119740 WO2019114620A1 (en) | 2017-12-11 | 2018-12-07 | Navigation method for moving apparatus and related device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711306600.0A CN109901569A (en) | 2017-12-11 | 2017-12-11 | Mobile device navigation method and related equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109901569A true CN109901569A (en) | 2019-06-18 |
Family
ID=66819939
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711306600.0A Pending CN109901569A (en) | 2017-12-11 | 2017-12-11 | Mobile device navigation method and related equipment |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN109901569A (en) |
| TW (1) | TW201928301A (en) |
| WO (1) | WO2019114620A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112256010A (en) * | 2019-07-04 | 2021-01-22 | 北京京东乾石科技有限公司 | Dispatching method and device for automatic guided vehicle and storage medium |
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Also Published As
| Publication number | Publication date |
|---|---|
| TW201928301A (en) | 2019-07-16 |
| WO2019114620A1 (en) | 2019-06-20 |
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