CN109282821B - A kind of garden air navigation aid and system - Google Patents
A kind of garden air navigation aid and system Download PDFInfo
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- CN109282821B CN109282821B CN201811432236.7A CN201811432236A CN109282821B CN 109282821 B CN109282821 B CN 109282821B CN 201811432236 A CN201811432236 A CN 201811432236A CN 109282821 B CN109282821 B CN 109282821B
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- carrying
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- placement region
- mobile
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
Abstract
The invention discloses a kind of garden air navigation aids, comprising: obtains and carries task requests, described carry includes the departure place position data and carrying destination position data for carrying object in task requests；According to the travelable route for carrying the mobile carrying platform of task requests calculating；The placement region data for obtaining each carrying object for including in the garden electronic map choose the driving path not contacted with each carrying object placement region from the travelable route.Enable and evade the mobile material placement region of the mobile carrying platform of obstruction in advance when formulating the driving path of fork truck, improves garden and carry dispatching efficiency.
Description
Technical field
The present invention relates to garden field of navigation technology more particularly to a kind of garden air navigation aids and system.
Background technique
The map of the indoor and outdoors of factory garden is very easy to be influenced and changed by the external world, the heap everywhere of material, cargo
Put etc. all can in factory map and path planning cause very big influence.Material, cargo and other items position in factory garden
It sets and is not fixed, and can be because production capacity, logistics capability, managerial ability, the difference of depot storage capacity form different stacking situations, respectively
It the stacking of kind of kinds of goods such as material and finished product and carries and can all change existing factory garden map, original road may be because of
Moving into for material becomes material storage location, and original material storage location may also move out because of material becomes road, in turn
So that original mobile planning path because do not account for stack object placement region change caused by the road on-off not really
Fixed, these result in the movement routine planning and navigation of garden mobile platform because of the frequent variation of material, cargo and other items position
Reliability reduce, seriously constrain the improved efficiency that goods, delivery were carried, looked for material in factory, increase management cost, and cause
A variety of security risks.
Summary of the invention
The present invention aiming at the shortcomings in the prior art, provides a kind of air navigation aid based on garden electronic map, specifically
Step includes:
It obtains and carries task requests, including carrying the departure place position data of object and carrying mesh in the carrying task requests
Position data；
According to the travelable route for carrying the mobile carrying platform of task requests calculating；
The placement region data for obtaining each carrying object for including in the garden electronic map, from the travelable route
Choose the driving path not contacted with each carrying object placement region.
Preferably, when carrying object and being handled upside down placement to destination, the location information for carrying object is obtained, and according to removing
The location information and dimension information for transporting object generate corresponding placement region information.
Preferably, the air navigation aid further include: determine the mobile carrying platform for executing the carrying task, and calculate and hold
The row carrying required by task time；Obtain the traveling that the mobile carrying platform of other carrying tasks is executed within the task period
Path；Choose not that there are the routes of path conflict with other mobile carrying platforms from the travelable route.
Preferably, when the destination locations of the carrying task are put down positioned at other mobile carry for being carrying out carrying task
When on platform driving path, travel route change request is sent to other mobile carrying platforms, or delay is this time carried and appointed
The initial time of business simultaneously screens driving path by the new task period again.
Preferably, the placement region information further includes expected placement region information；When carrying object is easily removed from departure place,
Corresponding expected rest area is generated on garden electronic map according to the destination locations information for carrying object and dimension information
Domain information；The driving path not contacted with other expected placement regions of carrying object is chosen from the travelable route.
The present invention also provides a kind of garden navigation system, comprising: and identity label is installed on the carrying object in garden,
Include the dimension information for carrying object in the identity label；Mobile carrying platform, is equipped with identity tag reader, is used for
Read the dimension information carried in object identity label；Positioning device, for obtaining the location information of the mobile carrying platform；It leads
Navigate server, is moved carrying platform for obtaining and is carried to the carrying object location information and dimension information of destination, and according to
The location information for carrying object and dimension information generate on garden electronic map or update placement region data, the placement
Region is that mobile carrying platform can not crossing area.
Preferably, the placement object is material and/or finished product, and the identity label is RFID label tag, the RFID label tag
The interior length, width and height information with material and/or finished product.
Preferably, the positioning device is the base station UWB and UWB label, and the mobile carrying platform is to be equipped with RFID to read
The fork truck of device and UWB label is read, the RFID reader is used to obtain the dimension information carried in object RFID label tag on fork truck；
The navigation server, for obtaining fork truck position by positioning device after fork truck RFID reader loses and connect with RFID label tag
Confidence breath and carrying object dimension information.
Preferably, the navigation server is also used to obtain in the garden electronic map placement for each carrying object for including
Area data is chosen according to the travelable route for carrying the mobile carrying platform of task requests calculating and from the travelable route
The driving path not contacted with the carrying object placement region.
Preferably, the navigation server is also used to: being determined the mobile carrying platform for executing the carrying task, and is calculated
Execute the carrying required by task time；Obtain the row that the mobile carrying platform of other carrying tasks is executed within the task period
Sail path；Choose not that there are the routes of path conflict with other mobile carrying platforms from the travelable route.
The present invention by considering that current road conditions pass through fork truck can not with the presence or absence of material accumulation respectively, if has multiple
Fork truck needs while by factors such as the shortest distances of a road and road, obtains optimal scheduling transportation route, ensure that
The carrying platforms such as fork truck are allowed to travel in most fast optimal mode.It is carried simultaneously by obtaining in real time by mobile material or finished product etc.
The dimension information of object and newest storage position information, and generated in electronic map according to each positions and dimensions information for carrying object
Corresponding placement region enables garden electronic map to be automatically updated according to the change in location that object is placed in the gardens such as material or finished product
Map, and the placement region in map can accurately expand with the stacking of material, so that garden electronic map can be accurate
Reflection garden current information in real time, meets the navigation of mobile platform or path planning demand in garden.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the flow diagram of the air navigation aid based on garden electronic map disclosed in one embodiment of the invention.
Fig. 2 is the part flow diagram of air navigation aid disclosed in one embodiment of the invention.
Fig. 3 is the flow diagram of the air navigation aid based on garden electronic map disclosed in another embodiment of the present invention.
Fig. 4 is the flow diagram of garden electronic map generating method disclosed in one embodiment of the invention.
Fig. 5 is the idiographic flow schematic diagram for the step S403 that one embodiment of the invention discloses.
Fig. 6 is the flow diagram of garden electronic map generating method disclosed in another embodiment of the present invention.
Fig. 7 is the idiographic flow schematic diagram for the step S503 that one embodiment of the invention discloses.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
Attached drawing, the technical solution of the embodiment of the present invention is clearly and completely described.Obviously, described embodiment is this hair
Bright a part of the embodiment, instead of all the embodiments.Based on described the embodiment of the present invention, ordinary skill
Personnel's every other embodiment obtained under the premise of being not necessarily to creative work, shall fall within the protection scope of the present invention.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, two members can also be can be indirectly connected through an intermediary
Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in this hair as the case may be
Concrete meaning in bright.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower"
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.Moreover, fisrt feature includes the first spy above the second feature " above ", " above " and " above "
Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative of
First feature horizontal height is less than second feature.
Unless otherwise defined, the technical term or scientific term used herein should be in fields of the present invention and has
The ordinary meaning that the personage of general technical ability is understood.Used in present patent application specification and claims " the
One ", " second " and similar word are not offered as any sequence, quantity or importance, and are used only to distinguish different
Component part.Equally, the similar word such as "one" or " one " does not indicate that quantity limits yet, but indicates that there are at least one.
Present embodiment discloses a kind of garden navigation system, including identity label, it is installed on the carrying object in garden, institute
It states in identity label comprising the dimension information for carrying object；Mobile carrying platform, is equipped with identity tag reader, for reading
Take the dimension information carried in object identity label；Positioning device, for obtaining the location information of the mobile carrying platform；And
Navigation server, for obtaining the carrying object location information and dimension information that are carried to destination by mobile carrying platform, and root
Placement region data are generated or updated on garden electronic map according to the location information for carrying object and dimension information, it is described to put
Setting region can not crossing area for mobile carrying platform.The size of object is carried by mobile material or finished product etc. by obtaining in real time
Information and newest storage position information, and generated in electronic map according to each positions and dimensions information for carrying object and put accordingly
Region is set, garden electronic map is enabled to place the change in location map automatic updating of object according to gardens such as material or finished products, and
Placement region in map can accurately expand with the stacking of material, so that garden electronic map can be accurately anti-in real time
Garden current information is reflected, the navigation of mobile platform or path planning demand in garden are met.
In the present embodiment, the placement object that garden needs to carry can be material or finished product or other any required movements
Deposit, it is subsequent to be mainly described by taking material as an example, but the mode of transport of the deposits such as other finished products is all identical.In this implementation
In example, identity label is RFID label tag, the length, width and height information in the RFID label tag with material or finished product.Wherein, described fixed
Position device can be made of the base station UWB and UWB label, and the mobile carrying platform is to be equipped with RFID reader and UWB label
Fork truck, the RFID reader are used to obtain the dimension information carried in object RFID label tag on fork truck.
By installing the base station UWB in garden, for the position where positioning UWB label in garden；Material is in arrival
Or after production and processing is offline, the letter such as length that can be installed RFID label tag, and the material is written in an rfid tag
Breath.Or plant operation personnel carry out believing comprising length, width and height for typing material by using the RFID label tag on hand-held PDA scanning material
Material attribute information including breath.Installation RFID reader is used on the fork truck in garden for carrying material or finished product simultaneously
The dimension information of material is read in transported material.Meanwhile fork truck is positioned in factory garden by installing UWB label on fork truck
Real time position in area.In some other embodiment, plate is installed on some fork trucks of garden, deployment fork truck is led in plate
The navigation server on boat system, system and backstage realizes two-way communication, and the position of oneself is sent to back-end system in real time by fork truck,
Real-time route planning information is sent to fork truck system in real time by rear end navigation server；If the stacking of material is so that before
Road becomes not travelling, and rear end navigation server can be again fork truck planning path, and the path planned is sent to fork
The navigation system of vehicle.
The navigation server is equipped with garden electronic map and path planning software, in fork truck RFID reader
It loses and fork truck position information is obtained by positioning device after connecting with RFID label tag and carries object dimension information.Specifically, fork truck
When forking material to be handled, the material in material RFID label tag carried by the RFID reader automatic identification on fork truck
Dimension information, and the material size information of acquisition is sent to navigation server.In fork truck according to navigation programming route by object
When expecting that being carried to destination starts to place, when the RFID reader on fork truck is identified less than the material label information carried,
The location information for recording fork truck at this time, can be coordinate position, and the location information of the placement material is sent to navigation Service
Device, navigation server have just been carried to the length, width and height information of the material of new storing place and the placement information of material according to this in map
On automatically generate equal proportion material region show information, the electronic map information of Lai Gengxin factory garden.
In some embodiments, the navigation server is also used to obtain each carrying in the garden electronic map included
The placement region data of object calculate the travelable route of mobile carrying platform and from the travelable road according to task requests are carried
The driving path not contacted with the carrying object placement region is chosen in line.
The navigation server is also used to: being determined the mobile carrying platform for executing the carrying task, and is calculated and execute institute
It states and carries the required by task time；Obtain the traveling road that the mobile carrying platform of other carrying tasks is executed within the task period
Diameter；Choose not that there are the routes of path conflict with other mobile carrying platforms from the travelable route.By evade and its
It is carrying out the route that the guidance path of the mobile carrying platform of carrying task may be in contact, in order to avoid run over subsequent
The accidents such as collide in journey.
In another embodiment, garden navigation system further includes the UWB label being worn on garden personnel, such as UWB wrist
Tape-typed label can position the personnel location information for carrying the UWB Wrist belt-type label by the base station UWB in real time, and be sent to backstage
Navigation server, rear end navigation server calculate fork by the operating range and running time for monitoring all running fork trucks
The travel speed of vehicle, when fork truck is less than value of the fork truck speed multiplied by people's reaction time at a distance from people, then backstage navigation Service
Device sends the UWB label that alarm is worn to people, and UWB label issues vibration alarm, and the personnel worn can be fast after receiving alarm
Speed evacuates to the comparatively safe distance with fork truck, while rear end navigation server also sends a warning message to accordingly in the presence of collision wind
The fork truck of danger makes fork truck slow down travel speed, and front personnel are kept off in guarantee, reduces the risk that garden crashes.
Attached drawing 1 is a kind of air navigation aid based on garden electronic map disclosed in another embodiment, which can answer
For the various garden navigation system being made of mobile platform and positioning device, lower mask body in embodiment in front to introduce
For application in the garden navigation system be made of the carrying platforms such as fork truck, identity label, positioning device and navigation server
It specifically introduces the air navigation aid based on garden electronic map, specifically may include following steps:
Step S101 is obtained and is carried task requests, and described carry includes the departure place positional number for carrying object in task requests
According to carrying destination position data.
Fork truck in mobile carrying platform, that is, the present embodiment receives the carrying task requests of background server transmission, described
Carrying in task requests may include carrying object original storing place position data and carrying destination position data to be handled.Or it can also
Operator notifies fork truck to designated place to move to take material.
Step S102, according to the travelable route for carrying the mobile carrying platform of task requests calculating.
According to the current position of fork truck, the current storing place position data of object and carrying destination position data are carried, by interior
The path planning algorithm in portion generates a plurality of selective travelable route, and existing navigation can be used in path planning algorithm therein
Algorithm etc..
Step S103 obtains the placement region data for each carrying object for including in the garden electronic map, from it is described can
The driving path not contacted with each carrying object placement region is chosen in travel route.
In some embodiments, when carrying object is handled upside down placement to destination, the location information for carrying object is obtained,
And corresponding placement region information is generated according to the location information and dimension information of carrying object.Fork truck RFID reader lose with
Fork truck position information is obtained by positioning device after RFID label tag connection and carries object dimension information.Specifically, fork truck is forking
When material to be handled, the material size in material RFID label tag carried by the RFID reader automatic identification on fork truck is believed
Breath, and the material size information of acquisition is sent to navigation server.Material is carried according to navigation programming route in fork truck
When starting to place to destination, when the RFID reader on fork truck is identified less than the material label information carried, this is recorded
When fork truck location information, can be coordinate position, and the location information of the placement material is sent to navigation server, navigate
The location information received is labeled as the placement position information of corresponding material by server.Navigation server has just been removed according to this
The placement information of the length, width and height information and material that are transported to the material of new storing place automatically generates the material area of equal proportion on map
Domain shows information, the electronic map information of Lai Gengxin factory garden, and material placement region is due to being to have stacked various carrying objects,
So material placement region is the impassable region of fork truck, needs to evade these in advance when formulating the driving path of fork truck and put
Region is set, the driving path not contacted with each carrying object placement region is chosen.
In further embodiments, the placement region information further includes expected placement region information Step, specific as follows:
Step S201, when carrying object is easily removed from departure place, according to the destination locations information and size for carrying object
Information generates corresponding expected placement region information on garden electronic map.That is fork truck passes through when forking material to be handled
The material size information in material RFID label tag that RFID reader automatic identification on fork truck is carried, and by the object of acquisition
Material dimension information is sent to navigation server, while the predetermined carry destination-address information of the material is also sent to and leads by fork truck
Boat server or navigation server directly go other fork truck task memory modules to retrieve the fork truck according to the fork truck identification information
The destination of currently performed carrying task, to be believed according to the dimension information of the carrying object and this carrying destination position
Breath, the new placement region for generating the carrying object on the electronic map in advance shows information, and updates that the placement region is corresponding to deposit
Store up data queue.
Step S202 chooses the traveling road not contacted with other expected placement regions of carrying object from the travelable route
Diameter.Handling work is carried out at the same time since more fork trucks or other mobile carrying platforms can be existed simultaneously in garden, in life
At carry plan driving path when some regions be still that can pass through, it is past but when during the fork truck starting running
Carrying task has been completed toward having other certain fork trucks, and has been carried object and has been placed into destination placement region, and this
Having selected on planning travel route for the fork truck that a little placement regions are probably just just set out before it is arrived at the destination, will be direct
Passing through for fork truck is reached after hindering these.But in those aforementioned embodiments, need to carry after object arrives at the destination just at these
Corresponding placement region information is generated on map, resulting in the fork truck just to set out before it is arrived at the destination will be unable to find these resistances
Hinder the presence of current placement region.Therefore the embodiment passes through the object placement region to be handled in carrying task in advance in electricity
It is shown on sub- map, to avoid the fork truck just to set out before above-mentioned arrive at the destination that from can not finding that these hinder current placement
Region there are the problem of.Specifically, can RFID reader when fork truck forks material according to navigation programming route, on fork truck
When recognizing carried material label information, the location information of fork truck at this time is recorded, and can be together and in carrying request task
Destination coordinate position be sent to navigation server, navigation server is according to the length, width and height information of the material and the purpose of material
The expection material region that ground placement information automatically generates equal proportion on map shows information, and Lai Gengxin factory garden is electronically
Figure information.
Above-described embodiment is by disclosed air navigation aid by considering that current road conditions make with the presence or absence of material accumulation respectively
Fork truck can not pass through, if having multiple fork trucks to need while by the factors such as the shortest distance of a road and road, acquisition
Optimal scheduling transportation route ensure that and the carrying platforms such as fork truck is allowed to be travelled in most fast optimal mode.
Attached drawing 3 is the air navigation aid based on garden electronic map disclosed in another embodiment, is specifically included:
Step S301 is obtained and is carried task requests, and described carry includes the departure place positional number for carrying object in task requests
According to carrying destination position data.
Step S302, according to the travelable route for carrying the mobile carrying platform of task requests calculating.
Step S303 determines the mobile carrying platform for executing the carrying task, and calculates and execute the carrying task institute
It takes time.
Step S304 obtains the driving path that the mobile carrying platform of other carrying tasks is executed within the task period.
Step S305, chooses not that there are the roads of path conflict with other mobile carrying platforms from the travelable route
Line.
Step S306 obtains the placement region data for each carrying object for including in the garden electronic map, from the past again
State the driving path chosen in the route of step selection and do not contacted with the carrying object placement region.
Wherein step S101, S102 in S301, S302, S306 and foregoing first embodiment in above-mentioned steps,
S103 is similar, then this is not repeated to discuss, Similar content refer to previous embodiment, be specifically described below lower step S303,
S304 and S305.
Wherein step S303 determines the mobile carrying platform for executing the carrying task, and calculates and execute the carrying times
It the time required to business, specifically includes: obtaining the running parameter for receiving the mobile carrying platform of the carrying task requests, such as platform
The parameters such as matter, average movement speed.It is held according to the running parameter of mobile carrying platform and the mobile distance for carrying task to calculate
The row rough evaluation time for carrying required by task.
Step S304 obtains the driving path that the mobile carrying platform of other carrying tasks is executed within the task period.
The each movement for executing carrying task in garden within the inter-related task period from inquiry in the scheduler module of mobile platform is removed
Transport platform preset travel path.
Step S305, chooses not that there are the roads of path conflict with other mobile carrying platforms from the travelable route
Line.Choose not that there are roads with other mobile carrying platforms from a plurality of selective travelable route generated in step S302
The route of diameter conflict, i.e., the routes not being in contact with the preset path of other mobile carrying platforms in execution carrying task,
In order to avoid the accidents such as collide in subsequent driving process.
When the destination locations of the carrying task are positioned at the other mobile carrying platforms travelings for being carrying out carrying task
When on path, travel route change request is sent to other mobile carrying platforms, or rising for task is this time carried in delay
Time beginning simultaneously screens driving path by the new task period again.Because the destination locations when the carrying task are located at
When executing on other mobile carrying platform driving paths of carrying task, so that path selected by the movement carrying platform is all without regulation
The travel route of other related movement carrying platforms is kept away, only there are other mobile carry of route risk of collision to put down by change
Platform replacement travel route just at work, or after waiting it to complete carrying task or wait it row starts again after a certain period of time
Task is this time carried, to prevent subsequent rows from colliding etc. during sailing accidents.
Disclosed in other embodiments in the air navigation aid based on garden electronic map, the placement region information is also wrapped
Include expected placement region information；When carrying object is easily removed from departure place, according to the destination locations information and ruler for carrying object
Very little information generates corresponding expected placement region information on garden electronic map；Chosen from the travelable Route Set not with
The driving path for carrying the expected placement region contact of object.The step particular content can be found in the step in previous embodiment
S201 and S202 is just not repeated specifically to discuss herein, certain above-mentioned steps S303, S304, S305, the place with step S306
Making sequence in order can exchange, can also be with parallel processing.Air navigation aid disclosed in above-described embodiment by considering that current road conditions are respectively
No there are material accumulations, and fork truck can not be passed through, if has multiple fork trucks to need to pass through simultaneously a road and road
The factors such as the shortest distance obtain optimal scheduling transportation route, ensure that and allow the carrying platforms such as fork truck with most fast optimal mode row
It sails.
Attached drawing 4 discloses a kind of step schematic diagram of garden electronic map generating method, the garden digital map
Method can realize by computer equipment, the specific steps of which are as follows:
Step S401 generates garden electronic map according to garden plan view and position data.
By importing base map of the CAD plan view in garden as the garden map, the base map information of the indoor map can
To include the information for describing the pels such as point, line, surface of each man-made features in garden, the information of these pels is for example including this
Shape, area, the relative position etc. of a little pels.The configuration operation of the plane coordinate system and target-based coordinate system can be based on predetermined
Known coordinate transformation rule realize, by the registration operation based on plane coordinate system and target-based coordinate system, obtain the garden
The data such as the corresponding longitude and latitude positional information of area's base map information and electronic map material object ratio.
For the material accumulated before generating garden electronic map, then need the letter in material accumulation region artificially
Breath is added in garden electronic map, or after subsequent garden digital map when carrying the mobile material further according to it
Addition generates new material placement region information automatically again for new storage position and material size information.
Step S402 obtains the first attribute data of carrying object for being carried to storeroom, and wherein attribute data includes carrying
The dimension information and location information of object.
The object of carrying is the kinds of goods such as material or finished product in garden, is fitted with identity mark on the material or finished product
It signs, includes the length equidimension information of the material or finished product in the identity label.In initial garden electronic map
After generation, when carrying object, which is handled upside down, is moved to new storeroom, first attribute data of carrying object is obtained, wherein attribute data packet
The dimension information and location information for carrying object are included, therefore first attribute data includes the length equidimension of the carrying object
In the location information of the new storeroom, the location information can be coordinate information for information and carrying object.
Step S403 updates on the electronic map according to first attribute data and carries the corresponding placement region display letter of object
Breath and electronic map database, the placement region are that mobile carrying platform caused by the carrying object can not pass through region.
Carrying object in the present embodiment is by taking material as an example, and software systems are according to the length, width and height information of material and putting for material
Seated position information automatically generates the material placement region of equal proportion, the cartographic information of Lai Gengxin factory garden on map.Specifically
, wherein the material placement region can be centered on material placement location coordinate to each extending over two before and after placement direction
Ratio value of/mono- material width on map, the material length for each extending over half to the left and right of placement direction exist
Ratio value on map forms the corresponding rectangle placement region of the material, and wherein placement direction is that the material is removed by movement
Placement direction locating when platform unloading is transported, which can be obtained concurrently by mobile carrying platform when unloading the material
It send, the placement region for indicating the region that mobile carrying platform is impassable in garden on the electronic map.
In the prior art, the movement and stacking of material or finished product can be to for navigation and path plannings in factory garden
Factory's garden electronic map causes very big influence, and the road before allowing becomes transit depot, and transit depot is allowed to become road.This
Embodiment, which passes through, to be obtained in real time by the dimension information of the carrying object such as mobile material or finished product and newest storage position information, and root
Corresponding placement region is generated in electronic map according to each positions and dimensions information for carrying object, enables garden electronic map root
The change in location map automatic updating of object is placed according to gardens such as material or finished products, and the placement region in map can be with material
Stacking accurately expands, so that garden electronic map can accurately reflect garden current information in real time, meets in garden and moves
The navigation or path planning demand of moving platform.
In further embodiments, the garden drawing generating method further include, by the base in garden electronic map data
Plinth map datum and carry object map datum store respectively, according to carry object dimension information and location information it is described electronically
Corresponding placement region is generated on figure and shows information, and is updated and carried object map datum.Since material and finished product etc. carry the garden Wu
Movement in area is very frequent, needs often to be updated carrying object storage area data caused by the movement for carrying object, therefore
By storing the basic map data in electronic map respectively with object map datum is carried, so that each lead because carrying object movement
The map data update of cause can only update carrying object map datum therein to be had without changing to basic map data
Effect improves the efficiency of garden map rejuvenation, while also reducing the pressure to navigation server.
In further embodiments, the step S403 is specific can include:
Step S4031, according to the first attribute data inquiry for carrying object in electronic map database with the presence or absence of with
Corresponding placement region meets the same type map element to impose a condition.
Step S4032, if it is not, then generating corresponding placement region on the electronic map according to the attribute data for carrying object
Show information.
Specifically, software systems are according to the length, width and height information of material and the new placement position of material for carrying material
Information calculates the area and covering position range for the equal proportion material placement region that should be generated on map, and inquiry is described electronically
It whether there is same type map element, i.e., other carrying object placement regions in the covering position range in chart database.If not depositing
Then the material placement region is added in electronic map database in other carrying object placement regions, and is generated on the electronic map
The display information of the material placement region.Or in the covering position range there are same type pel in electronic map database
Element, but the same type map element first carries object placement region and is unsatisfactory for imposing a condition with newly-increased object placement region of carrying,
In this embodiment, the setting condition can be two placement region area coverage intersections and carry object placement region higher than new
The 80% of area can also adjust the predetermined condition according to actual needs certainly, such as can be adjusted to two placement region area coverages
Intersection is higher than the new half for carrying object placement region area.It is raw on the electronic map according to the attribute data for carrying object
Information is shown at corresponding placement region.
If existing in the electronic map database and meeting the same type map element to impose a condition with corresponding placement region,
It then abandons generating the carrying object on the electronic map and corresponds to placement region and show information.
In further embodiments, as shown in Fig. 5, it may also include step S4033, according to the first attribute number for carrying object
Meet the same type map element to impose a condition with the presence or absence of with corresponding placement region it is investigated that asking in the electronic map database；
If so, not increasing placement region newly on the electronic map shows information, and first attribute data is added to the rest area
In the corresponding storing data queue in domain.Specifically, setting condition described in this embodiment can be selected in abovementioned steps S4032 and be retouched
The two placement region area coverage intersections stated are higher than new 80% setting condition for carrying object placement region area.Work as basis
It carries to exist in electronic map database described in the first attribute data inquiry of object and meets setting condition with corresponding placement region
That is, there is the new placement region weight that should be generated on the electronic map with the carrying object on primary electron map in same type map element
Original placement region display information that part reaches 80% is closed, then shows that this time carrying object is the former storage for stackeding the region
Above object, then the placement region for not increasing the carrying object newly on the electronic map shows information, because of former placement region display letter
Breath can be shown that the new impassable region in garden carried object and included.Meanwhile by this it is new carry object dimension information and position
Confidence breath is supplemented in the storing data queue of the placement region, which is also stored in the corresponding placement region
All carrying objects attribute data.In addition, the storing data queue may also comprise each typing sequencing for carrying object data
Or entry time information.
It is not aobvious to electronic map in the case where meeting the requirements by being compared with the map element in former placement region
Show that information is added update and carrying object attribute information is only added to the region and is corresponded in storage queue, to reduce pair
Electronic map shows the renewal frequency of information but has recorded the accumulative carrying object information in placement region, reduces the ground of system
Figure renewal frequency in turn ensures the accuracy for carrying object information, it is ensured that all kinds of materials and finished product on electronic map etc. carry object
Position real-time update and display.
In further embodiments, step S403 also may particularly include: according to first attribute data in electronic map
Upper addition carries the corresponding placement region of object and shows information.Specifically, for carrying material, software systems are according to the length and width of material
It the area for the equal proportion material placement region that high information and the new placement positional information calculation of material should generate on map and covers
The material placement region is added in electronic map database by lid position range, and generates the corresponding object on the electronic map
Expect the display information of placement region.If existing other material placement regions are aobvious in the material placement region in electronic map
Show information, then face carries out the superposition that placement region shows information directly over.And when needs move away from material in certain placement region
When, it is only necessary to it is obtained in corresponding former rest area according to the former placement location of the length and width higher size information and material of moving away from material
Corresponding display information on domain, and information, which is deleted, to be shown to the correspondence again, it is deposited in other superpositions of the placement region
It puts object and shows that information is unaffected.It ensure that by the accuracy of mobile carrying object information, it is ensured that all kinds of objects on electronic map
Material and finished product etc. carry the position real-time update and display of object, and the information update of the former placement region after being easily removed from, so that
The transitable area information of garden electronic map energy real-time update.
Attached drawing 6 is the step schematic diagram of with disclosing another garden drawing generating method, garden ground drawing generating method
It can be realized by computer equipment, the specific steps of which are as follows:
Step S501 generates garden electronic map according to garden plan view and position data.
Step S502, acquisition are easily removed from the second attribute data of carrying object before former storeroom.
Step S503 updates corresponding placement region according to second attribute data on the electronic map and shows information
And electronic map database.
Step S504 obtains the first attribute data of carrying object for being carried to storeroom, and wherein attribute data includes carrying
The dimension information and location information of object.
Step S505 updates on the electronic map according to first attribute data and carries the corresponding placement region display letter of object
Breath and electronic map database, the placement region are that mobile carrying platform caused by the carrying object can not pass through region.
Wherein step S401, S402 in S501, S504, S505 and foregoing first embodiment in above-mentioned steps,
S403 is similar, then this is not repeated to discuss, Similar content refer to previous embodiment, be specifically described below lower step S502 and
S503。
Step S502, acquisition are easily removed from the second attribute data of carrying object before former storeroom.
In the present embodiment, it is illustrated so that material carries object as an example, includes the object due to being equipped on the material
Expect the identity label of length equidimension information.Before the carrying object will be easily removed from former storeroom, the of the material is obtained
The location information of two attribute datas, the i.e. dimension information of the material and former storeroom, the location information can be coordinate information,
Or the coordinate information of each edge department branch of coordinate information or material of material center.
Step S503 updates corresponding placement region according to second attribute data on the electronic map and shows information
And electronic map database.
Carrying object in the present embodiment is by taking material as an example, according to the former storeroom position of the length, width and height information of material and material
Confidence breath deletes raw material placement region on map and shows information, the cartographic information of Lai Gengxin factory garden.Object in garden
The moving away from of material or the deposits such as finished product will allow original possible mobile carrying platform can not running region become passable road,
To effectively promote the carrying and allotment efficiency of garden cargo, therefore after carrying object and moving away from former storing place, garden need to be updated immediately
Area's electronic map shows that information is modified or deletes to its corresponding carrying object placement region, so that garden navigation system
System and mobile carrying platform can know in real time it is current can passing road situation, enable garden electronic map accurately anti-in real time
Garden current information is reflected, the navigation of mobile platform or path planning demand in garden are met.
In further embodiments, the step S503 is specific can include:
Step S5031, according in electronic map database described in the second attribute data inquiry in corresponding former placement region
With the presence or absence of other carrying objects.
Step S5032, if it is not, then deleting corresponding placement on the electronic map according to the second attribute data for carrying object
Region shows information.
Specifically, software systems are according to the length, width and height information of material and the new placement position of material for carrying material
Information inquires the corresponding storing data queue of the electronic map database corresponding former placement region and former placement region.It looks into
Asking corresponding former placement region, whether there is also other carrying objects, i.e., other materials or finished product for being placed in the placement region.If
There is no other materials or finished products then to delete the material placement region storing data from electronic map database, and in electronics
The display information of the material placement region is deleted on map.
In further embodiments, as shown in Fig. 7, it may also include step S5033, according to the second attribute data inquiry institute
It states in electronic map database in corresponding former placement region with the presence or absence of other carrying objects；If so, by the carrying object
Two attribute data information are deleted from the corresponding storing data queue of former placement region, and corresponding according to the former placement region
The remaining other carrying object attribute datas of storing data queue update placement region and show information.Specifically, when former placement region
There is also when other carrying objects, then show this time carry object be stacked above other deposits in the region either and
Other deposits, which abut against mutually, to be put together, then is needed in the category carried after object according to remaining deposit for removing this
Property information, that is, dimension information and location information regenerate the placement region again, i.e., need to deposit original after the carrying object for removing this
It puts region and shows that information carries out updating operation again, this is also in addition carried into object the second attribute data information simultaneously and is placed from original
It is deleted in the corresponding storing data queue in region.
By judging former placement region with the presence or absence of remaining other carrying objects come to former placement region when moving away from deposit
Display information on the electronic map is updated, thus the practical rest area that the kinds of goods of real-time display placement region are covered
Domain, and the new traffic areas formed because kinds of goods are moved away from can display real-time on the electronic map, it ensure that and carry object information
Accuracy, it is ensured that the garden on electronic map can traffic areas energy real-time update and display.
It should be noted that foregoing individual embodiments are described in a progressive manner in this specification, each embodiment weight
Point explanation is the difference from other embodiments, and the same or similar parts in each embodiment may refer to each other.Together
When for the various embodiments described above description navigation system or air navigation aid or ground drawing generating method in, mobile carrying platform therein
Can be fork truck, be also possible to the mobile carrying platform of all kinds of AGV or other, carrying object therein be also possible to material, finished product or
Article in other gardens.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, the range for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
In short, the foregoing is merely presently preferred embodiments of the present invention, it is all according to equalization made by scope of the present invention patent
Variation and modification, shall all be covered by the patent of the invention.
Claims (8)
1. a kind of garden air navigation aid based on garden electronic map characterized by comprising
It obtains and carries task requests, described carry includes the departure place position data and carrying destination for carrying object in task requests
Position data；
According to the travelable route for carrying the mobile carrying platform of task requests calculating；
The placement region data and expected placement region information of each carrying object for including in the garden electronic map are obtained, it is described
It is expected that placement region information is when carrying object and being easily removed from departure place according to the destination locations information and size for carrying object
The corresponding region information that information generates on garden electronic map；Chosen from the travelable route not with each carrying object
The driving path of placement region and expected placement region contact；
Acquisition is easily removed from dimension information and location information before former storeroom, updates and carries the corresponding placement region display information of object,
The placement region is that mobile carrying platform caused by the carrying object can not pass through region；
When carrying object is handled upside down placement to destination, the location information for carrying object is obtained, and according to the position for carrying object
Information and dimension information generate corresponding placement region information.
2. air navigation aid according to claim 1, which is characterized in that further include:
It determines the mobile carrying platform for executing the carrying task, and calculates and execute the carrying required by task time；
Obtain the driving path that the mobile carrying platform of other carrying tasks is executed within the task period；
Choose not that there are the routes of path conflict with other mobile carrying platforms from the travelable route.
3. air navigation aid according to claim 2, it is characterised in that:
When the destination locations of the carrying task are positioned at the other mobile carrying platform driving paths for being carrying out carrying task
When upper, when sending travel route change request to other mobile carrying platforms, or postponing this time to carry the starting of task
Between and by the new task period screen driving path again.
4. a kind of garden navigation system characterized by comprising
Identity label is installed on the carrying object in garden, and the dimension information for carrying object is included in the identity label；
Mobile carrying platform, is equipped with identity tag reader, for reading the dimension information carried in object identity label；
Positioning device, for obtaining the location information of the mobile carrying platform；
Navigation server, for obtaining the carrying object location information and dimension information that are carried to destination by mobile carrying platform,
Placement region data are generated or updated on garden electronic map according to the location information for carrying object and dimension information；And it obtains
Dimension information and location information before being easily removed from former storeroom are taken, updates and carries the corresponding placement region display information of object, it is described to put
Setting region is that mobile carrying platform caused by the carrying object can not pass through region；The placement region further includes expected rest area
Domain, the expected placement region are when carrying object and being easily removed from departure place according to the destination locations information and ruler for carrying object
The corresponding region that very little information generates on garden electronic map.
5. garden navigation system according to claim 4, it is characterised in that:
The placement object is material and/or finished product, and the identity label is RFID label tag, has material in the RFID label tag
And/or the length, width and height information of finished product.
6. garden navigation system according to claim 5, it is characterised in that:
The positioning device is the base station UWB and UWB label, and the mobile carrying platform is to be equipped with RFID reader and UWB mark
The fork truck of label, the RFID reader are used to obtain the dimension information carried in object RFID label tag on fork truck；
The navigation server, for being obtained after fork truck RFID reader loses and connect with RFID label tag by the positioning device
It takes fork truck position information and carries object dimension information.
7. according to any garden navigation system of claim 4-6, it is characterised in that:
The navigation server is also used to obtain in the garden electronic map placement region data for each carrying object for including, root
It calculates the travelable route of mobile carrying platform according to carrying task requests and is chosen from the travelable route and do not removed with described
Transport the driving path of object placement region contact.
8. garden navigation system according to claim 7, which is characterized in that the navigation server is also used to: determination is held
The mobile carrying platform of the row carrying task, and calculate and execute the carrying required by task time；It obtains in the task period
The driving path of the interior mobile carrying platform for executing other carrying tasks；Chosen from the travelable route not with other movements
There are the routes of path conflict for carrying platform.
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| CN201811432236.7A CN109282821B (en) | 2018-11-28 | 2018-11-28 | A kind of garden air navigation aid and system |
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| CN201811432236.7A CN109282821B (en) | 2018-11-28 | 2018-11-28 | A kind of garden air navigation aid and system |
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| CN111830952A (en) * | 2019-03-29 | 2020-10-27 | 阿里巴巴集团控股有限公司 | Method and device for scheduling transport vehicles in physical shop |
| CN109885068B (en) * | 2019-03-30 | 2021-12-24 | 骞一凡 | Robot traveling control method and system |
| CN110182527B (en) * | 2019-04-11 | 2021-03-23 | 上海快仓智能科技有限公司 | Warehouse-in and warehouse-out control method and conveying system for shelf array |
| CN110182528B (en) * | 2019-04-11 | 2020-12-18 | 上海快仓智能科技有限公司 | Warehouse-in and warehouse-out control method and conveying system for shelf array |
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