CN110119913A - The method and apparatus for detecting path dependent options - Google Patents
The method and apparatus for detecting path dependent options Download PDFInfo
- Publication number
- CN110119913A CN110119913A CN201810113343.7A CN201810113343A CN110119913A CN 110119913 A CN110119913 A CN 110119913A CN 201810113343 A CN201810113343 A CN 201810113343A CN 110119913 A CN110119913 A CN 110119913A
- Authority
- CN
- China
- Prior art keywords
- node
- traveling apparatus
- closed loop
- information
- traveling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000001419 dependent effect Effects 0.000 title claims abstract description 37
- 238000012216 screening Methods 0.000 claims abstract description 29
- 239000011159 matrix material Substances 0.000 claims description 56
- 238000004422 calculation algorithm Methods 0.000 claims description 15
- 238000010200 validation analysis Methods 0.000 claims description 11
- 238000013450 outlier detection Methods 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 description 50
- 238000010586 diagram Methods 0.000 description 15
- 238000004364 calculation method Methods 0.000 description 13
- 230000002159 abnormal effect Effects 0.000 description 11
- 230000006870 function Effects 0.000 description 8
- 238000012545 processing Methods 0.000 description 7
- 230000006854 communication Effects 0.000 description 6
- 238000013138 pruning Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 238000012360 testing method Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000005291 magnetic effect Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
- G06Q10/0835—Relationships between shipper or supplier and carriers
- G06Q10/08355—Routing methods
Abstract
The embodiment of the present invention provides a kind of method and apparatus for detecting path dependent options, can quickly detect the traveling apparatus closed loop in driving map, reduce required computing resource.This method comprises: step 1: constructing the node message bit pattern of driving map according to traveling apparatus information aggregate to be detected；Step 2: the node in-degree information of the driving map is constructed according to the running information of each traveling apparatus in traveling apparatus information aggregate to be detected；Step 3: non-closed loop traveling apparatus is screened according to default screening rule according to the node message bit pattern and the node in-degree information, and the non-closed loop traveling apparatus is rejected；It repeats Step 1: step 2, judge whether there is also non-closed loop traveling apparatus on the driving map, and if it exists, then continue step 3, otherwise on judgement driving map with the presence or absence of the closed loop that is made of traveling apparatus, the information of closed loop then outgoing route exception if it exists.
Description
Technical field
The present invention relates to warehouse logistics field more particularly to a kind of method and apparatus for detecting path dependent options.
Background technique
With being constantly progressive for computer technology, robot is able to achieve more and more operations.Such as the machine of sorting
People's trolley (hereinafter referred to as " traveling apparatus "), traveling apparatus can be used for sorting article, be realized by unmanned sorting system
The parallel running of multiple traveling apparatus.The foundation of traveling apparatus operation is usually received task.Every task include starting point,
The path of terminal and a connection source terminal.Traveling apparatus is planned when executing a task according to the traveling apparatus
Path, lower section of path of traveling apparatus is locked by software locks point.The node that traveling apparatus can only be used to be locked into, and
The path between node being locked into.In addition, traveling apparatus lock point usually also needs to meet a series of conditions: traveling apparatus has lock point
The upper limit of quantity；Traveling apparatus can only be locked into turning node；Traveling apparatus, which cannot be locked into, to be occupied or is locked by other traveling apparatus
Fixed node.By traveling apparatus lock point, can prevent multiple traveling apparatus simultaneously using same node cause bump against, side crash or
The case where knocking into the back.
But lock point can bring the generation of the phenomenon of some traveling apparatus path planning exceptions.Such as several traveling apparatus shapes
At closed loop.Since traveling apparatus cannot result in closed loop and lock in the case where not being locked into node to next node motion,
Traveling apparatus in closed loop is immovable.Common closed loop is quadrangle, L may also occurs when traveling number of devices is more
Type, U-shaped or other complex forms.When calculating path for traveling apparatus firstly the need of the closed loop in detection driving map, on road
It needs to avoid the closed loop region in driving map when diameter is planned.
In prior art, closed loop traverses all traveling apparatus when detecting.For one of traveling apparatus A, first seek
The next node in traveling apparatus A institute planning path is looked for, other traveling apparatus is seen if there is and is waited in the point, if without other
Traveling apparatus then stops search；If the node has other traveling apparatus B, traveling apparatus B to find traveling apparatus B institute again
Next node in planning path sees if there is traveling apparatus C waiting；And so on, if it find that searching former traveling apparatus A
Place node, then explanation forms a traveling apparatus closed loop, needs to report closed loop abnormal at this time.
In realizing process of the present invention, at least there are the following problems in the prior art for inventor's discovery:
In prior art, the every several steps (such as 10 steps) of operation of traveling apparatus need to recalculate path, count every time
Closed loop detection module will be called by calculating path.And the closed loop detection module computation complexity of the prior art is high, in driving map
Each traveling apparatus require traverse and constantly recall along planning path, cause to count when travelling facility planning path
Calculate bottleneck.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of method and apparatus for detecting path dependent options, row can be quickly detected
Traveling apparatus closed loop in vehicle map, reduces required computing resource.
To achieve the above object, according to an aspect of an embodiment of the present invention, a kind of side for detecting path dependent options is provided
Method.
A kind of method of detection path dependent options of the embodiment of the present invention includes: step 1: being believed according to traveling apparatus to be detected
The node message bit pattern of breath set building driving map；Step 2: according to respectively traveling is set in traveling apparatus information aggregate to be detected
Standby running information constructs the node in-degree information of the driving map；Step 3: according to the node message bit pattern and described
Node in-degree information screens non-closed loop traveling apparatus according to default screening rule, and picks to the non-closed loop traveling apparatus
It removes；It repeats Step 1: step 2, judges whether there is also non-closed loop traveling apparatus on the driving map, and if it exists, then continue
Step 3 is carried out, otherwise with the presence or absence of the closed loop being made of traveling apparatus on judgement driving map, closed loop then exports road if it exists
The information of diameter exception.
Optionally, the step 1 includes: to construct node bitmap matrix according to the size of driving map；There to be traveling apparatus
The corresponding node bitmap matrix of node on element value be set as the first numerical value, on the corresponding node bitmap matrix of other nodes
Element value be set as second value.
Optionally, the running information of each traveling apparatus includes: that each traveling apparatus is currently located nodal information and planning path
In next node information.
Optionally, the step 2 includes: to construct node indegree matrix according to the size of driving map；By the driving ground
Each node on figure often has a traveling apparatus to go out then to enter angle value and subtract one, often has a traveling apparatus to enter, enter angle value and add
One, obtain each node finally enters angle value.
Optionally, if the default screening rule includes: to confirm on certain node that there is traveling sets according to node message bit pattern
It is standby and more than the quantity for the traveling apparatus to be entered according to node in-degree validation of information node traveling apparatus to be gone out
One, then the traveling apparatus for being located at the node is screened as non-closed loop traveling apparatus.
Optionally, before step 1, the method also includes: using head-on collision Outlier Detection Algorithm, by the driving ground
The traveling apparatus to clash on figure is rejected from the traveling apparatus information aggregate to be detected.
To achieve the above object, according to another aspect of an embodiment of the present invention, a kind of dress for detecting path dependent options is provided
It sets.
A kind of device of detection path dependent options of the embodiment of the present invention include: node bitmap building module, for according to
Detect the node message bit pattern of traveling apparatus information aggregate building driving map；Node in-degree constructs module, for according to be checked
The running information for surveying each traveling apparatus in traveling apparatus information aggregate constructs the node in-degree information of the driving map；Screen mould
Block is set for screening non-closed loop traveling according to default screening rule according to the node message bit pattern and the node in-degree information
It is standby, and the non-closed loop traveling apparatus is rejected；Judgment module, for passing through node bitmap building module and described
Node in-degree constructs the repetition building movement of module, judges whether there is also non-closed loop traveling apparatus on the driving map, if
In the presence of then continuing to return to screening module, otherwise with the presence or absence of the closed loop that is made of traveling apparatus on judgement driving map, if it exists
The information of closed loop then outgoing route exception.
Optionally, the node bitmap building module is also used to: constructing node bitmap matrix according to the size of driving map；
The first numerical value is set by the element value on the corresponding node bitmap matrix of the node for having traveling apparatus, the corresponding section of other nodes
Element value on bit map/bitmap matrix is set as second value.
Optionally, the running information of each traveling apparatus includes: that each traveling apparatus is currently located nodal information and planning path
In next node information.
Optionally, the node in-degree building module is also used to: constructing node indegree matrix according to the size of driving map；
By each node on the driving map, often there is a traveling apparatus to go out, then enter angle value and subtract one, often there is a traveling apparatus to want
Enter, enter angle value and add one, obtain each node finally enters angle value.
Optionally, if the default screening rule includes: to confirm on certain node that there is traveling sets according to node message bit pattern
It is standby and more than the quantity for the traveling apparatus to be entered according to node in-degree validation of information node traveling apparatus to be gone out
One, then the traveling apparatus for being located at the node is screened as non-closed loop traveling apparatus.
Optionally, described device further include: module is rejected, for the section in node bitmap building module building driving map
Before bit map/bitmap information, using head-on collision Outlier Detection Algorithm, by the traveling apparatus that clashes on the driving map from described to be checked
It surveys in traveling apparatus information aggregate and rejects.
To achieve the above object, according to an embodiment of the present invention in another aspect, providing a kind of electronic equipment.
The a kind of electronic equipment of the embodiment of the present invention includes: one or more processors；Storage device, for storing one
Or multiple programs, when one or more of programs are executed by one or more of processors, so that one or more of
The method that processor realizes the detection path dependent options of the embodiment of the present invention.
To achieve the above object, another aspect according to an embodiment of the present invention, provides a kind of computer-readable medium.
A kind of computer-readable medium of the embodiment of the present invention, is stored thereon with computer program, and described program is processed
The method of the detection path dependent options of the embodiment of the present invention is realized when device executes.
One embodiment in foregoing invention has the following advantages that or the utility model has the advantages that because using building node message bit pattern
Non- closed loop traveling apparatus is screened and rejected with node in-degree information, and the traveling apparatus or all travelings for leaving behind composition closed loop are set
The standby technological means for not forming closed loop and all being rejected, detects closed loop so overcoming in the prior art, needs all rows
Sailing equipment, all traversal calculates bring computation complexity height, is easy to appear the technical issues of Calculation bottleneck, and then reaches quick
The closed loop of traveling apparatus composition reduces the technology effect of required computing resource to detect whether path is abnormal in identification driving map
Fruit；By building node bitmap matrix and node indegree matrix, so as to it is clear, intuitively reflect the message bit pattern of each node
With in-degree information, the traveling apparatus driving situation of accurate judgement present node quickly filters out the traveling apparatus belonged to outside closed loop；
By the way that the running information of each traveling apparatus is set as including that each traveling apparatus is currently located in nodal information and planning path
Next node information, so as to accurately calculate the service condition of each node on map according to the driving situation of traveling apparatus,
Accurately carry out closed loop detection；Confirm that there are traveling apparatus on certain node according to node message bit pattern by setting, and according to
Node in-degree validation of information node traveling apparatus to be gone out than the traveling apparatus to be entered quantity more than one, then will be located at should
The traveling apparatus screening of node is the default screening rule of non-closed loop traveling apparatus, so as to section that can be vacant by subsequent time
Point is identified as closed loop exterior node, to accurately identify non-closed loop traveling apparatus；By that will go using the Outlier Detection Algorithm that clashes
The traveling apparatus to clash on vehicle map is rejected from traveling apparatus information aggregate to be detected, so as to will clash traveling apparatus from
It forms and is rejected in the traveling apparatus of closed loop, reduce the complexity of calculating, improve the accuracy of calculating.The closed loop of the embodiment of the present invention
Detection mode is again a necessary links in planning path, and traveling apparatus congestion aggravation can be effectively prevented；Furthermore, it is possible to
The algorithm complexity for effectively reducing closed loop detection is advised again in pressure test (i.e. the maximum traveling number of devices of setting) and path
Stroke rate can prevent closed loop detection module from reaching Calculation bottleneck when numerous, cause traveling apparatus cannot normal planning path, drag slow system
Efficiency.
Further effect possessed by above-mentioned non-usual optional way adds hereinafter in conjunction with specific embodiment
With explanation.
Detailed description of the invention
Attached drawing for a better understanding of the present invention, does not constitute an undue limitation on the present invention.Wherein:
Fig. 1 is the schematic diagram of the key step of the method for detection path dependent options according to an embodiment of the present invention；
Fig. 2 is the schematic diagram of the main flow of the method for detection path dependent options according to an embodiment of the present invention；
Fig. 3 is the schematic diagram of the L-type closed loop of the method for detection path dependent options according to an embodiment of the present invention；
Fig. 4 is row in traveling apparatus information aggregate to be detected in the method for detection path dependent options according to an embodiment of the present invention
Sail the schematic diagram of equipment and direction of traffic；
Fig. 5 is the signal of the node message bit pattern constructed in the method according to an embodiment of the present invention for detecting path dependent options
Figure；
Fig. 6 is the signal of the node in-degree information constructed in the method according to an embodiment of the present invention for detecting path dependent options
Figure；
Fig. 7 is the schematic diagram of the main modular of the device of detection path dependent options according to an embodiment of the present invention；
Fig. 8 is that the embodiment of the present invention can be applied to exemplary system architecture figure therein；
Fig. 9 is adapted for the structural representation of the computer system for the terminal device or server of realizing the embodiment of the present invention
Figure.
Specific embodiment
Below in conjunction with attached drawing, an exemplary embodiment of the present invention will be described, including the various of the embodiment of the present invention
Details should think them only exemplary to help understanding.Therefore, those of ordinary skill in the art should recognize
It arrives, it can be with various changes and modifications are made to the embodiments described herein, without departing from scope and spirit of the present invention.Together
Sample, for clarity and conciseness, descriptions of well-known functions and structures are omitted from the following description.
The ground of usual traveling apparatus sorting area can stick two dimensional code, pass through driving auxiliary line between adjacent two dimensional code
It is connected, for providing guiding for the traveling apparatus of sorting operation.Traveling apparatus can travel on latticed road network, on grid
Node is corresponded in the two dimensional code on ground.In sorting area, traveling apparatus can respective parallel running.Such as pass through scanning
The mode of ground two dimensional code travels, for being sorted to article according to destination.
The foundation of traveling apparatus operation is usually received task.Every task includes starting point, terminal and a company
Connect the path of starting and terminal point.Starting point is traveling apparatus current location, and terminal is the section that traveling apparatus need to reach in this task
Point, to complete the service logics such as sorting, temporary, waiting, queuing, charging.It needs to avoid in driving map in path planning
Closed loop region reduces system effectiveness to prevent from getting congestion.
The smallest closed loop include four traveling apparatus, i.e., the path traveling apparatus A next point be the position traveling apparatus B,
Traveling apparatus B path next point is the position traveling apparatus C, the path traveling apparatus C next point is that traveling apparatus D institute is in place
It sets, traveling apparatus D path next point is the position traveling apparatus A.Common closed loop be quadrangle, traveling number of devices compared with
May also occur L-type, U-shaped or other complex forms when more.Small-sized closed loop is usually by two head-on collision traveling apparatus, wherein a vehicle
Again other are gradually added after planning path to be formed adjacent to traveling apparatus.Large-scale closed loop is either opposite by traveling apparatus
It is slowly gradually added into and is formed, can also be formation suddenly.It for latter situation, is mentioned since traveling apparatus interval is smaller
High running speed, but turning speed does not correspondingly increase and causes.It is subsequent i.e. Yi Dan the head vehicle of a column traveling apparatus when turning to
Traveling apparatus is lined up rapidly behind, forms the vehicle wall of column traveling apparatus composition, and the traveling apparatus in other directions immediately can be by
Vehicle wall stops.
Closed loop detection is a necessary links in path detection and path planning, can prevent traveling apparatus congestion from adding
It is acute.The embodiment of the invention provides a kind of method of quickly detection path dependent options, can quickly detect in driving map whether
There are closed loops, effectively reduce the algorithm complexity of closed loop detection module, in pressure test (such as maximum traveling apparatus is set
Quantity) and path can prevent when planning frequent again closed loop detection from reaching Calculation bottleneck, cause traveling apparatus just conventional
Path is drawn, slow system effectiveness is dragged.In addition, being set by building bitmap matrix, node indegree matrix to traveling in the embodiment of the present invention
It is standby to carry out beta pruning, so as to reduce computation complexity.
Fig. 1 is the schematic diagram of the key step of the method for detection path dependent options according to an embodiment of the present invention.
As shown in Figure 1, a kind of method of detection path dependent options of the embodiment of the present invention includes:
Step 1: the node message bit pattern of driving map is constructed according to traveling apparatus information aggregate to be detected.Specifically,
It can be and node bitmap matrix is constructed according to the size of driving map；By the corresponding node bitmap matrix of the node for having traveling apparatus
On element value be set as the first numerical value, the element value on the corresponding node bitmap matrix of other nodes is set as second value.
Step 2: according to the running information building driving map of each traveling apparatus in traveling apparatus information aggregate to be detected
Node in-degree information.The running information of each traveling apparatus can be, but not limited to include: that each traveling apparatus is currently located nodal information
With the next node information in planning path.Specifically, node indegree matrix can be constructed according to the size of driving map；It will
Each node on the driving map often has a traveling apparatus to go out then to enter angle value and subtract one, often has a traveling apparatus to enter
Then enter angle value and add one, obtain each node finally enters angle value.
Step 3: non-closed loop traveling is screened according to default screening rule according to node message bit pattern and node in-degree information and is set
It is standby, and the non-closed loop traveling apparatus is rejected.Wherein, if default screening rule may include: to be believed according to node bitmap
Breath confirms that there are traveling apparatus on certain node, and according to the node in-degree validation of information node traveling apparatus to be gone out ratio
The quantity for the traveling apparatus to be entered more one, then screen the traveling apparatus for being located at the node for non-closed loop traveling apparatus.
Whether step 4: repeating Step 1: step 2, judge on the driving map there is also non-closed loop traveling apparatus,
If it exists, then continue step 3, otherwise detection terminates, and judging whether there is on driving map is closed by what traveling apparatus formed
Ring, the if it exists information of closed loop then outgoing route exception.
In addition, the method for the detection path dependent options of the embodiment of the present invention can also include: to utilize head-on collision before step 1
Outlier Detection Algorithm picks the traveling apparatus to clash on the driving map from the traveling apparatus information aggregate to be detected
It removes.
Fig. 2 is the schematic diagram of the main flow of the method for detection path dependent options according to an embodiment of the present invention.Such as Fig. 2 institute
Show, the method for detection path dependent options provided in an embodiment of the present invention mainly may include following process: head-on collision abnormality detection rank
Section and closed loop detection-phase, wherein closed loop detection-phase again include: building node bitmap matrix, construct node indegree matrix,
Node bitmap and indegree matrix comparison and beta pruning.Wherein, the abnormal situation that clashes refers to that for example there are two traveling apparatus, rows
Equipment A and traveling apparatus B are sailed, is located at adjacent node, headstock is mutually towards another traveling apparatus.Traveling apparatus A is planned simultaneously
The next node in path is that traveling apparatus B is currently located node, and the next node of traveling apparatus B institute planning path is traveling apparatus
A is currently located node.The traveling apparatus in exception that needs to clash before into closed loop detection-phase is believed from traveling apparatus to be detected
(i.e. beta pruning) is removed in breath set, to reduce the range of search.This is because the situation of head-on collision exception is by two traveling apparatus
Cause, processing mode is bicycle planning path again, different from the processing mode of closed loop exception.
Fig. 3 is the schematic diagram of the L-type closed loop of the method for detection path dependent options according to an embodiment of the present invention.Fig. 4 is basis
Traveling apparatus and direction of traffic in traveling apparatus information aggregate to be detected in the method for the detection path dependent options of the embodiment of the present invention
Schematic diagram；Fig. 5 is the signal of the node message bit pattern constructed in the method according to an embodiment of the present invention for detecting path dependent options
Figure.As previously mentioned, the closed loop in the embodiment of the present invention can be L-type closed loop (referring to Fig. 3).
Below by taking L-type closed loop as an example, carried out in conjunction with the method for Fig. 4, Fig. 5 to the detection path dependent options of the embodiment of the present invention detailed
It describes in detail bright.
One, node message bit pattern is constructed
In the embodiment of the present invention, size node bitmap matrix can be constructed as node message bit pattern according to the map.Building
Rule is as follows: assuming that map includes the node of X row Y column, then the size of node bitmap matrix is X × Y.There is the node of traveling apparatus
Corresponding element value is the first numerical value on node bitmap matrix, such as is set as 1, other nodes are corresponding on node bitmap matrix
Element value be second value, such as be set as 0.It is now exemplified below, traveling apparatus and direction are as shown in figure 4, work as in map of driving a vehicle
Preceding traveling apparatus forms a L-type closed loop, and also other three traveling apparatus paths pass through closed loop on the left of closed loop.According to above-mentioned
The building rule creation of node bitmap matrix node message bit pattern shown in fig. 5.
Two, node in-degree information is constructed
In the embodiment of the present invention, the next node that can be currently located according to traveling apparatus in node and planning path, structure
Node indegree matrix is built as node in-degree information.The node that regulation has traveling apparatus to go out, node enter angle value and subtract one, there is traveling
The node that equipment enters, node enter angle value and add one.Fig. 6 shows the corresponding node in-degree information of Fig. 4.The element of node indegree matrix
Value range can be { -1,0,1,2,3,4 }.
Three, beta pruning (i.e. rejecting part traveling apparatus)
Node bitmap matrix and node indegree matrix are observed, when node bitmap matrix element is non-zero, indicates currently there is traveling
Equipment is located on the node, if the corresponding node indegree matrix element of the node is -1, then it represents that the node is only travelled and set
It is standby to leave, it is located at the node without traveling apparatus next node, then necessarily the node is not in closed loop, and can will be located at should
The traveling apparatus of node removes (i.e. beta pruning) from the traveling apparatus information aggregate to be detected that closed loop detects.
Then new node bitmap matrix and node indegree matrix are rebuild, and continues to judge new node bitmap matrix
In node indegree matrix, if also when node bitmap matrix element is non-zero, the corresponding node indegree matrix element of the node
It is -1.Above-mentioned building and judgement movement are repeated, is -1 until not having the value of element in node indegree matrix.In this way, can be real
Existing non-closed loop traveling apparatus is all cut up, and remaining is exactly closed loop traveling apparatus.By beta pruning, the traveling outside closed loop can be removed
Equipment, but the traveling apparatus in closed loop will not be removed.
Four, closed loop determines
If after cycle calculations, not having the value of element in node indegree matrix is -1, still there is traveling apparatus to be located at section
On bit map/bitmap, then show there is closed loop, and outgoing route exception information (include whether abnormal and specific abnormal conditions, it is specific abnormal
Situation may include the various exceptions such as head-on collision is abnormal, closed loop is abnormal)；Otherwise closed loop is not present, current closed loop detection terminates, exports
The information of closed loop exception is not present in path.
The technical solution of detection path dependent options according to an embodiment of the present invention can be seen that because using building node bitmap
Non- closed loop traveling apparatus is screened and rejected to information and node in-degree information, leaves behind the traveling apparatus or all rows of composition closed loop
The technological means that equipment does not form closed loop and all rejected is sailed, detects closed loop in the prior art so overcoming, needs institute
Having traveling apparatus, all traversal calculates bring computation complexity height, is easy to appear the technical issues of Calculation bottleneck, and then reaches
Quickly whether the closed loop of traveling apparatus composition is abnormal to detect path in identification driving map, reduces the skill of required computing resource
Art effect；By building node bitmap matrix and node indegree matrix, so as to it is clear, intuitively reflect the bitmap of each node
Information and in-degree information, the traveling apparatus driving situation of accurate judgement present node, quickly filter out the traveling belonged to outside closed loop
Equipment；By the way that the running information of each traveling apparatus is set as including that each traveling apparatus is currently located nodal information and planning path
In next node information, so as to accurately according to the driving situation of traveling apparatus calculate map on each node use feelings
Condition accurately carries out closed loop detection；Confirmed on certain node according to node message bit pattern there are traveling apparatus by setting, and root
According to node in-degree validation of information node traveling apparatus to be gone out than the traveling apparatus to be entered quantity more than one, then will be located at
The traveling apparatus screening of the node is the default screening rule of non-closed loop traveling apparatus, so as to can be vacant by subsequent time
Node is identified as closed loop exterior node, to accurately identify non-closed loop traveling apparatus；It, will by utilizing the Outlier Detection Algorithm that clashes
The traveling apparatus to clash on driving map is rejected from traveling apparatus information aggregate to be detected, so as to the traveling apparatus that will clash
It is rejected from the traveling apparatus of composition closed loop, reduces the complexity of calculating, improve the accuracy of calculating.The embodiment of the present invention is closed
Ring detection mode is again a necessary links in planning path, and traveling apparatus congestion aggravation can be effectively prevented；In addition, can
To effectively reduce the algorithm complexity of closed loop detection, in pressure test (i.e. the maximum traveling number of devices of setting) and path is again
Can prevent closed loop detection module from reaching Calculation bottleneck when planning frequent, cause traveling apparatus cannot normal planning path, drag slow system
System efficiency.
Fig. 7 is the schematic diagram of the main modular of the device of detection path dependent options according to an embodiment of the present invention.
As shown in fig. 7, the device 700 of the detection path dependent options of the embodiment of the present invention mainly includes following module: node position
Figure building module 701, node in-degree building module 702, screening module 703 and judgment module 704.
Wherein, node bitmap building module 701 can be used for constructing driving map according to traveling apparatus information aggregate to be detected
Node message bit pattern；Node in-degree building module 702 can be used for according to respectively traveling is set in traveling apparatus information aggregate to be detected
Standby running information constructs the node in-degree information of the driving map, wherein the running information of each traveling apparatus may include:
Each traveling apparatus is currently located the next node information in nodal information and planning path；Screening module 703 can be used for according to institute
It states node message bit pattern and the node in-degree information and screens non-closed loop traveling apparatus according to default screening rule, and to described non-
Closed loop traveling apparatus is rejected；Judgment module 704 can be used for constructing module 701 by the node bitmap and the node enters
The repetition building movement of degree building module 702, judges whether there is also non-closed loop traveling apparatus on the driving map, if depositing
Then continuing to return to screening module 703, otherwise detection terminates, with the presence or absence of being made of traveling apparatus on the map that judges to drive a vehicle
Closed loop, the if it exists information of closed loop then outgoing route exception.
Node bitmap building module 701 can also be used in: construct node bitmap matrix according to the size of driving map；There to be row
It sails the element value on the corresponding node bitmap matrix of node of equipment and is set as the first numerical value, the corresponding node bitmap of other nodes
Element value on matrix is set as second value.
Node in-degree building module 702 can also be used in: construct node indegree matrix according to the size of driving map；It will be described
Each node driven a vehicle on map, often has a traveling apparatus to go out, then enters angle value and subtract one, often have a traveling apparatus to enter, enter
Angle value adds one, and obtain each node finally enters angle value.
In the embodiment of the present invention, if default screening rule may include: to be confirmed to deposit on certain node according to node message bit pattern
In traveling apparatus, and the quantity according to node in-degree validation of information node traveling apparatus to be gone out than the traveling apparatus to be entered
More one, then the traveling apparatus for being located at the node is screened as non-closed loop traveling apparatus.
In addition, device 700, which may also include that, rejects module (not shown), in node position in the embodiment of the present invention
It, will be on driving map using head-on collision Outlier Detection Algorithm before the node message bit pattern of the figure building building driving map of module 701
The traveling apparatus of head-on collision is rejected from traveling apparatus information aggregate to be detected.
From the above, it can be seen that because screening and rejecting using building node message bit pattern and node in-degree information
Non- closed loop traveling apparatus, the traveling apparatus or all traveling apparatus for leaving behind composition closed loop do not form closed loop and are all rejected
Technological means, detect closed loop in the prior art so overcoming, needing all traveling apparatus, all traversal calculates bring meters
It calculates complexity height, be easy to appear the technical issues of Calculation bottleneck, and then reach traveling apparatus composition in quickly identification driving map
Closed loop it is whether abnormal to detect path, reduce the technical effect of required computing resource；By building node bitmap matrix and
Node indegree matrix, so as to it is clear, intuitively reflect that the message bit pattern of each node and in-degree information, accurate judgement work as prosthomere
The traveling apparatus driving situation of point, quickly filters out the traveling apparatus belonged to outside closed loop；By the way that the driving of each traveling apparatus is believed
Breath is set as including next node information that each traveling apparatus is currently located in nodal information and planning path, so as to accurate
According to the driving situation of traveling apparatus calculate map on each node service condition, accurately carry out closed loop detection；By setting
It is fixed to confirm that there are traveling apparatus on certain node according to node message bit pattern, and according to the node in-degree validation of information node
The traveling apparatus to be gone out than the traveling apparatus to be entered quantity more than one, then will be located at the node traveling apparatus screen as non-closed loop
The default screening rule of traveling apparatus, so as to by subsequent time can vacant node be identified as closed loop exterior node, thus quasi-
The non-closed loop traveling apparatus of true identification；By using the Outlier Detection Algorithm that clashes, on the map that will drive a vehicle the traveling apparatus that clashes from
It is rejected in traveling apparatus information aggregate to be detected, so as to clash, traveling apparatus is picked from the traveling apparatus of composition closed loop
It removes, reduces the complexity of calculating, improve the accuracy of calculating.The closed loop detection mode of the embodiment of the present invention is again planning path
In a necessary links, can be effectively prevented traveling apparatus congestion aggravation；Furthermore, it is possible to effectively reduce the algorithm of closed loop detection
Complexity can prevent closed loop from detecting when pressure test (i.e. the maximum traveling number of devices of setting) and path plan frequent again
Module reaches Calculation bottleneck, cause traveling apparatus cannot normal planning path, drag slow system effectiveness.
Fig. 8 is shown can be using the detection path dependent options method of the embodiment of the present invention or showing for detection path dependent options device
Example property system architecture 800.
As shown in figure 8, system architecture 800 may include terminal device 801,802,803, network 804 and server 805.
Network 804 between terminal device 801,802,803 and server 805 to provide the medium of communication link.Network 804 can be with
Including various connection types, such as wired, wireless communication link or fiber optic cables etc..
User can be used terminal device 801,802,803 and be interacted by network 804 with server 805, to receive or send out
Send message etc..Various telecommunication customer end applications, such as the application of shopping class, net can be installed on terminal device 801,802,803
(merely illustrative) such as the application of page browsing device, searching class application, instant messaging tools, mailbox client, social platform softwares.
Terminal device 801,802,803 can be the various electronic equipments with display screen and supported web page browsing, packet
Include but be not limited to smart phone, tablet computer, pocket computer on knee and desktop computer etc..
Server 805 can be to provide the server of various services, such as utilize terminal device 801,802,803 to user
The shopping class website browsed provides the back-stage management server (merely illustrative) supported.Back-stage management server can be to reception
To the data such as information query request analyze etc. processing, and by processing result (such as target push information, product letter
Breath -- merely illustrative) feed back to terminal device.
It should be noted that detection path dependent options method provided by the embodiment of the present invention is generally executed by server 805,
Correspondingly, detection path dependent options device is generally positioned in server 805.
It should be understood that the number of terminal device, network and server in Fig. 8 is only schematical.According to realization need
It wants, can have any number of terminal device, network and server.
Below with reference to Fig. 9, it illustrates the computer systems 900 for the terminal device for being suitable for being used to realize the embodiment of the present invention
Structural schematic diagram.Terminal device shown in Fig. 9 is only an example, function to the embodiment of the present invention and should not use model
Shroud carrys out any restrictions.
As shown in figure 9, computer system 900 includes central processing unit (CPU) 901, it can be read-only according to being stored in
Program in memory (ROM) 902 or be loaded into the program in random access storage device (RAM) 903 from storage section 908 and
Execute various movements appropriate and processing.In RAM 903, also it is stored with system 900 and operates required various programs and data.
CPU 901, ROM 902 and RAM 903 are connected with each other by bus 904.Input/output (I/O) interface 905 is also connected to always
Line 904.
I/O interface 905 is connected to lower component: the importation 906 including keyboard, mouse etc.；It is penetrated including such as cathode
The output par, c 907 of spool (CRT), liquid crystal display (LCD) etc. and loudspeaker etc.；Storage section 908 including hard disk etc.；
And the communications portion 909 of the network interface card including LAN card, modem etc..Communications portion 909 via such as because
The network of spy's net executes communication process.Driver 910 is also connected to I/O interface 905 as needed.Detachable media 911, such as
Disk, CD, magneto-optic disk, semiconductor memory etc. are mounted on as needed on driver 910, in order to read from thereon
Computer program be mounted into storage section 908 as needed.
Particularly, disclosed embodiment, the process described above with reference to flow chart may be implemented as counting according to the present invention
Calculation machine software program.For example, embodiment disclosed by the invention includes a kind of computer program product comprising be carried on computer
Computer program on readable medium, the computer program include the program code for method shown in execution flow chart.?
In such embodiment, which can be downloaded and installed from network by communications portion 909, and/or from can
Medium 911 is dismantled to be mounted.When the computer program is executed by central processing unit (CPU) 901, system of the invention is executed
The above-mentioned function of middle restriction.
It should be noted that computer-readable medium shown in the present invention can be computer-readable signal media or meter
Calculation machine readable storage medium storing program for executing either the two any combination.Computer readable storage medium for example can be --- but not
Be limited to --- electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor system, device or device, or any above combination.Meter
The more specific example of calculation machine readable storage medium storing program for executing can include but is not limited to: have the electrical connection, just of one or more conducting wires
Taking formula computer disk, hard disk, random access storage device (RAM), read-only memory (ROM), erasable type may be programmed read-only storage
Device (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light storage device, magnetic memory device,
Or above-mentioned any appropriate combination.In the present invention, computer readable storage medium can be it is any include or storage journey
The tangible medium of sequence, the program can be commanded execution system, device or device use or in connection.And at this
In invention, computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for
By the use of instruction execution system, device or device or program in connection.Include on computer-readable medium
Program code can transmit with any suitable medium, including but not limited to: wireless, electric wire, optical cable, RF etc. are above-mentioned
Any appropriate combination.
Flow chart and block diagram in attached drawing are illustrated according to the system of various embodiments of the invention, method and computer journey
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, program segment or code of table, a part of above-mentioned module, program segment or code include one or more
Executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, institute in box
The function of mark can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are practical
On can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it wants
It is noted that the combination of each box in block diagram or flow chart and the box in block diagram or flow chart, can use and execute rule
The dedicated hardware based systems of fixed functions or operations is realized, or can use the group of specialized hardware and computer instruction
It closes to realize.
Being described in module involved in the embodiment of the present invention can be realized by way of software, can also be by hard
The mode of part is realized.Described module also can be set in the processor, for example, can be described as: a kind of processor packet
Include node bitmap building module, node in-degree building module, screening module and judgment module.Wherein, the title of these modules
The restriction to the module itself is not constituted under certain conditions, for example, node bitmap building module is also described as " root
The module of the node message bit pattern of driving map is constructed according to traveling apparatus information aggregate to be detected ".
As on the other hand, the present invention also provides a kind of computer-readable medium, which be can be
Included in equipment described in above-described embodiment；It is also possible to individualism, and without in the supplying equipment.Above-mentioned calculating
Machine readable medium carries one or more program, when said one or multiple programs are executed by the equipment, makes
Obtaining the equipment includes: step 1: the node message bit pattern of driving map is constructed according to traveling apparatus information aggregate to be detected；Step
Two: the node in-degree of the driving map is constructed according to the running information of each traveling apparatus in traveling apparatus information aggregate to be detected
Information；Step 3: non-closed loop is screened according to default screening rule according to the node message bit pattern and the node in-degree information
Traveling apparatus, and the non-closed loop traveling apparatus is rejected；It repeats Step 1: step 2, judges on the driving map
Whether there is also non-closed loop traveling apparatus, and if it exists, then continue step 3, otherwise judgement driving map on the presence or absence of by
The closed loop of traveling apparatus composition, the if it exists information of closed loop then outgoing route exception.
Technical solution according to an embodiment of the present invention, because being sieved using building node message bit pattern and node in-degree information
Select and reject non-closed loop traveling apparatus, the traveling apparatus or all traveling apparatus for leaving behind composition closed loop do not form closed loop and by
The technological means all rejected detects closed loop so overcoming in the prior art, and needing all traveling apparatus, all traversal calculates
Bring computation complexity is high, is easy to appear the technical issues of Calculation bottleneck, and then reaches and travel in quickly identification driving map
Whether the closed loop of equipment composition is abnormal to detect path, reduces the technical effect of required computing resource；By constructing node position
Figure matrix and node indegree matrix, so as to it is clear, intuitively reflect the message bit pattern and in-degree information of each node, accurately sentence
The traveling apparatus driving situation of disconnected present node, quickly filters out the traveling apparatus belonged to outside closed loop；By by each traveling apparatus
Running information be set as including next node information that each traveling apparatus is currently located in nodal information and planning path, thus
The service condition that each node on map can be accurately calculated according to the driving situation of traveling apparatus, accurately carries out closed loop inspection
It surveys；Confirm that there are traveling apparatus on certain node according to node message bit pattern by setting, and according to the node in-degree information
Confirm traveling apparatus that the node to be gone out than the traveling apparatus to be entered quantity more than one, then the traveling apparatus that will be located at the node sieves
Be selected as the default screening rule of non-closed loop traveling apparatus, so as to by subsequent time can vacant node be identified as closed loop acromere
Point, to accurately identify non-closed loop traveling apparatus；Pass through the row using head-on collision Outlier Detection Algorithm, to clash on the map that will drive a vehicle
It sails equipment to reject from traveling apparatus information aggregate to be detected, so as to clash, traveling apparatus is set from the traveling of composition closed loop
Standby middle rejecting, reduces the complexity of calculating, improves the accuracy of calculating.The closed loop detection mode of the embodiment of the present invention is to advise again
A necessary links in path are drawn, traveling apparatus congestion aggravation can be effectively prevented；Furthermore, it is possible to effectively reduce closed loop detection
Algorithm complexity, can prevent from closing when pressure test (i.e. setting maximum traveling number of devices) and path plan frequent again
Ring detection module reaches Calculation bottleneck, cause traveling apparatus cannot normal planning path, drag slow system effectiveness.
Above-mentioned specific embodiment, does not constitute a limitation on the scope of protection of the present invention.Those skilled in the art should be bright
It is white, design requirement and other factors are depended on, various modifications, combination, sub-portfolio and substitution can occur.It is any
Made modifications, equivalent substitutions and improvements etc. within the spirit and principles in the present invention, should be included in the scope of the present invention
Within.
Claims (14)
1. a kind of method for detecting path dependent options characterized by comprising
Step 1: the node message bit pattern of driving map is constructed according to traveling apparatus information aggregate to be detected；
Step 2: the driving map is constructed according to the running information of each traveling apparatus in traveling apparatus information aggregate to be detected
Node in-degree information；
Step 3: non-closed loop row is screened according to default screening rule according to the node message bit pattern and the node in-degree information
Equipment is sailed, and the non-closed loop traveling apparatus is rejected；
Repeat Step 1: step 2, judges whether there is also non-closed loop traveling apparatus on the driving map, and if it exists, then after
Continuous to carry out execution step 3, otherwise on judgement driving map with the presence or absence of the closed loop being made of traveling apparatus, closed loop is then if it exists
The information of outgoing route exception.
2. the method according to claim 1, wherein the step 1 includes:
Node bitmap matrix is constructed according to the size of driving map；
The first numerical value is set by the element value on the corresponding node bitmap matrix of the node for having traveling apparatus, other nodes are corresponding
Node bitmap matrix on element value be set as second value.
3. the method according to claim 1, wherein the running information of each traveling apparatus includes: each traveling apparatus
The next node information being currently located in nodal information and planning path.
4. the method according to claim 1, wherein the step 2 includes:
Node indegree matrix is constructed according to the size of driving map；
By each node on the driving map, often there is a traveling apparatus to go out then to enter angle value and subtract one, often there is a traveling to set
It is standby to enter, enter angle value and add one, obtain each node finally enters angle value.
5. the method according to claim 1, wherein if the default screening rule includes: according to node bitmap
There are traveling apparatus on validation of information node, and according to node in-degree validation of information node traveling apparatus to be gone out
Than the traveling apparatus to be entered quantity more than one, then will be located at the node traveling apparatus screen as non-closed loop traveling apparatus.
6. the method according to claim 1, wherein before step 1, the method also includes: utilize head-on collision
Outlier Detection Algorithm picks the traveling apparatus to clash on the driving map from the traveling apparatus information aggregate to be detected
It removes.
7. a kind of device for detecting path dependent options characterized by comprising
Node bitmap constructs module, and the node bitmap for constructing driving map according to traveling apparatus information aggregate to be detected is believed
Breath；
Node in-degree constructs module, for being constructed according to the running information of each traveling apparatus in traveling apparatus information aggregate to be detected
The node in-degree information of the driving map；
Screening module, it is non-for being screened according to the node message bit pattern and the node in-degree information according to default screening rule
Closed loop traveling apparatus, and the non-closed loop traveling apparatus is rejected；
Judgment module, the repetition for constructing module and node in-degree building module by the node bitmap, which constructs, to be moved
Make, judge whether there is also non-closed loop traveling apparatus on the driving map, and if it exists, then continues to return to screening module, otherwise
With the presence or absence of the closed loop that is made of traveling apparatus on judgement driving map, the information of closed loop then outgoing route exception if it exists.
8. device according to claim 7, which is characterized in that the node bitmap building module is also used to:
Node bitmap matrix is constructed according to the size of driving map；
The first numerical value is set by the element value on the corresponding node bitmap matrix of the node for having traveling apparatus, other nodes are corresponding
Node bitmap matrix on element value be set as second value.
9. device according to claim 7, which is characterized in that the running information of each traveling apparatus includes: each traveling apparatus
The next node information being currently located in nodal information and planning path.
10. device according to claim 7, which is characterized in that the node in-degree building module is also used to:
Node indegree matrix is constructed according to the size of driving map；
By each node on the driving map, often there is a traveling apparatus to go out, then enter angle value and subtract one, often there is a traveling to set
It is standby to enter, enter angle value and add one, obtain each node finally enters angle value.
11. device according to claim 7, which is characterized in that if the default screening rule includes: according to node bitmap
There are traveling apparatus on validation of information node, and according to node in-degree validation of information node traveling apparatus to be gone out
Than the traveling apparatus to be entered quantity more than one, then will be located at the node traveling apparatus screen as non-closed loop traveling apparatus.
12. device according to claim 7, which is characterized in that described device further include: module is rejected, in node
Before bitmap constructs the node message bit pattern of module building driving map, using head-on collision Outlier Detection Algorithm, by the driving ground
The traveling apparatus to clash on figure is rejected from the traveling apparatus information aggregate to be detected.
13. a kind of electronic equipment characterized by comprising
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
Now such as method as claimed in any one of claims 1 to 6.
14. a kind of computer-readable medium, is stored thereon with computer program, which is characterized in that described program is held by processor
Such as method as claimed in any one of claims 1 to 6 is realized when row.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810113343.7A CN110119913B (en) | 2018-02-05 | 2018-02-05 | Method and device for detecting path abnormality |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810113343.7A CN110119913B (en) | 2018-02-05 | 2018-02-05 | Method and device for detecting path abnormality |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110119913A true CN110119913A (en) | 2019-08-13 |
| CN110119913B CN110119913B (en) | 2024-04-16 |
Family
ID=67519813
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810113343.7A Active CN110119913B (en) | 2018-02-05 | 2018-02-05 | Method and device for detecting path abnormality |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110119913B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111459100A (en) * | 2019-01-22 | 2020-07-28 | 北京沃东天骏信息技术有限公司 | Dispatching method and system for automatic guided transport vehicle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011060049A (en) * | 2009-09-10 | 2011-03-24 | Fujitsu Ltd | Method and apparatus for processing data of traveling position of vehicle |
| CN105739495A (en) * | 2016-01-29 | 2016-07-06 | 大连楼兰科技股份有限公司 | Driving path planning method and device and automatic steering system |
| CN107063711A (en) * | 2017-04-21 | 2017-08-18 | 百度在线网络技术（北京）有限公司 | Method and apparatus for testing unmanned vehicle |
| CN107123295A (en) * | 2017-06-30 | 2017-09-01 | 百度在线网络技术（北京）有限公司 | Congested link Forecasting Methodology, device, server and storage medium |
-
2018
- 2018-02-05 CN CN201810113343.7A patent/CN110119913B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011060049A (en) * | 2009-09-10 | 2011-03-24 | Fujitsu Ltd | Method and apparatus for processing data of traveling position of vehicle |
| CN105739495A (en) * | 2016-01-29 | 2016-07-06 | 大连楼兰科技股份有限公司 | Driving path planning method and device and automatic steering system |
| CN107063711A (en) * | 2017-04-21 | 2017-08-18 | 百度在线网络技术（北京）有限公司 | Method and apparatus for testing unmanned vehicle |
| CN107123295A (en) * | 2017-06-30 | 2017-09-01 | 百度在线网络技术（北京）有限公司 | Congested link Forecasting Methodology, device, server and storage medium |
Non-Patent Citations (1)
| Title |
|---|
| 于宏啸;段建民;: "关于车道线图像识别轨迹规划跟踪仿真", 计算机仿真, no. 04 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111459100A (en) * | 2019-01-22 | 2020-07-28 | 北京沃东天骏信息技术有限公司 | Dispatching method and system for automatic guided transport vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110119913B (en) | 2024-04-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110555640B (en) | Route planning method and device | |
| CN110231040A (en) | A kind of method and apparatus of path planning | |
| Goldbarg et al. | Memetic algorithm for the traveling car renter problem: an experimental investigation | |
| CN110260856A (en) | One kind building drawing method and device | |
| CN110442121A (en) | A kind of method and apparatus that transport vehicle route is chosen | |
| CN111105613B (en) | Traffic distribution method and system based on multi-source data | |
| WO2022227303A1 (en) | Information processing method and apparatus, computer device, and storage medium | |
| CN103365886A (en) | Method for querying space events in internet of vehicles and optimizing querier | |
| CN110275492A (en) | A kind of method and apparatus that automated guided vehicle driving path is determined based on tunnel | |
| De Guzman et al. | Complexity of the AGV shortest path and single-loop guide path layout problems | |
| CN111815946A (en) | Method and device for determining abnormal road section, storage medium and electronic equipment | |
| CN109919167A (en) | Goods sorting method and apparatus, the goods sorting system of sortation hubs | |
| Lee et al. | Practical routing algorithm using a congestion monitoring system in semiconductor manufacturing | |
| CN110442755A (en) | Based on the topological diagram methods of exhibiting being connected to the network between nuclear power plant's DCS platform station | |
| CN110370270A (en) | A kind of method and apparatus for preventing robot from colliding | |
| CN110119913A (en) | The method and apparatus for detecting path dependent options | |
| CN109816131A (en) | Paths planning method, path planning apparatus and computer readable storage medium | |
| CN105139328B (en) | Hourage real-time predicting method and device towards license plate identification data | |
| Du et al. | Robust deadlock avoidance control for AMSs with assembly operations embedded in flexible routes using Petri nets | |
| Zheng et al. | Delayed propagation transformer: A universal computation engine towards practical control in cyber-physical systems | |
| Liu et al. | A hybrid BSO-ACO for dynamic vehicle routing problem on real-world road networks | |
| Enaleev | Coordinated partitions in organizational network structures | |
| Manda et al. | Recent advances in the design and analysis of material handling systems | |
| Sun et al. | Urban freight management with stochastic time-dependent travel times and application to large-scale transportation networks | |
| Li et al. | A feature-extraction-based lightweight convolutional and recurrent neural networks adaptive computing model for container terminal liner handling volume forecasting |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |