CN114360274A

CN114360274A - Distribution vehicle navigation method, system, computer equipment and storage medium

Info

Publication number: CN114360274A
Application number: CN202111517591.6A
Authority: CN
Inventors: 郭威锃; 张喜斌; 任涛; 靳一帆; 李德权; 张天翼
Original assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Current assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Priority date: 2021-12-13
Filing date: 2021-12-13
Publication date: 2022-04-15
Anticipated expiration: 2041-12-13
Also published as: CN114360274B

Abstract

The application relates to a distribution vehicle navigation method, a distribution vehicle navigation system, a computer device, a storage medium and a computer program product. The method comprises the following steps: acquiring a real-time map of an operation area, wherein the real-time map is generated based on map data of the operation area acquired by a pilot vehicle, and the pilot vehicle acquires the real-time map data of the operation area based on positioning equipment and acquisition equipment; acquiring real-time position information and distribution parameters of a distribution vehicle; generating a distribution path on the real-time map according to the real-time map, the real-time position information of the distribution vehicle and the distribution parameters; the distribution route is sent to a distribution vehicle, and the distribution vehicle carries out cargo conveying tasks based on the positioning equipment and the distribution route. The method can realize the navigation of the distribution vehicle without a necessary guiding tool in an operation area, has wide application range, is not limited by a field, and can be flexibly applied to different distribution scenes.

Description

Distribution vehicle navigation method, system, computer equipment and storage medium

Technical Field

The present application relates to the field of scene recognition technologies, and in particular, to a method, a system, a computer device, a storage medium, and a computer program product for navigating a delivery vehicle.

Background

With the continuous improvement of hardware and software related to the unmanned technology and the continuous maturity of the unmanned industry, the unmanned distribution vehicle is more and more common in practical production application, and plays a very important role in the aspects of improving production automation, intellectualization and informatization.

At present, the traditional navigation modes of the distribution vehicle comprise laser navigation, magnetic stripe navigation, two-dimensional code navigation and the like. However, laser navigation has relatively high environmental requirements and needs to be used in a good light and a smooth ground environment; the magnetic stripe navigation and the two-dimensional code navigation both need to regularly maintain the magnetic stripe and the two-dimensional code for navigation, and cannot change the route in real time, and new magnetic stripe and two-dimensional code need to be laid again to change the route, so that the process is complicated; in a work area with a complex situation, the two navigation modes are greatly limited, and are not flexible and convenient to use.

Disclosure of Invention

In view of the above, it is desirable to provide a method, a system, a computer device, a computer readable storage medium and a computer program product for navigation of a delivery vehicle, which are flexible and convenient to apply.

In a first aspect, the present application provides a method for navigating a delivery vehicle, the method comprising:

the method comprises the steps of obtaining a real-time map of an operation area, wherein the real-time map is generated based on map data of the operation area collected by a pilot vehicle, and the pilot vehicle collects the real-time map data of the operation area based on positioning equipment and collecting equipment;

acquiring real-time position information and distribution parameters of a distribution vehicle;

generating a distribution path on the real-time map according to the real-time map, the real-time position information of the distribution vehicle and the distribution parameters;

sending the distribution path to the distribution vehicle, the distribution vehicle performing cargo handling tasks based on the positioning device and the distribution path.

In one embodiment, when the distribution vehicle performs the cargo transportation task based on the distribution route, the obstacle on the distribution route is identified based on the distribution vehicle obstacle detection result, and the obstacle is avoided.

In one embodiment, the method further comprises:

and acquiring the position information of the distribution vehicle updated by the positioning base station in real time, updating the distribution path according to the updated position information of the distribution vehicle and the distribution parameters when the distribution vehicle is monitored to deviate from the distribution path, and sending the updated distribution path to the distribution vehicle.

In one embodiment, the method further comprises:

updating the real-time map to obtain an updated real-time map; the updated real-time map is generated according to the map data of the operation area acquired by the pilot vehicle again, and the pilot vehicle acquires the real-time map data of the operation area based on the positioning equipment and the acquisition equipment at a set frequency.

In one embodiment, the method further comprises:

comparing the updated real-time map with the last acquired real-time map, and judging whether obstacles exist on the current distribution routes or not according to the comparison result;

if the obstacle avoidance distribution path exists, updating the distribution path according to the position information of the obstacle, the real-time position information of the distribution vehicle on the distribution path and the distribution parameters to obtain the obstacle avoidance distribution path;

and sending the obstacle avoidance distribution path to a distribution vehicle, wherein the distribution vehicle executes a cargo conveying task based on the obstacle avoidance distribution path.

In one embodiment, the distribution parameters include shortest path distribution principles and a first target distribution point;

generating a distribution path on the real-time map according to the real-time map, the real-time position information of the distribution vehicle and the distribution parameters comprises the following steps: and generating a distribution path on the real-time map according to the real-time position of the distribution vehicle and the first target distribution point based on the shortest path distribution principle.

In one embodiment, the delivery parameters include cargo information;

generating a distribution path on the real-time map according to the real-time map, the real-time position information of the distribution vehicle and the distribution parameters comprises the following steps:

determining a second target distribution point according to the cargo information;

and generating a distribution path on the real-time map according to the real-time position of the distribution vehicle and the second target distribution point.

In a second aspect, the present application further provides a computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the steps of the method described above when executing the computer program.

In a third aspect, the present application further provides a delivery vehicle navigation system, the system comprising: the system comprises a pilot vehicle, a positioning base station, a distribution vehicle and the computer equipment, wherein the pilot vehicle is provided with acquisition equipment;

the pilot vehicle, the positioning base station, the acquisition equipment and the distribution vehicle are respectively connected with the computer equipment;

the pilot vehicle is used for acquiring real-time map data of the operation area based on the positioning base station and the acquisition equipment;

the computer equipment is used for generating a real-time map according to the real-time map data of the operation area, acquiring the real-time position information and the distribution parameters of the distribution vehicle, and generating a distribution path on the real-time map according to the real-time map, the real-time position information and the distribution parameters of the distribution vehicle; sending the distribution path to the distribution vehicle;

and the distribution vehicle is used for executing cargo conveying tasks based on the positioning base station and the distribution path.

In a fourth aspect, the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method described above.

In a fifth aspect, the present application also provides a computer program product comprising a computer program which, when executed by a processor, performs the steps of the method described above.

According to the distribution vehicle navigation method, the distribution vehicle navigation system, the computer equipment, the storage medium and the computer program product, the real-time map of the operation area is generated by using the number of the maps of the pilot vehicle in the collected operation area, and after the position and the distribution parameters of the distribution vehicle are obtained, the navigation path can be generated for the distribution vehicle according to the real-time map. According to the method, only positioning equipment and a pilot vehicle are needed to be arranged in the operation area, the map is acquired by the pilot vehicle in real time for the operation area, the real-time environment condition of the operation area is reflected, navigation can be achieved without the help of necessary guiding tools in the operation area, the application range is wide, the method is not limited by sites, and the method can be flexibly applied to different distribution scenes.

Drawings

FIG. 1 is a schematic diagram of a navigation system of a delivery vehicle in one embodiment;

FIG. 2 is a schematic flow chart diagram illustrating a method for navigating a delivery vehicle in one embodiment;

FIG. 3 is a diagram illustrating a scenario of a work area in one embodiment;

FIG. 4 is a schematic flow chart illustrating a method for navigating a delivery vehicle according to another embodiment;

FIG. 5 is a block diagram of a navigation device of a delivery vehicle in one embodiment;

FIG. 6 is a diagram illustrating an internal structure of a computer device according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The distribution vehicle navigation method provided by the embodiment of the application can be applied to a distribution vehicle navigation system shown in fig. 1. Wherein, the pilot vehicle 102, the collecting device 104, the positioning base station 106 and the distribution vehicle 110 are respectively communicated with the computer device 108 through the network; the acquisition device 104 is disposed on the pilot vehicle 102. Computer device 108 controls dispensing cart 110 by outputting instructions. The data storage system may store data that computer device 108 needs to process. The data storage system may be integrated on the computer device 108, or may be located on the cloud or other network server. The computer device 108 may be a terminal device, such as a personal computer, a notebook computer, or an independent server or a server cluster formed by a plurality of servers.

The distribution vehicle 110 is a transportation device that can distribute goods according to a command from a computer device. It will be appreciated that the delivery vehicle 110 is equipped with basic obstacle avoidance and control devices. The pilot vehicle 102 is a distribution vehicle equipped with an acquisition device 104. The collection device 104 is a high-precision device that can scan the environment of the work area and can collect map data of the environment of the work area.

Specifically, when the cargo transportation task is performed in the working area, the navigator car 102 scans the working area in real time based on the equipped acquisition device 104, acquires real-time map data of the working area, and transmits the real-time map data to the computer device 108.

The computer device 108 generates a real-time map of the work area based on the received real-time map data, and simultaneously acquires real-time position information and distribution parameters of the distribution vehicle 110. Wherein the real-time location information of the dispensing vehicle 110 is transmitted from the positioning base station 106. The computer device 108 generates a distribution route of the distribution vehicle 110 on the real-time map according to the real-time map of the work area, the real-time position information of the distribution vehicle 110, and the distribution parameters, and transmits the distribution route to the distribution vehicle 110. Distribution cart 110 performs cargo handling tasks based on location base 106 and distribution paths.

In one embodiment, distribution Vehicle 110 is an Automated Guided Vehicle (AGV) and pilot Vehicle 102 is an Automated Guided Vehicle equipped with capture device 104.

In one embodiment, the acquisition device 104 provided on the pilot vehicle 102 is a high-precision acquisition device. It is understood that the acquisition devices 104 include, but are not limited to, depth vision cameras, high precision lidar, high precision motor encoders, high precision inertial navigation sensors, and high precision UWB positioning devices. Specifically, the use of the navigator car 102 equipped with a high-precision acquisition device to perform environmental scanning of the work area and acquire real-time map data makes it possible to make the map of the work area generated from the real-time map data more accurate and reflect the actual situation of the work area more.

In one embodiment, distribution cart 110 is equipped with basic obstacle avoidance equipment and general computing control equipment. It is understood that the basic obstacle avoidance devices include, but are not limited to, obstacle-encountering detection radars, basic motor encoders, and basic UWB positioning devices; the calculation control equipment can be a common singlechip-level calculation control board card. Specifically, during the process of executing the cargo transportation task, the distribution vehicle 110 only needs to receive and execute the relevant instructions sent by the computer device 108 through the common computing control device, and if an emergency situation occurs during the distribution process and an obstacle needs to be avoided, emergency obstacle avoidance processing can be performed through the basic obstacle avoidance device equipped by the distribution vehicle. Therefore, only basic obstacle avoidance equipment and common calculation control equipment are arranged on the distribution vehicle 110, so that the distribution function of the distribution vehicle 110 can be met, and meanwhile, the configuration cost of the distribution vehicle is greatly saved.

In one embodiment, the navigator car 102 is also equipped with a high-speed graphics computing platform thereon. Specifically, when a cargo transportation task is performed in a working area, the navigator car 102 scans the working area in real time based on the equipped high-precision acquisition device 104 to obtain real-time map data of the corresponding working area, generates a real-time map of the corresponding working area according to the real-time map data through a self-equipped high-speed graphic computing platform, and sends the real-time map to the computer device 108. By using the high-speed graphic computing platform equipped in the navigator car 102, when the navigator car 102 scans the operation area in real time to obtain map data, the high-speed graphic computing platform can draw a real-time map corresponding to the operation area according to the scanned map data. The condition that the real-time map is incomplete due to data packet loss when the real-time map data are sent to the computer equipment by the pilot vehicle 102 can be prevented, the delay of real-time map generation can be reduced, and the real-time map can accurately reflect the actual condition of an operation area.

The computer device 108 generates a distribution path of the distribution vehicle 110 according to the received real-time map, the acquired real-time position information and the acquired distribution parameters of the distribution vehicle 110, and sends the distribution path to the distribution vehicle 110.

Distribution cart 110 performs cargo handling tasks based on location base 106 and distribution paths. Specifically, in the process of the distribution vehicle executing the cargo transportation task, the positioning base station 106 sends the position information of the distribution vehicle 110 to the computer device 108 in real time, and the computer device 108 ensures that the distribution vehicle 110 executes the cargo transportation task based on the distribution path through real-time monitoring of the position of the distribution vehicle 110.

In one embodiment, the navigation system of the distribution vehicle further comprises a positioning tag related to the operation factor. Specifically, the pilot vehicle 102 collects real-time map data of the operation area through the collection device 104 disposed on the pilot vehicle 102 based on the positioning tag and the positioning base station 106. It is understood that the location tag may include, but is not limited to: the system comprises a distribution vehicle positioning label, a personnel positioning label, an equipment tool positioning label, a warehouse location positioning label, a generation stage positioning label, an environment monitoring positioning label and the like.

In one embodiment, the positioning tag further comprises a two-dimensional code positioning tag; the navigator car 102 and the delivery car 110 are also provided with two-dimensional code cameras.

The two-dimensional code positioning label is arranged at the target distribution point and used for accurately marking the position of the target distribution point. Specifically, the target distribution point is provided with a two-dimensional code for accurate positioning, the two-dimensional code is bound with the unloading action in advance, when the distribution vehicle 110 conveys the goods to the target distribution point based on the distribution path, the distribution vehicle 110 scans the two-dimensional code through the two-dimensional code camera, the goods are determined to reach the target distribution point, the unloading action corresponding to the two-dimensional code is executed, the goods are placed at the target distribution point, and the goods conveying task is completed.

According to the distribution vehicle navigation system, the real-time map of the operation area is obtained according to the information scanned by the high-configuration pilot vehicle, the distribution path is generated according to the real-time map, the distribution path is sent to the low-configuration distribution vehicle, and the distribution vehicle executes the cargo conveying task according to the distribution path. The real-time map can be drawn according to the actual road conditions of the operation area, the distribution route can be changed according to the real-time road conditions of the operation area, so that the effect of accurate navigation is achieved, the high-configuration equipment is intensively configured on one or a very small number of pilot vehicles, the distribution vehicles for distribution are composed of low-configuration equipment, and the distribution cost of goods transportation is greatly reduced.

In one embodiment, as shown in fig. 2, a method for navigating a delivery vehicle is provided, which is illustrated by applying the method to the computer device 108 in fig. 1, and comprises the following steps:

step 202, a real-time map of the operation area is obtained, wherein the real-time map is generated based on map data of the operation area collected by a pilot vehicle, and the pilot vehicle collects the real-time map data of the operation area based on positioning equipment and collecting equipment.

The operation area is a work area of the distribution vehicle, and particularly is an area needing goods transportation. Specifically, the distribution vehicle performs cargo conveyance tasks within the work area. Taking a logistics scene as an example, the operation area is a logistics transit work area. Taking a production scene as an example, the operation area is a material distribution work area.

The operation area is provided with a positioning base station and a positioning label, and the positioning label is configured on all operation related factors of the operation area so as to be identified by the positioning base station to realize positioning. A scene diagram of an operation area is shown in fig. 3, and includes personnel, a pilot vehicle, a distribution vehicle, a storage location, a monitoring device, and a positioning base station, where the personnel, the pilot vehicle, the distribution vehicle, the storage location, and the monitoring device are operation-related factors and are respectively configured with a positioning tag.

The distribution vehicle is a transportation device capable of distributing goods according to a received command, and it can be understood that the distribution vehicle is provided with a basic obstacle avoidance device and a control device.

The pilot vehicle is a distribution vehicle which scans the operation area in real time and generates real-time map data. It can be understood that the high-precision acquisition equipment which can scan the environment of the operation area and can acquire the map data of the environment of the operation area is arranged on the pilot vehicle, and the pilot vehicle acquires the real-time map data of the operation area based on the positioning equipment arranged in the operation area and the high-precision acquisition equipment arranged on the pilot vehicle. It is understood that the positioning device may be a positioning base station, a positioning tag, and other devices having positioning functions.

Specifically, when a cargo conveying task exists in the operation area, the pilot vehicle enters the operation area to scan the environment of the operation area in real time, and real-time map data of the operation area are collected. And acquiring a real-time map of the operation area generated according to the map data of the operation area acquired by the pilot vehicle.

In one embodiment, obtaining a real-time map of a work area comprises: and acquiring a real-time map of the operation area sent by the pilot vehicle.

Specifically, the navigator scans an operation area in real time, collects real-time map data of the operation area, draws the real-time map data into a real-time map corresponding to the operation area through a high-speed graphic computing platform equipped by the navigator, and sends the real-time map to the computer equipment.

In one embodiment, obtaining a real-time map of a work area comprises: and generating a real-time map corresponding to the operation area based on the real-time map data sent by the pilot vehicle.

Specifically, the pilot vehicle scans the operation area in real time, collects real-time map data of the operation area, and sends the real-time map data to the computer equipment. And the computer equipment generates a real-time map corresponding to the operation area according to the real-time map data and acquires the real-time map.

In one embodiment, the delivery Vehicle is an Automated Guided Vehicle (AGV) and the pilot Vehicle is an AGV equipped with a capture device.

In one embodiment, the acquisition equipment equipped on the pilot vehicle is high-precision acquisition equipment. It is understood that the acquisition devices include, but are not limited to, depth vision cameras, high precision lidar, high precision motor encoders, high precision inertial navigation sensors, and high precision UWB positioning devices. Specifically, the environment scanning of the operation area and the acquisition of the real-time map data are performed by using the pilot vehicle equipped with the high-precision acquisition equipment, so that the map of the operation area generated according to the real-time map data can be more accurate, and the actual situation of the operation area can be more reflected.

In one embodiment, the distribution vehicle is equipped with basic obstacle avoidance equipment and general computing control equipment. It is understood that the basic obstacle avoidance devices include, but are not limited to, obstacle-encountering detection radars, basic motor encoders, and basic UWB positioning devices; the calculation control equipment can be a common singlechip-level calculation control board card. Only basic obstacle avoidance equipment and common calculation control equipment are arranged on the distribution vehicle, so that the distribution function of the distribution vehicle can be met, and meanwhile, the configuration cost of the distribution vehicle is greatly saved.

And step 204, acquiring real-time position information and distribution parameters of the distribution vehicle.

The distribution parameters are parameter information of the cargo transportation task, such as cargo name, cargo transportation vehicle, cargo distribution mode, and the like. For example, in a logistics scenario, the delivery parameter may be a target transit city of the goods, and in a production scenario, the delivery parameter may be a target destination point of the materials, and the like.

The real-time position information of the distribution vehicle is obtained through the positioning base station, the positioning base station sends a positioning signal to the distribution vehicle, the distribution vehicle returns the positioning signal to the corresponding positioning base station after receiving the positioning signal, the positioning base station sends the time of sending the positioning signal and the time of returning the positioning signal by the distribution vehicle to the computer equipment, and the computer equipment calculates the real-time position of the distribution vehicle according to the two times.

Specifically, the distribution vehicle may be parked at any position of the operation area, and the computer device acquires real-time position information of the distribution vehicle through the positioning base station and acquires distribution parameters of the cargo transportation task at the same time.

And step 206, generating a distribution path on the real-time map according to the real-time map, the real-time position information of the distribution vehicle and the distribution parameters.

Specifically, a starting point of a distribution path is determined according to real-time position information of a distribution vehicle, a target distribution end point is determined according to distribution parameters, and the distribution path is generated based on a preset algorithm after the distribution starting point and the distribution end point are determined on a real-time map. The preset algorithm may consider the path length, that is, generate the shortest path with the generated shortest path as a constraint. The preset algorithm may also take into account obstacles, i.e. generate the safest path with the constraint of avoiding collisions with other vehicles or operational factors.

Step 208, the distribution route is sent to a distribution vehicle, and the distribution vehicle performs cargo transportation tasks based on the positioning equipment and the distribution route.

Specifically, the generated distribution path is sent to the corresponding distribution vehicle, the distribution vehicle executes the cargo conveying task based on the distribution path, and in the process that the distribution vehicle executes the cargo conveying task, the computer device monitors the running path of the distribution vehicle in real time through the positioning device, so that the purpose of accurately navigating the process that the distribution vehicle executes the cargo conveying task is achieved.

In the distribution vehicle navigation method, when the distribution vehicle is required to execute a cargo conveying task in an operation area, a real-time map of the operation area is generated by collecting the number of maps of the operation area by using the pilot vehicle, and after the position and the distribution parameters of the distribution vehicle are obtained, a navigation path can be generated for the distribution vehicle according to the real-time map. According to the method, only positioning equipment and a pilot vehicle are needed to be arranged in the operation area, the map is acquired by the pilot vehicle in real time for the operation area, the real-time environment condition of the operation area is reflected, navigation can be achieved without the help of necessary guiding tools in the operation area, the application range is wide, the method is not limited by sites, and the method can be flexibly applied to different distribution scenes.

In one embodiment, the delivery vehicle navigation method further comprises: when the distribution vehicle executes the cargo conveying task based on the distribution path, the obstacle on the distribution path is identified based on the obstacle detection result of the distribution vehicle, and the obstacle is avoided.

Wherein, the delivery car is provided with basic obstacle avoidance equipment, and the basic obstacle avoidance equipment can be radars, cameras and the like. The obstacle detection result is obtained by detecting the road surface condition by the distribution vehicle based on the self-configured basic obstacle avoidance equipment. Specifically, in the process of executing the cargo conveying task by the delivery vehicle, if an obstacle suddenly appears on the road surface, the basic obstacle avoidance device of the delivery vehicle can detect the obstacle to obtain an obstacle detection result, and corresponding emergency obstacle avoidance processing measures are taken according to the obstacle detection result to perform obstacle avoidance processing. It can be understood that the emergency obstacle avoidance processing measure may be an emergency stop, or may be an adjustment of a certain running angle of the delivery vehicle. By using the method in the embodiment, when an unmarked obstacle appears suddenly on the road surface in the real-time map, the distribution vehicle can avoid the obstacle based on the basic obstacle avoidance equipment configured by the distribution vehicle, and the cargo conveying task is completed. The safety of the distribution vehicle in the cargo conveying process is guaranteed, and the distribution vehicle has a good obstacle avoidance effect in the process of executing a distribution task and facing movable operation factors.

In one embodiment, the distribution vehicle navigation method further comprises: and acquiring the position information of the distribution vehicle updated by the positioning base station in real time, updating the distribution path according to the updated position information and distribution parameters of the distribution vehicle when the distribution vehicle is monitored to deviate from the distribution path, and sending the updated distribution path to the distribution vehicle.

And calculating real-time position information of the distribution vehicle and the pilot vehicle in the running state based on the positioning base station according to the arrival time difference principle. Specifically, the pilot vehicle and the distribution vehicle are equipped with positioning tags, and the time difference of the positioning tags relative to the propagation of radio signals between two different positioning base stations is measured by using UWB technology, so that the distance difference of the positioning tags relative to the positioning base stations is obtained. The positioning is carried out by utilizing the arrival time difference principle, the base station only needs to transmit the synchronous packet once, and the tag transmits the positioning packet once, so that the positioning can be realized only by the existence of two interactive processes.

Specifically, two positioning base stations are taken as an example to transmit positioning signals to the distribution vehicle. The first positioning base station and the second positioning base station respectively and simultaneously send a first positioning signal and a second positioning signal to the distribution vehicle; after receiving the first positioning signal and the second positioning signal, the distribution vehicle respectively returns the first positioning signal and the second positioning signal to the corresponding positioning base station; the time when the first positioning base station receives the return positioning signal is the first positioning time, and the time when the second positioning base station receives the return positioning signal is the second positioning time. And the computer equipment receives the first positioning time and the second positioning time returned by the positioning base station, and obtains the real-time position of the delivery vehicle according to the time difference information of the first positioning time and the second positioning time.

Specifically, in the process of executing the cargo conveying task by the distribution vehicle, the computer equipment carries out real-time position monitoring on the distribution vehicle through at least two positioning base stations, and the position information of the distribution vehicle on a real-time map is updated in real time through time information returned by the positioning base stations. When the fact that the distribution vehicle deviates from the distribution path is monitored, the distribution path is updated according to the updated position information and distribution parameters of the distribution vehicle; and sending the updated distribution path to a distribution vehicle, and executing the cargo conveying task by the distribution vehicle according to the updated distribution path.

In one embodiment, updating the dispensing path based on updated position information of the dispensing vehicle and the dispensing parameters upon detecting that the dispensing vehicle deviates from the dispensing path comprises: and determining that an optimal distribution path exists according to the distribution parameters and the updated position information of the distribution vehicle, if the optimal distribution path exists, updating the optimal distribution path into the distribution path, sending the updated distribution path to the distribution vehicle, and executing the cargo conveying task by the distribution vehicle according to the updated distribution path.

In one embodiment, when the delivery vehicle is monitored to deviate from the delivery path, the delivery path is updated according to the updated position information of the delivery vehicle and the delivery parameters, and the method further comprises the following steps: if the optimal distribution path does not exist, generating a return path for returning to the original distribution path according to the updated position information of the distribution vehicle and the original distribution path; and sending the return path to a distribution vehicle, returning the distribution vehicle to the original distribution path according to the return path, and executing the cargo conveying task based on the original distribution path.

In the embodiment, the computer device updates the position information of the distribution vehicle in real time based on the positioning base station, carries out real-time position monitoring on the distribution vehicle through the positioning base station, updates the distribution path of the distribution vehicle according to the real-time position information of the distribution vehicle when the distribution vehicle is monitored to deviate from the original distribution path, replans the distribution path for the distribution vehicle deviating from the distribution path in time, can identify and plan the distribution path of the distribution vehicle in real time, and ensures that the distribution vehicle can complete the cargo transportation task.

In one embodiment, the distribution vehicle navigation method further comprises:

updating the real-time map to obtain an updated real-time map; the updated real-time map is generated according to the map data of the operation area newly acquired by the pilot vehicle, and the pilot vehicle acquires the real-time map data of the operation area based on the positioning equipment and the acquisition equipment at a set frequency.

Specifically, when a freight transportation task is sent to an operation area, a pilot vehicle scans the operation area in real time based on the equipped acquisition equipment, acquires real-time map data of the operation area, generates a real-time map corresponding to the operation area according to the real-time map data acquired by the pilot vehicle, then continues to operate in the operation area, scans the operation area, and acquires the real-time map data of the operation area based on the preset frequency. And updating the original real-time map according to the real-time map data to obtain the updated real-time map. It is understood that the frequency can be set according to practical situations, and the present application does not limit this.

By the method, the generated map can be updated according to the real-time condition of the operation area to obtain the updated map, so that the real-time map acquired by the computer equipment can more accurately reflect the real-time road condition of the operation area.

In one embodiment, as shown in fig. 4, after obtaining the updated real-time map, the method further includes the following steps:

and 302, comparing the updated real-time map with the last acquired real-time map, and judging whether obstacles exist on the current distribution routes according to the comparison result.

Specifically, the updated real-time map is compared with the real-time map obtained last time, whether a newly added object appears on the updated map coordinate or not is compared, if the newly added object does not appear, the comparison result is considered to be consistent, it is determined that no barrier exists on the current distribution route, and each distribution vehicle can continue to execute the cargo transportation task according to the corresponding distribution route;

if the newly added objects exist, the comparison result is considered to be inconsistent, the positions of the newly added objects are compared with the current distribution paths, whether the newly added objects exist on the current distribution paths or not is determined, if the newly added objects do not exist on the current distribution paths, it is determined that no obstacles exist on the current distribution paths, and each distribution vehicle can continue to execute the cargo conveying task according to the corresponding distribution paths; and if the newly added objects are positioned on one or more current distribution paths, determining that the obstacles exist on the current distribution paths.

Step 304, if the obstacle avoidance distribution path exists, updating the distribution path according to the position information of the obstacle, the real-time position information of the distribution vehicle on the distribution path and the distribution parameters to obtain the obstacle avoidance distribution path;

specifically, if the obstacle is determined to exist on the current distribution path, the real-time position of the distribution vehicle running on the distribution path and the distribution parameters corresponding to the cargo conveying task executed by the distribution vehicle are determined, and the original distribution path is updated according to the corresponding distribution parameters and the position information of the obstacle, so that the obstacle avoidance distribution path is obtained.

And step 306, sending the obstacle avoidance distribution path to a distribution vehicle, and executing the cargo conveying task by the distribution vehicle based on the obstacle avoidance distribution path.

Specifically, the obtained obstacle avoidance distribution path is sent to a distribution vehicle traveling on the obstacle avoidance distribution path, and the distribution vehicle executes a cargo conveying task based on the obstacle avoidance distribution path.

In this embodiment, the updated real-time map data is compared with the last acquired real-time map data, whether obstacles exist in the current distribution routes is determined based on the comparison result, and if so, the current distribution routes are updated according to the positions of the obstacles, the real-time position information of the distribution vehicles on the current distribution routes and the distribution parameters, so that obstacle avoidance distribution routes are obtained. By the method, the actual road condition of the distribution path of the distribution vehicle can be determined according to the scanning result of the pilot vehicle on the operation area, when the distribution path corresponding to the distribution vehicle has the obstacle, the computer equipment can extract and plan the path according to the acquired information, generate the corresponding obstacle avoidance path, and send the obstacle avoidance path to the corresponding distribution vehicle. The real-time navigation is carried out on the distribution vehicle to avoid the obstacles, so that the safety of the distribution vehicle in executing the cargo conveying task and the navigation accuracy are ensured.

In one embodiment, the distribution parameters include a shortest path distribution principle and a first target distribution point, and the generating of the distribution path on the real-time map according to the real-time map, the real-time location information of the distribution vehicle and the distribution parameters includes: and generating a distribution path on a real-time map according to the real-time position of the distribution vehicle and the first target distribution point based on the shortest path distribution principle.

The first target delivery point refers to an end position of cargo delivery, and each cargo has a corresponding target delivery point. Specifically, the distribution vehicles need to transport the goods from the goods distribution starting points to the respective target distribution points.

And if the generated distribution path enables the sum of the distance from the distribution vehicle parking point to the goods distribution starting point and the distance from the goods distribution starting point to the first target distribution point to be the minimum, the generated path is considered to meet the shortest path distribution principle.

Specifically, the computer acquires first target distribution point information in distribution parameters, and generates a corresponding distribution path on a real-time map based on a shortest distribution path principle in the distribution parameters according to the acquired real-time positions of the distribution vehicles.

In one embodiment, the distribution parameters include cargo information, and the generating of the distribution path on the real-time map according to the real-time map, the real-time position information of the distribution vehicle and the distribution parameters includes: and determining a second target distribution point according to the cargo information, and generating a distribution path on the real-time map according to the real-time position of the distribution vehicle and the second target distribution point.

The goods information can be goods name information, goods production information, goods delivery information and the like. Specifically, the computer device may determine the second target delivery point information of the cargo according to a correspondence relationship between the pre-stored cargo information and the target delivery point.

Specifically, second target distribution point information of the cargo delivery task is determined according to the cargo information in the distribution parameters, and a corresponding distribution path is generated on a real-time map according to the real-time position information of the distribution vehicle and the second target distribution point.

In one embodiment, a distribution vehicle navigation method is provided, which comprises the following steps:

the embodiment relates to a pilot vehicle, a positioning device, a distribution vehicle and a computer device provided with a collection device.

Wherein, the pilot vehicle and the distribution vehicle are all automatic navigation vehicles (AVG), one or few pilot vehicles exist in one operation area, and the number of the distribution vehicles is not limited. Specifically, the navigator car is provided with a high-precision acquisition device and a two-dimensional code camera, including but not limited to a high-speed figure calculation platform, a depth vision camera, a high-precision laser radar, a high-precision motor encoder, a high-precision inertial navigation sensor and a high-precision UWB positioning device. The distribution vehicle is only provided with basic obstacle avoidance equipment, a two-dimensional code camera and common calculation control equipment. The basic obstacle avoidance device comprises but is not limited to an obstacle detection radar, a basic motor encoder and a basic UWB positioning device; the calculation control equipment can be a common singlechip-level calculation control board card. The computer equipment is a server, a synchronous controller is arranged in the server, and the synchronous controller is in communication connection with the positioning base station through UWB.

The positioning device comprises a positioning base station and a positioning label. Specifically, the specific setting position and the number of the positioning base stations are set according to the actual conditions of the operation area, which is not limited in this application, and only the capability of the positioning base stations to transmit and receive the positioning signals is required to cover the whole operation area. It can be understood that when site deployment is performed on an operation area, an AGV running planning route needs to be inspected on the spot, and after specific positions of a positioning base station and a positioning label are arranged, communication conditions of different base station pieces are tested, recorded and modified, and optimized point selection positioning is performed.

In this embodiment, each positioning tag and the positioning base station are connected by UWB. The UWB navigation technology has good multipath effect and high safety, can provide accurate positioning precision, improves the sensing capability of connecting regional terrain and landform scenes, has wider coverage, can even reach the precision of Wi-Fi and Bluetooth systems more than one hundred times under a complex environment in distance resolution capability, can greatly reduce the power consumption of each device in a navigation system, has larger radio frequency bandwidth, can provide great spread spectrum gain and prolongs the working time of power supply equipment.

Specifically, the operation area is preset with various positioning tags for assisting the pilot vehicle in positioning various operation environment factors in the operation area based on the positioning base station.

The two-dimension code positioning labels are only arranged at the warehouse and part of distribution points, namely a goods distribution starting point and a target distribution point, and two-dimension codes for accurately positioning the pilot vehicle and the distribution vehicle are arranged at the goods distribution starting point and the target distribution point. In other operation areas, the real-time position calculation of each positioning label is mainly carried out through a UWB positioning system and encoders carried by a pilot vehicle and a distribution vehicle, and the real-time map data of the operation area is obtained by matching with patrol scanning of the pilot vehicle.

When goods are transported in the operation area, the pilot vehicle scans the operation area in real time based on the equipped high-precision acquisition equipment, acquires real-time map data of the operation area based on a positioning label and a positioning base station which are arranged in the operation area in advance, generates a real-time map corresponding to the operation area based on a high-speed graphic computing platform configured by the pilot vehicle according to the acquired real-time map data, and sends the real-time map data corresponding to the operation area to the pilot vehicle. And then, the pilot vehicle continuously runs in the operation area, scans the operation area and acquires real-time map data of the operation area based on a preset frequency. And updating the original real-time map according to the real-time map data.

The method comprises the steps that a server obtains a real-time map sent by a pilot vehicle and distribution parameters of goods to be distributed, meanwhile, real-time position information of the distribution vehicle is obtained through synchronous control based on a positioning base station, a target distribution point of a goods transportation task is determined according to the distribution parameters, a corresponding distribution path is generated based on the real-time map, the real-time position information of the distribution vehicle and the target distribution point, and the distribution path is sent to the corresponding distribution vehicle. And the distribution vehicle executes the corresponding cargo conveying task according to the corresponding distribution path.

When the distribution vehicle executes the cargo conveying task according to the distribution path, the navigator continues to scan the environment of the operation area, updates the real-time map corresponding to the operation area in real time according to the scanned map data of the operation area, and sends the updated map to the server based on the preset frequency.

The server compares the updated map with the last received real-time map, and judges whether obstacles exist on the current distribution routes or not according to the comparison result; if the obstacle avoidance distribution path exists, updating the distribution path according to the position information of the obstacle, the real-time position information of the distribution vehicle on the distribution path and the distribution parameters to obtain the obstacle avoidance distribution path; and sending the obstacle avoidance distribution path to a distribution vehicle, and executing the cargo conveying task by the distribution vehicle based on the obstacle avoidance distribution path.

When the distribution vehicle executes the cargo conveying task based on the distribution path, if a temporary obstacle suddenly appears on the distribution path, the distribution vehicle can perform obstacle avoidance processing according to the basic obstacle avoidance equipment configured by the distribution vehicle.

When the distribution vehicle executes the cargo conveying task, the server monitors the position information of the distribution vehicle in real time through the positioning base station, if the distribution vehicle is monitored to deviate from the corresponding distribution path, the distribution path of the distribution vehicle is updated according to the real-time position information of the distribution vehicle, the distribution path is re-planned for the distribution vehicle deviating from the distribution path in time, and the distribution vehicle is ensured to finish the cargo conveying task.

Taking a specific application scenario as an example, when the operation area of the distribution vehicle needs to be switched, if the operation area of the distribution vehicle is switched from an original factory area to a new factory area, only corresponding field deployment needs to be performed on the new factory area, if a corresponding positioning tag is configured for operation-related factors, a positioning base station is set, and the like, then the new factory area is scanned in real time through a navigation vehicle, real-time map data of the new factory area is acquired, and a distribution path is generated for the distribution vehicle according to the real-time map. And the distribution vehicle executes the cargo conveying task according to the distribution path based on the set positioning base station and the positioning label.

It should be understood that, although the steps in the flowcharts related to the embodiments as described above are sequentially displayed as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be rotated or alternated with other steps or at least a part of the steps or stages in other steps.

Based on the same inventive concept, the embodiment of the application also provides a distribution vehicle navigation device for realizing the distribution vehicle navigation method. The solution of the problem provided by the device is similar to the solution described in the above method, so the following specific limitations in one or more embodiments of the navigation device for a distribution vehicle may refer to the above limitations on the navigation method for a distribution vehicle, and will not be described herein again.

In one embodiment, as shown in fig. 5, there is provided a distribution vehicle navigation device 400 comprising: an information acquisition module 401, a delivery route generation module 402, and a delivery route transmission module 403, wherein:

the information obtaining module 401 is configured to obtain real-time position information and distribution parameters of a distribution vehicle, and obtain real-time position information and distribution parameters of the distribution vehicle.

The distribution path generating module 402 is configured to generate a distribution path on the real-time map according to the real-time map, the real-time location information of the distribution vehicle, and the distribution parameters.

A distribution route sending module 403, configured to send the distribution route to a distribution vehicle, where the distribution vehicle performs cargo transportation tasks based on the positioning device and the distribution route.

In the distribution vehicle navigation device, the real-time map of the operation area is generated by using the number of maps of the pilot vehicle in the collected operation area, and after the position and the distribution parameters of the distribution vehicle are obtained, the navigation path can be generated for the distribution vehicle according to the real-time map. According to the method, only positioning equipment and a pilot vehicle are needed to be arranged in the operation area, the map is acquired by the pilot vehicle in real time for the operation area, the real-time environment condition of the operation area is reflected, navigation can be achieved without the help of necessary guiding tools in the operation area, the application range is wide, the method is not limited by sites, and the method can be flexibly applied to different distribution scenes.

In one embodiment, the dispensing vehicle navigation device further comprises: and the delivery vehicle obstacle avoidance module is used for identifying obstacles on the delivery path based on the detection result of the obstacles of the delivery vehicle and avoiding the obstacles when the delivery vehicle executes the cargo conveying task based on the delivery path.

In one embodiment, the dispensing vehicle navigation device further comprises: and the distribution vehicle deviation correction module is used for acquiring the position information of the distribution vehicle updated by the positioning base station in real time, updating the distribution path according to the updated position information and distribution parameters of the distribution vehicle when the distribution vehicle is monitored to deviate from the distribution path, and sending the updated distribution path to the distribution vehicle.

In one embodiment, the dispensing vehicle navigation device further comprises: the map updating module is used for updating the real-time map to obtain an updated real-time map; the updated real-time map is generated according to the map data of the operation area newly acquired by the pilot vehicle, and the pilot vehicle acquires the real-time map data of the operation area based on the positioning equipment and the acquisition equipment at a set frequency.

In one embodiment, the dispensing vehicle navigation device further comprises: the obstacle detection module is used for comparing the updated real-time map with the last acquired real-time map and judging whether obstacles exist on the current distribution routes or not according to the comparison result;

and sending the obstacle avoidance distribution path to a distribution vehicle, and executing the cargo conveying task by the distribution vehicle based on the obstacle avoidance distribution path.

In one embodiment, the delivery path generating module is further configured to: the distribution parameters comprise a shortest path distribution principle and a first target distribution point, and a distribution path is generated on the real-time map according to the real-time map, the real-time position information of the distribution vehicle and the distribution parameters, and the distribution path comprises the following steps: and generating a distribution path on a real-time map according to the real-time position of the distribution vehicle and the first target distribution point based on the shortest path distribution principle.

In one embodiment, the delivery path generating module is further configured to: the distribution parameters include cargo information, and a distribution path is generated on the real-time map according to the real-time map, the real-time position information of the distribution vehicle and the distribution parameters, and the distribution path comprises the following steps: determining a second target distribution point according to the cargo information; and generating a distribution path on the real-time map according to the real-time position of the distribution vehicle and the second target distribution point.

All or part of each module in the navigation device of the distribution vehicle can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 6. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a method of navigating a dispensing vehicle. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.

Those skilled in the art will appreciate that the architecture shown in fig. 6 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:

acquiring a real-time map of an operation area, wherein the real-time map is generated based on map data of the operation area acquired by a pilot vehicle, and the pilot vehicle acquires the real-time map data of the operation area based on positioning equipment and acquisition equipment;

the distribution route is sent to a distribution vehicle, and the distribution vehicle carries out cargo conveying tasks based on the positioning equipment and the distribution route.

In one embodiment, the processor, when executing the computer program, further performs the steps of:

when the distribution vehicle executes the cargo conveying task based on the distribution path, the obstacle on the distribution path is identified based on the obstacle detection result of the distribution vehicle, and the obstacle is avoided.

and acquiring the position information of the distribution vehicle updated by the positioning base station in real time, updating the distribution path according to the updated position information and distribution parameters of the distribution vehicle when the distribution vehicle is monitored to deviate from the distribution path, and sending the updated distribution path to the distribution vehicle.

the distribution parameters comprise a shortest path distribution principle and a first target distribution point, and a distribution path is generated on the real-time map according to the real-time map, the real-time position information of the distribution vehicle and the distribution parameters, and the distribution path comprises the following steps: and generating a distribution path on a real-time map according to the real-time position of the distribution vehicle and the first target distribution point based on the shortest path distribution principle.

the distribution parameters include cargo information, and a distribution path is generated on the real-time map according to the real-time map, the real-time position information of the distribution vehicle and the distribution parameters, and the distribution path comprises the following steps:

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

In one embodiment, the computer program when executed by the processor further performs the steps of:

In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, performs the steps of:

It should be noted that, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), Magnetic Random Access Memory (MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A method for navigating a delivery vehicle, the method comprising:

2. The method of claim 1, wherein the delivery vehicle performs the cargo transferring task based on the delivery route, and the obstacle on the delivery route is recognized based on the delivery vehicle obstacle detection result, and the obstacle is avoided.

3. The method of claim 2, further comprising:

4. The method of claim 1, further comprising:

5. The method of claim 4, further comprising:

6. The method of claim 1, wherein the delivery parameters include a shortest path delivery principle and a first target delivery point;

7. The method of claim 1, wherein the delivery parameters include cargo information;

8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 6.

9. A dispensing vehicle navigation system, the system comprising: a pilot vehicle provided with acquisition equipment, a positioning base station, a distribution vehicle and a computer device according to claim 7;

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.

11. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 7 when executed by a processor.