WO2018077024A1 - Procédé et appareil de détermination de trajet de déplacement de dispositif - Google Patents

Procédé et appareil de détermination de trajet de déplacement de dispositif Download PDF

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Publication number
WO2018077024A1
WO2018077024A1 PCT/CN2017/105518 CN2017105518W WO2018077024A1 WO 2018077024 A1 WO2018077024 A1 WO 2018077024A1 CN 2017105518 W CN2017105518 W CN 2017105518W WO 2018077024 A1 WO2018077024 A1 WO 2018077024A1
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WIPO (PCT)
Prior art keywords
node
branch
location information
determining
target
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PCT/CN2017/105518
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English (en)
Chinese (zh)
Inventor
于宗靖
宋国库
商春鹏
汤敬仁
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北京京东尚科信息技术有限公司
北京京东世纪贸易有限公司
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Publication of WO2018077024A1 publication Critical patent/WO2018077024A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal

Definitions

  • the present application relates to the field of computer technologies, and in particular, to the field of automation technologies, and in particular, to a method and apparatus for determining a path of movement of a device.
  • Path planning usually refers to the process of finding a collision-free path from the initial state to the target state in an environment with obstacles.
  • the moving path of the device is often a preset fixed path or a path obtained by a path planning algorithm such as an A-star algorithm or an exhaustive method.
  • the preset fixed path is simple but not flexible enough, such as the inability to plan a preset path.
  • Paths other than the path in the process of obtaining the path through the path planning algorithm, in order to find the shortest path or the optimal path, the controller needs to perform a large number of scans or iterative calculations, which is complicated and requires high computing power of the controller. Therefore, the existing path planning method is not simple enough or flexible enough, which leads to the inefficiency of path planning.
  • the purpose of the present application is to propose an improved method and apparatus for determining a path of movement of a device to solve the technical problems mentioned in the background section above.
  • the present application provides a method for determining a path of movement of a device, the method comprising: acquiring current location information and target location information of a device to be mobile; The front location information determines a first branch where the current location of the device to be moved is located, and a first node that sequentially passes from the current location to the main line, and determines, by using the target location information, a location where the target location of the to-be-moved device is located a second branch and a second node that passes at least sequentially from the main line to the target position; determining, by the current location information and the target location information, a third node that the first branch arrives in the second branch in sequence
  • the third node is a master node on a main line, and the master node includes nodes that each branch intersects with the trunk line; determining to sequentially pass through the first node, the third node, and the The path of the second node is the moving path of the device to be moved.
  • the number of bits of the node marker of the node on each leg is sequentially incremented from the master node to the end, and the high bit of the latter marker is the same as the previous marker.
  • the current location information includes a current node tag
  • the target location information includes a target node tag
  • the first node that the current location arrives at the main line in sequence includes: determining, by the current node, the highest bit, determining the first branch; determining, according to the number of digits, the highest value of the current node marker, determining the a first node; and the second branch in which the target location of the device to be moved is determined by the target location information and the second node that the trunk line reaches the target location at least sequentially passes through: marking by the target node The highest bit determines the second branch; the value of the high bit of the target node mark is sequentially incremented according to the number of bits to determine the second node.
  • the nodes on each branch are stored in an array.
  • the nodes on the backbone are stored in an array.
  • the present application provides an apparatus for determining a path of a device, the device comprising: an acquiring module configured to acquire current location information and target location information of a device to be mobile; and a branch node determining module configured to be configured to Determining, by the current location information, a first branch where the current location of the device to be moved is located, and a first node that sequentially passes from the current location to the trunk line, and determining a target location of the to-be-moved device by using the target location information a second branch, and a second node that passes at least sequentially from the main line to the target location; a trunk line node determining module configured to determine, by the current location information and the target location information, that the first branch arrives The second branch passes through a third node, wherein the third node is a master node on a main line, the master node includes a node in which each branch intersects the trunk line; and a moving path determining module configured to determine The path of the first node,
  • the number of bits of the node marker of the node on each leg is sequentially incremented from the master node to the end, and the high bit of the latter marker is the same as the previous marker.
  • the current location information includes a current node tag
  • the target location information includes a target node tag
  • the branch node determining module includes a first branch node determining unit and a second branch node determining a unit, wherein: the first branch node determining unit is configured to: determine that the first branch is determined by the highest node of the current node mark; and that the value of the high value of the current node mark is sequentially changed according to the number of bits Determining the first node; and the second branch node determining unit is configured to: determine the second branch by marking the highest bit of the target node; and mark from the target node in order of increasing number of bits The high bit value determines the second node.
  • the nodes on each branch are stored in an array.
  • the nodes on the backbone are stored in an array.
  • the method and device for determining a device movement path provided by the present application, by acquiring current location information and target location information of the device to be mobile, and then determining, by the current location information, the first branch where the current location of the mobile device is located and arriving from the current location
  • the first node that the main line passes in sequence determines the second branch where the target position of the device to be moved is located by using the target location information, and the second node that passes through at least the target line from the main line, and then passes the current location information and the target location information.
  • the mobile device can flexibly determine the mobile according to the current location and the target location of the device to be moved. Paths can improve the effectiveness of path planning.
  • FIG. 1 illustrates an exemplary system architecture to which embodiments of the present application may be applied
  • FIG. 2 is a flow diagram of one embodiment of a method of determining a device movement path in accordance with the present application
  • FIG. 3 is a road environment of one embodiment of a method of determining a device movement path in accordance with the present application
  • FIG. 4 is a schematic diagram of a simplified map and path planning according to the road environment of FIG. 3;
  • FIG. 5 is a schematic structural diagram of an embodiment of an apparatus for determining a device movement path according to the present application
  • FIG. 6 is a schematic structural diagram of a computer system suitable for implementing an electronic device of an embodiment of the present application.
  • FIG. 1 illustrates an exemplary system architecture 100 in which embodiments of the present application may be applied.
  • system architecture 100 can include terminal devices 101, 102, 103 and server 104. Communication between the terminal devices 101, 102, 103 and the server 104 can be through a network, which can include various types of connections, such as wired, wireless communication links, fiber optic cables, and the like.
  • the terminal devices 101, 102, 103 can interact with the server 104 over a network to receive or transmit messages and the like.
  • the terminal devices 101, 102, 103 can be moved in an environment such as the road environment 105, wherein the road environment 105 can include a plurality of branches 1051, 1052, 1053, 1054, etc. and at least one backbone line 1055.
  • the road environment 105 can be stored in advance in the server 104 or the terminal devices 101, 102, 103.
  • the terminal devices 101, 102, 103 may be installed on, but not limited to, one or more of the following devices: an acquisition device, a control device, a transmission device, a reception device, and the like.
  • the terminal device 101, 102, 103 can be, for example, a transport-type electronic device (such as an AGV), a cleaning-type electronic device, or the like, which is not limited in this application.
  • Server 104 may be a server that provides various services.
  • a background server that provides path planning support for the terminal devices 101, 102, and 103, and the like.
  • the server can store, generate, and the like the received data, and feed back the processing result to the terminal device.
  • the method for determining the device mobility path may be performed by the server 104 or by the terminal device 101, 102, and 103, which is not limited in this application.
  • the server 104 may pre-store a road environment 105 that can determine a target job location based on the received job demand information, and select a terminal that completes the target job according to the current job state of the terminal devices 101, 102, 103 (eg, an idle state).
  • the device acts as a device to be mobile, and the method for determining the device movement path of the present application is performed on the mobile device, and the path of the device to be moved is determined, and the path information or the movement instruction is sent to the device to be moved.
  • the terminal devices 101, 102, and 103 may respectively store the road environment 105 in advance.
  • the terminal device may determine the target work location and perform the method for determining the device movement path of the present application to determine the movement path, and determine the movement path according to the method. The determined movement path is moved.
  • terminal devices, servers, and road environment in FIG. 1 are merely illustrative. Depending on the implementation needs, there can be any number of terminal devices and servers, as well as any number of branches of the road environment.
  • a flow 200 of one embodiment of a method of determining a device movement path is illustrated. This embodiment is mainly illustrated by the method being applied to an electronic device having a certain computing capability (for example, the server 104 or the terminal device 101, 102, 103 shown in FIG. 1).
  • the method for determining a path for moving a device includes the following steps:
  • Step 201 Obtain current location information and target location information of the device to be moved.
  • the electronic device may first acquire the target location information, and determine the to-be-moved device according to the target location information and obtain the current location information of the to-be-moved device, and the electronic device may also pre-store the current location information of the to-be-moved device. In the step, the target location information and the pre-stored current location information are obtained.
  • the above electronic device is the server 104 as shown in FIG. 1, it can perform task scheduling on the terminal devices 101, 102, 103, and the like.
  • the terminal device 101, 102, 103, etc. may send its current state information to the server 104 according to a predetermined time interval, or feed back its current state information when the server 104 initiates an inquiry, where the current state information includes at least the current location information, and One or more of load information, current task information, and the like may be included, but not limited to.
  • the server 104 may perform task scheduling according to the current state information of the terminal device 101, 102, 103, etc., determine the terminal device that completes the job as the device to be moved, and obtain current location information of the device to be mobile. For example, at least one of current position coordinates, current leveling, and the like.
  • the job requirement information herein includes at least target location information of the starting point of the job, and may also include task information and the like. If the electronic device is a device to be moved, it may pre-store its own current location information and acquire target location information by receiving job requirement information, or acquire target location information and its own current location information when receiving job demand information.
  • the electronic device may store road environment information in advance.
  • the road environment of this embodiment may be any work environment including a trunk line.
  • the work positions 301, 302, 303, 304, 305 are connected into one main line, and each work position can be led to other work positions through the branch.
  • the road environment information can be stored in the form of an electronic map that can display the solid terrain (eg, in a form similar to that shown in FIG. 3).
  • the electronic map can display multiple branches and at least one main line, and display possible job nodes on the main line.
  • the current location information and the target location information may respectively include a current location coordinate and a target location coordinate.
  • road environment information can also be stored in a simplified electronic map.
  • the electronic device can predetermine the possible job nodes and build an array based on these possible job nodes.
  • each work position is one node, and the work positions 301, 302, 303, 304, and 305 on the main line are used as the master node, and the main line is beyond the main line of each master node.
  • the line is a branch, and the plurality of branches can be connected by the main line.
  • the working environment 300 can be simplified into the form of the map 400 shown in FIG. 4, wherein the working positions 301, 302, 303, and 304 in FIG. 305 in turn
  • the master nodes 1, 2, 3, 4, 5 in Figure 4 should be used.
  • each node in the map 400 can be represented in an array form.
  • the node markers of the master node can be represented in an array as an order, and the node markers of the nodes on each branch can also be represented as an array in the order of arrangement.
  • the node tag may be at least one of, but not limited to, a character, a number, and the like.
  • each node may be associated with a coordinate range.
  • the electronic device may determine the node or the target location associated with the current location coordinate according to the pre-stored coordinate range.
  • the coordinates here may be the latitude and longitude coordinates of the positioning of the GPS (Global Positioning System) or the reference frame coordinates set by the electronic device, which is not limited in this application.
  • Step 202 Determine, by the current location information, a first branch where the current location of the device to be moved is located, and a first node that sequentially passes from the current location to the trunk line, and determine, by using the target location information, a second branch where the target location of the to-be-moved device is located.
  • the electronic device may determine, by the current location information, a first branch where the current location of the mobile device is located, and a first node that sequentially passes from the current location to the trunk line, and determine, by the target location information, the device to be moved.
  • the second branch where the target position is located and the second node that passes at least in sequence from the main line to the target position.
  • the execution of each operation in this step does not limit the execution order, and may be performed sequentially or simultaneously.
  • first node and the second node in this embodiment may respectively include one working node, and may also include multiple nodes.
  • the first node, the second node may also not include any nodes.
  • FIG. 4 is a simplified map 400 of the road environment 300, including five branches 4001, 4002, 4003, 4004, 4005 and one trunk line 4006, each of which includes a plurality of nodes.
  • the node where each branch intersects with the trunk line 4006 is a main node, such as nodes 1, 2, 3, 4, and 5.
  • the electronic device can determine the first branch of the mobile device according to the current location information of the device to be mobile.
  • the number of bits of the node markers of the nodes on each leg may be sequentially incremented from the master node to the end, and the high bits of the latter tag are the same as the previous tag.
  • the master node is 1, and the nodes from the master node to the two ends are marked as 1, 11, 110, 1, 12, 120, respectively, and the high level of the latter mark, such as "110".
  • the high position "11" is the same as the previous one "11".
  • the current location information can include a current node tag
  • the target location information can include a target node tag.
  • the method for determining, by the current location information, the first branch where the current location of the mobile device is located and the first node that passes through the current location from the current location may be: determining the first branch by marking the highest bit of the current node The first node is determined by taking the value of the high point of the current node marker in descending order of digits.
  • the first branch is determined to be a branch labeled 3 4003, in descending order of the number of bits from the current node mark, the value of the current node mark "/10 0 ", "current node mark / 10 1 " ... "current node mark / 10 N " (N is a positive integer) until "N” is equal to "current coordinate marker number -2" and the result is 310, 31.
  • the second branch of the electronic device that determines the target location of the to-be-moved device by the target location information and the second node that the backbone line reaches the target location at least sequentially includes: determining the second branch by marking the highest bit of the target node; The number of digits is incremented in order from the high value of the target node marker to determine the second node.
  • the second leg determined by the target node 520 is 5, and the second node includes 52, 520.
  • Step 203 Determine, by the current location information and the target location information, a third node that the first branch arrives in the second branch in sequence.
  • the electronic device may further determine, by the current location information and the first branch and the second branch determined by the target location information, that the first branch arrives at the third node that the second branch sequentially passes.
  • the third node is the primary node on the main line.
  • the electronic device can refer to the intersection of the first branch and the main line as a reference, and determine the third node by the branch span (the number of intervals) between the first branch and the second branch.
  • the current position is at node 310
  • the target position is at node 520
  • Step 204 Determine a path that passes through the first node, the third node, and the second node in sequence as a moving path of the device to be moved.
  • the electronic device may then determine that the path passing through the foregoing first node, the third node, and the second node is the moving path of the device to be moved. That is, the moving path of the mobile device passes through the current branch, the main line, and the target branch.
  • the path of the device to be moved determined by the electronic device from the node 310 to the node 520 is a path sequentially passing through the nodes 310, 31, 3, 4, 5, 52, 520 (shown by a bold arrow in FIG. 4) path of).
  • This embodiment is described by taking a branch with a smaller number from a branch with a larger branch number as an example.
  • the path determination method is similar to the above example. The difference is that the third node that the determining branch 4005 reaches the branch 4003 passes through is node 5, node (5-1) ... node (5 - the aforementioned span 2), that is, node 5, node 4, node 3 .
  • the electronic device may first determine the label size of the current branch and the target branch, and then determine the third node, and details are not described herein again.
  • the path planning can be implemented by moving the pointer.
  • the pointer first points to an array representing the first branch where the current location node of the device to be moved is located, and points to the address of the current location node in the array, and then moves the pointer in the array to point to the address of the master node in the array, and then The moving pointer skips the array of the aforementioned span number, points to the address of the primary node stored in the array representing the second branch where the target location node is located, and then sequentially moves the pointer within the array to the address of the target location node in the array.
  • each road environment module is applicable to the method for determining a moving path of the mobile device to be moved in this embodiment, and multiple The method for determining the moving path of the device to be moved in this embodiment can also be applied to between the road environment modules (each road environment module is used as one working node).
  • the terminal devices 101, 102, and 103 may be transport robots (such as AGVs) in the logistics field, and the road environment 105 is pre-stored in the server 104, and the server 104 may
  • the target work position is determined according to the job demand, and the terminal device that completes the target job is selected as the device to be moved according to the current working state of the transport robot (such as whether in the job, the number of goods to be transported, etc.), and the determining device of the present application is executed on the mobile device.
  • the method of moving the path determines the path of movement of the device to be moved in the road environment 105 and transmits the path information or the move instruction to the device to be moved.
  • the device to be moved may be a cleaning electronic device (such as a cleaning robot), and the road environment may be pre-stored in the cleaning electronic device, and when the job demand information is received, the cleaning device may be based on the operation.
  • the demand information determines the target work position.
  • the method of determining the device movement path of the present application is performed to determine its movement path in the pre-stored road environment, and moves according to the determined movement path.
  • the path of the device to be moved can be flexibly determined according to the current location and the target location of the device to be moved, thereby improving the effectiveness of the path planning.
  • the present application provides an embodiment of an apparatus for determining a path of movement of a device, the apparatus embodiment corresponding to the method embodiment shown in FIG.
  • the device can be specifically applied to an electronic device.
  • the apparatus 500 for determining a device mobility path includes: an obtaining module 501, a branch node determining module 502, a trunk line node determining module 503, and a moving path determining module 504.
  • the obtaining module 501 may be configured to acquire current location information and target location information of the device to be mobile;
  • the branch node determining module 502 may be configured to determine, by using current location information, a first branch where the current location of the device to be moved is located, and The first node that passes through the current position to the main line, determines the second branch where the target position of the device to be moved is located, and reaches the target position from the main line through the target location information.
  • the trunk node determining module 503 can be configured to determine, by the current location information and the target location information, that the first branch arrives at a third node in sequence through the second branch, where the third node is a master node on the main line, the master node includes a node in which each branch intersects the trunk line;
  • the path determining module 504 can be configured to determine that the path passing through the first node, the third node, and the second node is the device to be moved. The path of the move.
  • the branch node determination module can also include a first branch node determination unit (not shown) and a second branch node determination unit (not shown).
  • the first branch node determining unit may determine the first branch by the highest node of the current node flag; and determine the first node by taking the value from the high bit of the current node flag in descending order of digits.
  • the second branch node determining unit may determine the second branch by marking the highest bit of the target node; and sequentially determining the second node by taking the value from the upper bit of the target node flag in order of increasing number of bits.
  • the nodes on each branch are stored in an array.
  • the node markers on each branch are stored as an array.
  • the nodes on the backbone are stored in an array.
  • apparatus 500 for determining the path of device movement correspond to the various steps in the method described with reference to FIG.
  • the operations and features described above for the method are equally applicable to the apparatus 500 for determining the path of the device and the modules or units included therein, and are not described herein.
  • the apparatus 500 for determining the path of movement of the apparatus further includes some other well-known structures, such as a processor, a memory, etc., in order to unnecessarily obscure the embodiments of the present disclosure, these well-known structures are not shown in FIG. Out.
  • FIG. 6 a block diagram of a computer system 600 suitable for use in implementing the electronic device of the embodiments of the present application is shown.
  • computer system 600 includes a central processing unit (CPU) 601, which may be in accordance with a program stored in read only memory (ROM) 602 or from storage portion 508.
  • the program loaded into the random access memory (RAM) 603 performs various appropriate actions and processes.
  • RAM 603 various programs and data required for the operation of the system 600 are also stored.
  • the CPU 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604.
  • An input/output (I/O) interface 605 is also coupled to bus 604.
  • the following components may be connected to the I/O interface 605: including an input portion 606 such as a keyboard, a button, etc.; an output portion 607 including a speaker or the like; a storage portion 608 including a hard disk or the like; and including, for example, a LAN card, a modem, or the like Communication portion 609 of the network interface card.
  • the communication section 609 performs communication processing via a network such as the Internet, a radio frequency signal, or the like.
  • Driver 610 is also coupled to I/O interface 605 as needed.
  • a removable medium 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory or the like, is mounted on the drive 610 as needed so that a computer program read therefrom is installed into the storage portion 608 as needed.
  • an embodiment of the present application includes a computer program product comprising a computer program tangibly embodied on a machine readable medium, the computer program comprising program code for executing the method illustrated in the flowchart.
  • the computer program can be downloaded and installed from the network via communication portion 609, and/or installed from removable media 611.
  • the units involved in the embodiments of the present application may be implemented by software or by hardware.
  • the described modules may also be provided in the processor, for example, as a processor including an acquisition module, a branch node determination module, a backbone node determination module, and a movement path determination module.
  • the name of these modules does not constitute a limitation on the module itself in some cases.
  • the acquisition module may also be described as “a module configured to acquire current location information and target location information of the device to be moved”.
  • the present application further provides a computer readable storage medium, which may be a computer readable storage medium included in the apparatus described in the foregoing embodiment, or may exist separately, not A computer readable storage medium that is assembled into a terminal.
  • the computer readable storage medium stores one or more programs that, when executed by one or more processors, cause the device to: acquire The current location information of the mobile device and the target location information; determining, by the current location information, a first branch where the current location of the to-be-moved device is located, and a first node that sequentially passes from the current location to the trunk line, and passes the target
  • the location information determines a second leg where the target location of the device to be moved is located, and a second node that passes at least sequentially from the trunk line to the target location; determining the first branch by using the current location information and the target location information
  • the road arrives at a third node in which the second branch passes in sequence, wherein the third node is a master node on a main line, and the master

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Abstract

L'invention concerne un procédé et un appareil de détermination de trajet de déplacement d'un dispositif. Le procédé consiste : à acquérir des informations d'emplacement actuelles et des informations d'emplacement cible concernant un dispositif devant être déplacé (201) ; à déterminer un premier trajet de branchement, où un emplacement actuel du dispositif devant être déplacé est situé, et des premiers nœuds, par lesquels le dispositif devant être déplacé passe de manière séquentielle lorsqu'il se déplace depuis l'emplacement actuel vers une ligne principale, au moyen des informations d'emplacement actuelles, et à déterminer un second trajet de branchement, où un emplacement cible du dispositif devant être déplacé est situé, et des deuxièmes nœuds, par lesquels le dispositif devant être déplacé passe au moins de manière séquentielle lorsqu'il se déplace depuis la ligne principale vers l'emplacement cible, au moyen des informations d'emplacement cible (202) ; à déterminer des troisièmes nœuds, par lesquels le dispositif devant être déplacé passe de manière séquentielle lorsqu'il se déplace depuis le premier trajet de branchement vers le second trajet de branchement, au moyen des informations d'emplacement actuelles et des informations d'emplacement cible (203) ; à déterminer un trajet qui passe de manière séquentielle par les premiers nœuds, les troisièmes nœuds et les deuxièmes nœuds en tant que trajet de déplacement du dispositif devant être déplacé (204).
PCT/CN2017/105518 2016-10-26 2017-10-10 Procédé et appareil de détermination de trajet de déplacement de dispositif WO2018077024A1 (fr)

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