WO2021093411A1

WO2021093411A1 - Route navigation method, device and computer readable storage medium

Info

Publication number: WO2021093411A1
Application number: PCT/CN2020/111459
Authority: WO
Inventors: 赵健章; 黄子少
Original assignee: 深圳创维数字技术有限公司
Priority date: 2019-11-12
Filing date: 2020-08-26
Publication date: 2021-05-20
Also published as: CN110823227A; CN110823227B

Abstract

A route navigation method, which comprises the following steps: acquiring first position information of a target vehicle, and configuring, according to the first position information, navigation routes for the target vehicle to arrive at a preset destination point; detecting that obstacles exist in the navigation routes and deleting the navigation routes that contains obstacles so as to obtain remaining navigation routes; and in the remaining navigation routes, determining a target navigation route that corresponds to the target vehicle arriving at the preset destination point (3).

Description

Path navigation method, equipment and computer readable storage medium

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on November 12, 2019, the application number is 201911117621.7, and the invention title is "path navigation method, equipment and computer readable storage medium", the entire content of which is incorporated by reference In application. In this application.

Technical field

This application relates to the field of intelligent driving technology, and in particular to a route navigation method, device, and computer-readable storage medium.

Background technique

SLAM (simultaneous localization and mapping) based on the natural environment includes two major functions: positioning and mapping. Among them, the main function of mapping is to understand the surrounding environment and establish the corresponding relationship between the surrounding environment and space; the main function of positioning is to judge the position of the car body on the map based on the built map, so as to obtain the information in the environment.

In the specific warehouse application environment, during the navigation process of the SLAM navigation system of the vehicle using the natural environment, how the vehicle chooses the best navigation path to reach the destination point in the warehouse, and carries out the goods out and in, is an urgent need to solve The problem.

The above content is only used to assist the understanding of the technical solutions of this application, and does not mean that the above content is recognized as prior art.

Technical solutions

The main purpose of this application is to provide a route navigation method, equipment, and computer-readable storage medium, aiming to solve how the vehicle chooses the navigation route to reach the destination point during the navigation process of the SLAM navigation system of the vehicle using the natural environment, so as to save the vehicle arrival The technical problem of the time of the destination point.

In order to achieve the above objective, the present application provides a route navigation method. The route navigation method includes the following steps:

Acquiring first location information of a target vehicle, and setting a navigation path for the target vehicle to reach a preset destination point according to the first location information;

It is detected that there is an obstacle in the navigation path, and the navigation path with the obstacle is deleted to obtain the remaining navigation path;

The target navigation path corresponding to the target vehicle reaching the preset destination point is determined in the remaining navigation path through a preset algorithm.

Further, the step of determining in the remaining navigation paths by a preset algorithm that the target vehicle reaches the target navigation path corresponding to the preset destination point includes:

Calculating the path angle of the remaining navigation path, and obtaining the destination point angle corresponding to the preset destination point;

After determining that the angle difference between the path angle and the target point angle is less than a preset threshold, determining the path angle corresponding to the angle difference less than the preset threshold as the target navigation path angle;

The remaining navigation path corresponding to the angle of the target navigation path is determined as the target navigation path corresponding to the target vehicle reaching the preset destination point.

Further, the step of determining the remaining navigation path corresponding to the angle of the target navigation path as the target navigation path corresponding to the target vehicle reaching the preset destination point includes:

After determining that there are at least two target navigation path angles, calculating the driving distance of the target vehicle to the preset destination point through the remaining navigation paths corresponding to each of the target navigation path angles;

The remaining navigation path with the smallest travel distance is determined as the target navigation path corresponding to the target vehicle reaching the preset destination point.

Further, the step of calculating the path angle of the remaining navigation path includes:

Acquiring the end point coordinates of the remaining navigation path, and determining the coordinates corresponding to a preset distance from the end point coordinates in the remaining navigation path as the start point coordinates;

Calculate the slope between the start point coordinates and the end point coordinates, and correspondingly determine the path angle of the remaining navigation path according to the slope.

Further, after the step of setting a navigation path for the target vehicle to reach a preset destination point according to the first location information, the method further includes:

Acquiring the width of the channel corresponding to the navigation path, and determining the center coordinate of the obstacle in the channel according to the second position information of the obstacle;

Taking the width as the diameter, setting an obstacle area corresponding to the obstacle according to the circle center coordinates, and determining whether the obstacle area is in the navigation path;

After determining that the obstacle area is in the navigation path, it is determined that there is an obstacle in the navigation path where the obstacle area exists, and the step of deleting the navigation path where the obstacle exists is executed to obtain the remaining navigation path.

Further, the step of determining the center coordinates of the obstacle in the passage according to the second position information of the obstacle includes:

Determine the obstacle coordinates of the obstacle according to the second position information of the obstacle, and determine whether the passage where the obstacle is located is a horizontal passage or a longitudinal passage according to the obstacle coordinates; and

Determine that the channel where the obstacle is located is a horizontal channel, and the longitudinal coordinates corresponding to the detected obstacle coordinates are not on the center line of the horizontal channel where the obstacle is located, adjust the longitudinal coordinates to the center line of the corresponding horizontal channel , Obtain the adjusted longitudinal coordinate, and determine the adjusted longitudinal coordinate and the horizontal coordinate corresponding to the obstacle coordinate as the center coordinate of the obstacle in the passage; or

It is determined that the channel where the obstacle is located is a longitudinal channel, and the horizontal coordinate corresponding to the detected obstacle coordinate is not on the center line of the longitudinal channel where the obstacle is located, then the horizontal coordinate is adjusted to the center line of the corresponding longitudinal channel Above, the adjusted horizontal coordinate is obtained, and the adjusted horizontal coordinate and the longitudinal coordinate corresponding to the obstacle coordinate are determined as the center coordinate of the obstacle in the passage.

Further, after the step of detecting that the obstacle exists in the navigation path, deleting the navigation path where the obstacle exists, and obtaining the remaining navigation path, the method further includes:

It is detected that the number of remaining navigation paths is zero, the second position information of obstacles in the area where the target vehicle is located is acquired after the first preset time period, and whether the navigation path is in the navigation path is determined again according to the second position information There are obstacles;

And/or it is detected that the number of remaining navigation paths is zero, and a prompt message is sent to the background processing system after the second preset time period, so that the background processing system prompts the corresponding staff member according to the prompt information, and the target The vehicle is currently in a state where it cannot reach the preset destination.

Further, after the step of determining in the remaining navigation paths by a preset algorithm that the target vehicle reaches the target navigation path corresponding to the preset destination point, the method further includes:

During the process of the target vehicle traveling to the preset destination point through the target navigation route, the change of the second location information of the obstacle is monitored.

In addition, in order to achieve the above-mentioned object, the present application also provides a path navigation device, the path navigation device includes: a memory, a processor, and a path navigation program stored in the memory and running on the processor, so When the path navigation program is executed by the processor, the steps of the path navigation method described above are implemented.

In addition, in order to achieve the above objective, the present application also provides a computer-readable storage medium on which a path navigation program is stored, and when the path navigation program is executed by a processor, the path navigation method as described above is implemented A step of.

In this application, the target vehicle uses the SLAM navigation system to navigate during the outbound and inbound operations of the target vehicle, determines the navigation path to the preset destination point corresponding to the outbound and inbound operations, and deletes the navigation path with obstacles. The remaining navigation path, in the remaining navigation path, determine the target navigation path corresponding to the target vehicle to the preset destination point, avoiding the target vehicle from choosing the navigation path with obstacles, and making the target vehicle choose the path to arrive in the navigation path without obstacles Presetting the destination point saves the time for the vehicle to reach the destination point, improves the efficiency of the target vehicle's outbound and inbound operations, and improves the flexibility of the target vehicle's outbound and inbound operations.

Description of the drawings

FIG. 1 is a schematic structural diagram of a path navigation device in a hardware operating environment involved in a solution of an embodiment of the present application;

FIG. 2 is a schematic flowchart of a first embodiment of a route navigation method according to this application;

Fig. 3 is a schematic diagram of an application scenario of a ground-stack operation warehouse in an embodiment of the application;

4 is a schematic diagram of determining a navigation path according to the location information of the target vehicle in an embodiment of the application;

FIG. 5 is a schematic diagram of determining a target navigation path in an embodiment of this application;

FIG. 6 is a schematic flowchart of a third embodiment of a route navigation method according to this application;

FIG. 7 is a schematic flowchart of a fourth embodiment of a route navigation method according to this application.

The realization, functional characteristics, and advantages of the purpose of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Implementation of this application

It should be understood that the specific embodiments described here are only used to explain the application, and not used to limit the application.

As shown in Fig. 1, Fig. 1 is a schematic structural diagram of a path navigation device in a hardware operating environment involved in a solution of an embodiment of the present application.

As shown in FIG. 1, the route navigation device may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Among them, the communication bus 1002 is used to implement connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 can be a high-speed RAM memory or a stable memory (non-volatile memory), such as disk storage. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

In an embodiment, the route navigation device may further include a camera, an RF (Radio Frequency, radio frequency) circuit, a sensor, an audio circuit, a WiFi module, and so on. Among them, sensors such as light sensors, motion sensors and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor. The ambient light sensor can adjust the brightness of the display screen according to the brightness of the ambient light, and the proximity sensor can turn off the display screen and the proximity sensor when the movement path navigation device is moved to the ear. / Or backlight. As a kind of motion sensor, the gravity acceleration sensor can detect the magnitude of acceleration in various directions (usually three axes), and can detect the magnitude and direction of gravity when it is stationary, and can be used to identify the application of moving path navigation posture (such as horizontal and vertical screen switching , Related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer, percussion), etc.; of course, the movement path navigation device can also be equipped with other sensors such as gyroscope, barometer, hygrometer, thermometer, infrared sensor, etc. , I won’t repeat it here.

Those skilled in the art can understand that the structure of the route navigation device shown in FIG. 1 does not constitute a limitation on the route navigation device, and may include more or fewer components than those shown in the figure, or a combination of certain components, or different components. Layout.

As shown in FIG. 1, the memory 1005, which is a computer storage medium, may include an operating system, a network communication module, a user interface module, and a route navigation program.

In the route navigation device shown in FIG. 1, the network interface 1004 is mainly used to connect to the back-end server and communicate with the back-end server; the user interface 1003 is mainly used to connect to the client (user side) and communicate with the client; and The processor 1001 may be used to call a route navigation program stored in the memory 1005.

In this embodiment, the path navigation device includes: a memory 1005, a processor 1001, and a path navigation program stored on the memory 1005 and running on the processor 1001, wherein the processor 1001 calls the memory 1005 to store When navigating the program, do the following:

It is detected that the obstacle exists in the navigation path, and the navigation path with the obstacle is deleted to obtain the remaining navigation path;

Further, after the step of setting the navigation route for the target vehicle to reach the preset destination point according to the first position information, the processor 1001 may call the route navigation program stored in the memory 1005, and further perform the following operations:

After it is determined that the obstacle area is in the navigation path, it is determined that there is an obstacle in the navigation path where the obstacle area exists, and then the navigation path where the obstacle exists is deleted to obtain the remaining navigation path.

It is determined that the channel where the obstacle is located is a horizontal channel, and the longitudinal coordinates corresponding to the detected obstacle coordinates are not on the center line of the horizontal channel where the obstacle is located, then the longitudinal coordinates are adjusted to the center line of the corresponding horizontal channel Above, the adjusted longitudinal coordinate is obtained, and the adjusted longitudinal coordinate and the horizontal coordinate corresponding to the obstacle coordinate are determined as the center coordinate of the obstacle in the passage; or

Further, after detecting the presence of the obstacle in the navigation path, deleting the navigation path with the obstacle, and obtaining the remaining navigation path, the processor 1001 may call the path navigation program stored in the memory 1005, and also execute The following operations:

Further, after the step of determining in the remaining navigation paths by a preset algorithm that the target vehicle reaches the target navigation path corresponding to the preset destination point, the processor 1001 may call the path navigation program stored in the memory 1005 , And also do the following:

During the process of the target vehicle traveling to the preset destination point through the target navigation path, the change of the second location information of the obstacle is monitored.

This application also provides a route navigation method. Refer to FIG. 2, which is a schematic flowchart of the first embodiment of the route navigation method of this application.

Step S10: Acquire first location information of the target vehicle, and set a navigation path for the target vehicle to reach a preset destination point according to the first location information.

In the embodiments of this application, the target vehicle is a machine terminal that automatically performs work, including but not limited to storage machines, service machines, unmanned vehicles or unmanned trucks, etc.; obstacles are vehicles, human bodies, or other machines that appear on the target Objects in the area where the vehicle is located. In the embodiment of this application, by using the virtual wall technology in the SLAM navigation system, a map is established in the area where the target vehicle is located. After the map is established, the machine terminal in the area will automatically generate its location information into the SLAM navigation system , The machine terminals in this area are connected in the same local area network, and each machine terminal can share their position and time information, and each machine terminal has the same coordinate system. In this embodiment, a coordinate system is established in the area where the target vehicle is located. At this time, the position information includes the coordinates and angles of objects (target vehicles and obstacles) in the area.

For ease of understanding, take the ground-pile operation warehouse as the area where the target vehicle is located. The specific application scenario can be shown in Figure 3. In Figure 3, 1.1, 1.2 and 1.3 are the driving passages of the vehicles in the ground-pile warehouse. For the forklift trucks that carry out cargo outbound and inbound, 2.1, 2.2 and 2.3 are vehicles in operation, and 3.1, 3.2 and 3.3 are pallet goods in the warehouse. It should be noted that a forklift needs to be used to move the pallet goods in the ground-stack warehouse to realize the in- and out-of-warehouse operations of the ground-stack warehouse. One of the dashed boxes is listed as the smallest storage location management unit. This storage location is referred to as "deep storage location". As shown in Figure 3, the number of deep storage locations is 4, which can store 4 pallet goods. The actual warehouse is deep storage. The number of bits can be set according to specific needs. For deep-stack warehouses, the forklift outbound and inbound methods are carried out for the smallest warehouse management unit. In warehouse management, the same warehouse is allocated the same model or order of goods, so that it is convenient for vehicles to fork and pick up the goods in and out of the warehouse. Management, and in order to improve the flexibility and efficiency of vehicle operations, both the upper and lower sides of the deep stack can be used for outbound operations and inbound operations.

Specifically, in the process of the target vehicle's outbound operation, the target vehicle needs to pick up the goods at the designated destination point. During the target vehicle's inbound operation, the target vehicle needs to deliver the goods to the designated destination point. For ease of description, this article The embodiment is described by taking the target vehicle's outbound operation as an example.

When the target vehicle needs to pick up goods in its area, the location information of the target vehicle and the location information of the obstacles in the area where the target vehicle is located are obtained. In order to facilitate the distinction, in this embodiment, the location information of the target vehicle is recorded as The first location information records the location information of obstacles in the area where the target vehicle is located as the second location information.

After the first location information is obtained, the destination of the goods that the target vehicle needs to be extracted is obtained, that is, the preset destination point that the target vehicle needs to reach is obtained, and the target vehicle arrival forecast is set according to the first location information and the preset destination point. Set the navigation path of the destination point. It can be understood that in the process of determining the navigation path of the target vehicle to the preset destination point, the location of the target vehicle is used as the starting point and the preset destination point is used as the end point for navigation, and the target vehicle is determined to reach the preset destination point from its current location. As for the navigation path that can be adopted, in this embodiment, the location of the target vehicle can be determined based on the first location information. It should be noted that the number of navigation paths for the target vehicle to reach the preset destination point is determined by the environment of the area where the target vehicle is located, that is, the number of navigation paths for the target vehicle to reach the preset destination point is determined by the location setting of the area where the target vehicle is located. Further, as shown in Figure 4, according to the location of the target vehicle, the target vehicle needs to carry out cargo outbound and inbound operations in the target warehouse. There may be 4 navigation paths, namely 4.1, 4.2, 4.3, and 4.4.

Step S20: It is detected that the obstacle exists in the navigation path, and the navigation path with the obstacle is deleted to obtain the remaining navigation path.

When it is determined that the target vehicle reaches the navigation path of the preset destination point, detect whether there is an obstacle in the navigation path according to the second position information, and delete the obstacle after it is determined that an obstacle is detected in a certain navigation path according to the second position information The navigation path of the object is obtained, and the remaining navigation path is obtained. It is understandable that there are no obstacles in the remaining navigation path. It should be noted that the driving path in the area where the target vehicle is located is a one-way path. After determining that the driving path in the area where the target vehicle is located is a two-way path, even if there are obstacles in a navigation path, the target vehicle can successfully pass the navigation path. Reach the preset destination point.

Step S30: Determine the target navigation path corresponding to the preset destination point by the target vehicle in the remaining navigation path through a preset algorithm.

After determining the remaining navigation path, the preset algorithm is used to determine the target navigation path corresponding to the target vehicle reaching the preset destination point in the remaining navigation path, that is, the target vehicle can drive to the preset destination point through one of the remaining navigation paths. To pick up the goods at the preset target point. Specifically, the preset algorithm may randomly select a path from the remaining navigation paths as the target navigation path corresponding to the target vehicle reaching the preset destination point.

In this embodiment, the target vehicle uses the SLAM navigation system for navigation during the outbound and inbound operations of the target vehicle, determines the navigation path to the preset destination point corresponding to the outbound and inbound operations, and deletes the navigation path with obstacles. Obtain the remaining navigation path, determine the target navigation path corresponding to the target vehicle to the preset destination point in the remaining navigation path, avoid the target vehicle from selecting the navigation path with obstacles, and make the target vehicle select the path in the navigation path without obstacles Reaching the preset destination point saves the time for the vehicle to reach the destination point, improves the efficiency of the target vehicle's outbound and inbound operations, and improves the flexibility of the target vehicle's outbound and inbound operations.

Further, step S30 includes:

Step a: Calculate the path angle of the remaining navigation path, and obtain the destination point angle corresponding to the preset destination point.

Specifically, the preset algorithm may be: calculating the path angle of the remaining navigation path, and obtaining the destination point angle corresponding to the preset destination point. Among them, the destination point angle of the preset destination point is the angle formed between the preset destination point and the origin of the coordinate system. It is understandable that the slope between the preset destination point and the origin is calculated, and the slope can be used Know the angle of the destination point. In this embodiment, the angle of each point of the coordinate system may also be stored in advance, and then the coordinate of the preset target point is used to determine the corresponding target point angle.

Step a1: Obtain the end point coordinates of the remaining navigation path, and determine the coordinates corresponding to the preset distance from the end point coordinates in the remaining navigation path as the start point coordinates.

Step a2: Calculate the slope between the starting point coordinates and the ending point coordinates, and correspondingly determine the path angle of the remaining navigation path according to the slope.

Specifically, the process of calculating the path angle of the remaining navigation path is: obtaining the end point coordinates of the remaining navigation path, and determining the coordinates corresponding to the preset distance from the end point coordinates in the remaining navigation path as the starting point coordinates. The preset distance can be set according to specific needs, and the size of the preset distance is not limited in this embodiment. It is understandable that the navigation path can be regarded as a polyline composed of multiple points, and the end point coordinates are the last point in the navigation path. After determining the end point coordinates and start point coordinates of each remaining navigation path, calculate the slope between the start point and end point coordinates of each remaining navigation path, and determine the path angle of the remaining navigation path according to the calculated slope.

Further, in order to improve the accuracy of the calculated path angles of the remaining navigation paths, in addition to the end point coordinates in the remaining navigation paths, a preset number of starting point coordinates can be taken from the remaining navigation paths, and then each remaining navigation path is calculated separately The slope between the coordinates of the end point and the coordinates of each start point in the path, and the path angle corresponding to the remaining navigation path is determined according to the calculated slopes. It should be noted that the distance between the selected preset number of start point coordinates and the end point coordinates can be gradually increased according to a certain difference. For example, the distance between the end point coordinates and the first start point coordinates is A, and the end point coordinates and the first point coordinates The distance between the two starting point coordinates is A+5cm (centimeters), and the distance between the end point coordinates and the third starting point coordinate is A+10 cm. It is understandable that the starting point coordinates can also be randomly selected from the remaining navigation paths according to specific needs, but in order to ensure the accuracy of the calculated path angle, the distance between the selected starting point coordinates and the ending point coordinates should be less than a certain setting Value, the set value can be set according to specific needs.

Step b: After determining that the angle difference between the path angle and the target point angle is less than a preset threshold, determine the path angle corresponding to the angle difference less than the preset threshold as the target navigation path angle.

Step c: Determine the remaining navigation path corresponding to the angle of the target navigation path as the target navigation path corresponding to the target vehicle reaching the preset destination point.

When the path angle of each remaining navigation path is calculated, the angle difference between the path angle of each remaining navigation path and the angle of the destination point is calculated, and the difference between the path angle of each remaining navigation path and the angle of the destination point is judged. Whether the angle difference is smaller than the preset threshold, where the size of the preset threshold can be set according to specific needs, and there is no specific limitation on the size of the preset threshold in this embodiment. If it is determined that the angle difference is less than the preset threshold, the path angle corresponding to the angle difference less than the preset threshold is determined as the target navigation path angle, and the remaining navigation path corresponding to the target navigation path angle is determined as the target vehicle reaching the preset destination Point the corresponding target navigation path. Further, if it is determined that there is no angle difference less than the preset threshold, that is, the angle difference between all path angles and the angle of the destination point is greater than or equal to the preset threshold, the area where the target vehicle is located is obtained after waiting for a period of time. The second location information of the obstacle.

Further, step c includes:

Step c1: After determining that there are at least two target navigation path angles, calculate the driving distance of the target vehicle to the preset destination point through the remaining navigation path corresponding to each of the target navigation path angles.

Step c2: Determine the remaining navigation path with the smallest travel distance as the target navigation path corresponding to the target vehicle reaching the preset destination point.

Further, in order to increase the speed of the target vehicle reaching the preset destination point and save the time for the target vehicle to reach the preset destination point, after determining the target navigation path angle, it is determined whether there are at least two target navigation path angles, if there are at least two The angle of the target navigation path, that is, the angle difference between at least two path angles and the angle of the destination point is less than the preset threshold, then the driving distance of the target vehicle through the remaining navigation path corresponding to each target navigation path angle to the preset destination point is calculated, Comparing the calculated driving distances, select the remaining navigation path with the smallest driving distance among the calculated driving distances to determine the target navigation path corresponding to the target vehicle's arrival at the preset destination point, so that the target vehicle can arrive in the shortest time and the fastest Preset destination point. Further, if there is only one target navigation path angle, the remaining navigation path corresponding to the target navigation path angle is determined as the target navigation path corresponding to the target vehicle reaching the preset destination point. Specifically, referring to Figure 5, in Figure 5, 6.1 is the location of the target vehicle, 6.2 and 6.3 are the locations of other vehicles, that is, the location of obstacles, and 7.1, 7.2, 7.3, and 7.4 are the locations of outbound operations and inbound operations Destination point, 3 is the target navigation path.

The second embodiment of the route navigation method of this application is proposed based on the first embodiment. In this embodiment, the route navigation method further includes:

Step d: Obtain the width of the channel corresponding to the navigation path, and determine the center coordinate of the obstacle in the channel according to the second position information of the obstacle.

When it is determined that the target vehicle reaches the navigation path of the preset destination point, the width of the channel corresponding to the navigation path is obtained, and the center coordinate of the obstacle in the channel is determined according to the second position information of the obstacle.

Step d1: Determine the obstacle coordinates of the obstacle according to the second position information of the obstacle, and determine whether the passage where the obstacle is located is a horizontal passage or a longitudinal passage according to the obstacle coordinates.

Specifically, the process of determining the center coordinates of the obstacle in the channel according to the second position information of the obstacle is: determining the obstacle coordinates of the obstacle in the coordinate system according to the second position information, and determining where the obstacle is based on the obstacle coordinates Whether the channel is a horizontal channel or a longitudinal channel. It should be noted that in the area where the target vehicle is located, which channels belong to the horizontal channels and which channels belong to the longitudinal channels are preset. When the coordinate system, horizontal channels and longitudinal channels are determined, each horizontal channel and each longitudinal channel The corresponding abscissa range and ordinate range are also determined, so by comparing the obstacle coordinates with the corresponding abscissa and ordinate ranges of each horizontal channel and each longitudinal channel, you can determine that the channel where the obstacle is located is a horizontal channel It's still a longitudinal channel.

Step d2, it is determined that the channel where the obstacle is located is a horizontal channel, and the longitudinal coordinates corresponding to the detected obstacle coordinates are not on the center line of the horizontal channel where the obstacle is located, then the longitudinal coordinates are adjusted to the corresponding horizontal channel The adjusted longitudinal coordinate is obtained on the center line of, and the adjusted longitudinal coordinate and the horizontal coordinate corresponding to the obstacle coordinate are determined as the center coordinate of the obstacle in the passage.

If it is determined that the channel where the obstacle is located is a horizontal channel, then detect whether the longitudinal coordinate of the obstacle corresponding to the obstacle is on the center line of the horizontal channel where the obstacle is located. It can be understood that the longitudinal coordinate of the obstacle coordinate is compared with the center of the horizontal channel. Comparison of the longitudinal coordinates corresponding to the line. If the longitudinal coordinates of the obstacle coordinates are consistent with the longitudinal coordinates corresponding to the center line of the horizontal channel, the longitudinal coordinates of the obstacle coordinates can be determined to be on the center line of the horizontal channel where the obstacle is located; if the obstacle coordinates If the longitudinal coordinate of is inconsistent with the longitudinal coordinate corresponding to the center line of the horizontal channel, it can be determined that the longitudinal coordinate of the obstacle coordinate is not on the center line of the horizontal channel where the obstacle is located. If it is detected that the longitudinal coordinate corresponding to the obstacle coordinate is not on the center line of the transverse channel where the corresponding obstacle is located, the longitudinal coordinate is adjusted to the center line of the corresponding transverse channel to obtain the adjusted longitudinal coordinate of the obstacle, and the adjusted The longitudinal coordinates and the transverse coordinates corresponding to the obstacle coordinates are determined as the center coordinates of the obstacle in the passage; if the longitudinal coordinates corresponding to the obstacle coordinates are detected on the center line of the transverse passage where the obstacle is located, the obstacle is determined The object coordinate is determined as the center coordinate of the obstacle in the channel.

Step d3, it is determined that the channel where the obstacle is located is a longitudinal channel, and the horizontal coordinate corresponding to the detected obstacle coordinate is not on the center line of the longitudinal channel where the obstacle is located, then the horizontal coordinate is adjusted to the corresponding longitudinal channel The adjusted horizontal coordinate is obtained on the center line of, and the adjusted horizontal coordinate and the longitudinal coordinate corresponding to the obstacle coordinate are determined as the center coordinate of the obstacle in the passage.

If it is determined that the channel where the obstacle is located is a longitudinal channel, then detect whether the horizontal coordinate corresponding to the obstacle coordinate of the obstacle is on the center line of the longitudinal channel where the corresponding obstacle is located, and whether the horizontal coordinate of the corresponding obstacle coordinate is located in the longitudinal direction of the corresponding obstacle. The process of the center line of the passage is consistent with the process of detecting whether the longitudinal coordinate of the obstacle coordinate is on the center line of the horizontal passage where the obstacle is located, and will not be repeated here. If it is detected that the horizontal coordinate of the obstacle coordinate is not on the center line of the longitudinal channel where the corresponding obstacle is located, adjust the horizontal coordinate of the obstacle coordinate to the center line of the longitudinal channel where the corresponding obstacle is located to obtain the adjusted horizontal coordinate. And determine the adjusted horizontal coordinate and the longitudinal coordinate of the corresponding obstacle coordinate as the center coordinate of the obstacle in the channel; if the horizontal coordinate of the detected obstacle coordinate is on the center line of the longitudinal coordinate of the corresponding obstacle, then The obstacle coordinate is determined as the center coordinate of the corresponding obstacle in the channel.

Step e: Using the width as the diameter, setting an obstacle area corresponding to the obstacle according to the circle center coordinates, and detecting whether the obstacle area is in the navigation path.

Step f: After determining that the obstacle area is in the navigation path, it is determined that there is an obstacle in the navigation path where the obstacle area exists, and step S30 is executed.

After determining the width of the passage and the center coordinates of the obstacle in the passage, use the width of the passage as the diameter, and set the obstacle area corresponding to the obstacle according to the center coordinates of the obstacle in the passage where the obstacle is located, and detect the obstacle area Whether it is in the navigation path. It can be understood that in this embodiment, the obstacle area is a circular area, in other embodiments. It is also possible to set the obstacle area to other shapes, for example, to set the obstacle area to a rectangular area. If the obstacle area is in the navigation path, it is determined that there is an obstacle in the navigation path of the obstacle area, and when an obstacle is detected in the navigation path according to the second position information, the navigation path with the obstacle is deleted to obtain the remaining navigation path . It is understandable that if there is no obstacle area in a certain navigation path, it can be determined that there is no obstacle in the navigation path.

In this embodiment, the center of the obstacle in the channel is determined according to the location information of the obstacle, the width of the channel corresponding to the navigation path is used as the diameter, the obstacle area corresponding to the obstacle is set according to the coordinates of the center of the circle, and the navigation path with the obstacle area is determined to exist in the navigation path Obstacles, to accurately identify the navigation path with obstacles, to prevent the target vehicle from driving to the preset destination point according to the navigation path with obstacles, resulting in travel interruption, and improving the efficiency of the target vehicle to reach the preset destination point .

A third embodiment of the route navigation method of the present application is proposed based on the first and/or second embodiment. Referring to FIG. 6, in this embodiment, the route navigation method further includes:

Step S40: It is detected that the number of remaining navigation paths is zero, the second location information of the obstacle in the area where the target vehicle is located is acquired after the first preset time period, and the navigation is re-determined according to the second location information. Whether there are obstacles in the path.

It is detected that the number of remaining navigation paths is zero, that is, obstacles are detected in all navigation paths, the second position information of the obstacles in the area where the target vehicle is located is re-acquired after the first preset time, and the second position information is obtained according to the re-acquired The information re-determines whether there are obstacles in the navigation path. Wherein, the size of the first preset duration can be set according to specific needs, and this embodiment does not specifically limit the size of the first preset duration.

In this embodiment, when obstacles are detected in all navigation paths, the second location information of the obstacles is re-acquired after the first preset time period to re-determine whether there are obstacles in the navigation path, thereby improving the intelligence of the path navigation. This improves the flexibility of the target vehicle's outbound and inbound operations.

A fourth embodiment of the route navigation method of the present application is proposed based on the first, second, and/or third embodiments. Referring to FIG. 7, in this embodiment, the route navigation method further includes:

Step S50: It is detected that the number of remaining navigation paths is zero, and a prompt message is sent to the background processing system after a second preset time period, so that the background processing system prompts the corresponding staff member according to the prompt information, and the target The vehicle is currently in a state where it cannot reach the preset destination.

Further, it is detected that the number of remaining navigation paths is zero, and the prompt information is sent to the background processing system after the second preset time period. After the background processing system receives the prompt information, the background processing system outputs the prompt information to prompt the corresponding staff according to the prompt information. The target vehicle is currently in a state where it cannot reach the preset destination point. Please manually intervene in the outbound operation of the goods Or warehousing operations to facilitate timely delivery of goods or warehousing operations. Wherein, the second preset duration may be equal to the first preset duration, or may not be equal to the first preset duration. In this embodiment, the manner in which the background processing system outputs the prompt information is not limited, and the background processing system may output the prompt information in voice or text.

In this embodiment, after detecting that there are obstacles in all navigation paths, the background processing system prompts manual intervention in the outbound operation or the inbound operation, so as to be compatible with manual labor when the target vehicle automatically performs the outbound operation and inbound operation of the goods. For outbound operations and inbound operations, when outbound operations and/or inbound operations are peaking, temporary channel congestion caused by automatic vehicle operations is avoided, and the target vehicle needs to detour to select new destination points, which improves The efficiency of outbound operations and/or inbound operations.

The fourth embodiment of the route navigation method of the present application is proposed based on the first, second, and/or third embodiments. In this embodiment, the route navigation method further includes:

Step h: After the target vehicle travels to the preset destination point through the target navigation path, monitor the change of the second location information of the obstacle.

After the target navigation path is determined, the target vehicle can reach the preset destination point through the target navigation path. When the target vehicle travels through the target navigation route to the preset destination point, monitor the change in the second location information of the obstacle, and repeat steps S10, S20, and S30 when the second location information of the obstacle changes. .

In this embodiment, by monitoring the change of the second position information of the obstacle during the process of the target vehicle traveling to the preset destination point, when the change of the second position information of the obstacle is monitored, step S10, step S20, and step S30 are repeatedly executed. To monitor whether the newly changed position information of the obstacle will cause obstacles in the navigation path without obstacles, so that the target vehicle can adjust the navigation path in time to avoid driving to the navigation path with obstacles.

In addition, an embodiment of the present application also proposes a computer-readable storage medium having a path navigation program stored on the computer-readable storage medium, and when the path navigation program is executed by a processor, the following operations are implemented:

Further, after the step of setting the navigation route for the target vehicle to reach the preset destination point according to the first position information, the following operations are further implemented when the route navigation program is executed by the processor:

Further, after detecting the presence of the obstacle in the navigation path, deleting the navigation path where the obstacle exists, and obtaining the remaining navigation path, the path navigation program is executed by the processor and the following operations are implemented::

Further, after the step of determining in the remaining navigation path by a preset algorithm that the target vehicle reaches the target navigation path corresponding to the preset destination point, when the path navigation program is executed by the processor, the following is also achieved operating:

The specific implementation of the computer-readable storage medium of this application is basically the same as the above-mentioned embodiments of the path navigation method, and will not be repeated here.

It should be noted that in this article, the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, It also includes other elements not explicitly listed, or elements inherent to the process, method, article, or system. Without more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, article, or system that includes the element.

The serial numbers of the foregoing embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

Through the description of the above implementation manners, those skilled in the art can clearly understand that the above-mentioned embodiment method can be implemented by means of software plus the necessary general hardware platform, of course, it can also be implemented by hardware, but in many cases the former is better.的实施方式。 Based on this understanding, the technical solution of this application essentially or the part that contributes to the existing technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium (such as ROM/RAM) as described above. , Magnetic disks, optical disks), including several instructions to make a terminal device (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the method described in each embodiment of the present application.

The above are only the preferred embodiments of the application, and do not limit the scope of the patent for this application. Any equivalent structure or equivalent process transformation made using the content of the description and drawings of the application, or directly or indirectly applied to other related technical fields , The same reason is included in the scope of patent protection of this application.

Claims

A path navigation method, wherein the path navigation method includes the following steps:

Acquiring first location information of a target vehicle, and setting a navigation path for the target vehicle to reach a preset destination point according to the first location information;

It is detected that there is an obstacle in the navigation path, and the navigation path with the obstacle is deleted to obtain the remaining navigation path;

The target navigation path corresponding to the target vehicle reaching the preset destination point is determined in the remaining navigation path through a preset algorithm.
The route navigation method according to claim 1, wherein the step of determining the target navigation route corresponding to the preset destination point by the target vehicle in the remaining navigation route through a preset algorithm comprises:

Calculating the path angle of the remaining navigation path, and obtaining the destination point angle corresponding to the preset destination point;

After determining that the angle difference between the path angle and the target point angle is less than a preset threshold, determining the path angle corresponding to the angle difference less than the preset threshold as the target navigation path angle;

The remaining navigation path corresponding to the angle of the target navigation path is determined as the target navigation path corresponding to the target vehicle reaching the preset destination point.
3. The route navigation method according to claim 2, wherein the step of determining the remaining navigation route corresponding to the angle of the target navigation route as the target navigation route corresponding to the target vehicle reaching the preset destination point comprises:

After determining that there are at least two target navigation path angles, calculating the driving distance of the target vehicle to the preset destination point through the remaining navigation paths corresponding to each of the target navigation path angles;

The remaining navigation path with the smallest travel distance is determined as the target navigation path corresponding to the target vehicle reaching the preset destination point.
3. The route navigation method according to claim 2, wherein the step of calculating the path angle of the remaining navigation route comprises:

Acquiring the end point coordinates of the remaining navigation path, and determining the coordinates corresponding to a preset distance from the end point coordinates in the remaining navigation path as the start point coordinates;

Calculate the slope between the start point coordinates and the end point coordinates, and correspondingly determine the path angle of the remaining navigation path according to the slope.
The route navigation method according to claim 1, wherein after the step of setting the navigation route of the target vehicle to the preset destination point according to the first position information, the method further comprises:

Acquiring the width of the channel corresponding to the navigation path, and determining the center coordinate of the obstacle in the channel according to the second position information of the obstacle;

Taking the width as the diameter, setting an obstacle area corresponding to the obstacle according to the circle center coordinates, and determining whether the obstacle area is in the navigation path;

After determining that the obstacle area is in the navigation path, it is determined that there is an obstacle in the navigation path where the obstacle area exists, and the step of deleting the navigation path where the obstacle exists is executed to obtain the remaining navigation path.
The route navigation method according to claim 5, wherein the step of determining the center coordinates of the obstacle in the passage according to the second position information of the obstacle comprises:

Determine the obstacle coordinates of the obstacle according to the second position information of the obstacle, and determine whether the passage where the obstacle is located is a horizontal passage or a longitudinal passage according to the obstacle coordinates; and

It is determined that the channel where the obstacle is located is a horizontal channel, and the longitudinal coordinates corresponding to the detected obstacle coordinates are not on the center line of the horizontal channel where the obstacle is located, then the longitudinal coordinates are adjusted to the center line of the corresponding horizontal channel Above, the adjusted longitudinal coordinate is obtained, and the adjusted longitudinal coordinate and the horizontal coordinate corresponding to the obstacle coordinate are determined as the center coordinate of the obstacle in the passage; or

It is determined that the channel where the obstacle is located is a longitudinal channel, and the horizontal coordinate corresponding to the detected obstacle coordinate is not on the center line of the longitudinal channel where the obstacle is located, then the horizontal coordinate is adjusted to the center line of the corresponding longitudinal channel Above, the adjusted horizontal coordinate is obtained, and the adjusted horizontal coordinate and the longitudinal coordinate corresponding to the obstacle coordinate are determined as the center coordinate of the obstacle in the passage.
The route navigation method according to claim 1, wherein after the step of detecting that the obstacle exists in the navigation path, deleting the navigation path with the obstacle, and obtaining the remaining navigation path, the method further comprises:

It is detected that the number of remaining navigation paths is zero, the second position information of obstacles in the area where the target vehicle is located is acquired after the first preset time period, and whether the navigation path is in the navigation path is determined again according to the second position information There are obstacles;

And/or it is detected that the number of remaining navigation paths is zero, and a prompt message is sent to the background processing system after the second preset time period, so that the background processing system prompts the corresponding staff member according to the prompt information, and the target The vehicle is currently in a state where it cannot reach the preset destination.
The route navigation method according to claim 1, wherein after the step of determining the target vehicle to reach the target navigation route corresponding to the preset destination point in the remaining navigation route by a preset algorithm, the method further comprises:

During the process of the target vehicle traveling to the preset destination point through the target navigation route, the change of the second location information of the obstacle is monitored.
3. The route navigation method according to claim 2, wherein after the step of determining the target vehicle to reach the target navigation route corresponding to the preset destination point in the remaining navigation route through a preset algorithm, the method further comprises:

During the process of the target vehicle traveling to the preset destination point through the target navigation route, the change of the second location information of the obstacle is monitored.
The route navigation method according to claim 3, wherein after the step of determining the target vehicle to reach the target navigation route corresponding to the preset destination point in the remaining navigation route by a preset algorithm, the method further comprises:

During the process of the target vehicle traveling to the preset destination point through the target navigation route, the change of the second location information of the obstacle is monitored.
The route navigation method according to claim 4, wherein after the step of determining the target vehicle to reach the target navigation route corresponding to the preset destination point in the remaining navigation route by a preset algorithm, the method further comprises:

During the process of the target vehicle traveling to the preset destination point through the target navigation route, the change of the second location information of the obstacle is monitored.
The route navigation method according to claim 5, wherein after the step of determining the target vehicle to reach the target navigation route corresponding to the preset destination point in the remaining navigation route through a preset algorithm, the method further comprises:

During the process of the target vehicle traveling to the preset destination point through the target navigation route, the change of the second location information of the obstacle is monitored.
7. The route navigation method according to claim 6, wherein after the step of determining the target vehicle to reach the target navigation route corresponding to the preset destination point in the remaining navigation route by a preset algorithm, the method further comprises:

During the process of the target vehicle traveling to the preset destination point through the target navigation route, the change of the second location information of the obstacle is monitored.
A path navigation device, wherein the path navigation device includes a memory, a processor, and a path navigation program stored in the memory and capable of being run on the processor, and the path navigation program is executed by the processor. The following steps are implemented during execution:

Acquiring first location information of a target vehicle, and setting a navigation path for the target vehicle to reach a preset destination point according to the first location information;

It is detected that there is an obstacle in the navigation path, and the navigation path with the obstacle is deleted to obtain the remaining navigation path;

The target navigation path corresponding to the target vehicle reaching the preset destination point is determined in the remaining navigation path through a preset algorithm.
A computer-readable storage medium, wherein a path navigation program is stored on the computer-readable storage medium, and when the path navigation program is executed by a processor, the following steps are implemented:

Acquiring first location information of a target vehicle, and setting a navigation path for the target vehicle to reach a preset destination point according to the first location information;

It is detected that there is an obstacle in the navigation path, and the navigation path with the obstacle is deleted to obtain the remaining navigation path;

The target navigation path corresponding to the target vehicle reaching the preset destination point is determined in the remaining navigation path through a preset algorithm.