WO2021233388A1 - 导航方法及导航装置 - Google Patents

导航方法及导航装置 Download PDF

Info

Publication number
WO2021233388A1
WO2021233388A1 PCT/CN2021/094943 CN2021094943W WO2021233388A1 WO 2021233388 A1 WO2021233388 A1 WO 2021233388A1 CN 2021094943 W CN2021094943 W CN 2021094943W WO 2021233388 A1 WO2021233388 A1 WO 2021233388A1
Authority
WO
WIPO (PCT)
Prior art keywords
preset
mark
mobile carrier
position information
information
Prior art date
Application number
PCT/CN2021/094943
Other languages
English (en)
French (fr)
Inventor
李汇祥
郑睿群
徐圣东
Original Assignee
深圳市海柔创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202010434284.0A external-priority patent/CN111578930B/zh
Priority claimed from CN202010434283.6A external-priority patent/CN111552297B/zh
Application filed by 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Priority to EP21807612.3A priority Critical patent/EP4137906A4/en
Priority to KR1020227040341A priority patent/KR20230004695A/ko
Priority to JP2022569118A priority patent/JP7426508B2/ja
Publication of WO2021233388A1 publication Critical patent/WO2021233388A1/zh
Priority to US18/054,997 priority patent/US20230075332A1/en

Links

Images

Classifications

    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
    • 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
    • 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
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling

Definitions

  • This application relates to the field of navigation technology, in particular to a navigation method and a navigation device.
  • Navigation technology is widely used in various industries, such as cargo storage, home furnishing, or fire protection. With the help of navigation technology, mobile carriers can meet various business needs.
  • This application provides a navigation method and a navigation device to solve the problems existing in the prior art.
  • this application provides a navigation method executed by a mobile carrier, including:
  • the reliable operation of the mobile carrier can be ensured by reinitializing the mobile carrier when the mobile carrier fails.
  • this application provides a navigation method, executed by a server, including:
  • this application provides a navigation device, including:
  • the memory has executable code stored thereon, and when the executable code is executed by the processor, the processor is caused to execute the method described in the first aspect or the second aspect above.
  • the present application provides a navigation method executed by a mobile carrier, including:
  • the progressive error in the current position information can be eliminated at each fiducial mark, so that the server obtains the position information of the mobile carrier More accurate, so the navigation accuracy can be improved.
  • this application provides a navigation method, which is executed by a server, including:
  • this application provides a navigation device, including:
  • the memory has executable code stored thereon, and when the executable code is executed by the processor, the processor is caused to execute the method described in the fourth aspect or the fifth aspect above.
  • the present application provides a navigation method and a navigation device.
  • the navigation method is executed by a mobile carrier and includes: moving along a preset guiding track according to the acquired target position information; judging whether the current state of the mobile carrier is out of position, If yes, after moving to the preset initialization mark, obtain the current initialization position information of the mobile carrier.
  • the reliable operation of the mobile carrier can be ensured by reinitializing the mobile carrier when the mobile carrier fails.
  • FIG. 1 is a schematic structural diagram of a mobile carrier provided by an embodiment of the present application.
  • FIG 2 is a schematic diagram of the structure of the mobile chassis in Figure 1;
  • Fig. 3 is a schematic structural diagram of a navigation system provided by an embodiment of the present application.
  • FIG. 4 is a schematic diagram of the layout of the guiding track body and the fiducial mark on the warehouse floor provided by an embodiment of the present application;
  • FIG. 5 is a schematic diagram of the arrangement of guiding track bodies and fiducial marks on the warehouse floor provided by another embodiment of the present application;
  • FIG. 6 is a schematic flowchart of a navigation method provided by an embodiment of the present application.
  • FIG. 7 is a schematic flowchart of a navigation method provided by another embodiment of the present application.
  • FIG. 8 is a schematic diagram of the arrangement of guiding track bodies and positioning marks on the warehouse floor provided by another embodiment of the present application.
  • FIG. 9 is a schematic diagram of the layout of the guiding track and positioning marks on the warehouse floor provided by another embodiment of the present application.
  • FIG. 10 exemplarily shows some reference marks provided by the embodiments of the present application.
  • FIG. 11 is a flowchart of a navigation method provided by another embodiment of the present application.
  • FIG. 12 is a schematic structural diagram of a navigation device provided by an embodiment of the present application.
  • the mobile carrier provided in this article can be applied to any suitable industry field or technical field, such as the field of smart storage, smart logistics, smart sorting, home furnishing, or fire fighting.
  • the mobile carrier can be constructed into different structures to realize the corresponding business functions.
  • the mobile carrier when the mobile carrier is used in the home furnishing field, the mobile carrier can be configured as a circular sweeping robot.
  • the mobile carrier when the mobile carrier is used in the storage field, the mobile carrier can be configured with a robotic arm to grab goods.
  • the embodiment of the present application provides a mobile carrier. Please refer to FIGS. 1 and 2.
  • the mobile carrier 100 includes a mobile chassis 10, a storage rack 20, a conveying device 30 and a lifting assembly 40. Among them, the storage rack 20, the conveying device 30 and the lifting assembly 40 are all installed on the mobile chassis 10.
  • the mobile chassis 10 is used to carry the mobile carrier 100 to move according to a planned path.
  • the storage rack 20 is used to store goods.
  • the storage rack 20 may include a plurality of storage units distributed in a vertical direction, and each storage unit may place one or more goods.
  • the conveying device 30 can move in a vertical direction, so that the position of the conveying device 30 is horizontally opposite to any storage unit.
  • the conveying device 30 is used for conveying goods between the preset position of the fixed shelf and any storage unit.
  • the lifting assembly 40 is used to drive the conveying device 30 to move relative to the storage shelf 20 in a vertical direction
  • the lifting assembly 40 includes a lifting transmission mechanism and a lifting driving mechanism.
  • the lifting drive mechanism is used to provide the driving force for the conveying device 30 to move in the vertical direction relative to the storage shelf 20
  • the lifting transmission mechanism is used to transmit the driving force to the conveying device 30.
  • the mobile chassis 10 includes a bracket assembly, a driven wheel, a driving wheel assembly, and a guiding device 14 (see FIG. 2).
  • the driven wheel, the driving wheel assembly and the guiding device 14 are all installed in the bracket assembly.
  • the guiding device 14 is a camera, and the lens of the camera faces the ground, and is used to identify the guiding track and reference marks laid on the ground, so that the mobile chassis 10 travels along the guiding track. It is understandable that in some other embodiments, the guiding track body and the reference mark can be set in other positions to be laid in other positions, and accordingly, another camera can be set, and the lens of the camera is facing the other guiding track body and the reference mark. mark.
  • the mobile carrier 100 can form a navigation system with the server 200, and communicate with the server 200 to realize navigation, thereby successfully grabbing or storing goods.
  • the server 200 here may be a physical server or a logical server virtualized by multiple physical servers.
  • the server 200 may also be a server group composed of multiple servers that can be interconnected and communicated, and each functional module may be distributed on each server in the server group.
  • the mobile carrier 100 when the mobile carrier 100 moves in the warehouse, it can assist positioning and navigation with the aid of a guide track body preset in the warehouse and/or a preset reference mark.
  • the preset reference mark may be formed by setting a guide track body, for example.
  • Fig. 4 is a schematic diagram of the arrangement of guiding track bodies and fiducial marks on the warehouse floor provided by an embodiment of the present application.
  • the warehouse floor is divided into different working areas, including the public area (Public Area) 51 without shelves and other obstacles and the roadway area (Roadway Area) 53 between the shelves 52 placed at intervals. .
  • Multiple mobile carriers can travel in the common area 51.
  • the mobile carrier needs to move in various directions when loading and unloading goods. For example, when the mobile carrier needs to move from the public area 51 to the target position of the laneway area 53, it can make a rotating movement before entering the laneway area 53. Adjust the advancing direction to be parallel to the shelf 52, and make a linear motion to advance to the target position.
  • Both the public area 51 and the lane area 53 are provided with a guiding track 54.
  • the guide track 54 is a straight track with a uniform width on the ground.
  • the guide track 54 of the lane area 53 is parallel to the shelf 52, and the guide track 54 of the common area 51 is parallel to the lane area.
  • the guide track 54 of 53 is vertical. It can be understood that the position, shape, direction, etc. of the guiding track body 54 may be determined according to the actual situation, and the present application is not limited to this.
  • the guiding track 54 may be provided only in the public area 51 or only in the roadway area 53, or only in the public area 51 or a part of the working area of the roadway area 53. Navigation can be carried out by the method provided in this application in the work area provided with the guiding track body 54, and navigation can be carried out by other suitable methods in the working area without the guide track body 54.
  • lane area 53 For example, only guide track bodies and reference marks are set in the lane area 53 (reference marks are formed by intersecting marks on the guide track bodies, or formed by the color change boundaries of the guide track bodies of different colors), and the common area 51 is not Assuming the guide trajectory body and the reference mark, navigation in the lane area 53 can be carried out by the method provided in this application, and in the public area, for example, visual navigation can be used.
  • both the public area 51 and the laneway area 53 are provided with guiding track bodies and reference marks.
  • the guiding track bodies of the public area 51 and the laneway area 53 may be colored bands alternately arranged in different colors, and the reference marks are made of color.
  • the color change boundary of the belt is formed, and the color of the color band of the public area 51 is different from the color of the lane area 53 (for example, the public area 51 is a red and blue alternately set color, and the lane area 53 is an alternately set yellow and gray color. With), navigation in the public area 51 and the lane area 53 can still be carried out by the method provided in this application.
  • the guide track body of the common area may be connected to the initial position area 55.
  • the initial position area 55 can be used to charge the mobile carrier and/or be set as the initial position of the mobile carrier.
  • the guide track 54 of the common area 51 and the guide track 54 of the roadway area 53 have a plurality of reference marks.
  • the intersection of the guide track 54 in the common area 51 and the guide track 54 in the lane area 53 forms the reference mark 56 in the common area 51; the intersecting marks on each guide track 54 in the lane area 53 form the roadway.
  • the fiducial marks 56 of the public area 51 are the same, the fiducial marks 57 of the lane area 53 are the same, and the fiducial marks 56 of the public area are different from the fiducial marks 67 of the lane area. In this way, it can be determined according to the form of the fiducial marks.
  • the mobile carrier is located in the public area 51 or the lane area 53. It can be understood that the present application is not limited to this.
  • the fiducial marks 56 of the public area 51 may not be completely the same, or the fiducial marks 57 of the laneway area 53 may not be completely the same, or the public area
  • the fiducial marks of 51 and the roadway area 53 may be exactly the same.
  • a plurality of fiducial marks may be evenly distributed in an array on the guide track 54 in the public area and the lane area, and the spacing between adjacent fiducial marks 56 in the common area 51 is the same as that in the lane area 53.
  • the spacing between adjacent reference marks 57 is equal or unequal. Understandably, this application is not limited to this.
  • the reference marks 56 and 57 may be provided independently of the guide track body 54, for example, may be arranged near the guide track body 54 or at a position far away from the guide track body 54.
  • reference marks may be set only in the public area 51 or only in the lane area 53, or only in the public area 51 or part of the working area of the lane area 53.
  • the multiple fiducial marks in the public area 51 and the lane area 53 are not distributed in an array, but are distributed irregularly.
  • the spacing between each pair of adjacent fiducial marks is not equal; or, the spacing between adjacent fiducial marks on the same guiding track body is equal, but the spacing between adjacent fiducial marks on different guiding track bodies is not equal.
  • each guide track 54 of the laneway area 53 includes color bands of different colors that are evenly and alternately arranged (shown as alternating black and gray in the figure. In other embodiments, For example, colors such as red and yellow may alternate).
  • the reference mark 56 is still formed by the intersection of the guide track 54 in the public area 51 and the guide track 54 of the lane area 53; in the lane area 53, the color change boundaries of the color bands of different colors
  • the fiducial mark 57 is formed.
  • FIG. 4 and FIG. 5 only exemplarily provide two specific implementations of the guiding track 54 and the reference marks 56, 57, and the application is not limited to this.
  • the guide track 54 and the reference marks 56, 57 can be laid on the ground, wall or shelf surface, for example, by ink printing, ink printing, ultraviolet ink printing or fluorescent ink printing. It is understandable that this application It's not limited to this.
  • the robot uses environmental data or travel data collected by its own sensors to complete navigation.
  • the noise error can accumulate, resulting in low robot navigation accuracy.
  • the embodiment of the present application provides a navigation method shown in FIG. 6 to improve the navigation accuracy of the robot.
  • Fig. 6 is a schematic flowchart of a navigation method according to an embodiment of the present application, which can be executed by a mobile carrier.
  • the mobile carrier can be constructed in any suitable structure to complete the corresponding business functions, for example, can be constructed as a sweeping robot or a warehouse robot, etc. Referring to FIG. 6, the method of this embodiment includes:
  • the preset preset guiding trajectory body can be set in the above-mentioned manner, for example, and will not be repeated here.
  • the trajectory perception information generated based on the perception of the preset guiding trajectory body can be obtained, and the movement of the mobile carrier is limited to follow the preset guiding trajectory body according to the trajectory perception information.
  • the mobile carrier may be provided with an imaging device, and may be configured as a camera of any shape.
  • the imaging device can be used to photograph the guide track body and/or the fiducial mark.
  • the imaging device of the moving carrier continuously captures the image of the guiding track body to generate track image information.
  • the mobile carrier can obtain the angular deviation between the current movement direction of the mobile carrier and the guiding trajectory body and/or the position deviation between the current position of the mobile carrier and the guiding trajectory body, according to the angular deviation and/ Or the position deviation can correct the movement of the moving carrier, so that the moving carrier can move along the guiding track body and prevent the moving carrier from deviating from the guiding track body.
  • the current movement direction of the mobile carrier can be sensed and obtained by a motion sensor provided in the mobile carrier, for example.
  • the mobile carrier is provided with a motion sensor, and the motion sensor is installed in a suitable position of the mobile carrier to sense the movement of the mobile carrier, thereby generating corresponding motion sensing information, such as the three-axis attitude angle, speed, acceleration of the mobile carrier Wait.
  • the motion sensor may include, for example, an inertial measurement unit (IMU), a gyroscope, a magnetic field meter, an accelerometer, or a speedometer.
  • the mobile carrier before starting, the mobile carrier is located in the initial position area. After starting, the mobile carrier obtains its initial position through communication with the server, and then moves to the work area along the preset guiding track.
  • the motion sensor senses the real-time motion of the mobile carrier and generates corresponding motion perception information.
  • the processor of the mobile carrier obtains the motion perception information of the mobile carrier, and based on the current motion perception information and the stored previous information.
  • the current location information of one or more moments calculates the current estimated location information of the mobile carrier at the current moment. It is understandable that, in another implementation manner, the current estimated position information of the mobile carrier at the current moment can be calculated according to the motion perception information of the mobile carrier and the origin position information in the corresponding preset map.
  • the current location information changes with the movement of the mobile carrier.
  • the current position information can be stored in a certain variable in the register of the mobile carrier. Each time the current position information of a different location is updated, the mobile carrier uses the current position information at the current time to iterate the current position information at the previous time in the variable and forward The server sends the current position information after iteration.
  • the current location information may include coordinate data of the current location, relative location relationship data with other locations, current three-axis attitude angle of the robot, or relative three-axis attitude angle relationship data with other locations, etc.
  • the mobile carrier receives the target position information, and moves the mobile carrier along a preset guiding track according to the target position information until it reaches the target position; in this process, the mobile carrier obtains the current position information and sends it to the server Send current location information so that the server can know the current location of the mobile carrier.
  • the target position information can be the final target position of the mobile carrier.
  • the target position information acquired in S61 is an intermediate position on the path between the mobile carrier and the final target position.
  • the server sends navigation information to the mobile carrier. That is, the optional navigation method also includes:
  • the server after the mobile carrier sends the current position information to the server, the server generates navigation information according to the received current position information and the target position of the mobile carrier, and sends the generated navigation information to the mobile carrier.
  • the server may generate navigation information based on the received current position information, the target position of the mobile carrier, and the stored historical position information of the mobile carrier, and send the generated navigation information to the mobile carrier.
  • the historical location information of the mobile carrier stored by the server includes the current location information of the mobile carrier at one or more previous moments.
  • the navigation information generated by the server includes turning information.
  • the navigation information sent to the mobile carrier may include corresponding turn information.
  • the mobile carrier After the mobile carrier receives the navigation information, it can decelerate and move to the center of the reference mark according to the steering information therein, and then turn left or right into the lane area and continue to travel along the guiding track.
  • the navigation information generated by the server includes straight-going information.
  • the navigation information transmitted to the mobile carrier may include Go straight information.
  • obtaining the current position information of the mobile carrier in S61 includes: obtaining the current position information of the mobile carrier when a preset fiducial mark is sensed.
  • the preset fiducial mark can be set in the manner described above, for example, and will not be repeated here.
  • the fiducial mark is provided on or near the guiding track body, and an imaging device may be provided in the mobile carrier, which is used to capture the image of the guiding track body and the fiducial mark.
  • the fiducial mark may be located away from the guiding track body, and two imaging devices may be provided in the mobile carrier to capture the image of the guiding track body and the image of the fiducial mark respectively.
  • the mobile carrier when the mobile carrier senses the preset fiducial mark, it obtains the pre-stored fiducial mark position information corresponding to the preset fiducial mark, and obtains the current position information of the mobile carrier according to the pre-stored fiducial mark pitch information.
  • the mobile carrier moves in a work area where the same fiducial mark is used, and the distance between each pair of adjacent fiducial marks is the same (for example, N1 meters), the fiducial mark pre-stored in the mobile carrier
  • the spacing information of is the spacing value of adjacent fiducial marks.
  • the mobile carrier moves in a working area where the same fiducial mark is used, and the distance between each pair of adjacent fiducial marks is not exactly the same, for example, in two adjacent pairs of fiducial marks ( In N-1, N) and (N, N+1), the distance between adjacent reference marks (N-1, N) is M1 meters, and the distance between adjacent reference marks (N, N+1) is M2 Meter, the pitch information of the fiducial marks pre-stored in the mobile carrier may include the pitch value of each pair of adjacent fiducial marks.
  • the moving carrier moves along the guide track, it can count the passing fiducial marks. If the imaging device senses the Nth fiducial mark, it can be known from the count that the moving carrier is at the Nth fiducial mark.
  • this fiducial mark is M1 meters away from the previous fiducial mark; if based on the current estimated position information corresponding to the location at this time, the location is M3 meters away from the previous fiducial mark, then the current position information is changed from M3 meters The corresponding current position information is corrected to the current position information corresponding to M1 meters.
  • the mobile carrier when the mobile carrier senses the preset fiducial mark, it obtains the pre-stored fiducial mark position information corresponding to the preset fiducial mark, and obtains the current position information of the mobile carrier according to the pre-stored fiducial mark position information.
  • the pre-stored fiducial mark position information may be the coordinate data of the fiducial mark in the pre-stored map data, or the relative position relationship data with other places, etc.
  • Obtaining the pre-stored fiducial mark position information corresponding to the preset fiducial mark may be reading the pre-stored fiducial mark position information corresponding to the preset fiducial mark from the preset map information.
  • the map information can be preset on the mobile carrier or the server.
  • the mobile carrier when the mobile carrier senses the preset fiducial mark, it obtains the current estimated position information of the mobile carrier according to the motion perception information, and obtains the pre-stored fiducial mark position information corresponding to the preset fiducial mark according to the current estimated position information.
  • the pre-stored fiducial mark position information of the fiducial mark closest to the current estimated position information can be read from the preset map information according to the current estimated position information.
  • the mobile carrier when the mobile carrier senses a preset fiducial mark, it acquires fiducial mark pitch information and the number of preset fiducial marks that have passed; The number obtains the pre-stored fiducial mark information corresponding to the preset fiducial mark.
  • the perceived position information of the preset fiducial mark can be calculated according to the spacing information and the number of preset fiducial marks, and then the pre-stored fiducial mark corresponding to the position information can be read from the preset map information location information.
  • the spacing information of the fiducial marks pre-stored in the mobile carrier is not limited to the spacing value of adjacent fiducial marks, but can also be multiples of the spacing value or other related information.
  • the mobile carrier when the mobile carrier senses the preset fiducial mark, it acquires the pre-stored fiducial mark position information corresponding to the preset fiducial mark according to at least one feature information of the preset fiducial mark and the current estimated position information of the mobile carrier .
  • the at least one feature information corresponding to the fiducial mark is obtained from a plurality of pre-stored fiducial mark pitch information according to at least one feature information of the preset fiducial mark Spacing information; and obtaining the pre-stored fiducial mark position information corresponding to the preset fiducial mark according to the corresponding fiducial mark spacing information and the current estimated position information of the mobile carrier.
  • the feature information of the preset fiducial mark may be work area type information, and the work area type information may be represented by image feature information of the fiducial mark (for example, an intersection or cross mark image captured by an imaging device that represents the fiducial mark). It is understandable that the work area type information may also be represented by other characteristic information of the fiducial mark; the characteristic information of the preset fiducial mark may also be other classification information besides the work area type information.
  • the fiducial mark spacing value of the working area corresponding to the preset fiducial mark is determined from the stored fiducial mark spacing values of the at least two working areas; and according to the determined The fiducial mark spacing value of, obtain the current position information.
  • the fiducial mark spacing values of at least two working areas may not be completely the same; or, the fiducial mark spacing values of at least two working areas are the same.
  • the mobile carrier moves in the first area and the second area, and different fiducial marks are used in the two areas, and the spacing value of each pair of adjacent fiducial marks in each area is the same, for example, the first area It can be the public area as described above, the fiducial mark in this area is the intersection of the guiding track body in the public area and each guiding track body in the roadway area, and the distance between adjacent fiducial marks is P1 meter; the second area can be It is the above-mentioned roadway area, the fiducial marks in this area are intersecting marks arranged at intervals on the guiding track body, and the value of the distance between adjacent fiducial marks is P2 meters, and P1 is not equal to P2.
  • the first area and the second area may also be different sub-areas in the public area or the lane area.
  • the distance information of adjacent fiducial marks pre-stored in the mobile carrier may include the distance values P1 and P2, and the corresponding relationship between the two distance values and the first area and the second area.
  • the pitch value corresponding to the fiducial mark, and the number of preset fiducial marks that have been sensed is obtained, and the perceived preset fiducial is calculated according to the determined pitch value and the number of preset fiducial marks that have passed
  • the location information of the mark and then read out the pre-stored fiducial mark location information corresponding to the location information from the preset map information.
  • obtaining the current position information of the mobile carrier according to the pre-stored fiducial mark position information can eliminate the deviation in the current estimated position information, and iterate the current position information with the information after the deviation is eliminated.
  • eliminating the deviation in the current estimated information may include, for example, replacing the corresponding data in the current estimated position information with pre-stored fiducial mark position information, and/or using the calculation result obtained by performing a predetermined calculation on the pre-stored fiducial mark position information as the mobile carrier. Current location information.
  • the imaging device of the mobile carrier senses the fiducial mark (indicating that the mobile carrier has moved to the vicinity of the fiducial mark at this time), it is based on the motion sensing information and the movement
  • the origin of the carrier calculates the current estimated position information X2 of the mobile carrier at the current moment; in addition, the mobile carrier obtains the pre-stored fiducial mark position information X1 corresponding to the fiducial mark from the pre-stored map data, and the mobile carrier also obtains it according to the image captured by the imaging device
  • the deviation ⁇ X1 between its own position and the reference mark obtains the image-based mobile carrier position X3 according to ⁇ X1 and X1, and performs fusion calculation of X1, X2, X3 according to a predetermined method (such as weighted average) to obtain the current position information X4 of the mobile carrier. It is understandable that the method in this example can be repeatedly executed at
  • the preset guiding track may include a light-emitting strip and/or a color ribbon; the preset guiding track may include a continuous track and/or a discontinuous track; the preset guiding track may not be completely the same Or exactly the same; the preset guiding track body can be a ribbon of the same color or a ribbon of different colors alternately set.
  • the preset fiducial mark may be part or all of graphics, color change boundaries, and other marks such as symbols, characters, numbers, colors, and the like.
  • each preset fiducial mark is not unique.
  • each preset fiducial mark may be the same graphic mark (for example, the intersection in the public area, the intersection mark in the lane area, etc., as shown in FIG. 4), color Change boundaries (fiducial marks in the roadway area as shown in Fig. 5), and/or the same other marks.
  • each preset fiducial mark may also be unique.
  • the preset fiducial mark may include identification information that distinguishes the mark from other marks.
  • the progressive error in the current position estimation information can be eliminated at the fiducial mark, so that the position information of the mobile carrier obtained by the server is more accurate. Can improve navigation accuracy.
  • FIG. 7 shows a schematic flowchart of a navigation method according to another embodiment of the present application, which is executed by a server.
  • the method of this embodiment includes:
  • the method before receiving the current location information of the mobile carrier, the method further includes:
  • the pre-stored fiducial mark position information may be the coordinate data of fiducial marks in the pre-stored map data, or the relative position relationship data with other places, etc.
  • Obtaining the pre-stored fiducial mark position information corresponding to the preset fiducial mark may be reading the pre-stored fiducial mark position information corresponding to the preset fiducial mark from the preset map information.
  • the information related to the preset fiducial mark includes the current estimated position information of the mobile carrier
  • the obtaining the pre-stored fiducial mark position information corresponding to the preset fiducial mark includes: obtaining the pre-stored fiducial mark position information corresponding to the current estimated position information.
  • the pre-stored fiducial mark position information of the fiducial mark closest to the current estimated position information can be read from the preset map information according to the current estimated position information.
  • the information related to the preset fiducial mark includes the number of preset fiducial marks that the mobile carrier has passed;
  • the obtaining the pre-stored fiducial mark position information corresponding to the preset fiducial mark includes: obtaining fiducial mark spacing information, and obtaining the information corresponding to the preset fiducial mark according to the fiducial mark spacing information and the number of the preset fiducial marks Pre-stored fiducial mark information.
  • the information related to the preset fiducial mark includes the current estimated position information of the mobile carrier
  • the obtaining the pre-stored fiducial mark position information corresponding to the preset fiducial mark includes: obtaining at least one characteristic information of the preset fiducial mark, and obtaining the corresponding pre-stored fiducial according to the estimated position information and the at least one characteristic information Mark location information.
  • the information related to the preset fiducial mark includes the type of the preset fiducial mark and the number of the preset fiducial marks that the mobile carrier has passed;
  • the acquiring the pre-stored fiducial mark position information corresponding to the preset fiducial mark includes: determining fiducial mark spacing information according to the preset fiducial mark type, and acquiring the fiducial mark based on the spacing information and the number of the preset fiducial marks Pre-stored fiducial mark information corresponding to the preset fiducial mark.
  • FIGS. 8 and 9 show schematic diagrams of the arrangement of guiding track bodies and positioning marks on the warehouse floor provided by other embodiments of the present application, where the positioning marks include fiducial marks, reference marks, initialization marks, and the like.
  • FIG. 8 The layout of FIG. 8 is similar to that of FIG. 4, the difference is that in FIG. 8, a reference mark 56a is added near each reference mark 56 in the public area, and at least one initialization mark 58 is added to each guide track 54 in the lane area. At least one reference mark 58a is provided near each initialization mark 58.
  • an initialization mark is set at a part of the fiducial mark of each guide track body.
  • each guide track body can correspond to one or more initialization marks; one or more initialization marks can be set near each initialization mark.
  • the multiple reference marks may be the same as shown in FIG. 8 and FIG. 9, and it is understandable that the multiple reference marks may also be different.
  • Fig. 9 The layout of Fig. 9 is similar to that of Fig. 5, the difference is that, like Fig. 8, the embodiment of Fig. 9 also adds a reference mark 56a near the reference mark 56 in the public area on the basis of Fig. 5, as well as in the roadway area. An initialization mark 58 and a reference mark 58a are added to each guide track 54 of.
  • each initialization mark 58 is the same, and the reference mark 58a corresponding to each initialization mark is different. It is understandable that the application is not limited thereto.
  • the initialization mark 58 is arranged near the selected fiducial mark 57 and overlaps with the preset guiding track 54 and can be identified by a moving carrier or manually.
  • the initialization mark 58 is a square mark around the reference mark 57. It can be understood that, in other embodiments, the initialization mark 58 is a mark of other shapes around the fiducial mark, such as a circle, a triangle, etc., or the initialization mark 58 may be set at other nearby positions of the fiducial mark.
  • the initialization mark 58 can also be set at other positions in the tunnel area; for example, it can be set at a position that is not a reference mark on the guide track body 54 or at a position outside the guide track body that does not overlap with the guide track body. .
  • the reference mark 56 of the public area is composed of the identification of the guide track 54 in the public area and the identification of each guide track in the lane area; for example, in FIGS. 8 and 9, the guide track in the public area on the left
  • the mark of volume 54 is "a"
  • the marks of each guide track from bottom to top in the lane area are "1", "2", "3", and "4".
  • the guide track in the public area Reference marks 56a can be respectively set near each reference mark 56 formed by the intersection of each guide track body in the roadway area
  • the reference mark 58a of the initialization mark 58 corresponding to each guide trajectory body in the lane area may adopt the identification of each guide trajectory body, such as "1", "2", "3", and "4".
  • each reference mark can also be other marks such as graphics, characters, barcodes, and two-dimensional codes that can be recognized by the mobile carrier.
  • the marks shown in the example in FIG. 10 can be used.
  • the reference mark can be arranged on a shelf adjacent to the guide track body, for example, can be arranged on one side of the guide track body, or can be arranged on both sides of the guide track body.
  • Fig. 11 is a flowchart of a navigation method provided by another embodiment of the present application, which is executed by a mobile carrier. Referring to FIG. 11, the method of this embodiment includes:
  • the target location information may be sent by the server.
  • S112 Determine whether the current state of the mobile carrier is out of position, and if so, after moving to a preset initialization mark, obtain the current initialization position information of the mobile carrier.
  • the mobile carrier performs an initialization procedure after charging the initial location area, for example. After the initialization procedure is executed, if it is determined that the current state of the mobile carrier is out of position, the mobile carrier will perform a reinitialization.
  • the mobile carrier is equipped with a first imaging device and a second imaging device, wherein the first imaging device faces the ground and the second imaging device is arranged to be able to scan the direction of the reference mark.
  • the first imaging device scans the preset calibration mark
  • the mobile carrier is equipped with a first imaging device and a second imaging device, wherein the first imaging device faces the ground, and the second imaging device is configured to scan the direction of the reference mark.
  • the first imaging device scans the preset calibration mark
  • the second imaging device scans the first reference mark corresponding to the preset calibration mark, generates first imaging information, and determines whether the first reference mark is the same according to the first imaging information.
  • the preset calibration mark corresponds, if it does, the moving carrier will continue to move along the preset guiding track; if it does not correspond, it will be determined that the moving carrier is out of position, and the moving carrier will be triggered to reinitialize.
  • the "correspondence" mentioned in this application includes the case where the difference between the two is within a preset range.
  • the mobile carrier when the first imaging device scans the preset calibration mark, can obtain its current initialization position information. In addition, the mobile carrier can also obtain the pre-stored position information of the first reference mark according to the first imaging information; By judging the current initialization position information and the pre-stored position information of the first reference mark, it can be judged whether the first reference mark corresponds to the preset calibration mark.
  • the mobile carrier moves to a position estimated to have a preset calibration mark, it is determined whether its imaging device perceives the preset calibration mark, and if not, it is determined that the current state of the mobile carrier is out of position.
  • the mobile carrier can obtain its current initialization position information at preset intervals, and compare it with the pre-stored map data to determine whether to move to a place estimated to have a preset calibration mark; the pre-stored map data may include Position information of each preset calibration mark.
  • the mobile carrier moves to a place estimated to have a preset calibration mark, it is determined whether the preset calibration mark is sensed and the sensed preset calibration mark corresponds to the position, if not, the movement is determined The current state of the carrier is out of position.
  • each preset calibration mark is unique.
  • the mobile carrier can obtain its current initialization position information at preset intervals, and compare it with the pre-stored map data to determine whether to move to the place estimated to have the preset calibration mark ,
  • the pre-stored map data may include identification information of each preset calibration mark and corresponding location information. If the result of the judgment is yes, it is judged whether the imaging device perceives the preset calibration mark, if so, the position information of the preset calibration mark is obtained from the pre-stored map data, and it is further judged whether the position information of the preset calibration mark is Correspond to the current initialization position information of the mobile carrier. If it does not correspond, it is determined that the mobile carrier is in an out-of-position state.
  • the mobile carrier senses the preset calibration mark twice during the movement, neither the first reference mark is sensed or the sensed first reference mark is different from the sensed preset calibration mark. Correspondingly, it is determined that the current state of the mobile carrier is out of position.
  • the mobile carrier does not perceive the preset calibration mark or the perceived preset calibration mark does not correspond to the position when it arrives at the position estimated to have the preset calibration mark twice in the moving process, then The current state of the mobile carrier is out of position.
  • the preset calibration mark may be the aforementioned reference mark. It is understandable that this application is not limited to this.
  • the preset calibration mark may also be a mark set in addition to the reference mark.
  • the position information of each reference mark in the warehouse can be pre-stored in the mobile carrier.
  • the mobile carrier determines that the current state is out of position, it moves to the preset initialization mark.
  • the mobile carrier stops moving and sends an error notification to the server.
  • the server sends a control command to the mobile carrier in response to the error notification.
  • the mobile carrier moves the mobile carrier along the guiding track to the preset initialization mark according to the control command.
  • the first imaging device of the mobile carrier scans to the initialization mark
  • the second imaging device tries to scan the second reference mark corresponding to the initialization mark. If the second reference mark is scanned, the second imaging information is generated, and then according to the second imaging information Obtain and send the current initialization position information of the mobile carrier to the server.
  • the maintenance personnel can manually input the current position of the mobile carrier on the mobile carrier according to the prompt information.
  • the mobile carrier sends the manually entered current initialization location information to the server.
  • the current initialization position information may include information related to the second reference mark, such as identification information of the second reference mark, and position information corresponding to the second reference mark.
  • the second reference mark and the first reference mark may be different or the same.
  • the mobile carrier determines that the current state is out of position, it sends an error notification to the server.
  • the server responds to the error notification and sends a stop command to the mobile carrier.
  • the server also sends a maintenance notification to the user terminal of the maintenance staff.
  • the maintenance notification may include the identification information and/or location of the mobile carrier in error. Relevant information so that maintenance personnel can reach the mobile carrier where the error occurred.
  • the mobile carrier receives the stop command from the server, it stops the mobile carrier according to the stop command. After the maintenance personnel arrive at the mobile carrier where the error occurs, move the mobile carrier to a nearby initialization mark.
  • the second imaging device After the first imaging device of the mobile carrier scans to the initialization mark, the second imaging device tries to scan the second reference mark corresponding to the initialization mark. If the second reference mark is scanned, the second imaging information is generated, and then according to the second imaging information Obtain and send the current initialization position information of the mobile carrier to the server. If the second imaging device does not scan the second reference mark, a prompt message is generated. The maintenance personnel can manually input the current position of the mobile carrier on the mobile carrier according to the prompt information. The mobile carrier sends the manually input current initialization location information to the server.
  • the current initialization location information may include information related to the second reference mark, such as identification information of the second reference mark, and location information corresponding to the second reference mark. It is understandable that after the mobile carrier determines that the current state is out of position, it can also stop moving by itself, without the server controlling it to stop moving.
  • the mobile carrier if the mobile carrier is determined to meet the reinitialization trigger condition, the mobile carrier is moved to the preset initialization mark along the guiding track, and an error notification is sent to the server.
  • the server receives the error notification, in response to the error notification, it sends a maintenance notification to the user terminal of the maintenance personnel.
  • the maintenance notification may include the identification information and/or location-related information of the mobile carrier in error, so that the maintenance personnel can reach the mobile carrier where the error occurred. .
  • the second imaging device After the first imaging device of the mobile carrier scans to the initialization mark, the second imaging device tries to scan the second reference mark corresponding to the initialization mark.
  • the second imaging information is generated, and then according to the second imaging information Obtain and send the current initialization position information of the mobile carrier to the server. If the second imaging device does not scan the second reference mark, a prompt message is generated. The maintenance personnel can manually input the current position of the mobile carrier on the mobile carrier according to the prompt information, and move The carrier sends the manually input current initialization location information to the server.
  • the current initialization position information may include information related to the second reference mark, such as identification information of the second reference mark, and position information corresponding to the second reference mark.
  • the mobile carrier determines that the current state is out of position, the mobile carrier is moved to the preset calibration mark along the guiding track, and an error notification is sent to the server.
  • the error notification includes the position of the mobile carrier. information.
  • the server receives the error notification, in response to the error notification, it sends a maintenance notification to the user terminal of the maintenance personnel.
  • the maintenance notification may include the identification information and/or location-related information of the error mobile carrier so that the maintenance personnel can reach the error mobile carrier.
  • the second imaging information is generated, and then according to the second imaging information Obtain and send the current initial position information of the mobile carrier to the server. If the second imaging device does not scan the second reference mark, a prompt message is generated. The maintenance personnel can manually input the current position of the mobile carrier on the mobile carrier according to the prompt information, and move The carrier sends the manually input current initialization location information to the server.
  • the current initialization position information may include information related to the second reference mark, such as identification information of the second reference mark, and position information corresponding to the second reference mark.
  • the maintenance personnel can manually input the current location of the mobile carrier on other terminals according to the prompt information, and the other terminals send the manually input current initialization location information to the server.
  • the position information of the calibration mark is not stored in the mobile carrier, and the position-related information of the mobile carrier included in the error notification sent by the mobile carrier may be the current initialization position information of the mobile carrier.
  • the current initialization location information of the mobile carrier can be obtained with reference to the relevant description in the previous embodiment, and will not be repeated here.
  • the mobile carrier stores the position information of each calibration mark, such as the coordinate data of each calibration mark, the relative position relationship data with other places, etc., and the mobile carrier sends the position information of the mobile carrier included in the error notification.
  • the information may be the position information of the calibration mark.
  • the mobile carrier sends the current initialization location information of the mobile carrier to the server.
  • the mobile carrier sends the current initialization position information of the mobile carrier to the server after acquiring the current initialization position information of the mobile carrier.
  • the current initialization location information sent by the mobile carrier to the server may include related information of the second reference mark corresponding to the initialization mark, such as identification information of the second reference mark, and/or location information corresponding to the second reference mark Wait.
  • the mobile carrier receives the navigation information sent by the server according to the current initial position information, and moves according to the navigation information.
  • each guide trajectory body in the tunnel area has only a single corresponding initialization mark
  • the reinitialization mark corresponding to each guide trajectory body is the same
  • the reference mark corresponding to each guide trajectory body is different.
  • each guide trajectory body in the tunnel area is provided with more than two reinitialization marks, the initialization mark corresponding to each guide trajectory body is the same, and the two or more reference marks corresponding to each guide trajectory body are the same.
  • the reference mark corresponding to the trajectory body is different.
  • the identification information of the mark and the stored historical position information of the mobile carrier determine which initialization mark of the guide trajectory the mobile carrier is at, and generate navigation information according to the determined position information of the initialization mark and the target position of the mobile carrier, And send the generated navigation information to the mobile carrier.
  • the navigation information generated by the server includes turning information.
  • the navigation information sent to the mobile carrier may include corresponding turn information.
  • the mobile carrier After the mobile carrier receives the navigation information, it can decelerate and move to the center of the calibration mark according to the steering information therein, and then turn left or right into the lane area and continue to travel along the guide trajectory.
  • the navigation information generated by the server includes straight-going information.
  • the navigation information transmitted to the mobile carrier may include Go straight information.
  • An embodiment of the present application also provides another navigation method, which is executed by the server, including:
  • S121 Send target location information to the mobile carrier
  • S123 Send a control command to at least one of the mobile carrier and the user terminal, so that the mobile carrier moves to a preset initialization mark.
  • the error notification includes location-related information of the mobile carrier; the control command sent to the user terminal is a maintenance notification, and the maintenance notification includes the location-related information.
  • it further includes:
  • Fig. 12 is a schematic structural diagram of a navigation device according to an exemplary embodiment of the present application.
  • the navigation device 500 includes: at least one processor 520; and a memory 510 communicatively connected with the at least one processor 520.
  • the memory 510 stores executable code. When the executable code is executed by the at least one processor 520, the at least one processor 520 Perform some or all of the above methods.
  • the processor 520 may be a central processing unit (Central Processing Unit, CPU), other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), ready-made Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
  • the memory 510 may include various types of storage units, such as a system memory, a read only memory (ROM), and a permanent storage device.
  • the ROM may store static data or instructions required by the processor 520 or other modules of the computer.
  • the permanent storage device may be a readable and writable storage device.
  • the permanent storage device may be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off.
  • the permanent storage device adopts a large-capacity storage device (such as a magnetic or optical disk, flash memory) as the permanent storage device.
  • the permanent storage device may be a removable storage device (for example, a floppy disk, an optical drive).
  • the system memory can be a readable and writable storage device or a volatile readable and writable storage device, such as dynamic random access memory.
  • the system memory can store some or all of the instructions and data needed by the processor at runtime.
  • the memory 510 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and magnetic disks and/or optical disks may also be used.
  • the memory 510 may include a removable storage device that can be read and/or written, such as a compact disc (CD), a read-only digital versatile disc (for example, DVD-ROM, dual-layer DVD-ROM), Read-only Blu-ray discs, ultra-density discs, flash memory cards (such as SD cards, min SD cards, Micro-SD cards, etc.), magnetic floppy disks, etc.
  • a removable storage device that can be read and/or written, such as a compact disc (CD), a read-only digital versatile disc (for example, DVD-ROM, dual-layer DVD-ROM), Read-only Blu-ray discs, ultra-density discs, flash memory cards (such as SD cards, min SD cards, Micro-SD cards, etc.), magnetic floppy disks, etc.
  • the computer-readable storage medium does not include carrier waves and instantaneous electronic signals transmitted wirelessly or wiredly.
  • the embodiment of the present application also provides a non-volatile computer storage medium.
  • the computer storage medium stores computer-executable instructions.
  • the computer-executable instructions are executed by one or more processors to enable the aforementioned one or more processors to execute The navigation method in any of the foregoing method embodiments can be executed.
  • the embodiments of the present application also provide a computer program product.
  • the computer program product includes a computer program stored on a non-volatile computer-readable storage medium.
  • the computer program includes program instructions. When the program instructions are executed by a mobile carrier, the The carrier executes any navigation method; when the program instructions are executed by the server, the server executes any navigation method.
  • the device or device embodiments described above are merely illustrative, where the unit modules described as separate components may or may not be physically separated, and the components displayed as module units may or may not be physical units, that is, It can be located in one place, or it can be distributed to multiple network module units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • each implementation manner can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware.
  • the above technical solution essentially or the part that contributes to the related technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk , CD-ROM, etc., including several instructions to make a computer device (which may be a personal computer, a processing terminal, or a network device, etc.) execute each embodiment or some part of the method of the embodiment.
  • a person of ordinary skill in the art can understand that all or part of the steps in the foregoing method embodiments can be implemented by a program instructing relevant hardware.
  • the aforementioned program can be stored in a computer readable storage medium. When the program is executed, it executes the steps including the foregoing method embodiments; and the foregoing storage medium includes: ROM, RAM, magnetic disk, or optical disk and other media that can store program codes.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Navigation (AREA)

Abstract

一种导航方法及导航装置，导航方法由移动载体执行，包括：根据获取到的目标位置信息，沿着预设导向轨迹体移动（S111）；判断移动载体的当前状态是否为失位，若是，则在移动至预设的初始化标记处后，获取移动载体的当前初始化位置信息（S112）。可以在移动载体出错时通过对移动载体进行重新初始化，保证移动载体的可靠运行。

Description

导航方法及导航装置
本申请要求于2020年5月21日提交中国专利局、申请号为CN202010434283.6、申请名称为“导航方法及导航装置”的中国专利申请，于2020年5月21日提交中国专利局、申请号为CN202010434284.0、申请名称为“导航方法及导航装置”的中国专利申请的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及导航技术领域，特别是涉及一种导航方法及导航装置。
背景技术
导航技术广泛应用于各个行业领域，例如货物仓储领域、家居领域或消防领域等。借助导航技术，移动载体可以满足各项业务需要。
移动载体在运行过程中，可能会因失位等原因出错，因而，需要提供移动载体出错时的处理机制，以保证移动载体的可靠运行。
发明内容
本申请提供一种导航方法及导航装置，以解决现有技术存在的问题。
第一方面，本申请提供一种导航方法，由移动载体执行，包括：
根据获取到的目标位置信息，沿着预设导向轨迹体移动；
判断所述移动载体的当前状态是否为失位，若是，则在移动至预设的初始化标记处后，获取所述移动载体的当前初始化位置信息。
依据本申请实施例，可以在移动载体出错时通过对移动载体进行重新初始化，保证移动载体的可靠运行。
第二方面，本申请提供一种导航方法，由服务器执行，包括：
向移动载体发送目标位置信息；
接收所述移动载体发送的错误通知；
向所述移动载体和用户终端至少其中之一发送控制命令，以使所述移动 载体移动至预设的初始化标记处。
第三方面，本申请提供一种导航装置，包括：
处理器；以及
存储器，其上存储有可执行代码，当所述可执行代码被所述处理器执行时，使所述处理器执行如上第一方面或第二方面所述的方法。
第四方面，本申请提供一种导航方法，由移动载体执行，包括:
获得所述移动载体的当前位置信息，根据所述当前位置信息及获取到的目标位置信息，沿预设导向轨迹体进行移动；
向服务器发送所述当前位置信息。
本申请提供的一些实施例的导航方案中，由于利用预设基准标记获得移动载体的当前位置信息，可以在各基准标记处消除当前位置信息中的累进误差，使得服务器获得的移动载体的位置信息更加准确，因此可以提高导航精度。
第五方面，本申请提供一种导航方法，由服务器执行，包括：
向移动载体发送目标位置信息；
接收所述移动载体的当前位置信息。
第六方面，本申请提供一种导航装置，包括：
处理器；以及
存储器，其上存储有可执行代码，当所述可执行代码被所述处理器执行时，使所述处理器执行如上第四方面或第五方面所述的方法。
本申请提供一种导航方法及导航装置，导航方法由移动载体执行，包括：根据获取到的目标位置信息，沿着预设导向轨迹体移动；判断所述移动载体的当前状态是否为失位，若是，则在移动至预设的初始化标记处后，获取所述移动载体的当前初始化位置信息。依据本申请实施例，可以在移动载体出错时通过对移动载体进行重新初始化，保证移动载体的可靠运行。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在 不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本申请一实施例提供的一种移动载体的结构示意图；
图2是图1中移动底盘的结构示意图；
图3是本申请一实施例提供的一种导航系统的结构示意图；
图4是本申请一实施例提供的仓库地面的导向轨迹体和基准标记的布置示意图；
图5是本申请另一实施例提供的仓库地面的导向轨迹体和基准标记的布置示意图；
图6是本申请一实施例提供的一种导航方法的流程示意图；
图7是本申请另一实施例提供的一种导航方法的流程示意图；
图8是本申请另一实施例提供的仓库地面的导向轨迹体和定位标记的布置示意图；
图9是本申请另一实施例提供的仓库地面的导向轨迹体和定位标记的布置示意图；
图10示例性地示出本申请实施例提供的一些参考标记；
图11是本申请另一实施例提供的导航方法的流程图；
图12是本申请一实施例提供的一种导航装置的结构示意图。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本文提供的移动载体可应用于任何合适行业领域或技术领域，诸如智能仓储领域、智能物流领域、智能分拣领域、家居领域或消防领域等。
当移动载体应用于不同行业领域，移动载体可被构造成不同结构，以实现相应的业务功能。举例而言，当移动载体应用于家居领域，移动载体可作被构造成圆形扫地机器人，当移动载体应用于仓储领域，移动载体可被构造成配置有机械臂，以抓取货物。
本申请实施例提供一种移动载体，请参阅图1和图2，移动载体100包括移动底盘10、存储货架20、搬运装置30及升降组件40。其中，存储货架20、搬运装置30以及升降组件40均安装于移动底盘10。
移动底盘10用于携带移动载体100按照规划的路径移动。
存储货架20用于存放货物。在一些实施例中，存储货架20可包括沿竖直方向分布的多个存储单元，每个存储单元可放置一个或多个货物。
搬运装置30可沿竖直方向移动，使得搬运装置30的位置与任意一个存储单元水平相对，搬运装置30用于在固定货架的预设位置和任何一个存储单元之间搬运货物。
升降组件40用于驱动搬运装置30沿竖直方向相对于存储货架20移动，升降组件40包括升降传动机构和升降驱动机构。其中，升降驱动机构用于提供搬运装置30相对于存储货架20沿竖直方向移动的驱动力，升降传动机构用于将驱动力传递至搬运装置30。
在一些实施例中，移动底盘10包括支架总成、从动轮、驱动轮组件以及引导装置14(见图2)。其中，从动轮、驱动轮组件以及引导装置14均安装于支架总成。
引导装置14为摄像头，摄像头的镜头朝向地面，用于识别地面上铺设的导向轨迹体和基准标记，使得移动底盘10沿导向轨迹体行进。可以理解的，在另外一些实施例中，可以在其他位置另设导向轨迹体和基准标记铺设在其他位置，相应的，可以设置另外的摄像头，该摄像头的镜头朝向另设的导向轨迹体和基准标记。
在一些实施例中，请参阅图3，移动载体100可与服务器200组成导航系统，通过与服务器200互相通讯，以实现导航，从而成功地抓取或存放货物。
在一些实施例中，此处的服务器200可以是一个物理服务器或者多个物理服务器虚拟而成的一个逻辑服务器。服务器200也可以是多个可互联通信的服务器组成的服务器群，且各个功能模块可分别分布在服务器群中的各个服务器上。
在本申请的实施例中，移动载体100在仓库内移动时，可借助预设在仓库内的导向轨迹体和/或预设的基准标记辅助定位导航。预设的基准标记 例如可以是设置导向轨迹体形成的。
图4是本申请一实施例提供的仓库地面的导向轨迹体和基准标记的布置示意图。如图4所示，仓库地面被分为不同的工作区域，包括无货架及无其他障碍物的公共区域(Public Area)51和位于间隔摆放的货架52之间的巷道区域(Roadway Area)53。多个移动载体可以在公共区域51中行进。移动载体在进行货物的取放时需要进行各种不同方向的行走运动，例如，当移动载体需要从公共区域51运动到巷道区域53的目标位置时，可以在进入巷道区域53前做旋转运动，将前进方向调整为与货架52平行，做直线运动往目标位置前进。
公共区域51和巷道区域53均设有导向轨迹体54。在图4的实施例中，导向轨迹体54为设在地面上的宽度均匀的直条型轨迹，巷道区域53的导向轨迹体54与货架52平行，公共区域51的导向轨迹体54与巷道区域53的导向轨迹体54垂直。可以理解的，对于导向轨迹体54的位置、形状、方向等设置可以视实际情况而定，本申请并不仅限于此。
而且，例如可以仅在公共区域51或仅在巷道区域53设导向轨迹体54，或者仅在公共区域51或巷道区域53的部分工作区域设导向轨迹体54。在设有导向轨迹体54的工作区域可以通过本申请提供的方法进行导航，在不设导向轨迹体的工作区域可以通过其他合适的方法进行导航。例如，仅在巷道区域53设导向轨迹体和基准标记(基准标记例如由导向轨迹体上间隔设置的交叉标记形成，或者由不同颜色的导向轨迹体的颜色变化边界形成)，而公共区域51不设导向轨迹体和基准标记，在巷道区域53可以通过本申请提供的方法进行导航，在公共区域例如可以用视觉导航。
另外，在一个实施例中，公共区域51和巷道区域53均设有导向轨迹体和基准标记，公共区域51和巷道区域53的导向轨迹体可以是不同颜色交替设置的色带，基准标记由色带的颜色变化边界形成,并且，公共区域51的色带颜色和巷道区域53的色带颜色不同(例如公共区域51是红色蓝色交替设置的色带，巷道区域53是黄色灰色交替设置的色带)，在公共区域51和巷道区域53仍可以通过本申请提供的方法进行导航。
公共区域的导向轨迹体可以连接到初始位置区域55。初始位置区域55可以为移动载体充电和/或被设为移动载体的初始位置。
图4中，公共区域51的导向轨迹体54和巷道区域53的导向轨迹体54具有多个基准标记。公共区域中51的导向轨迹体54与巷道区域53的各条导向轨迹体54的交点形成公共区域51内的基准标记56；巷道区域53的各条导向轨迹体54上间隔设置的交叉标记形成巷道区域内的基准标记57。在这一配置中，公共区域51的各基准标记56相同，巷道区域53的各基准标记57相同，公共区域的基准标记56与巷道区域的基准标记67不同，这样，可以根据基准标记的形态确定移动载体是位于公共区域51还是巷道区域53。可以理解的，本申请不限于此，例如，在另一些实施例中，公共区域51的基准标记56可以不完全相同，或者，巷道区域53的各基准标记57可以不完全相同，或者，公共区域51和巷道区域53的基准标记可以完全相同。
在一些实施例中，多个基准标记可以均匀地阵列式分布在公共区域和巷道区域的导向轨迹体54上，公共区域51内的相邻基准标记56之间的间距与巷道区域53内的相邻基准标记57之间的间距相等或者不相等。可以理解的，本申请并不仅限于此。
例如，在另一些实施例中，基准标记56、57可以独立于导向轨迹体54设置，例如可以设置在导向轨迹体54附近，或者设置在远离导向轨迹体54的位置。
再例如，可以仅在公共区域51或仅在巷道区域53设基准标记，或者仅在公共区域51或巷道区域53的部分工作区域设基准标记。
再例如，公共区域51和巷道区域53内的多个基准标记不是按照阵列式分布，而是呈不规则分布。例如，各对相邻基准标记之间的间距不相等；或者，同一条导向轨迹体上的相邻基准标记的间距相等，而不同导向轨迹体上的相邻基准标记的间距不相等。
在图5所示的另一种实现方式中，同样的，公共区域51和巷道区域53设有导向轨迹体54。公共区域51的导向轨迹体54和巷道区域53的导向轨迹体54具有多个基准标记，多个基准标记均匀地阵列式分布在公共区域51和巷道区域53的导向轨迹体54上。与图4不同，在图5所示的实现方式中，巷道区域53的每条导向轨迹体54包括均匀交替设置的不同颜色的色带(图中显示为黑灰色交替，在其他实施例中，例如还可以红黄色 等彩色交替)。在公共区域51内，仍由公共区域51中的导向轨迹体54与巷道区域53的各条导向轨迹体54的交点形成基准标记56；在巷道区域53内，不同颜色的色带的颜色变化边界形成基准标记57。
可以理解的，图4和图5仅示例性的提供了导向轨迹体54和基准标记56、57的两种具体实现方式，本申请并不仅限于此。
本申请的实施例中，导向轨迹体54和基准标记56、57例如可以采用油墨印刷、油墨打印、紫外油墨印刷或荧光油墨印刷等铺设在地面、墙面或货架表面，可以理解的，本申请并不仅限于此。
当上述移动载体为机器人时，在现有的一种相关技术中，上述机器人利用自身传感器采集的环境数据或行进数据完成导航。但是，考虑到机器人自身存在噪声误差，随着机器人的持续工作，噪声误差得以累积，导致机器人导航精度不高。
为了解决上述技术问题，本申请实施例提供了图6中所示的一种导航方法，以提高机器人的导航精度。
图6是根据本申请一实施例的导航方法的流程示意图，可由移动载体执行。移动载体可被构造为任何合适结构以完成相应业务功能，例如可以被构造为扫地机器人或仓储机器人等等。参阅图6所示，本实施例方法包括：
S61、获得移动载体的当前位置信息，根据所述当前位置信息及获取到的目标位置信息，沿着预置导向轨迹体移动，并向服务器发送所述当前位置信息。
预置预设导向轨迹体例如可以采用上面所述的方式设置，这里不再赘述。
在一些实施例中，可以获得基于对预设导向轨迹体的感知而生成的轨迹感知信息，并依据轨迹感知信息将移动载体的运动限定为沿着预设导向轨迹体进行。
在一些实施例中，移动载体可设置有成像装置，可被构造成任意形状的摄像头。成像装置可以用于拍摄导向轨迹体和/或基准标记。
移动载体在导向轨迹体上移动时，移动载体的成像装置不断捕获导向轨迹体的图像，生成轨迹图像信息。依据轨迹图像信息，移动载体可以获 得移动载体的当前运动方向与导向轨迹体之间的角度偏差量和/或移动载体的当前位置与导向轨迹体之间的位置偏差量，按照角度偏差量和/或位置偏差量校正移动载体的运动，从而可以使得移动载体沿着导向轨迹体运动，防止移动载体偏离导向轨迹体。其中，移动载体的当前运动方向例如可以由移动载体中设置的运动传感器感知获得。
在一些实施例中，移动载体设置有运动传感器，运动传感器被安装在移动载体合适的位置以感知移动载体的运动，从而生成相应的运动感知信息，例如移动载体的三轴姿态角、速度、加速度等。运动传感器可包括诸如惯性测量单元(Inertial Measurement Unit，IMU)、陀螺仪、磁场计、加速度计或速度计等。
在一些实施例中，在启动之前，移动载体位于初始位置区域。在启动之后，移动载体通过与服务器通信获得其初始位置，然后沿着预设导向轨迹体向工作区域移动。
在移动载体的移动过程中，运动传感器感知移动载体的实时运动，生成相应的运动感知信息，移动载体的处理器获得移动载体的运动感知信息，并依据当前时刻的运动感知信息和所存储的前面一个或多个时刻的当前位置信息计算出移动载体在当前时刻的当前预估位置信息。可以理解的，在另一实现方式中，可以根据移动载体的运动感知信息和对应预置地图中的原点位置信息计算出移动载体在当前时刻的当前预估位置信息。
在一些实施例中，当前位置信息随着移动载体的移动而变化。当前位置信息可被存放在移动载体中寄存器的某个变量中，每次更新不同地点的当前位置信息时，移动载体以当前时刻的当前位置信息迭代变量中前一时刻的当前位置信息，并向服务器发送迭代后的当前位置信息。
本申请的实施例中，当前位置信息可以包括当前地点的坐标数据、与其他地点的相对位置关系数据、机器人的当前三轴姿态角、或与其他地点的相对三轴姿态角关系数据等。
在一些实施例中，移动载体接收目标位置信息，根据所述目标位置信息使移动载体沿着预设导向轨迹体移动，直至到达目标位置；此过程中，移动载体获得当前位置信息，并向服务器发送当前位置信息，以便服务器了解移动载体的当前位置。可以理解的，目标位置信息可以是移动载体的 最终目标位置。
在一些实施例中，S61中所述获取的目标位置信息是移动载体与最终目标位置的路径上的一个中间位置，移动载体向服务器发送所述当前位置信息后，服务器向移动载体发送导航信息，即导航方法可选的还包括：
S62、接收服务器依据当前位置信息返回的导航信息，并依据导航信息控制移动载体的移动。
在一些实施例中，在移动载体将当前位置信息发送给服务器后，服务器依据接收到的当前位置信息和移动载体的目标位置生成导航信息，并将生成的导航信息发送给移动载体。
在一些实施例中，服务器可依据接收到的当前位置信息、移动载体的目标位置、以及所存储的移动载体的历史位置信息生成导航信息，并将生成的导航信息发送给移动载体。其中，服务器所存储的移动载体的历史位置信息包括移动载体在前一个或多个时刻的当前位置信息。
在一些实施例中，服务器生成的导航信息中包括转向信息。例如，当服务器判定移动载体位于公共区域且需要左转或右转到巷道区域时，向移动载体发送的导航信息中可包括相应的转向信息。移动载体接收到导航信息后，可以依据其中的转向信息减速并移至基准标记的中心，然后左转或右转入巷道区域继续沿导向轨迹体行进。
在一些实施例中，服务器生成的导航信息包括直行信息。例如，当服务器判定移动载体位于公共区域且未达到目标巷道区域时，或者，当服务器判定移动载体位于目标巷道区域但未达到目标货架或货物的位置时，向移动载体传输的导航信息中可包括直行信息。
在本申请的一些实施例中，S61中的获得所述移动载体的当前位置信息包括：在感知到预设基准标记时，获得移动载体的当前位置信息。
预设基准标记例如可以采用上面所述的方式设置，这里不再赘述。
在一些实施例中，基准标记设于导向轨迹体上或设于导向轨迹体附近，移动载体中可以设置一个成像装置，既用于捕获导向轨迹体的图像，也用于捕获基准标记的图像。在另一些实施例中，基准标记可以远离导向轨迹体设置，移动载体中可以设置两个成像装置分别用于捕获导向轨迹体的图像和基准标记的图像。
在一些实施例中，移动载体在感知到预设基准标记时，获取预设基准标记对应的预存基准标记位置信息，依据预存基准标记间距信息获得移动载体的当前位置信息。
在一个具体实例中，移动载体在一个工作区域中移动，该工作区域中采用相同的基准标记，且各对相邻基准标记的间距值均相同(例如为N1米)，移动载体中预存的基准标记的间距信息即为相邻基准标记的该间距值。移动载体沿着导向轨迹体移动的过程中,若成像装置感知到预定基准标记，则可知移动载体此时所处地点离前一个基准标记相距N1米；若依据此时所处地点对应的当前预估位置信息，此时所处地点离前一个基准标记相距N2米，则将当前位置信息从N2米对应的当前位置信息校正为N1米对应的当前位置信息。
在另一个具体实例中，移动载体在一个工作区域中移动，该工作区域中采用相同的基准标记，且各对相邻基准标记的间距值不完全相同，例如,在相邻的两对基准标记(N-1,N)和(N，N+1)中，相邻基准标记(N-1,N)的间距值为M1米,相邻基准标记(N，N+1)的间距值为M2米，移动载体中预存的基准标记的间距信息可包括各对相邻基准标记的间距值。移动载体沿着导向轨迹体移动的过程中,可对经过的基准标记进行计数，若成像装置感知到第N个基准标记，则依据计数可知移动载体此时所处地点在第N个基准标记，且此基准标记离前一个基准标记相距M1米；若依据此时所处地点对应的当前预估位置信息，此时所处地点离前一个基准标记相距M3米，则将当前位置信息从M3米对应的当前位置信息校正为M1米对应的当前位置信息。
在一些实施例中，移动载体在感知到预设基准标记时，获取预设基准标记对应的预存基准标记位置信息，依据预存基准标记位置信息获得移动载体的当前位置信息。
本申请中，预存基准标记位置信息可以是预存的地图数据中基准标记的坐标数据、或与其他地点的相对位置关系数据等。获取预设基准标记对应的预存基准标记位置信息可以是从预置的地图信息中读取出与预设基准标记对应的预存基准标记位置信息。其中地图信息可以预置在移动载体或者是服务器端。
在一些实施例中，移动载体在感知到预设基准标记时，依据运动感知信息获取移动载体的当前预估位置信息，根据当前预估位置信息获取预设基准标记对应的预存基准标记位置信息。作为一种选择，可以根据当前预估位置信息从预置的地图信息中读取与当前预估位置信息最接近的基准标记的预存基准标记位置信息。
在一些实施例中，移动载体在感知到预设基准标记时，获取基准标记间距信息及感知到的已经过的预设基准标记的个数；根据所述间距信息及所述预设基准标记的个数获取所述预设基准标记对应的预存基准标记信息。作为一种选择，可以根据间距信息及预设基准标记的个数计算得到所感知的预设基准标记的位置信息，然后从预置的地图信息中读取出与该位置信息对应的预存基准标记位置信息。
可以理解的，移动载体中预存的基准标记的间距信息不仅限于相邻基准标记的间距值，也可以是该间距值的多倍或其他有关信息。
在一些实施例中，移动载体在感知到预设基准标记时，依据所述预设基准标记的至少一个特征信息和移动载体的当前预估位置信息获取预设基准标记对应的预存基准标记位置信息。
在一些实施例中，在感知到所述预设基准标记时，依据所述预设基准标记的至少一个特征信息，从预存的多个基准标记间距信息中获得所述至少一个特征信息对应基准标记间距信息；并依据所述对应基准标记间距信息和移动载体的当前预估位置信息获取预设基准标记对应的预存基准标记位置信息。
预设基准标记的特征信息可以是工作区域类型信息，该工作区域类型信息可以由基准标记的图像特征信息(例如成像装置所捕获的表示基准标记的交点或交叉标记图像)表示。可以理解的，工作区域类型信息还可以由基准标记的其他特征信息表示；预设基准标记的特征信息还可以是工作区域类型信息之外的其他分类信息。
在一些实施例中，在感知到预设基准标记时，从所存储的至少两个工作区域的基准标记间距值中确定与预设基准标记对应的工作区域的基准标记间距值；以及按照所确定的基准标记间距值，获得当前位置信息。其中，至少两个工作区域的基准标记间距值可以不完全相同；或者，至少两 个工作区域的基准标记间距值相同。
在一个具体例子中，移动载体在第一区域和第二区域中移动，两个区域中采用不同的基准标记，每个区域内的各对相邻基准标记的间距值均相同，例如，第一区域可以是如上所述的公共区域，该区域中的基准标记为公共区域中的导向轨迹体与巷道区域的各条导向轨迹体的交点，相邻基准标记的间距值为P1米；第二区域可以是如上所述的巷道区域，该区域中的基准标记为导向轨迹体上间隔设置的交叉标记，相邻基准标记的间距值为P2米，且P1不等于P2。可以理解的，在其他例子中，第一区域和第二区域还可以是公共区域或巷道区域中的不同子区域。移动载体中预存的相邻基准标记的间距信息可包括间距值P1和P2，以及该两个间距值与第一区域、第二区域的对应关系。移动载体沿着导向轨迹体移动的过程中,当成像装置捕获到一个基准标记时，移动载体可以通过判断该基准标记是交点还是交叉标记而获知当前是处在公共区域还是巷道区域，并确定与该基准标记对应的间距值，并且，获取感知到的已经过的预设基准标记的个数，根据所确定的间距值和已经过的预设基准标记的个数计算得到所感知的预设基准标记的位置信息，然后从预置的地图信息中读取出与该位置信息对应的预存基准标记位置信息。
可以理解的，可以将上述例子扩展到移动载体在多于两个区域中移动的场景，同样可以实现对当前位置估计信息的校正和对于移动载体的准确导航。
在一些实施例中，根据预存基准标记位置信息获得所述移动载体的当前位置信息，可以消除所述当前预估位置信息中的偏差，并且以消除偏差后的信息迭代当前位置信息。其中，消除当前估计信息中的偏差例如可以包括以预存基准标记位置信息代替当前预估位置信息中的对应数据，和/或以对预存基准标记位置信息进行预定运算得到的运算结果作为移动载体的当前位置信息。
作为以对预存基准标记位置信息进行预定运算得到的运算结果的一种具体实现，移动载体的成像装置感知到基准标记时(表示此时移动载体移动到了基准标记附近)，根据运动感知信息和移动载体的原点计算出移动载体在当前时刻的当前预估位置信息X2；另外，移动载体从预存地图数据 中获得与基准标记对应的预存基准标记位置信息X1，移动载体还依据成像装置捕获的图像获得其自身位置与基准标记的偏差ΔX1,根据ΔX1和X1获得基于图像的移动载体位置X3,将X1、X2、X3按照预定方法(例如加权平均)进行融合计算，得到移动载体的当前位置信息X4。可以理解的，本申请中可以按预设间隔重复执行本例中的方法，对移动载体在当前时刻的当前位置估计信息X2不断进行校正。
可以理解的，在一些实施例中，预设导向轨迹体可以包括发光带和/或色带；预设导向轨迹体可以包括连续轨迹和/或不连续轨迹；预设导向轨迹体可以不完全相同或完全相同；预设导向轨迹体可以为相同颜色的色带或者为不同颜色交替设置的色带。
在一些实施例中，预设基准标记可以是图形、颜色变化边界、以及如符号、字符、数字、颜色等其他标记中的部分或全部。
在一些实施例中，预设基准标记具有不唯一性，例如，各预设基准标记可以是相同的图形标记(例如图4所示公共区域中的交点、巷道区域中的交叉标记等)、颜色变化边界(如图5所示巷道区域中的基准标记)、和/或相同的其他标记。
在另一些实施例中，各个预设基准标记也可以具有唯一性，例如，预设基准标记中可以包括该标记与其他标记相区别的标识信息。
本申请的一些实施例中，由于利用预设基准标记对当前位置估计信息进行校正，可以在基准标记处消除当前位置估计信息中的累进误差，使得服务器获得的移动载体的位置信息更加准确，因此可以提高导航精度。
图7示出本申请另一实施例的导航方法的流程示意图，由服务器执行，参阅图7，本实施例方法包括:
S71、向移动载体发送目标位置信息。
S72、接收所述移动载体的当前位置信息。
在一种实现方式中，在接收所述移动载体的当前位置信息前还包括：
接收所述移动载体发送的预设基准标记有关信息；
获取所述预设基准标记对应的预存基准标记位置信息；
向所述移动载体发送所述预存基准标记位置信息。
本申请中，预存基准标记位置信息可以是预存的地图数据中基准标记 的坐标数据、或与其他地点的相对位置关系数据等。获取预设基准标记对应的预存基准标记位置信息可以是从预置的地图信息中读取出与预设基准标记对应的预存基准标记位置信息。
作为一种选择，所述预设基准标记有关信息包括所述移动载体的当前预估位置信息；
所述获取所述预设基准标记对应的预存基准标记位置信息包括：获取所述当前预估位置信息对应的预存基准标记位置信息。
其中，可以根据当前预估位置信息从预置的地图信息中读取与当前预估位置信息最接近的基准标记的预存基准标记位置信息。
作为一种选择，所述预设基准标记有关信息包括所述移动载体已经过的预设基准标记的个数；
所述获取所述预设基准标记对应的预存基准标记位置信息包括：获取基准标记间距信息，根据所述基准标记间距信息及所述预设基准标记的个数获取所述预设基准标记对应的预存基准标记信息。
作为一种选择，所述预设基准标记有关信息包括所述移动载体的当前预估位置信息；
所述获取所述预设基准标记对应的预存基准标记位置信息包括：获取所述预设基准标记的至少一个特征信息，依据所述预估位置信息及所述至少一个特征信息获取对应的预存基准标记位置信息。
作为一种选择，所述预设基准标记有关信息包括所述预设基准标记类型及移动载体已经过的预设基准标记的个数；
所述获取所述预设基准标记对应的预存基准标记位置信息包括：根据所述预设基准标记类型确定基准标记间距信息，根据所述间距信息及所述预设基准标记的个数获取所述预设基准标记对应的预存基准标记信息。
本实施例中提及的特征可参考前面实施例中的相关描述，这里不再赘述。
图8和图9示出本申请另一些实施例提供的仓库地面的导向轨迹体和定位标记的布置示意图，其中，定位标记包括基准标记、参考标记以及初始化标记等。
图8的布置与图4类似，区别之处在于，图8中，在公共区域的各基 准标记56附近增设参考标记56a，在巷道区域的各条导向轨迹体54上增设至少一个初始化标记58，每个初始化标记58附近设置至少一个参考标记58a。在一些实施例中，在每条导向轨迹体的部分基准标记处设置初始化标记，例如，每条导向轨迹体可对应设置一个或更多个初始化标记；每个初始化标记附近可以设置一个或更多个参考标记，当设置多个参考标记时，多个参考标记可以如图8和图9中所示是相同的，可以理解的，多个参考标记也可以是不同的。
图9的布置与图5类似，区别之处在于，和图8一样，图9的实施例中也在图5的基础上在公共区域的基准标记56附近增设了参考标记56a，以及在巷道区域的各条导向轨迹体54上增设了初始化标记58及参考标记58a。
在一些实施例中，各初始化标记58相同，各初始化标记对应的参考标记58a不同，可以理解的，本申请不限于此。
在一些实施例中，初始化标记58设置在选定基准标记57附近并与预设导向轨迹体54有重叠，可被移动载体或者人工识别。例如，图8和图9中，初始化标记58是在基准标记57周围的方形标记。可以理解的，在其他实施例中，初始化标记58是在基准标记周围的其他形状的标记，例如圆形、三角形等，或者，初始化标记58可以设置在基准标记的其他附近位置。
可以理解的，初始化标记58也可设置在巷道区域内的其他位置；例如，可以设置在导向轨迹体54上非基准标记的位置，或者设置在导向轨迹体之外与导向轨迹体不重叠的位置。
在一些实施例中，公共区域的参考标记56由公共区域的导向轨迹体54的标识与巷道区域的各条导向轨迹体的标识组成；例如，图8和图9中，左边公共区域的导向轨迹体54的标识为“a”，巷道区域内自下而上各条导向轨迹体的标识分别为“1”、“2”、“3”、“4”，这样，公共区域中的导向轨迹体与巷道区域的各条导向轨迹体的交点形成的各基准标记56附近，可分别设置参考标记56a
Figure PCTCN2021094943-appb-000001
巷道区域内各导向轨迹体对应的初始化标记58的参考标记58a可以采用各条导向轨迹体的标识，例如“①”、“②”、“③”、“④”。可以理 解的，本申请不限于此，各参考标记也可采用移动载体可识别的图形、字符、条码、二维码等其他标记，例如，可以采用图10的示例中所示的标记。参考标记例如可以设置在与导向轨迹体相邻的货架上，可以是设于导向轨迹体的一侧，也可以设于导向轨迹体的两侧。
图11是本申请另一实施例提供的导航方法的流程图，由移动载体执行。参阅图11，本实施例方法包括：
S111、根据获取到的目标位置信息，沿着预设导向轨迹体移动。
其中，目标位置信息可以是服务器发送的。
可以理解的，可以参考前面实施例中S61的相关内容实现沿着预设导向轨迹体移动，这里不再赘述。
S112、判断移动载体的当前状态是否为失位，若是，则在移动至预设的初始化标记处后，获取所述移动载体的当前初始化位置信息。
本申请中，移动载体例如在初始位置区域充电后执行初始化程序。在执行初始化程序之后，若判断移动载体的当前状态为失位，则移动载体会执行重新初始化。
在一些实施例中，移动载体装设有第一成像装置和第二成像装置，其中，第一成像装置朝向地面，第二成像装置设置为能够扫描参考标记的方向。当第一成像装置扫描到预设校准标记时，判断第二成像装置是否感知到第一参考标记，若感知到，则判定当前不是失位状态，使移动载体继续沿着预设导向轨迹体移动，若未感知到，则判定当前是失位状态，触发移动载体重新初始化。
在另一些实施例中，移动载体装设有第一成像装置和第二成像装置，其中，第一成像装置朝向地面，第二成像装置设置为能够扫描参考标记的方向。当第一成像装置扫描到预设校准标记时，第二成像装置扫描与该预设校准标记对应的第一参考标记，生成第一成像信息，并依据第一成像信息判断第一参考标记与所述预设校准标记是否对应，若对应，则使移动载体继续沿着预设导向轨迹体移动，若不对应，则判定移动载体是失位状态，触发移动载体重新初始化。可以理解的，本申请中所称的对应包括两者的差别在预设范围内的情况。
在一个具体实现中，当第一成像装置扫描到预设校准标记时，移动载 体可获得其当前初始化位置信息，另外，移动载体还可依据第一成像信息获得第一参考标记的预存位置信息；通过判断该当前初始化位置信息与第一参考标记的预存位置信息可判断第一参考标记与所述预设校准标记是否对应。
可以理解的，移动载体的当前初始化位置信息可以参考前面实施例中的相关描述获得，此处不再赘述。
在另一些实施例中，当移动载体移动到估计具有预设校准标记处时，判断其成像装置是否感知到预设校准标记，若否，则判定移动载体的当前状态为失位。
在一个具体实现中，移动载体例如可按预设间隔获得其当前初始化位置信息，并与预存的地图数据进行比较，判断是否移动到估计具有预设校准标记处；其中预存的地图数据中可包括各预设校准标记的位置信息。
在另一些实施例中，当移动载体移动到估计具有预设校准标记处时，判断是否感知到预设校准标记且所感知的预设校准标记与所在位置对应，若否，则判定所述移动载体的当前状态为失位。
在一个具体实现中，各预设校准标记具有唯一性，移动载体例如可按预设间隔获得其当前初始化位置信息，并与预存的地图数据进行比较，判断是否移动到估计具有预设校准标记处，其中，预存的地图数据中可包括各预设校准标记的标识信息及对应的位置信息。若判断结果为是，则判断其成像装置是否感知到预设校准标记，若感知到，从预存的地图数据中获得该预设校准标记的位置信息，并进一步判断预设校准标记的位置信息是否与移动载体的当前初始化位置信息对应，若不对应，则判定移动载体是失位状态。
在另一些实施例中，若移动载体在移动过程中连续两次感知到预设校准标记时，均未感知到第一参考标记或者感知到的第一参考标记与感知到的预设校准标记不对应，则判定移动载体的当前状态为失位。
在另一些实施例中，若移动载体在移动过程中连续两次到达估计具有预设校准标记处时，均未感知到预设校准标记或者感知到的预设校准标记与所在位置不对应，则所述移动载体的当前状态为失位。
本申请中，预设校准标记可以是前述的基准标记。可以理解的，本申 请不限于此，例如，预设校准标记也可以是在基准标记之外另外设置的标记。
移动载体中可以预存仓库中各参考标记的位置信息。
本申请中，移动载体判断当前状态为失位时，移动至预设的初始化标记处。
在一些实施例中，若移动载体确定当前状态为失位，则使移动载体停止移动，并向服务器发送错误通知。服务器收到错误通知后，响应于错误通知，向移动载体发送控制命令。移动载体收到服务器的控制命令后，依据控制命令使移动载体沿着导向轨迹体移动至预设的初始化标记处。移动载体的第一成像装置扫描到初始化标记处后，第二成像装置尝试扫描初始化标记对应的第二参考标记，若扫描到第二参考标记，则生成第二成像信息，然后依据第二成像信息获得并向服务器发送移动载体的当前初始化位置信息，若第二成像装置未扫描到第二参考标记，则生成提示信息，维护人员可依据该提示信息在移动载体上人工输入移动载体的当前位置，移动载体向服务器发送人工输入的当前初始化位置信息。该当前初始化位置信息可包括第二参考标记相关信息，例如第二参考标记的标识信息、第二参考标记对应的位置信息等。
本申请中，第二参考标记与第一参考标记可以不同，也可以相同。
在另一些实施例中，若移动载体确定当前状态为失位，则向服务器发送错误通知。服务器收到错误通知后，响应于错误通知，向移动载体发送停止命令，另一方面服务器还向维护人员的用户终端发送维护通知，维护通知中可包括出错的移动载体的标识信息和/或位置相关信息，以便维护人员到达出错的移动载体处。移动载体收到服务器的停止命令后，依据停止命令使移动载体停止。维护人员到达出错的移动载体处后，将移动载体移动到附近的初始化标记处。移动载体的第一成像装置扫描到初始化标记处后，第二成像装置尝试扫描初始化标记对应的第二参考标记，若扫描到第二参考标记，则生成第二成像信息，然后依据第二成像信息获得并向服务器发送移动载体的当前初始化位置信息，若第二成像装置未扫描到第二参考标记，则生成提示信息，维护人员可依据该提示信息在移动载体上人工输入移动载体的当前位置，移动载体向服务器发送人工输入的当前初始化 位置信息，该当前初始化位置信息可包括第二参考标记相关信息，例如第二参考标记的标识信息、第二参考标记对应的位置信息等。可以理解的，移动载体确定当前状态为失位后，也可自行停止移动，而不需由服务器控制其停止移动。
在另一些实施例中，若移动载体确定符合重新初始化触发条件，则使移动载体沿着导向轨迹体移动至预设的初始化标记处，并向服务器发送错误通知。服务器收到错误通知后，响应于错误通知，向维护人员的用户终端发送维护通知，维护通知中可包括出错的移动载体的标识信息和/或位置相关信息，以便维护人员到达出错的移动载体处。移动载体的第一成像装置扫描到初始化标记处后，第二成像装置尝试扫描初始化标记对应的第二参考标记，若扫描到第二参考标记，则生成第二成像信息，然后依据第二成像信息获得并向服务器发送移动载体的当前初始化位置信息，若第二成像装置未扫描到第二参考标记，则生成提示信息，维护人员可依据该提示信息在移动载体人工输入移动载体的当前位置，移动载体向服务器发送人工输入的当前初始化位置信息。该当前初始化位置信息可包括第二参考标记相关信息，例如第二参考标记的标识信息、第二参考标记对应的位置信息等。
在另一些实施例中，若移动载体确定当前状态为失位，则使移动载体沿着导向轨迹体移动至预设校准标记处，并向服务器发送错误通知，错误通知中包括移动载体的位置相关信息。服务器收到错误通知后，响应于错误通知，向维护人员的用户终端发送维护通知，维护通知中可包括出错的移动载体的标识信息和/或位置相关信息，以便维护人员到达出错的移动载体处，将移动载体移动到初始化标记处。移动载体的第一成像装置扫描到初始化标记处后，第二成像装置尝试扫描初始化标记对应的第二参考标记，若扫描到第二参考标记，则生成第二成像信息，然后依据第二成像信息获得并向服务器发送移动载体的当前初始化位置信息，若第二成像装置未扫描到第二参考标记，则生成提示信息，维护人员可依据该提示信息在移动载体人工输入移动载体的当前位置，移动载体向服务器发送人工输入的当前初始化位置信息。该当前初始化位置信息可包括第二参考标记相关信息，例如第二参考标记的标识信息、第二参考标记对应的位置信息等。
可以理解的，在其他一些实施例中，维护人员可依据该提示信息在其他终端上人工输入移动载体的当前位置，其他终端向服务器发送人工输入的当前初始化位置信息。
在一个实现方式中，移动载体中未存储校准标记的位置信息，移动载体发送的错误通知中包括的移动载体的位置相关信息可以是移动载体的当前初始化位置信息。移动载体的当前初始化位置信息可以参考前面实施例中的相关描述获得，此处不再赘述。
在另一个实现方式中，移动载体中存储各校准标记的位置信息，例如各校准标记的坐标数据、与其他地点的相对位置关系数据等，移动载体发送给错误通知中包括的移动载体的位置相关信息可以是校准标记的位置信息。
S113、移动载体向服务器发送所述移动载体的当前初始化位置信息。
若确定是失位状态，移动载体在获取所述移动载体的当前初始化位置信息后向服务器发送移动载体的当前初始化位置信息。
在一些实施例中，移动载体向服务器发送的当前初始化位置信息可以包括初始化标记对应的第二参考标记的相关信息，例如第二参考标记的标识信息、和/或第二参考标记对应的位置信息等。
S114、移动载体接收服务器依据当前初始化位置信息发送的导航信息，并依据导航信息移动。
在一些实施例中，巷道区域内的各条导向轨迹体均只设单个对应的初始化标记，各条导向轨迹体对应的重新初始化标记相同，各条导向轨迹体对应的参考标记各不相同，服务器收到移动载体发送的当前初始化位置信息后，若依据所存储的地图信息确定对应导向轨迹体只有单个初始化标记，则服务器直接依据接收到的当前初始化位置信息和移动载体的目标位置生成导航信息，并将生成的导航信息发送给移动载体。
在一些实施例中，巷道区域内的每条导向轨迹体设两个以上重新初始化标记，各条导向轨迹体对应的初始化标记相同，每条导向轨迹体对应的两个以上参考标记相同，各导向轨迹体对应的参考标记不同，服务器收到移动载体发送的第二参考标记的标识信息后，若依据所存储的地图信息确定相应导向轨迹体有两个以上初始化标记，则服务器依据接收到的第二参 考标记的标识信息和所存储的移动载体的历史位置信息，确定移动载体在该导向轨迹体的哪个初始化标记处，依据所确定的初始化标记的位置信息和移动载体的目标位置生成导航信息，并将生成的导航信息发送给移动载体。
在一些实施例中，服务器生成的导航信息中包括转向信息。例如，当服务器判定移动载体位于公共区域且需要左转或右转到巷道区域时，向移动载体发送的导航信息中可包括相应的转向信息。移动载体接收到导航信息后，可以依据其中的转向信息减速并移至校准标记的中心，然后左转或右转入巷道区域继续沿导向轨迹体行进。
在一些实施例中，服务器生成的导航信息包括直行信息。例如，当服务器判定移动载体位于公共区域且未达到目标巷道区域时，或者，当服务器判定移动载体位于目标巷道区域但未达到目标货架或货物的位置时，向移动载体传输的导航信息中可包括直行信息。
可以理解的，上述图11的实施例方法可以结合到前面图6对应的导航方法中，这样，移动载体依据图6的方法运行时，若因失位等原因出错时，可按照上述的方法进行重新初始化，保证移动载体的可靠运行。
本申请一实施例还提供另一种导航方法，由服务器执行，包括：
S121、向移动载体发送目标位置信息；
S122、接收所述移动载体发送的错误通知；
S123、向所述移动载体和用户终端至少其中之一发送控制命令，以使所述移动载体移动至预设的初始化标记处。
在一些实施例中，所述错误通知中包括移动载体的位置相关信息；向用户终端发送的控制命令为维护通知，所述维护通知中包括所述位置相关信息。
在一些实施例中，还包括：
收移动载体的当前初始化位置信息，所述当前初始化位置信息对应于预设初始化标记；以及，
向所述移动载体发送依据所述当前初始化位置信息生成的导航信息。
可以理解的，由服务器执行的方法的实施例中提及的特征可参考前面实施例中的相关描述，这里不再赘述。
图12是根据本申请一示例性实施例示出的一种导航装置的结构示意图。导航装置500包括：至少一个处理器520；以及与至少一个处理器520通信连接的存储器510，存储器510存储有可执行代码，当可执行代码被至少一个处理器520执行时，使至少一个处理器520执行上述方法中的部分或全部。
处理器520可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
存储器510可以包括各种类型的存储单元，例如系统内存、只读存储器(ROM)，和永久存储装置。其中，ROM可以存储处理器520或者计算机的其他模块需要的静态数据或者指令。永久存储装置可以是可读写的存储装置。永久存储装置可以是即使计算机断电后也不会失去存储的指令和数据的非易失性存储设备。在一些实施方式中，永久性存储装置采用大容量存储装置(例如磁或光盘、闪存)作为永久存储装置。另外一些实施方式中，永久性存储装置可以是可移除的存储设备(例如软盘、光驱)。系统内存可以是可读写存储设备或者易失性可读写存储设备，例如动态随机访问内存。系统内存可以存储一些或者所有处理器在运行时需要的指令和数据。此外，存储器510可以包括任意计算机可读存储媒介的组合，包括各种类型的半导体存储芯片(DRAM，SRAM，SDRAM，闪存，可编程只读存储器)，磁盘和/或光盘也可以采用。在一些实施方式中，存储器510可以包括可读和/或写的可移除的存储设备，例如激光唱片(CD)、只读数字多功能光盘(例如DVD-ROM，双层DVD-ROM)、只读蓝光光盘、超密度光盘、闪存卡(例如SD卡、min SD卡、Micro-SD卡等等)、磁性软盘等等。计算机可读存储媒介不包含载波和通过无线或有线传输的瞬间电子信号。
本申请实施例还提供了一种非易失性计算机存储介质，计算机存储介质存储有计算机可执行指令，该计算机可执行指令被一个或多个处理器执 行，可使得上述一个或多个处理器可执行上述任意方法实施例中的导航方法。
本申请实施例还提供了一种计算机程序产品，计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，计算机程序包括程序指令，当程序指令被移动载体执行时，使移动载体执行任一项的导航方法；当程序指令被服务器执行时，使服务器执行任一项的导航方法。
以上所描述的装置或设备实施例仅仅是示意性的，其中作为分离部件说明的单元模块可以是或者也可以不是物理上分开的，作为模块单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络模块单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对相关技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，处理终端，或者网络设备等)执行各个实施例或者实施例的某些部分的方法。
本领域普通技术人员可以理解：实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可读取存储介质中。该程序在执行时，执行包括上述各方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (42)

  1. 一种导航方法，由移动载体执行，其特征在于，包括：
    根据获取到的目标位置信息，沿着预设导向轨迹体移动；
    判断所述移动载体的当前状态是否为失位，若是，则在移动至预设的初始化标记处后，获取所述移动载体的当前初始化位置信息。
  2. 如权利要求1所述的导航方法，其特征在于，还包括：
    向服务器发送所述移动载体的当前初始化位置信息；以及，
    接收所述服务器依据所述当前初始化位置信息发送的导航信息，并依据所述导航信息移动。
  3. 如权利要求1所述的导航方法，其特征在于，所述沿着预设导向轨迹体运行包括：
    使设置于所述移动载体的成像装置拍摄所述预设导向轨迹体，生成轨迹成像信息；
    依据所述轨迹成像信息获得所述移动载体的当前运动方向与所述预设导向轨迹体之间的角度偏差量和/或所述移动载体的当前位置与所述预设导向轨迹体之间的位置偏差量；以及，
    按照所述角度偏差量和/或位置偏差量校正所述移动载体的运行。
  4. 如权利要求1所述的导航方法，其特征在于，判断所述移动载体的当前状态是否为失位包括：
    当所述移动载体感知到预设校准标记时，判断是否感知到第一参考标记，若否，则判定所述移动载体的当前状态为失位；或者
    当所述移动载体感知到预设校准标记时，判断是否感知到第一参考标记且感知到的第一参考标记与所述预设校准标记对应，若否，则判定所述移动载体的当前状态为失位；或者
    当所述移动载体移动到估计具有预设校准标记处时，判断是否感知到预设校准标记，若否，则判定所述移动载体的当前状态为失位；或者
    当所述移动载体移动到估计具有预设校准标记处时，判断是否感知到预设校准标记且所感知的预设校准标记与所在位置对应，若否，则判定所述移动载体的当前状态为失位；或者
    若所述移动载体在移动过程中连续两次感知到预设校准标记时，均未感知到第一参考标记或者感知到的第一参考标记与感知到的预设校准标记不对应，则判定所述移动载体的当前状态为失位；或者
    若所述移动载体在移动过程中连续两次到达估计具有预设校准标记处时，均未感知到预设校准标记或者感知到的预设校准标记与所在位置不对应，则判定所述移动载体的当前状态为失位。
  5. 如权利要求1所述的导航方法，其特征在于，
    在判定所述移动载体的当前状态为失位后，还包括：停止移动，并向所述服务器发送错误通知；
    所述在移动至预设的初始化标记处后，获取所述移动载体的当前初始化位置信息包括：接收所述服务器响应于所述错误通知发送的控制命令，并依据所述控制命令沿着所述预设导向轨迹体移动至预设的初始化标记处；以及
    感知所述初始化标记对应的第二参考标记。
  6. 如权利要求1所述的导航方法，其特征在于，
    在判定所述移动载体的当前状态为失位后，还包括：向所述服务器发送错误通知，并停止移动；
    所述在移动至预设的初始化标记处后，获取所述移动载体的当前初始化位置信息包括：判断是否接收到开始初始化指令，若是，则感知初始化标记对应的第二参考标记。
  7. 如权利要求1所述的导航方法，其特征在于，所述在移动至预设的初始化标记处后，获取所述移动载体的当前初始化位置信息包括：
    沿着所述预设导向轨迹体移动至预设的初始化标记处；
    感知所述初始化标记对应的第二参考标记。
  8. 如权利要求1所述的导航方法，其特征在于，所述使所述移动载体在移动至预设的初始化标记处后，获取所述移动载体的当前初始化位置信息包括：
    沿着所述预设导向轨迹体移动至预设校准标记处停止，并向服务器发送错误通知；
    判断是否接收到开始初始化指令，若是，则感知所述初始化标记对应的第二参考标记。
  9. 如权利要求1所述的导航方法，其特征在于，所述获取所述移动载体的当前初始化位置信息包括：
    判断是否感知到重新初始化标记对应的第二参考标记，若是，获取所述第二参考标记相关信息，否则，获取接收到的当前初始化位置信息。
  10. 如权利要求1至9任一项所述的导航方法，其特征在于，所述初始化标记与所述预设导向轨迹体有重叠；或者，所述初始化标记与所述预设导向轨迹体不重叠。
  11. 如权利要求3或4所述的导航方法，其特征在于，所述初始化标记设于多个所述预设校准标记中的部分校准标记处。
  12. 如权利要求1至9任一项所述的导航方法，其特征在于，所述预设导向轨迹体包括：发光带、颜色一致的色带、和/或不同颜色交替设置的色带。
  13. 如权利要求1至9任一项所述的导航方法，其特征在于，所述预设校准标记具有不唯一性，所述预设校准标记包括符号、字符、数字、颜色、图形、颜色变化边界中的部分或全部。
  14. 如权利要求5至8任一项所述的导航方法，其特征在于，不同位置处的初始化标记相同，不同位置处的初始化标记对应的第二参考标记不同。
  15. 如权利要求5至8任一项所述的导航方法，其特征在于，所述移动载体装设有两个成像装置，所述初始化标记和/或所述预设导向轨迹体由其中一个成像装置感知，所述第二参考标记由其中另一个成像装置感知。
  16. 一种导航方法，由服务器执行，其特征在于，包括：
    向移动载体发送目标位置信息；
    接收所述移动载体发送的错误通知；
    向所述移动载体和用户终端至少其中之一发送控制命令，以使所述移动载体移动至预设的初始化标记处。
  17. 如权利要求16所述的导航方法，其特征在于，
    所述错误通知中包括移动载体的位置相关信息；
    向用户终端发送的控制命令为维护通知，所述维护通知中包括所述位置相关信息。
  18. 如权利要求16或17所述的导航方法，其特征在于，还包括：
    接收移动载体的当前初始化位置信息，所述当前初始化位置信息对应于 预设初始化标记；以及，
    向所述移动载体发送依据所述当前初始化位置信息生成的导航信息。
  19. 一种导航方法，由移动载体执行，其特征在于，包括:
    获得所述移动载体的当前位置信息，根据所述当前位置信息及获取到的目标位置信息，沿预设导向轨迹体进行移动；
    向服务器发送所述当前位置信息。
  20. 如权利要求19所述的方法，其特征在于，所述获得所述移动载体的当前位置信息包括：
    在感知到预设基准标记时，获得所述移动载体的当前位置信息。
  21. 如权利要求20所述的方法，其特征在于，所述获得所述移动载体的当前位置信息包括：
    在感知到所述预设基准标记时，获取所述预设基准标记对应的预存基准标记位置信息；
    根据所述预存基准标记位置信息获得所述移动载体的当前位置信息。
  22. 如权利要求21所述的方法，其特征在于，所述获取所述预设基准标记对应的预存基准标记位置信息包括：
    获取所述移动载体的当前预估位置信息，根据所述当前预估位置信息获取所述预设基准标记对应的预存基准标记位置信息。
  23. 如权利要求21所述的方法，其特征在于，所述获取所述预设基准标记对应的预存基准标记位置信息包括：
    在感知到所述预设基准标记时，获取基准标记间距信息及感知到的已经过的预设基准标记的个数；
    根据所述间距信息及所述预设基准标记的个数获取所述预设基准标记对应的预存基准标记信息。
  24. 如权利要求21所述的方法，其特征在于，所述获取所述预设基准标记对应的预存基准标记位置信息包括：
    获取所述移动载体的当前预估位置信息及所述预设基准标记的至少一个特征信息；
    依据所述预估位置信息及所述至少一个特征信息获取所述预设基准标记对应的预存基准标记位置信息。
  25. 如权利要求21所述的方法，其特征在于，所述获取所述预设基准标记对应的预存基准标记位置信息包括：
    在感知到所述预设基准标记时，获取所述预设基准标记类型及感知到的已经过的预设基准标记的个数；
    根据所述预设基准标记类型确定基准标记间距信息；
    根据所述间距信息及所述预设基准标记的个数获取所述预设基准标记对应的预存基准标记信息。
  26. 如权利要求21所述的方法，其特征在于，所述根据所述预存基准标记位置信息获得所述移动载体的当前位置信息包括：
    以预存基准标记位置信息作为所述移动载体的当前位置信息；或
    以对预存基准标记位置信息进行预定运算得到的运算结果作为移动载体的当前位置信息。
  27. 根据权利要求26所述的导航方法，其特征在于，所述以对预存的基准标记位置信息进行预定运算得到的运算结果作为移动载体的当前位置信息包括：
    获取移动载体的当前预估位置信息；
    根据所述当前预估位置信息从预置地图信息中获得与所述基准标记对应的预存基准标记位置信息；
    根据成像装置捕获的图像获得移动载体的自身位置与所述基准标记的偏差；
    根据所述预存基准标记位置信息和所述偏差获得基于图像的移动载体位置,将所述预存基准标记位置信息、当前预估位置信息、基于图像的移动载体位置按照预定方法进行融合计算，得到移动载体的当前位置信息。
  28. 如权利要求21所述的导航方法，其特征在于，所述沿预设导向轨迹体进行移动包括：
    基于对预设导向轨迹体的感知生成轨迹感知信息；以及
    依据所述轨迹感知信息将所述移动载体的运动限定为沿着所述预设导向轨迹体进行。
  29. 如权利要求21所述的导航方法，其特征在于，所述沿着预设导向轨迹体包括：
    设置于所述移动载体的成像装置感知所述预设导向轨迹体生成轨迹图像信息；
    依据所述轨迹图像信息获得所述移动载体的当前运动方向与所述预设导向轨迹体之间的角度偏差量和/或所述移动载体的当前位置与所述预设导向轨迹体之间的位置偏差量；以及，
    按照所述角度偏差量和/或位置偏差量校正所述移动载体的运行。
  30. 如权利要求19至29任一项所述的导航方法，其特征在于，所述预设导向轨迹体包括：发光带、颜色一致的色带、和/或不同颜色交替设置的色带。
  31. 如权利要求19至29任一项所述的导航方法，其特征在于，所述预设导向轨迹体是连续轨迹和/或不连续轨迹，所述预设导向轨迹体部分相同或全部相同、交替设置的不同颜色的色带。
  32. 如权利要求20至29任一项所述的导航方法，其特征在于，所述预设基准标记具有不唯一性。
  33. 如权利要求32所述的导航方法，其特征在于，所述预设基准标记包括符号、字符、数字、颜色、图形、颜色变化边界中的部分或全部。
  34. 一种导航方法，由服务器执行，其特征在于，包括：
    向移动载体发送目标位置信息；
    接收所述移动载体发送的当前位置信息。
  35. 如权利要求34所述的导航方法，其特征在于，在接收所述移动载体发送的当前位置信息还包括：
    接收所述移动载体发送的预设基准标记有关信息；
    获取所述预设基准标记对应的预存基准标记位置信息；
    向所述移动载体发送所述预存基准标记位置信息。
  36. 如权利要求35所述的导航方法，其特征在于，所述获取所述预设基准标记对应的预存基准标记位置信息包括：
    从预置的地图信息中读取出与预设基准标记对应的预存基准标记位置信息。
  37. 如权利要求35所述的导航方法，其特征在于，
    所述预设基准标记有关信息包括所述移动载体的当前预估位置信息；
    所述获取所述预设基准标记对应的预存基准标记位置信息包括：获取所述当前预估位置信息对应的预存基准标记位置信息。
  38. 如权利要求37所述的导航方法，其特征在于，所述获取所述当前预估位置信息对应的预存基准标记位置信息包括：
    从预置的地图信息中读取与当前预估位置信息最接近的基准标记的预存基准标记位置信息。
  39. 如权利要求35所述的导航方法，其特征在于，
    所述预设基准标记有关信息包括所述移动载体已经过的预设基准标记的个数；
    所述获取所述预设基准标记对应的预存基准标记位置信息包括：获取基准标记间距信息，根据所述基准标记间距信息及所述预设基准标记的个数获取所述预设基准标记对应的预存基准标记信息。
  40. 如权利要求35所述的导航方法，其特征在于，
    所述预设基准标记有关信息包括所述移动载体的当前预估位置信息；
    所述获取所述预设基准标记对应的预存基准标记位置信息包括：获取所述预设基准标记的至少一个特征信息，依据所述预估位置信息及所述至少一个特征信息获取对应的预存基准标记位置信息。
  41. 如权利要求35所述的导航方法，其特征在于，
    所述预设基准标记有关信息包括所述预设基准标记类型及移动载体已经过的预设基准标记的个数；
    所述获取所述预设基准标记对应的预存基准标记位置信息包括：根据所述预设基准标记类型确定基准标记间距信息，根据所述间距信息及所述预设基准标记的个数获取所述预设基准标记对应的预存基准标记信息。
  42. 一种导航装置，其特征在于，包括：
    至少一个处理器；以及
    与所述至少一个处理器通信连接的至少一个存储器，所述至少一个存储器存储有可执行代码，当所述可执行代码被所述至少一个处理器执行时，使所述至少一个处理器执行如权利要求1至41中任一项所述的方法。
PCT/CN2021/094943 2020-05-21 2021-05-20 导航方法及导航装置 WO2021233388A1 (zh)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP21807612.3A EP4137906A4 (en) 2020-05-21 2021-05-20 NAVIGATION METHOD AND NAVIGATION DEVICE
KR1020227040341A KR20230004695A (ko) 2020-05-21 2021-05-20 내비게이션 방법, 내비게이션 장치, 저장 매체 및 컴퓨터 프로그램
JP2022569118A JP7426508B2 (ja) 2020-05-21 2021-05-20 ナビゲーション方法、ナビゲーション装置、記憶媒体及びプログラム
US18/054,997 US20230075332A1 (en) 2020-05-21 2022-11-14 Navigation method, navigation apparatus and non-volatile computer storage medium

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202010434284.0A CN111578930B (zh) 2020-05-21 2020-05-21 导航方法及导航装置
CN202010434283.6A CN111552297B (zh) 2020-05-21 2020-05-21 导航方法及导航装置
CN202010434284.0 2020-05-21
CN202010434283.6 2020-05-21

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US18/054,997 Continuation US20230075332A1 (en) 2020-05-21 2022-11-14 Navigation method, navigation apparatus and non-volatile computer storage medium

Publications (1)

Publication Number Publication Date
WO2021233388A1 true WO2021233388A1 (zh) 2021-11-25

Family

ID=78708104

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/094943 WO2021233388A1 (zh) 2020-05-21 2021-05-20 导航方法及导航装置

Country Status (5)

Country Link
US (1) US20230075332A1 (zh)
EP (1) EP4137906A4 (zh)
JP (1) JP7426508B2 (zh)
KR (1) KR20230004695A (zh)
WO (1) WO2021233388A1 (zh)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4899285A (en) * 1986-06-26 1990-02-06 Nissan Motor Company, Limited System and method for measuring a position of a moving object with a hybrid navigation apparatus
CA2279877C (en) * 1996-02-05 2005-09-06 Kelvin Korver A navigation/guidance system for a land-based vehicle
CN104181926A (zh) * 2014-09-17 2014-12-03 上海畔慧信息技术有限公司 机器人的导航控制方法
CN107422355A (zh) * 2016-05-24 2017-12-01 曦恩体感科技股份有限公司 混合定位方法和电子装置
CN110361011A (zh) * 2019-08-27 2019-10-22 国以贤智能科技（上海）有限公司 视觉导航的方法、装置、设备及存储介质
CN110703745A (zh) * 2019-09-10 2020-01-17 上海快仓智能科技有限公司 自动引导车的导航
CN111552297A (zh) * 2020-05-21 2020-08-18 深圳市海柔创新科技有限公司 导航方法及导航装置
CN111578930A (zh) * 2020-05-21 2020-08-25 深圳市海柔创新科技有限公司 导航方法及导航装置

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110294436B (zh) * 2015-05-06 2021-02-09 克朗设备公司 用于工业车辆操作的标签布局
US20170329347A1 (en) * 2016-05-11 2017-11-16 Brain Corporation Systems and methods for training a robot to autonomously travel a route
JP7024167B2 (ja) * 2019-04-04 2022-02-24 シャンハイ クイックトロン インテリジェント テクノロジー カンパニー リミテッド ナビゲーション制御方法、スマート倉庫システム及び無人搬送車

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4899285A (en) * 1986-06-26 1990-02-06 Nissan Motor Company, Limited System and method for measuring a position of a moving object with a hybrid navigation apparatus
CA2279877C (en) * 1996-02-05 2005-09-06 Kelvin Korver A navigation/guidance system for a land-based vehicle
CN104181926A (zh) * 2014-09-17 2014-12-03 上海畔慧信息技术有限公司 机器人的导航控制方法
CN107422355A (zh) * 2016-05-24 2017-12-01 曦恩体感科技股份有限公司 混合定位方法和电子装置
CN110361011A (zh) * 2019-08-27 2019-10-22 国以贤智能科技（上海）有限公司 视觉导航的方法、装置、设备及存储介质
CN110703745A (zh) * 2019-09-10 2020-01-17 上海快仓智能科技有限公司 自动引导车的导航
CN111552297A (zh) * 2020-05-21 2020-08-18 深圳市海柔创新科技有限公司 导航方法及导航装置
CN111578930A (zh) * 2020-05-21 2020-08-25 深圳市海柔创新科技有限公司 导航方法及导航装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4137906A4 *

Also Published As

Publication number Publication date
EP4137906A4 (en) 2023-11-01
JP7426508B2 (ja) 2024-02-01
KR20230004695A (ko) 2023-01-06
US20230075332A1 (en) 2023-03-09
JP2023524894A (ja) 2023-06-13
EP4137906A1 (en) 2023-02-22

Similar Documents

Publication Publication Date Title
CN105775540B (zh) 一种磁条导引车辆的存取托盘控制方法
KR101323705B1 (ko) 무인 화물 이송로봇을 이용한 무인 화물 이송시스템
WO2017066870A1 (en) Vision-based system for navigating a robot through an indoor space
KR20180127709A (ko) 이동 로봇 및 이의 제어 방법
WO2020220604A1 (zh) 一种多agv系统动态障碍物实时避障方法及避障系统
TWI671610B (zh) 自動引導車、自動引導車控制系統、以及自動引導車之控制方法
US20220128998A1 (en) Navigation method, moving carrier and navigation system
JP2012084149A (ja) モバイル機器のナビゲーション
CN111552297B (zh) 导航方法及导航装置
CN111578930B (zh) 导航方法及导航装置
US20240231377A1 (en) Robot control method, robot, and storage medium
WO2021233388A1 (zh) 导航方法及导航装置
CA2957380C (en) Vision-based system for navigating a robot through an indoor space
CN109828569A (zh) 一种基于2d-slam导航的智能agv叉车
JP2002132344A (ja) 移動体の誘導方法
CN112208676B (zh) 置货容器的调整方法、装置和搬运设备
US11305786B2 (en) Maintaining consistent sensor output
TW202105109A (zh) 移動機器人、移動機器人之控制系統及移動機器人之控制方法
JP5302530B2 (ja) 物流機械の移動量検知装置
CN110980084A (zh) 仓储系统及相关方法
US20230192116A1 (en) Vehicle control with incomplete calibration
JP2023080729A (ja) 走行車システム、及びマーカのズレ量検出方法
JP7366107B2 (ja) 自律型搬送装置
TWI615696B (zh) 無人搬運系統及其操作方法
JP2020107116A (ja) 自律移動体

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21807612

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2022569118

Country of ref document: JP

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 20227040341

Country of ref document: KR

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 2021807612

Country of ref document: EP

Effective date: 20221116

NENP Non-entry into the national phase

Ref country code: DE