WO2022068366A1 - Procédé et appareil de construction de carte, dispositif et support de stockage - Google Patents

Procédé et appareil de construction de carte, dispositif et support de stockage Download PDF

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Publication number
WO2022068366A1
WO2022068366A1 PCT/CN2021/109683 CN2021109683W WO2022068366A1 WO 2022068366 A1 WO2022068366 A1 WO 2022068366A1 CN 2021109683 W CN2021109683 W CN 2021109683W WO 2022068366 A1 WO2022068366 A1 WO 2022068366A1
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WO
WIPO (PCT)
Prior art keywords
map data
fixed object
fixed
environment
marked
Prior art date
Application number
PCT/CN2021/109683
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English (en)
Chinese (zh)
Inventor
张广鹏
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灵动科技（北京）有限公司
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Publication date
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Publication of WO2022068366A1 publication Critical patent/WO2022068366A1/fr

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    • 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
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • 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
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping

Definitions

  • the invention relates to the field of logistics technology, and in particular, to a map construction method, device, equipment and storage medium.
  • the movable device will pre-establish map data of the environment in which it is located, and then plan a route in the environment to move based on the map data.
  • temporary obstacles that are not marked in the map data are often encountered.
  • the movable device detects such an obstacle on the travel route, the relative position between the obstacle and the movable device is determined, and a temporary obstacle avoidance operation is performed based on the relative position.
  • Each temporary obstacle avoidance operation consumes the computing resources and time resources of the mobile device, which reduces the work efficiency of the mobile device.
  • Embodiments of the present invention provide a map construction method, apparatus, device and storage medium, so as to save the overhead of computing resources and time resources of a movable device and improve the working efficiency of the movable device.
  • an embodiment of the present invention provides a map construction method, the method comprising:
  • the location information is sent to a control device, so that the control device updates the map data based on the location information, and returns the updated map data to the movable device.
  • whether there are fixed objects that have not been marked in the map data in the detection environment including:
  • identifying whether there are fixed objects that have not been marked in the map data in the environment through visual recognition technology including:
  • the any object remains stationary within the preset time, the any object is determined to be an unmarked fixed object in the map data.
  • the method further includes:
  • the outline information of the fixed object is sent to the control device, so that the control device adds the outline information of the fixed object to the map data.
  • the determining the outline information of the fixed object includes:
  • the fixed object is scanned by the laser radar technology to obtain contour information of the fixed object.
  • an embodiment of the present invention provides a map construction device, including:
  • the acquisition module is used to acquire map data
  • a detection module used for detecting whether there are fixed objects not marked in the map data in the environment during the movement
  • a determining module configured to determine the location information of the fixed object in the map data if the fixed object is detected
  • the sending module is configured to send the location information to the control device, so that the control device updates the map data based on the location information, and shares the updated map data with all available data managed by the control device.
  • Mobile devices are configured to send the location information to the control device, so that the control device updates the map data based on the location information, and shares the updated map data with all available data managed by the control device.
  • the detection module is used for:
  • the detection module is used for:
  • the any object remains stationary within the preset time, the any object is determined to be an unmarked fixed object in the map data.
  • the device further includes an adding module, the adding module is used for:
  • the outline information of the fixed object is sent to the control device, so that the control device adds the outline information of the fixed object to the map data.
  • the adding module is used for:
  • the fixed object is scanned by the laser radar technology to obtain contour information of the fixed object.
  • an embodiment of the present invention provides an electronic device, which includes a processor and a memory, wherein executable code is stored on the memory, and when the executable code is executed by the processor, the The processor may implement at least the map construction method of the first aspect.
  • an embodiment of the present invention provides a non-transitory machine-readable storage medium, where executable code is stored on the non-transitory machine-readable storage medium, and when the executable code is executed by a processor of an electronic device When executed, the processor can at least implement the map construction method in the first aspect.
  • the location information of the fixed object in the map data can be determined, and then the location information can be sent to the control device, so that The control device can update the map data based on the location information, and return the updated map data to the movable device.
  • the fixed object can be integrated into the map data, so that it is not necessary to repeatedly identify the fixed object and perform obstacle avoidance operations on the fixed object.
  • FIG. 1 is a schematic flowchart of a map construction method according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of a travel route planning result provided by an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a map construction device according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
  • the words “if”, “if” as used herein may be interpreted as “at” or “when” or “in response to determining” or “in response to detecting”.
  • the phrases “if determined” or “if detected (the stated condition or event)” can be interpreted as “when determined” or “in response to determining” or “when detected (the stated condition or event),” depending on the context )” or “in response to detection (a stated condition or event)”.
  • FIG. 1 is a flowchart of a map construction method provided by an embodiment of the present invention. As shown in FIG. 1 , the method includes the following steps:
  • the mobile device when the mobile device enters a new environment, the mobile device can construct the geographical situation of the environment in which it is located through the map construction technology, so as to obtain map data of the environment in which it is located. Or, if there are multiple mobile devices in the same environment, you can have one of the mobile devices build the map data, then send that map data to the control device, which then shares the map data with all the mobile devices it manages , so that other mobile devices can obtain the map data of the environment in which they are located without the need to construct the map data.
  • the locations of initial obstacles that have appeared in the environment before the map is constructed are marked in the map data.
  • the mobile device can plan a travel route from its current location to the destination location in which the initial obstacle has been circumvented early .
  • the above process of detecting whether there are fixed objects that are not marked in the map data in the environment can be implemented as: identifying whether there are fixed objects that are not marked in the map data in the environment through visual recognition technology.
  • the fixed object may be, for example, goods.
  • visual recognition technology it is possible to identify whether there are short-term objects such as goods that are not marked in the map data in the environment.
  • the above-mentioned process of recognizing whether there is an unmarked fixed object in the map data through the visual recognition technology can be implemented as follows: through the visual recognition technology, identify any object that has not been marked in the map data in the environment and judge. Whether any object remains stationary within the preset time; if any object remains stationary within the preset time, any object is determined as an unmarked fixed object in the map data.
  • the unmarked object X in the map data in the environment can be recognized through visual recognition technology. Detect the position of the object X, if the position of the detected object X does not change within the preset time, it can be considered that the object X remains stationary within the preset time, then the object X can be determined as not in the map data. Annotated fixed objects. Conversely, if the detected position of the object X changes within the preset time, it can be considered that the object X is not stationary within the preset time, so there is no need to determine the object X as not marked in the map data.
  • the fixed object, the object X may be a person entering the environment or other movable device that is moving, etc.
  • the movable device After acquiring the location information of the fixed object, the movable device can send the location information to the control device, so that the control device updates the map data based on the location information, and returns the updated map data to the movable device.
  • the movable device knows the location of the temporarily stored goods in the map data in advance.
  • it can plan a travel route to avoid the temporarily stored goods in advance according to the location of the temporarily stored goods. In this way, in the process of moving based on the travel route, the movable device does not need to perform an obstacle avoidance operation on the temporarily stored goods.
  • control device manages multiple movable devices at the same time, when one of the movable devices W sends the position information of the fixed object to the control device, the control device can update the map data based on the position information sent by the movable device W. The control device can then share the updated map data to all removable devices it manages. In this way, it is possible to prevent each movable device from updating the map data after encountering the fixed object, and also to allow the movable device that has not encountered the fixed object to plan a travel route to avoid the fixed object in advance.
  • the actual object may occupy a certain space in the actual space, and the space occupied by the object in the actual space may also be marked in the map data.
  • the outline information of the fixed object can be collected, the outline information of the fixed object can be sent to the control device, so that the control device adds the outline information of the fixed object to the map data.
  • the contour information of the fixed object cannot be collected, the default contour information can be used to represent the actual contour information of the fixed object. It can be understood that, if the outline information of the fixed object can be collected, the route planning operation based on the outline information of the fixed object will be more accurate.
  • the above process of determining the outline information of the fixed object may include: scanning the fixed object by using the laser radar technology to obtain the outline information of the fixed object.
  • the location information of the fixed object in the map data can be determined, and then the location information can be sent to the control device, so that The control device can update the map data based on the location information, and return the updated map data to the movable device.
  • the fixed object can be integrated into the map data, so that it is not necessary to repeatedly identify the fixed object and perform obstacle avoidance operations on the fixed object.
  • map construction apparatus of one or more embodiments of the present invention will be described in detail below. Those skilled in the art can understand that these map building apparatuses can be configured by using commercially available hardware components through the steps taught in this solution.
  • FIG. 3 is a schematic structural diagram of a map construction device according to an embodiment of the present invention. As shown in FIG. 3 , the device includes:
  • the detection module 32 is used to detect whether there is a fixed object that has not been marked in the map data in the environment during the movement;
  • a determining module 33 configured to determine the location information of the fixed object in the map data if the fixed object is detected
  • the sending module 34 is configured to send the location information to the control device, so that the control device can update the map data based on the location information, and share the updated map data with all parties managed by the control device. removable device.
  • the detection module 32 is used for:
  • the detection module 32 is used for:
  • the any object remains stationary within the preset time, the any object is determined to be an unmarked fixed object in the map data.
  • the device further includes an adding module, the adding module is used for:
  • the outline information of the fixed object is sent to the control device, so that the control device adds the outline information of the fixed object to the map data.
  • the adding module is used for:
  • the fixed object is scanned by the laser radar technology to obtain contour information of the fixed object.
  • the apparatus shown in FIG. 3 may execute the map construction method provided in the embodiments shown in the foregoing FIG. 1 to FIG. 2 .
  • the apparatus shown in FIG. 3 may execute the map construction method provided in the embodiments shown in the foregoing FIG. 1 to FIG. 2 .
  • the structure of the map construction apparatus shown in FIG. 3 may be implemented as an electronic device.
  • the electronic device may include: a processor 91 and a memory 92 .
  • executable codes are stored in the memory 92, and when the executable codes are executed by the processor 91, the processor 91 can at least implement the steps provided in the embodiments shown in the foregoing FIG. 1 to FIG. 2 . map construction method.
  • the electronic device may further include a communication interface 93 for communicating with other devices.
  • an embodiment of the present invention provides a non-transitory machine-readable storage medium, where executable codes are stored on the non-transitory machine-readable storage medium, and when the executable codes are executed by a processor of an electronic device , so that the processor can at least implement the map construction method provided in the embodiments shown in the foregoing FIG. 1 to FIG. 2 .
  • the map construction method provided by the embodiment of the present invention may be executed by a certain program/software, the program/software may be provided by the network side, and the electronic device mentioned in the foregoing embodiment may download the program/software to a local non-easy In the volatile storage medium, and when it needs to execute the above-mentioned map construction method, the program/software is read into the memory by the CPU, and then the program/software is executed by the CPU to realize the map construction method provided in the foregoing embodiment.
  • the execution process may refer to the schematic diagrams in the aforementioned FIG. 1 to FIG. 2 .

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Abstract

Procédé et appareil de construction de carte, et dispositif et support de stockage. Le procédé de construction de carte comprend les étapes consistant à : obtenir des données de carte (101) ; pendant le mouvement, détecter si un objet fixe qui n'est pas annoté dans les données de carte existe dans un environnement (102) ; si l'objet fixe est détecté, déterminer des informations de position de l'objet fixe dans les données de carte (103) ; et envoyer les informations de position à un dispositif de commande, de telle sorte que le dispositif de commande met à jour les données de carte sur la base des informations de position, et renvoie les données de carte mises à jour à un dispositif mobile (104). Lorsque l'objet fixe qui n'est pas annoté dans les données de carte est trouvé pour la première fois, l'objet fixe peut être fusionné dans les données de carte, de telle sorte qu'il n'est pas nécessaire de reconnaître de manière répétée l'objet fixe et d'effectuer une opération d'évitement d'obstacle sur l'objet fixe. Ainsi, la ressource informatique du dispositif mobile et le surdébit de la ressource temporelle peuvent être économisés, et l'efficacité de travail du dispositif mobile est améliorée.
PCT/CN2021/109683 2020-09-30 2021-07-30 Procédé et appareil de construction de carte, dispositif et support de stockage WO2022068366A1 (fr)

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CN202011065022.8A CN112197763B (zh) 2020-09-30 2020-09-30 地图构建方法、装置、设备和存储介质
CN202011065022.8 2020-09-30

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CN112197763B (zh) * 2020-09-30 2024-02-27 灵动科技（北京）有限公司 地图构建方法、装置、设备和存储介质

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