WO2022247899A1 - Procédé et appareil de planification d'itinéraire de déplacement, support d'enregistrement et appareil mobile - Google Patents

Procédé et appareil de planification d'itinéraire de déplacement, support d'enregistrement et appareil mobile Download PDF

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Publication number
WO2022247899A1
WO2022247899A1 PCT/CN2022/095190 CN2022095190W WO2022247899A1 WO 2022247899 A1 WO2022247899 A1 WO 2022247899A1 CN 2022095190 W CN2022095190 W CN 2022095190W WO 2022247899 A1 WO2022247899 A1 WO 2022247899A1
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WIPO (PCT)
Prior art keywords
driving route
mobile device
automatic navigation
navigation mobile
steering
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PCT/CN2022/095190
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English (en)
Chinese (zh)
Inventor
张文君
范小军
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北京迈格威科技有限公司
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Publication of WO2022247899A1 publication Critical patent/WO2022247899A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisions for transferring data to distant stations, e.g. from a sensing device
    • G06K17/0025—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisions for transferring data to distant stations, e.g. from a sensing device the arrangement consisting of a wireless interrogation device in combination with a device for optically marking the record carrier
    • 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
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries

Definitions

  • the present application relates to the technical field of intelligent control, in particular, to a driving route planning method, device, storage medium and mobile device.
  • AGV Automated Guided Vehicle, automatic guided vehicle
  • other moving vehicles are widely used in fields such as e-commerce and smart factories to transport goods stored in warehouses.
  • Two-dimensional codes are set on the ground in these areas.
  • the transport vehicles plan the driving route by recognizing the two-dimensional code on the ground, and complete the connection of goods according to the driving route.
  • planning the driving route based on the two-dimensional code on the ground cannot determine the space conditions on the driving route, which may cause the truck to collide with the limit bracket in the driving area, causing safety accidents.
  • the problem solved by this application is how to improve the safety of the automatic navigation mobile device during driving.
  • the present application provides a driving route planning method, device, storage medium and automatic navigation mobile device.
  • the embodiment of the present application provides a driving route planning method, including:
  • the configuration file including the movement restriction conditions of the automatic navigation mobile device at each position in the marked area;
  • the checking according to the configuration file whether the automatic navigation mobile device satisfies the movement restriction condition of the corresponding location when driving according to the driving route includes:
  • the motion indication includes a steering indication
  • the motion restriction condition includes a steering restriction condition
  • the judging whether each of the motion indications meet the motion restriction condition of the corresponding position includes:
  • the determination of the final driving route according to the verification result includes:
  • each of the steering instructions meets the corresponding steering restriction conditions, then determine the driving route as the final driving route; if at least one of the steering instructions does not meet the corresponding steering restriction conditions, restart The driving route is obtained for verification until the final driving route is determined.
  • the steering restriction condition includes a rotation angle range
  • the judging whether the steering instructions at multiple positions on the driving route comply with the corresponding steering restriction conditions includes:
  • the rotation angle corresponding to the steering indication is within the range of the rotation angle, it means that the steering indication at the position complies with the steering restriction condition at the position; if the If the rotation angle corresponding to the steering indication is not within the rotation angle range, it means that the steering indication at the position does not comply with the steering restriction condition at the position.
  • the motion restriction condition includes a maximum rotation angle
  • the method further includes:
  • control information includes controlling the automatic navigation mobile device to rotate according to the correction angle; if the If the correction angle is greater than the maximum rotation angle of the current position, control information of the current position is generated, and the control information includes controlling the automatic navigation mobile device to rotate according to the maximum rotation angle.
  • the method also includes:
  • map information of the marked area including road parameters of each road in the marked area
  • information codes are set at intersections of various roads
  • the movement restriction conditions include steering restriction conditions
  • the determination of the position of the automatic navigation mobile device in each position of the marked area Movement restrictions include:
  • the automatic navigation mobile device analyze whether the automatic navigation mobile device can drive into each of the candidate roads, and determine the automatic navigation according to the analysis results The turning restriction condition of the mobile device at the intersection where the information code is located.
  • the movement restriction condition includes a maximum rotation angle
  • the determination of the movement restriction condition of each position of the automatic navigation mobile device in the marked area further includes:
  • the maximum rotation angle of the automatic navigation mobile device at the position is determined according to the road parameters of the position and the equipment parameters of the automatic navigation mobile device.
  • the embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the driving route planning method as described above is realized.
  • the embodiment of the present application provides an automatic navigation mobile device, including a memory and a processor;
  • the memory is used to store computer programs
  • the processor is configured to implement the driving route planning method as described above when executing the computer program.
  • an embodiment of the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, the above driving route planning method is implemented.
  • the beneficial effect of the driving route planning method, device, storage medium and automatic navigation mobile device of the embodiment of the present application is: after obtaining the driving route, check whether the automatic navigation mobile device satisfies the requirements of the corresponding position when driving according to the driving route according to the configuration file.
  • the motion restriction conditions determine the final driving route, which can greatly improve the safety of the generated final driving route, ensure the safety of the automatic navigation mobile device when driving according to the final driving route, and improve the ability of the automatic navigation mobile device to deal with complex terrain.
  • FIG. 1 is a schematic structural diagram of an automatic navigation mobile device according to an embodiment of the present application.
  • FIG. 2 is a schematic flow diagram of a driving route planning method according to an embodiment of the present application
  • FIG. 3 is a schematic structural diagram of a driving route planning device according to an embodiment of the present application.
  • the warehouse in the prior art is usually divided into an area where the automatic navigation mobile device can travel, and the limit outside the area is limited by devices such as limit brackets to prevent the automatic navigation mobile device from rushing out of the specified area and colliding with goods, etc., causing safety hazards.
  • ACCIDENT ACCIDENT.
  • the technical solution of the present application can be applied not only to AGVs, AMRs, forklifts, container trucks, pallet trucks and other moving vehicles that drive automatically, but also to any other automatic navigation mobile devices that drive along a specified path, and can also be applied to Any other self-navigating mobile device that uses at least one sensor among laser sensors, vision sensors, ultrasonic sensors and infrared sensors to achieve autonomous movement.
  • an automatic navigation mobile device provided by an embodiment of the present application includes a memory and a processor; the memory is used to store a computer program; and the processor is used to realize when the computer program is executed.
  • the driving route planning method is described below.
  • a driving route planning method provided by the embodiment of the present application, the execution subject of this method may be a host computer such as a computer and a server, or may be a processor of an automatic navigation mobile device, etc.
  • the method includes:
  • Step S110 acquiring the driving route and configuration file of the automatic navigation mobile device in the marked area, the configuration file including the movement restriction conditions of each position of the automatic navigation mobile device in the marked area.
  • the calibration area can be an area in the warehouse where the automatic navigation mobile device can drive, and the driving route and configuration file can be saved in the memory of the automatic navigation mobile device or in the server. If the configuration file is saved in the server, the automatic navigation mobile device will automatically read the configuration file from the server and cache it in its own storage medium when it is first registered and powered on; if the configuration file is large, the automatic navigation mobile device will cache the current configuration file. The corresponding part of the configuration file near the map, and then judge whether it is necessary to re-acquire other part of the configuration file according to the situation when running to other areas later. If the corresponding configuration file has been cached in the current region, it will not be retrieved again. In this way, the automatic navigation mobile device can obtain the configuration file of the corresponding area in a relatively strong real-time manner during operation.
  • the road map of the marked area and the driving task of the automatic navigation mobile device can be obtained in advance to determine the driving route.
  • the driving task includes the starting point and the end point of the automatic navigation mobile device, and the starting point and the ending point are randomly based on the road map or a path planning algorithm is used.
  • the specific process of generating the driving route of the automatic navigation mobile device in the calibration area and generating the driving route between two points based on the road map is the prior art, and will not be repeated here.
  • movement restriction conditions for each location in the marked area can be pre-configured to restrict the movement of the automatic navigation mobile device at each location.
  • Step S120 verifying whether the automatic navigation mobile device satisfies the movement restriction condition of the corresponding position when driving along the driving route according to the configuration file, and determining the final driving route according to the verification result.
  • the verification process is as follows: when the automatic navigation mobile device is driving according to the driving route, it is determined whether the actions at each position on the driving route meet the movement restriction conditions of each position. When the actions of the automatic navigation mobile device at each position on the driving route meet the corresponding movement restriction conditions, the verification is passed, indicating that the automatic navigation mobile device will not collide with other devices when driving according to the driving route, so it is determined that the driving The route is the final driving route; when the action of the automatic navigation mobile device on at least one position on the driving route does not meet the corresponding movement restriction conditions, it fails the verification, indicating that safety accidents such as collisions may occur when driving according to the driving route. Therefore, this driving route cannot be identified as the final driving route, and a new driving route needs to be acquired for verification until the final driving route is determined.
  • the driving route planning method also includes:
  • map information of the marked area including road parameters of each road in the marked area
  • the configuration file can be manually configured, or automatically configured according to road parameters and equipment parameters of the automatic navigation device.
  • the road parameters may include the width and height of the road, etc.
  • the equipment parameters include the height and width of the automatic navigation mobile device. For any position on the road, combine the road parameters of the position and the size of the automatic navigation mobile device to determine the movement restriction conditions .
  • the movement restriction conditions corresponding to the intersection include prohibiting driving into the road;
  • the width of the navigation mobile device, and the height limit of the road is also higher than the height of the automatic navigation mobile device, etc., then the movement restriction conditions corresponding to the intersection include allowing the automatic navigation mobile device to enter the road.
  • the movement restriction conditions corresponding to the intersection may specifically include the angle at which the automatic navigation mobile device is allowed to turn when it is at the intersection, wherein, for an automatic navigation mobile device that can move in all directions, it can walk in any direction and Turning in place, you only need to consider whether the size of the changed direction meets the road parameters of the road; for the automatic navigation mobile device that cannot move in all directions, the allowable steering angle range is related to the front orientation of the automatic navigation mobile device. For example, suppose the current location of the automatic navigation mobile device is connected to two roads, wherein the first road extends eastward from the current location, and the second road extends southward from the current location.
  • the automatic navigation mobile device may enter the current position from the second road.
  • the movement restriction condition of this position is to allow a right turn of 90 degrees, and a left or right turn of 180 degrees, and if at this time
  • the front of the automatic navigation device faces west, and the rear of the car faces east, that is, the automatic navigation mobile device may drive into the current position from the first road. Turn right 180 degrees.
  • the angle range of the steering assuming that the angle range of the allowable steering includes -8° ⁇ 8°, which means that under the current position and the current head orientation, the automatic navigation mobile device can turn left 8 degrees and turn right 8 degrees. Turn within the range of intervals, where "-" means left.
  • information codes are set at intersections of each road, the movement restriction conditions include steering restriction conditions, and the determination of all positions of the automatic navigation mobile device in each position of the marked area
  • the exercise restrictions mentioned above include:
  • the automatic navigation mobile device analyze whether the automatic navigation mobile device can drive into each of the candidate roads, and determine the automatic navigation according to the analysis results The turning restriction condition of the mobile device at the intersection where the information code is located.
  • the real-time position of the automatic navigation mobile device is often determined by scanning the information code on the ground.
  • the information code includes two-dimensional codes, bar codes and other signs that can store information , since the road parameters at various locations on the same road are usually the same, such as the width and height limit, etc., the information code is often set at a key position in the route, such as an intersection where multiple roads intersect or where road parameters change location etc.
  • the movement restriction condition includes a maximum rotation angle
  • the determination of the movement restriction condition of each position of the automatic navigation mobile device in the marked area includes:
  • the road parameters such as width, height limit, and direction of each position in any road are basically the same.
  • the road parameters for example: if there are two adjacent roads in a straight road, one of which has a width of 3 meters and the other has a width of 2 meters, and the change value of the width of 1 meter exceeds the preset threshold, Then the two sections of roads can be regarded as two different roads, and information codes need to be set at the junction of the two sections of roads. Therefore, for each position in each road where the road parameters are consistent, the movement restriction conditions of the automatic navigation mobile device at each position in each road are consistent.
  • the checking according to the configuration file whether the automatic navigation mobile device satisfies the movement restriction condition of the corresponding location when driving according to the driving route includes:
  • the movement instruction includes a steering instruction, etc.
  • the steering instruction includes whether the automatic navigation mobile device turns right or left, the angle range that can be turned, and the like.
  • the movement indication includes a turning indication
  • the movement restriction condition includes a steering restriction condition
  • the judging whether each of the movement indications meets the movement restriction condition of the corresponding position includes:
  • the determination of the final driving route according to the verification result includes:
  • each of the steering instructions meets the corresponding steering restriction condition, then determine the driving route as the final driving route; if at least one of the steering instructions does not meet the corresponding steering restriction condition, Then the driving route is reacquired for verification until the final driving route is determined or all driving routes are verified.
  • the steering restriction condition includes a rotation angle range
  • the judging whether the steering instructions at multiple positions on the driving route comply with the corresponding steering restriction condition includes:
  • the rotation angle corresponding to the steering indication is within the range of the rotation angle, it means that the steering indication at the position complies with the steering restriction condition at the position; if the If the rotation angle corresponding to the steering indication is not within the rotation angle range, it means that the steering indication at the position does not comply with the steering restriction condition at the position.
  • the driving route fails the verification, and the pre-stored driving route needs to be retrieved, or the driving route should be regenerated according to the starting point and the ending point, for example: If the driving route is a-c-b, then regenerate the driving route a-d-b. If the steering instructions at each location meet the corresponding steering restriction conditions, it means that the driving route has passed the verification, and the driving route is the final driving route.
  • the priority of the movement restriction condition is higher than the priority of the movement indication. If the steering indication of this position conflicts with the rotation restriction condition of this position, the position cannot If the steering is performed, correspondingly, the driving route cannot be continued, so it is necessary to return to obtain or generate a new driving route.
  • the driving route that does not meet the steering restriction condition can be filtered out, that is, the driving route that may cause a safety accident can be filtered out, thereby improving the safety of the final output driving route.
  • the method further includes:
  • control information includes controlling the automatic navigation mobile device to rotate according to the correction angle; if the correction angle is greater than the maximum rotation angle of the current position, and generates control information of the current position, where the control information includes controlling the automatic navigation mobile device to rotate according to the maximum rotation angle.
  • the automatic navigation mobile devices use omnidirectional wheels, etc., which can move in all directions.
  • the body is prone to deviation.
  • the correction angle refers to the angle of rotation needed to correct the current lateral deviation. It has a direction, which can be distinguished by "+” and "-". "-" means turn left, and "+” means turn right.
  • the rotation angle range of each position corresponds to the direction that the position is allowed to rotate, assuming that the rotation angle range is -8° to 8°, which is the range between 8° left rotation and 8° right rotation.
  • the location allows both left and right turns.
  • the automatic navigation mobile device can perform correction at the current position according to the correction angle and the rotation angle range of the current position; when the rotation direction of the correction angle Satisfying the allowable rotation direction of the position means that the deviation correction can be performed; otherwise, it means that the deviation correction cannot be performed.
  • the correction angle of this position is that the vehicle body turns right 90°, and the rotation angle range of this position is -8° ⁇ 0, it means that the automatic navigation mobile device at this position can only rotate to the left, and the rotation direction of the correction angle is related to the movement
  • the constraints allow a different direction of rotation, so no rotation is done at this location.
  • the maximum rotation angle is the maximum rotation angle in the direction of the correction rotation, such as the boundary value of the rotation angle range, if the correction angle of this position is that the vehicle body turns right 90°, and the maximum allowable rotation angle of the same rotation direction at this position is 8°, because 90°>8°, the correction angle exceeds the maximum angle that the automatic navigation device can rotate at present, then control the vehicle body of the automatic navigation mobile device to turn right 8° and continue driving, and continue at the subsequent rotatable position Adjust until the lateral deviation of the autopilot mobile device is corrected and it returns to the driving path.
  • the rotation angle indicated by the deviation correction is within the range of the rotation angle, the automatic navigation mobile device is controlled to rotate according to the deviation correction instruction and then continue driving.
  • the deviation is corrected in time, so that the automatic navigation mobile device returns to the driving route, which can prevent the automatic navigation mobile device from deviating from the driving route and cause collisions and other accidents, and complete the driving task .
  • the rotation angle of the automatic navigation mobile device by restricting the rotation angle of the automatic navigation mobile device through the rotation restriction conditions, it is possible to prevent the automatic navigation mobile device from colliding with devices such as limit brackets during the deflection correction rotation process, causing safety accidents, even if the deflection correction angle exceeds the maximum rotation angle, it can Without affecting the driving of the automatic navigation mobile device, the deviation is corrected at the maximum rotation angle first, and then the deviation is gradually corrected during the subsequent driving process until returning to the driving route, which improves the safety and security of the automatic navigation mobile device during driving. reliability.
  • the method further includes: outputting the final driving route, and controlling the automatic navigation mobile device to drive according to the final driving route.
  • the automatic navigation mobile device can be controlled to complete the driving task according to the driving route to realize the connection of goods, and the driving process will not interfere with the limit Collisions such as brackets improve the safety of the driving process.
  • a driving route planning device provided in an embodiment of the present application is used to execute the driving route planning method as described above, including:
  • An acquisition module configured to acquire the driving route and configuration file of the automatic navigation mobile device in the calibration area, the configuration file including the movement restriction conditions of each position of the automatic navigation mobile device in the calibration area;
  • a verification module configured to verify, according to the configuration file, whether the automatic navigation mobile device satisfies the movement restriction condition of the corresponding position when driving according to the driving route, and determine a final driving route according to the verification result.
  • the verification module is specifically used for:
  • the movement indication includes a steering indication
  • the movement restriction condition includes a steering restriction condition
  • the verification module is further configured to:
  • each of the steering instructions meets the corresponding steering restriction conditions, then determine the driving route as the final driving route; if at least one of the steering instructions does not meet the corresponding steering restriction conditions, restart The driving route is obtained for verification until the final driving route is determined.
  • the steering restriction condition includes a range of rotation angles
  • the verification module is further configured to:
  • the rotation angle corresponding to the steering indication is within the range of the rotation angle, it means that the steering indication at the position complies with the steering restriction condition at the position; if the If the rotation angle corresponding to the steering indication is not within the rotation angle range, it means that the steering indication at the position does not comply with the steering restriction condition at the position.
  • the device also includes a deviation correction module, and the deviation correction module is used for:
  • control information includes controlling the automatic navigation mobile device to rotate according to the correction angle; if the correction The declination angle is greater than the maximum rotation angle of the current position, and control information of the current position is generated, where the control information includes controlling the automatic navigation mobile device to rotate according to the maximum rotation angle.
  • the device further includes a configuration module, the configuration module is used for:
  • map information of the marked area including road parameters of each road in the marked area
  • information codes are set at intersections of each road, the movement restriction conditions include steering restriction conditions, and the configuration module is specifically used for:
  • the automatic navigation mobile device analyze whether the automatic navigation mobile device can drive into each of the candidate roads, and determine the automatic navigation according to the analysis results The turning restriction condition of the mobile device at the intersection where the information code is located.
  • the motion restriction condition includes a maximum rotation angle
  • the configuration module is specifically further configured to:
  • the maximum rotation angle of the automatic navigation mobile device at the position is determined according to the road parameters of the position and the equipment parameters of the automatic navigation mobile device.
  • a computer-readable storage medium provided by another embodiment of the present application stores a computer program, and when the computer program is executed by a processor, the above driving route planning method is realized.
  • the embodiment of the present application also provides a computer program product, including a computer program, which realizes the above driving route planning method when the computer program is executed by a processor.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random access memory (Random Access Memory, RAM), etc.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple on a network unit.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Navigation (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

La présente demande concerne un procédé et un appareil de planification d'itinéraire de déplacement, un support d'enregistrement et un appareil mobile. Le procédé consiste à : acquérir un itinéraire de déplacement et un fichier de configuration d'un appareil mobile de navigation automatisé à l'intérieur d'une zone d'étalonnage, le fichier de configuration comprenant une condition de restriction de mouvement pour l'appareil mobile de navigation automatisé à chaque position dans la zone d'étalonnage ; et vérifier, selon le fichier de configuration, si la condition de restriction de mouvement pour une position correspondante est satisfaite lorsque l'appareil mobile de navigation automatisé se déplace selon l'itinéraire de déplacement et déterminer un itinéraire de déplacement final selon un résultat de vérification. Au moyen de la solution technique de la présente demande, la sécurité de l'itinéraire de déplacement final généré peut être améliorée.
PCT/CN2022/095190 2021-05-28 2022-05-26 Procédé et appareil de planification d'itinéraire de déplacement, support d'enregistrement et appareil mobile WO2022247899A1 (fr)

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CN202110591640.4A CN113449827A (zh) 2021-05-28 2021-05-28 一种行驶路线规划方法、装置、存储介质及移动装置

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