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A navigation method, device, equipment, system and storage medium

A navigation method and equipment technology, which is applied in navigation, surveying devices, surveying and navigation, etc., can solve the problems of being unable to know obstacles in time, reducing the driving efficiency and traffic rate of self-moving equipment, and being unable to plan the optimal path of self-moving equipment, etc. , to achieve the effect of reducing condition restrictions, improving driving efficiency and traffic rate

Active Publication Date: 2022-03-08
LEISHEN INTELLIGENT SYST CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, when the above technical solution is used for navigation route selection, there may be obstacles in the driving environment that cannot be known in time, so that when the self-mobile device moves near the obstacle, it may have to stop or turn around because it cannot pass normally. Reduced driving efficiency and traffic rate of self-moving equipment
At the same time, the above scheme cannot perform optimal path planning for autonomous mobile devices that are not equipped with lidar, and has certain limitations.

Method used

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  • A navigation method, device, equipment, system and storage medium
  • A navigation method, device, equipment, system and storage medium
  • A navigation method, device, equipment, system and storage medium

Examples

Experimental program
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Embodiment 1

[0034] Figure 1A It is a flow chart of a navigation method in Embodiment 1 of the present application. The embodiment of the present application is applicable to the situation of performing route navigation on self-mobile equipment in a driving environment. The method is executed by a navigation device, and the device uses software and / or Realized by hardware, and specifically configured in electronic equipment, the electronic equipment may be a computer device or server with certain computing capabilities.

[0035] Such as Figure 1A One navigation method shown, including:

[0036] S110. Obtain from the global static map of the mobile device in the driving environment, and the dynamic point cloud data of each dynamic obstacle in the driving environment collected by each laser radar; wherein, the laser radar is set in the driving environment.

[0037] Among them, the autonomous mobile device can be a vehicle or a robot with an autonomous driving mode. When the autonomous mob...

Embodiment 2

[0070] Figure 2A It is a flow chart of a navigation method in Embodiment 2 of the present application. The embodiment of the present application is optimized and improved on the basis of the technical solutions of the foregoing embodiments.

[0071] Further, during the navigation process, add "when the self-mobile device is driving in the driving environment based on the navigation route, according to the local cost map corresponding to the predicted laser radar, the The driving path is adjusted; wherein, the predicted laser radar is located within the set range of the current area of ​​the self-mobile device and is located in the untraveled path of the navigation path, so as to optimize the untraveled path of the navigation path.

[0072] Further, the operation "according to the local cost map corresponding to the predicted lidar, adjust the untraveled route in the navigation route" is refined into "according to the current position of the self-mobile device, determine the loc...

Embodiment 3

[0098] Figure 3A It is a flow chart of a navigation method in Embodiment 3 of the present application. The embodiment of the present application is optimized and improved on the basis of the technical solutions of the foregoing embodiments.

[0099] Further, the operation "according to the local cost map corresponding to the predicted lidar, adjust the untraveled path in the navigation route" is refined into "according to the local cost map of the predicted lidar, each local dynamic The motion information of the obstacle and the motion information of the self-mobile device, predict whether the dynamic obstacle and the self-mobile device will meet; according to the prediction result, adjust the untraveled path in the navigation route "to improve An optimization mechanism for optimizing untraveled paths.

[0100] Such as Figure 3A One navigation method shown, including:

[0101] S310. Obtain from the global static map of the mobile device in the driving environment, and the...

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Abstract

The embodiments of the present application disclose a navigation method, apparatus, device, system, and storage medium. The method includes: acquiring a global static map of the driving environment from a mobile device, and dynamic point cloud data of each dynamic obstacle in the driving environment collected by each lidar set in the driving environment; according to the dynamic point cloud data and the global static map, A global cost map is generated; according to the global cost map, a navigation path from the mobile device from the origin to the destination is determined. The embodiments of the present application plan the navigation path based on the global cost map determined by the data collected by the lidar in the driving environment, avoid the situation that the self-mobile device cannot pass normally due to the obstacles in the driving environment are not known in time, and improve the self-movement The driving efficiency and traffic rate of the device in the driving environment reduce the conditional restrictions on self-moving devices, and provide the possibility for simultaneous navigation of multiple self-moving devices.

Description

technical field [0001] The embodiments of the present application relate to the field of autonomous navigation, and in particular to a navigation method, device, equipment, system and storage medium. Background technique [0002] When self-driving vehicles or robots move from the starting point to the destination, it is usually necessary to plan the driving path between the starting point and the destination to choose the optimal path for the vehicle or robot. [0003] In the prior art, an environment sensing device such as a laser radar is usually installed on the self-mobile device to obtain real-time environmental conditions of the area where the self-mobile device is located, and select an optimal path according to the environmental conditions. [0004] However, when the above technical solution is used for navigation route selection, there may be obstacles in the driving environment that cannot be known in time, so that when the self-mobile device moves near the obstacl...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/32G01C21/34G01S17/931
CPCG01C21/32G01C21/3415
Inventor 胡小波雷祖芳
Owner LEISHEN INTELLIGENT SYST CO LTD