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Navigation method, device, equipment and storage medium

A navigation method and grid technology, applied in the field of intelligent navigation, can solve the problem of low navigation accuracy and achieve the effect of improving safety and shortening time

Pending Publication Date: 2022-05-06
AGRICULTURAL BANK OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The existing campus navigation methods are mainly based on the overall school map environment for static and offline global path planning, but the global path planning method ignores the variability factors of movable objects (such as bicycles, vehicles) or road occupancy in the campus environment. , leading to low navigation accuracy

Method used

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  • Navigation method, device, equipment and storage medium
  • Navigation method, device, equipment and storage medium
  • Navigation method, device, equipment and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0033] figure 1 It is a flowchart of a navigation method provided according to the first embodiment of the present invention. This embodiment can be applied to the situation of route navigation in a campus scene. The method can be executed by a navigation device, and the navigation device can use hardware and / or Implemented in the form of software, the navigation device can be configured in the navigation device. like figure 1 As shown, the method includes:

[0034] S110. Acquire a grid map model of the target school, and determine a static planning path based on grid coordinates of a starting point and grid coordinates of a destination of the target object in the grid map model.

[0035] Specifically, the grid map model abstracts the actual scene environment into a two-dimensional terrain, so as to achieve the purpose of simplifying the movement space of the target object. The grid map model discretizes the school environment into grids of the same size according to a spec...

Embodiment 2

[0071] image 3 It is a flow chart of a navigation method according to Embodiment 2 of the present invention. This embodiment further refines the "obtaining the grid map model of the target school" in the above embodiment. like image 3 As shown, the method includes:

[0072] S210. Obtain the static planar map of the target school, and construct a map grid network based on the preset grid size and the map size of the static planar map.

[0073] Wherein, for example, if the target object is a person, the preset grid size may be 1m*1m, and if the target object is a motor vehicle, the preset grid size may be 5m*5m. The preset grid size can be adjusted according to the type of target object.

[0074] Specifically, the map size of the static planar map is determined based on the geographical coordinates corresponding to the upper left corner, lower left corner, upper right corner, and lower right corner of the static planar map.

[0075] S220. Set the grid information of the ne...

Embodiment 3

[0117] Image 6 It is a schematic structural diagram of a navigation device according to Embodiment 3 of the present invention. like Image 6 As shown, the device includes: a static planned route determination module 310 , an impassable road segment determination module 320 , a static planned route update module 330 and a navigation end module 340 .

[0118] Wherein, the static planning path determination module 310 is used to obtain the grid map model of the target school, and determine the static planning path based on the grid coordinates of the starting point and the grid coordinates of the destination of the target object in the grid map model;

[0119] An impassable road section determination module 320, configured to determine whether there is an impassable road section in the static planned path based on the current grid coordinates of the target object and the acquired real-time road condition data during the process of the target object traveling based on the static...

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Abstract

The invention discloses a navigation method and device, equipment and a storage medium. The method comprises the following steps: acquiring a grid map model of a target school, and determining a static planning path based on a starting point grid coordinate and a destination grid coordinate of a target object in the grid map model; determining whether an impassable road section exists in the static planning path or not based on the current grid coordinate of the target object and the obtained real-time road condition data in the process that the target object advances based on the static planning path; if yes, updating the static planning path based on the current grid coordinate, the real-time obstacle grid coordinate in the real-time road condition data and the destination grid coordinate data; and returning to execute the step of determining whether the impassable road section exists in the static planning path based on the current grid coordinate of the target object and the acquired real-time road condition data until the current grid coordinate of the target object is the destination grid coordinate. According to the embodiment of the invention, the navigation accuracy is improved.

Description

technical field [0001] The present invention relates to the technical field of intelligent navigation, and in particular, to a navigation method, device, device and storage medium. Background technique [0002] Path planning is one of the main research contents of motion planning. The sequence points or curves connecting the starting and ending positions are called paths, and the strategies that form paths are called path planning. Path planning has a wide range of applications, such as high-tech unmanned boats. , unmanned vehicles, etc., in daily life, it is manifested as GPS navigation or road planning. [0003] Especially in the campus life scenario, how to avoid the study rooms that are taking classes, exams or other purposes among the many study rooms, and navigating to find the nearest available study room has become a "rigorous need" for students. Existing campus navigation methods are mainly based on the overall school map environment for static and offline global p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34G01C21/20
CPCG01C21/3492G01C21/3415G01C21/20Y02A10/40
Inventor 李晓晗张添
Owner AGRICULTURAL BANK OF CHINA
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