A navigation method, mobile carrier and navigation system

Abstract

The present invention relates to the field of intelligent warehousing and discloses a navigation method, a mobile carrier, and a navigation system. The navigation method is applied to a mobile carrier that can travel within a predetermined space, the predetermined space comprising an alleyway formed by at least two rows of shelves positioned opposite each other. The navigation method includes obtaining offset position information of the mobile carrier within the alleyway relative to the shelves in a non-travel direction and navigating the mobile carrier based on the offset position information. This method prevents the mobile carrier from colliding with the shelves and enables reliable navigation of the mobile carrier within the alleyway.

Description

Technical Field

[0001] The present invention relates to the field of intelligent warehousing, and in particular to a navigation method, a mobile carrier and a navigation system. Background Art

[0002] Existing mobile carriers can use visual technology to navigate within the warehouse to complete warehousing tasks assigned by administrators.

[0003] Mobile carriers typically use QR code navigation when performing storage operations within warehouses. This involves applying QR codes to the ground according to specific rules. During movement, the mobile carrier acquires the QR code information and converts it into navigation data. However, using QR code navigation is prone to errors during the ground code application process, resulting in unreliable operation of the mobile carrier. Summary of the Invention

[0004] The embodiments of the present invention provide a navigation method, a mobile carrier and a navigation system, which operate reliably.

[0005] In order to solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0006] In a first aspect, an embodiment of the present invention provides a navigation method, applied to a mobile carrier, wherein the mobile carrier can travel within a preset space, wherein the preset space includes a lane formed by at least two rows of shelves placed opposite each other, the method comprising:

[0007] Obtaining offset position information of the mobile carrier in the lane relative to the shelf in a non-travel direction;

[0008] The mobile carrier is navigated according to the offset position information.

[0009] In a second aspect, an embodiment of the present invention provides a mobile carrier, including:

[0010] at least one processor; and

[0011] a memory communicatively coupled to the at least one processor;

[0012] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform any one of the navigation methods.

[0013] In a third aspect, an embodiment of the present invention provides a navigation system, including:

[0014] Servers; and

[0015] The mobile carrier communicates with the server.

[0016] Compared to conventional technologies, the navigation methods, mobile carriers, and navigation systems provided in various embodiments of the present invention enable the mobile carrier to travel within a predetermined space, which comprises an alleyway formed by at least two rows of shelves positioned opposite each other. The methods include calculating offset position information of the mobile carrier relative to the shelves in a non-travel direction within the alleyway, and navigating the mobile carrier based on this offset position information. Therefore, navigating the mobile carrier based on this offset position information in the non-travel direction not only prevents the mobile carrier from colliding with the shelves, but also enables reliable navigation of the mobile carrier within the alleyway. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0018] Figure 1 is a structural diagram of a mobile carrier provided by an embodiment of the present invention;

[0019] Figure 2 yes Figure 1 Schematic diagram of the structure of the mobile chassis;

[0020] Figure 3a is a structural diagram of a navigation system provided by an embodiment of the present invention;

[0021] Figure 3b This is a schematic diagram of a mobile carrier moving in a warehouse provided by an embodiment of the present invention;

[0022] Figure 3c is a side view of a shelf provided by an embodiment of the present invention;

[0023] Figure 4a is a flowchart of a navigation method provided by an embodiment of the present invention;

[0024] Figure 4b yes Figure 4a Schematic diagram of the process of S41;

[0025] Figure 5 The embodiment of the present invention provides a method for establishing a three-dimensional space coordinate system of a shooting device using the edge of a layer as feature information;

[0026] Figure 6a is a schematic diagram of leg feature information of a shelf leg provided by an embodiment of the present invention;

[0027] Figure 6b This is a schematic diagram of the movement of a mobile carrier in a lane provided by an embodiment of the present invention;

[0028] Figure 6c is a flowchart of a navigation method provided by another embodiment of the present invention;

[0029] Figure 7a is a structural diagram of a navigation device provided by an embodiment of the present invention;

[0030] Figure 7b yes Figure 7a Schematic diagram of the structure of the calculation module;

[0031] Figure 7c is a structural diagram of a navigation device provided by another embodiment of the present invention;

[0032] Figure 7d is a structural diagram of a navigation device provided by yet another embodiment of the present invention;

[0033] Figure 8 The present invention provides a circuit principle block diagram of a mobile carrier. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0035] Unless otherwise defined, all technical and scientific terms used in this specification have the same meanings as those commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification are intended solely for the purpose of describing specific embodiments and are not intended to limit the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0036] The navigation method provided by the present invention can be applied to any suitable industry or technical field, such as intelligent warehousing, intelligent logistics, intelligent sorting, etc.

[0037] The mobile carrier provided by the present invention can be applied to any suitable industry field or technical field, such as intelligent warehousing field, intelligent logistics field, intelligent sorting field, etc.

[0038] When the mobile carrier is used in different industries, it can be configured into different structures to achieve corresponding business functions. For example, when the mobile carrier is used in the field of smart warehousing, the mobile carrier can be configured with a robotic arm to grab goods.

[0039] The embodiment of the present invention provides a mobile carrier, please refer to Figure 1The mobile carrier 100 includes a mobile chassis 10, a storage shelf 20, a handling device 30 and a lifting assembly 40. The storage shelf 20, the handling device 30 and the lifting assembly 40 are all installed on the mobile chassis 10.

[0040] The mobile chassis 10 is used to carry the mobile carrier 100 and move along a planned path.

[0041] The storage rack 20 is used to store goods. In some embodiments, the storage rack 20 may include a plurality of storage units, each of which may be used to store one or more goods.

[0042] The transport device 30 can move in the vertical direction of the planned path so that the position of the transport device 30 is horizontally opposite to any storage unit. The transport device 30 is used to transport goods between a preset position of the fixed shelf and any storage unit.

[0043] The lifting assembly 40 is used to drive the transport device 30 to move vertically relative to the storage rack 20. The lifting assembly 40 includes a lifting transmission mechanism and a lifting drive mechanism. The lifting drive mechanism is used to provide the driving force for the transport device 30 to move vertically relative to the storage rack 20, and the lifting transmission mechanism is used to transmit a second driving force to the transport device 30.

[0044] In some embodiments, please refer to Figure 2 The mobile chassis 10 includes a bracket assembly 11, a driven wheel 12, a driving wheel assembly 13 and a guide device 14. The driven wheel 12, the driving wheel assembly 13 and the guide device 14 are all installed on the bracket assembly 11.

[0045] The bracket assembly 11 is welded together by steel beams, steel plates and skins. The bracket assembly 11 includes a base 110 and a vertical bracket 111 . The vertical bracket 111 is installed on the base 110 .

[0046] The base 110 includes a base body 112 , a shaft seat 113 and a shock absorber bracket 114 . The shaft seat 113 is mounted on the base body 112 , and the shock absorber bracket 114 is also mounted on the base body 112 .

[0047] The base body 112 is a horizontally arranged rectangular plate having a symmetry axis S1 . The base body 112 includes a first surface 1120 and a second surface 1121 that are opposite to each other.

[0048] The base body 112 is provided with a driven wheel mounting groove 1122 , a driving wheel mounting opening 1123 and a guide device mounting opening 1124 .

[0049] The driven wheel mounting groove 1122 is disposed on the first surface 1120 of the base plate body 112 , and the driven wheel mounting groove 1122 is used for mounting the driven wheel 12 .

[0050] The driving wheel installation opening 1123 is provided through the first surface 1120 and the second surface 1121 of the base body 112 , and the driving wheel installation opening 1123 is used for placing the driving wheel assembly 13 .

[0051] The guide device installation opening 1124 is provided through the first surface 1120 and the second surface 1121 of the base body 112 , and the guide device installation opening 1124 is used for installing the guide device 14 .

[0052] In the embodiment of the present invention, the guiding device 14 may be a laser radar, a camera, or other suitable sensors. The laser radar or camera is used to scan the legs of the shelf to obtain a shelf image.

[0053] Alternatively, in some embodiments, different from the above embodiments, the guiding device 14 can be set at any appropriate position of the bracket assembly 11 to capture the shelf layers or shelf legs.

[0054] The shaft seat 113 and the shock absorber bracket 114 are both mounted on the second surface 1121 of the base body 112 . The shaft seat 113 and the shock absorber bracket 114 are used together to mount the driving wheel assembly 13 .

[0055] It is worth noting that by providing a driven wheel mounting groove 1122 for mounting the driven wheel 12 and a driving wheel mounting opening 1123 for placing the driving wheel assembly 13, the ground clearance and center of mass height of the mobile chassis 10 can be controlled, the grip of the mobile chassis 10 can be improved, and the stability of the movement of the mobile chassis 10 is improved.

[0056] In some embodiments, see Figure 3a The mobile carrier 100 can form a navigation system with the server 200, and realize navigation by communicating with the server 200, so as to successfully grab or store goods. For example, the mobile carrier 100 receives the dispatch instruction from the server 200, wherein the dispatch instruction includes the pickup location, the destination location, the planned path and the goods information. The mobile carrier 100 moves to the pickup location in the warehouse along the planned path according to the dispatch instruction, obtains the corresponding goods, and then transports the goods to the destination location. In addition, the mobile carrier sends its own location information to the server 200, so that the server 200 can determine the current channel occupancy status in the warehouse based on the location information sent by each mobile carrier 100. The mobile carrier 100 receives the channel occupancy status in the warehouse sent by the server 200, and requests the server 200 to adjust the planned path according to the channel occupancy status in the warehouse.

[0057] In some embodiments of the present invention, the server 200 herein may be a physical server or a logical server virtualized from multiple physical servers. The server 200 may also be a server cluster consisting of multiple interconnected and communicative servers, and each functional module may be distributed on each server in the server cluster.

[0058] When the mobile carrier 100 moves in the warehouse, it can use various indoor positioning methods to assist in positioning and navigation. Figure 3b The warehouse 300 includes aisles 31, a public area 32 and an operating table area 33.

[0059] The alley 31 is formed by at least two rows of shelves 311 placed opposite to each other. The shelves on the same side are arranged side by side. The number of shelves on the same side can be multiple. Moreover, the warehouse 300 can include multiple rows of shelves. An alley 31 is formed between any two adjacent shelves in the multiple rows of shelves. Therefore, multiple rows of shelves can form multiple alleys 31, and the mobile carrier 100 can take and place goods on the shelves 311 in the alley 31.

[0060] In lane 31, a reference travel direction 31a is pre-set to better guide the mobile carrier 100 to pick up and place goods. When the mobile carrier 100 moves along travel direction 31a, it can effectively pick up and place goods on the shelves without contacting them. However, if the mobile carrier 100 deviates from travel direction 31a and moves along directions 31b or 31c in lane 31, it is more likely to contact the shelves.

[0061] In this example, see Figure 3c Each shelf 311 includes a shelf 3111 and two shelf legs 3112 spaced a preset distance apart. The shelf 3111 is mounted on the two shelf legs 3112 . The two shelf legs 3112 provide support for the shelf 3111 to support the shelf 3111 , and a cargo box for loading goods can be placed on the shelf 3111 .

[0062] The shelf legs 3112 may be constructed from any suitable shaped bracket, for example, see Figure 3c In each shelf arranged side by side on the same side, the shelf legs in each shelf are in a right angle shape when viewed from above. In some embodiments, the shelf legs in each shelf can also be in an arc, a circle or other suitable shape when viewed from above.

[0063] The public area 32 is an area that all mobile carriers pass through during navigation. For example, mobile carrier A1 needs to go to the first cargo box in the first row of shelves to pick up goods, and mobile carrier A2 needs to transport the goods in the second cargo box in the first row of shelves to the operating table area 33. Therefore, mobile carrier A1 and mobile carrier A2 need to pass through the public area 32.

[0064] Since many mobile carriers frequently appear in public areas, in this embodiment, in order to improve the navigation safety of each mobile carrier in the public area 32, it is necessary to increase the reserved safety distance between each mobile carrier, or set markers at key locations or frequently passed locations in the public area 32, so that each mobile carrier can accurately locate its own position according to the marker, so that the subsequent server can flexibly adjust the travel direction of each mobile carrier and the distance between each mobile carrier according to the position of each mobile carrier.

[0065] In this embodiment, the identifier includes any suitable form of identifier, such as a QR code, an electronic tag, a barcode, or a graphic object.

[0066] The operating table area 33 is an area where each mobile carrier operates cargo boxes or goods. For example, the mobile carrier places the transported cargo boxes or goods at a preset position in the operating table area 33, or the administrator configures an empty cargo box for the corresponding mobile carrier in the operating table area 33 so that the mobile carrier places the empty cargo box at the corresponding shelf position. For example, when the mobile carrier arrives at the operating table area 33, the camera of the mobile carrier starts to read the identification mark of the operating table area 33, thereby locating its own position, and suspends operation or implements other control logic according to the positioning position. In some embodiments, the identification mark is installed at a preset position in the operating table area 33, such as a protective net or fence of the adjacent operating table where the operation is suspended.

[0067] In this embodiment, the mobile carrier can go from the operating table area 33 to the public area 32, and then arrive at the corresponding lane 31 from the public area 32. Alternatively, the mobile carrier can also start from the lane 31, pass through the public area 32, and then arrive at the operating table area 33 from the public area 32.

[0068] In this embodiment, a ground coordinate system XOY is configured on the floor of the warehouse 300, and each shelf corresponds to a unique coordinate (x, y, θ), where x is the horizontal coordinate, y is the vertical coordinate, and θ is the angle between the robot's orientation and the travel direction.

[0069] In some embodiments, the mobile carrier 100 can also use other indoor positioning technologies to complete positioning. Figure 3bDataless tags are deployed in a grid pattern on the floor of warehouse 300. Multiple positioning base stations 34 are installed within warehouse 300. Mobile carrier 100 is equipped with a positioning antenna, which repeatedly and uninterruptedly transmits data frames using UWB (Ultra Wideband) pulses. Each positioning base station 34 receives the UWB pulses and uses a highly sensitive short-pulse detector to measure the time it takes for the positioning tag's data frame to arrive at the receiver antenna. Server 200, referring to the calibration data sent by the positioning antenna, determines the time difference between the positioning antenna's arrival at different positioning base stations and uses three-point positioning technology and an optimization algorithm to calculate the position of the positioning antenna, and therefore the position of the mobile carrier 100. Positioning base stations 34 can employ a TDOA (Time Difference of Arrival) algorithm for positioning.

[0070] It is understandable that the mobile carrier 100 may also use other positioning methods to complete positioning and navigation, and is not limited to the method provided in the embodiment of the present invention.

[0071] An embodiment of the present invention provides a navigation method, which is applied to a mobile carrier, wherein the mobile carrier is provided with a sensor, and the sensor is installed at a suitable position on the mobile carrier to collect sensor data. The sensor here can be any suitable type of sensor, such as various types of motion sensors, image sensors or wireless sensors, etc., wherein the motion sensor may include, for example, an inertial measurement unit (IMU), a gyroscope, a magnetic field meter, an accelerometer or a speedometer, etc. The image sensor can be constructed as a camera of any shape for taking images. The wireless sensor is set on the mobile carrier, communicates with an external wireless base station or a wireless system, and realizes the positioning of the mobile carrier based on wireless technology.

[0072] The mobile carrier can travel within a preset space, where the preset space is the range of the mobile carrier's movement. The definition of the preset space may vary for different business scenarios. For example, for a warehousing business scenario, the preset space is the warehouse. For a home business scenario, the preset space is the sum of all indoor spaces separated by walls. In this embodiment, the preset space includes an alley formed by at least two rows of shelves placed opposite each other.

[0073] Figure 4a FIG4 is a flowchart of a navigation method provided by an embodiment of the present invention. As shown in FIG4 , the navigation method S400 includes:

[0074] S41. Obtaining offset position information of the mobile carrier in the lane relative to the shelf in a non-moving direction;

[0075] S42. Navigate the mobile carrier according to the offset position information.

[0076] In this embodiment, the non-moving direction is the direction in which the mobile carrier moves away from the moving direction. When the mobile carrier continues to move along the non-moving direction in the aisle, the mobile carrier may easily deviate from the shelf and cause failure in picking and placing goods, or may easily touch the shelf and cause a safety accident.

[0077] In this embodiment, the offset position information is the offset between the mobile carrier and the shelf. The offset position information includes an offset angle and / or an offset distance. The offset angle is the rotation angle of the mobile carrier relative to the shelf in the non-travel direction, and the offset distance is the distance between the mobile carrier and the shelf in the non-travel direction. When the mobile carrier deviates from the travel direction and moves in the non-travel direction, the offset position information is used to correct the movement of the mobile carrier in the travel direction, thereby improving the navigation safety and reliability of the mobile carrier in the aisle.

[0078] When navigating within an aisle, unlike conventional technologies that rely on scanning QR codes on the ground or on shelves for positioning and navigation, the mobile carrier of this embodiment calculates in real time its offset position information relative to the shelf in a non-travel direction within the aisle, and navigates based on this offset position information. For example, the mobile carrier moves to a preset travel direction based on the offset position information. For example, when the offset angle of the mobile carrier relative to the shelf is 8 degrees, the mobile carrier rotates 8 degrees clockwise. Furthermore, when the offset distance of the mobile carrier relative to the shelf to the left is 10 centimeters, the mobile carrier moves 10 centimeters to the right, thereby returning to the travel direction and heading directly in the travel direction.

[0079] For another example, the mobile carrier obtains the current position information and fuses the offset position information with the current position information to obtain the fused position information. Again, the mobile carrier uses the fused position information and the obtained target position information for navigation. The current position information can be obtained by the mobile carrier scanning a QR code on a shelf or the ground and parsing the current position information from the coordinate information encapsulated in the QR code. Alternatively, the mobile carrier calculates the current position information based on a preset motion equation and motion information such as speed sent by an internal sensor. Alternatively, the mobile carrier receives the current position information sent by an external sensor, wherein the internal sensor includes a gyroscope or an odometer. The received current position estimate information can be obtained by the mobile carrier receiving UWB positioning information sent by a UWB device.

[0080] The method provided in this embodiment can navigate the mobile carrier based on the offset position information in the non-travel direction. On the one hand, it can prevent the mobile carrier from colliding with the shelf, and on the other hand, it can reliably navigate the mobile carrier in the aisle.

[0081] There are many methods for calculating the offset position information, such as detecting through a distance sensor, or obtaining it by pre-building a mathematical model and inputting the current environmental information of the mobile carrier into the mathematical model, or obtaining it through a machine vision algorithm, etc.

[0082] For example, in some embodiments, see Figure 4b , S41 includes:

[0083] S411, obtaining characteristic information of the shelf;

[0084] S412. Calculate the offset position information of the mobile carrier in the lane relative to the shelf in the non-moving direction based on the feature information.

[0085] In this embodiment, the shelf may include multiple feature information, wherein the feature information is used to identify different parts of each shelf. For example, one feature information can be used to identify the shelf's shelf, and another feature information can be used to identify the shelf's legs.

[0086] In this embodiment, feature information can be collected by different types of sensors, such as cameras or laser radars. That is, cameras or laser radars can be used to collect corresponding feature information. For example, considering that the shelf shelves are located at a relatively high position and there are many objects on the shelves, if laser radar is used for collection, the laser images collected by the laser radar contain a lot of clutter and the image processing is more complicated. Therefore, considering efficiency, cameras can be selected to collect the feature information of the shelves. For another example, considering that the shelf legs are located at a relatively low position and there are fewer objects under the legs, it is more efficient to use laser radar to collect the feature information of the shelf legs than to use cameras to collect the feature information of the shelf legs. It is understandable that this does not impose any restrictions on obtaining the feature information of the shelves. This is only for auxiliary explanation.

[0087] In this embodiment, by predetermining characteristic information of a shelf, such as selecting a reference object on the shelf, the characteristic information of the reference object serves as the characteristic information of the shelf. The mobile carrier can then calculate its offset position relative to the shelf in the non-travel direction within the aisle based on the characteristic information.

[0088] In some embodiments, as described above, the selection of the reference object can be predefined, and the characteristic information is obtained by the sensor and sent by the sensor to the mobile carrier, wherein the sensor can be installed on the mobile carrier or may not be installed on the mobile carrier, and the sensor transmits the characteristic information to the mobile carrier through wireless communication or wired communication.

[0089] The sensor is configured with a coordinate system. For example, when the sensor is a camera, the camera is configured with a world coordinate system, a camera coordinate system, an image coordinate system, and a pixel coordinate system. In some embodiments, the world coordinate system of the camera coincides with the camera coordinate system, or they may not coincide. When the world coordinate system of the camera does not coincide with the camera coordinate system, a conversion matrix between the world coordinate system and the camera coordinate system is used to convert a physical point between the world coordinate system and the camera coordinate system.

[0090] For example, when a shooting device scans a marker laid on the ground, where the marker is encapsulated with coordinate information, the mobile carrier calculates the transformation matrix between the marker and the mobile carrier based on the coordinate information and the camera model, and then obtains the position information of the mobile carrier in the world coordinate system based on the transformation matrix.

[0091] For another example, when the sensor is a lidar, the lidar is configured with a world coordinate system and a polar coordinate system. In some embodiments, the lidar's world coordinate system and the polar coordinate system may overlap, or they may not overlap. When the lidar's world coordinate system and the polar coordinate system do not overlap, a conversion matrix between the world coordinate system and the polar coordinate system is used to convert the physical point between the world coordinate system and the polar coordinate system.

[0092] It is understandable that the built-in parameters or matrices between the above-mentioned coordinate systems are all preset.

[0093] In some embodiments, when the mobile carrier calculates the offset position information of the shelf in the non-moving direction in the aisle based on the feature information, it can calculate the offset position information based on the coordinate information of the feature information in the coordinate system of the sensor. For example, since the position of the shelf and the height of the shelf are fixed, when the sensor is a camera or a laser radar, and the feature information is the edge feature information of the shelf, the mobile carrier can calculate the offset position information based on the coordinate information of the edge feature information in the coordinate system of the camera or the laser radar. The edge feature of the shelf refers to the significant gradient difference of the edge of the shelf in the image captured by the camera (for example, the light shining on the shelf makes the shelf bright, while the background is dark, and there is a clear dividing line at the edge of the shelf). The Canny algorithm can be used to extract the image feature information of the edge feature from the captured image, and the image feature information is the edge feature information.

[0094] For another example, when the sensor is a camera or a laser radar, and the feature information is the leg feature information of a shelf leg, the mobile carrier can calculate the offset position information based on the coordinate information of the leg feature information in the coordinate system of the camera or the laser radar.

[0095] In some embodiments, the working principle of this embodiment is described in detail by taking the feature information as edge feature information as an example.

[0096] Because the coordinates of the edge feature information in the sensor's coordinate system are associated with the sensor's installation position within the mobile carrier, when the mobile carrier calculates the offset position information based on the feature information's coordinates in the sensor's coordinate system, it first obtains the sensor's posture information as it is mounted on the mobile carrier. This posture information includes the height and pitch angle of the camera mounted on the mobile carrier. In this embodiment, the posture information is preconfigured, and when calculating the offset position information, the mobile carrier can directly access the database to obtain it.

[0097] Secondly, the mobile carrier calculates the offset position information based on the posture information and the coordinate information of the edge feature information in the coordinate system of the sensor. For example, the mobile carrier calculates the edge straight line equation of the edge feature information in the camera model based on the camera model of the shooting device and the coordinate information of the edge feature information in the coordinate system, where the camera model includes the camera intrinsic parameters.

[0098] Next, the mobile carrier calculates the offset position information based on the camera model, edge line equation, installation height and pitch angle.

[0099] For example, in this embodiment, when the shelf shelves are at a certain height and parallel to the ground, and the posture of the camera device is pre-configured, the mobile carrier can calculate the relative distance of the camera device in the horizontal direction perpendicular to the edge of the shelf, as well as the angle between the camera device and the edge of the shelf in the horizontal direction based on solid geometric mathematical deduction.

[0100] For example, first, the mobile carrier randomly selects a reference point P in the edge feature information, and sets the coordinate information of the reference point P in the coordinate system to (x, y, z). Secondly, the mobile carrier derives a first equation between x and the installation height, pitch angle, and offset position information, and a second equation between y and the installation height and the pitch angle based on the positional relationship between the edge feature information and the coordinate system. Thirdly, the mobile carrier derives a third equation that integrates x, y, and z into the same equation based on the equation relationship between the camera model and the edge line equation. Thirdly, the mobile carrier combines the first, second, and third equations to obtain a fourth equation. Finally, the mobile carrier calculates the offset position information based on the fourth equation.

[0101] The following combination Figure 5 The derivation process is described in detail as follows:

[0102] See also Figure 5Let the camera be the origin 0 and establish a three-dimensional coordinate system. Let the camera's optical axis be the z-axis. Let the optical axis intersect the ground at point D. Draw a perpendicular line through point O to the ground that intersects the ground at point Q. Draw a perpendicular line OD through point O in the ODQ plane that intersects the ground at point E. OE is defined as the y-axis. Draw a perpendicular line through point O to the zOy plane as the x-axis to establish the coordinate system.

[0103] In this embodiment, OQ is the installation height h of the shooting device installed on the mobile carrier, and the angle ∠ODQ=θ is the pitch angle θ of the shooting device installed on the mobile carrier.

[0104] Let the pixel coordinate system of the shooting device be uOv. According to the camera model of the shooting device, we have:

[0105]

[0106]

[0107] Among them, (u, v) represents the coordinate information of the pixel coordinate system, fx=f / dx, fy==f / dy, where f is the focal length, the focal length is the distance from the origin of the camera coordinate system to the image plane, dx and dy are the physical dimensions of each pixel in the horizontal and vertical directions of the image plane, x, y and z are the coordinate values ​​of the camera coordinate system, and px and py are the coordinates of the origin of the image coordinate system in the pixel coordinate system.

[0108] First, the mobile carrier calculates the edge line equation v=mu+n of the edge feature information in the camera model according to the coordinate information of the camera model and the edge feature information in the coordinate system.

[0109] Secondly, the mobile carrier calculates the angle β and vertical distance d between the camera's projection on the shelf plane and the shelf edge based on the installation height h, pitch angle θ and edge line equation v = mu + n, where the angle β is the offset angle and the vertical distance d is the offset distance.

[0110] For example, let P be any point on the edge GF of the shelf, its spatial coordinates in the camera coordinate system of the shooting device are (x, y, z), P′ is the pixel point of point P in the pixel coordinate system, and the coordinates of P′ are (u, v). Let a perpendicular line pass through point Q and intersect with the edge GF of the shelf at point R, and the distance between RQ is d.

[0111] according to Figure 5 , derive the relationship between (x, y, z):

[0112]

[0113] Merge (3) to get

[0114]

[0115] Merge (5) to get

[0116]

[0117] Combining (4) (7) we get

[0118] Combining (6)(8) yields

[0119] Substituting (1) and (2) into the linear equation υ=mu+n, we can obtain

[0120] Substituting (4) (9) into (10) we can get (f y sin(θ)cos(β)+n cos(θ)cos(β)-mf x sin(β)-p x cos(θ)cos(β)

[0121] +mp x cos(theta)cos(beta))z+mf x h sin(θ)sin(β)+mf x dcos(θ)-f y h cos(β)=0(11)

[0122] In this embodiment, equation (9) is the first equation, that is, the first equation expresses the relationship between x and the installation height, pitch angle, and offset position information. Equation (4) is the second equation, that is, the second equation expresses the relationship between y and the installation height and pitch angle. Equation (10) is the third equation, that is, the third equation integrates x, y, and z into a single equation. Equation (11) is the fourth equation.

[0123] Since point P is any point on the edge line of the laminate, equation (11) should hold for any z value, so we can get:

[0124]

[0125] Finally, we can get:

[0126]

[0127] Therefore, through the above mathematical derivation, the offset angle and offset distance can be calculated. Therefore, the mobile carrier can be accurately positioned in the non-moving direction to obtain non-moving position information, and use other positioning methods to obtain the moving position information of the mobile carrier in the moving direction, and combine the non-moving position information with the moving position information to ensure that the mobile carrier will not deviate and collide with the shelf, and can reliably and safely approach the target pick-up and placement position or leave the aisle.

[0128] In this embodiment, when the mobile carrier arrives at the location for picking up and placing goods, the mobile carrier starts to read the QR code or other identification marks on the shelf, and performs precise operations on the target cargo box based on the position information of the read identification marks.

[0129] In some embodiments, the difference from the above embodiments in which the characteristic information is the edge characteristic information of the shelf is that the characteristic information can also be the leg characteristic information of the shelf leg, and the working principle of this embodiment is described in detail using the characteristic information being the leg characteristic information as an example.

[0130] In this embodiment, the mobile carrier is provided with a front sensor and a rear sensor. The front sensor can obtain the leg feature information of the shelf leg that the mobile carrier faces in the direction of travel, and the rear sensor can obtain the leg feature information of the shelf leg that the mobile carrier has passed.

[0131] See also Figure 6a The mobile carrier obtains the first leg feature information of the first shelf leg K and the second leg feature information of the second shelf leg L facing in the traveling direction through the front sensor, wherein the first shelf leg K and the second shelf leg L are located on different rows of shelves and are directly opposite to each other.

[0132] The mobile carrier passes through the rear sensor and receives the third leg characteristic information of the third shelf leg M and the fourth leg characteristic information of the fourth shelf leg N facing away in the direction of travel, wherein the third shelf leg M and the fourth shelf leg N are located on different rows of shelves and are directly opposite to each other.

[0133] In this embodiment, when calculating the offset position information, the mobile carrier first determines the first leg characteristic information of the first shelf leg K and the second leg characteristic information of the second shelf leg L that the mobile carrier is facing in the direction of travel. Then, the mobile carrier calculates the offset position information based on the respective coordinate information of the first leg characteristic information and the second leg characteristic information in the coordinate system of the sensor. For example, let the line segment defined by the first shelf leg and the second shelf leg be the first line segment, for example, KL. A first straight line EF is drawn perpendicular to the first line segment KL through the midpoint E of the first line segment KL. Let the line segment defined by the third shelf leg M and the fourth shelf leg N be the second line segment MN. A second straight line GH is drawn perpendicular to the second line segment MN through the midpoint G of the second line segment MN.

[0134] exist Figure 6a In order to visually distinguish the first straight line EF from the second straight line GH and to facilitate labeling, Figure 6a The first straight line EF and the second straight line GH are intentionally marked separately. It is understandable that the first straight line EF and the second straight line GH may or may not coincide with each other.

[0135] The coordinate information of the first leg feature information of the first shelf leg K in the coordinate system is (x k ,y k ), the second leg feature information of the second shelf leg L is (x l ,y l ), the third leg feature information of the third shelf leg M is (x m ,y m ), the fourth leg feature information of the fourth shelf leg N is (x n ,y n ).

[0136] Then, the mobile carrier calculates the offset angle according to the respective coordinate information of the first leg feature information and the second leg feature information in the coordinate system of the sensor. For example, the offset angle is

[0137] Alternatively, in some embodiments, the mobile carrier may further calculate the offset angle based on the respective coordinate information of the third leg feature information and the fourth leg feature information in the coordinate system of the sensor. For example, the offset angle is

[0138] Alternatively, in some embodiments, the mobile carrier calculates the offset angle based on the respective coordinate information of the first leg feature information and the third leg feature information in the coordinate system of the sensor. For example, the offset angle is

[0139] Alternatively, in some embodiments, the mobile carrier calculates the offset angle based on the respective coordinate information of the second leg feature information and the fourth leg feature information in the coordinate system of the sensor. For example, the offset angle is

[0140] Alternatively, 2, 3, or 4 values ​​are randomly selected from the above four offset angles and the average value is calculated, and the average value is used as the offset angle.

[0141] In some embodiments, the mobile carrier can also calculate an offset distance. For example, the mobile carrier calculates a first centerline equation of the first straight line in the coordinate system based on the respective coordinate information of the first leg feature information and the second leg feature information in the sensor's coordinate system. Next, the mobile carrier calculates a first distance from the origin of the coordinate system to the first straight line based on the first centerline equation, and uses this first distance as the offset distance.

[0142] For example, the slope of the first line segment KL is The midpoint of the first line segment KL is The equation of the first median line passing through the midpoint of the first line segment KL and perpendicular to the first line segment KL is The origin of the coordinate system is (0,0) and the distance from the origin of the coordinate system to the first midline equation is calculated as Generally, due to K kl is much greater than 1, so is approximately equal to 0, so

[0143] This method differs from the above embodiment in that, when calculating the offset distance, the mobile carrier first determines the third leg characteristic information of the third shelf leg and the fourth leg characteristic information of the fourth shelf leg, which the mobile carrier faces away from in the direction of travel. Next, the mobile carrier calculates the offset position information based on the respective coordinate information of the third and fourth leg characteristic information in the sensor's coordinate system. For example, the mobile carrier calculates a second centerline equation of the second straight line in the coordinate system based on the respective coordinate information of the third and fourth leg characteristic information in the sensor's coordinate system. Based on the second centerline equation, the mobile carrier calculates a second distance from the origin of the coordinate system to the second straight line, and uses the second distance as the offset position information.

[0144] For example, the slope of the second line segment MN The midpoint of the second line segment MN is The equation of the straight line passing through the midpoint of the second line segment MN and perpendicular to the second line segment MN is The origin of the coordinate system is (0,0) and the distance from the origin of the coordinate system to the second midline equation is calculated as Generally, due to K mn is much greater than 1, so is approximately equal to 0, so

[0145] In some embodiments, the mobile carrier may further calculate an average value of the second distance and the first distance, and use the average value as the offset position information.

[0146] Generally, when a mobile carrier navigates in an aisle, it can not only use the methods described in the aforementioned embodiments to calculate the offset position information relative to the shelf in the non-travel direction in the aisle, but also accurately calculate the current position of the mobile carrier in the travel direction, so as to later combine the current position with the acquired target position to implement navigation.

[0147] Therefore, in some embodiments, the mobile carrier may also determine the current coordinates in the direction of travel, that is, the current coordinates are the coordinates corresponding to the current position of the mobile carrier in the direction of travel, for example, see Figure 6b, let the origin of the mobile carrier be point O, and draw a straight line perpendicular to the reference moving direction through the origin O and intersecting at point S, where the straight line of the reference moving direction is a straight line perpendicular to the straight line AB through the midpoint R of the straight line AB, or a straight line perpendicular to the straight line CD through the midpoint T of the straight line CD, a straight line perpendicular to the straight line AC through the origin O and intersecting at point U, and a straight line perpendicular to the straight line BD through the origin O and intersecting at point V.

[0148] In this embodiment, the coordinate information of point S is the current coordinate of the mobile carrier in the direction of travel. In addition, shelf CC' and shelf DD' have been passed by the mobile carrier, and shelf AA' and shelf BB' are the next shelves that the mobile carrier will pass through. Figure 6b It can also be seen that the CU part in shelf CA or the DV part in shelf DB has been passed through by the mobile carrier, and the UA part in shelf CA or the VB part in shelf DB has not been passed through by the mobile carrier.

[0149] After the mobile carrier determines the current coordinates in the direction of travel, the mobile carrier fuses the current coordinates with the calculated or received current position estimation information in the lane to obtain fused position fusion information, and then implements navigation based on the position fusion information and the acquired target position information. The calculated current position estimation information can be calculated by combining the motion data collected by the internal sensor of the mobile carrier with a preset motion equation.

[0150] Alternatively, in some embodiments, after determining the current coordinates in the direction of travel, the mobile carrier navigates within the lane based on the current coordinates and the acquired target location information.

[0151] There are many methods for determining the current coordinates of the mobile carrier in the direction of travel. For example, in some embodiments, first, the entrance coordinates of the mobile carrier in the direction of travel are determined when the mobile carrier enters the tunnel entrance. For example, please continue to refer to Figure 6b Assuming that rack CC' and rack DD' are the racks at the head end of the aisle, when the mobile carrier enters the aisle, it first needs to pass through rack CC' and rack DD'. The straight line RT in the direction of travel intersects with the straight line C'D' at point W, where the coordinates of point W are the entrance coordinates of the mobile carrier in the direction of travel.

[0152] Next, the moving length of the mobile carrier in the direction of travel within the lane is calculated. That is, the line segment SW is the moving length of the mobile carrier in the direction of travel within the lane. There are many methods for calculating the moving length of the mobile carrier in the direction of travel within the lane. For example, in some embodiments, there are multiple shelves on the same side, and the shelf lengths of each shelf are preset and the same. For example, please continue to refer to Figure 6bThe shelves located on the left side of the mobile carrier include shelf C'C, shelf CA and shelf AA', and the shelves located on the right side of the mobile carrier include shelf D'D, shelf DB and shelf BB'. The respective shelf lengths of shelf C'C, shelf CA and shelf AA' are the same and are pre-configured. Similarly, the respective shelf lengths of shelf D'D, shelf DB and shelf BB' are also the same and are pre-configured.

[0153] Since the mobile carrier is currently in the lane area between racks CA and DB, let rack CA or rack DB be the current rack. It's understood that the "current rack" can change depending on the mobile carrier's current location. For example, at time t1, the mobile carrier is currently in the lane area between racks CA and DB, so rack CA or rack DB is the current rack. At time t2, the mobile carrier is currently in the lane area between racks AA' and BB', so rack AA' or rack BB' is the current rack.

[0154] Let the position where the mobile carrier begins to enter the current shelf in the direction of travel be the starting position, and the position corresponding to the current position in the direction of travel be the final position. Since the current shelf is shelf CA or shelf DB, the position where the mobile carrier begins to enter shelf CA or shelf DB in the direction of travel is point T, that is, point T is the starting position. Since the current position of the mobile carrier is point O, the position corresponding to the current position point O in the direction of travel is point S, that is, point S is the final position.

[0155] Therefore, when calculating the moving length of the mobile carrier in the direction of travel in the alley, first, obtain the number of shelves on the same side that the mobile carrier passes through in the alley. For example, the mobile carrier passes through shelf C'C in the alley, or passes through shelf D'D, where the number of shelves on the same side that the mobile carrier passes through in the alley is 1. Secondly, determine the relative length of the mobile carrier in the direction of travel of the current shelf. The relative length is the absolute value of the difference between the final position and the starting position, that is, the relative length is the length Δx of the line segment ST. Thirdly, multiply the number of shelves by the shelf length to obtain the multiplication result, that is, when the shelf length is C and the number of shelves is n, the multiplication result is P=C*n. In this embodiment, P=C*1=C. Finally, add the multiplication result and the relative length to obtain the addition result, and use the addition result as the moving length, that is, X1=P+Δx.

[0156] As mentioned above, after the moving length is calculated, finally, the current coordinates of the mobile carrier in the moving direction are calculated based on the entrance coordinates and the moving length. That is, the value on the X-axis, Y-axis or Z-axis of the entrance coordinates is added to the moving length to form a new coordinate value, and the new coordinate value is used as the current coordinate of the mobile carrier in the moving direction.

[0157] In general, since the shelf lengths of the shelves on the same side are known, the number of shelves detected passing through the shelves on the same side can be calculated according to the following formula:

[0158] x=x0+nc+Δx

[0159] Among them, x is the current coordinate in the direction of travel, x0 is the entrance coordinate of the aisle in the direction of travel, n is the number of shelves passing through the same side shelf, c is the shelf length of a shelf in the direction of travel, and Δx is the relative length of the mobile carrier in the direction of travel of the current shelf.

[0160] Therefore, according to the above formula, the current coordinates of the mobile carrier in the moving direction can be obtained.

[0161] In some embodiments, there are many methods for determining the relative length of the mobile carrier in the direction of travel of the current shelf. For example, please refer to Figure 6b First, calculate the two first side shelves that are adjacent to the current shelf and located on the same side. For example, the current shelf is shelf CA, shelf C'C is adjacent to shelf CA, and shelf A'A is adjacent to shelf CA. Therefore, shelf C'C is the first side shelf, and shelf A'A is also the first side shelf.

[0162] Secondly, according to the leg feature information of each shelf leg of the two first side shelves, the equation of the first side straight line determined by the two first side shelves is calculated. For example, the first side straight line determined by shelf A'A and shelf C'C is CA, and the leg feature information of the shelf legs of the first side shelf is (x a ,y a ), the leg feature information of the other first side shelf is (x c ,y c ),then:

[0163] The slope of line segment AC is

[0164] The equation of the first side line of line segment AC is y=k ac *x+(y a -k ac *x a ) (1)

[0165] Again, based on the equation of the first side line and the coordinates of the origin of the coordinate system, determine the coordinate information of the first vertical point. The first vertical point is the point where the first side line is perpendicular to the origin and intersects with the first side line. For example, point U is the first vertical point.

[0166] The equation of the first perpendicular line passing through point O and perpendicular to AC is

[0167] By combining the linear equations (1) and (2), we can obtain the coordinate information (x e ,y e ).

[0168] Finally, the first lateral distance between the coordinate information of the first vertical point and the leg feature information of the first side shelf facing away from the mobile carrier is calculated, and the first lateral distance is used as the relative length. In this embodiment, shelf AA' and shelf CC' both belong to the first side shelf on the same side. Since the mobile carrier moves along the traveling direction, shelf AA' is the shelf that the mobile carrier faces in the traveling direction, and shelf CC' is the shelf that the mobile carrier faces away from in the traveling direction.

[0169] Therefore, the mobile carrier is based on the coordinate information U(x e ,y e ) and (x c ,y c ), calculate the distance between line segments UC That is, the first lateral distance is the relative length Δx1.

[0170] The difference between the method of calculating relative length and the above-mentioned embodiments is that, in some embodiments, when determining the relative length of the mobile carrier in the traveling direction of the current shelf, the mobile carrier first calculates two second side shelves adjacent to the current shelf and located on the same side, wherein the second side shelves are located on different sides and opposite to the first side shelves. For example, the current shelf is shelf DB, shelf D'D and shelf BB' both belong to the second side shelves, wherein shelf D'D and shelf BB' are both adjacent to shelf DB, and shelf D'D is opposite to shelf C'C, and shelf BB' is opposite to shelf AA'.

[0171] Secondly, according to the leg feature information of each shelf leg of the two second side shelves, the equation of the second side straight line determined by the two second side shelves is calculated. For example, the second side straight line determined by shelf D'D and shelf BB' is DB, and the leg feature information of the shelf legs of the second side shelf is (x b ,y b ), the leg feature information of the other first side shelf is (x d ,y d ),then:

[0172] The slope of line segment BD is

[0173] The equation of the second side line of line segment BD is y=k bd *x+(y b -k bd *x b ) (3)

[0174] Again, based on the equation of the second side line and the coordinates of the origin of the coordinate system, determine the coordinate information of the second vertical point. The second vertical point is the point perpendicular to the second side line and intersecting with the origin. For example, point V is the second vertical point.

[0175] The equation of the first perpendicular line passing through point O and perpendicular to BD is

[0176] By combining the linear equations (3) and (4), we can obtain the coordinate information (x g ,y g ).

[0177] Finally, the second lateral distance between the coordinate information of the second vertical point and the leg feature information of the second side shelf facing away from the mobile carrier is calculated, and the second lateral distance is used as the relative length. In this embodiment, shelf DD' and shelf BB' both belong to the second side shelves on the same side. Since the mobile carrier moves along the traveling direction, shelf BB' is the shelf that the mobile carrier faces in the traveling direction, and shelf DD' is the shelf that the mobile carrier faces away from in the traveling direction.

[0178] Therefore, the mobile carrier is based on the coordinate information V((x g ,y g ) and (x d ,y d ), calculate the distance between line segments VD That is, the second lateral distance is a relative length Δx2.

[0179] In some embodiments, the mobile carrier may further calculate an average value of the second lateral distance Δx2 and the first lateral distance Δx1 and use the average value as the relative length.

[0180] In some embodiments, the mobile carrier may further calculate the linear equation of the line determined by the SR and obtain the inverse phase angle of the slope of the SR linear equation to obtain the offset angle. Alternatively, the mobile carrier may further calculate the linear equation of the line determined by the ST and obtain the inverse phase angle of the slope of the ST linear equation to obtain the offset angle.

[0181] In general, through the above-mentioned embodiments, not only can the offset angle and offset distance of the mobile carrier in the non-travel direction be accurately calculated, but the current position can also be accurately positioned in the travel direction, thereby ensuring that the mobile carrier will not deviate and collide with the shelf, and can reliably and safely approach the target pick-up and placement position or leave the aisle.

[0182] Furthermore, from the above embodiments, it can be seen that: since traditional technology requires the installation of QR codes on the ground in the alley for navigation, this approach has the problems of complex code installation, inconvenient maintenance, high cost, complex structure, slow speed, low efficiency, large error, easy damage, and unsafe. Therefore, the navigation method provided in this embodiment does not require the installation of codes in the alley, and can safely and reliably navigate in the alley. Moreover, this approach has low cost, no need to maintain codes, small errors, no damage problems, and is safe and reliable. Moreover, the mobile carrier can implement navigation based on the various feature information of the shelves at a certain distance, so the navigation speed is fast and efficient.

[0183] As previously mentioned, when a mobile carrier enters an aisle from a public area, the positioning methods used for mobile carriers in public areas are generally crude, resulting in large positioning errors. When a mobile carrier begins entering an aisle, if the public area positioning method is directly used for positioning at the beginning of the aisle, there is a risk of the mobile carrier colliding with the shelf as soon as it enters the aisle.

[0184] Therefore, in some embodiments, before entering the lane, refer to Figure 6b and Figure 6c , the navigation method S400 further includes:

[0185] S43, calculating the lane entry deflection angle and the relative distance of the mobile carrier relative to the lane center point;

[0186] S44. Navigate the mobile carrier to the entrance of the tunnel based on the deflection angle and the relative distance into the tunnel.

[0187] In this embodiment, point W is the center point of the tunnel, the tunnel entry deflection angle is the angle λ between the straight line C'D' and the X-axis of the mobile carrier coordinate system, a perpendicular line perpendicular to the straight line C'D' is drawn through the origin O and intersects at point J, and the relative distance Δd2 into the tunnel is the line segment JW.

[0188] In some embodiments, before calculating the deflection angle for entering the lane, the user can install identification objects 61 on the sides of the shelves on two opposite sides of the lane entrance. For example, shelf CC' and shelf DD' are two shelves located on two opposite sides of the lane entrance. Before the mobile carrier enters the lane, shelf CC' is provided with an identification object 61 on the side facing the mobile carrier. Similarly, shelf DD' is also provided with an identification object 61 on the side facing the mobile carrier. The identification object 61 is square, arc-shaped or other suitable shapes. In some embodiments, the identification object 61 can be an object composed of multiple edge segments, wherein for one of the edge segments, one end is connected to a bracket on one side of a shelf leg of the shelf, and the other end is connected to a bracket on the other side of the same shelf leg. The two brackets are opposite, for example, please continue to refer to Figure 6b, for the identification object 61 set on shelf CC', one end of its edge segment is connected to one side of shelf CC', and the other end is connected to the other side of shelf CC'. Similarly, for the identification object 61 set on shelf DD', one end of its edge segment is connected to one side of shelf DD', and the other end is connected to the other side of shelf DD'. It can be understood that the setting of the identification object 61 on the shelf does not need to be the same as the setting method of the above embodiment. As long as the mathematical model used for subsequent calculations is appropriate, it can calculate the lane entry deflection angle or lane entry relative distance based on the identification object.

[0189] It is understandable that the marking object may also be a suitable object such as a baffle, wherein the properties of the baffle include: hardness, durability, flatness, good reflective ability, and low cost.

[0190] After the identification object is set, when calculating the deflection angle for entering the lane, in some embodiments, the mobile carrier can calculate the edge straight line equation of the edge segment of the identification object in the coordinate system, and calculate the deflection angle of the mobile carrier into the lane relative to the center point of the lane based on the slope of the edge straight line equation. For example, when the mobile carrier scans the baffle image of the identification object installed on the shelf through a sensor such as a laser radar or a camera, the edge segment of the identification object is parsed from the baffle image through a straight line segment detection algorithm. In addition, since the coordinates of the two end points of the edge segment can obtain the coordinate information of each end point when the sensor collects data, the straight line equation of the edge segment y=k*x+b can be calculated based on the straight line segment detection algorithm and the coordinate information of each end point. Then the slope of the straight line equation of the edge segment is k, so the deflection angle of the mobile carrier into the lane relative to the lane entrance is θ=tan -1 (k).

[0191] Furthermore, in some embodiments, when the mobile carrier calculates the relative distance to the lane center point, the mobile carrier first determines the coordinates of the endpoint of the edge line segment of the marking object on each side closest to the lane entrance. For example, since the edge line segment of the marking object on each side is butted end to end with the side of the shelf, for shelf CC', the endpoint of the edge line segment of the marking object closest to the lane entrance is C', and the coordinate value of endpoint C' is (x c ,y c For shelf DD', the endpoint of the edge segment of the object closest to the lane entrance is D', and the coordinate value of endpoint D' is (x d ,y d ).

[0192] Secondly, the mobile carrier determines the center coordinates of the tunnel center point based on the coordinates of the two endpoints. The straight line determined by the two endpoints is the identification straight line, and the perpendicular line perpendicular to the identification straight line through the origin of the coordinate system is the vertical line into the tunnel. For example, the straight line determined by the endpoints C' and D' is the identification straight line C'D', the straight line OJ is the vertical line into the tunnel, and the center coordinates of the tunnel center point W are

[0193] Next, the mobile carrier determines the coordinates of the intersection between the vertical line of the lane and the marking line, that is, the coordinate value of point J. For example, the equation of the vertical line of the lane is The equation of the identified line is y=k*x+b. Combining the above two line equations, we can get the coordinate value of point J (x j ,y j ).

[0194] Finally, the mobile carrier calculates the distance between the intersection coordinates and the center coordinates, and uses the distance as the relative distance into the lane. For example, according to the calculation method of the distance between two points, the mobile carrier calculates the distance between the intersection coordinates and the center coordinates according to the point J(x j ,y j )and The coordinates of the two are used to calculate the relative distance between the entrance and exit lanes:

[0195]

[0196] Therefore, the mobile carrier can be safely and reliably navigated into the entrance of the tunnel based on the deflection angle and the relative distance into the tunnel.

[0197] In the above embodiment, when calculating the deflection angle of entering the lane, it is more robust to use the method of detecting straight lines instead of the traditional method of detecting corner points, and then use the vertex coordinates of the straight line segment to calculate the relative distance of the mobile carrier entering the lane relative to the center point of the lane, because the detection straight line can be calculated using a large amount of point cloud data, which can improve the reliability of the calculation.

[0198] In some embodiments, the preset space also includes a public area. When the mobile carrier enters the public area, the current position information of the mobile carrier is obtained, and the mobile carrier is navigated based on the current position information and the obtained target position information. The current position information can be calculated by the mobile carrier's internal sensors such as an IMU, odometer, or other sensors in combination with a preset motion equation, or can be calculated using a UWB method, or the current position information calculated using the preset motion equation can be fused with the current position information sent by UWB, and the resulting position fusion information is used as the final current position information.

[0199] In public areas, the mobile vehicle uses global positioning information and the acquired target location information to get closer to the target lane or operating console area. In some embodiments, considering the large number of mobile vehicles in the public area, each mobile vehicle can also use a camera or laser radar to implement emergency obstacle avoidance.

[0200] In public areas, generally speaking, due to the lack of precise positioning means for mobile carriers, in some embodiments, it is necessary to increase the reserved safety distance between each mobile carrier, or to set QR codes and other markers at key locations and frequently passed locations for the shooting equipment to implement precise positioning, wherein the markers encapsulate positioning information.

[0201] In some embodiments, the preset space also includes an operating console area, which is provided with a marker. When the mobile carrier enters the operating console area, the positioning information of the marker is obtained, and the mobile carrier is controlled based on the positioning information. For example, when the mobile carrier arrives at the operating console area, the camera begins to read the QR code (or other positioning marker) in the operating console area, so that the control logic can be accurately and correspondingly applied to the target location based on the positioning information encapsulated in the QR code.

[0202] It should be noted that, in each of the above embodiments, there is not necessarily a certain order between the above steps. A person skilled in the art can understand, based on the description of the embodiments of the present invention, that in different embodiments, the above steps may have different execution orders, that is, they may be executed in parallel, or may be executed interchangeably, etc.

[0203] As another aspect of an embodiment of the present invention, an embodiment of the present invention provides a navigation device applied to a mobile carrier, which can travel in a preset space, wherein the preset space includes an aisle formed by at least two rows of shelves placed opposite to each other. Figure 7a The navigation device 700 includes a calculation module 71 and a navigation module 72 .

[0204] The calculation module 71 is used to calculate the offset position information of the mobile carrier relative to the shelf in the non-travel direction in the aisle;

[0205] The navigation module 72 is used to navigate the mobile carrier according to the offset position information.

[0206] In summary, since the mobile carrier can be navigated based on the offset position information in the non-travel direction, on the one hand, the mobile carrier is prevented from colliding with the shelf, and on the other hand, the mobile carrier can be reliably navigated in the aisle.

[0207] In some embodiments, see Figure 7b The calculation module 71 includes: an acquisition unit 711 and a calculation unit 712.

[0208] The acquisition unit 711 is used to obtain characteristic information of the shelf;

[0209] The calculation unit 712 is used to calculate the offset position information of the mobile carrier in the lane relative to the shelf in the non-travel direction based on the feature information.

[0210] In some embodiments, the shelf is installed with shelves, and the characteristic information is edge characteristic information of the shelves.

[0211] In some embodiments, the mobile carrier is equipped with a sensor, and the feature information is obtained by the sensor. The calculation unit 712 is configured to calculate the offset position information based on the coordinate information of the feature information in the coordinate system of the sensor.

[0212] In some embodiments, the calculation unit 712 is configured to obtain posture information of a sensor installed on a mobile carrier, and calculate offset position information based on the posture information and coordinate information of edge feature information in the coordinate system of the sensor.

[0213] In some embodiments, the sensor includes a camera, and the posture information includes the installation height and pitch angle of the camera on the mobile carrier. The calculation unit 712 is configured to calculate the edge line equation of the edge feature information on the camera model based on the camera model of the camera and the coordinate information of the edge feature information in the coordinate system, and calculate the offset position information based on the camera model, the edge line equation, the installation height, and the pitch angle.

[0214] In some embodiments, the shooting device is set as the origin 0, the optical axis direction is the Z axis, the optical axis intersects the ground at point D, a perpendicular line is drawn through point O to the ground and intersects the ground at point Q, a perpendicular line OD is drawn through point O in the ODQ plane and intersects the ground at point E, OE is defined as the y-axis, and a perpendicular line through point O to the zOy plane is drawn as the x-axis to establish the coordinate system.

[0215] In some embodiments, each shelf includes at least two shelf legs separated by a preset distance, and the characteristic information is leg characteristic information of the shelf legs.

[0216] In some embodiments, the computing unit 712 is used to determine first leg feature information of a first shelf leg and second leg feature information of a second shelf leg that the mobile carrier faces in the direction of travel, wherein the first shelf leg and the second shelf leg are located on different rows of shelves and are directly opposite to each other, and the offset position information is calculated based on the respective coordinate information of the first leg feature information and the second leg feature information in the coordinate system of the sensor.

[0217] In some embodiments, the line segment defined by the first shelf leg and the second shelf leg is defined as a first line segment, and a first line perpendicular to the first line segment is drawn through the midpoint of the first line segment. The calculation unit 712 is configured to calculate a first centerline equation of the first line in the coordinate system based on the respective coordinate information of the first leg feature information and the second leg feature information in the coordinate system of the sensor; calculate a first distance from the origin of the coordinate system to the first line based on the first centerline equation, and use the first distance as the offset position information.

[0218] In some embodiments, the computing unit 712 is used to determine the third leg characteristic information of the third shelf leg and the fourth leg characteristic information of the fourth shelf leg that the mobile carrier faces away from in the direction of travel, wherein the third shelf leg and the fourth shelf leg are located on different rows of shelves and are directly opposite to each other; the offset position information is calculated based on the respective coordinate information of the third leg characteristic information and the fourth leg characteristic information in the coordinate system of the sensor.

[0219] Let the line segment defined by the third shelf leg and the fourth shelf leg be a second line segment, and draw a second line perpendicular to the second line segment through the midpoint of the second line segment. In some embodiments, the calculation unit 712 is configured to calculate a second centerline equation of the second line in the coordinate system based on the respective coordinate information of the third leg feature information and the fourth leg feature information in the coordinate system of the sensor; calculate a second distance from the origin of the coordinate system to the second line based on the second centerline equation, and use the second distance as the offset position information, or alternatively, calculate an average of the second distance and the first distance, and use the average as the offset position information.

[0220] In some embodiments, see Figure 7c The navigation device 700 further includes a determination module 73, which is used to determine the current coordinates of the mobile carrier in the traveling direction.

[0221] In some embodiments, the determination module 73 is used to determine the entrance coordinates of the mobile carrier in the direction of travel when it enters the tunnel entrance; calculate the moving length of the mobile carrier in the direction of travel in the tunnel; and calculate the current coordinates of the mobile carrier in the direction of travel based on the entrance coordinates and the moving length.

[0222] There are multiple shelves located on the same side, and the shelf lengths of each shelf are preset and identical. The position where the mobile carrier begins to enter the current shelf in the direction of travel is the starting position, and the position corresponding to the current position in the direction of travel is the final position. In some embodiments, the determination module 73 is used to obtain the number of shelves on the same side that the mobile carrier has passed in the lane; determine the relative length of the mobile carrier in the direction of travel of the current shelf, where the relative length is the absolute value of the difference between the final position and the starting position; multiply the number of shelves by the shelf length to obtain a multiplication result; add the multiplication result to the relative length to obtain an addition result, and use the addition result as the movement length.

[0223] In some embodiments, the determination module 73 is used to calculate two first side shelves adjacent to and located on the same side of the current shelf; calculate the first side straight line equation determined by the two first side shelves based on the leg feature information of the respective shelf legs of the two first side shelves; determine the coordinate information of the first vertical point based on the first side straight line equation and the coordinates of the origin of the coordinate system, the first vertical point being a point perpendicular to and intersecting the first side straight line through the origin; calculate the first lateral distance between the coordinate information of the first vertical point and the leg feature information of the first side shelf facing away from the mobile carrier, and use the first lateral distance as the relative length.

[0224] In some embodiments, the determination module 73 is used to calculate two second side shelves adjacent to and located on the same side of the current shelf, wherein the second side shelves and the first side shelf are located on different sides and opposite to each other; calculate the second side straight line equation determined by the two second side shelves based on the leg feature information of the respective shelf legs of the two second side shelves; determine the coordinate information of the second vertical point based on the second side straight line equation and the coordinates of the origin of the coordinate system, the second vertical point being a point perpendicular to and intersecting the second side straight line through the origin; calculate the second lateral distance between the coordinate information of the second vertical point and the leg feature information of the second side shelf facing away from the mobile carrier, and use the second lateral distance as the relative length, or obtain the average of the second lateral distance and the first lateral distance, and use the average as the relative length.

[0225] Before entering the lane, in some embodiments, refer to Figure 7d The navigation device 700 further includes an entry calculation module 74 and an entry navigation module 75 .

[0226] The entrance calculation module 74 is used to calculate the lane entry deflection angle and the relative distance of the mobile carrier relative to the lane center point;

[0227] The entrance navigation module 75 is used to navigate the mobile carrier to the entrance of the lane according to the deflection angle and the relative distance into the lane.

[0228] In some embodiments, identification objects are installed on the sides of the shelves on two opposite sides of the tunnel entrance; the entrance calculation module 74 is used to calculate the edge straight line equation of the edge segment of the identification object in the coordinate system; based on the slope of the edge straight line equation, the entry deflection angle of the mobile carrier relative to the center point of the tunnel is calculated.

[0229] In some embodiments, the entrance navigation module 75 is used to respectively determine the endpoint coordinates of the edge segment of the identification object on each side closest to the tunnel entrance; determine the center coordinates of the center point of the tunnel based on the two endpoint coordinates, wherein the straight line determined by the two endpoints is taken as the identification straight line, and the perpendicular line perpendicular to the identification straight line through the origin of the coordinate system is taken as the entrance vertical line; determine the intersection coordinates between the entrance vertical line and the identification straight line; calculate the distance between the intersection coordinates and the center coordinates, and use the distance as the relative distance to the entrance.

[0230] In some embodiments, the sensor includes a lidar.

[0231] In some embodiments, the navigation module 72 is configured to: adjust the mobile carrier to move to a preset moving direction according to the offset position information; and navigate the mobile carrier.

[0232] In some embodiments, the preset space also includes a public area; please refer to Figure 7d The device 700 also includes: a public area navigation module 76 and an operation console area navigation module 77.

[0233] The public area navigation module 76 is used to obtain the current location information of the mobile carrier when the mobile carrier enters the public area; and navigate the mobile carrier according to the current location information and the obtained target location information.

[0234] The preset space also includes an operating console area, which is provided with a marker that encapsulates positioning information; the operating console area navigation module 77 is used to obtain the positioning information of the marker when the mobile carrier enters the operating console area; and control the mobile carrier according to the positioning information.

[0235] It should be noted that the above navigation device can execute the navigation method provided by the embodiment of the present invention and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in the navigation device embodiment, please refer to the navigation method provided by the embodiment of the present invention.

[0236] Figure 8 FIG. 1 is a circuit diagram of a mobile carrier according to an embodiment of the present invention. Figure 8 As shown, the mobile carrier 800 includes one or more processors 81 and a memory 82. Figure 8 A processor 81 is taken as an example.

[0237] The processor 81 and the memory 82 may be connected via a bus or other means. Figure 8 The bus connection is taken as an example.

[0238] Memory 82, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the navigation method in the embodiments of the present invention. Processor 81 executes the non-volatile software programs, instructions, and modules stored in memory 82 to execute various functional applications and data processing of the navigation device, thereby implementing the functions of the navigation method in the aforementioned method embodiment and the various modules in the aforementioned device embodiment.

[0239] The memory 82 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state memory device. In some embodiments, the memory 82 may optionally include a memory remotely located relative to the processor 81, and such remote memory may be connected to the processor 81 via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0240] The program instructions / modules are stored in the memory 82 and, when executed by the one or more processors 81 , perform the navigation method in any of the above method embodiments.

[0241] The mobile carrier 800 in the embodiment of the present invention exists in various forms and executes the steps described above.

[0242] An embodiment of the present invention further provides a non-volatile computer storage medium, wherein the computer storage medium stores computer executable instructions, and the computer executable instructions are executed by one or more processors, for example Figure 8 A processor 81 in the embodiment may enable the one or more processors to execute the navigation method in any of the above method embodiments.

[0243] An embodiment of the present invention further provides a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a mobile carrier, the mobile carrier executes any one of the navigation methods.

[0244] On the one hand, it prevents the mobile carrier from colliding with the shelves, and on the other hand, it enables the mobile carrier to be navigated reliably within the aisle.

[0245] The above-described device or apparatus embodiments are merely illustrative. The unit modules described as separate components may or may not be physically separate, and the components shown as module units may or may not be physical units, i.e., they may be located in one place or distributed across multiple network module units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment.

[0246] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, or of course, by hardware. Based on this understanding, the above technical solution, in essence, or the part that contributes to the relevant technology, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiment.

[0247] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Under the idea of ​​the present invention, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the present invention as described above. For the sake of simplicity, they are not provided in detail. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of this application.

Claims

1. A navigation method, applied to a mobile carrier, wherein the mobile carrier can travel within a preset space, wherein the preset space includes a lane formed by at least two rows of shelves placed opposite to each other, characterized in that: The method comprises: Obtaining offset position information of the mobile carrier in the lane relative to the shelf in a non-travel direction; navigating the mobile carrier according to the offset position information; Before entering the tunnel, the method further includes: Calculating the lane entry deflection angle and the relative distance of the mobile carrier relative to the center point of the lane; The mobile carrier is navigated to enter the entrance of the lane according to the lane entry deflection angle and the lane entry relative distance.

2. The method according to claim 1, characterized in that The obtaining of the offset position information of the mobile carrier in the lane relative to the shelf in the non-travel direction includes: Acquiring characteristic information of the shelf; Based on the characteristic information, the offset position information of the mobile carrier in the lane relative to the shelf in the non-travel direction is calculated.

3. The method according to claim 2, characterized in that The shelf is installed with a shelf, and the characteristic information is edge characteristic information of the shelf.

4. The method according to claim 3, characterized in that The characteristic information is obtained by a sensor and sent by the sensor to the mobile carrier; Calculating the offset position information of the mobile carrier in the lane relative to the shelf in the non-travel direction based on the characteristic information includes: The offset position information is calculated according to coordinate information of the feature information in the coordinate system of the sensor.

5. The method according to claim 4, characterized in that The calculating the offset position information according to the coordinate information of the feature information in the coordinate system of the sensor includes: Acquiring posture information of the sensor installed on the mobile carrier; The offset position information is calculated according to the posture information and the coordinate information of the edge feature information in the coordinate system of the sensor.

6. The method according to claim 5, characterized in that The sensor includes a camera, and the posture information includes an installation height and a pitch angle of the camera installed on the mobile carrier; The calculating the offset position information according to the posture information and the coordinate information of the edge feature information in the coordinate system of the sensor includes: Calculating an edge straight line equation of the edge feature information in the camera model according to the camera model of the shooting device and the coordinate information of the edge feature information in the coordinate system; The offset position information is calculated according to the camera model, the edge straight line equation, the installation height, and the pitch angle.

7. The method according to claim 6, characterized in that Let the shooting device be the origin 0, the optical axis direction be the Z axis, the optical axis intersect the ground at point D, draw a perpendicular line through point O to the ground and intersect the ground at point Q, draw a perpendicular line OD through point O in the ODQ plane and intersect the ground at point E, OE is defined as the Y axis, and the perpendicular line through point O to the zOy plane is the X axis to establish the coordinate system.

8. The method according to claim 7, characterized in that The calculating the offset position information according to the camera model, the edge straight line equation, the installation height, and the pitch angle includes: Select any reference point P from the edge feature information, and let the coordinate information of the reference point P in the coordinate system be (x, y, z); Derived, based on the positional relationship between the edge feature information and the coordinate system, a first equation between x and the installation height, the pitch angle, and the offset position information, and a second equation between y and the installation height and the pitch angle; Derived a third equation integrating x, y, and z into the same equation based on the equation relationship between the camera model and the edge line equation; Combining the first equation, the second equation, and the third equation, a fourth equation is obtained; The offset position information is calculated according to the fourth equation.

9. The method according to claim 4, characterized in that Each of the shelves includes at least two shelf legs spaced a preset distance apart, and the characteristic information is the leg characteristic information of the shelf legs.

10. The method according to claim 9, characterized in that The calculating the offset position information according to the coordinate information of the feature information in the coordinate system of the sensor includes: Determining first leg characteristic information of a first shelf leg and second leg characteristic information of a second shelf leg that the mobile carrier faces in a traveling direction, wherein the first shelf leg and the second shelf leg are located on different rows of shelves and are directly opposite each other; The offset position information is calculated according to respective coordinate information of the first leg feature information and the second leg feature information in the coordinate system of the sensor.

11. The method according to claim 10, characterized in that Let the line segment defined by the first shelf leg and the second shelf leg be a first line segment, and draw a first straight line perpendicular to the first line segment through the midpoint of the first line segment; The calculating the offset position information according to respective coordinate information of the first leg feature information and the second leg feature information in the coordinate system of the sensor includes: Calculating a first midline equation of the first straight line in the coordinate system according to respective coordinate information of the first leg feature information and the second leg feature information in the coordinate system of the sensor; According to the first centerline equation, a first distance from the origin of the coordinate system to the first straight line is calculated, and the first distance is used as the offset position information.

12. The method according to claim 9, characterized in that The calculating the offset position information according to the coordinate information of the feature information in the coordinate system of the sensor includes: Determining third leg characteristic information of a third shelf leg and fourth leg characteristic information of a fourth shelf leg that the mobile carrier faces away from in the traveling direction, wherein the third shelf leg and the fourth shelf leg are located on different rows of shelves and are directly opposite to each other; The offset position information is calculated according to respective coordinate information of the third leg feature information and the fourth leg feature information in the coordinate system of the sensor.

13. The method according to claim 12, characterized in that Let the line segment defined by the third shelf leg and the fourth shelf leg be a second line segment, and draw a second straight line perpendicular to the second line segment through the midpoint of the second line segment; The calculating the offset position information according to respective coordinate information of the third leg feature information and the fourth leg feature information in the coordinate system of the sensor includes: Calculating a second midline equation of the second straight line in the coordinate system according to respective coordinate information of the third leg feature information and the fourth leg feature information in the coordinate system of the sensor; According to the second centerline equation, the second distance from the origin of the coordinate system to the second straight line is calculated, and the second distance is used as the offset position information, or the average value of the second distance and the first distance is obtained, and the average value is used as the offset position information.

14. The method according to any one of claims 1 to 13, characterized in that The method further comprises: The current coordinates of the mobile carrier in the direction of travel are determined.

15. The method according to claim 14, characterized in that The determining the current coordinates of the mobile carrier in the direction of travel includes: Determining the entrance coordinates of the mobile carrier in the direction of travel when entering the tunnel entrance; Calculating the moving length of the mobile carrier in the direction of travel in the lane; The current coordinates of the mobile carrier in the moving direction are calculated according to the entrance coordinates and the moving length.

16. The method according to claim 15, characterized in that There are multiple shelves on the same side, and the shelf lengths of each shelf are preset and the same. The position where the mobile carrier begins to enter the current shelf in the direction of travel is the starting position, and the position corresponding to the current position in the direction of travel is the final position. The calculating of the moving length of the mobile carrier in the traveling direction in the lane includes: Obtaining the number of shelves on the same side that the mobile carrier passes through in the lane; Determining a relative length of the mobile carrier in the direction of travel of the current shelf, the relative length being the absolute value of the difference between the final position and the starting position; Multiplying the number of shelves by the shelf length to obtain a multiplication result; The multiplication result is added to the relative length to obtain an addition result, and the addition result is used as the moving length.

17. The method according to claim 16, characterized in that The determining of the relative length of the mobile carrier in the direction of travel of the current shelf includes: Calculate two first side shelves adjacent to and located on the same side of the current shelf; Calculating a first side straight line equation determined by the two first side shelves according to leg feature information of respective shelf legs of the two first side shelves; Determine coordinate information of a first perpendicular point based on the equation of the first side line and the coordinates of the origin of the coordinate system, where the first perpendicular point is a point where a line perpendicular to the origin intersects the first side line; A first lateral distance between the coordinate information of the first vertical point and the leg feature information of the first side shelf facing away from the mobile carrier is calculated, and the first lateral distance is used as the relative length.

18. The method according to claim 16, characterized in that The determining of the relative length of the mobile carrier in the direction of travel of the current shelf includes: Calculate two second side shelves adjacent to and located on the same side as the current shelf, wherein the second side shelves are located on different sides and opposite to the first side shelf; Calculating a second side straight line equation determined by the two second side shelves according to the leg feature information of each shelf leg of the two second side shelves; Determine coordinate information of a second perpendicular point based on the equation of the second side line and the coordinates of the origin of the coordinate system, where the second perpendicular point is a point where a line perpendicular to the origin intersects the second side line; Calculate the second lateral distance between the coordinate information of the second vertical point and the leg feature information of the second side shelf facing away from the mobile carrier, and use the second lateral distance as the relative length, or calculate the average value of the second lateral distance and the first lateral distance, and use the average value as the relative length.

19. The method according to claim 1, wherein Identification objects are installed on the sides of the shelves on two opposite sides of the lane entrance; The calculating the lane entry deflection angle of the mobile carrier relative to the lane center point includes: Calculating the edge line equation of the edge segment of the marked object in the coordinate system; The lane entry deflection angle of the mobile carrier relative to the lane center point is calculated according to the slope of the edge straight line equation.

20. The method according to claim 19, wherein The calculating of the relative distance of the mobile carrier from the center point of the lane into the lane includes: Determine the endpoint coordinates of the edge line segment of the marking object on each side closest to the lane entrance; Determine the center coordinates of the tunnel center point based on the two endpoint coordinates, wherein the straight line determined by the two endpoints is defined as an identification straight line, and a perpendicular line perpendicular to the identification straight line through the origin of the coordinate system is defined as an entry perpendicular line; Determine the coordinates of the intersection between the vertical line into the lane and the marking straight line; The distance between the intersection coordinates and the center coordinates is calculated, and the distance is used as the relative distance into the lane.

21. The method according to claim 9, wherein The sensor includes a lidar.

22. The method according to any one of claims 1 to 13 and 15 to 21, characterized in that The navigating the mobile carrier according to the offset position information includes: According to the offset position information, adjusting the mobile carrier to move to a preset moving direction; Navigating the mobile carrier.

23. The method according to any one of claims 1 to 13 and 15 to 21, characterized in that The preset space also includes a public area; The method further comprises: When the mobile carrier enters the public area, obtaining current location information of the mobile carrier; The mobile carrier is navigated according to the current location information and the acquired target location information.

24. The method according to any one of claims 1 to 13 and 15 to 21, characterized in that The preset space also includes an operating table area, wherein the operating table area is provided with a marker, and the marker is encapsulated with positioning information; The method further comprises: When the mobile carrier enters the operating table area, obtaining the positioning information of the marker; The mobile carrier is controlled according to the positioning information.

25. A mobile carrier, characterized in that: include: at least one processor; as well as a memory communicatively coupled to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the navigation method according to any one of claims 1 to 24.

26. A navigation system, characterized in that: include: server; as well as The mobile carrier according to claim 25, communicating with the server.

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