Driving route planning method, device, storage medium and mobile device

Abstract

The present invention provides a driving route planning method, device, storage medium, and mobile device. The method comprises: obtaining a driving route and a configuration file for an autonomous mobile device within a calibrated area, the configuration file including movement restrictions for each position of the autonomous mobile device within the calibrated area; verifying, based on the configuration file, whether the autonomous mobile device satisfies the movement restrictions at the corresponding position when traveling along the driving route; and determining a final driving route based on the verification result. The technical solution of the present invention can improve the safety of the generated final driving route.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to a driving route planning method, device, storage medium and mobile device. Background Art

[0002] With the rapid development of warehousing and logistics technology, AGVs (Automated Guided Vehicles) and other transport vehicles are widely used in e-commerce and smart factories to transport goods stored in warehouses. Warehouses are planned with areas for transport vehicles to travel. These areas are marked with QR codes on the ground. The transport vehicles plan their routes by identifying the QR codes on the ground and complete the delivery of goods by following the routes. However, when planning a route based on the QR codes on the ground, it is impossible to determine the spatial conditions on the route, which may cause the transport vehicle to collide with the limit brackets in the driving area, causing a safety accident. Summary of the Invention

[0003] The problem solved by the present invention is how to improve the safety of an automatic navigation mobile device during driving.

[0004] To solve the above problems, the present invention provides a driving route planning method, device, storage medium and automatic navigation mobile device.

[0005] In a first aspect, an embodiment of the present invention provides a driving route planning method, comprising:

[0006] Obtaining a driving route and a configuration file of an autonomous navigation mobile device within a calibration area, wherein the configuration file includes motion constraints of the autonomous navigation mobile device at various locations within the calibration area;

[0007] The configuration file is used to verify whether the automatic navigation mobile device meets the motion restriction condition of the corresponding position when traveling along the driving route, and a final driving route is determined based on the verification result.

[0008] Optionally, in some embodiments, verifying, based on the configuration file, whether the autonomous navigation mobile device satisfies the motion restriction condition of the corresponding location when traveling along the driving route includes:

[0009] The motion instructions of the automatic navigation mobile device at multiple locations on the driving route are determined according to the driving route, and it is determined whether each of the motion instructions meets the motion restriction condition of the corresponding location.

[0010] Optionally, in some embodiments, the movement instruction includes a turning instruction, and the movement restriction condition includes a turning restriction condition.

[0011] The determining whether each of the movement instructions meets the movement restriction condition of the corresponding position includes:

[0012] determining whether the turn instructions at a plurality of locations on the driving route meet corresponding turn restriction conditions;

[0013] Determining the final driving route according to the verification result includes:

[0014] If each of the turn indications meets the corresponding turn restriction condition, the driving route is determined to be the final driving route; if at least one of the turn indications does not meet the corresponding turn restriction condition, the driving route is reacquired for verification until the final driving route is determined.

[0015] Optionally, in some embodiments, the steering restriction condition includes a rotation angle range.

[0016] The determining whether the turn instructions at multiple locations on the driving route meet the corresponding turn restriction conditions includes:

[0017] For any position on the driving route, if the rotation angle corresponding to the turn indication is within the rotation angle range, it means that the turn indication at the position meets the turning restriction condition at the position; if the rotation angle corresponding to the turn indication is not within the rotation angle range, it means that the turn indication at the position does not meet the turning restriction condition at the position.

[0018] Optionally, in some embodiments, the motion restriction condition includes a maximum rotation angle, and the method further includes:

[0019] If the autonomous navigation mobile device deviates from the final driving route during driving, obtaining a lateral deviation of the autonomous navigation mobile device at a current position;

[0020] generating a correction angle according to the lateral deviation;

[0021] If the correction angle is less than or equal to the maximum rotation angle of the current position, control information of the current position is generated, and the control information includes controlling the automatic navigation mobile device to rotate according to the correction angle; if the correction angle is greater than the maximum rotation angle of the current position, control information of the current position is generated, and the control information includes controlling the automatic navigation mobile device to rotate according to the maximum rotation angle.

[0022] Optionally, in some embodiments, the method further comprises:

[0023] Acquiring map information of the marked area, wherein the map information includes road parameters of each road in the marked area;

[0024] The motion restriction conditions of the automatic navigation mobile device at each position in the calibration area are determined by combining the road parameters of each road in the calibration area and the equipment parameters of the automatic navigation mobile device.

[0025] Optionally, in some embodiments, information codes are provided at intersections of various roads, the movement restriction conditions include turning restriction conditions, and the determination of the movement restriction conditions of the autonomous navigation mobile device at various positions in the calibration area includes:

[0026] For any of the information codes, determining all candidate roads connected to the intersection where the information code is located;

[0027] The automatic navigation mobile device is analyzed to determine whether it can enter each of the roads to be selected based on the road parameters of each of the roads to be selected and the equipment parameters of the automatic navigation mobile device, and the turning restriction conditions of the automatic navigation mobile device at the intersection where the information code is located are determined based on the analysis results.

[0028] Optionally, in some embodiments, the motion restriction condition includes a maximum rotation angle, and determining the motion restriction condition of the autonomous navigation mobile device at each position in the calibration area further includes:

[0029] For any position within the calibration area, the maximum rotation angle of the autonomous navigation mobile device at the position is determined according to the road parameters of the position and the equipment parameters of the autonomous navigation mobile device.

[0030] In a second aspect, an embodiment of the present invention provides a driving route planning device, comprising:

[0031] An acquisition module, configured to acquire a driving route and a configuration file of an autonomous navigation mobile device within a calibration area, wherein the configuration file includes motion restriction conditions of the autonomous navigation mobile device at various positions within the calibration area;

[0032] The verification module is used to verify whether the automatic navigation mobile device meets the movement restriction conditions of the corresponding position when traveling along the driving route according to the configuration file, and determine the final driving route according to the verification result.

[0033] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the driving route planning method as described above is implemented.

[0034] In a fourth aspect, an embodiment of the present invention provides an automatic navigation mobile device, comprising a memory and a processor;

[0035] The memory is used to store computer programs;

[0036] The processor is used to implement the driving route planning method described above when executing the computer program.

[0037] The beneficial effects of the driving route planning method, device, storage medium and automatic navigation mobile device of the embodiments of the present invention are: after obtaining the driving route, the configuration file is used to verify whether the automatic navigation mobile device meets the motion restriction conditions of the corresponding position when driving according to the driving route, and the final driving route is determined. This can greatly improve the safety of the generated final driving route, ensure the safety of the automatic navigation mobile device when driving according to the final driving route, and improve the ability of the automatic navigation mobile device to cope with complex terrain, thereby expanding the application scenarios of the automatic navigation mobile device. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a schematic structural diagram of an automatic navigation mobile device according to an embodiment of the present invention;

[0039] Figure 2 A schematic flow chart of a driving route planning method according to an embodiment of the present invention;

[0040] Figure 3 Schematic diagram of the structure of a driving route planning device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0041] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0042] It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, such that the embodiments of the present invention described herein can be practiced in an order other than that illustrated or described herein.

[0043] In the prior art, warehouses are usually divided into areas for automatic navigation mobile devices to travel. Outside the area, limit devices such as limit brackets are used to prevent the automatic navigation mobile devices from rushing out of the specified area and colliding with goods, etc., causing safety accidents.

[0044] The technical solution of the present invention can be applied not only to automatically traveling AGVs, AMRs, forklifts, bin trucks, pallet trucks and other transport vehicles, but also to any other automatically navigated mobile devices that travel along a specified path, and can also be applied to any other automatically navigated mobile devices that use at least one of laser sensors, visual sensors, ultrasonic sensors and infrared sensors to achieve autonomous movement.

[0045] like Figure 1 As shown, an automatic navigation mobile device provided by an embodiment of the present invention includes a memory and a processor; the memory is used to store a computer program; the processor is used to implement the driving route planning method described below when executing the computer program.

[0046] like Figure 2 As shown, an embodiment of the present invention provides a driving route planning method. The execution subject of this method can be a host computer such as a computer and a server, or a processor of an automatic navigation mobile device, etc. The method includes:

[0047] Step S110 : Acquire a driving route and a configuration file of an autonomous navigation mobile device within a calibration area, wherein the configuration file includes motion restriction conditions of the autonomous navigation mobile device at various positions within the calibration area.

[0048] Among them, the calibration area can be the area within the warehouse where the automatic navigation mobile device can travel. The driving route and configuration file can be saved in the memory of the automatic navigation mobile device or in the server. If the configuration file is saved in the server, the automatic navigation mobile device will automatically read the configuration file from the server and cache it in its own storage medium when it is first registered and powered on; if the configuration file is large, the automatic navigation mobile device will cache the corresponding part of the configuration file near the current map, and then determine whether it needs to re-acquire other parts of the configuration file when it runs to other areas. If the corresponding configuration file has been cached in the current area, it will not be re-acquired. In this way, the automatic navigation mobile device can obtain the configuration file of the corresponding area in a more real-time manner when it is running.

[0049] Optionally, a road map of the designated area and a driving mission for the autonomous mobile device can be pre-obtained to determine a driving route. The driving mission includes a starting point and an end point for the autonomous mobile device. Based on the road map, a driving route for the autonomous mobile device within the designated area is generated randomly or using a path planning algorithm based on the starting point and end point. The specific process of generating a driving route between two points based on a road map is conventional technology and will not be further described here. Similarly, motion restrictions can be pre-configured for each location within the designated area to limit the movement of the autonomous mobile device at each location.

[0050] Step S120 , verifying whether the automatic navigation mobile device meets the motion restriction condition of the corresponding position when traveling along the driving route according to the configuration file, and determining a final driving route according to the verification result.

[0051] Specifically, the verification process is as follows: when the automatically navigated mobile device is traveling along the driving route, determining whether the movement at each location on the driving route complies with the movement restrictions at each location. If the movement at each location on the driving route complies with the corresponding movement restrictions, the verification passes, indicating that the automatically navigated mobile device will not collide with other devices when traveling along the driving route, and thus the driving route is determined to be the final driving route. If the movement at at least one location on the driving route does not comply with the corresponding movement restrictions, the verification fails, indicating that traveling along the driving route may result in a safety accident such as a collision, and therefore the driving route cannot be determined as the final driving route. A new driving route needs to be obtained and verified again until the final driving route is determined.

[0052] In this embodiment, after obtaining a driving route, the configuration file is used to verify whether the motion restriction conditions of the corresponding position are met when the autonomous navigation mobile device drives along the driving route, and the final driving route is determined. This can significantly improve the safety of the generated final driving route, ensure the safety of the autonomous navigation mobile device when driving along the final driving route, and improve the ability of the autonomous navigation mobile device to cope with complex terrain, expanding the application scenarios of the autonomous navigation mobile device. Optionally, in one embodiment, the driving route planning method further includes:

[0053] Acquiring map information of the marked area, wherein the map information includes road parameters of each road in the marked area;

[0054] The motion restriction conditions of the automatic navigation mobile device at each position in the calibration area are determined by combining the road parameters of each road in the calibration area and the equipment parameters of the automatic navigation mobile device.

[0055] Specifically, the configuration file can be manually configured or automatically configured based on road parameters and device parameters of the autonomous navigation device. Road parameters may include road width and height, while device parameters include dimensions such as the height and width of the autonomous navigation device. For any location on the road, the motion restriction conditions are determined based on the road parameters and the dimensions of the autonomous navigation device at that location.

[0056] For example: for the intersection of two roads, if the width of one of the roads is smaller than the width of the automatically navigated mobile device, the movement restriction condition corresponding to the intersection includes prohibiting entry into the road; if the width of one of the roads is larger than the width of the automatically navigated mobile device, and the height limit of the road is also higher than the height of the automatically navigated mobile device, etc., then the movement restriction condition corresponding to the intersection includes allowing the automatically navigated mobile device to enter the road. Furthermore, the motion restriction conditions corresponding to the intersection may specifically include the angles at which the autonomously navigated mobile device is allowed to turn at the intersection. For an autonomously navigated mobile device that can move omnidirectionally, it can walk in any direction and turn on the spot, and it is only necessary to consider whether its dimensions after changing direction meet the road parameters of the road. For an autonomously navigated mobile device that cannot move omnidirectionally, the range of angles allowed for turning is related to the direction of the front of the autonomously navigated mobile device. For example, assuming that the current position of the autonomously navigated mobile device connects two roads, where the first road extends eastward from the current position and the second road extends southward from the current position, if the front of the autonomously navigated mobile device faces north and the rear of the vehicle faces south, that is, the autonomously navigated mobile device may have entered the current position from the second road, then the motion restriction conditions at this position are that a 90-degree right turn is allowed, and a 180-degree left turn or right turn is allowed. If the front of the autonomously navigated mobile device faces west and the rear of the vehicle faces east, that is, the autonomously navigated mobile device may have entered the current position from the first road, then the motion restriction conditions at this position are that a 90-degree left turn is allowed, and a 180-degree left turn or right turn is allowed. It can also be specific to the steering angle range. Assuming that the allowed steering angle range includes -8° to 8°, it means that at the current position and the current vehicle head direction, the automatic navigation mobile device can turn within the range between 8 degrees left and 8 degrees right, where "-" means left.

[0057] Optionally, in another embodiment, information codes are provided at intersections of each road, the movement restriction conditions include turning restriction conditions, and the movement restriction conditions for determining the position of the autonomous navigation mobile device at each location in the calibration area include:

[0058] For any of the information codes, determining all candidate roads connected to the intersection where the information code is located;

[0059] The automatic navigation mobile device is analyzed to determine whether it can enter each of the roads to be selected based on the road parameters of each of the roads to be selected and the equipment parameters of the automatic navigation mobile device, and the turning restriction conditions of the automatic navigation mobile device at the intersection where the information code is located are determined based on the analysis results.

[0060] Specifically, in the prior art, when an automatic navigation mobile device transports goods in a warehouse, the real-time location of the automatic navigation mobile device is often determined by scanning information codes on the ground. Information codes include QR codes, bar codes, and other identifiers that can store information. Since the road parameters at various locations on the same road are usually the same, such as the width and height limit, the information codes are often set at key locations on the route, such as intersections where multiple roads intersect or locations where road parameters change. For any information code position, determine whether the automatic navigation mobile device can enter the road adjacent to the information code position. If it can enter the left-turn road connected to the information code position but cannot enter the right-turn road connected to the information code position, then the movement restriction conditions of the information code position include being able to turn left but not right, and then set the configuration file for the information point position. For example: if the coordinate point {500, 500, 1} cannot be rotated, set a configuration file for this point, and the content of the configuration file may include [rotate] x=500, y=500, z=1, unrotate=1, where x represents the X-axis coordinate, y represents the Y-axis coordinate, z represents the Z-axis coordinate, and unrotate represents the rotation restriction condition. When it is 1, it means that it cannot be rotated, and when it is 0, it means that it can be rotated.

[0061] In addition to configuring rotation restrictions for each information code location, you can also set up configuration files for specified areas based on the coordinates of the information code location or the map. If you need to restrict the rotation of all points in a certain area, that is, all points in the area cannot be rotated, such as a straight area (straight road) with starting points of {500, 500, 1} and {500, 10500, 1}, the configuration file for the area may include [rotate] x=500, y=500-10500, z=1, unrotate=1.

[0062] Optionally, in yet another embodiment, the motion restriction condition includes a maximum rotation angle, and determining the motion restriction condition of the autonomous navigation mobile device at each position in the calibration area includes:

[0063] For any position within the calibration area, a maximum rotation angle of the autonomous navigation mobile device at the position is determined based on the road parameters of the position and the equipment parameters of the autonomous navigation mobile device.

[0064] Specifically, if the road parameters, such as width, height limit, and direction, are essentially the same at all locations on a road, then if the change in any of these parameters between two sections of the road exceeds a preset threshold, then the two sections can be considered separate roads. For example, if two adjacent sections of a straight road have a width of 3 meters on one section and 2 meters on the other, and the change in width exceeds the preset threshold by 1 meter, then the two sections can be considered separate roads, requiring a data code to be set at the junction of the two sections. Therefore, for each location on each road with consistent road parameters, the motion restrictions for the autonomous navigation device are consistent at each location on that road.

[0065] In this optional embodiment, the motion restriction conditions for each position are determined in combination with the road parameters of each road in the calibration area and the size of the automatic navigation mobile device. The motion restriction conditions can prevent the automatic navigation mobile device from colliding with devices such as limit brackets in the calibration area. Therefore, using motion restriction conditions to verify the driving route can improve the safety of the final driving route generated.

[0066] Optionally, in yet another embodiment, verifying, based on the configuration file, whether the autonomous navigation mobile device satisfies the motion restriction condition of the corresponding location when traveling along the driving route includes:

[0067] The motion instructions of the automatic navigation mobile device at multiple locations on the driving route are determined according to the driving route, and it is determined whether each of the motion instructions meets the motion restriction condition of the corresponding location.

[0068] Specifically, for an omnidirectionally movable automatic navigation mobile device, the motion indication includes a turn indication, etc. The turn indication includes whether the automatic navigation mobile device is turning right or left, the angle range of the turn, etc. When verifying the driving route, the motion indication of each position on the driving route, or the position where the information code is located, can be verified in sequence from the starting point to the end point. The configuration file can be automatically read in advance and cached in the memory. If the entire configuration file of the calibration area is large, the motion restriction conditions of each position in the area near the current verification position (such as an area with a radius of 10 meters with the current position as the center) can be cached in the memory first. During the verification process, the motion restriction conditions of the corresponding position are read in real time.

[0069] Optionally, in another embodiment, the movement indication includes a turn indication, the movement restriction condition includes a turn restriction condition, and the determining whether each movement indication meets the movement restriction condition of the corresponding position includes:

[0070] determining whether the turn instructions at a plurality of locations on the driving route meet corresponding turn restriction conditions;

[0071] Determining the final driving route according to the verification result includes:

[0072] If each of the turn indications meets the corresponding turn restriction condition, the driving route is determined to be the final driving route; if at least one of the turn indications does not meet the corresponding turn restriction condition, the driving route is reacquired and verified until the final driving route is determined or all driving routes are verified.

[0073] Optionally, the turning restriction condition includes a rotation angle range, and determining whether the turning instructions at multiple locations on the driving route meet the corresponding turning restriction condition includes:

[0074] For any position on the driving route, if the rotation angle corresponding to the turn indication is within the rotation angle range, it means that the turn indication at the position meets the turning restriction condition at the position; if the rotation angle corresponding to the turn indication is not within the rotation angle range, it means that the turn indication at the position does not meet the turning restriction condition at the position.

[0075] Specifically, for any location on the driving route, if the turning instruction at that location is a 90° right turn, and the turning restriction condition at that location includes a rotation angle range of -8° to 8°, since 90°>8°, the rotation instruction at that location on the driving route does not meet the turning restriction condition at that location, and the driving route fails verification. It is necessary to re-acquire a pre-stored driving route or regenerate the driving route based on the starting point and end point. For example, if the driving route is point a-point c-point b, then regenerate the driving route point a-point d-point b. If the turning instruction at each location meets the corresponding turning restriction condition, it means that the driving route passes verification and is the final driving route.

[0076] In this optional embodiment, for any location on the route, motion constraints take precedence over motion instructions. If the turn instruction at that location conflicts with the rotation constraint, steering cannot be performed at that location, and accordingly, the route cannot be continued, requiring the driver to return to retrieve or generate a new route. Verifying the route against the turning constraint can filter out routes that do not meet the turning constraint, i.e., routes that may lead to safety accidents, thereby improving the safety of the final route output.

[0077] Optionally, in yet another embodiment, the method further includes:

[0078] If the autonomous navigation mobile device deviates from the final driving route during driving, obtaining a lateral deviation of the autonomous navigation mobile device at a current position;

[0079] generating a correction angle according to the lateral deviation;

[0080] If the correction angle is less than or equal to the maximum rotation angle of the current position, control information of the current position is generated, and the control information includes controlling the automatic navigation mobile device to rotate according to the correction angle; if the correction angle is greater than the maximum rotation angle of the current position, control information of the current position is generated, and the control information includes controlling the automatic navigation mobile device to rotate according to the maximum rotation angle.

[0081] Most autonomous mobile devices utilize omnidirectional wheels, enabling full-range movement. However, the vehicle body can easily deviate during travel. If, while traveling according to a route, the device deviates from the route at a certain point, a correction operation is required to return the autonomous mobile device to the route. The correction angle refers to the angle of rotation required to correct the current lateral deviation. It has a direction, distinguished by "+" or "-," with "-" indicating a left turn and "+" indicating a right turn. It should be noted that the rotation angle range for each position corresponds to the permitted rotation direction for that position. For example, assuming a rotation angle range of -8° to 8°, which falls between 8° left and 8° right, both left and right turns are permitted at that position. In this embodiment, after generating the correction angle based on the lateral deviation, the correction angle and rotation angle range at the current position can be used to determine whether the autonomous mobile device can perform correction at the current position. If the rotation direction of the correction angle satisfies the permitted rotation direction for that position, correction is permitted; otherwise, correction is not permitted. For example, if the correction angle at this position is a 90° right turn of the vehicle body, and the rotation angle range at this position is -8° to 0, it means that the automatic navigation mobile device at this position can only rotate to the left. The rotation direction of the correction angle is different from the rotation direction allowed by the motion restriction conditions, so no rotation is performed at this position.

[0082] If the deviation can be corrected, the deviation correction angle and the maximum rotation angle are compared. Among them, the maximum rotation angle is the maximum rotation angle in the deviation correction rotation direction, such as the boundary value of the rotation angle range. If the deviation correction angle at this position is a 90° right turn of the vehicle body, and the maximum allowable rotation angle in the same rotation direction at this position is 8°, since 90°>8°, the deviation correction angle exceeds the maximum angle that the automatic navigation device can currently rotate. In this case, the vehicle body of the automatic navigation mobile device is controlled to turn right 8° and continue to drive. Adjustments can be made at subsequent rotatable positions until the lateral deviation of the automatic navigation mobile device is corrected and it returns to the driving route. Correspondingly, if the rotation angle indicated by the deviation correction is within the rotation angle range, the automatic navigation mobile device is controlled to rotate according to the deviation correction instruction and continue to drive.

[0083] In this optional embodiment, when an autonomous mobile device deviates from its route, timely correction is performed to return the device to its route. This prevents the device from straying from its route and causing accidents such as collisions, thereby completing its driving mission. Furthermore, by limiting the rotation angle of the autonomous mobile device through rotational constraints, it is possible to prevent the device from colliding with devices such as stop brackets during the correction process, potentially causing safety accidents. Even if the correction angle exceeds the maximum rotation angle, correction can be performed initially at the maximum rotation angle without affecting the device's travel. The device can then be gradually corrected during subsequent driving until it returns to its route, thereby improving the safety and reliability of the autonomous mobile device during driving.

[0084] Optionally, in yet another embodiment, the method further includes: outputting the final driving route, and controlling the automatic navigation mobile device to drive according to the final driving route.

[0085] In this optional embodiment, after determining the final driving route that meets the motion restriction conditions, the automatic navigation mobile device can be controlled to complete the driving task according to the driving route, realize the docking of goods, and will not collide with the limit bracket, etc. during the driving process, thereby improving the safety of the driving process.

[0086] like Figure 3 As shown, an embodiment of the present invention provides a driving route planning device for executing the driving route planning method described above, comprising:

[0087] An acquisition module, configured to acquire a driving route and a configuration file of an autonomous navigation mobile device within a calibration area, wherein the configuration file includes motion restriction conditions of the autonomous navigation mobile device at various positions within the calibration area;

[0088] The verification module is used to verify whether the automatic navigation mobile device meets the movement restriction conditions of the corresponding position when traveling along the driving route according to the configuration file, and determine the final driving route according to the verification result.

[0089] Optionally, the verification module is specifically configured to:

[0090] The motion instructions of the automatic navigation mobile device at multiple locations on the driving route are determined according to the driving route, and it is determined whether each of the motion instructions meets the motion restriction condition of the corresponding location.

[0091] Optionally, the movement instruction includes a turning instruction, the movement restriction condition includes a turning restriction condition, and the verification module is further configured to:

[0092] determining whether the turn instructions at a plurality of locations on the driving route meet corresponding turn restriction conditions;

[0093] If each of the turn indications meets the corresponding turn restriction condition, the driving route is determined to be the final driving route; if at least one of the turn indications does not meet the corresponding turn restriction condition, the driving route is reacquired for verification until the final driving route is determined.

[0094] Optionally, the steering restriction condition includes a rotation angle range, and the verification module is further configured to:

[0095] For any position on the driving route, if the rotation angle corresponding to the turn indication is within the rotation angle range, it means that the turn indication at the position meets the turning restriction condition at the position; if the rotation angle corresponding to the turn indication is not within the rotation angle range, it means that the turn indication at the position does not meet the turning restriction condition at the position.

[0096] Optionally, the device further comprises a deflection correction module, wherein the deflection correction module is configured to:

[0097] If the autonomous navigation mobile device deviates from the final driving route during driving, obtaining a lateral deviation of the autonomous navigation mobile device at a current position;

[0098] generating a correction angle according to the lateral deviation, and determining whether the automatic navigation mobile device can perform correction at the current position according to the correction angle and the rotation angle range at the current position;

[0099] If so, compare the correction angle with the maximum rotation angle in the rotation angle range; if the correction angle is less than or equal to the maximum rotation angle of the current position, generate control information of the current position, the control information includes controlling the automatic navigation mobile device to rotate according to the correction angle; if the correction angle is greater than the maximum rotation angle of the current position, generate control information of the current position, the control information includes controlling the automatic navigation mobile device to rotate according to the maximum rotation angle.

[0100] Optionally, the device further includes a configuration module, wherein the configuration module is configured to:

[0101] Acquiring map information of the marked area, wherein the map information includes road parameters of each road in the marked area;

[0102] The motion restriction conditions of the automatic navigation mobile device at each position in the calibration area are determined by combining the road parameters of each road in the calibration area and the equipment parameters of the automatic navigation mobile device.

[0103] Optionally, an information code is provided at each road intersection, the movement restriction condition includes a turning restriction condition, and the configuration module is specifically configured to:

[0104] For any of the information codes, determining all candidate roads connected to the intersection where the information code is located;

[0105] The automatic navigation mobile device is analyzed to determine whether it can enter each of the roads to be selected based on the road parameters of each of the roads to be selected and the equipment parameters of the automatic navigation mobile device, and the turning restriction conditions of the automatic navigation mobile device at the intersection where the information code is located are determined based on the analysis results.

[0106] Optionally, the motion restriction condition includes a maximum rotation angle, and the configuration module is further configured to:

[0107] For any position within the calibration area, the maximum rotation angle of the autonomous navigation mobile device at the position is determined according to the road parameters of the position and the equipment parameters of the autonomous navigation mobile device.

[0108] Yet another embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the driving route planning method described above is implemented.

[0109] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM). In this application, the units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiments of the present invention. In addition, the functional units in the various embodiments of the present invention can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into a single unit. The above-mentioned integrated units can be implemented in the form of hardware or software functional units.

[0110] Although the present invention is disclosed as above, the scope of protection disclosed by the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A driving route planning method, characterized in that: include: Obtaining a driving route and a configuration file of an autonomous mobile device within a calibration area, the configuration file including movement restrictions of the autonomous mobile device at various locations within the calibration area, the movement restrictions being determined based on road parameters at the corresponding locations and device parameters of the autonomous mobile device; Verifying, based on the configuration file, whether the autonomous navigation mobile device satisfies the motion restriction conditions of the corresponding position when traveling along the driving route, and determining a final driving route based on the verification result; Verifying, based on the configuration file, whether the autonomous navigation mobile device satisfies the motion restriction conditions at corresponding locations when traveling along the driving route includes: determining, based on the driving route, motion instructions of the autonomous navigation mobile device at multiple locations along the driving route, and determining whether each of the motion instructions satisfies the motion restriction conditions at the corresponding location; The movement instruction includes a turning instruction, the movement restriction condition includes a turning restriction condition, and the turning restriction condition includes a rotation angle range; The determining whether each of the motion indications complies with the motion restriction condition of the corresponding position includes: determining whether the turning indications at multiple positions on the driving route comply with the corresponding turning restriction condition, wherein, for any position on the driving route, if the rotation angle corresponding to the turning indication is within the rotation angle range, it indicates that the turning indication at the position complies with the turning restriction condition of the position; if the rotation angle corresponding to the turning indication is not within the rotation angle range, it indicates that the turning indication at the position does not comply with the turning restriction condition of the position.

2. The driving route planning method according to claim 1, characterized in that: Determining the final driving route according to the verification result includes: If each of the turn indications meets the corresponding turn restriction condition, the driving route is determined to be the final driving route; if at least one of the turn indications does not meet the corresponding turn restriction condition, the driving route is reacquired for verification until the final driving route is determined.

3. The driving route planning method according to claim 1 or 2, characterized in that: The motion restriction condition includes a maximum rotation angle, and the method further includes: If the autonomous navigation mobile device deviates from the final driving route during driving, obtaining a lateral deviation of the autonomous navigation mobile device at a current position; generating a correction angle according to the lateral deviation; If the correction angle is less than or equal to the maximum rotation angle of the current position, control information of the current position is generated, and the control information includes controlling the automatic navigation mobile device to rotate according to the correction angle; if the correction angle is greater than the maximum rotation angle of the current position, control information of the current position is generated, and the control information includes controlling the automatic navigation mobile device to rotate according to the maximum rotation angle.

4. The driving route planning method according to claim 1 or 2, characterized in that: The method further comprises: Acquiring map information of the marked area, wherein the map information includes road parameters of each road in the marked area; The motion restriction conditions of the automatic navigation mobile device at each position in the calibration area are determined by combining the road parameters of each road in the calibration area and the equipment parameters of the automatic navigation mobile device.

5. The driving route planning method according to claim 4, characterized in that: Information codes are set at the intersections of each road. The movement restriction conditions include turning restriction conditions. The movement restriction conditions for determining the positions of the autonomous navigation mobile device in the calibration area include: For any of the information codes, determining all candidate roads connected to the intersection where the information code is located; The automatic navigation mobile device is analyzed to determine whether it can enter each of the roads to be selected based on the road parameters of each of the roads to be selected and the equipment parameters of the automatic navigation mobile device, and the turning restriction conditions of the automatic navigation mobile device at the intersection where the information code is located are determined based on the analysis results.

6. The driving route planning method according to claim 4, characterized in that: The motion restriction condition includes a maximum rotation angle, and the motion restriction condition for determining the positions of the autonomous navigation mobile device in the calibration area further includes: For any position within the calibration area, the maximum rotation angle of the autonomous navigation mobile device at the position is determined according to the road parameters of the position and the equipment parameters of the autonomous navigation mobile device.

7. A driving route planning device, characterized in that: include: An acquisition module is configured to acquire a driving route and a configuration file of an autonomous mobile device within a calibration area, wherein the configuration file includes motion constraints of the autonomous mobile device at various locations within the calibration area, wherein the motion constraints are determined based on road parameters at the corresponding locations and device parameters of the autonomous mobile device; a verification module, configured to verify, based on the configuration file, whether the automatic navigation mobile device satisfies the motion restriction conditions of the corresponding position when traveling along the driving route, and determine a final driving route based on the verification result; The verification module is specifically configured to: determine, based on the driving route, movement indications of the automatic navigation mobile device at multiple locations on the driving route, and determine whether each movement indication complies with the movement restriction condition at the corresponding location; The movement instruction includes a turning instruction, the movement restriction condition includes a turning restriction condition, and the turning restriction condition includes a rotation angle range; The verification module is specifically further used to: determine whether the turn indications at multiple positions on the driving route meet the corresponding turning restriction conditions, wherein, for any position on the driving route, if the rotation angle corresponding to the turn indication is within the rotation angle range, it means that the turn indication at the position meets the turning restriction condition at the position; if the rotation angle corresponding to the turn indication is not within the rotation angle range, it means that the turn indication at the position does not meet the turning restriction condition at the position.

8. A computer-readable storage medium, characterized in that The storage medium stores a computer program, and when the computer program is executed by the processor, the driving route planning method according to any one of claims 1 to 6 is implemented.

9. An automatic navigation mobile device, characterized in that: including memory and processor; The memory is used to store computer programs; The processor is configured to implement the driving route planning method according to any one of claims 1 to 6 when executing the computer program.

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