A path planning method and device and a storage medium

Abstract

The application discloses a path planning method and device and a storage medium, relates to the technical field of motion device path planning, and is used for improving the accuracy of motion device path planning. The method comprises the following steps: determining a plurality of candidate paths between a starting point position and an ending point position, and setting a navigation mark for storing position information of each node at each node of each candidate path; acquiring quality information of each navigation mark on the candidate paths, wherein the quality information represents the identifiable degree of the navigation mark; determining navigation reliability corresponding to the candidate paths according to the quality information of each navigation mark on each candidate path, wherein the navigation reliability represents the reliable degree of identifying the position information of the nodes on the candidate paths based on the navigation marks on the candidate paths; and determining a target path from the plurality of candidate paths according to the navigation reliability of each candidate path.

Description

Technical Field

[0001] This application relates to the field of path planning technology, and in particular to a path planning method, apparatus and storage medium. Background Technology

[0002] With the increasing market demand for logistics automation, automatic navigation technology is being used more and more widely in the logistics industry. For example, automatic navigation of moving devices through navigation signs is an important automatic navigation technology, while path planning is one of the key technologies for enabling automatic navigation of moving devices.

[0003] However, in practical applications, on-site navigation markers are easily damaged, affecting the identification of location information within them and thus impacting automatic navigation. This not only affects the efficiency of logistics transportation but also, when navigation markers are severely damaged and unrecognizable, the moving device may deviate from its trajectory, posing a safety hazard. Summary of the Invention

[0004] This application provides a route planning method, apparatus, and storage medium for making route plans based on the quality information of navigation markers, thereby improving the accuracy of route planning.

[0005] Firstly, this application provides a path planning method, including:

[0006] Multiple candidate paths are determined between the starting point and the ending point. Each node of the candidate path is equipped with a navigation marker to store the node's location information.

[0007] Obtain the quality information of each navigation marker on the candidate path; the quality information represents the recognizability of the navigation marker.

[0008] Based on the quality information of each navigation identifier on each candidate path, the navigation reliability of the candidate path is determined. The navigation reliability characterizes the reliability of identifying the position information of nodes on the candidate path based on the navigation identifiers on the candidate path.

[0009] The target path is determined from multiple candidate paths based on the navigation reliability of each candidate path.

[0010] Based on the technical solution provided in this application, at least the following beneficial effects can be achieved: Since damaged navigation markers can affect the accuracy of path planning, the navigation reliability of the candidate path can be determined based on the quality information of the navigation markers at each node on the candidate path, and the target path can be determined from the candidate path based on the navigation reliability of the candidate path. This can reduce the situation where the accuracy of path planning is affected by the inability to effectively identify damaged navigation markers.

[0011] In some embodiments, determining the target path from multiple candidate paths based on the navigation reliability of each candidate path includes: determining the target path from multiple first candidate paths based on the navigation reliability corresponding to each candidate path, wherein the first candidate paths are candidate paths with navigation reliability greater than or equal to a first threshold, and the target path is the candidate path with the shortest length among the first candidate paths.

[0012] As can be seen from the above embodiments, by determining the first candidate path with a navigation reliability greater than or equal to a first threshold from multiple candidate paths based on the navigation reliability of each candidate path, it can be ensured that the navigation reliability of the first candidate path meets the condition of navigation sign recognition. Then, selecting the shortest first target candidate path from the first candidate path can improve transportation efficiency. In this way, on the one hand, it avoids trajectory deviation of the moving device due to the inability to recognize navigation signs; on the other hand, using the shortest candidate path as the target path improves transportation efficiency.

[0013] In some embodiments, determining the target path from multiple candidate paths based on the navigation reliability of each candidate path includes: determining the target path from multiple second candidate paths based on the navigation reliability corresponding to each candidate path, wherein the second candidate paths are candidate paths with a length less than a second threshold, and the target path is the candidate path with the highest navigation reliability among the second candidate paths.

[0014] As can be seen from the above embodiments, determining the shorter second candidate path from multiple candidate paths based on their lengths ensures transportation efficiency. Then, selecting the second candidate path with the highest navigation reliability as the target path guarantees the highest navigation reliability among the candidate paths. This ensures transportation efficiency while also maximizing navigation reliability, indicating the highest recognizability of navigation markers on the target path and improving the speed of information retrieval from navigation markers.

[0015] In some embodiments, the path planning method further includes: controlling a motion device to move along a target path, wherein the motion device is equipped with an image acquisition device for acquiring images of navigation markers; when the motion device reaches a target node on the target path, controlling the image acquisition device to acquire images of navigation markers at the target node, wherein the target node is any node on the target path; determining the quality information of the navigation markers at the target node based on the images of the navigation markers at the target node; and updating a preset information set according to the quality information of the navigation markers at the target node, wherein the preset information set includes quality information of at least one navigation marker.

[0016] As can be seen from the above embodiments, the process of the moving device moving along the target path is the process of the moving device performing transportation work. During the transportation work, the image acquisition device acquires images of navigation markers at each node on the target path. On the one hand, the position information of the corresponding node can be identified based on the image of the navigation marker, and the movement direction and movement distance of the moving device can be controlled according to the position information of the node. On the other hand, the quality information of the navigation marker is determined based on the acquired image of the navigation marker, and the preset information set is updated according to the quality information of the navigation marker. That is, the quality information of the navigation marker in the preset information set can be updated at the same time as the transportation work is performed, so as to ensure the accuracy of the quality information of the navigation marker in the preset information set.

[0017] In some embodiments, the path planning method further includes: controlling the motion device to move along a preset cruise path; when the motion device reaches a cruise node on the cruise path, controlling the image acquisition device to acquire an image of a navigation marker at the cruise node, wherein the cruise node is any node on the cruise path; determining the quality information of the navigation marker at the cruise node based on the image of the navigation marker at the cruise node; and updating a preset information set according to the quality information of the navigation marker at the cruise node.

[0018] As can be seen from the above embodiments, the process of the moving device moving along the cruise path is the process of the moving device performing navigation sign quality cruise detection. Since the cruise path is different from the target path, the navigation sign quality cruise detection is different from the transportation work. During the process of controlling the moving device to perform navigation sign quality cruise detection, images of navigation signs at each cruise node are acquired by an image acquisition device. Then, the quality information of the navigation signs at each cruise node is determined, and the preset information set is updated based on the determined quality information. This not only eliminates the need for manual inspection of navigation sign quality information, but also ensures that no navigation sign quality information is missed because each cruise node along the cruise path sequentially includes all navigation signs.

[0019] In some embodiments, obtaining the quality information of each navigation identifier on the candidate path includes: obtaining the quality information of each navigation identifier on the candidate path from a preset information set.

[0020] In some embodiments, determining the navigation reliability of a candidate path based on the quality information of each navigation identifier on each candidate path includes: determining the sum of the quality scores of each navigation identifier on the candidate path as the navigation reliability of the candidate path.

[0021] As can be seen from the above embodiments, the sum of the quality scores of each navigation sign on the candidate path can reflect the overall recognizability of the navigation signs on the candidate path, and thus reflect the navigation reliability of the candidate path.

[0022] In some embodiments, determining the navigation reliability of a candidate path based on the quality information of each navigation identifier on each candidate path includes: determining the average quality score of each navigation identifier on the candidate path as the navigation reliability of the candidate path.

[0023] As can be seen from the above embodiments, the average quality score of each navigation sign on the candidate path can reflect the average recognizability of the navigation signs on the candidate path, and thus reflect the navigation reliability of the candidate path.

[0024] In some embodiments, the above-described path planning method further includes: displaying a navigation sign preview page on a user interaction device, the preview page including information of at least one navigation sign, the navigation sign information including one or more of the following: the name of the navigation sign, image, quality information, and stored location information; wherein, when there is a navigation sign in the preview page whose quality information does not meet the preset usage conditions, the information of the navigation sign that does not meet the preset usage conditions is displayed in a state different from the information of other navigation signs in the preview page.

[0025] As can be seen from the above embodiments, by displaying the above preview page, the quality information of the preset information collection navigation signs can be directly displayed to the user, making it convenient for the user to view the quality information and location of each navigation sign through the preview page, thereby eliminating the need for manual inspection and providing convenience for the user.

[0026] In some embodiments, the above-described route planning method further includes: displaying prompt information on a user interaction device to indicate the replacement of navigation markers when the quality information of navigation markers does not meet preset usage conditions.

[0027] As can be seen from the above embodiments, navigation signs are easily damaged, which can affect their use. By displaying a prompt message on the user interaction device when the quality information of the navigation sign does not meet the preset usage conditions, the user can be promptly prompted to replace the navigation sign that does not meet the preset usage conditions, so as to prevent the accuracy of route planning from being affected.

[0028] Secondly, this application provides a path planning device, comprising:

[0029] The processing module is used to determine multiple candidate paths between the starting point and the ending point. Each node of the candidate path is equipped with a navigation marker for storing the node's location information.

[0030] The acquisition module is used to acquire the quality information of each navigation sign on the candidate path. The quality information represents the reliability of the location information identified based on the navigation sign.

[0031] The processing module is also used to determine the navigation reliability of each candidate path based on the quality information of each navigation identifier on each candidate path. The navigation reliability characterizes the reliability of identifying the position information of nodes on the candidate path based on the navigation identifiers on the candidate path.

[0032] The processing module is also used to determine the target path from multiple candidate paths based on the navigation reliability of each candidate path.

[0033] Thirdly, this application provides a path planning apparatus, comprising: one or more processors; one or more memories; wherein the one or more memories are used to store computer program code, the computer program code including computer instructions, and when the one or more processors execute the computer instructions, the path planning apparatus performs any of the path planning methods provided in the first aspect above.

[0034] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions that, when executed on a computer, cause the computer to perform any of the path planning methods provided in the first aspect above. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the structure of a navigation system provided in an embodiment of this application;

[0036] Figure 2 This is a schematic diagram of the structure of a motion device provided in an embodiment of this application;

[0037] Figure 3 This is a schematic diagram of a navigation system application scenario provided by an embodiment of this application;

[0038] Figure 4 This is a schematic diagram of another motion device provided in an embodiment of this application;

[0039] Figure 5 This is a schematic diagram illustrating another navigation system application scenario provided in an embodiment of this application;

[0040] Figure 6 This is a schematic diagram of the structure of a path planning device provided in an embodiment of this application;

[0041] Figure 7 This is a schematic diagram illustrating another navigation system application scenario provided in an embodiment of this application;

[0042] Figure 8 This is a schematic diagram illustrating a usage scenario of another path planning device provided in an embodiment of this application;

[0043] Figure 9 A flowchart illustrating another path planning method provided in an embodiment of this application;

[0044] Figure 10 A flowchart illustrating another path planning method provided in an embodiment of this application;

[0045] Figure 11 A flowchart illustrating another path planning method provided in an embodiment of this application;

[0046] Figure 12 This is a schematic diagram illustrating a usage scenario of another path planning device provided in an embodiment of this application;

[0047] Figure 13 This is a schematic diagram illustrating a usage scenario of another path planning device provided in an embodiment of this application;

[0048] Figure 14 This is a schematic diagram of another path planning device provided in an embodiment of this application. Detailed Implementation

[0049] The following description, in conjunction with the accompanying drawings, details a path planning method, apparatus, and storage medium provided in this application.

[0050] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0051] The terms "first" and "second," etc., used in the specification and drawings of this application are used to distinguish different objects or to distinguish different treatments of the same object, rather than to describe a specific order of objects.

[0052] Furthermore, the terms "comprising" and "having," and any variations thereof, used in the description of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0053] It should be noted that in the embodiments of this application, the words "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0054] In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0055] As described in the background section, in the process of automatic navigation by a motion device using navigation markers, the recognizability of the navigation markers is crucial to the accuracy of the automatic navigation path planning. Damage or obstruction of navigation markers during actual use can cause deviations in the navigation results, affecting the transportation efficiency of the motion device. Manually inspecting navigation markers is not only time-consuming and labor-intensive, but also may result in the failure to detect damaged markers in a timely manner, further impacting the accuracy of path planning.

[0056] To address the aforementioned technical problems, this application provides a path planning method. The method involves: determining multiple candidate paths based on the starting and ending points; determining the navigation reliability of each candidate path based on the quality information of the navigation markers on each candidate path; and selecting the target path from the candidate paths based on their navigation reliability. This avoids situations where path planning is unreasonable due to unrecognizable or low-recognition navigation markers on the target path, thus affecting the transportation efficiency of the motion device. Specifically, the navigation markers can be one or more of one-dimensional barcodes, two-dimensional barcodes, label codes, and direct part marks (DPMs), and this application does not impose any limitations on this method.

[0057] For example, the path planning method provided in this application embodiment can be applied to the route planning of moving devices in automated warehouses.

[0058] The path planning method provided in this application embodiment is adapted to, for example, Figure 1 The navigation system 1 shown includes a motion device 100 and a path planning device 200.

[0059] For example, navigation system 1 can be a logistics navigation system in an automated warehouse.

[0060] In some embodiments, the path planning device 200 is used to determine multiple candidate paths based on the starting position and the ending position, determine the navigation reliability of each candidate path based on the quality information of the navigation markers on each candidate path, and select a target path from the candidate paths based on the navigation reliability of the candidate paths. It can also be used to control the motion device 100 to move along the target path.

[0061] The motion device 100 can be an automatic guidance device such as electromagnetic, optical or visual, powered by an automatically rechargeable battery. It is a transport vehicle that can safely deliver goods from the starting point to the destination without the need for a driver. With its advantages such as not occupying fixed ground area, high degree of automation, flexible application, safety and reliability, unmanned operation and convenient maintenance, it has quickly established itself in automated warehouses.

[0062] For example, the motion device 100 can be Figure 2 The image shows an automated guided vehicle (AGV). Figure 2 As shown, the AGV100 includes a vehicle body 101 and wheels 102. The vehicle body 101 is used to carry the transported goods; the wheels 102 are located at the bottom of the vehicle body and are used to move the vehicle body 101 by rotating.

[0063] The automatic navigation methods for AGVs include electromagnetic induction guidance, laser guidance, visual guidance, and navigation mark guidance. The automatic navigation method for AGVs in this embodiment is navigation mark guidance.

[0064] like Figure 3 As shown, a warehouse map is illustrated, where the warehouse serves as the workplace for the aforementioned motion device 100. The map includes multiple paths from a starting point to an ending point, each path containing a varying number of nodes, and each node has a navigation marker for storing its location information. For example, Figure 3 The warehouse map shown for Zone C has four horizontal paths and four vertical paths, which are interconnected. Each path has multiple nodes, each with a navigation marker. When the motion device 100 reaches a node, its current position and attitude can be determined by identifying the position information in the navigation marker at that node. This allows the motion device 100 to determine the distance and direction of movement required to reach the next node. In this way, the motion device 100 is controlled to move sequentially along each node of the path to complete automatic navigation.

[0065] The following describes the working process of the motion device 100 in this application, taking the aforementioned AGV as an example and in conjunction with the warehouse map:

[0066] In some embodiments, an image acquisition device can be installed on the AGV. When the AGV reaches a node on the path, the image acquisition device captures an image of the navigation marker at that node, and identifies the navigation marker in the image to obtain the position information in the navigation marker, thereby determining the AGV's position and orientation in the warehouse. Specifically, by controlling the number of rotations and the rotation angle of the AGV's wheels, the AGV can move sequentially to each node on the path to complete automatic navigation. The AGV's orientation can be its facing direction. For example, if the position information associated with the navigation marker at the i-th node is identified as position i, and the position information in the navigation marker at the (i+1)-th node is identified as position i+1, then the orientation of the AGV when it reaches the (i+1)-th node can be determined as the direction from position i to position i+1.

[0067] For example, AGV100 can be used to perform corresponding actions according to the control instructions of path planning device 200. For instance, AGV100 can adjust its moving direction and moving distance according to the control instructions of path planning device 200. In this way, AGV100 can transport the carried goods to the destination under the control of path planning device 200.

[0068] In some embodiments, the AGV100 may further include a power supply device and a drive device.

[0069] In some embodiments, a power supply device is used to provide electrical support to the AGV100. For example, the power supply device is a battery.

[0070] In some embodiments, the driving device is used to drive the AGV100 to move under the control of the path planning device 200. The driving device drives the AGV100 to move sequentially to each node on the target path according to the target path determined by the path planning device 200. Specifically, the driving device corrects the AGV100's direction of movement by adjusting the wheel angles, and drives the AGV100 to move a certain distance by adjusting the number of wheel rotations. For example, the driving device drives the AGV100 to start from the starting position, adjusting the wheel angles to move north, rotating the wheels 5 times (i.e., moving 1 meter) to reach the first node on the target path. Upon reaching the first node, based on the position information in the navigation markers at the first node acquired by the image acquisition device, the current position and attitude of the AGV100 are determined, including the orientation. The driving device adjusts the wheel rotation angles of the AGV100 according to the offset between the current orientation and the target orientation (i.e., the orientation determined according to the target path), driving the AGV100 to continue moving north from the current position, moving 1 meter to reach the second node on the target path. The drive unit enables automatic navigation by driving the AGV100 from the first node to the last node on the target path.

[0071] Optionally, the navigation system 1 may further include an image acquisition device 300, with the path planning device 200 communicating with the image acquisition device 300 via a wired or wireless means to control the image acquisition device to collect images of markers at each node along the path. The image acquisition device 300 is used to acquire images of navigation markers along the path and send the acquired images to the path planning device 200. The path planning device 200 is also used to determine the quality information of the navigation markers based on the images, and update a preset information set based on the quality information of the navigation markers, wherein the preset information set is used to store the quality information of each navigation marker in the database.

[0072] In some embodiments, such as Figure 4 As shown, the image acquisition device 300 can be installed on the AGV 100. For example, the image acquisition device 300 is a camera, which takes a picture of the navigation mark at the node when the AGV 100 reaches the node on the path.

[0073] In some embodiments, the image acquisition device 300 may be equipped with a lighting device. When the image acquisition device 300 acquires an image of a navigation sign, the lighting device is activated to obtain a clearer image of the navigation sign.

[0074] In some embodiments, the navigation system 1 may further include a user interaction device 400. The route planning device 200 and the user interaction device 400 are connected via wired or wireless means. The user interaction device 400 is used to display the output data of the route planning device 200 to the user, such as navigation sign information, target path, warehouse map, etc.

[0075] For example, such as Figure 5 As shown, the user interaction device 400 is a display screen, which displays a warehouse map to the user.

[0076] In this embodiment, the route planning device 200 can be an electronic device, such as a personal computer (PC), laptop computer, mobile device, tablet computer, etc. The route planning device can also be a server. This embodiment does not limit the specific form of the route planning device 200. In some embodiments, the route planning device may include, for example... Figure 6 The computing device shown may include: a processor 201, a memory 202, a communication interface 203, and a bus 204. The processor 201, the memory 202, and the communication interface 203 can be connected via the bus 204.

[0077] Processor 201 is the control center of the computing device. It can be a single processor or a collective term for multiple processing elements. For example, processor 201 can be a general-purpose central processing unit (CPU) or other general-purpose processors. Among them, the general-purpose processor can be a microprocessor or any conventional processor.

[0078] As one embodiment, processor 201 may include one or more CPUs, for example Figure 6 CPU 0 and CPU 1 are shown in the diagram.

[0079] The memory 202 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto.

[0080] In one possible implementation, the memory 202 can exist independently of the processor 201. The memory 202 can be connected to the processor 201 via a bus 204 and is used to store instructions or program code. When the processor 201 calls and executes the instructions or program code stored in the memory 202, it can implement the detour path determination method provided in the embodiments of this application.

[0081] In this embodiment, the path planning device 200 performs different functions depending on the software program stored in the memory 202. Alternatively, the memory 202 can be integrated with the processor 201.

[0082] The communication interface 203 is used for connecting the computing device to other devices via a communication network, which may be Ethernet, radio access network (RAN), wireless local area network (WLAN), etc. The communication interface 203 may include a receiving unit for receiving data and a transmitting unit for transmitting data.

[0083] Bus 204 can be an Industry Standard Architecture (ISA) bus or an external device interconnect.

[0084] In some embodiments, the image acquisition device 300 may be a camera.

[0085] In some embodiments, the user interaction device 400 may be a display, or an electronic device with display function such as a mobile phone, tablet computer, or laptop computer.

[0086] It should be pointed out that, Figure 6 The structure shown does not constitute a limitation on the path planning device 200, except Figure 6 In addition to the components shown, the path planning device 200 may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0087] Each step in the path planning method provided in this application can be executed by the path planning device 200. The embodiments provided in this application will be described in detail below with reference to the accompanying drawings.

[0088] like Figure 7 As shown in the figure, this application provides a path planning method, which includes the following steps:

[0089] S101. Determine multiple candidate paths between the starting point and the ending point.

[0090] Each candidate path node is equipped with a navigation marker to store the node's location information.

[0091] For example, such as Figure 8 As shown, the candidate paths from the starting point A to the ending point B are L1, L2, and L3. Path L1 includes the following navigation markers in sequence: marker 1, marker 2, marker 6, and marker 10; path L2 includes the following navigation markers in sequence: marker 1, marker 5, marker 6, and marker 10; and path L3 includes the following navigation markers in sequence: marker 1, marker 5, marker 9, marker 13, marker 14, and marker 10.

[0092] For example, in an application scenario where AGVs are used to transport goods within a warehouse, the starting point can be the AGV's pickup location, and the ending point can be the target delivery location of the goods.

[0093] As one possible approach, the "artificial potential field method" is used to determine multiple candidate paths between the starting and ending points. The "artificial potential field method" path planning is a virtual force method. Its basic idea is to design the movement of the AGV in its surrounding environment as movement in an abstract artificial gravitational field. The target position generates an "attraction" to the moving AGV, and obstacles generate a "repulsion" to the moving AGV. Finally, the movement of the moving AGV is controlled by calculating the resultant force.

[0094] As another possible approach, the A* algorithm is used to determine multiple candidate paths between the starting and ending points. The A* algorithm is an efficient direct search method for finding the shortest path in a static road network. The closer the distance estimate in the algorithm is to the actual value, the faster the final search speed.

[0095] As another possible approach, Dijkstra's algorithm is used to determine multiple candidate paths between the starting and ending points. Dijkstra's algorithm is a shortest path algorithm based on a greedy strategy. The principle of this algorithm is to construct a path tree by increasing the length point by point, thereby obtaining the shortest path from the root node (i.e., the specified node) of the tree to all other nodes.

[0096] As another possible approach, the "tangent graph method" is used to determine multiple candidate paths between the starting and ending points. The tangent graph method is a global path planning approach. After obtaining a global map, it uses obstacle abstraction, tangent graph construction, and graph search algorithms to obtain the optimal path. Obstacle abstraction typically uses circles or convex polygons to abstract irregular obstacles into regular shapes. Tangent graph construction converts a two-dimensional planar graph into a network graph. First, it generates the tangents from the starting and ending points to each obstacle and the common tangents between the obstacles. Then, it retains the edges of the obstacles and the tangents that do not intersect with them. Dynamic programming, the A* algorithm, or Dijkstra's algorithm is used to find the optimal path from the starting point to the ending point in the tangent graph; this path is the globally optimal path.

[0097] Since the aforementioned path planning algorithms, such as the "artificial potential field method," A* algorithm, Dijkstra's algorithm, and "tangent graph method," are well-known to those skilled in the art, these path planning algorithms will not be described in detail in the embodiments of this application. Of course, multiple candidate paths between the starting position and the ending position can also be determined by path planning algorithms not mentioned in the embodiments of this application, and this application does not limit the path planning algorithm used to determine the candidate paths.

[0098] S102. Obtain the quality information of each navigation identifier on the candidate path.

[0099] Among them, quality information represents the recognizability of navigation signs; the quality information of different types of navigation signs can be determined using different quality analysis standards.

[0100] In some embodiments, the quality of each navigation mark on the candidate path is analyzed according to the international standard ISO / IEC 15415 or the international standard ISO / IEC TR 29158 to obtain the quality information of each navigation mark. ISO 15415 is mainly applied to label codes; ISO / IEC TR 29158 is mainly applied to direct print mark (DPM) identification. The evaluation index for the navigation mark quality analysis can be the quality score of each sub-index, including: decoding, contrast, modulation, reflectivity margin, positioning pattern damage, axis non-uniformity, non-uniform grid, unused error correction, horizontal print scaling, and vertical print scaling. Each sub-index can be calculated with a quality score in the range of 0-1, or it can be the quality score of the sub-index with the lowest quality score among all sub-indexes (except for horizontal and vertical print scaling). The quality information level is from highest to lowest as A / B / C / D / F or 4 / 3 / 2 / 1 / 0.

[0101] For example, a quality rating of 4 / A ranges from 3.5 to 4.0, indicating that the navigation sign can be recognized very well; a quality rating of 2 / B ranges from 2.5 to 3.5, indicating that the recognition performance of the navigation sign is not as good as that of 4 / A; a quality rating of 3 / C ranges from 1.5 to 2.5, indicating that the navigation sign may require multiple scans; a quality rating of 1 / D ranges from 0.5 to 1.5, indicating that the navigation sign may not be recognized by some devices, and to achieve good recognition results, a device that can scan repeatedly and has multiple scan lines should be used; a quality rating of 0 / F ranges from below 0.5, indicating that the navigation sign is unqualified and cannot be recognized.

[0102] For example, on path L1, the quality information of identifier 1 is 3, the quality information of identifier 2 is 4, the quality information of identifier 6 is 4, and the quality information of identifier 10 is 3; on path L2, the quality information of identifier 1 is 3, the quality information of identifier 5 is 3, the quality information of identifier 6 is 4, and the quality information of identifier 10 is 3; on path L3, the quality information of identifier 1 is 3, the quality information of identifier 5 is 3, the quality information of identifier 9 is 3, the quality information of identifier 13 is 3, the quality information of identifier 14 is 3, and the quality information of identifier 10 is 3.

[0103] In some embodiments, obtaining the quality information of each navigation identifier on the candidate path includes obtaining the quality information of each navigation identifier on the candidate path from a preset information set.

[0104] The preset information set includes quality information for at least one navigation marker, such as quality information for all navigation markers within the AGV's working range. For example, the image acquisition device sends the acquired image to the path planning device, which identifies the received image, obtains the quality information of the navigation marker, and stores the name of the corresponding navigation marker in the preset information set.

[0105] In addition, the preset information set may also include the location information corresponding to the navigation sign and the image corresponding to the navigation sign. For example, the route planning device saves the name of the navigation sign corresponding to the location information identified from the navigation sign in the preset information set; the route planning device saves the name of the navigation sign corresponding to the image of each navigation sign acquired by the image acquisition device in the preset information set.

[0106] In this way, the quality information of each navigation sign on the candidate path can be quickly obtained from the preset information set. Based on the quality information of each navigation sign, it can be determined whether the navigation sign meets the preset usage conditions, that is, the reliability of identifying the location information of the node based on the navigation sign.

[0107] S103. Determine the navigation reliability of each candidate path based on the quality information of each navigation identifier on each candidate path.

[0108] Among them, navigation reliability characterizes the reliability of identifying the location information of nodes on the candidate path based on the navigation identifiers on the candidate path.

[0109] As mentioned above, the quality information of navigation signs can be represented by quality levels, and the quality level can be a quality score, such as 4 / 3 / 2 / 1 / 0 mentioned above.

[0110] Based on this, as a possible approach, the quality score corresponding to each navigation marker on the candidate path is determined according to the preset correspondence between quality level and quality score; the sum of the quality scores of each navigation marker on the candidate path is determined as the navigation reliability of the candidate path.

[0111] For example, by adding up the quality scores of each navigation marker on the three paths, the navigation reliability of path L1 is 3+4+4+3=14; the navigation reliability of path L2 is 3+3+4+3=13; and the navigation reliability of path L3 is 3+3+3+3+3+3=18.

[0112] Based on the above implementation method, the sum of the quality scores of each navigation sign on the candidate path can reflect the overall recognizability of the navigation signs on the candidate path, and thus reflect the navigation reliability of the candidate path.

[0113] As another possible approach, the quality score corresponding to each navigation marker on the candidate path is determined based on a preset correspondence between quality level and quality score; the average quality score of each navigation marker on the candidate path is then used to determine the navigation reliability of the candidate path.

[0114] For example, by averaging the quality scores of each navigation marker on the three paths, the navigation reliability of path L1 is (3+4+4+3) / 4; the navigation reliability of path L2 is (3+3+4+3) / 4; and the navigation reliability of path L3 is (3+3+3+3+3+3) / 4.

[0115] Based on the above implementation method, the average quality score of each navigation sign on the candidate path can reflect the average recognizability of the navigation signs on the candidate path, and thus reflect the navigation reliability of the candidate path.

[0116] S104. Based on the navigation reliability of each candidate path, determine the target path from multiple candidate paths.

[0117] As one possible approach, the target path is determined from multiple first candidate paths based on the navigation reliability of each candidate path.

[0118] Among them, the first candidate path is a candidate path with navigation reliability greater than or equal to the first threshold, and the target path is the candidate path with the shortest length among the first candidate paths.

[0119] For example, when the sum of the quality scores of each navigation identifier on the candidate path is used to determine the navigation reliability of the candidate path, the first threshold is 14, the first candidate paths are L1 and L2, and it is assumed that L1 is the shortest among L1 and L2. Therefore, the target path is L1.

[0120] Based on the above implementation, by determining the first candidate path with a navigation reliability greater than or equal to a first threshold from multiple candidate paths according to the navigation reliability of each candidate path, it can be ensured that the navigation reliability of the first candidate path meets the condition of navigation sign recognition. Then, selecting the shortest first target candidate path from the first candidate path can improve transportation efficiency. In this way, on the one hand, it avoids trajectory deviation of the moving device due to the inability to recognize navigation signs; on the other hand, using the shortest candidate path as the target path improves transportation efficiency.

[0121] As another possible approach, the target path is determined from multiple second candidate paths based on the navigation reliability of each candidate path.

[0122] Among them, the second candidate path is a candidate path with a length less than the second threshold, and the target path is the candidate path with the highest navigation reliability among the second candidate paths.

[0123] For example, if the sum of the quality scores of each navigation marker on the candidate path is used to determine the navigation reliability of the candidate path, assuming that the length of L1 is 2 meters, the length of L2 is 2 meters, the length of L3 is 3 meters, and the second threshold is 2.5 meters, then the second candidate paths are L1 and L2. Since the navigation reliability of L1 is the highest among L1 and L2, the target path is L1.

[0124] Based on the above implementation, a shorter second candidate path is determined from multiple candidate paths according to their distances, ensuring transportation efficiency. Then, the second candidate path with the highest navigation reliability is selected as the target path, guaranteeing the highest navigation reliability for the target path among the candidate paths. This ensures transportation efficiency while also maximizing navigation reliability, indicating maximum identifiability of navigation markers on the target path and improving the speed of information retrieval from navigation markers.

[0125] Figure 7 The illustrated embodiment offers at least the following advantages: Since damaged navigation markers can affect the accuracy of path planning, the navigation reliability of candidate paths is determined based on the quality information of navigation markers at each node on the candidate path. Determining the target path from the candidate paths based on their navigation reliability avoids situations where damaged navigation markers cannot be effectively identified, thus affecting the accuracy of path planning.

[0126] like Figure 9 As shown, based on the above embodiments, the path planning method proposed in this application may further include the following steps:

[0127] S201. Control the motion device to move along the target path.

[0128] The motion device is equipped with an image acquisition device, which is used to acquire images of navigation signs.

[0129] In some embodiments, the AGV is a motion device controlled to move sequentially to each node of the target path, thereby controlling the AGV to move along the target path. Specifically, when the AGV reaches a node on the target path, its current position and attitude are determined based on the position information in the navigation markers at each node. The AGV's current position is then corrected to ensure it aligns with the position in the navigation markers. Further, the number of wheel rotations and the wheel orientation required for the AGV to reach the next node are determined, thereby controlling the AGV's wheels to adjust to the corresponding orientation and rotate the corresponding number of times. By sequentially acquiring the position information from the navigation markers at each node on the target path to determine the control information for the AGV to reach the next node, and controlling the AGV to move sequentially to each node on the target path, automatic navigation is achieved.

[0130] For example, the AGV starts from the starting position (the first node). On path L1, the position information at the first node, marked by identifier 1, is the coordinates (X1, Y1). The AGV moves a corresponding distance towards the second node. Upon reaching the second node, the AGV's wheels are adjusted based on the deviation between the coordinates (X2, Y2) of identifier 2 and the AGV's current position coordinates, ensuring the AGV's position coordinates match those of identifier 2. Further, the AGV moves a corresponding distance towards the third node. Upon reaching the third node, the AGV's wheels are adjusted based on the deviation between the coordinates (X3, Y3) of identifier 6 and the AGV's current position coordinates, ensuring the AGV's position coordinates match those of identifier 6. Finally, the AGV moves a corresponding distance towards the last node, thus reaching the destination position (the last node).

[0131] S202. When the motion device reaches the target node on the target path, control the image acquisition device to acquire the image of the navigation mark at the target node.

[0132] The target node is any node on the target path.

[0133] S203. Based on the image of the navigation markers at the target node, determine the quality information of the navigation markers at the target node.

[0134] In some embodiments, the quality of each navigation sign on the candidate path is analyzed according to international standard ISO / IEC 15415 or international standard ISO / IEC TR 29158 to obtain the quality information of each navigation sign.

[0135] S204. Update the preset information set based on the quality information of the navigation markers at the target node.

[0136] The preset information set includes quality information for at least one navigation identifier.

[0137] In some embodiments, if the preset information set does not include the quality information of the navigation identifier at the target node, the latest obtained quality information of the navigation identifier at the target node is stored in the preset information set; if the preset information set already includes the quality information of the navigation identifier at the target node, the latest obtained quality information of the navigation identifier at the target node is used to overwrite the existing quality information of the navigation identifier at the target node.

[0138] Figure 9 The illustrated embodiment offers at least the following advantages: During the movement of the motion device along the target path, i.e., during the transportation process, images of navigation markers at various nodes along the target path are acquired using an image acquisition device. Then, based on these images, the position information of the corresponding nodes is identified, and the movement direction and distance of the motion device are controlled according to the position information at each node. Simultaneously, based on the acquired images of the navigation markers, the quality information of the navigation markers is determined, and a preset information set is updated accordingly. This means that the quality information of the navigation markers in the preset information set can be updated simultaneously with the transportation process, ensuring the accuracy of the quality information in the preset information set.

[0139] like Figure 10 As shown in the embodiments of this application, a path planning method is also provided, which includes the following steps:

[0140] S301, Control the motion device to move according to the preset cruise path.

[0141] The motion device is equipped with an image acquisition device, which is used to acquire images of navigation signs.

[0142] S302. When the moving device reaches a cruise node on the cruise path, control the image acquisition device to acquire an image of the navigation sign at the cruise node.

[0143] The cruise node is any node on the cruise path.

[0144] S303. Based on the image of the navigation sign at the cruise node, determine the quality information of the navigation sign at the cruise node.

[0145] S304. Update the preset information set based on the quality information of the navigation markers at the cruise nodes.

[0146] Figure 10 The illustrated embodiment offers at least the following advantages: the process of the moving device following the cruise path is the process of the moving device performing navigation sign quality cruise detection. Since the cruise path differs from the aforementioned target path, the navigation sign quality cruise detection differs from the aforementioned transportation work. During the process of controlling the moving device to perform navigation sign quality cruise detection, images of navigation signs at each cruise node are acquired using an image acquisition device. Then, the quality information of the navigation signs at each cruise node is determined, and the preset information set is updated based on the determined quality information. This not only eliminates the need for manual inspection of navigation sign quality information but also ensures that no navigation sign quality information is missed, as each cruise node along the cruise path sequentially includes all navigation signs.

[0147] based on Figure 10 ,like Figure 11 As shown, the path planning method provided in this application embodiment further includes the following steps:

[0148] S305. Display a navigation sign preview page on the user interaction device.

[0149] The preview page includes information about at least one navigation icon, which includes one or more of the following: the name of the navigation icon, its image, quality information, and stored location information.

[0150] In some embodiments, when there are navigation icons in the preview page whose quality information does not meet the preset usage conditions, the information of the navigation icons that do not meet the preset usage conditions will be displayed in a state different from the information of other navigation icons in the preview page.

[0151] For example, such as Figure 12As shown, the preview page displays the image of navigation sign 7, its quality information, and its location information. The quality information for sign 7 is F, which does not meet the preset usage conditions for navigation signs, which are quality levels A, B, or C. Therefore, an exclamation mark (!") is added to the preview page to prompt the user to replace sign 7.

[0152] Based on the above implementation method, by displaying the above preview page, the quality information of the navigation signs in the preset information set can be directly shown to the user, making it convenient for the user to view the quality information and location of each navigation sign through the preview page, thereby eliminating the need for manual inspection and providing convenience for the user.

[0153] Continue reading Figure 11 In some embodiments of this application, the path planning method further includes the following steps:

[0154] S306. When the quality information of the navigation sign does not meet the preset usage conditions, a prompt message indicating the replacement of the navigation sign shall be displayed on the user interaction device.

[0155] The prompt information includes one or more of the following: the image of the navigation sign, quality information, and stored location information.

[0156] For example, such as Figure 13 As shown, the user interaction device is a display, and the preset usage conditions are that the quality level of the navigation sign is A, B, or C. Since the quality level of sign 3 is D, it does not meet the preset usage conditions, so a prompt message is sent to the user: "Prompt: The quality level of sign 3 is D, and its location is C zone - row 01 - column 03. Please confirm whether it needs to be replaced."

[0157] Based on the above implementation method, navigation signs are easily damaged, which can affect their use. By displaying a prompt message on the user interaction device when the quality information of the navigation sign does not meet the preset usage conditions, the user can be promptly prompted to replace the navigation sign that does not meet the usage conditions, so as to prevent affecting the accuracy of route planning.

[0158] In some embodiments, such as Figure 14 As shown, the path planning device 200 includes: a path planning module 205, an acquisition module 206, a quality determination module 207, a driving module 208, an image acquisition module 209, an update module 210, and a display module 211.

[0159] In some embodiments, the path planning module 205 is used to determine multiple candidate paths between the starting point and the ending point, and each candidate path node is provided with a navigation identifier for storing the node's location information.

[0160] In some embodiments, the acquisition module 206 is used to acquire quality information of each navigation sign on the candidate path, wherein the quality information characterizes the recognizability of the navigation sign.

[0161] In some embodiments, the quality determination module 207 is used to determine the navigation reliability corresponding to a candidate path based on the quality information of each navigation identifier on each candidate path. The navigation reliability characterizes the reliability of identifying the position information of nodes on the candidate path based on the navigation identifiers on the candidate path.

[0162] In some embodiments, the path planning module 205 is further configured to determine a target path from multiple candidate paths based on the navigation reliability of each candidate path.

[0163] In some embodiments, the path planning module 205 is further configured to determine a target path from multiple candidate paths based on the navigation reliability of each candidate path. Specifically, it determines a target path from multiple first candidate paths based on the navigation reliability corresponding to each candidate path. The first candidate paths are candidate paths whose navigation reliability is greater than or equal to a first threshold, and the target path is the candidate path with the shortest length among the first candidate paths.

[0164] In some embodiments, the path planning module 205 is further configured to determine a target path from multiple candidate paths based on the navigation reliability of each candidate path. Specifically, it is configured to determine a target path from multiple second candidate paths based on the navigation reliability of each candidate path. The second candidate paths are candidate paths with a length less than a second threshold, and the target path is the candidate path with the highest navigation reliability among the second candidate paths.

[0165] In some embodiments, the acquisition module 206 is further configured to acquire quality information of each navigation identifier on the candidate path, specifically by acquiring quality information of each navigation identifier on the candidate path from a preset information set.

[0166] In some embodiments, the quality determination module 207 is further configured to determine the navigation reliability corresponding to the candidate path based on the quality information of each navigation identifier on each candidate path, specifically by determining the quality score corresponding to each navigation identifier on the candidate path based on the preset correspondence between quality level and quality score; and determining the sum of the quality scores of each navigation identifier on the candidate path as the navigation reliability corresponding to the candidate path.

[0167] In some embodiments, the quality determination module 207 is further configured to determine the navigation reliability corresponding to the candidate path based on the quality information of each navigation identifier on each candidate path, specifically by determining the quality score corresponding to each navigation identifier on the candidate path based on the preset correspondence between quality level and quality score; and determining the average value of the quality scores of each navigation identifier on the candidate path as the navigation reliability corresponding to the candidate path.

[0168] In some embodiments, the drive module 208 is used to control the motion device to move along the target path, and the motion device is provided with an image acquisition device for acquiring images of navigation signs.

[0169] In some embodiments, the image acquisition module 209 is used to control the image acquisition device to acquire an image of the navigation marker at the target node when the motion device reaches the target node on the target path, wherein the target node is any node on the target path.

[0170] In some embodiments, the quality determination module 207 is further configured to determine the quality information of the navigation sign at the target node based on the image of the navigation sign at the target node.

[0171] In some embodiments, the update module 210 is used to update a preset information set based on the quality information of the navigation identifier at the target node, the preset information set including the quality information of at least one navigation identifier.

[0172] In some embodiments, the drive module 208 is further configured to control the motion device to move along a preset cruising path. The motion device is equipped with an image acquisition device, which is used to acquire images of navigation markers.

[0173] In some embodiments, the image acquisition module 209 is further configured to control the image acquisition device to acquire an image of a navigation marker at a cruise node when the motion device reaches a cruise node on the cruise path, wherein the cruise node is any node on the cruise path.

[0174] In some embodiments, the quality determination module 207 is further configured to determine the quality information of the navigation sign at the cruise node based on the image of the navigation sign at the cruise node.

[0175] In some embodiments, the update module 210 is further configured to update a preset information set based on the quality information of the navigation markers at the cruise node.

[0176] In some embodiments, the display module 211 is configured to display a navigation sign preview page on a user interaction device. The preview page includes information about at least one navigation sign. The information about the navigation sign includes one or more of the following: the name of the navigation sign, an image, quality information, and stored location information. When there is a navigation sign in the preview page whose quality information does not meet the preset usage conditions, the information of the navigation sign that does not meet the preset usage conditions is displayed in a state different from the information of other navigation signs in the preview page.

[0177] In some embodiments, the display module 211 is further configured to display a prompt message on the user interaction device indicating to replace the navigation sign when the quality information of the navigation sign does not meet the preset usage conditions.

[0178] As can be seen, the above mainly describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the above functions, the embodiments of this application provide corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, in conjunction with the modules and algorithm steps of the various examples described in the embodiments disclosed herein, the embodiments of this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this invention.

[0179] This application embodiment can divide the path planning device into functional modules according to the above method example. For example, each function can be divided into its own functional module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. Optionally, the module division in this application embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0180] This application provides a path planning apparatus, including: one or more processors; and one or more memories. The one or more memories are used to store computer program code, which includes computer instructions. When the one or more processors execute the computer instructions, the path planning apparatus performs any of the path planning methods provided in the above embodiments.

[0181] This application also provides a computationally readable storage medium, which includes computer-executable instructions that, when executed on a computer, cause the computer to perform any of the path planning methods provided in the above embodiments.

[0182] This application also provides a computer program product, which includes computer instructions that, when executed on a computer, enable the computer to implement any of the path planning methods provided in the above embodiments.

[0183] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software programs, implementation can be, in whole or in part, in the form of a computer program product. This computer program product includes one or more computer-executable instructions. When these computer-executable instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer-executable instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer-executable instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device containing one or more servers, data centers, etc., that can be integrated with the medium. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state disks, SSDs).

[0184] Although this application has been described herein in conjunction with various embodiments, those skilled in the art, by reviewing the accompanying drawings, disclosure, and appended claims, will understand and implement other variations of the disclosed embodiments in carrying out the claimed application. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude multiple components. A single processor or other unit can implement several functions listed in the claims. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce good results.

[0185] Although this application has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made thereto without departing from the spirit and scope of this application. Accordingly, this specification and drawings are merely exemplary illustrations of this application as defined by the appended claims, and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from the spirit and scope of this application. Thus, if such modifications and modifications of this application fall within the scope of the claims of this application and their equivalents, this application is also intended to include such modifications and modifications.

[0186] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A path planning method, characterized in that, The method includes: Multiple candidate paths are determined between the starting point and the ending point, and each node of each candidate path is equipped with a navigation marker for storing the location information of the node; Obtain quality information for each navigation identifier on the candidate path, wherein the quality information characterizes the recognizability of the navigation identifier; Based on the quality information of each navigation identifier on each candidate path, the navigation reliability corresponding to the candidate path is determined, and the navigation reliability characterizes the reliability of identifying the position information of nodes on the candidate path based on the navigation identifiers on the candidate path. The target path is determined from the multiple candidate paths based on the navigation reliability of each candidate path.

2. The method according to claim 1, characterized in that, The step of determining the target path from the plurality of candidate paths based on the navigation reliability of each candidate path includes: Based on the navigation reliability corresponding to each candidate path, a target path is determined from multiple first candidate paths. The first candidate paths are candidate paths with navigation reliability greater than or equal to a first threshold, and the target path is the shortest candidate path among the first candidate paths.

3. The method according to claim 1, characterized in that, The step of determining the target path from the plurality of candidate paths based on the navigation reliability of each candidate path includes: Based on the navigation reliability corresponding to each candidate path, a target path is determined from multiple second candidate paths. The second candidate paths are candidate paths with a length less than a second threshold, and the target path is the candidate path with the highest navigation reliability among the second candidate paths.

4. The method according to any one of claims 1-3, characterized in that, The step of obtaining the quality information of each navigation identifier on the candidate path includes: The quality information of each navigation identifier on the candidate path is obtained from a preset information set, wherein the preset information set includes the quality information of at least one navigation identifier; the quality information includes a quality level.

5. The method according to claim 4, characterized in that, The step of determining the navigation reliability corresponding to each candidate path based on the quality information of each navigation identifier on each candidate path includes: Based on the preset correspondence between quality level and quality score, the quality score corresponding to each navigation identifier on the candidate path is determined; The sum of the quality scores of each navigation identifier on the candidate path is used to determine the navigation reliability of the candidate path.

6. The method according to claim 4, characterized in that, The step of determining the navigation reliability corresponding to each candidate path based on the quality information of each navigation identifier on each candidate path includes: Based on the preset correspondence between quality level and quality score, the quality score corresponding to each navigation identifier on the candidate path is determined; The average quality score of each navigation identifier on the candidate path is determined as the navigation reliability of the candidate path.

7. The method according to any one of claims 1-3, characterized in that, The method further includes: The motion device is controlled to move along the target path. The motion device is equipped with an image acquisition device, which is used to acquire images of the navigation markers. When the motion device reaches the target node on the target path, the image acquisition device is controlled to acquire an image of the navigation marker at the target node, wherein the target node includes any node on the target path; Based on the image of the navigation sign at the target node, determine the quality information of the navigation sign at the target node; The preset information set is updated based on the quality information of the navigation identifier at the target node, and the preset information set includes the quality information of at least one navigation identifier.

8. The method according to any one of claims 1-3, characterized in that, The method further includes: The motion device is controlled to move along a preset cruising path. The motion device is equipped with an image acquisition device, which is used to acquire images of the navigation markers. When the motion device reaches a cruise node on the cruise path, the image acquisition device is controlled to acquire an image of the navigation marker at the cruise node, and the cruise node includes every node in the working environment where the motion device is located. Based on the image of the navigation sign at the cruise node, determine the quality information of the navigation sign at the cruise node; The preset information set is updated based on the quality information of the navigation markers at the cruise node, and the preset information set includes the quality information of at least one navigation marker.

9. The method according to any one of claims 1-3, characterized in that, The method further includes: The user interaction device is controlled to display a navigation sign preview page, the preview page including information about at least one of the navigation signs, the information of the navigation sign including one or more of the following: the name, image, quality information and stored location information of the navigation sign; Specifically, when there are navigation icons in the preview page whose quality information does not meet the preset usage conditions, the status of the navigation icon that does not meet the preset usage conditions will be displayed in a state different from the information of other navigation icons in the preview page.

10. The method according to any one of claims 1-3, characterized in that, The method further includes: When the quality information of the navigation sign does not meet the preset usage conditions, the user interaction device is controlled to display a prompt message indicating that the navigation sign should be replaced.

11. A path planning device, characterized in that, include: The path planning module is used to determine multiple candidate paths between the starting point and the ending point. Each node of the candidate path is equipped with a navigation marker for storing the location information of the node. The acquisition module is used to acquire quality information of each navigation identifier on the candidate path, wherein the quality information characterizes the recognizability of the navigation identifier; The quality determination module is used to determine the navigation reliability corresponding to the candidate path based on the quality information of each navigation identifier on each candidate path. The navigation reliability characterizes the reliability of identifying the position information of nodes on the candidate path based on the navigation identifiers on the candidate path. The path planning module is further configured to determine the target path from the multiple candidate paths based on the navigation reliability of each candidate path.

12. The path planning device according to claim 11, characterized in that, The path planning device further includes a processing module and a display module: The path planning module is further configured to determine a target path from the plurality of candidate paths based on the navigation reliability of each candidate path. Specifically, it determines a target path from the plurality of first candidate paths based on the navigation reliability corresponding to each candidate path. The first candidate paths are candidate paths with navigation reliability greater than or equal to a first threshold, and the target path is the candidate path with the shortest length among the first candidate paths. The path planning module is further configured to determine a target path from the plurality of candidate paths based on the navigation reliability of each candidate path. Specifically, it determines a target path from a plurality of second candidate paths based on the navigation reliability of each candidate path. The second candidate paths are candidate paths with a length less than a second threshold, and the target path is the candidate path with the highest navigation reliability among the second candidate paths. The acquisition module is further configured to acquire quality information of each navigation identifier on the candidate path, specifically by acquiring quality information of each navigation identifier on the candidate path from a preset information set, wherein the quality information includes quality level; The quality determination module is further configured to determine the navigation reliability corresponding to the candidate path based on the quality information of each navigation identifier on each candidate path, specifically by determining the sum of the quality scores of each navigation identifier on the candidate path as the navigation reliability corresponding to the candidate path. The quality determination module is further configured to determine the navigation reliability corresponding to the candidate path based on the quality information of each navigation identifier on each candidate path, specifically by determining the average quality score of each navigation identifier on the candidate path as the navigation reliability corresponding to the candidate path. A drive module is used to control the motion device to move along the target path. The motion device is equipped with an image acquisition device, which is used to acquire images of the navigation markers. An image acquisition module is used to control the image acquisition device to acquire an image of a navigation marker at the target node when the motion device reaches the target node on the target path, wherein the target node is any node on the target path; The quality determination module is further configured to determine the quality information of the navigation sign at the target node based on the image of the navigation sign at the target node; The update module is used to update a preset information set based on the quality information of the navigation identifier at the target node, wherein the preset information set includes the quality information of at least one navigation identifier; The drive module is also used to control the motion device to move along a preset cruising path. The motion device is equipped with an image acquisition device, which is used to acquire images of the navigation markers. The image acquisition module is also used to control the image acquisition device to acquire an image of the navigation marker at the cruise node when the motion device reaches the cruise node on the cruise path, wherein the cruise node is any node on the cruise path; The quality determination module is further configured to determine the quality information of the navigation sign at the cruise node based on the image of the navigation sign at the cruise node; The update module is also used to update the preset information set based on the quality information of the navigation markers at the cruise node; The display module is used to display a navigation sign preview page on a user interaction device. The preview page includes information about at least one of the navigation signs. The information about the navigation sign includes one or more of the following: the name, image, quality information, and stored location information of the navigation sign. When there is a navigation sign in the preview page whose quality information does not meet the preset usage conditions, the information of the navigation sign that does not meet the preset usage conditions is displayed in a state different from the information of other navigation signs in the preview page. The display module is further configured to, when the quality information of the navigation sign does not meet the preset usage conditions, display a prompt message on the user interaction device to indicate the replacement of the navigation sign, the prompt message including one or more of the image, quality information, and stored location information of the navigation sign.

13. A path planning device, characterized in that, include: One or more processors; One or more memory units; Wherein, the one or more memories are used to store computer program code, the computer program code including computer instructions, and when the one or more processors execute the computer instructions, the path planning device performs the path planning method according to any one of claims 1 to 10.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions that, when executed on a computer, cause the computer to perform the path planning method according to any one of claims 1 to 10.

Images