A path planning method, device and storage medium based on OID map

Abstract

The present invention discloses a path planning method, device, and storage medium based on an OID map, comprising: step a. obtaining map coordinates within a preset time and preset area, and identifying current map identity information; step b. obtaining current location information of a mobile unit, and identifying current angle information; step c. determining whether an optimal path planning route option exists to reach the original predetermined location based on the current angle information and current location information; and step d. obtaining execution feedback information of the optimal path planning route in real time, and based on the execution feedback information, determining whether the mobile unit has currently reached the preset location and achieved a preset angle on the optimal path planning route. The present invention provides a path planning method, device, and storage medium based on an OID map, aiming to address the technical problems of existing OID map-based path planning processes being less convenient and less efficient.

Description

Technical Field

[0001] The present invention relates to the field of OID (Optical Identification) technology, and in particular to an OID map-based path planning method, device, and computer-readable storage medium. Background Art

[0002] OID, a type of optical identification code, bridges the gap between printed materials and digital systems. It's widely used in education and learning, and can identify objects of any size and shape. Furthermore, OID offers a wide reading angle and low power consumption, making it a low-cost solution that can be achieved using only ordinary printing ink. Consequently, it's also being used in music, commercials, and audio guide maps.

[0003] OID maps (OID point coordinate maps) typically consist of at least two layers: an OID layer and a story content layer. The OID layer stores multiple optically identifiable OID codes. However, existing technologies for identifying OID maps require additional operations, printing of additional information, or configuration at specific points, making route planning based on OID maps inconvenient and inefficient. Summary of the Invention

[0004] The main purpose of the present invention is to provide a path planning method, device and storage medium based on OID map, aiming to solve the technical problems that the existing path planning process based on OID map is not simple enough and has low efficiency.

[0005] To achieve the above-mentioned purpose, the present invention provides a path planning method based on an OID map, which includes the following steps: step a. obtaining map coordinates within a preset time and a preset area, and identifying current map identity information; the OID map stores preset operations and includes at least a function area and a content area, and the content area stores map coordinates, map identity information and a mapping relationship between the two; step b. obtaining the current position information of the mobile unit and identifying the current angle information; step c. based on the current angle information and the current position information, determining whether there is an optimal path planning route selection to reach the original predetermined position; if not, feeding back optimal path planning route selection failure information; if so, executing the optimal path planning route according to the optimal path planning route selection result; step d. obtaining execution feedback information of the optimal path planning route in real time, and based on the execution feedback information, determining whether the mobile unit currently reaches the preset location of the optimal path planning route and reaches the preset angle; if so, executing the preset operation; if not, repeating this step until the mobile unit reaches the preset location of the optimal path planning route and reaches the preset angle.

[0006] Optionally, the content area includes at least one story area, each story area includes at least two information unit clusters, and one of the information unit clusters is the default positioning information unit cluster of the story area; each information unit cluster includes a minimum information unit for storing map coordinates, map identity information and the mapping relationship between the two.

[0007] Optionally, the map coordinates stored in the minimum information unit include horizontal coordinate information, vertical coordinate information, and direction information.

[0008] Optionally, step b includes at least the following steps: b1. Obtaining the current position information of the mobile unit, the current position information includes at least coordinate information and current direction information; b2. Obtaining the direction information of the minimum information unit based on the map coordinates; b3. Calculating the angle between the mobile unit and the minimum information unit based on the direction information of the minimum information unit and the current direction information, and using the calculation result as the current angle information.

[0009] Optionally, step d also includes obtaining execution feedback information of the optimal path planning route in real time to determine whether the mobile unit is in the execution area: if not, the mobile unit is in the non-execution area, and there is an abnormality in the execution status of the optimal path planning route, prompting that it needs to be shifted to the origin or the execution area; if so, the execution status of the optimal path planning route is normal, and the execution feedback information of the optimal path planning route continues to be obtained in real time.

[0010] Optionally, the execution area and the non-execution area are divided according to the type of mobile unit and a preset division rule.

[0011] Optionally, in the OID map, the length of the OID horizontal and vertical axis codes are both L, and L can be divided into at least two parts with lengths of M and N respectively; the horizontal coordinate information of the map coordinates includes the M part of the horizontal coordinate and the N part of the horizontal coordinate, and the vertical coordinate information of the map coordinates includes the M part of the vertical coordinate and the N part of the horizontal coordinate; wherein, the M part of the horizontal and vertical coordinates is used to form a serial number, and the serial number is at least used to identify the map identity information; the N part of the horizontal and vertical coordinates is used to record the horizontal and vertical coordinates of the current OID code position or information unit cluster.

[0012] Optionally, step c includes at least the following steps: c1. Calculating the current angle state based on the current angle information and the current position information; c2. Determining whether there is an optimal path planning route selection to reach the original predetermined position based on the current angle state and the mobile unit information; if not, feeding back information on failure of optimal path planning route selection; if so, calculating the time required to execute the optimal path planning route selection; c3. Obtaining a mobile unit movement time threshold, and comparing the required time with it to determine whether the required time is greater than the movement time threshold; if so, feeding back information on failure of optimal path planning route selection; if not, executing the optimal path planning route according to the optimal path planning route selection result.

[0013] Corresponding to the OID map-based path planning method, the present invention provides an OID map-based path planning device, comprising: a map identity information identification unit, configured to obtain map coordinates within a preset time and a preset area, and identify current map identity information; the OID map stores preset operations and includes at least a function area and a content area, wherein the content area stores map coordinates, map identity information, and a mapping relationship between the two; a current angle information identification unit, configured to obtain current position information of a mobile unit and identify current angle information; a route selection unit, configured to determine, based on the current angle information, whether an optimal path planning route selection exists to reach the original predetermined location; if not, feedback optimal path planning route selection failure information; if so, execute the optimal path planning route according to the optimal path planning route selection result; a mobile unit, configured to execute the optimal path planning route and perform a preset operation; a real-time monitoring unit, configured to obtain execution feedback information of the optimal path planning route in real time, and based on the execution feedback information, determine whether the mobile unit has currently reached a preset location and achieved a preset angle of the optimal path planning route; if so, perform the preset operation; if not, repeat this step until the mobile unit reaches the preset location and achieves the preset angle of the optimal path planning route.

[0014] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium, on which a path planning program based on an OID map is stored. When the path planning program based on an OID map is executed by a processor, the steps of the path planning method based on an OID map as described above are implemented.

[0015] The beneficial effects of the present invention are:

[0016] (1) By storing map coordinates, map identity information, and the mapping relationship between the two in the content area of the OID map, users do not need to perform additional operations at specific points, print additional information, or make additional configurations. This enables the device to directly read any positioning point on the OID map, effectively simplifying the map recognition steps and reducing recognition costs. Based on the map coordinates and the current position information of the mobile unit, the current angle information is recognized to achieve optimal path planning, effectively simplifying the path planning process based on the OID map and improving the efficiency of optimal path planning.

[0017] (2) By setting the default positioning information unit cluster, the mobile unit has a reference point when executing the optimal path planning route, which is convenient for real-time monitoring;

[0018] (3) By determining whether the mobile unit is in the execution zone, it is possible to monitor in real time whether there are any abnormalities in the execution status of the optimal path planning route, and to provide timely feedback on the abnormal status;

[0019] (4) The OID horizontal and vertical axis encoding lengths L are composed of two parts, M and N, to map the coordinates and the system map identity information to the same information sequence, thereby increasing the information content of the information sequence. The information is then recorded in the map coordinates and applied to the content area of the OID map, thereby increasing the information content of the content area.

[0020] (5) By combining the mobile unit's movement time threshold to select the optimal path planning route, it is possible to avoid the optimal path planning route being too long, which causes the mobile unit to be unable to normally execute the optimal path planning route. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0022] Figure 1 A simplified flowchart of the path planning method based on the OID map of the present invention;

[0023] Figure 2 This is a schematic diagram of the functional area and content area of the OID map according to an embodiment of the present invention;

[0024] Figure 3 Schematic diagram of an embodiment of a path planning method based on an OID map of the present invention.

[0025] Reference numerals:

[0026] 1- Functional area, 2- Content area, 3- Mobile unit. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0028] like Figure 1 As shown, a path planning method based on an OID map of the present invention includes the following steps: step a. obtaining map coordinates within a preset time and a preset area, and identifying current map identity information; the OID map stores preset operations and includes at least a function area 1 and a content area 2, and the content area 2 stores map coordinates, map identity information, and a mapping relationship between the two; step b. obtaining the current position information of the mobile unit 3, and identifying the current angle information; step c. judging whether there is an optimal path planning route selection to reach the original predetermined position based on the current angle information and the current position information; if not, feeding back optimal path planning route selection failure information; if so, executing the optimal path planning route according to the optimal path planning route selection result; step d. obtaining execution feedback information of the optimal path planning route in real time, and judging whether the mobile unit 3 currently reaches the preset location of the optimal path planning route and reaches the preset angle based on the execution feedback information; if so, executing the preset operation; if not, repeating this step until the mobile unit 3 reaches the preset location of the optimal path planning route and reaches the preset angle.

[0029] In this embodiment, the preset area is a certain area in the content area 2 .

[0030] In this embodiment, the device including the mobile unit 3 can retrieve corresponding instructions and map version information from the local and cloud respectively through the map identity information. The returned information may include the map identity information or the confirmation character (ACK) of the map identity information and the content version corresponding to the map.

[0031] In this embodiment, a multi-category path model is pre-defined. Step c specifically involves selecting the optimal category based on the current location information and the original predetermined location (i.e., final location), and then calculating the optimal path using the formula for that category. Preferably, the final location is pre-determined and stored / encoded in the mobile unit 3, or read / updated via the cloud.

[0032] In this embodiment, the preset operation is the execution instruction corresponding to the map point. Step d is repeated until the mobile unit 3 reaches the preset location of the optimal path planning route and reaches the preset angle, and then the preset operation is executed.

[0033] The present invention stores map coordinates, map identity information and the mapping relationship between the two in the content area 2 of the OID map. The user does not need to perform additional operations at specific points, print other information or make additional configurations. The device can directly read any positioning point on the OID map, effectively simplifying the map recognition steps and reducing the recognition cost; based on the map coordinates and the current position information of the mobile unit 3, the current angle information is identified to achieve optimal path planning, effectively simplifying the path planning process based on the OID map and improving the efficiency of optimal path planning.

[0034] like Figure 2 As shown, the OID map includes at least a functional area 1 (undivided grid area) on the left and a content area 2 (divided grid area) on the right, and, Figure 2 1 shows a mobile unit 3 according to an embodiment of the present invention. It can be understood that it specifically includes a top view and a front view.

[0035] Preferably, both function area 1 and content area 2 store preset operations. These preset operations are multimedia interactive operation instructions, such as sound, light, and motion instructions, used to implement corresponding sound and light functions and actions. Content area 2 is larger than function area 1, and the area code bits within function area 1 are discontinuous with the area code bits within content area 2. Generally speaking, the OID code of the entire function area 1 corresponds to the same content and does not have the function of coordinate encoding.

[0036] Furthermore, the preset operation content stored in the functional area 1 is unified, and the instructions read by the functional area 1 are mapped to the mobile unit 3 or the device containing the mobile unit 3 or the specific multimedia interactive function in the remote database. The mobile unit 3 or the device containing the mobile unit 3 performs related multimedia operations based on the information.

[0037] In this embodiment, the content area 2 includes at least one story area. Each story area stores the same preset operation content, but different coordinates. Each story area includes at least two information unit clusters, and one of the information unit clusters is the default positioning information unit cluster of the story area. The coordinates are Each information unit cluster includes a minimum information unit (minimum data unit) for storing map coordinates, map identity information, and the mapping relationship between the two.

[0038] In this embodiment, the mobile unit 3 can determine whether it has reached the default location information unit cluster of a certain story area. Specifically: when within a certain time window, the coordinate average value and When the distance difference between them is less than a certain distance threshold, or the distance difference between the horizontal and vertical coordinates is less than a certain threshold, it is determined that the mobile unit 3 has reached the default positioning information unit cluster of a certain story area.

[0039] Furthermore, in this embodiment, the minimum information unit MDU forms an information unit cluster S with a size of A×B. cluster ; Where A and B are positive integers, A represents the information unit cluster S formed cluster The number of MDUs in the X direction, B represents the information unit cluster S formed cluster The number of MDUs in the Y direction. Figure 3 As shown in the figure, the 9 small squares in the left part of the box represent each minimum information unit, and the arrows in the box represent the direction information of the minimum information unit, that is, Figure 3 In the figure, A=B=3, forming a 3x3 default positioning information unit cluster. The "★" position in the middle box in the figure represents the initial placement position of mobile unit 3, and the arrow in the box represents the current direction information of mobile unit 3. Based on these two, the angle between mobile unit 3 and the minimum information unit can be calculated, and the calculation result is used as the current angle information. It is convenient to subsequently determine whether there is an optimal path planning route to the original predetermined location based on the current angle information and current position information. Figure 3 The arrow in the right part of the box represents the original predetermined position, and multiple arrows represent any original predetermined position (which can be stored / encoded in the mobile unit 3 after confirmation, or read / updated through the cloud).

[0040] In this embodiment, different information units are clustered to adjust the OID map positioning resolution and save coding space for statistical purposes.

[0041] The present invention sets the default positioning information unit settlement as the basic positioning point of this story area, so that when the mobile unit 3 executes the optimal path planning route, its movement state has a reference point, which is convenient for real-time monitoring.

[0042] Preferably, the map coordinates stored in the minimum information unit include abscissa information, ordinate information and direction information.

[0043] In this embodiment, step b includes at least the following steps: b1. Obtaining the current position information of the mobile unit 3, the current position information including at least the current direction information; b2. Obtaining the direction information of the minimum information unit based on the map coordinates; b3. Calculating the angle between the mobile unit 3 and the minimum information unit based on the direction information of the minimum information unit and the current direction information, and using the calculation result as the current angle information.

[0044] In this embodiment, step d also includes obtaining execution feedback information of the optimal path planning route in real time, and judging whether the mobile unit 3 is in the execution area: if not, the mobile unit 3 is in the non-execution area, and there is an abnormality in the execution status of the optimal path planning route, prompting that it needs to be shifted to the origin or the execution area; if so, the execution status of the optimal path planning route is normal, and the execution feedback information of the optimal path planning route continues to be obtained in real time.

[0045] Specifically, the mobile unit 3 sets the coordinates (x p ,y p ), and the current angle information θ p The three-dimensional data set (x p ,y p ,θ p ) or the average coordinates of the cluster where the MDU (minimum information unit) is located and the average angle The three-dimensional data set Or other statistical modes or any combination; and the coordinates of the initial point MDU (x init ,y init ,θ init ) or the coordinates of the information unit cluster where it is located Or compare data from other statistical modes to achieve real-time monitoring.

[0046] In this embodiment, the execution area and the non-execution area are divided according to the type of the mobile unit 3 and a preset division rule.

[0047] In this embodiment, there are wheels on both sides of the mobile unit 3. Preferably, the types of the mobile unit 3 are divided into: wheels on both sides are independently controlled by different power sources, and wheels on both sides are controlled by the same power source.

[0048] In this embodiment, the mobile unit 3 with two wheels having different power sources and independent control has an average straight-line speed of Average differential steering angular velocity Maximum wheel rotation angle θ max , the total path length or time cost is used as the threshold.

[0049] Preferably, the time cost is used as the threshold T thres , if the rotation time is ignored, The OID code area is automatically divided into non-execution areas, t≤T thres The OID code area is automatically divided into execution areas, where the time consumption of the mobile unit 3 from the starting point to the end point (straight-line distance) at the moving speed of this model is estimated to be t. If the algorithm is executed in the cloud, for a specific moving operation, the data stored in the mobile unit 3 can be x∈{x|x <X T}∩y∈{y|y <Y T If the algorithm is in the mobile unit 3, it can be directly calculated locally according to the above formula. Where (x, y) is the location of the mobile unit 3, X T 、Y T The two fixed coordinate values are written and can be set according to actual needs. If the mobile unit 3 is in the non-execution zone, it indicates that the execution status of the optimal path planning route is abnormal, prompting the user to shift to the origin or execution zone. Preferably, the mobile unit 3 or the device containing the mobile unit 3 can execute voice, light, or other instructions to prompt the user to manually shift to the origin or execution zone.

[0050] That is, in this embodiment, the judgment of the execution area and the non-execution area can evaluate the time cost of moving the mobile unit 3. If the cost is too high, the user is directly informed to move the mobile unit 3 back to the origin.

[0051] In this embodiment, the wheels on both sides have the same power source and the mobile unit 3 is independently controlled, and the vehicle speed is v a , the maximum wheel rotation angle is φ max , then the minimum turning radius is:

[0052]

[0053] Where W is the distance between the wheels on both sides of the mobile unit 3. Path planning and real-time error elimination are performed based on vehicle parameters and map coordinate points (settlement), and the minimum distance supported by the resolution of the map at the current settlement size is determined as the minimum precision error. The path required for the automatic movement of such mobile units 3 can be a straight line, a straight line-arc, a three-segment tangent path of arc-straight line-arc, a four-segment tangent path of arc-straight line-arc-straight line, or a related curve function fitting path (for example: Sigmoid, inverse tangent, or other curve constructors); based on the location area of the mobile unit 3, the maximum acceptable rotation angle β is determined, and then it is determined whether the initial angle α belongs to the following angle threshold interval:

[0054] [α, β], (α, β∈[0°, 365°], α<β);

[0055] If not, the mobile unit 3 or the device including the mobile unit 3 executes voice, light and other instructions to prompt the user to manually move to the origin or adjust the angle, etc.; if so, the movement is performed according to the shortest path among the optimal parameter results of the multiple types of fitting paths.

[0056] The present invention can monitor in real time whether there is any abnormality in the execution state of the optimal path planning route by judging whether the mobile unit 3 is in the execution area, thereby achieving timely feedback on the abnormal state.

[0057] In this embodiment, in the OID map, the length of the OID horizontal and vertical axis codes are both L, and L can be divided into at least two parts with lengths of M and N respectively, where M and N are continuous or discontinuous parts; the horizontal coordinate information of the map coordinates includes the M part of the horizontal coordinate and the N part of the horizontal coordinate, and the vertical coordinate information of the map coordinates includes the M part of the vertical coordinate and the N part of the horizontal coordinate; wherein the M part of the horizontal and vertical coordinates is used to form a serial number, and the serial number is at least used to identify the map identity information (that is, the map identity information can be identified by obtaining the M part of the horizontal and vertical coordinates); the N part of the horizontal and vertical coordinates is used to record the horizontal and vertical coordinates of the current OID code position or information unit cluster.

[0058] In this embodiment, the mapping relationship between map coordinates and map identity information can be used to distinguish the data portion used to represent map coordinates (i.e., N portion), the data portion used to represent map identity information (i.e., M portion), and the data portion used to represent flags or encrypted redundant digits. For example, an example with redundant digits is to use the first bit of the Y or X coordinate as an indicator bit to agree on the rules for decoding after the background reads the data. Another example without redundant digits is to directly agree on the front / back or any M portion of the Y or X coordinate. x ,M y The bit is the map identity information.

[0059] The present invention forms the OID horizontal and vertical axis coding length L through the two parts M and N, thereby mapping the coordinates and the system map identity information to the same information sequence, thereby increasing the information volume of the information sequence, and recording it in the map coordinates. It is applied to the content area 2 of the OID map, thereby increasing the information volume of the content area 2.

[0060] Specifically, in this embodiment, the length of the OID horizontal and vertical axis codes are both L, and L=M+N. X ,M Y ) is used to form a serial number according to a corresponding serial number formation rule. The serial number formation rule is specifically: directly connecting the front and back or mapping through a formula or performing operations such as digit calculation.

[0061] In this embodiment, M and N are calculated as follows:

[0062] According to the size of the OID map, the performance of the reading head (resolution, frame rate), the speed of the mobile unit 3, etc., the size of the content OID code settlement is adjusted, that is, the number of MDUs in the settlement is increased or decreased;

[0063] Calculate the number of bits N required for the x-coordinate and y-coordinate under a certain code utilization rate, and use the remaining number of bits (M x , M Y ), used to record various custom information, such as map numbers, etc., that is, it can record up to A map.

[0064] Specifically, if the size of a single map is S m =X max ×Y max ; where X max is the maximum value of the horizontal coordinate of the map, Y max Assume that the minimum information unit size of the OID standard is a×b (length×width), preferably, a=b=1.3mm; the size of the same content code point cluster is S cluster =a s ×b s , where a s Indicates the length of the settlement, b s Indicates the width of the settlement size, preferably, a s =b s =4.3mm.

[0065] The minimum number of data bits required is calculated using the following formula:

[0066]

[0067]

[0068] Among them, Ceil is rounded up, N X , N Y The map size is S m When S cluster =a s ×b s The minimum length calculated under the requirement.

[0069] Since L can be divided into at least two continuous or discontinuous parts of length M and N respectively, N is obtained as above. X , N Y After that, the remaining number of digits M can be obtained X 、M Y .

[0070] In this embodiment, step c includes at least the following steps: c1. Calculating the current angle state based on the current angle information and the current position information; c2. Determining whether there is an optimal path planning route selection to reach the original predetermined position based on the current angle state and the mobile unit information; if not, feeding back information on the failure of the optimal path planning route selection; if so, calculating the time required to execute the optimal path planning route selection; c3. Obtaining a mobile unit movement time threshold, and comparing the required time with it to determine whether the required time is greater than the movement time threshold; if so, feeding back information on the failure of the optimal path planning route selection; if not, executing the optimal path planning route according to the optimal path planning route selection result.

[0071] Preferably, the mobile unit information includes at least preset moving speed and maximum turning angle information.

[0072] The present invention selects the optimal path planning route by combining the movement time threshold of the mobile unit 3, which can avoid the time required for the selected optimal path planning route being too long, resulting in the mobile unit 3 being unable to normally execute the optimal path planning route.

[0073] In this embodiment, in step d, based on the execution feedback information, after confirming that the preset location (map coordinates) has been reached and the preset angle has been achieved, and after executing the preset operation, the necessary execution results can be synchronized to the user control device and the remote user account through the network to improve the interactive experience between the device and the user.

[0074] The present invention also provides a path planning device based on an OID map, which includes: a map identity information identification unit for obtaining map coordinates within a preset time and a preset area and identifying current map identity information; the OID map stores preset operations and includes at least a function area 1 and a content area 2, wherein the content area 2 stores map coordinates, map identity information, and a mapping relationship between the two; a current angle information identification unit for obtaining current position information of a mobile unit 3 and identifying current angle information; a route selection unit for determining, based on the current angle information, whether there is an optimal path planning route selection to reach the original predetermined location; if not, feeding back optimal path planning route selection failure information; if so, executing the optimal path planning route according to the optimal path planning route selection result; the mobile unit 3 for executing the optimal path planning route and performing preset operations; a real-time monitoring unit for obtaining execution feedback information of the optimal path planning route in real time and, based on the execution feedback information, determining whether the mobile unit 3 has currently reached a preset location and achieved a preset angle of the optimal path planning route; if so, performing the preset operation; if not, repeating this step until the mobile unit 3 reaches the preset location and achieves the preset angle of the optimal path planning route.

[0075] The embodiment of the present invention further provides a computer-readable storage medium, which may be a computer-readable storage medium included in the memory in the above embodiment; or a computer-readable storage medium that exists independently and is not assembled into a device. The computer-readable storage medium stores at least one instruction, which is loaded and executed by a processor to implement Figure 1 The path planning method based on the OID map is shown. The computer readable storage medium can be a read-only memory, a magnetic disk or an optical disk.

[0076] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. For similar or identical parts between the various embodiments, reference can be made to each other. For the apparatus embodiments, device embodiments, and storage medium embodiments, since they are generally similar to the method embodiments, their descriptions are relatively simple. For relevant parts, reference can be made to the descriptions of the method embodiments.

[0077] Furthermore, in this document, the terms "comprises," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0078] While the foregoing description shows and describes preferred embodiments of the present invention, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. Rather, the present invention can be used in various other combinations, modifications, and environments, and can be modified within the scope of the present invention by the teachings herein or by techniques or knowledge in the relevant art. Modifications and variations made by those skilled in the art without departing from the spirit and scope of the present invention are intended to be within the scope of the appended claims.

Claims

1. A path planning method based on OID map, characterized in that: The following steps are involved: Step a. Obtaining the map coordinates within the preset time and preset area, and identifying the current map identity information; The OID map stores preset operations and includes at least a function area and a content area. The content area stores map coordinates, map identity information, and the mapping relationship between the two. The preset operations are multimedia interactive operation instructions. The content area includes at least one story area, each story area includes at least two information unit clusters, and one of the information unit clusters is the default positioning information unit cluster for the story area. Each information unit cluster includes a minimum information unit for storing map coordinates, map identity information, and the mapping relationship between the two. Step b. Obtaining the current position information of the mobile unit and identifying the current angle information; Step c. Based on the current angle information and the current position information, determine whether there is an optimal path planning route selection to reach the original predetermined location; if not, feedback information on the optimal path planning route selection failure; If so, the optimal path planning route is executed according to the optimal path planning route selection result; Step d. Obtaining execution feedback information of the optimal path planning route in real time, and based on the execution feedback information, determining whether the mobile unit has currently reached the preset location of the optimal path planning route and achieved the preset angle; if so, executing the preset operation; if not, repeating this step until the mobile unit reaches the preset location of the optimal path planning route and achieves the preset angle; The step b at least comprises the following steps: b1 obtain the current location information of the mobile unit, the current location information includes at least coordinate information and current direction information; b2. Based on the map coordinates, obtain the direction information of the smallest information unit; b3 based on the direction information of the minimum information unit and the current direction information, calculate the angle between the mobile unit and the minimum information unit, and the calculation result as the current angle information; The step c at least includes the following steps: c1. Calculate the current angle state based on the current angle information and the current position information; c2 based on the current angle state and mobile unit information, determine whether there is an optimal path planning route selection to reach the original predetermined location; if not, the optimal path planning route selection failure feedback information; If so, the time required to execute the optimal path planning route selection is calculated; c3 obtain the mobile unit movement time threshold, and the time required to compare it with the time required to determine whether the time required is greater than the movement time threshold; If yes, then the optimal path planning route selection failure information is fed back; if no, then the optimal path planning route is executed according to the optimal path planning route selection result; Step d also includes obtaining execution feedback information of the optimal path planning route in real time to determine whether the mobile unit is in the execution area; If not, the mobile unit is in the non-execution area, and the execution status of the optimal path planning route is abnormal, prompting that it needs to be moved to the origin or execution area; if so, the execution status of the optimal path planning route is normal, and the execution feedback information of the optimal path planning route continues to be obtained in real time.

2. The OID map-based path planning method according to claim 1, characterized in that: The map coordinates stored in the minimum information unit include horizontal coordinates, vertical coordinates and direction information.

3. The OID map-based path planning method according to claim 1, characterized in that: The execution area and the non-execution area are divided according to the type of mobile units and preset division rules.

4. The OID map-based path planning method according to claim 1, wherein: In the OID map, the length of the OID horizontal and vertical axis codes is L, and L can be divided into at least two parts of length M and N respectively; The horizontal coordinate information of the map coordinate includes the M part of the horizontal coordinate and the N part of the horizontal coordinate, and the vertical coordinate information of the map coordinate includes the M part of the vertical coordinate and the N part of the horizontal coordinate; Among them, the M part of the horizontal and vertical coordinates is used to form a serial number, and the serial number is at least used to identify the map identity information; the N part of the horizontal and vertical coordinates is used to record the horizontal and vertical coordinates of the current OID code position or information unit cluster.

5. A path planning device based on an OID map, characterized in that: include: A map identity information recognition unit is used to obtain map coordinates within a preset time and a preset area and to recognize the current map identity information; The OID map stores preset operations and includes at least a function area and a content area. The content area stores map coordinates, map identity information, and the mapping relationship between the two. The preset operations are multimedia interactive operation instructions. The content area includes at least one story area, each story area includes at least two information unit clusters, and one of the information unit clusters is the default positioning information unit cluster for the story area. Each information unit cluster includes a minimum information unit for storing map coordinates, map identity information, and the mapping relationship between the two. The current angle information identification unit is used to obtain the current position information of the mobile unit and identify the current angle information; at least comprising the following steps: b1. obtaining the current position information of the mobile unit, the current position information including at least coordinate information and current direction information; b2. Based on the map coordinates, obtain the direction information of the smallest information unit; b3 based on the direction information of the minimum information unit and the current direction information, calculate the angle between the mobile unit and the minimum information unit, and the calculation result as the current angle information; A route selection unit is used to determine whether there is an optimal path planning route selection to reach the original predetermined location based on the current angle information; if not, feedback optimal path planning route selection failure information; If so, executing the optimal path planning route according to the optimal path planning route selection result; comprising at least the following steps: c1. calculating the current angle state based on the current angle information and the current position information; c2 based on the current angle state and mobile unit information, determine whether there is an optimal path planning route selection to reach the original predetermined location; if not, the optimal path planning route selection failure feedback information; If so, the time required to execute the optimal path planning route selection is calculated; c3 obtain the mobile unit movement time threshold, and the time required to compare it with the time required to determine whether the time required is greater than the movement time threshold; If so, the optimal path planning route selection failure information is fed back; If not, the optimal path planning route is executed according to the optimal path planning route selection result; A mobile unit, configured to execute an optimal path planning route and perform preset operations; A real-time monitoring unit is used to obtain execution feedback information of the optimal path planning route in real time, and based on the execution feedback information, determine whether the mobile unit has currently reached a preset location and reached a preset angle of the optimal path planning route; if so, perform a preset operation; if not, repeat this step until the mobile unit reaches the preset location and reaches the preset angle of the optimal path planning route; and is also used to obtain execution feedback information of the optimal path planning route in real time to determine whether the mobile unit is in an execution area; If not, the mobile unit is in the non-execution area, and the execution status of the optimal path planning route is abnormal, prompting that it needs to be moved to the origin or execution area; if so, the execution status of the optimal path planning route is normal, and the execution feedback information of the optimal path planning route continues to be obtained in real time.

6. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a path planning program based on an OID map, and when the path planning program based on an OID map is executed by a processor, the steps of the path planning method based on an OID map are implemented.

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