CN110853392A - Intelligent order grabbing method and device and computer readable storage medium - Google Patents

Intelligent order grabbing method and device and computer readable storage medium Download PDF

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Publication number
CN110853392A
CN110853392A CN201911117525.2A CN201911117525A CN110853392A CN 110853392 A CN110853392 A CN 110853392A CN 201911117525 A CN201911117525 A CN 201911117525A CN 110853392 A CN110853392 A CN 110853392A
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Prior art keywords
vehicle body
information
navigation
order
determining
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赵健章
黄子少
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Shenzhen Skyworth Digital Technology Co Ltd
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Shenzhen Skyworth Digital Technology Co Ltd
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q30/00—Commerce
    • G06Q30/06—Buying, selling or leasing transactions
    • G06Q30/0601—Electronic shopping [e-shopping]
    • G06Q30/0633—Lists, e.g. purchase orders, compilation or processing
    • G06Q30/0635—Processing of requisition or of purchase orders

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses an intelligent order grabbing method, which comprises the following steps: when a first vehicle body is in a missed order state currently and order information is received, determining a first navigation time length corresponding to the first vehicle body based on the order information; acquiring a second navigation duration corresponding to a second vehicle body, wherein the second vehicle body is the other vehicle bodies in a non-single state except the first vehicle body in the running environment where the first vehicle body is located; and when the first navigation time length is less than the second navigation time length, sending order receiving information to a terminal corresponding to the order information. The invention also discloses an intelligent order grabbing device and a computer readable storage medium. According to the invention, the navigation time length is independently calculated by each vehicle body, so that the distributed scheduling of the vehicle bodies is realized, and the autonomous calculation of the vehicle body navigation time length does not need to be carried out by a server with high performance requirement, so that the order receiving efficiency of the vehicle bodies is improved.

Description

Intelligent order grabbing method and device and computer readable storage medium
Technical Field
The invention relates to the technical field of intelligent driving, in particular to an intelligent order grabbing method and device and a computer readable storage medium.
Background
SLAM (simultaneous localization and mapping, instantaneous localization and mapping) based on natural environment includes two major functions: and (5) positioning and mapping. The main function of the map building is to understand the surrounding environment and build the corresponding relation between the surrounding environment and the space; the main function of positioning is to judge the position of the vehicle body in the map according to the established map, thereby obtaining the information in the environment. Secondly, the laser radar is an active detection sensor, does not depend on the external illumination condition, and has high-precision ranging information. Therefore, the SLAM method based on the laser radar is still the most widely applied method in the SLAM method of the Robot, and the SLAM application in ROS (Robot Operating System) has also been very widely applied.
At present, in a warehouse system using SLAM navigation, path planning of a plurality of AGV terminals is generally calculated and arranged uniformly by a scheduling server, and then distributed path measurements are sent to respective AGV terminals for re-adaptation and execution. However, in this case, it is necessary to add a server to the field scheduling system, and as the number of AGV terminals increases, the scheduling algorithm of the server becomes more complex, and the requirement for the computing power of the server becomes very high.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide an intelligent order grabbing method, an intelligent order grabbing device and a computer readable storage medium, and aims to solve the technical problem that the performance of a server needs to be high in the scheduling of a plurality of AGV terminals.
In order to achieve the purpose, the invention provides an intelligent order grabbing method, which comprises the following steps:
when a first vehicle body is in a missed order state currently and order information is received, determining a first navigation time length corresponding to the first vehicle body based on the order information;
acquiring a second navigation duration corresponding to a second vehicle body, wherein the second vehicle body is the other vehicle bodies in a non-single state except the first vehicle body in the running environment where the first vehicle body is located;
and when the first navigation time length is less than the second navigation time length, sending order receiving information to a terminal corresponding to the order information.
In an embodiment, when the first vehicle body is currently in a non-order-receiving state and receives order information, the step of determining a first navigation duration corresponding to the first vehicle body based on the order information includes:
when the first vehicle body is in a non-order-receiving state currently and receives order information, acquiring current first position information of the first vehicle body, and acquiring target position information based on the order information;
acquiring current second position information of a third vehicle body, wherein the third vehicle body is the other vehicle body except the first vehicle body in the running environment where the first vehicle body is located;
and determining a first navigation route based on the first position information, the second position information and the destination position information, and determining a first navigation time length based on the first navigation route.
In one embodiment, the step of determining a first navigation route based on the first location information, the second location information, and the destination location information comprises:
determining whether there is a first target vehicle body of a one-way road currently in the driving environment in the third vehicle body based on the second position information;
if the first target vehicle body exists in the third vehicle body, setting the one-way road corresponding to the first target vehicle body in the road information corresponding to the driving environment to be in a no-pass state so as to obtain first road information;
determining the first navigation route based on the first road information, the first location information, the second location information, and the destination location information.
In one embodiment, the step of determining the first navigation route based on the first road information, the first location information, the second location information, and the destination location information comprises:
determining whether a second target vehicle body of the double-lane currently in the driving environment exists in the third vehicle body based on the second position information;
if the second target vehicle body exists in the third vehicle body, setting a preset area in a road where the second target vehicle body is located at present in the first road information to be in a traffic prohibition state so as to obtain second road information;
determining the first navigation route based on the second road information, the first location information, and the destination location information.
In one embodiment, after the step of determining whether the first target vehicle body of the one-way road currently in the driving environment exists in the second vehicle body, the method further includes:
if the first target vehicle body does not exist in the third vehicle body, determining whether a third target vehicle body of a double-lane currently located in the driving environment exists in the third vehicle body based on the second position information;
if the third target vehicle body exists in the third vehicle body, setting a preset area in a road where the third target vehicle body is located in the road information to be in a traffic prohibition state so as to obtain third road information;
determining the first navigation route based on the third road information, the first location information, and the destination location information.
In one embodiment, the step of determining a first navigation duration based on the first navigation route comprises:
acquiring path planning point information corresponding to the first navigation route, and determining the driving time corresponding to the first navigation route based on the path planning point information;
determining pose adjustment time length corresponding to a first navigation route based on the pose information of the first vehicle body and the initial planning point corresponding to the path planning point information;
and determining the first navigation time length based on the pose adjustment time length and the running time length.
In an embodiment, after the step of sending the order receiving information to the terminal corresponding to the order information, the method further includes:
controlling the first vehicle body to run based on the first navigation route of the first vehicle body, and acquiring current third position information of the first vehicle body in real time;
determining a third navigation duration currently corresponding to the first vehicle body based on the third position information and the order information;
if the ratio of the third navigation time length to the first navigation time length is larger than a preset threshold value, broadcasting the order information, and continuing to execute the step of determining the first navigation time length corresponding to the first vehicle body based on the order information.
In an embodiment, the step of determining, based on the third location information and the order information, a third navigation duration currently corresponding to the first vehicle body includes:
acquiring fourth position information corresponding to a fourth vehicle body, wherein the fourth vehicle body is the vehicle body which is in a non-single state except the first vehicle body in the running environment where the first vehicle body is located;
and determining a second navigation route based on the third position information, the fourth position information and the destination position information, and determining a third navigation time length based on the second navigation route.
In addition, in order to achieve the above object, the present invention further provides an intelligent order-grabbing device, including: the intelligent order grabbing system comprises a memory, a processor and an intelligent order grabbing program which is stored on the memory and can run on the processor, wherein the steps of the intelligent order grabbing method are realized when the intelligent order grabbing program is executed by the processor.
In addition, to achieve the above object, the present invention further provides a computer readable storage medium, where an intelligent order grabbing program is stored, and the intelligent order grabbing program, when executed by a processor, implements the steps of the foregoing intelligent order grabbing method.
According to the method, when a first vehicle body is in a non-order-receiving state currently and order information is received, a first navigation time length corresponding to the first vehicle body is determined based on the order information, and then a second navigation time length corresponding to a second vehicle body is obtained, wherein the second vehicle body is the vehicle body in the non-order-receiving state except the first vehicle body in a driving environment where the first vehicle body is located; and then when the first navigation time length is shorter than the second navigation time length, order receiving information is sent to a terminal corresponding to the order information, the navigation time length is independently calculated through each vehicle body, distributed scheduling of the vehicle bodies is achieved, autonomous calculation of the vehicle body navigation time length is achieved, scheduling does not need to be carried out through a server with high performance requirements, and the order receiving efficiency of the vehicle bodies is improved.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent order grabbing device of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of an intelligent order grabbing method according to the present invention;
FIG. 3 is a schematic view of a scenario in an embodiment of the present invention;
FIG. 4 is a schematic view of a scenario in another embodiment of the present invention;
FIG. 5 is a flowchart illustrating a second embodiment of the intelligent order grabbing method of the present invention;
FIG. 6 is a flow chart of a third embodiment of the intelligent order grabbing method of the present invention;
fig. 7 is a flowchart illustrating a fourth embodiment of the intelligent order grabbing method according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, fig. 1 is a schematic structural diagram of an intelligent order grabbing device in a hardware operating environment according to an embodiment of the present invention.
The intelligent order grabbing device in the embodiment of the invention can be an AGV body, and as shown in FIG. 1, the intelligent order grabbing device can comprise: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Optionally, the intelligent ordering device may further include a camera, a Radio Frequency (RF) circuit, a sensor, an audio circuit, a WiFi module, and the like. Such as light sensors, motion sensors, and other sensors.
Those skilled in the art will appreciate that the intelligent ordering device structure shown in fig. 1 does not constitute a limitation of the intelligent ordering device, and may include more or less components than those shown, or combine certain components, or arrange different components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and an intelligent ticket snatching program.
In the intelligent order grabbing device shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be used to invoke the intelligent order grabbing program stored in the memory 1005.
In this embodiment, the intelligent order grabbing device includes: the system comprises a memory 1005, a processor 1001 and an intelligent order grabbing program which is stored on the memory 1005 and can run on the processor 1001, wherein when the processor 1001 calls the intelligent order grabbing program stored in the memory 1005, the following operations are executed:
when a first vehicle body is in a missed order state currently and order information is received, determining a first navigation time length corresponding to the first vehicle body based on the order information;
acquiring a second navigation duration corresponding to a second vehicle body, wherein the second vehicle body is the other vehicle bodies in a non-single state except the first vehicle body in the running environment where the first vehicle body is located;
and when the first navigation time length is less than the second navigation time length, sending order receiving information to a terminal corresponding to the order information.
Further, the processor 1001 may call the intelligent order grabbing program stored in the memory 1005, and also perform the following operations:
when the first vehicle body is in a non-order-receiving state currently and receives order information, acquiring current first position information of the first vehicle body, and acquiring target position information based on the order information;
acquiring current second position information of a third vehicle body, wherein the third vehicle body is the other vehicle body except the first vehicle body in the running environment where the first vehicle body is located;
and determining a first navigation route based on the first position information, the second position information and the destination position information, and determining a first navigation time length based on the first navigation route.
Further, the processor 1001 may call the intelligent order grabbing program stored in the memory 1005, and also perform the following operations:
determining whether there is a first target vehicle body of a one-way road currently in the driving environment in the third vehicle body based on the second position information;
if the first target vehicle body exists in the third vehicle body, setting the one-way road corresponding to the first target vehicle body in the road information corresponding to the driving environment to be in a no-pass state so as to obtain first road information;
determining the first navigation route based on the first road information, the first location information, the second location information, and the destination location information.
Further, the processor 1001 may call the intelligent order grabbing program stored in the memory 1005, and also perform the following operations:
determining whether a second target vehicle body of the double-lane currently in the driving environment exists in the third vehicle body based on the second position information;
if the second target vehicle body exists in the third vehicle body, setting a preset area in a road where the second target vehicle body is located at present in the first road information to be in a traffic prohibition state so as to obtain second road information;
determining the first navigation route based on the second road information, the first location information, and the destination location information.
Further, the processor 1001 may call the intelligent order grabbing program stored in the memory 1005, and also perform the following operations:
if the first target vehicle body does not exist in the third vehicle body, determining whether a third target vehicle body of a double-lane currently located in the driving environment exists in the third vehicle body based on the second position information;
if the third target vehicle body exists in the third vehicle body, setting a preset area in a road where the third target vehicle body is located in the road information to be in a traffic prohibition state so as to obtain third road information;
determining the first navigation route based on the third road information, the first location information, and the destination location information.
Further, the processor 1001 may call the intelligent order grabbing program stored in the memory 1005, and also perform the following operations:
acquiring path planning point information corresponding to the first navigation route, and determining the driving time corresponding to the first navigation route based on the path planning point information;
determining pose adjustment time length corresponding to a first navigation route based on the pose information of the first vehicle body and the initial planning point corresponding to the path planning point information;
and determining the first navigation time length based on the pose adjustment time length and the running time length.
Further, the processor 1001 may call the intelligent order grabbing program stored in the memory 1005, and also perform the following operations:
controlling the first vehicle body to run based on the first navigation route of the first vehicle body, and acquiring current third position information of the first vehicle body in real time;
determining a third navigation duration currently corresponding to the first vehicle body based on the third position information and the order information;
if the ratio of the third navigation time length to the first navigation time length is larger than a preset threshold value, broadcasting the order information, and continuing to execute the step of determining the first navigation time length corresponding to the first vehicle body based on the order information.
Further, the processor 1001 may call the intelligent order grabbing program stored in the memory 1005, and also perform the following operations:
acquiring fourth position information corresponding to a fourth vehicle body, wherein the fourth vehicle body is the vehicle body which is in a non-single state except the first vehicle body in the running environment where the first vehicle body is located;
and determining a second navigation route based on the third position information, the fourth position information and the destination position information, and determining a third navigation time length based on the second navigation route.
The invention also provides an intelligent order grabbing method, and referring to fig. 2, fig. 2 is a flow diagram of a first embodiment of the intelligent order grabbing method.
The intelligent order grabbing method of the embodiment can be applied to the intelligent automatic driving process, wherein the intelligent automatic driving process can be suitable for warehouse freight in a closed environment and can also be suitable for road transportation in an open environment, and the embodiment takes warehouse freight as an example for description; the Vehicle corresponding to warehouse freight may be a forklift, a cradle, or an AGV (automated guided Vehicle) trolley, and the like; goods are stacked in warehouse freight, the goods are placed on the trays, and the transportation of the goods is realized through the transportation of the trays by the vehicles.
In this embodiment, the intelligent order grabbing method includes:
step S100, when a first vehicle body is in a non-order-taking state currently and order information is received, determining a first navigation time length corresponding to the first vehicle body based on the order information;
in this embodiment, the warehouse management system broadcasts the order information through a scheduling interface, the scheduling interface is an interface implemented by docking the warehouse management system (usually WMS), the scheduling interface itself is not responsible for specific scheduling, and is only responsible for converting the order into task information of a specific car body, and the task information (order information) is broadcast through the same local area network, and all cars belonging to the warehouse management system can receive the order information.
In this embodiment, when the first vehicle body is currently in the order missed state, if the order information is received, the first navigation duration corresponding to the first vehicle body is determined based on the order information, that is, the navigation duration from the first vehicle body to the destination position information corresponding to the order information is calculated.
Step S200, obtaining a second navigation duration corresponding to a second vehicle body, wherein the second vehicle body is the vehicle body which is in a non-single state except the first vehicle body in the running environment where the first vehicle body is located;
in this embodiment, when the first navigation time length is obtained, the first vehicle body obtains a second navigation time length corresponding to a second vehicle body, where the second vehicle body is a vehicle body in a non-order-receiving state in a running environment where the first vehicle body is located, and when the second vehicle body receives order information, the second navigation time length corresponding to the second vehicle body is calculated in a same manner as the first navigation time length, and then the second navigation time length is broadcast.
It should be noted that the scheduling interface, the first vehicle body and the second vehicle body are all connected to the same local area network, the scheduling interface broadcasts order information through the local area network, the first vehicle body broadcasts the first navigation duration through the local area network, and the second vehicle body broadcasts the second navigation duration through the local area network.
And step S300, when the first navigation time length is less than the second navigation time length, sending order receiving information to a terminal corresponding to the order information.
In this embodiment, when a second navigation duration is obtained, it is determined whether a first navigation duration is shorter than the second navigation duration, and when the first navigation duration is shorter than the second navigation duration, order receiving information is sent to a terminal (a scheduling interface) corresponding to the order information.
In other embodiments, if the first navigation duration is longer than the minimum duration of the second navigation duration, the order information is not responded.
It should be noted that there is usually a time interval T of common order taking calculation, which is set according to the calculation capability of the SLAM system of the vehicle body itself, and the vehicle body confirms the order grabbing information after T, where T can be set to 3 seconds.
In one embodiment, step S200 includes: and acquiring a second navigation time corresponding to the second vehicle body at a preset time to avoid the problem of incomplete reception of the second navigation time caused by network delay.
Referring to fig. 3, in fig. 3, 1.1 is a library position; 1.2 is a bidirectional channel; 1.3 is a one-way channel; 2.1-2.4, which is the vehicle body of the connected sheet; 2.5 is the body of the vehicle which is not connected; 3.1 planning the original path; and 3.2 and 3.5 planning a new path.
According to the intelligent order grabbing method provided by the embodiment, when a first vehicle body is in a missed order state currently and order information is received, a first navigation time length corresponding to the first vehicle body is determined based on the order information, and then a second navigation time length corresponding to a second vehicle body is obtained, wherein the second vehicle body is the other vehicle bodies in the missed order state except the first vehicle body in a driving environment where the first vehicle body is located; then when the first navigation time length is smaller than the second navigation time length, order receiving information is sent to the terminal corresponding to the order information, the navigation time length is independently calculated through each vehicle body (AGV terminal), distributed scheduling of the vehicle bodies is achieved, autonomous calculation of the vehicle body navigation time length is achieved, scheduling does not need to be carried out through a server with high performance requirements, and the order receiving efficiency of the vehicle bodies is improved.
Based on the first embodiment, a second embodiment of the intelligent order grabbing method of the present invention is proposed, and referring to fig. 5, in this embodiment, step S100 includes:
step S110, when the first vehicle body is in a non-order-taking state currently and receives order information, acquiring current first position information of the first vehicle body, and acquiring target position information based on the order information;
step S120, acquiring current second position information of a third vehicle body, wherein the third vehicle body is the other vehicle body except the first vehicle body in the running environment where the first vehicle body is located;
step S130, determining a first navigation route based on the first location information, the second location information, and the destination location information, and determining a first navigation duration based on the first navigation route.
The first position information is the current position information of a drivable area of the first vehicle body in a driving environment; the destination location information is location information of the first vehicle body to be driven to a destination point, wherein the first location information and the destination location information include, but are not limited to, a plane rectangular coordinate point, a pillar coordinate point, a sphere coordinate point, a longitude and latitude coordinate point, a direction corresponding to the coordinate point, and the like. In SLAM navigation, a map corresponding to a driving environment is established, and the map comprises a radar layer and an obstacle avoidance layer. Meanwhile, in the map for which the map is created, a virtual lane layer is created, specifically, map information of a drivable area in a driving environment and virtual lane information corresponding to the map information are determined first, then a driving direction corresponding to a virtual lane in the map information is set based on a driving direction corresponding to the virtual lane information, for example, a driving direction of a bidirectional lane is set, and an area outside the virtual lane in the map information after the driving direction is set to be in a no-pass state, so that the virtual lane layer is obtained.
When the first vehicle body is in a non-order-receiving state currently and receives order information, the first vehicle body acquires current first position information of the first vehicle body in real time, and acquires target position information based on the order information when the first position information is acquired.
Then, the first vehicle body acquires the current second position information of the third vehicle body, namely acquires the position information of other vehicle bodies in the current driving environment.
It should be noted that, the first vehicle body and the third vehicle body are connected to the same local area network, all vehicle bodies in the driving environment broadcast the current position information of the vehicle body in the local area network, for example, when the first vehicle body acquires the first position information, the first new information is sent in the local area network by broadcasting, the third vehicle body can receive the first position information, of course, the identification information of the first vehicle body can also be broadcast at the same time, similarly, when the third vehicle body acquires the second position information, the second new information is sent in the local area network by broadcasting, and the first vehicle body determines the current second position information of the third vehicle body by receiving the broadcasting. In other embodiments, all vehicles in the driving environment are timed to broadcast their current position information in the local area network, for example, every 3 seconds. Wherein the third vehicle body may include other vehicles driven by the manager, which may broadcast their location information.
In this embodiment, when the second position information is obtained, the forbidden area corresponding to the third vehicle body is set according to the second position information, that is, the preset area of the lane corresponding to the third vehicle body is set to be in the forbidden state in the updated virtual lane layer to obtain the updated virtual lane layer, then the initial navigation path of the first vehicle body is obtained based on the updated virtual lane layer, the first position information and the destination position information, the two-way lane information corresponding to the initial navigation path and the non-passing lane information corresponding to the two-way lane information are determined based on the updated virtual lane layer, the driving direction of the first vehicle body is determined based on the first position information and the destination position information, the reverse lane information opposite to the driving direction in the two-way lane information is determined, and the non-passing lane information and the reverse lane information are used as the to-be-closed lane information, in the updated virtual lane layer, setting a virtual lane corresponding to the lane information to be closed to be in a no-pass state to obtain a final virtual lane layer, determining a first navigation path corresponding to the vehicle body based on the final virtual lane layer, the first position information and the target position information, and determining a first navigation duration based on the first navigation path.
According to the intelligent order grabbing method provided by the embodiment, when the first vehicle body is in a missed order state currently and receives order information, the current first position information of the first vehicle body is obtained, and the target position information is obtained based on the order information; then acquiring current second position information of a third vehicle body; and then, determining a first navigation route based on the first position information, the second position information and the target position information, determining a first navigation time length based on the first navigation route, independently planning the navigation path of each vehicle body to realize distributed scheduling of the vehicle bodies without scheduling through a server, and enabling the path planning of a plurality of vehicle bodies not to interfere with each other through autonomous path calculation of the vehicle bodies so as to improve the accuracy of the first navigation path.
Based on the second embodiment, a third embodiment of the intelligent order grabbing method of the present invention is proposed, and referring to fig. 6, in this embodiment, step S130 includes:
step S131, determining whether a first target vehicle body of a one-way road currently in the driving environment exists in the third vehicle body based on the second position information;
step S132, if the first target vehicle body exists in the third vehicle body, setting a one-way road corresponding to the first target vehicle body in the road information corresponding to the driving environment to be in a no-pass state so as to obtain first road information;
step S133, determining the first navigation route based on the first road information, the first location information, the second location information, and the destination location information.
In this embodiment, when the second position information is obtained, it is determined whether a first target vehicle body of a one-way road currently in the running environment exists in the third vehicle body based on the second position information, that is, it is determined whether a vehicle body (except the first vehicle body) currently running on the one-way road exists, if the first target vehicle body exists in the third vehicle body, the one-way road corresponding to the first target vehicle body is set to a no-pass state in the road information corresponding to the running environment to obtain first road information, for example, the road information is a virtual lane layer, and if the first target vehicle body exists in the third vehicle body, the one-way road corresponding to the first target vehicle body is set to the no-pass state in the virtual lane layer to obtain first road information, that is, the first road information is a new virtual lane layer.
Then, based on the second position information, determining a vehicle body in a bidirectional lane in a third vehicle body, setting a traffic prohibition state corresponding to the vehicle body in the bidirectional lane in a new virtual lane layer to obtain an updated virtual lane layer, finally, based on the updated virtual lane layer, the first position information and the destination position information, obtaining an initial navigation path of the first vehicle body, based on the updated virtual lane layer, determining bidirectional lane information corresponding to the initial navigation path and non-passing lane information corresponding to the bidirectional lane information, based on the first position information and the destination position information, determining the driving direction of the first vehicle body, determining reverse lane information opposite to the driving direction in the bidirectional lane information, and taking the non-passing lane information and the reverse lane information as lane information to be closed, in the updated virtual lane layer, and setting the virtual lane corresponding to the lane information to be closed to be in a no-pass state to obtain a final virtual lane layer, and determining a first navigation path corresponding to the vehicle body based on the final virtual lane layer, the first position information and the target position information.
In the intelligent order grabbing method provided by this embodiment, based on the second position information, it is determined whether a first target vehicle body of a one-way road currently located in the driving environment exists in the third vehicle body; if the first target vehicle body exists in the third vehicle body, setting a one-way road corresponding to the first target vehicle body in the road information corresponding to the driving environment to be in a traffic prohibition state so as to obtain first road information; and then determining the first navigation route based on the first road information, the first position information, the second position information and the target position information, and setting the occupied one-way road to be in a no-pass state, so that the accuracy of path planning of the first vehicle body can be improved, the accuracy of the first navigation route is further improved, and the accuracy of the first navigation time length is further improved.
Based on the third embodiment, a fourth embodiment of the intelligent order grabbing method of the present invention is proposed, and referring to fig. 7, in this embodiment, step S133 includes:
step S1331 of determining whether there is a second target vehicle body of the two-way road currently in the travel environment in the third vehicle body based on the second position information;
step S1332, if the second target vehicle body exists in the third vehicle body, setting a preset area in a road where the second target vehicle body is located in the first road information to be in a no-pass state so as to obtain second road information;
step S1333, determining the first navigation route based on the second road information, the first location information and the destination location information.
In this embodiment, when first road information is obtained, it is determined whether a second target vehicle body of a double-lane currently located in the driving environment exists in a third vehicle body based on second position information, if the second target vehicle body exists in the third vehicle body, a preset area in a road where the second target vehicle body is currently located is set to a no-pass state in the first road information to obtain second road information, and then the first navigation route is determined based on the second road information, the first position information, and the target position information.
Specifically, if the first road information is a new virtual lane layer, determining a vehicle body in a bidirectional lane in the third vehicle body based on the second position information, setting a no-pass state corresponding to the vehicle body in the bidirectional lane in the new virtual lane layer to obtain an updated virtual lane layer, finally, obtaining an initial navigation path of the first vehicle body based on the updated virtual lane layer, the first position information and the destination position information, determining bidirectional lane information corresponding to the initial navigation path and non-passing lane information corresponding to the bidirectional lane information based on the updated virtual lane layer, determining a driving direction of the first vehicle body based on the first position information and the destination position information, determining reverse lane information opposite to the driving direction in the bidirectional lane information, and using the non-passing lane information and the reverse lane information as to-be-closed lane information, and in the updated virtual lane layer, setting the virtual lane corresponding to the lane information to be closed to be in a no-pass state to obtain a final virtual lane layer, and determining a first navigation route corresponding to the vehicle body based on the final virtual lane layer, the first position information and the target position information.
It should be noted that, if a second target vehicle body does not exist in the third vehicle body, the first navigation route is determined based on the first road information, the first position information and the target position information, that is, an initial navigation route of the first vehicle body is obtained based on a new virtual lane layer, the two-way lane information corresponding to the initial navigation route and the non-passing lane information corresponding to the two-way lane information are determined based on the new virtual lane layer, the driving direction of the first vehicle body is determined based on the first position information and the target position information, the reverse lane information opposite to the driving direction in the two-way lane information is determined, the non-passing lane information and the reverse lane information are used as the to-be-closed lane information, and the virtual lane corresponding to the to-be-closed lane information is set to the no-pass state in the updated virtual lane layer, and obtaining a final virtual lane layer, and determining a first navigation route corresponding to the vehicle body based on the final virtual lane layer, the first position information and the target position information.
The preset area of the road where the second target vehicle body is located is an area which is 2 times of the size of the vehicle body of the road where the second target vehicle body is located, and the width of the preset area is half of the width of the double-row road.
In the intelligent order grabbing method provided by this embodiment, based on the second position information, it is determined whether a second target vehicle body of a double-lane currently located in the driving environment exists in the third vehicle body, then if the second target vehicle body exists in the third vehicle body, setting a preset area in a road where the second target vehicle body is located at present in the first road information as a traffic prohibition state so as to obtain second road information, then determining the first navigation route based on the second road information, the first position information and the destination position information, the accuracy of the path planning of the first vehicle body can be improved by setting the preset area where the vehicle body is located in the occupied double-lane road to be in the no-pass state, and then improve the accuracy of first navigation route, further improve the accuracy of first navigation duration.
Based on the third embodiment, a fifth embodiment of the intelligent order grabbing method of the present invention is provided, where in this embodiment, after step S131, the method further includes:
step S134, if the first target vehicle body does not exist in the third vehicle body, determining whether a third target vehicle body of a double-lane currently located in the driving environment exists in the third vehicle body based on the second position information;
step S135, if the third target vehicle body exists in the third vehicle body, setting a preset area in a road where the third target vehicle body is located in the road information to be in a no-pass state so as to obtain third road information;
step S136, determining the first navigation route based on the third road information, the first location information, and the destination location information.
In this embodiment, if the first target vehicle body does not exist in the third vehicle body, it is determined whether a third target vehicle body of a double-lane currently located in the driving environment exists in the third vehicle body based on the second position information, if the third target vehicle body exists in the third vehicle body, a preset area in a road where the third target vehicle body is currently located is set to a traffic-prohibited state in the road information to obtain third road information, and then the first navigation route is determined based on the third road information, the first position information, and the target position information.
Specifically, a vehicle body in a bidirectional lane in a third vehicle body is determined based on the second position information, a traffic prohibition state corresponding to the vehicle body in the bidirectional lane is set in a new virtual lane layer to obtain an updated virtual lane layer, finally, an initial navigation path of the first vehicle body is obtained based on the updated virtual lane layer, the bidirectional lane information corresponding to the initial navigation path and the non-passing lane information corresponding to the bidirectional lane information are determined based on the updated virtual lane layer, the driving direction of the first vehicle body is determined based on the first position information and the destination position information, the reverse direction information opposite to the driving direction in the bidirectional lane information is determined, the non-passing lane information and the reverse lane information are used as the information of the lane to be closed, and in the updated virtual lane layer, and setting the virtual lane corresponding to the lane information to be closed to be in a no-pass state to obtain a final virtual lane layer, and determining a first navigation route corresponding to the vehicle body based on the final virtual lane layer, the first position information and the target position information.
In the intelligent order grabbing method provided by this embodiment, if the first target vehicle body does not exist in the third vehicle body, whether a third target vehicle body of a double-lane currently located in the driving environment exists in the third vehicle body is determined based on the second position information; then if the third target vehicle body exists in the third vehicle body, setting a preset area in a road where the third target vehicle body is located in the road information to be in a traffic prohibition state so as to obtain third road information; and then, determining the first navigation route based on the third road information, the first position information and the target position information, and setting a preset area where the vehicle body in the occupied double-lane road is located to be in a no-pass state, so that the accuracy of path planning of the first vehicle body can be improved, the accuracy of the first navigation route is further improved, and the accuracy of the first navigation duration is further improved.
Based on the second embodiment, a sixth embodiment of the intelligent order grabbing method of the present invention is provided, in this embodiment, step S100 includes:
step S140, obtaining path planning point information corresponding to the first navigation route, and determining the driving time corresponding to the first navigation route based on the path planning point information;
step S150, determining a pose adjustment time length corresponding to a first navigation route based on the pose information of the first vehicle body and the initial planning point corresponding to the path planning point information;
step S160, determining the first navigation duration based on the pose adjustment duration and the driving duration.
In this embodiment, path planning point information corresponding to the first navigation route is obtained, where the path planning point information includes coordinates (x) of each path planning pointN，yN) And the speed V corresponding to each path planning pointNDetermining a driving time corresponding to the first navigation route based on the path planning point information; and simultaneously, acquiring pose information of the first vehicle body, and determining pose adjustment time corresponding to the first navigation route according to the pose information and the initial planning point corresponding to the path planning point information.
First, according to the coordinates (x)N，yN) And velocity VNCalculating the planning time length t between two adjacent path planning pointsNThe concrete formula is as follows:
tN＝((xN-xN-1)2+(yN-yN-1)2)1/2/0.5(VN+VN-1)；
and then the time t ═ Σ t is obtainedN。
The pose information comprises a pose angle theta and current coordinates (x0, y0) (SLAM coordinate system) of the first vehicle body, and a departure point pose adjustment angle omega is determined according to the pose angle theta and an initial planning point (x1, y1), and the specific formula is as follows:
ω＝tan-1(y1/x1)+θθ≤180；
ω＝tan-1(y1/x1)+(180-θ)θ>180；
the coordinate origin of the SLAM coordinate system is the current coordinate (x0, y0), and then the pose adjustment time length t is calculated according to the starting point pose adjustment angle omegaωThe concrete formula is as follows:
tω＝ω/v；
and v is the angular velocity of the first vehicle body for adjusting the triggering attitude angle.
Finally, the first navigation time length is determined based on the pose adjustment time length and the running time length, and the pose adjustment time length and the running time length are added to obtain the navigation time length, namely the navigation time length T is Tω+t＝tω+∑tN。
According to the intelligent order grabbing method provided by the embodiment, the pose adjustment time length is determined based on the pose information of the first vehicle body and the first navigation route; then determining a driving time length based on the route length of the first navigation route; and then, the first navigation time length is determined based on the pose adjustment time length and the running time length, the navigation time length corresponding to the first navigation time length can be accurately obtained according to the pose adjustment time length of the first navigation time length and the running time length, and the accuracy of calculation of the first navigation time length is further improved.
Based on the foregoing embodiments, a seventh embodiment of the intelligent order grabbing method of the present invention is proposed, in this embodiment, after step S300, the intelligent order grabbing method further includes:
step S400, controlling the first vehicle body to run based on a first navigation route of the first vehicle body, and acquiring current third position information of the first vehicle body in real time;
step S500, determining a third navigation duration currently corresponding to the first vehicle body based on the third position information and the order information;
step S600, if the ratio of the third navigation duration to the first navigation duration is greater than a preset threshold, broadcasting the order information, and continuing to perform the step of determining the first navigation duration corresponding to the first vehicle body based on the order information.
In this embodiment, after order receiving information is sent to a terminal corresponding to the order information, based on a first navigation route of the first vehicle, the first vehicle is controlled to travel so that the first vehicle travels to a destination position corresponding to the order information, and in the course of traveling, current third position information of the first vehicle is obtained in real time, and based on the third position information and the order information, a third navigation duration corresponding to the first vehicle at present is determined.
And if the ratio of the third navigation time length to the first navigation time length is larger than a preset threshold value, broadcasting the order information, continuing to execute the step of determining the first navigation time length corresponding to the first vehicle body based on the order information, and simultaneously controlling the first vehicle body to stop running and stop standing by alongside in the current road.
It should be noted that the preset threshold may be reasonably set, for example, the preset threshold is set to 1.5, when the ratio of the third navigation duration to the first navigation duration is greater than the preset threshold, the current navigation duration of the first vehicle body exceeds 50% of the first navigation duration, and at this time, the first vehicle body abandons the order information.
Referring to fig. 4, in fig. 4, 1.1 is a library position; 1.2 is a bidirectional channel; 1.3 is a one-way channel; 2.1-2.4, which is the vehicle body of the connected sheet; 2.5 is the body of the vehicle which is not connected; and 3.5 planning a new path. B3 is a vehicle body at a side parking standby point.
Further, in an embodiment, step S500 includes:
step S510, fourth position information corresponding to a fourth vehicle body is obtained, wherein the fourth vehicle body is the vehicle body which is in a non-single state except the first vehicle body in the running environment where the first vehicle body is located;
step S520, determining a second navigation route based on the third location information, the fourth location information and the destination location information, and determining the third navigation duration based on the second navigation route.
It should be noted that the third navigation duration is calculated in the same manner as the first navigation duration, and is not described herein again.
According to the intelligent order grabbing method provided by the embodiment, the first vehicle body is controlled to run through a first navigation route based on the first vehicle body, and the current third position information of the first vehicle body is obtained in real time; then, determining a third navigation duration currently corresponding to the first vehicle body based on the third position information and the order information; and if the ratio of the third navigation time length to the first navigation time length is greater than a preset threshold value, broadcasting the order information, and continuing to execute the step of determining the first navigation time length corresponding to the first vehicle body based on the order information, so that the first vehicle body abandons the order when the remaining driving time length far exceeds the first preset time length, and the order receiving efficiency of the vehicle body is improved.
In addition, an embodiment of the present invention further provides a computer-readable storage medium, where an intelligent ticket preemption program is stored on the computer-readable storage medium, and when executed by a processor, the intelligent ticket preemption program implements the following operations:
when a first vehicle body is in a missed order state currently and order information is received, determining a first navigation time length corresponding to the first vehicle body based on the order information;
acquiring a second navigation duration corresponding to a second vehicle body, wherein the second vehicle body is the other vehicle bodies in a non-single state except the first vehicle body in the running environment where the first vehicle body is located;
and when the first navigation time length is less than the second navigation time length, sending order receiving information to a terminal corresponding to the order information.
Further, the intelligent order grabbing program further realizes the following operations when being executed by the processor:
when the first vehicle body is in a non-order-receiving state currently and receives order information, acquiring current first position information of the first vehicle body, and acquiring target position information based on the order information;
acquiring current second position information of a third vehicle body, wherein the third vehicle body is the other vehicle body except the first vehicle body in the running environment where the first vehicle body is located;
and determining a first navigation route based on the first position information, the second position information and the destination position information, and determining a first navigation time length based on the first navigation route.
Further, the intelligent order grabbing program further realizes the following operations when being executed by the processor:
determining whether there is a first target vehicle body of a one-way road currently in the driving environment in the third vehicle body based on the second position information;
if the first target vehicle body exists in the third vehicle body, setting the one-way road corresponding to the first target vehicle body in the road information corresponding to the driving environment to be in a no-pass state so as to obtain first road information;
determining the first navigation route based on the first road information, the first location information, the second location information, and the destination location information.
Further, the intelligent order grabbing program further realizes the following operations when being executed by the processor:
determining whether a second target vehicle body of the double-lane currently in the driving environment exists in the third vehicle body based on the second position information;
if the second target vehicle body exists in the third vehicle body, setting a preset area in a road where the second target vehicle body is located at present in the first road information to be in a traffic prohibition state so as to obtain second road information;
determining the first navigation route based on the second road information, the first location information, and the destination location information.
Further, the intelligent order grabbing program further realizes the following operations when being executed by the processor:
if the first target vehicle body does not exist in the third vehicle body, determining whether a third target vehicle body of a double-lane currently located in the driving environment exists in the third vehicle body based on the second position information;
if the third target vehicle body exists in the third vehicle body, setting a preset area in a road where the third target vehicle body is located in the road information to be in a traffic prohibition state so as to obtain third road information;
determining the first navigation route based on the third road information, the first location information, and the destination location information.
Further, the intelligent order grabbing program further realizes the following operations when being executed by the processor:
acquiring path planning point information corresponding to the first navigation route, and determining the driving time corresponding to the first navigation route based on the path planning point information;
determining pose adjustment time length corresponding to a first navigation route based on the pose information of the first vehicle body and the initial planning point corresponding to the path planning point information;
and determining the first navigation time length based on the pose adjustment time length and the running time length.
Further, the intelligent order grabbing program further realizes the following operations when being executed by the processor:
controlling the first vehicle body to run based on the first navigation route of the first vehicle body, and acquiring current third position information of the first vehicle body in real time;
determining a third navigation duration currently corresponding to the first vehicle body based on the third position information and the order information;
if the ratio of the third navigation time length to the first navigation time length is larger than a preset threshold value, broadcasting the order information, and continuing to execute the step of determining the first navigation time length corresponding to the first vehicle body based on the order information.
Further, the intelligent order grabbing program further realizes the following operations when being executed by the processor:
acquiring fourth position information corresponding to a fourth vehicle body, wherein the fourth vehicle body is the vehicle body which is in a non-single state except the first vehicle body in the running environment where the first vehicle body is located;
and determining a second navigation route based on the third position information, the fourth position information and the destination position information, and determining a third navigation time length based on the second navigation route.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. An intelligent order grabbing method is characterized by comprising the following steps:
when a first vehicle body is in a missed order state currently and order information is received, determining a first navigation time length corresponding to the first vehicle body based on the order information;
acquiring a second navigation duration corresponding to a second vehicle body, wherein the second vehicle body is the other vehicle bodies in a non-single state except the first vehicle body in the running environment where the first vehicle body is located;
and when the first navigation time length is less than the second navigation time length, sending order receiving information to a terminal corresponding to the order information.
2. The intelligent order grabbing method as claimed in claim 1, wherein the step of determining the first navigation duration corresponding to the first vehicle body based on the order information when the first vehicle body is currently in an order missed state and the order information is received comprises:
when the first vehicle body is in a non-order-receiving state currently and receives order information, acquiring current first position information of the first vehicle body, and acquiring target position information based on the order information;
acquiring current second position information of a third vehicle body, wherein the third vehicle body is the other vehicle body except the first vehicle body in the running environment where the first vehicle body is located;
and determining a first navigation route based on the first position information, the second position information and the destination position information, and determining a first navigation time length based on the first navigation route.
3. The intelligent order grabbing method of claim 2 wherein said step of determining a first navigation route based on said first location information, said second location information and said destination location information comprises:
determining whether there is a first target vehicle body of a one-way road currently in the driving environment in the third vehicle body based on the second position information;
if the first target vehicle body exists in the third vehicle body, setting the one-way road corresponding to the first target vehicle body in the road information corresponding to the driving environment to be in a no-pass state so as to obtain first road information;
determining the first navigation route based on the first road information, the first location information, the second location information, and the destination location information.
4. The intelligent order grabbing method of claim 3 wherein said step of determining said first navigation route based on said first route information, said first location information, said second location information and said destination location information comprises:
determining whether a second target vehicle body of the double-lane currently in the driving environment exists in the third vehicle body based on the second position information;
if the second target vehicle body exists in the third vehicle body, setting a preset area in a road where the second target vehicle body is located at present in the first road information to be in a traffic prohibition state so as to obtain second road information;
determining the first navigation route based on the second road information, the first location information, and the destination location information.
5. The intelligent waybill method of claim 3, wherein said step of determining whether a first target vehicle of a single-lane currently in the driving environment is present in the second vehicle further comprises, after said step of determining whether a first target vehicle of a single-lane currently in the driving environment is present:
if the first target vehicle body does not exist in the third vehicle body, determining whether a third target vehicle body of a double-lane currently located in the driving environment exists in the third vehicle body based on the second position information;
if the third target vehicle body exists in the third vehicle body, setting a preset area in a road where the third target vehicle body is located in the road information to be in a traffic prohibition state so as to obtain third road information;
determining the first navigation route based on the third road information, the first location information, and the destination location information.
6. The intelligent ticket snatching method of claim 2, wherein the step of determining a first navigation duration based on the first navigation route comprises:
acquiring path planning point information corresponding to the first navigation route, and determining the driving time corresponding to the first navigation route based on the path planning point information;
determining pose adjustment time length corresponding to a first navigation route based on the pose information of the first vehicle body and the initial planning point corresponding to the path planning point information;
and determining the first navigation time length based on the pose adjustment time length and the running time length.
7. The intelligent order grabbing method as claimed in any one of claims 1 to 6, wherein after the step of sending order taking information to the terminal corresponding to the order information, the method further comprises:
controlling the first vehicle body to run based on the first navigation route of the first vehicle body, and acquiring current third position information of the first vehicle body in real time;
determining a third navigation duration currently corresponding to the first vehicle body based on the third position information and the order information;
if the ratio of the third navigation time length to the first navigation time length is larger than a preset threshold value, broadcasting the order information, and continuing to execute the step of determining the first navigation time length corresponding to the first vehicle body based on the order information.
8. The intelligent order grabbing method of claim 7, wherein the step of determining a third navigation duration currently corresponding to the first vehicle body based on the third location information and the order information comprises:
acquiring fourth position information corresponding to a fourth vehicle body, wherein the fourth vehicle body is the vehicle body which is in a non-single state except the first vehicle body in the running environment where the first vehicle body is located;
and determining a second navigation route based on the third position information, the fourth position information and the destination position information, and determining a third navigation time length based on the second navigation route.
9. The utility model provides an intelligence is robbed single device which characterized in that, intelligence is robbed single device and is included: memory, a processor and an intelligent order snatching program stored on the memory and executable on the processor, the intelligent order snatching program when executed by the processor implementing the steps of the intelligent order snatching method according to any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon an intelligent order preemption program which, when executed by a processor, implements the steps of the intelligent order preemption method of any of claims 1-8.
CN201911117525.2A 2019-11-12 2019-11-12 Intelligent order grabbing method and device and computer readable storage medium Pending CN110853392A (en)

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