WO2019114620A1 - 移动装置导航方法及相关设备 - Google Patents
移动装置导航方法及相关设备 Download PDFInfo
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- WO2019114620A1 WO2019114620A1 PCT/CN2018/119740 CN2018119740W WO2019114620A1 WO 2019114620 A1 WO2019114620 A1 WO 2019114620A1 CN 2018119740 W CN2018119740 W CN 2018119740W WO 2019114620 A1 WO2019114620 A1 WO 2019114620A1
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- mobile device
- path
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- navigation
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- 238000004891 communication Methods 0.000 claims description 12
- 238000010586 diagram Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
Definitions
- the present application relates to the field of logistics technology, and more specifically, to a mobile device navigation method and related devices.
- a mobile device can be arranged in the sorting bin for transporting the logistics package picked up from the sorting area to the target location.
- the mobile device travels according to its respective navigation path.
- the present application provides a mobile device navigation method for controlling a collision problem that may occur when a mobile device is traveling.
- the present application also provides related devices for mobile device navigation to ensure the application and implementation of the method in practice.
- the present application provides a mobile device navigation method, including:
- the present application provides a mobile device navigation method, which is applied to a mobile device, and the method includes:
- a request to occupy the path intersection area is transmitted according to the relationship between the location of the mobile device and the path intersection area in the navigation path.
- the application provides a navigation server, including:
- a communication interface configured to receive an occupancy request sent by the target mobile device for the target path intersection area in the navigation path; return a result of allowing the lock to the target mobile device; and return a result of rejecting the lock to the target mobile device;
- a processor configured to control the target mobile device to travel along the navigation path; after receiving the occupancy request sent by the target mobile device for the target path intersection area in the navigation path, determining whether the target path intersection area is locked; If the path intersection area is not locked, a result of allowing the lock is generated; if the target path intersection area is locked, a result of rejecting the lock is generated.
- the application provides a mobile device, including:
- a communication interface configured to receive a navigation path; and send a request to occupy the intersection area of the path;
- a processor configured to travel along the navigation path after receiving the navigation path; and generate the occupied path according to a relationship between a location of the mobile device and a path intersection region in the navigation path during driving Request for a cross zone.
- the application provides a mobile device navigation device, including:
- a navigation unit configured to control the target mobile device to travel along the navigation path
- the lock unit is rejected for returning a result of rejecting the lock to the target mobile device if the target path intersection area is locked.
- the application provides a mobile device, including:
- a driving unit configured to travel along the navigation path after receiving the navigation path
- an application unit configured to send a request for occupying the path intersection area according to a relationship between a location of the mobile device and a path intersection area in the navigation path during driving.
- the present application provides a mobile device navigation method, in which a mobile device can travel along a navigation path.
- a navigation path includes a path intersection area
- the mobile device can send a path cross to the navigation server.
- the navigation server determines whether the path intersection area is locked after receiving the occupancy request, and if not locked, may return the result of allowing the lock to the mobile device, and if it is locked, may send the rejection lock to the mobile device. the result of. It can be understood that after the mobile device successfully applies, the path intersection area can be directly passed, and the mobile device fails to pass the path intersection area after the application fails, thereby preventing collision problems that may exist between the mobile devices.
- FIG. 1 is a structural diagram of a mobile device navigation system provided by the present application.
- FIG. 2 is a flowchart of a mobile device navigation method applied to a navigation server provided by the present application
- FIG. 3 is a schematic diagram of two navigation paths provided by the present application.
- FIG. 4 is another flow chart of a mobile device navigation method applied to a navigation server provided by the present application.
- FIG. 5 is another flowchart of a mobile device navigation method applied to a mobile device provided by the present application.
- FIG. 6 is a schematic structural diagram of a navigation server provided by the present application.
- FIG. 7 is a schematic structural diagram of a navigation device for a mobile device according to the present application.
- FIG. 8 is a schematic structural diagram of a mobile device provided by the present application.
- warehouses are used to store logistics packages.
- mobile devices can be set up in the warehouse.
- the mobile device itself may be provided with a carrier device for the logistics package, such as a box, or the mobile device may be separate from the carrier device for the logistics package, but the mobile device may drive the movement of the carrier device.
- the mobile device also has a communication interface and a navigation unit, which can receive data transmitted by other devices or transmit data to other devices through the communication interface, and can realize autonomous motion through the navigation unit.
- the present application provides a mobile device navigation method applied to a navigation system. It should be noted that the mobile device navigation method is not limited to being applied in a warehouse, and may be applied to other forms of item storage space. In addition, the items transported by the mobile device are limited to the logistics package, and may be other forms of items. One specific form of the mobile device is the article carrying device, but the mobile device is not limited thereto, and may be other forms.
- the navigation system can include a navigation server and a mobile device.
- the navigation server is configured to generate a navigation path for the mobile device, and control the mobile device to travel along the navigation path, and receive the path intersection area in the navigation path sent by the mobile device (the path intersection area may be a path intersection node, as shown in FIG. 1
- the path intersection area may be a path intersection node, as shown in FIG. 1
- the application result is returned to the mobile device according to the judgment result.
- the mobile device travels according to the navigation path. During the running, it detects whether it is about to reach the path intersection area in the navigation path. If yes, it sends a request to occupy the path intersection area to the navigation server; after receiving the application result, the path is determined according to the application result.
- the intersection area is still paused waiting.
- the mobile device navigation method will be described from the perspective of the navigation server and the mobile device.
- the mobile device navigation method applied to the navigation server provided by the present application may specifically include the following steps S201 to S203.
- S201 Control the target mobile device to travel along the navigation path.
- the motion route of the mobile device can be planned by the navigation server and sent by the navigation server to the mobile device.
- the navigation server determines which sorted logistics packages in the warehouse need to be transported, allocates idle mobile devices to the logistics packages, and plans the moving path of the mobile device according to the initial shipping point and the destination shipping point of the logistics package.
- the motion path is the navigation path that sends the navigation path to the mobile device.
- the controlling mobile device in this step travels along the navigation path, including at least two forms.
- the navigation path is sent to the mobile device, so that the mobile device autonomously uses the navigation unit to travel according to the navigation path; in another form, the navigation server generates the navigation of the mobile device.
- the path sends the navigation path to the mobile device, but the mobile device cannot completely follow the navigation path, and needs to receive the navigation guide of the navigation server.
- any one of the controlled mobile devices may be referred to as a target mobile device.
- S202 After receiving the occupation request sent by the target mobile device for the target path intersection area in the navigation path, determine whether the target path intersection area is locked.
- the navigation path may be composed of multiple path areas, and the path area has an order. After receiving the navigation path, the mobile device sequentially passes through the path areas according to the sequence of the path areas in the navigation path.
- the path area may include a path intersection area. It should be noted that the path intersection area may be a cross path point or a section where the path intersects.
- the cross path point may be a cross intersection, or a T-cross path point, or other forms of road intersection.
- FIG. 3 shows a schematic diagram of a path network of a warehouse. It is assumed that the navigation path corresponding to the mobile device 1 is A1, and the path network includes cross path points P1, P2 and P3, assuming that the mobile device 2 The corresponding navigation path is A2, and the path network includes cross path points P2, P4, and P5.
- Both the navigation path A1 and the navigation path A2 include the intersection path point P2, and the mobile device 1 may collide with the mobile device 2 at the intersection path point P2 while traveling according to the navigation path. Therefore, it is necessary to monitor and control the traveling process of the mobile device.
- the navigation path may include multiple path intersection areas, and the mobile device needs to apply for each path intersection area separately.
- the navigation server may refer to the path intersection area corresponding to the occupation request as the target path intersection area.
- the mobile device can determine whether it needs to pass the path intersection area, and if so, send an occupation request to the navigation server for the path intersection area. After receiving the occupation request, the navigation server needs to determine whether the path intersection area is locked.
- whether the path intersection area is locked may include two situations. In one case, the path intersection area is currently occupied and will be locked, and if it is not currently occupied, it will not be locked; The path intersection area has been pre-assigned to a certain mobile device, and the path intersection area is locked. Specifically, when the mobile device sends an occupation request for a certain path intersection area, the path intersection area has not been reached yet, and other mobile devices may also apply to occupy the path intersection area. According to the priority relationship, the path intersection area may be Will be pre-assigned to the other mobile device.
- the present application provides different ways to determine whether the path intersection area is locked.
- the traveling process of the mobile device may be monitored.
- the navigation path may be composed of multiple path regions, and the path region includes the path intersection region and the non-path intersection region, and the navigation server. It is possible to monitor which path areas the mobile device has traveled and which path areas have not yet traveled.
- the navigation server can monitor the driving condition of all the moving mobile devices in the path network, and the path occupancy area of the moving device is occupied. It can be seen that the navigation server can obtain the current occupancy of all path areas in the path network. Further, the target path intersection area may be searched in the path network, and the current occupation status of the target path intersection area may be determined, and the current occupancy status may indicate whether the target path intersection area is occupied.
- the navigation server may determine whether the target path intersection area is also included in the navigation path of some other mobile device, and the other other mobile device is closer to the target path intersection area.
- the distance between the other mobile device and the target path intersection area is relatively close, and may be determined by whether the distance between the other mobile device and the target path intersection area meets a preset condition.
- the priorities of the other mobile devices and the target mobile device for the target path intersection area may be separately determined, and then according to whether the occupation priority of the other mobile devices is higher than the occupation of the target mobile device. Priority to determine if the target path intersection area is pre-locked. It can be understood that if the occupation priority of other mobile devices is higher than the occupation priority of the target mobile device, the target path intersection area will be occupied by other mobile devices, and vice versa. That is to say, if a plurality of mobile devices may occupy a certain path intersection area, the path intersection area is allocated to the mobile device with higher priority.
- the target attribute of the mobile device may be determined according to the following manner, wherein the target attribute includes any one or more of the following items: driving reason type, whether to carry the item The priority of the item to be carried; and the priority of the mobile device based on the target attribute.
- the type of driving reason of the mobile device may also be referred to as a driving destination type, indicating the reason why the mobile device travels to the destination, in a specific application scenario, different types of driving reasons, and occupation demand levels for the path intersection region. It is different. For example, in a sorting warehouse, the mobile device may travel to a destination to transport a logistics package, or to charge a charging station, or to move to a rest area for rest, in a sorting application scenario, the three The type of driving cause reduces the occupational demand level of the path intersection area in turn.
- the type of driving of the mobile device is to transport the logistics package, it is also determined whether the mobile device carries the item. Because the mobile device may be on the way to load the item, or the item already loaded is on the way to transport the item to a designated location. In different cases, the mobile device may or may not carry the item. article. If the delivery of the item is the fastest, the mobile device loaded with the item may have a higher priority, and the mobile device not loaded with the item has a lower priority. Of course, under different shipping standards, the priority level can be reversed.
- the priority of different items may be different. For example, in the logistics parcel sorting scenario, some logistics parcels need to be shipped out as soon as possible, then these logistics parcels can be set to have higher priority, so if multiple mobile devices are loaded with items, but with higher priority items The priority of the mobile device is also correspondingly higher.
- the attributes of the mobile device on the target attribute item can be determined, and the priority of the mobile device can be determined based on the priority set in advance for these attributes.
- the priority of the path intersection area of the mobile device may also be used in other parts, and the calculation method of occupying the priority may also be referred to the foregoing manner.
- the result of the navigation server determining that the path intersection area is not locked it indicates that the mobile device can occupy the path intersection area, and the result of allowing the lock is sent to the mobile device. It should be noted that the result of allowing the lock is used to indicate that the target mobile device crosses the area through the target path. When the mobile device sends the occupancy request, the path intersection area does not pass, and after receiving the result of allowing the lock, the mobile device can pass the path intersection area.
- the motion is stopped. If the end of the navigation path is not reached, the method continues to travel until the end of the navigation path is reached. After reaching the end of the navigation path, it is determined whether it has other unfinished navigation paths. If it exists, it still travels according to the above method. If it does not exist, it can apply for a new driving task to the navigation service.
- the result of rejecting the lock is returned to the target mobile device.
- the result of rejecting the lock is used to indicate that the target mobile device is suspended through the target path intersection area.
- the present application provides a mobile device navigation method, in which a mobile device can travel along a navigation path.
- a navigation path includes a path intersection area
- the mobile device can send a path cross to the navigation server.
- the navigation server determines whether the path intersection area is locked after receiving the occupancy request, and if not locked, may return the result of allowing the lock to the mobile device, and if it is locked, may send the rejection lock to the mobile device. the result of. It can be understood that after the mobile device successfully applies, the path intersection area can be directly passed, and the mobile device fails to pass the path intersection area after the application fails, thereby preventing collision problems that may exist between the mobile devices.
- the mobile device navigation method provided by the present application does not need to install a detection unit such as a laser, a radar or a sonar on the mobile device, thereby avoiding collision between the mobile devices and simplifying the design of the mobile device.
- a detection unit such as a laser, a radar or a sonar
- the navigation method of the mobile device may further include the following steps S404 to S406. It should be noted that steps S401 to S403 in the present application may refer to steps S201 to S203 in FIG. 2, and details are not described herein.
- the target mobile device in the case of rejecting the lock, can be placed in the waiting queue of the target path intersection area. Specifically, a waiting queue may be maintained for each path intersection area, and the waiting device saves the mobile device that fails to apply for the path intersection area.
- S405 Obtain all mobile devices in the waiting queue of the target path intersection area; determine the occupation priority of all the mobile devices; and sequentially send the result of allowing the locking to each mobile device according to the occupation priority.
- the mobile device that is waiting may send a request for the application to the navigation server at intervals according to the preset duration, or is not an uninterrupted application, but the navigation server returns the result of the rejection lock to the mobile device according to a preset manner. It is determined whether the path intersection area is newly allocated for the mobile device that is waiting.
- the preset mode can be a preset period of time, and the like.
- the navigation server can obtain all of the mobile devices that are waiting after determining that the target mobile device passes through the target path intersection area. And determining the occupation priority of each mobile device according to the foregoing method for determining the priority of the mobile device.
- the step of determining the occupation priority in the foregoing step of FIG. 2 the step directly obtains the priority priority determined by the foregoing. .
- the result of allowing the lock is sequentially transmitted to the mobile device in order of the occupation priority from high to low, so that the mobile device sequentially passes through the target path intersection area.
- the waiting time of the mobile device may also be recorded.
- the target attribute used may include the waiting time in addition to the target attribute in FIG. 2 described above.
- the priority of the waiting time is set according to actual needs. For example, in order to minimize the length of time after the item is picked up from the sorting area, the waiting time can be set to be the highest priority and the waiting time is longer than other attributes. The higher the priority. Of course, the priority of waiting time and other attributes can be other.
- the navigation server may be preset with a preset waiting time in the step, and after the longest waiting time, if the application result of the target mobile device still fails, the navigation server re-plans the navigation path for the target carrier. If the re-planned navigation path bypasses the path intersection area from the adjacent road, continue to drive.
- the occupation priority does not only include the waiting time, so navigation
- the server does not directly pass each waiting mobile device according to the waiting time, but determines the sequence of the path crossing region by considering any one or more factors such as the waiting time, the type of driving reason, whether the item is carried, and the item priority.
- the sequence allows the transport process of the mobile device to meet a variety of different needs.
- the present application also provides a mobile device navigation method applied on the mobile device.
- the mobile device navigation method applied on the mobile device provided by the present application includes S501 to S503.
- the current indoor positioning method can be used for navigation driving.
- Current indoor positioning methods such as two-dimensional code scanning methods, three-dimensional ranging methods, and term detection methods.
- a navigation related unit such as a gyroscope, a ranging unit, and the like may be disposed in the mobile device.
- the specific manner of detecting whether the mobile device reaches the path intersection area may be determining whether the mobile device reaches the path intersection area according to the relationship between the location of the mobile device and the path intersection area.
- the mobile device can detect the location where the mobile device is located during the running, and can obtain the location of the path intersection region in the navigation path, and determine whether the mobile device is about to reach the path intersection region according to the positional relationship between the two. .
- the mobile device determines whether the positional relationship between the position of the mobile device and the path intersection region satisfies a preset condition. If yes, it may be determined that the mobile device is about to reach the path intersection region.
- the preset condition may be a distance threshold. If the distance between the two is less than or equal to the distance threshold, it is determined that the positional relationship between the two meets the preset condition.
- the present application can also provide another implementation of the mobile device detecting whether it is about to reach the path intersection area.
- the judgment criterion to be reached may be preset in the mobile device, for example, after each path region is passed, it is detected whether the next or next subsequent path regions are path intersection regions.
- the navigation path sent by the navigation server includes the identifier of the path intersection area
- the mobile device detects whether the identifier of the subsequent traveling node is the identifier of the path intersection area during the running.
- the path intersection area can be distinguished by identification.
- the path intersection area is taken as an intersection path point as an example.
- Each path point in the navigation path has its own identifier. Different types of path points have different identifiers.
- the cross path point is one of the types of path points. Therefore, the path can be judged by determining whether a path point has the identifier. Whether the point is a cross path point.
- the navigation paths are P1(a), P2(a), P3(b), and P4(b), wherein the identification of the path points P1 and P2 is a (a indicates a cross path point), and the identification of the path points P1 and P2. It is b (b represents a single-line path point), so it can be determined according to the identifier in the navigation path whether a certain path point is a cross-path point.
- the path network is stored in the mobile device, and the path intersection area in the path network has an identifier, and the mobile device detects whether the identifier of the subsequent traveling node is the identifier of the path intersection area in the path network during the running process. .
- the navigation path sent by the navigation server does not include the identifier of the path area, but the path device is stored in the mobile device, and each path area in the path network has an identifier. Therefore, after receiving the navigation path, the mobile device may search for the identifier of each path area in the navigation path from the path network, thereby determining whether the path area is a path intersection area.
- the mobile device in the first mode, does not need to store the path network, so that the storage space of the mobile device can be saved; in the second manner, the navigation server sends less data to the mobile device, and consumes communication resources. Less, communication is more efficient.
- S503 Send a request for occupying a path intersection area to the navigation server.
- the mobile device detects that it needs to pass the path intersection area, it sends a request to the navigation server to occupy the path intersection area.
- the navigation server After receiving the occupation request, the navigation server can determine and control whether the mobile device can pass the path intersection area according to the method described above on the navigation server.
- the mobile device determines whether it is necessary to pass the path intersection area, and may also be determined by the navigation server, and returns a corresponding occupation application result to the mobile device. That is, the navigation server obtains the travel data of the plurality of mobile devices; and predicts whether there is a target mobile device that arrives at the same path region at the same time point according to the travel data of the mobile device; if yes, determines the sequence of the mobile device through the path region order.
- the sequence of the mobile device passing the path area may be determined according to the foregoing occupation priority.
- FIG. 6 shows a structure of a navigation server provided by the present application.
- the navigation server may specifically include: a memory 601, a processor 602, a communication interface 603, and a bus 604.
- the memory 601 is configured to store program instructions and/or data.
- the processor 602 by reading instructions and/or data stored in the memory 601, is configured to: control the target mobile device to travel along the navigation path; and receive the target path crossover in the navigation path sent by the target mobile device After the occupancy request of the area, determining whether the target path intersection area is locked; if the target path intersection area is not locked, generating a result of allowing the lock; if the target path intersection area is locked, generating a rejection lock result.
- the communication interface 603 is configured to receive an occupation request sent by the target mobile device for the target path intersection area in the navigation path; return a result of allowing the lock to the target mobile device; and return a result of rejecting the lock to the target mobile device.
- a bus 604 is used to couple the various hardware components of the navigation server together.
- the processor 602 is configured to determine whether the target path intersection area is locked, including: a processor, specifically configured to obtain a current locking condition of each path area in the path network; and in each of the path areas Determining the target path intersection area, and determining whether the target path intersection area is currently locked according to a current lock situation of the target path intersection area.
- the processor 602 is configured to determine whether the target path intersection area is locked, including: a processor, specifically, determining whether a navigation path includes the target path intersection area, and a current driving position and location Determining a distance between the intersections of the target paths and other mobile devices satisfying a preset condition; if present, determining an occupation priority of the other mobile devices, and an occupation priority of the target mobile device; and according to the other movements Whether the occupation priority of the device is higher than the occupation priority of the target mobile device, and determining whether the target path intersection area is pre-locked.
- the processor 602 is further configured to place the target mobile device into a waiting queue of the target path intersection area if the target path intersection area is locked.
- the processor 602 is further configured to obtain all mobile devices in the waiting queue of the target path intersection area; determine an occupation priority of all mobile devices; and sequentially move to each of the mobiles according to the occupation priority The device sends a result that allows the lock.
- the method for determining the priority of the processor 602 includes: a processor, specifically for determining a target attribute of the mobile device, where the target attribute includes any one or more of the following items: : a driving cause type, whether to carry an item, a priority of carrying the item; and determining an occupation priority of the mobile device according to the target attribute.
- the processor 602 is specifically configured to modify a navigation path of the target mobile device if the target mobile device fails to apply to the target path node after a preset duration.
- the present application also provides a mobile device, including: a memory, a processor, a communication interface, and a bus.
- a memory for storing program instructions and/or data.
- a processor by reading instructions and/or data stored in the memory, for performing: following receiving the navigation path, traveling along the navigation path; and during driving, according to the location of the mobile device A relationship between the path intersection areas in the navigation path generates a request to occupy the path intersection area.
- a communication interface for receiving a navigation path; and transmitting a request occupying the path intersection area.
- a bus that couples the various hardware components of the navigation server together.
- the processor is configured to send a request for occupying the path intersection area according to a relationship between a location of the mobile device and a path intersection area in the navigation path during driving, including: a processor, Specifically, during the running, it is determined whether the relationship between the location of the mobile device and the path intersection area in the navigation path satisfies a preset condition, and if yes, a request to occupy the path intersection area is sent.
- FIG. 7 shows a structure of a mobile device navigation device provided by the present application.
- the mobile device navigation device may specifically include: a navigation unit 701, a determination locking unit 702, an admission locking unit 703, and a rejection locking unit 704. among them:
- a navigation unit 701 configured to control the target mobile device to travel along the navigation path
- Determining the locking unit 702 after receiving the occupancy request sent by the target mobile device for the target path intersection area in the navigation path, determining whether the target path intersection area is locked;
- the lock unit 703 is configured to return a result of allowing the lock to the target mobile device if the target path intersection area is not locked;
- the reject lock unit 704 is configured to return a result of rejecting the lock to the target mobile device if the target path intersection area is locked.
- each unit of the mobile device navigation device may be implemented according to the steps in the mobile device navigation method.
- the device may specifically include: a driving unit 801 and an application unit 802.
- the driving unit 801 is configured to travel along the navigation path after receiving the navigation path;
- the application unit 802 is configured to send a request for occupying the path intersection area according to a relationship between a location of the mobile device and a path intersection area in the navigation path during running.
- each unit of the above mobile device may be implemented according to the steps in the mobile device navigation method applied to the mobile device.
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Abstract
一种移动装置导航方法及相关设备，移动装置可以沿着导航路径行驶，在行驶过程中，若导航路径中包含路径交叉区域，移动装置可以向导航服务器发送对路径交叉区域的占用请求，导航服务器接收到占用请求后，确定路径交叉区域是否被锁定，若未被锁定，则可以向移动装置返回允许锁定的结果，反之若被锁定，则可以向移动装置发送拒绝锁定的结果，移动装置申请成功后可以直接通过路径交叉区域，移动装置申请失败后需要暂停通过路径交叉区域，从而防止了移动装置之间可能存在的碰撞问题，还提供了移动装置导航的相关设备，用以保证所述方法在实际中的应用及实现。
Description
本申请要求2017年12月11日递交的申请号为201711306600.0、发明名称为“移动装置导航方法及相关设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本申请涉及物流技术领域，更具体地，是移动装置导航方法及相关设备。
为了提高物流包裹的仓内分拣效率，可以在分拣仓内设置移动装置，用于将从分拣区域拣出的物流包裹运送至目标地点。当需要分拣或者进行其他性质的运动如充电时，移动装置会按照各自的导航路径行驶。
分拣仓内的移动装置为多个，经常会出现多个移动装置同时运动的情况，此种情况下，不同的移动装置行驶的导航路径不同，可能会出现移动装置相互碰撞的情况。
发明内容
有鉴于此，本申请提供了一种移动装置导航方法，用于对移动装置在行驶过程中可能出现的碰撞问题进行控制。另外，本申请还提供了移动装置导航的相关设备，用以保证所述方法在实际中的应用及实现。
为实现所述目的，本申请提供的技术方案如下：
第一方面，本申请提供了一种移动装置导航方法，包括：
控制目标移动装置沿着导航路径行驶；
接收到所述目标移动装置发送的对所述导航路径中的目标路径交叉区域的占用请求后，确定所述目标路径交叉区域是否被锁定；
若所述目标路径交叉区域未被锁定，则向所述目标移动装置返回允许锁定的结果；
若所述目标路径交叉区域被锁定，则向所述目标移动装置返回拒绝锁定的结果。
第二方面，本申请提供了一种移动装置导航方法，应用于移动装置，该方法包括：
接收到导航路径后，沿着所述导航路径行驶；
在行驶过程中，根据移动装置的位置和所述导航路径中的路径交叉区域之间的关系，发送占用所述路径交叉区域的请求。
第三方面，本申请提供了一种导航服务器，包括：
通信接口，用于接收目标移动装置发送的对导航路径中的目标路径交叉区域的占用请求；向所述目标移动装置返回允许锁定的结果；以及向所述目标移动装置返回拒绝锁定的结果；
处理器，用于控制目标移动装置沿着导航路径行驶；接收目标移动装置发送的对导航路径中的目标路径交叉区域的占用请求后，确定所述目标路径交叉区域是否被锁定；若所述目标路径交叉区域未被锁定，则生成允许锁定的结果；若所述目标路径交叉区域被锁定，则生成拒绝锁定的结果。
第四方面，本申请提供了一种移动装置，包括：
通信接口，用于接收导航路径；以及发送占用所述路径交叉区域的请求；
处理器，用于接收到导航路径后，沿着所述导航路径行驶；以及在行驶过程中，根据移动装置的位置和所述导航路径中的路径交叉区域之间的关系，生成占用所述路径交叉区域的请求。
第五方面，本申请提供了一种移动装置导航装置，包括：
导航单元，用于控制目标移动装置沿着导航路径行驶；
确定锁定单元，用于接收到所述目标移动装置发送的对所述导航路径中的目标路径交叉区域的占用请求后，确定所述目标路径交叉区域是否被锁定；
允许锁定单元，用于若所述目标路径交叉区域未被锁定，则向所述目标移动装置返回允许锁定的结果；
拒绝锁定单元，用于若所述目标路径交叉区域被锁定，则向所述目标移动装置返回拒绝锁定的结果。
第六方面，本申请提供了一种移动装置，包括：
行驶单元，用于接收到导航路径后，沿着所述导航路径行驶；
申请单元，用于在行驶过程中，根据移动装置的位置和所述导航路径中的路径交叉区域之间的关系，发送占用所述路径交叉区域的请求。
由以上技术方案可知，本申请提供了一种移动装置导航方法，移动装置可以沿着导航路径行驶，在行驶过程中，若导航路径中包含路径交叉区域，移动装置可以向导航服务器发送对路径交叉区域的占用请求，导航服务器接收到占用请求后，确定路径交叉区域是否被锁定，若未被锁定，则可以向移动装置返回允许锁定的结果，反之若被锁定，则可以向移动装置发送拒绝锁定的结果。可以理解的是，移动装置申请成功后可以直接 通过路径交叉区域，移动装置申请失败后需要暂停通过路径交叉区域，从而防止了移动装置之间可能存在的碰撞问题。
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。
图1为本申请提供的移动装置导航***的一种结构图；
图2为本申请提供的应用在导航服务器上的移动装置导航方法的一个流程图；
图3为本申请提供的两条导航路径的一个示意图；
图4为本申请提供的应用在导航服务器上的移动装置导航方法的另一个流程图；
图5为本申请提供的应用在移动装置上的移动装置导航方法的另一个流程图；
图6为本申请提供的一种导航服务器的结构示意图；
图7为本申请提供的一种移动装置导航装置的结构示意图；
图8为本申请提供的一种移动装置的结构示意图。
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
物流领域中，仓库用于存储物流包裹。为了实现仓内自动化分拣，可以在仓库内设置移动装置。移动装置自身可以设置有物流包裹的承载装置如箱体，或者移动装置与物流包裹的承载装置是分离的，但移动装置可以驱动承载装置运动。
另外，移动装置还具有通信接口及导航单元，通过通信接口其可以接收其他设备发送的数据或向其他设备发送数据，通过导航单元其可以实现自主运动。
可以理解的是，仓库内设置的移动装置不止一个，若多个移动装置同时在仓库内运动，可能会出现移动装置相互碰撞的问题。为了防止移动装置可能出现的运动碰撞问题， 本申请提供了一种应用在导航***的移动装置导航方法。需要说明的是，该移动装置导航方法并不局限于应用在仓库内，还可以应用在其他形式的物品存储空间内。另外，移动装置所运送的物品并局限于物流包裹，还可以是其他形式的物品。移动装置的一种具体形式是物品承载装置，但移动装置并不局限于此，还可以是其他形式。
如图1所示，导航***可以包括导航服务器及移动装置。其中，导航服务器用于为移动装置生成导航路径，控制移动装置沿着导航路径行驶，接收到移动装置发送的对导航路径中的路径交叉区域(路径交叉区域可以是路径交叉节点，如图1中的圆形路径交叉点)的占用请求后，确定路径交叉区域是否被锁定，并根据判断结果向移动装置返回申请结果。移动装置按照导航路径行驶，在行驶过程中，检测是否即将到达导航路径中的路径交叉区域，若是，则向导航服务器发送占用路径交叉区域的请求；接收到申请结果后，根据申请结果确定通过路径交叉区域还是暂停等待。
以下分别以导航服务器及移动装置的角度，对移动装置导航方法进行说明。
见图2，本申请提供的应用在导航服务器上的移动装置导航方法可以具体包括如下步骤S201～S203。
S201：控制目标移动装置沿着导航路径行驶。
其中，移动装置的运动路线可以由导航服务器规划，并由导航服务器发送至移动装置。例如，导航服务器确定仓库内有哪些分拣出的物流包裹需要被运送，为这些物流包裹分配空闲的移动装置，并根据物流包裹的起始运送点及目的运送点，规划移动装置的运动路径，运动路径即导航路径，将导航路径发送至移动装置。
本步骤中的控制移动装置沿着导航路径行驶，包括至少两种形式。一种形式是，导航服务器生成移动装置的导航路径后，将导航路径发送至移动装置，以使移动装置自主利用导航单元按照该导航路径行驶；另一种形式是，导航服务器生成移动装置的导航路径，将导航路径发送移动装置，但移动装置并不能完全自主按照导航路径行驶，还需要接收导航服务器的导航指引。
为了便于说明，可以将任意一个被控制的移动装置称为目标移动装置。
S202：接收到目标移动装置发送的对导航路径中的目标路径交叉区域的占用请求后，确定目标路径交叉区域是否被锁定。
其中，导航路径可以由多个路径区域组成，且路径区域具有排序，移动装置接收到导航路径后，按照导航路径中路径区域的先后顺序，依次经过这些路径区域。
路径区域中可能包含路径交叉区域，需要说明的是，路径交叉区域可以是交叉路径 点，也可以是路径交叉的一段区域。其中交叉路径点可以是十字交叉的交叉点，也可以是丁字交叉路径点，或者是其他形式的道路交叉点。如图3所示，其示出了仓库的一种路径网的示意图，假设移动装置1对应的导航路径为A1，在该路径网中包含有交叉路径点P1、P2及P3，假设移动装置2对应的导航路径为A2，在该路径网中包含有交叉路径点P2、P4及P5。导航路径A1与导航路径A2中均包含有交叉路径点P2，则移动装置1按照导航路径行驶过程中，可能会与移动装置2在交叉路径点P2碰撞。因此，需要对移动装置的行驶过程进行监测及控制。
需要说明的是，导航路径中可能包含多个路径交叉区域，移动装置需要分别对每个路径交叉区域进行申请。导航服务器接收到移动装置对某个路径交叉区域的占用申请后，为了将该路径交叉区域与其他路径交叉区域区分，可以将占用申请对应的路径交叉区域称为目标路径交叉区域。
移动装置在沿着导航路径行驶的过程中，可以判断自身是否需要经过路径交叉区域，若是，便向导航服务器发送对路径交叉区域的占用请求。导航服务器接收到该占用请求后，需要判断路径交叉区域是否被锁定。
需要说明的是，路径交叉区域是否被锁定可以包含两种情况，一种情况是该路径交叉区域当前正在被占用则会被锁定，反之当前未被占用则不会被锁定；另一种情况是该路径交叉区域已经被预先分配给某个移动装置，则该路径交叉区域会被锁定。具体地，移动装置发送对某个路径交叉区域的占用请求时，还并未到达该路径交叉区域，同时其他移动装置可能也申请占用该路径交叉区域，根据优先级的关系，该路径交叉区域可能会预先分配给该其他移动装置。
针对不同的情况，本申请提供了不同的判断路径交叉区域是否被锁定的方式。
关于如何判断路径交叉区域当前是否被占用。具体地，导航服务器将导航路径发送给移动装置后，可以对移动装置的行驶过程进行监测，例如导航路径可以由多个路径区域组成，路径区域包括路径交叉区域也包括非路径交叉区域，导航服务器可以监测移动装置已经行驶过哪些路径区域，以及还有哪些路径区域并未行驶到。
导航服务器可以监测路径网中所有正在行驶的移动装置的行驶情况，移动装置正经过哪个路径区域，则该路径区域的当前占用情况为被占用。可见，导航服务器可以获得路径网中所有路径区域的当前占用情况。进而，可以在路径网中查找目标路径交叉区域，并确定该目标路径交叉区域的当前占用情况，当前占用情况可以表示出目标路径交叉区域是否被占用。
关于如何判断路径交叉区域是否被预先占用。具体地，导航服务器可以判断当前是否某个其他移动装置的导航路径中也包含该目标路径交叉区域，且该某个其他移动装置距离目标路径交叉区域较近。其中，其他移动装置与目标路径交叉区域的距离是否较近，可以通过其他移动装置与目标路径交叉区域之间的距离是否满足预设条件来确定。
若存在满足上述要求的其他移动装置，则可以分别确定该其他移动装置及目标移动装置对该目标路径交叉区域的占用优先级，进而根据其他移动装置的占用优先级是否高于目标移动装置的占用优先级，来确定目标路径交叉区域是否被预先锁定。可以理解的是，若其他移动装置的占用优先级高于目标移动装置的占用优先级，则该目标路径交叉区域会被其他移动装置占用，反之会被目标运载装置占用。也就是说，若有多个移动装置均可能占用某路径交叉区域，路径交叉区域会被分配给占用优先级较高的移动装置。
计算移动装置对路径交叉区域的占用优先级时，可以按照下述方式：确定移动装置的目标属性，其中目标属性包括以下几项中的任意一项或多项：行驶原因类型、是否运载有物品、运载物品的优先级；以及依据目标属性确定移动装置的占用优先级。
具体地，移动装置的行驶原因类型也可以称为行驶目的类型，表示移动装置行驶到目的地的原因是什么，在特定的应用场景中，不同类型的行驶原因，对路径交叉区域的占用需求等级是不同的。例如，在分拣仓库内，移动装置行驶至目的地可能是为了运送物流包裹，也可能是为了去充电桩充电，也可能是为了运动至休息区进行休息，在分拣应用场景中，该三种行驶原因类型对路径交叉区域的占用需求等级依次降低。
细化地，即使针对某个行驶原因类型的移动装置，还可以区分不同的情况。一种情况是，在移动装置的行驶原因类型为运送物流包裹的情况下，还要判断移动装置是否运载有物品。因为，移动装置可能是去装载物品的路上，也可能是已经装载有物品是在将物品运送至某个指定地点的路上，可见不同的情况下，移动装置可能运载有物品也可能并未运载有物品。若以物品最快完成运送为标准，则可以设置装载有物品的移动装置的优先级较高，反之并未装载有物品的移动装置的优先级较低。当然，在不同的运送标准下，可以将优先级高低情况反向设置。
更细化地，即使移动装置装载有物品，但不同的物品的优先级可能不同。例如，在物流包裹分拣场景中，某些物流包裹需要尽快出仓，则可以设置这些物流包裹的优先级较高，因此若多个移动装置均装载有物品，但装载有优先级较高物品的移动装置的优先级也相应较高。
综上所述，可以确定移动装置在目标属性项上的属性，并根据预先为这些属性设置 的优先级来确定移动装置的优先级。
需要说明的是，本申请在其他部分也可能使用移动装置对路径交叉区域的占用优先级，占用优先级的计算方式也可以参见上述方式。
S203：若目标路径交叉区域未被锁定，则向目标移动装置返回允许锁定的结果；若目标路径交叉区域被锁定，则向目标移动装置返回拒绝锁定的结果。
其中，若导航服务器判断结果为路径交叉区域并未被锁定，则表示移动装置可以占用该路径交叉区域，便向移动装置发送允许锁定的结果。需要说明的是，允许锁定的结果用于指示目标移动装置通过目标路径交叉区域。移动装置发送该占用请求时并未经过该路径交叉区域，移动装置接收到允许锁定的结果后，便可以经过该路径交叉区域。
移动装置成功通过路径交叉区域后，若到达导航路径终点则停止运动，若未到达导航路径终点则仍按照上述方法行驶直至到达导航路径终点。到达导航路径终点后，判断自身是否还具有其他未完成的导航路径，若存在，则仍按照上述方法行驶，若不存在，则可以向导航服务申请新的行驶任务。
在一种情况下，若路径交叉区域被其他移动装置锁定，则向目标移动装置返回拒绝锁定的结果。拒绝锁定的结果用于指示目标移动装置暂停通过目标路径交叉区域。
由以上技术方案可知，本申请提供了一种移动装置导航方法，移动装置可以沿着导航路径行驶，在行驶过程中，若导航路径中包含路径交叉区域，移动装置可以向导航服务器发送对路径交叉区域的占用请求，导航服务器接收到占用请求后，确定路径交叉区域是否被锁定，若未被锁定，则可以向移动装置返回允许锁定的结果，反之若被锁定，则可以向移动装置发送拒绝锁定的结果。可以理解的是，移动装置申请成功后可以直接通过路径交叉区域，移动装置申请失败后需要暂停通过路径交叉区域，从而防止了移动装置之间可能存在的碰撞问题。
另外，本申请提供的移动装置导航方法并不需要在移动装置上安装激光、雷达或声呐等检测单元，便可以避免移动装置之间的碰撞，简化了移动装置的设计。
为了处理暂停等待路径交叉区域使用权的移动装置，如图4所示，移动装置的导航方法在上述图2所示的基础上，还可以包括如下步骤S404～S406。需要说明的是，本申请中的步骤S401～S403可以参照图2中的步骤S201～S203，此处并不赘述。
S404：若目标路径交叉区域被锁定，则将目标移动装置放入目标路径交叉区域的等待队列中。
其中，在拒绝锁定的情况下，可以将目标移动装置放入目标路径交叉区域的等待队列中。具体地，可以为每个路径交叉区域维护一个等待队列，等待队列中保存的是申请占用路径交叉区域失败的移动装置。
S405：获得目标路径交叉区域的等待队列中的所有移动装置；确定所有移动装置的占用优先级；以及依据占用优先级，依次向各个移动装置发送允许锁定的结果。
其中，处于等待中的移动装置可以按照预设时长不间隔地向导航服务器发送申请占用的请求，或者并非不间断申请，而是导航服务器在向移动装置返回拒绝锁定的结果后，按照预设方式判断是否重新为处于等待中的移动装置分配该路径交叉区域。预设方式可以是预设的一段时间后等。
导航服务器可以在确定目标移动装置通过目标路径交叉区域后，获得处在等待中的所有移动装置。并按照上述确定占用优先级的方式来确定每个移动装置的占用优先级，当然，也可以是在上述图2中的步骤确定占用优先级后，本步骤直接获得以上所确定出的占用优先级。按照占用优先级由高到低的顺序，依次向移动装置发送允许锁定的结果，以使移动装置依次通过目标路径交叉区域。
需要说明的是，导航服务器向移动装置发送拒绝锁定的结果后，还可以记录移动装置的等待时长。本步骤在计算占用优先级时，所使用的目标属性除了上述图2中的目标属性之外，还可以包括等待时长。在实际应用中，根据实际需求设置等待时长的优先级，例如为了尽量缩短物品从分拣区域后的运送时长，可以设置等待时长相比其他属性而言优先级最高，且等待时长越长，其优先级越高。当然，等待时长与其他属性而言优先级高低还可以是其他。
S406：若预设时长后，目标移动装置对目标路径节点的申请结果为失败，则修改目标移动装置的导航路径。
其中，导航服务器可以预先设置有等待最长时间即本步骤中的预设时长，在等待最长时间后，若目标移动装置的申请结果仍为失败，则导航服务器重新为目标运载装置规划导航路径，如重新规划的导航路径从邻近的道路上绕过路径交叉区域后继续行驶。
由以上技术方案可知，在为拒绝锁定的目标移动装置确定是否能够通过路径交叉区域时，考虑到了所有等待通过路径交叉区域的移动装置的占用优先级，占用优先级不仅仅包括等待时长，因此导航服务器并非直接根据等待时长依次让各个等待的移动装置通过，而是考虑到等待时长、行驶原因类型、是否运载有物品、物品优先级等中任意一个或多个因素来决定通过路径交叉区域的先后顺序，使得移动装置的运送过程满足各种不 同需求。
与应用在导航服务器上的移动装置导航方法相对应，本申请还提供了应用在移动装置上的移动装置导航方法。
如图5所示，本申请提供的应用在移动装置上的移动装置导航方法包括S501～S503。
S501：接收到导航路径后，沿着导航路径行驶。
其中，移动装置接收到导航路径后，可以使用目前的室内定位方法进行导航行驶。目前的室内定位方法如二维码扫描方法、三维测距方法、词条检测方法等。需要说明的是，移动装置中可以设置有导航相关单元，如陀螺仪、测距单元等。
S502：在行驶过程中，检测是否即将到达导航路径中的路径交叉区域；若是，则执行步骤S503。
其中，检测移动装置是否到达路径交叉区域的一种具体方式可以是，根据移动装置的位置和路径交叉区域之间的关系，来判断移动装置是否达到该路径交叉区域。具体地，移动装置在行驶过程中可以检测到自身所处的位置，并可以获得导航路径中的路径交叉区域所在的位置，根据两者之间的位置关系来判断移动装置是否即将达到路径交叉区域。具体地，移动装置判断自身的位置与路径交叉区域之间的位置关系是否满足预设条件，若满足，则可以确定移动装置即将到达路径交叉区域。其中预设条件可以是距离阈值，若两者之间的距离小于或等于该距离阈值，则确定两者之间的位置关系满足预设条件。
另外，本申请还可以提供移动装置检测是否快要到达路径交叉区域的另一种实现方式。具体地，即将到达的判断标准可以预先设置在移动装置内，如每次通过一个路径区域后，则检测下一个或下几个后续路径区域是否为路径交叉区域。
一种情况为，导航服务器发送的导航路径中包括路径交叉区域的标识，则移动装置在行驶过程中，检测后续行驶节点的标识是否为路径交叉区域的标识。
具体地，路径交叉区域可以通过标识来区分。以路径交叉区域为交叉路径点为例进行说明。导航路径中的各个路径点具有各自的标识，不同类型的路径点具有的标识不同，交叉路径点是其中的一种类型的路径点，因此可以通过判断某路径点是否具有该标识来判断该路径点是否为交叉路径点。例如，导航路径为P1(a)、P2(a)、P3(b)及P4(b)，其中路径点P1及P2的标识为a(a表示交叉路径点)，路径点P1及P2的标识为b(b表示单行路径点)，因此根据导航路径中的标识可以确定某个路径点是否为交叉路径点。
另一种情况为，移动装置中存储有路径网，且路径网中的路径交叉区域具有标识，则移动装置在行驶过程中，检测后续行驶节点的标识是否为路径网中的路径交叉区域的标识。
具体地，导航服务器发送的导航路径中并未包括路径区域的标识，但移动装置中存储有路径网，路径网中的各个路径区域具有标识。因此，移动装置接收到导航路径后，可以从路径网中查找导航路径中各个路径区域的标识，从而判断该路径区域是否为路径交叉区域。
对比上述两种方式，第一种方式中移动装置并不需要存储路径网，从而可以节省移动装置的存储空间；第二种方式中导航服务器向移动装置中发送的数据量更少，耗费的通信资源更少，通信效率更高。
S503：向导航服务器发送占用路径交叉区域的请求。
其中，移动装置若检测到需要经过路径交叉区域，便向导航服务器发送占用该路径交叉区域的请求。导航服务器接收到该占用请求后，便可以按照上述应用在导航服务器上的方法对移动装置能否通过该路径交叉区域进行判断及控制。
以上方法中，由移动装置判断是否需要通过路径交叉区域，还可以由导航服务器来确定，并向移动装置返回相应的占用申请结果。即导航服务器获得多个移动装置的行驶数据；依据移动装置的行驶数据，预测是否存在于同一时间点到达同一路径区域的目标移动装置；若是，则确定所述移动装置经过所述路径区域的先后顺序。其中可以按照上述占用优先级的方式确定移动装置经过所述路径区域的先后顺序。
见图6，其示出了本申请提供的一种导航服务器的结构。见图6所示，导航服务器可以具体包括：存储器601、处理器602、通信接口603及总线604。
存储器601，用于存储程序指令和/或数据。
处理器602，通过读取所述存储器601中存储的指令和/或数据，用于执行以下操作：控制目标移动装置沿着导航路径行驶；接收目标移动装置发送的对导航路径中的目标路径交叉区域的占用请求后，确定所述目标路径交叉区域是否被锁定；若所述目标路径交叉区域未被锁定，则生成允许锁定的结果；若所述目标路径交叉区域被锁定，则生成拒绝锁定的结果。
通信接口603，用于接收目标移动装置发送的对导航路径中的目标路径交叉区域的占用请求；向所述目标移动装置返回允许锁定的结果；以及向所述目标移动装置返回拒 绝锁定的结果。
总线604，用于将导航服务器的各个硬件组件耦合在一起。
在一个示例中，所述处理器602用于确定所述目标路径交叉区域是否被锁定，包括：处理器，具体用于获得路径网中各个路径区域的当前锁定情况；以及在各个所述路径区域中确定所述目标路径交叉区域，并根据所述目标路径交叉区域的当前锁定情况，确定所述目标路径交叉区域当前是否被锁定。
在一个示例中，所述处理器602用于确定所述目标路径交叉区域是否被锁定，包括：处理器，具体用于确定是否存在导航路径包含所述目标路径交叉区域、且当前行驶位置与所述目标路径交叉区域之间的距离满足预设条件的其他移动装置；若存在，则确定所述其他移动装置的占用优先级，以及所述目标移动装置的占用优先级；以及根据所述其他移动装置的占用优先级是否高于所述目标移动装置的占用优先级，确定所述目标路径交叉区域是否被预先锁定。
在一个示例中，处理器602还用于若所述目标路径交叉区域被锁定，则将所述目标移动装置放入所述目标路径交叉区域的等待队列中。
在一个示例中，所述处理器602还用于获得所述目标路径交叉区域的等待队列中的所有移动装置；确定所有移动装置的占用优先级；以及依据占用优先级，依次向各个所述移动装置发送允许锁定的结果。
在一个示例中，所述处理器602用于占用优先级的确定方法包括：处理器，具体用于确定移动装置的目标属性，其中所述目标属性包括以下几项中的任意一项或多项：行驶原因类型、是否运载有物品、运载物品的优先级；以及依据所述目标属性确定移动装置的占用优先级。
在一个示例中，所述处理器602具体用于若预设时长后，所述目标移动装置对所述目标路径节点的申请结果为失败，则修改所述目标移动装置的导航路径。
另外，本申请还提供了一种移动装置，包括：存储器、处理器、通信接口及总线。
存储器，用于存储程序指令和/或数据。
处理器，通过读取所述存储器中存储的指令和/或数据，用于执行以下操作：接收到导航路径后，沿着所述导航路径行驶；以及在行驶过程中，根据移动装置的位置和所述导航路径中的路径交叉区域之间的关系，生成占用所述路径交叉区域的请求。
通信接口，用于接收导航路径；以及发送占用所述路径交叉区域的请求。
总线，用于将导航服务器的各个硬件组件耦合在一起。
在一个示例中，所述处理器用于在行驶过程中，根据移动装置的位置和所述导航路径中的路径交叉区域之间的关系，发送占用所述路径交叉区域的请求，包括：处理器，具体用于在行驶过程中，判断移动装置的位置和所述导航路径中的路径交叉区域之间的关系是否满足预设条件，若是，则发送占用所述路径交叉区域的请求。
见图7，其示出了本申请提供的一种移动装置导航装置的结构。如图7所示，该移动装置导航装置可以具体包括：导航单元701、确定锁定单元702、允许锁定单元703及拒绝锁定单元704。其中：
导航单元701，用于控制目标移动装置沿着导航路径行驶；
确定锁定单元702，用于接收到所述目标移动装置发送的对所述导航路径中的目标路径交叉区域的占用请求后，确定所述目标路径交叉区域是否被锁定；
允许锁定单元703，用于若所述目标路径交叉区域未被锁定，则向所述目标移动装置返回允许锁定的结果；
拒绝锁定单元704，用于若所述目标路径交叉区域被锁定，则向所述目标移动装置返回拒绝锁定的结果。
需要说明的是，以上移动装置导航装置的各个单元在实现功能的过程中，可以按照上述移动装置导航方法中的步骤实现。
见图8，其示出了本申请提供的一种移动装置的结构。如图8所示，该装置可以具体包括：行驶单元801及申请单元802。
行驶单元801，用于接收到导航路径后，沿着所述导航路径行驶；
申请单元802，用于在行驶过程中，根据移动装置的位置和所述导航路径中的路径交叉区域之间的关系，发送占用所述路径交叉区域的请求。
需要说明的是，以上移动装置的各个单元在实现功能的过程中，可以按照上述应用于移动装置的移动装置导航方法中的步骤实现。
需要说明的是，本说明书中的各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似的部分互相参见即可。
还需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间 存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括上述要素的过程、方法、物品或者设备中还存在另外的相同要素。
对所公开的实施例的上述说明，使本领域专业技术人员能够实现或使用本申请。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本申请的精神或范围的情况下，在其它实施例中实现。因此，本申请将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。
Claims (20)
- 一种移动装置导航方法，其特征在于，包括：控制目标移动装置沿着导航路径行驶；接收到所述目标移动装置发送的对所述导航路径中的目标路径交叉区域的占用请求后，确定所述目标路径交叉区域是否被锁定；若所述目标路径交叉区域未被锁定，则向所述目标移动装置返回允许锁定的结果；若所述目标路径交叉区域被锁定，则向所述目标移动装置返回拒绝锁定的结果。
- 根据权利要求1所述的移动装置导航方法，其特征在于，所述确定所述目标路径交叉区域是否被锁定，包括：获得路径网中各个路径区域的当前锁定情况；在各个所述路径区域中确定所述目标路径交叉区域，并根据所述目标路径交叉区域的当前锁定情况，确定所述目标路径交叉区域当前是否被锁定。
- 根据权利要求1所述的移动装置导航方法，其特征在于，所述确定所述目标路径交叉区域是否被锁定，包括：确定是否存在导航路径包含所述目标路径交叉区域、且当前行驶位置与所述目标路径交叉区域之间的距离满足预设条件的其他移动装置；若存在，则确定所述其他移动装置的占用优先级，以及所述目标移动装置的占用优先级；根据所述其他移动装置的占用优先级是否高于所述目标移动装置的占用优先级，确定所述目标路径交叉区域是否被预先锁定。
- 根据权利要求1所述的移动装置导航方法，其特征在于，还包括：若所述目标路径交叉区域被锁定，则将所述目标移动装置放入所述目标路径交叉区域的等待队列中。
- 根据权利要求4所述的移动装置导航方法，其特征在于，还包括：获得所述目标路径交叉区域的等待队列中的所有移动装置；确定所有移动装置的占用优先级；依据占用优先级，依次向各个所述移动装置发送允许锁定的结果。
- 根据权利要求3或5所述的移动装置导航方法，其特征在于，所述占用优先级的确定方法包括：确定移动装置的目标属性，其中所述目标属性包括以下几项中的任意一项或多项： 行驶原因类型、是否运载有物品、运载物品的优先级；依据所述目标属性确定移动装置的占用优先级。
- 根据权利要求1所述的移动装置导航方法，其特征在于，还包括：若预设时长后，所述目标移动装置对所述目标路径节点的申请结果为失败，则修改所述目标移动装置的导航路径。
- 一种移动装置导航方法，其特征在于，应用于移动装置，该方法包括：接收到导航路径后，沿着所述导航路径行驶；在行驶过程中，根据移动装置的位置和所述导航路径中的路径交叉区域之间的关系，发送占用所述路径交叉区域的请求。
- 根据权利要求8所述的移动装置导航方法，其特征在于，所述在行驶过程中，根据移动装置的位置和所述导航路径中的路径交叉区域之间的关系，发送占用所述路径交叉区域的请求，包括：在行驶过程中，判断移动装置的位置和所述导航路径中的路径交叉区域之间的关系是否满足预设条件，若是，则发送占用所述路径交叉区域的请求。
- 一种导航服务器，其特征在于，包括：通信接口，用于接收目标移动装置发送的对导航路径中的目标路径交叉区域的占用请求；向所述目标移动装置返回允许锁定的结果；以及向所述目标移动装置返回拒绝锁定的结果；处理器，用于控制目标移动装置沿着导航路径行驶；接收目标移动装置发送的对导航路径中的目标路径交叉区域的占用请求后，确定所述目标路径交叉区域是否被锁定；若所述目标路径交叉区域未被锁定，则生成允许锁定的结果；若所述目标路径交叉区域被锁定，则生成拒绝锁定的结果。
- 根据权利要求10所述的导航服务器，其特征在于，所述处理器用于确定所述目标路径交叉区域是否被锁定，包括：处理器，具体用于获得路径网中各个路径区域的当前锁定情况；以及在各个所述路径区域中确定所述目标路径交叉区域，并根据所述目标路径交叉区域的当前锁定情况，确定所述目标路径交叉区域当前是否被锁定。
- 根据权利要求10所述的导航服务器，其特征在于，所述处理器用于确定所述目标路径交叉区域是否被锁定，包括：处理器，具体用于确定是否存在导航路径包含所述目标路径交叉区域、且当前行驶 位置与所述目标路径交叉区域之间的距离满足预设条件的其他移动装置；若存在，则确定所述其他移动装置的占用优先级，以及所述目标移动装置的占用优先级；以及根据所述其他移动装置的占用优先级是否高于所述目标移动装置的占用优先级，确定所述目标路径交叉区域是否被预先锁定。
- 根据权利要求10所述的导航服务器，其特征在于，处理器，还用于若所述目标路径交叉区域被锁定，则将所述目标移动装置放入所述目标路径交叉区域的等待队列中。
- 根据权利要求13所述的导航服务器，其特征在于，处理器，还用于获得所述目标路径交叉区域的等待队列中的所有移动装置；确定所有移动装置的占用优先级；以及依据占用优先级，依次向各个所述移动装置发送允许锁定的结果。
- 根据权利要求12或14所述的导航服务器，其特征在于，所述处理器用于占用优先级的确定方法包括：处理器，具体用于确定移动装置的目标属性，其中所述目标属性包括以下几项中的任意一项或多项：行驶原因类型、是否运载有物品、运载物品的优先级；以及依据所述目标属性确定移动装置的占用优先级。
- 根据权利要求10所述的导航服务器，其特征在于，处理器，具体用于若预设时长后，所述目标移动装置对所述目标路径节点的申请结果为失败，则修改所述目标移动装置的导航路径。
- 一种移动装置，其特征在于，包括：通信接口，用于接收导航路径；以及发送占用所述路径交叉区域的请求；处理器，用于接收到导航路径后，沿着所述导航路径行驶；以及在行驶过程中，根据移动装置的位置和所述导航路径中的路径交叉区域之间的关系，生成占用所述路径交叉区域的请求。
- 根据权利要求17所述的移动装置，其特征在于，所述处理器用于在行驶过程中，根据移动装置的位置和所述导航路径中的路径交叉区域之间的关系，发送占用所述路径交叉区域的请求，包括：处理器，具体用于在行驶过程中，判断移动装置的位置和所述导航路径中的路径交叉区域之间的关系是否满足预设条件，若是，则发送占用所述路径交叉区域的请求。
- 一种移动装置导航装置，其特征在于，包括：导航单元，用于控制目标移动装置沿着导航路径行驶；确定锁定单元，用于接收到所述目标移动装置发送的对所述导航路径中的目标路径交叉区域的占用请求后，确定所述目标路径交叉区域是否被锁定；允许锁定单元，用于若所述目标路径交叉区域未被锁定，则向所述目标移动装置返回允许锁定的结果；拒绝锁定单元，用于若所述目标路径交叉区域被锁定，则向所述目标移动装置返回拒绝锁定的结果。
- 一种移动装置，其特征在于，包括：行驶单元，用于接收到导航路径后，沿着所述导航路径行驶；申请单元，用于在行驶过程中，根据移动装置的位置和所述导航路径中的路径交叉区域之间的关系，发送占用所述路径交叉区域的请求。
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| JPH1195838A (ja) * | 1997-09-22 | 1999-04-09 | Murata Mach Ltd | 無人搬送車システム |
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