US 12,235,647 B2
Navigation method, moving carrier and navigation system
Han Lin, Guangdong (CN)
Assigned to HAI ROBOTICS CO., LTD., Guangdong (CN)
Filed by HAI ROBOTICS CO., LTD., Guangdong (CN)
Filed on Jan. 7, 2022, as Appl. No. 17/570,732.
Application 17/570,732 is a continuation of application No. PCT/CN2020/100879, filed on Jul. 8, 2020.
Claims priority of application No. 201910625924.3 (CN), filed on Jul. 11, 2019.
Prior Publication US 2022/0128998 A1, Apr. 28, 2022
Int. Cl. G05D 1/00 (2006.01); G01C 21/34 (2006.01); G01S 17/931 (2020.01)
CPC G05D 1/0212 (2013.01) [G01C 21/3407 (2013.01); G01S 17/931 (2020.01); G05D 1/0246 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A navigation method applied to a moving carrier, the moving carrier being capable of traveling in a preset space comprising a roadway formed by at least two rows of shelving units placed opposite to each other, the method comprising:
acquiring deviated position information of the moving carrier in a non-traveling direction in the roadway relative to the shelving units; and
navigating the moving carrier according to the deviated position information;
wherein the acquiring the deviated position information of the moving carrier in the non-traveling direction in the roadway relative to the shelving units comprises: acquiring feature information of the shelving units from a sensor mounted on the moving carrier; and calculating the deviated position information according to coordinate information of the feature information in a coordinate system of the sensor;
wherein each shelving unit comprises at least two shelving units legs spaced apart by a preset distance, and the feature information is leg feature information of the shelving unit legs;
wherein the calculating the deviated position information according to the coordinate information of the feature information in the coordinate system of the sensor comprises:
determining first leg feature information of a first shelving unit leg and second leg feature information of a second shelving unit leg, the first shelving unit leg and the second shelving unit leg being faced by the moving carrier in the traveling direction, and the first shelving unit leg and the second shelving unit leg being located on different rows of shelving units and directly opposite to each other; and
calculating the deviated position information according to coordinate information of the first leg feature information in the coordinate system of the sensor and coordinate information of the second leg feature information in the coordinate system of the sensor.