阅读说明：本技术 仓库绘制工具 (Warehouse drawing tool ) 是由 C·鲁滨逊 A·菲利普 R·埃斯特普 L·王 于 2018-03-28 设计创作，主要内容包括：根据本公开的仓库绘制工具包括移动绘制接口和与移动绘制接口通信的移动计算设备。移动计算设备可被配置为访问包括绘制航路点集合的位置坐标的航路点数据,在仓库环境的表示中的离散位置处呈现绘制航路点集合的图形表示,访问表示所经过的行进路径的移动绘制数据,访问误差度量数据,呈现误差度量数据的图形表示,并指示所经过的行进路径段的验证状态。在其他实施例中,仓库绘制工具包括远程计算机,该远程计算机被配置为与绘制车辆通信并且可用于促进关于仓库中的工业车辆的导航、定位或里程表校正。在另一些其他实施例中,提供了包括仓库绘制工具的绘制车辆。(Warehouse drawing tool according to the disclosure includes the mobile mobile computing device for drawing interface and interface communication is drawn with movement.It includes drawing the air route point data of the position coordinates of way point set that mobile computing device, which can be configured to access, the graphical representation for drawing way point set is presented at the discrete location in the expression of warehouse environment, access indicates the mobile drawing data of passed through travel path, access error metrology data, the graphical representation of error metrology data is presented, and indicates the proofing state of passed through travel path section.In other embodiments, warehouse drawing tool includes remote computer, which is configured as and draws vehicle communication and can be used for that navigation, positioning or mileometer about the industrial vehicle in warehouse is promoted to correct.In yet other embodiment, the drafting vehicle including warehouse drawing tool is provided.)

1. a kind of warehouse drawing tool, the warehouse drawing tool leads to including mobile drafting interface and with the mobile interface of drawing The mobile computing device of letter, in which:

Interface is drawn in the movement

Way point display window, the way point display window include at least part of graphical representation of warehouse environment,

Error metrics indicator, and

Portal is verified, the verifying portal, which is configured as ordering " receiving " and " refusal " from user, is transmitted to the mobile computing Equipment；And

The mobile computing device is configured as:

Air route point data is accessed, the way point data include drawing position and the direction of travel coordinate of way point set,

Discrete location in the expression of the warehouse environment in the mobile way point display window for drawing interface The graphical representation for drawing way point set is presented in place,

Access mobile drawing data, the mobile drawing data includes indicating about the warehouse environment and the mobile computing Equipment, the mobile position for drawing interface or both associated passed through travel path section and direction of travel coordinate,

Passed through travel path section is presented in the mobile way point display window for drawing interface,

Access indicates the error metrology data of the comparison of the mobile drawing data and the air route point data,

The graphical representation of the error metrology data is presented at the mobile error metrics indicator for drawing interface, with And

In response to " receiving " and " refusal " order is transmitted to the mobile computing device, refer in the way point display window Show the proofing state of passed through travel path section.

2. warehouse drawing tool according to claim 1, in which:

The warehouse drawing tool further includes drawing vehicle；And

The position for drawing way point set and row are indicated by the error metrology data that the mobile computing device accesses Into direction coordinate compared with the position for drawing vehicle and direction of travel coordinate.

3. warehouse drawing tool according to claim 2, wherein the mobile drafting interface and the mobile computing device Be fixed to it is described drafting vehicle, be oriented with it is described drafting vehicle move together or with it is described draw vehicle hardware set At.

4. warehouse drawing tool according to claim 3, in which:

The drawing tool further includes drawing engine, and the drawing engine is configurable to generate by the shifting of the mobile computing device The dynamic mobile drawing data for drawing interface access；And

The drawing engine is fixed to the drafting vehicle, is oriented to move together with the drafting vehicle or draw with described The hardware integration of vehicle processed.

5. warehouse drawing tool according to claim 2, in which:

Mobile interface and the mobile computing device drawn is from the drafting vehicle displacement；

The drawing tool further includes drawing engine, and the drawing engine is configurable to generate by the shifting of the mobile computing device The dynamic mobile drawing data for drawing interface access；And

The drawing engine resides in complemental remote computer.

6. warehouse drawing tool according to claim 5, wherein the complemental remote computer is configured as storehouse management System.

7. according to claim 1 or warehouse drawing tool described in any one of other precedent claims, in which:

The graphical representation of the warehouse environment includes display pixel set；And

The drafting way point set is by selected in the display pixel set for the expression for forming the warehouse environment Pixel defines.

8. according to claim 1 or warehouse drawing tool described in any one of other precedent claims, wherein the mistake The graphical representation of the error metrology data at difference metric indicator includes dosing assemblies and qualitative component.

9. according to claim 1 or warehouse drawing tool described in any one of other precedent claims, wherein the shifting The dynamic error metrics indicator for drawing interface includes multiple and different error metrics field, wherein the different error Metric field is selected from:

Linearity error, the linearity error indicate the terminal of passed through travel path section and the institute of the drafting way point set Linear range between the position coordinates of the way point of selection；

Direction of travel error, the direction of travel error indicate the direction of travel measurement of the terminal point of passed through travel path section The direction of travel coordinate of value and the selected way point for drawing way point set；

The distance of traveling, the distance of the traveling indicate the accumulation travel distance along the travel path section passed through；

Angular displacement, the angular displacement indicate the accumulation angular displacement along the travel path section passed through；Or

A combination thereof.

10. according to claim 1 or warehouse drawing tool described in any one of other precedent claims, in which:

The mobile interface of drawing further includes drawing status indicator；And

The mobile computing device is configured as access and draws status data and institute is presented at the drafting status indicator State drafting status data.

11. according to claim 1 or warehouse drawing tool described in any one of other precedent claims, wherein described Air route point data resides on the mobile computing device.

12. according to claim 1 or warehouse drawing tool described in any one of other precedent claims, wherein described Warehouse drawing tool includes drawing engine, and the air route point data resides in the drawing engine.

13. warehouse drawing tool according to claim 12, in which:

The air route point data resided in the drawing engine is dynamic；And

User interface includes the prompt for editing the air route point data.

14. according to claim 1 or warehouse drawing tool described in any one of other precedent claims, in which:

The drawing tool further includes drawing engine；And

The drawing engine is configurable to generate the mobile drawing data accessed by the mobile computing device.

15. warehouse drawing tool according to claim 14, wherein the drawing engine is configured as by along being passed through The travel path section crossed tracks the mobile movement for drawing interface, described mobile computing device or both to generate the movement Drawing data.

16. warehouse drawing tool according to claim 14, wherein the drawing engine is by drawing number for the movement According to position and direction of travel coordinate and the air route point data position and direction of travel coordinate be compared to described in generation Error metrology data.

17. warehouse drawing tool according to claim 14, wherein the drawing engine is by calculating the following terms next life At the error metrology data:

Linearization error value, the terminal of the passed through travel path section of the linearization error value expression and the drafting way point set Selected way point position coordinates between linear range；

Direction of travel error amount, the direction of travel error amount indicate the direction of travel of the terminal point of passed through driving path section Differential seat angle between measured value and the direction of travel coordinate of the selected way point for drawing way point set；

The distance value of traveling, the distance value of the traveling indicate the accumulation travel distance along the travel path section passed through；

Value of angular displacement, the value of angular displacement indicate the accumulation angular displacement along the travel path section passed through；Or

A combination thereof.

18. warehouse drawing tool according to claim 14, in which:

The verifying portal is configured as " changing way point " order being transmitted to the mobile computing device from user；And

The drawing engine is configured as (i) and is cooperated with the verifying portal to be inputted based on the error metrology data suggestion " changing way point " order, (ii) are registered in response to the transmission that " changing way point " orders for generating the error metrics number According to new way point, or both (iii).

19. warehouse drawing tool according to claim 14, wherein the drawing engine is configured as processing from the shifting Dynamic " receiving " and " refusal " order for calculating equipment transmission, and be based on from mobile computing device transmission " receiving " still " refusal " orders and instruction is returned to the mobile computing device to indicate the proofing state of passed through travel path section.

20. according to claim 1 or warehouse drawing tool described in any one of other precedent claims, wherein described Drawing tool further includes drawing engine, and the drawing engine is configured as:

Generate the error metrology data accessed by the mobile computing device；And

Optimize passed through travel path section to consider the error metrology data.

21. according to claim 1 or warehouse drawing tool described in any one of other precedent claims, wherein described Mobile computing device is configured as:

The travel path section passed through is rendered as the lines in the way point display window；And

The row passed through in the way point display window is indicated by changing color, pattern or the visibility of the lines The proofing state of inbound path section.

22. according to claim 1 or warehouse drawing tool described in any one of other precedent claims, the warehouse is drawn Tool processed further includes drawing engine, wherein mobile interface, the mobile computing device and the drawing engine drawn is matched It is set to:

Graphical cues are presented on interface to select to draw way point in mobile draw；

Graphical cues are presented on interface to start drafting in mobile draw；

The record path section in response to mobile " record way point " order for drawing interface；

Graphical cues are presented on interface to terminate to draw in mobile draw；

Show paths section in the way point display window；

The error metrology data is presented at error metrology data indicator；

Graphical cues are presented on interface to transmit " receiving " order in mobile draw；And

It is ordered in response to " receiving " and stores passed through travel path section.

23. according to claim 1 or warehouse drawing tool described in any one of other precedent claims, wherein described Drawing tool further includes drawing engine, wherein the mobile drafting interface, the mobile computing device and the drawing engine quilt It is configured that

Graphical cues are presented on interface to select to draw way point in mobile draw；

Graphical cues are presented on interface to start drafting in mobile draw；

The record path section in response to mobile " record way point " order for drawing interface；

Graphical cues are presented on interface to terminate to draw in mobile draw；

Show paths section in the way point display window；

The error metrology data is presented at error metrology data indicator；

Graphical cues are presented on interface to transmit " receiving " order in mobile draw；And

Subsequent path section is recorded in response to described mobile " receiving " order for drawing interface.

24. according to claim 1 or warehouse drawing tool described in any one of other precedent claims, wherein described Drawing tool further includes drawing engine, wherein the mobile drafting interface, the mobile computing device and the drawing engine quilt It is configured that

Graphical cues are presented on interface to select to draw way point in mobile draw；

Graphical cues are presented on interface to start drafting in mobile draw；

The record path section in response to mobile " record way point " order for drawing interface；

Graphical cues are presented on interface to terminate to draw in mobile draw；

Show paths section in the way point display window；

The error metrology data with error alarm is presented at error metrology data indicator；

Graphical cues are presented on interface to transmit " refusal " order in mobile draw；And

It is ordered in response to " refusal " and abandons passed through travel path section.

25. according to claim 1 or warehouse drawing tool described in any one of other precedent claims, wherein described Drawing tool further includes drawing engine, wherein the mobile drafting interface, the mobile computing device and the drawing engine quilt It is configured that

Graphical cues are presented on interface to select to draw way point in mobile draw；

Graphical cues are presented on interface to start drafting in mobile draw；

The record path section in response to mobile " record way point " order for drawing interface；

Graphical cues are presented on interface to terminate to draw in mobile draw；

Show paths section in the way point display window；

The error metrology data with error alarm is presented at error metrology data indicator；

Graphical cues are presented on interface to transmit " changing way point " order in mobile draw；And

The recovery record route segment in response to " changing way point " order, and shown in way point selection window The route segment of progress.

26. a kind of drafting vehicle draws work including warehouse described in any one of claim 1 or other precedent claims Tool.

27. a kind of industrial environment drawing tool, the industrial environment drawing tool include it is mobile draw interface and with the movement Draw the mobile computing device of interface communication, in which:

Interface is drawn in the movement

Way point display window, the way point display window include at least part of graphical representation of industrial environment,

Error metrics indicator, and

Portal is verified, the verifying portal, which is configured as ordering " receiving " and " refusal " from user, is transmitted to the mobile computing Equipment；And

The mobile computing device is configured as:

Air route point data is accessed, the way point data include drawing the position coordinates of way point set,

Discrete location in the expression of the industrial environment in the mobile way point display window for drawing interface The graphical representation for drawing way point set is presented in place,

Access mobile drawing data, the mobile drawing data indicate about the industrial environment with draw vehicle, the shifting It is dynamic to calculate equipment or mobile drafting associated the passed through travel path section of interface,

Access indicates the error metrology data of the comparison of the mobile drawing data and the air route point data,

The graphical representation of the error metrology data is presented at the mobile error metrics indicator for drawing interface, with And

In response to " receiving " and " refusal " order is transmitted to the mobile computing device, refer in the way point display window Show the proofing state of passed through travel path section.

28. a kind of warehouse drawing tool, the warehouse drawing tool includes the complemental remote meter for being configured to drawing vehicle communication Calculation machine, in which:

The complemental remote computer includes drawing interface and drawing engine；

The drafting interface includes:

Way point display window, the way point display window include at least part of graphical representation of warehouse environment,

Error metrics indicator, and

Verify portal, the verifying portal be configured as by " receivings " and " refusal " order from user be transmitted to it is described draw draw It holds up；And

The complemental remote computer is configured as:

Air route point data is accessed, the way point data include drawing position and the direction of travel coordinate of way point set,

It is at the discrete location in the expression of the warehouse environment in the way point display window for drawing interface The existing graphical representation for drawing way point set,

Access mobile drawing data, the mobile drawing data includes indicating about the warehouse environment and the drafting vehicle The position of associated passed through travel path section and direction of travel coordinate,

Passed through travel path section is presented in the way point display window for drawing interface,

Access indicates the error metrology data of the comparison of the mobile drawing data and the air route point data,

The graphical representation of the error metrology data is presented at the error metrics indicator for drawing interface, and

In response to the transmission of " receiving " and " refusal " order, passed through travel path is indicated in the way point display window The proofing state of section.

29. warehouse drawing tool according to claim 28, wherein the complemental remote computer is configured as warehouse pipe Reason system, and be additionally configured to verify that the warehouse operation of the industrial vehicle in the warehouse environment with by the drawing tool The travel path section passed through of one or more mutually coordinate.

30. warehouse drawing tool according to claim 28, wherein the complemental remote computer is configured as warehouse pipe Reason system, and it is additionally configured to the travel path section passed through by reference to the one or more verified by the drawing tool To promote navigation, positioning or mileometer about the industrial vehicle in the warehouse environment to correct.

Background technique

This disclosure relates to which warehouse is drawn, and more particularly, to warehouse drawing tool.For definition and the description disclosure Concept and range purpose, it should be noted that " warehouse " includes materials handling vehicle in any indoor or room for wherein transporting cargo Outer industrial plants, include but is not limited to be mainly used for store cargo indoor or outdoors industrial plants (such as multi-layered storage rack arrangement The facility those of in passageway) and manufacturing facility, wherein being transported around facility in manufacturing facility by materials handling vehicle Defeated cargo in one or more manufacturing processes to use.

Summary of the invention

According to one embodiment of the disclosure, a kind of warehouse drawing tool is provided, which includes movement Draw interface and the mobile computing device with mobile drafting interface communication.Mobile interface of drawing includes: way point display window, boat Waypoint display window includes at least part of graphical representation of warehouse environment；Error metrics indicator；And verifying portal, it tests Card portal, which is configured as ordering " receiving " and " refusal " from user, is transmitted to mobile computing device.Mobile computing device is configured Are as follows: access air route point data, the way point data include drawing position and the direction of travel coordinate of way point set；Described Described in being presented at discrete location in the expression of the warehouse environment in the mobile way point display window for drawing interface Draw the graphical representation of way point set；Mobile drawing data is accessed, the mobile drawing data includes indicating about the storehouse Lab environment draws interface or both associated passed through travel path section with the mobile computing device, the movement Position and direction of travel coordinate；Passed through traveling road is presented in the mobile way point display window for drawing interface Diameter section；Access indicates the error metrology data of the comparison of the mobile drawing data and the air route point data；In the movement Draw the graphical representation that the error metrology data is presented at the error metrics indicator of interface；And in response to that " will connect By " and " refusal " order be transmitted to the mobile computing device, passed through traveling is indicated in the way point display window The proofing state of route segment.

According to another embodiment of the present disclosure, a kind of drafting vehicle including warehouse drawing tool is provided.According to this public affairs The warehouse drawing tool opened may include mobile computing device and mobile drafting interface, which can be with drafting vehicle Hardware integration, or can be may reside within and draw on vehicle, is hand-held or otherwise may move through warehouse Independent mobile computing device.Expected mobile computing device may include the drawing engine of themselves, or may rely on Complemental remote computer including the drawing engine for drawing function completely.

According to the another embodiment of the disclosure, a kind of drawing tool is provided, which includes mobile drafting interface With the mobile computing device with mobile drafting interface communication.Mobile interface of drawing includes: way point display window, and way point is shown Window includes at least part of graphical representation of industrial environment；Error metrics indicator；And verifying portal, verify portal quilt It is configured to order " receiving " and " refusal " from user and is transmitted to mobile computing device.Mobile computing device is configured as: access Air route point data, the way point data include drawing the position coordinates of way point set；In the mobile institute for drawing interface It states and the drafting way point set is presented at the discrete location in the expression of the industrial environment in way point display window Graphical representation；Access mobile drawing data, the mobile drawing data indicate about the industrial environment with draw vehicle, institute State mobile computing device or mobile drafting associated the passed through travel path section of interface；Access indicates that the movement is drawn The error metrology data of the comparison of data processed and the air route point data；Refer in the mobile error metrics for drawing interface Show the graphical representation that the error metrology data is presented at symbol；And it is described in response to " receiving " and " refusal " order to be transmitted to Mobile computing device indicates the proofing state of passed through travel path section in the way point display window.

According to another embodiment of the present disclosure, warehouse drawing tool includes the long-range meter for being configured as with drawing vehicle communication Calculation machine.Complemental remote computer includes drawing interface and drawing engine.Drawing interface includes: way point display window, way point Display window includes at least part of graphical representation of warehouse environment；Error metrics indicator；And verifying portal, verify door Family, which is configured as ordering " receiving " and " refusal " from user, is transmitted to drawing engine.Complemental remote computer is configured as: being visited Ask that air route point data, the way point data include drawing position and the direction of travel coordinate of way point set；In the drafting The drafting air route is presented at discrete location in the expression of the warehouse environment in the way point display window of interface The graphical representation of point set；Mobile drawing data is accessed, the mobile drawing data includes indicating about the warehouse environment The position of passed through travel path section associated with the drafting vehicle and direction of travel coordinate；In the drafting interface Passed through travel path section is presented in the way point display window；Access indicates the mobile drawing data and the air route The error metrology data of the comparison of point data；The degree of error is presented at the error metrics indicator for drawing interface Measure the graphical representation of data；And the transmission in response to " receiving " and " refusal " order, refer in the way point display window Show the proofing state of passed through travel path section.

Detailed description of the invention

When read in conjunction with the following drawings, the described in detail below of the specific embodiment of the disclosure can be best understood, Wherein identical structure is presented with like reference characters, and wherein:

Fig. 1 depicts the signal including drawing engine, mobile computing device and the mobile warehouse drawing tool for drawing interface Figure；

Fig. 2 depicts the saturating of a part of the drafting vehicle with the mobile drafting interface with the hardware integration for drawing vehicle View；

Fig. 3 A is the schematic diagram of warehouse drawing tool configuration, and wherein mobile computing device, mobile drafting interface and drafting are drawn It holds up and is fixed to drafting vehicle, be oriented and drafting vehicle moves together or the hardware integration with drafting vehicle；

Fig. 3 B is the schematic diagram of warehouse drawing tool configuration, and wherein complemental remote computer includes drawing engine；

Fig. 3 C is the schematic diagram of warehouse drawing tool configuration, and wherein complemental remote computer includes that drafting interface and drafting are drawn It holds up；

Fig. 3 D is the schematic diagram of warehouse drawing tool configuration, wherein mobile draw interface and associated mobile computing device From drafting vehicle displacement, and complemental remote computer includes drawing engine；

Fig. 4 depicts the flow chart that processing is collected by the draw data that warehouse drawing tool uses；

Fig. 5 A is depicted in the warehouse drawing tool for drawing the stage that vehicle is in the active session at initial way point Graphic user interface；

Fig. 5 B depicts the stage drawn during active session and record gesture data when vehicle is converted to subsequent way point Warehouse drawing tool graphic user interface；

Fig. 5 C depict complete active session and draw vehicle be located at correct way point stage warehouse drafting The graphic user interface of tool；

Fig. 5 D, which depicts to draw during another active session when vehicle is converted to subsequent way point, records gesture data Stage warehouse drawing tool graphic user interface；

Fig. 5 E depicts the warehouse drawing tool in the stage of record gesture data when drawing vehicle and reaching subsequent way point Graphic user interface；

Fig. 5 F, which is depicted, to be completed active session and is drawing the storehouse that vehicle is located at the stage of incorrect subsequent way point The graphic user interface of library drawing tool；

Fig. 5 G, which is depicted, returns to the graphic user interface of the warehouse drawing tool in the stage of active session in drawing tool；

Fig. 5 H, which is depicted, to be completed active session and is drawing vehicle positioned at the warehouse in the stage of correct subsequent way point The graphic user interface of drawing tool；

Fig. 5 I, which depicts to draw during another active session when vehicle is converted to subsequent way point, records gesture data Stage graphic user interface；

Fig. 5 J, which is depicted, to be completed active session and is drawing the storehouse that vehicle is not at the stage of identified way point The graphic user interface of library drawing tool；

Fig. 6 depicts the graphical representation for showing the drafting vehicle more than the subsequent way point of target and associated angle is missed The schematic diagram of difference；

Fig. 7, which is depicted, to be shown the drafting vehicle of Fig. 6 and is repositioned at the subsequent way point of target according to the angular error of Fig. 6 Neighbouring figured schematic diagram, wherein linear and direction of travel error define the drafting subsequent way point of vehicle-to-target it Between difference.

Specific embodiment

When drawing warehouse environment, it may be desirable to draw multiple way points in entire environment.These way points are usually right Should be in the site location of the definition in warehouse environment, and can be used to couple the travel path section in warehouse environment.In other words, Way point can be used to the expection starting point of known location and route segment in warehouse environment and end by the drawing tool of the disclosure Point is associated.As will be described in more detail, which can upload to warehouse drawing tool for drawing storehouse Lab environment.These way points can be used to define and record the available travel path section between way point.Multiple paths can be combined Section is to form a series of continuous path section extended along way points, to draw the target part of warehouse environment, or completely Draw environment.Travel path section extends in environment adjacent to interconnect multiple environment.

Way point is usually located at the selectable position in warehouse or other industrial environments, to simplify between two way points The route segment as a result formed, and minimize the total distance for advancing required during any given path section and rotation amount. Industrial environment may further include various barriers, and the various barriers may include permanent and temporary structure, object, branch Frame, shelf, pillar, wall, memory element, building element, boundary and other physique objects, this is to the people for being familiar with industrial environment For be apparent.Although using warehouse environment as illustrative industrial environment in the entire disclosure, it should be appreciated that, work Industry environment is also possible to industrial field, loader wharf or the like environment using industrial vehicle.As will be described in more detail, should Environmental data can upload in warehouse drawing tool in combination with above-mentioned air route point data, for drawing warehouse environment. Therefore, multiple way points and the route segment generated drawn between way point are actually restricted to not by warehouse barrier The region of the warehouse environment occupied.

Fig. 1 shows warehouse drawing tool (100), which is operable such that with air route point data and environment Data draw warehouse environment.Warehouse drawing tool (100) may include drawing engine (102), mobile computing device (110) and It is mobile to draw interface (120), and using the appropriate software that can implement and/or be resident in the various hardware of tool, such as will It is described in greater detail below.Only as an example, warehouse drawing tool (100) can draw vehicle (such as material carry Vehicle), remote computer, implement in one or more of mobile device and other various suitable drafting components, this for The people for being familiar with programmable device will be apparent.

Drawing engine (102) may include data storage (104), and data storage is configured to receive and store above-mentioned Air route point data and environmental data.In addition, drawing engine (102) is configured as when warehouse drawing tool (100) and draws vehicle (50) mobile drawing data and error metrology data are generated when hardware integration so that data storage (104) can operate with into One step stores the dynamic data.It as will be described in more detail, can be with by the mobile drawing data that drawing engine (102) generate Mileometer and sensing data including drawing vehicle (50).Drawing engine (102) can also include input/output hardware (105), input/output hardware can be operated so that drawing engine (102) is communicatively coupled to remote operation warehouse and draws work Has the interface and/or system of (100), this also will be described in greater detail below.Drawing engine (102) can also include drawing number According to logic (200) (referring to fig. 4) is collected, it includes the drafting for executing warehouse drawing tool (100) that draw data, which collects logic, The operational order of function.Therefore, drawing engine (102) can also include processor module, and processor module is configured as receiving The instruction of logic (200) is collected from draw data with execution.In some cases, in order to draw data is collected logic (200) other assemblies of warehouse drawing tool (100) are transmitted to, drawing engine (102) may include being configured as the number According to the network interface hardware (106) for being respectively transmitted to mobile computing device (110) and/or mobile drafting interface (120).

Mobile computing device (110) may include computer-readable medium (114), and computer-readable medium is configured as depositing Storage received logical order and/or executable instruction between drawing engine (102) and mobile drafting interface (120).Therefore, it moves Dynamic calculate equipment (110) can also include operation logic (112), and operation logic is configured as will in entire drawing collection processing The data temporarily stored and information of a component from warehouse drawing tool present, are transmitted or transferred to another component.

Mobile draw interface (120) may include local communication interface (121), to promote warehouse drawing tool (100) Communication between each component and the communication with user.Mobile draw interface (120) can also include input/output hardware (123), so that mobile draw interface (120) are configured as integrating with various hardware and/or positioning device.For example, such as will more in detail It carefully describes, mobile draw interface (120) can be integrated with vehicle (50) are drawn.In these cases, mobile to draw interface It (120) can be integrated with mobile computing device (110), drawing engine (102) or both；However, in other cases, movement is drawn Interface (120) processed can be external relative to mobile computing device (110), drawing engine (102) or both and long-range visit It asks.Drawing engine (102) can be configured as through network connection and mobile computing device (110) and mobile drafting interface (120) it communicates.

As shown in Figure 2, warehouse drawing tool (100) can be integrated with vehicle (50) are drawn, so that mobile draw interface (120) and possible drawing engine (102), mobile computing device (110) or both can be with the hardware of drawing vehicle (50) It is integrated.Although being not shown, it should be appreciated that in some embodiments, drawing engine (102), mobile computing device (110) and movement Draw interface (120) can permanently or removably be attached to draw vehicle (50) so that warehouse drawing tool (100) not with draw The hardware of vehicle (50) processed is formed with being integrated.In this example, drawing vehicle (50) is materials handling vehicle, such as suitable for The fork truck or unclassified stores carrying vehicle of warehouse environment；It should be understood, however, that draw vehicle (50) may include it is various its His vehicle or equipment, this is apparent for the people for being familiar with vehicle technology.As will be described in more detail, in some realities It applies in example, drawing vehicle (50) can operate with the navigation in warehouse environment (10), while drawing engine (102) executes operation logic (referring to fig. 4) to record the mobile drawing data for drawing vehicle (50).

It should be appreciated that mobile computing device (110) and mobile drafting interface (120) are referred to herein as " movement ", this Be because they be configured as draw vehicle (50) power under or user in no drafting vehicle (50) with the help of hold Row drafting task is moved in entire warehouse environment (10) in a manner of continuous, repeatable and nondestructive.

When vehicle (50) is advanced between two way points (12) in environment (10), mobile drawing data may include Draw position and the direction of travel coordinate of vehicle (50), such as mileometer and sensing data.As will be described in more detail, Drawing engine (102) is recorded and is analyzed from drafting vehicle (50) received shifting relevant to the air route point data of warehouse environment (10) Dynamic drawing data, to confirm that correct route segment (18) is given known way point (12) position and storehouse in warehouse (10) It is drawn in warehouse environment (10) in the case where library barrier (14) position.Drawing engine (102) uses collected mileage To execute the analysis via draw data collection algorithm, example is described below with reference to Fig. 4 for table and sensing data.Only As an example, the position coordinates of mobile drawing data may include the x coordinate and y-coordinate that Descartes fastens.Direction of travel coordinate It indicates to draw the angle direction of travel of vehicle (50) relative to warehouse environment (10).In this case, mobile computing device (110) mobile drawing data is accessed to be presented to the user via mobile draw interface (120).

Although warehouse drawing tool (100) in some cases with draw vehicle (50) hardware integration, it is expectable Other embodiments.For example, Fig. 3 A- Fig. 3 D is during many possible drawing tools that the disclosure and claim are covered configure Some schematic diagrames.It is mobile to draw interface (120) and mobile computing device (110) and draw vehicle in Fig. 3 A and Fig. 3 B (50) hardware integration is fixed to and draws vehicle (50) or be otherwise oriented to move together with drafting vehicle (50) It is dynamic.The concept that Fig. 3 A shows the disclosure can be implemented in drawing vehicle completely, and in figure 3 a, drawing engine (102) is consolidated Determine to the hardware integration for drawing vehicle (50) and drafting vehicle (50) or to be otherwise oriented and drafting vehicle (50) it moves together.In figure 3b, drawing engine (102) resides in complemental remote computer (60).

As schematically shown in Fig. 3 C, can be connect using including drawing according to the configuration of the warehouse drawing tool of the disclosure The complemental remote computer (60) of mouth (120) and drawing engine (102), drawing engine are configurable to generate by drafting interface (120) drawing data accessed.In such embodiments, mobile computing device will not be needed, because of complemental remote computer (60) non-moving drafting interface (120) and drawing engine (102) will realize the function of mobile computing device.Complemental remote calculates Machine (60) is shifted from vehicle (50) are drawn, and can be positioned in warehouse environment or at the position far from warehouse environment, only Want it that can communicate with vehicle (50) are drawn.Complemental remote computer (60) can be in independent programmable calculator or net Implement in network computing system, or can be using various similar tradition or untapped form, including is configured as also using Make those of warehouse management system form, property can be from traditional or untapped introduction about warehouse management system It collects.

Fig. 3 D is the schematic diagram of drawing tool configuration, wherein it is mobile draw interface (120), mobile computing device (110) and Drawing engine (102) is shifted from vehicle (50) are drawn.Drawing engine (102) resides in complemental remote computer (60), complementary Remote computer can be configured as warehouse management system.Mobile computing device (110) and mobile drafting interface (120) can positions Any position in warehouse environment, as long as the position allows to communicate i.e. with complemental remote computer (60) and drafting vehicle (50) It can.Personnel as being familiar with programmable computation device and user interface will be understood that, in one embodiment, mobile computing device (110) and the mobile general function for drawing interface (120) can use tradition or untapped on knee or tablet computer skill Art is realized.In this example, mobile interface (120) and mobile computing device (110) of drawing can be located at warehouse environment (10) In any position.It should be appreciated that may include drawing engine (102), mobile computing device (110) and mobile drafting interface (120) other configurations and relationship between, this is apparent for the people of the concept of the implementation disclosure.

Fig. 4 is the flow chart for summarizing a kind of expected mode, and wherein draw data, which collects logic (200), can be drawn engine For drawing warehouse environment.The step of flow chart, is substantially merely illustrative, and the personnel as being familiar with programmable logic It will be understood that, the concept of the disclosure can be implemented using various substitution logic configurations.In step (202) and (204), institute as above It states, environmental data and air route point data are uploaded in drawing engine respectively.In some cases, it can be possible to not need to upload environment Data, especially when the environmental data can be used for drawing engine.In addition, as shown in step (204) and as below will In greater detail, warehouse drawing tool can be configured as the air route that addition, discarding and editor are uploaded in drawing engine Point data.As an alternative, air route point data can initially be created by warehouse drawing tool, so that without initial air route point data It is uploaded in warehouse drawing tool.In step (206), the way point and environmental data of upload are shown in mobile drafting interface On.Particularly, mobile interface of drawing can also include way point display window (it shows in Fig. 5 A- Fig. 5 J) etc., and can To include at least part of warehouse environment, any way point in warehouse environment and be physically present in warehouse ring The graphical representation of domestic any warehouse barrier.

Jointly referring to Fig.1, Fig. 4, Fig. 5 A and Fig. 5 B, mobile computing device (110) can be configured as access air route points According to so that mobile computing device (110) is configured as drawing interface mobile in the case where receiving air route point data (120) graphical representation (12) of way point is presented at the corresponding discrete location in the expression of the environment (10) on.In some versions In, air route point data may reside on mobile computing device (110), without being resident on drawing engine (102).In addition, Mobile computing device (110) can be configured as the mobile drawing data that vehicle (50) are drawn in access, to draw via mobile The graphical representation for drawing vehicle (50) is presented in corresponding position of the interface (120) in the expression of environment (10).Shifting can be passed through Vehicle (50) are drawn in the identification on mobile drafting interface (120) of the dynamic drafting indicator (16) drawn on interface (120).

Therefore, way point display window (122) can also include the graphical representation for drawing indicator (16), to indicate to draw Designated position of the vehicle (50) in warehouse environment (10), so that drawing vehicle (50) in warehouse ring when user selectively identifies The position that indicator (16) are drawn when current location in border (10) is continually updated, such as the step of Fig. 4 shown in (208).It is special Not, user is drawing at instruction window (134) via mobile drafting interface (120) identification drafting vehicle (50) in specific air route Position at point (12).Mobile computing device (110) is configured as the instruction that access is transmitted by drawing instruction window (134) And/or order, to promote the drafting of warehouse environment (10).For example, it as shown in Fig. 5 A- Fig. 5 B and Fig. 5 D- Fig. 5 E, draws Instruction window (134) processed provides a user various order buttons, including " record way point " (135), " showing advanced entry " (137), " display status log " (138) and selection " way point number " (139).Mobile drafting interface can be included in (120) other data shown in the drafting instruction window (134) on are that " way point counting " and " part " shows (133).

" way point number " (139) button on instruction window (134) is drawn to be configured as drawing since intending user Specific way point (12) are identified in the way point data acquisition system of process.For example, as shown in Figure 5 A, from drafting instruction window (134) the 1st way point (12) has been selected in the way point data acquisition system in " way point number " (139).Therefore, drafting refers to Show that symbol (16) is located at the respective pixel on way point display window (122), which indicates in warehouse environment (10) The position of 1st way point (12).In addition, it is mobile draw interface (120) be configured such that user can by by Way point display window (122) identifies way point (12) to select expected way point (12).In this case, user can be with It visually identifies desired way point (12) and is drawn with beginning through way point display window (122), to pass through a little Way point (12) is hit to select the way point (12).In some embodiments, way point display window (122) may include touching The element for shielding activation allows user to show desired way point (12) on way point display window (122) by touching Pixel select expected way point (12).

Additional or less drawing data option, which can be included in, to be drawn in instruction window (134).In some versions, Mobile computing device (110) can be configured as access and draw status data, so that user be prompted to draw instruction window (134) It is upper to draw instruction or order using specific.As described above, drawing indicator (16) can indicate to draw vehicle (50), mobile meter It calculates equipment (110) or draws the current location of interface (120).Drawing indicator (16) can be geometrical symbol, vehicle specific pattern Mark draws the coloured or any selection without color pixel shown on interface (120) to movement, to indicate to draw with warehouse to user The type of vehicle (50) or mobile computing device (110) that tool (100) processed is used together.

As briefly described in step (204) above, mobile draw interface (120) are configured as presenting for editing quilt The prompt of the air route point data of warehouse drawing tool (100) is uploaded to, so that air route point data is dynamic.In such case Under, user can modify, add or abandon position and the direction of travel coordinate of multiple way points (12).Suitable air route point data It usually may include position and direction of travel coordinate, position and direction of travel coordinate are geographically important in warehouse environment (10) Position (i.e. way point (12)) at definition draw vehicle (50) possessed expectation posture when operation in the warehouse environment (10). For example, but without limitation, can end in warehouse aisles and midpoint, it is close along the appropriate travel path in warehouse Other special areas in barrier, danger or warehouse etc. establish way point.Air route point data can be collected in various ways And provide it to warehouse drawing tool (100).Such as but without limitation, can be used architectural plan, survey data or Any one of the various GPS of person, laser or other sensor-based warehouse prospecting techniques collect air route point data.

Using the data uploaded in drawing engine (102) and via the drafting vehicle for drawing instruction window (134) selection (50) position, can be by selecting " record way point " (135) order to draw to come into play on drawing instruction window (134) Session processed.Drawing engine (102), which can be configured as, selects " record way point " via instruction window (134) are drawn based on user (135) order when start recording moves drawing data to detect route segment (18).In this case, activation record meeting is utilized Warehouse drawing tool (100) in words, drawing vehicle (50) can start to advance along route segment (18), as shown in Figure 5 A. Although drawing engine (102) is configured as the start recording when drawing vehicle (50) and advancing along route segment (18) and draws vehicle (50) mobile drawing data, it should be appreciated that, despite possible, but route segment (18) does not need to be drawn in real time simultaneously It is shown in mobile draw on interface (120).On the contrary, it may be preferred that the display of delay path section (18), until drawing engine (102) receive input from the user with after stopping recording mobile drawing data-this may reach drawing vehicle (50) Occur when the end of expectation path section (18).As an alternative, in other versions, drawing engine (102) and mobile drafting interface (120) it can be configured as section of progressively drawing and show paths when record draws the mobile drawing data of vehicle (50) (18).As shown in Fig. 4 the step of (210), drawing engine (102) be can be configured as when drawing vehicle (50) at two Record draws the gesture data of vehicle (50) when advancing between way point (12), to estimate the position of drafting vehicle (50).Together When, drawing engine (102), which can be configured as, draws vehicle (50) along the travel path section (18) passed through by tracking Movement is to generate mobile drawing data.

Any one of various positions tracking technique can be used for example can be hard with drafting vehicle (50) to track The movement of the integrated mobile drafting interface (120) of part and/or mobile computing device (110), to generate mobile drawing data.Only make For example, suitable position tracking technology can include but is not limited to vehicle mileage table or the tracking technique based on IMU, camera are auxiliary Help image or other machines vision technique, GPS technology, the RSSI tracking technique based on WiFi, RFID or other be based on sensor Data and positioning control system.For example, in one embodiment, it is opposite by the drafting vehicle (50) specified relative to user Dead reckoning is carried out to the mileage number recorded for drawing vehicle (50) in the position of environment (10), vehicle (50) are drawn in estimation Position and direction of travel coordinate, i.e. gesture data.

Once drawing vehicle (50) to advance to subsequent way point (12), mobile computing device (110) be can be configured as The graphical representation that passed through travel path section (18) is presented in way point display window (122), such as the step of Fig. 4 in (212) Shown in, wherein graphical representation is coated over way point (12) and draws in the expression of indicator (16).As described above, route segment (18) it is not shown in way point selection window (122), the expection of current path section (18) is reached until drawing vehicle (50) After final destination.However, in other embodiments, mobile computing device (110) can be configured as when drafting vehicle (50) the gradual graphical representation of passed through travel path section (18) is presented when advancing between way point (12).Warehouse environment (10) it is similarly displayed on way point display window (122), as shown in Figure 5 B.Warehouse environment (10) is represented as moving The dynamic pixel set drawn on interface (120) so that way point (12) by formation warehouse environment (10) expression display pixel The pixel being individually identified in set defines.Mobile draw interface (120) may include multiple display pixels.In some embodiments In, mobile draw interface (120) are configured as touch screen activation, allow users to and way point display window (122) It physically interacts and specifies the drafting indicator (16) at specific way point (12) to order via " way point number " (139) Position.When selection " record way point " (135) button, start recording draws the mobile drawing data of vehicle (50), and works as Fig. 4 the step of (214) again selection " record way point " (135) button when terminate the mobile drafting that record draws vehicle (50) Data.

Mobile computing device (110) is configured as the access during the drawing modification of warehouse drawing tool (100) and draws shape State data, so that mobile computing device (110) can be operated will draw status data and be presented to drawing for mobile drafting interface (120) Status indicator (132) processed.For example, as shown in Fig. 5 A- Fig. 5 J, draw status data " can be lived part by specified It is dynamic " graphical cues indicate warehouse drawing tool (100) during movable drawing path section (18), or by drawing " being partially completed " graphical cues are shown to indicate that warehouse drawing tool (100) is complete to user at status indicator (132) processed At drawing path section (18).It can be generated by drawing engine (102) and draw status data, i.e., above-mentioned graphical cues are described Graphical cues, which are sent to, draws status indicator (132).

As shown in Fig. 5 A- Fig. 5 B and Fig. 5 D- Fig. 5 E, mobile draw interface (120) can also be included in activity drafting meeting Gradual drafting feedback indicator (136) during words.Specifically, gradual drafting feedback indicator (136) (such as draws vehicle The Cumulative Distance and drafting vehicle that (50) advance along the travel path section (18) passed through are between two way points (12) The cumulative angle of traveling) it can be progressively shown in mobile draw on interface (120) for user's real time inspection.It such as below will more Detailed description, some or all of measurements shown in gradual drafting feedback indicator (136), which can be finally drawn, draws (102) are held up to be used to calculate the error metrology data shown on error metrics indicator (140) later.

In step (216), can be analyzed by drawing engine (102) with path optimizing section (18), thus creation first The optimal path section (18) extended between beginning way point (12) and subsequent way point (12), as shown in Fig. 5 B- Fig. 5 C.Especially Ground, drawing engine (102) considers the error metrology data recorded from the travel path section (18) passed through, so as to adjust in path The distance for the traveling undergone during section (18) and angular displacement are to generate optimal path section (18).As will be described in more detail, Drawing engine (102) is additionally configured to consider additional error metrology data when optimizing passed through travel path section (18).

In this case, such as the step of Fig. 4 shown in (218), warehouse drawing tool (100) presents to user and determines step Suddenly.Particularly, mobile draw interface (120) may include verifying portal (124), draw status indicator (132) and degree of error It measures indicator (140).People as being familiar with user interface, particularly graphic user interface will be understood that, here to including specific member The reference or description of the user interface of element do not require all elements visible simultaneously on the screen at the same.For example, identical user circle Face may include the different elements of Fig. 5 A and Fig. 5 C, though in these elements it is some may not simultaneously on the screen at the same may be used See.

Error metrics indicator (140) may include the operation in response to warehouse drawing tool (100) and capture various The graphical representation of data.Particularly, error metrics indicator (140) may include draw vehicle (50) way point (12) it Between transformation during by drawing engine (102) calculate error metrology data graphical representation.The graphical representation can be only The symbol of the digital representation of data itself, data indicates or the visually recognizable expression of any other type of data. Using the air route point data uploaded in drawing engine (102), drawing engine (102) can operate with by by air route point data with It is compared to execute error metrology data analysis from the mobile drawing data that vehicle (50) receive is drawn.In other words, it draws Engine (102) processed is configured as the position by that will move drawing data and the corresponding position of direction of travel coordinate and air route point data It sets and is compared to generate error metrology data with direction of travel coordinate, the error metrology data is finally by mobile computing device (110) it accesses and is shown from mobile drafting interface (120) to user.Drawing engine (102) passes through based on the path recorded Section (18) calculates error amount compared with the air route point data of environment (10) and generates error metrology data.

As best shown in Fig. 5 C- Fig. 5 J, error metrics indicator (140) may include multiple and different error metrics Field, including linearity error (142), direction of travel error (144), the distance (146) advanced, angular displacement (148).Error metrics Other appropriate combinations of data can be included on error metrics indicator (140).Linearity error (142) is configured as indicating Linear range between the beginning or end for the travel path section (18) passed through, for example, initial in way point (12) set The position coordinates of way point (12) and the selected way point (12) identified by user via mobile drafting interface (120). Direction of travel error (144) can be configured as the traveling side at the beginning or end for indicating passed through travel path section (18) To measured value, for example, the initial way point (12) in way point (12) set and the selected way point by user's identification (12) direction of travel coordinate.The distance (146) of traveling can be configured as instruction drafting vehicle (50) and be passed through along current Travel path section (18) generate accumulation travel distance.Angular displacement (148) can be configured as instruction mapping vehicle (50) edge The accumulation angular displacement of the travel path section (18) specifically passed through.

The error metrology data shown on error metrics indicator (140) may include quantitative ingredient (as described above) and Qualitative ingredient, as shown in Figure 5 C.For example, when error amount calculated is more than predetermined threshold, error metrics instruction It accords with (140) and quantificational expression is provided in the form of the digital representation of error amount (142,144,146,148).Additionally or alternatively, When error amount is more than predetermined threshold, error metrics indicator (140) can be alert with the color in error metrics indicator (140) The form of (150) is reported to provide qualitative representation.Color alarm (150) in error metrics indicator (140) may include background face Other on interface (120) are drawn in the change of color, the repetition flashing (for example, red background color of flashing) of color, or movement Visual indicator.In this case, as shown in Figure 5 C, it is more than predetermined threshold that error metrics indicator (140), which lacks instruction, The qualitative representation of the error amount (142,144,146,148) of value, so that user is apprised of quantitative ingredient (142,144,146,148) All within the acceptable thresholds of air route point data.Therefore, user will seek to receive road generated Fig. 4 the step of (218) Diameter section (18).

In order to achieve this, user accesses the mobile verifying portal (124) for drawing interface (120).As in Fig. 5 C- Fig. 5 J most Shown in good ground, verifying portal (124) may include multiple touch screen active elements (126,128,130), draw for mobile The user of interface (120) uses when operating warehouse drawing tool (100).In this example, multiple active elements (126,128, It 130) may include " receiving " button (126), " refusal " button (128) and " changing way point " button (130).Button (126, 128,130) it is configured as: true when checking the error metrology data via error metrics indicator (140) offer according to user The route segment (18) for determining precedence record is fully drawn, and receiving, refusal or change air route dot command are transmitted to shifting respectively It is dynamic to calculate equipment (110).In other words, user can consider according to showing on error metrics indicator (140) for user Data designate whether to receive, refuse or change the appropriate true of the route segment (18) recorded recently via button (126,128,130) It is fixed.Therefore, verifying portal (124) is configured as " receiving ", " refusal " and " changing way point " order being transmitted to shifting from user It is dynamic to calculate equipment (110).In addition, drawing engine (102) is configured as cooperating with verifying portal (124) based on error metrics number It is suggested that inputting corresponding order.In some versions, verifying portal (124) may include audio interface, the audio interface quilt It is configured to transmit with oral form and receives, refuses and/or change air route dot command, allowing users to will be right by verbal order The adequacy of the route segment recorded recently determines that (18) are passed to mobile computing device (110).

In this case, user receives route segment (18) in step (220), thus storing path section (18).Drafting is drawn It holds up (102) and is configured as processing via mobile computing device (110) from the mobile order drawing interface (120) and transmitting, thus base It is returned in the order for being transmitted to drawing engine (102) to mobile computing device (110) and indicates passed through travel path section (18) Proofing state instruction.Therefore, the shape (for example, color, pattern, visibility, transparency etc.) of route segment (18) can root Difference on interface (120) is drawn mobile according to the order received by drawing engine (102).Mobile computing device (110) can be with The reality that the travel path section (18) that will be passed through that is configured to respond to take orders is rendered as in way point display window (122) Line.It should be appreciated that the travel path section (18) passed through can be estimated in environment (10) based on vehicle (50) are drawn Travel path and being shown as changes the lines of complexity, including but not limited to simple straight line or curve or straight line, curve and The more complicated combination of irregular lines.

When implementing the concept of the disclosure, it is notable that some drafting tasks may relate to draw entire warehouse ring Border, and other drafting tasks only may need to draw a part of environment, for example, having selected by one group in the warehouse in multiple passageways The passageway selected.In the example for only drawing one group of selected passageway, way point can be identified for these selected passageways, It excludes to identify way point for other passageways in warehouse environment simultaneously.With reference to step (222), if still to draw environment (10) the other way point (12) in, then user selects " receiving " button (126), to activate new drafting session, such as schemes Shown in 5D.In this case, user needs to identify next way point (12), starts new road for drawing vehicle (50) Diameter section (18), such as the step of Fig. 4 as shown in (224).In this example shown in figure 5d, user will terminate previous route segment (18) previous subsequent way point (12) is selected as the new initial way point (12) of new route section (18).In this case, it draws The draw data of engine (102) processed collects logic (200) and returns to step (210), to execute again for new route section (18) The sequence of operation.In the case where expectations section (10) for drawing warehouse environment are completed in user, or work as warehouse environment (10) quilt When drawing completely, such determination is input in mobile drafting interface (120) by user, thus via mobile computing device (110) drawing engine (102) are sent by end sequence, such as the step of Fig. 4 shown in (226).

Fig. 5 E, which is shown, draws the subsequent way point (12) that vehicle (50) reach new route section (18).Fig. 5 F shows user The subsequent way point different from vehicle (50) end reality subsequent way point (12) of route segment (18) is drawn is identified unintentionally (12) the case where.Drawing engine (102) indicates to draw vehicle (50) at the end for the travel path section (18) passed through by calculating Linearization error value (142) Lai Shengcheng error metrics of linear range between point and the position coordinates of selected way point (12) Data.Drawing engine (102) also generates direction of travel error amount (144), and direction of travel error amount is indicated in the traveling passed through The direction of travel measured value of the drafting vehicle (50) of the terminal point of route segment (18) and the traveling side of selected way point (18) To the differential seat angle between coordinate.In addition, drawing engine (102), which can be configured as, is drawing vehicle (50) along route segment (18) The distance (146) and angular displacement (148) of the traveling of calculating and plotting vehicle (50) when traveling.The distance value (146) of traveling indicates tired The distance that product is advanced, and value of angular displacement (148) indicates accumulation angular displacement.

As briefly described above, drawing engine (102) can be additionally configured to generate error message, draw as in movement A part of the error metrology data shown on the error metrics indicator (140) of interface (120) processed.Particularly, drawing engine (102) it can be programmed to predetermined threshold of the storage for one or more of each error metrology data value, so that drawing Interface is drawn by mobile when engine (102) can be operated with one in error metrology data value more than corresponding threshold value (120) it indicates to the user that.The form of vision, the form of the sense of hearing be can be by the error message that drawing engine (102) generate or fitted Together in the other forms for alerting error message to user.As shown in Fig. 5 F, the mobile error metrics instruction for drawing interface (120) Symbol (140) may include the error message for the form that visually indicates, wherein the linearity error (142) calculated by drawing engine (102) More than the predictive error threshold value for being used for specific way point (12), known at the specific way point (12) wherein drawing vehicle (50) Not.In this case, movement appropriate is determined via button (126,128,130) by verifying portal (124) prompt user.In In some versions, drawing engine (102) is configured as refusing note recently automatically when being more than the one or more in error threshold The route segment (18) of record.In contrast, drawing engine (102) can be additionally configured to when no error metrology data (142, 144, route segment (18) 146,148) are automatically accepted when being more than respective threshold.

Linearity error (142) and color alarm are provided using the mobile error metrics indicator (140) for drawing interface (120) (150), it is the appropriate option considered Fig. 4 the step of at (218) that user, which may determine refusal or change way point,.In Fig. 5 G Shown, " changing way point " button in verifying portal (124) can be configured as the active session of restoration path section (18), from And allows user to continue operation and draw vehicle (50) and/or identify different subsequent way points (12) as drafting vehicle (50) Correct terminal, such as the step of Fig. 4 as shown in (228).In other words, drawing engine (102) is configured to respond to based on error Metric data transmission changes air route dot command to register the new way point (12) for generation.

In this case, as shown in Fig. 5 H, user provides accidentally the selection of different subsequent way points (12) Updated error metrology data at difference metric indicator (140), so that drawing engine (102) is again using different Way point (12) data are analyzed to calculate.If lacked indicated by color alarm (150) at error metrics indicator (140), use Error amount (142,144,146,148) is apprised of within its corresponding threshold value in family.Therefore, it is selected in verifying portal (124) " receiving " button (126) will provide the receiving to current path section (18) and the starting of new route section (18).It should be appreciated that drawing The draw data of engine (102) collects logic (200) and is configured such that new route section (18) can be automatically started, In previous subsequent way point (12) be identified as the new initial way point (12) of the route segment (18) for newly starting.

Fig. 5 I is shown indicates that the drafting indicator (16) for drawing vehicle (50) is more than on way point display window (122) Subsequent way point (12) terminates so that new route section (18) exceeds except subsequent way point (12).It continues a journey after selection waypoint (12) when terminal as route segment (18), drawing engine (102) is by will be from the mobile drafting number drawing vehicle (50) and retrieving Calculating error metrology data is compared to according to the air route point data before alerting error to user.By accessing warehouse ring The air route point data in border (10) and both the mobile drawing datas for drawing vehicle (50), mobile computing device (110) can operate with Access the error metrology data generated by drawing engine (102).Error metrology data may include that will move for accuracy Drawing data and air route point data compare together.Particularly, by by user in travel path section (18) phase passed through Between be appointed as drawing position and orientation and the root of the way point (12) of the initial position of vehicle (50) and stop position identified It is compared according to the position and orientation of the drafting vehicle (50) of the mobile drawing data recorded, the air route point data about upload Analyze mobile drawing data.Once calculating error metrology data, mobile computing device (110) quilt by drawing engine (102) It is configured to that the graphical representation of error metrology data is presented on interface (120) for customer analysis in mobile draw.In such case Under, at the end of each route segment (18), mobile computing device (110) is configured as indicating on interface (120) in mobile draw The proofing state for the route segment (18) being newly generated, so that user checks and responds via verifying portal (124).

As shown in Fig. 5 J, error metrics indicator (140) may include multiple alarms, including linearity error (142), row Instruction into deflection error (144), the distance (146) advanced, angular displacement (148) is all more than its predetermined threshold respectively.Alarm into One step is indicated by color alarm (150).In this case, drawing engine (102) is configured as modification about initial way point (12) orientation of route segment (18), to be subsequent as close possible to what is identified by the terminal repositioning of route segment (18) Way point (12) is sent to the mobile drawing data of drawing engine (102) without modifying from drafting vehicle (50), and the data are for example It may include the length and configuration of route segment (18).

In this case, as best shown in Fig. 6-Fig. 7, above-mentioned drawing engine can be configured as calculating straight line Angular error (108) between vector (109) and optimal path section (20).Particularly, straight line vector (109) is in initial way point (12) extend between the terminal of travel path section (18) that is passed through.Optimal path section (20) is in initial way point (12) and quilt User is identified as extending between the subsequent way point (12') of the terminal of passed through travel path section.In this case, it draws Engine is configured as correcting passed through travel path section (18) to consider angular error calculated (108), so that road The terminal of diameter section (18) can be relocated with the distance of the traveling in the preferably approximate travel path section (18) passed through And angular displacement.As shown in Figure 7, determine after this permission correction of drawing engine based on the drafting indicator (16) in warehouse environment Above-mentioned linearity error (142) and direction of travel error (144) at calculated for subsequent way point (12') are come in position.

In other words, drawing engine carrys out path optimizing section by using the sensor input from mobile drawing data (18), to calculate on the travel path (18) passed through when being converted to subsequent way point (12') from initial way point (12) Angular error.Drawing engine is configured as thus combining angular error calculated with path optimizing section with mileometer measured value (18), which may include assuming as follows: at initial way point (12), drawing to exist in the initial direction of travel of vehicle and survey Measure error.Therefore, it is possible to use angular error (108) draws vehicle (50) initial row at initial way point (12) to correct Into direction, to calculate ideal starting direction of travel, the traveling that the ideal starting direction of travel can will draw vehicle and be passed through The terminal of route segment (18) is positioned to as close possible to the subsequent way point (12') identified.It should be appreciated that described above excellent Change processing does not need the accumulation travel distance for being related to modification drafting vehicle (50) or accumulation travel angle, but can only be used only Correction to starting direction of travel coordinate of the vehicle at initial way point (12) is drawn.

In this case, although optimizing route segment (18), the terminal for the travel path section (18) passed through is still More than the subsequent way point (12) identified, thus provide seen at error metrics indicator (140) error amount (142, 144,146,148), as shown in Fig. 5 J.Therefore, Fig. 4 the step of (218), user may will be in verifying portal (124) " refusal " button (128) is identified as recording being suitably determined for passed through travel path section (18).In such case Under, it as shown in step (230), abandons route segment (18), so that must will draw vehicle is repositioned onto next initial air route Point (12), to start new route segment (18), such as the step of Fig. 4 shown in (232).As shown in Fig. 5 J, the route segment of discarding (18) it can keep visible on the mobile way point display window (122) for drawing interface (120).As an alternative, mobile draw connects Mouth (120) is configured such that the route segment (18) of discarding changes color, pattern, transparency, or is completely removed, with The shape of the route segment (18) of discarding is distinguished relative to the route segment (18) for the receiving being shown on way point display window (122) State.Other can be used and suitably visually indicates the route segment (18) to identify the discarding on way point display window (122).

Drawing tool above is discussed in more detail below, and can be used to define the travel path in industrial environment, should Travel path can use the vehicle that environment navigates in a manner of complete or is semi-autonomous.Drawing tool presented herein Paint environment is realized, without carrying out extensive environment survey or a large amount of modifications or addition to environment itself.It is given effective This can be used in the set of travel path section or travel path section continuously or discontinuously, complete or partial autonomous industrial vehicle A little sections come navigated, positioned, mileometer correction and relevant to the position of industrial vehicle or direction of travel other kinds of Operation.

It should be noted that " being configured " in a specific way or " being programmed " is to embody particular community or rise in a specific way herein The narration of the component of the disclosure of effect is structural narration, opposite with the narration of desired use.More specifically, herein to group The reference of the mode of part " being configured " or " being programmed " indicates the existing physical condition of component, and therefore, will be considered as component Structure feature clearly narration.

Describe the theme of the disclosure in detail and by reference to its specific embodiment, it should be noted that be disclosed herein Various details be not construed as implying that these details are related to the element of the necessary component as various embodiments described herein, Even if being also such in the case where each of appended by this specification shown in the drawings of particular element.It is further obvious that In Without departing from the scope of this disclosure, modifications and variations are possible, are including but not limited to limited in the following claims Fixed embodiment.More specifically, although some aspects of the disclosure be identified as herein it is preferred or particularly advantageous, It is it is conceivable, that the disclosure is not necessarily limited to these aspects.

It should be noted that one or more claims in following following claims are using term " wherein " as transition phrase. For the definition purpose of the present invention, it should be noted that the term is introduced as open transition phrase in the claims, which uses Come introduce structure series of features narration, and should be interpreted more common open leading art in a similar way Language "comprising".