CN110398955B - Moving method of moving target in intelligent factory and method for moving target on highway - Google Patents
Moving method of moving target in intelligent factory and method for moving target on highway Download PDFInfo
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Abstract
The invention discloses an intelligent moving method of a moving target in an intelligent factory, which comprises the following steps: carrying out information interaction between the information platform and each moving target to obtain a moving route of each moving target; the information platform carries out information interaction with a plurality of induction ends distributed in the intelligent factory, obtains a revised moving route of the moving target after real-time revision according to the environment information and the induction end position coordinates of the moving route detected by the induction ends in real time, and guides the moving target to move in the intelligent factory; when moving, each moving target interacts with all induction ends within the set safety range of the moving target in real time, so that each induction end guides the moving target to move safely in real time according to the detected local environment information and the position coordinate of the induction end, and the moving target is guided to move safely until the target address is reached and a preset task is executed. The method of the invention ensures that the mobile target is accurately positioned when moving in the intelligent factory, and improves the moving efficiency; in addition, a method of moving on a highway is also provided.
Description
Technical Field
The invention relates to the technical field of logistics, in particular to an intelligent moving method for a moving target in an intelligent factory and a method for moving the moving target on a highway.
Background
At present, in the mill in the commodity circulation field, automatic transportation equipment uses more and more extensively, and the removal of transportation equipment and location technique are more accurate, and the home range of transportation equipment is big more, but, in the intelligent factory of prior art, because the location is inaccurate when transportation equipment removes, can not realize the intelligent transportation of transportation equipment, reduce the conveying efficiency in the intelligent factory, simultaneously, cause a plurality of transportation equipment that coexist simultaneously in the intelligent factory can not high-efficient cooperation to remove, reduce efficiency.
Disclosure of Invention
The invention aims to solve the problems and provides an intelligent moving method for moving a moving target in an intelligent factory, so that the moving target is accurately positioned when moving in the intelligent factory, and the moving efficiency is improved; in addition, a method for moving the moving target on the highway is also provided.
To achieve the above object, an aspect of the present invention provides an intelligent moving method for moving an object in an intelligent factory, including:
the information platform carries out information interaction with each moving target moving in the intelligent factory so that the information platform can obtain a moving route of each moving target according to a target address set by each moving target;
after the moving route of each moving target is obtained, the information platform carries out information interaction with a plurality of induction ends distributed in an intelligent factory, so that the information platform obtains a revised moving route of each moving target after real-time revision according to the environment information of each moving route and the position coordinates of the induction ends detected by the induction ends in real time;
guiding the moving targets to move in the intelligent factory according to the revised moving route of each moving target;
when the moving target moves in the intelligent factory, real-time interaction is carried out between each moving target and all induction ends of the moving target within a set safety range, so that each induction end can guide the moving target to safely move within the set safety range in real time according to the detected local environment information and the position coordinates of the induction end in the set safety range until the moving target reaches a target address and executes a preset task.
Further, the method also comprises the following steps:
when the moving target moves in the intelligent factory, detecting the moving target through a sensing end through which the moving target passes so as to obtain current state information about the current speed and the current posture of the moving target;
and guiding the moving target to safely move in real time through the current state information of the moving target and the local environment information of the moving target within the set safety range.
Preferably, the guiding the moving target to safely move in real time according to the current state information of the moving target and the local environment information of the moving target within the set safety range includes:
the induction terminal sends the detected current state information of the moving target to the information platform;
the information platform analyzes and processes the current state information of the moving target to obtain expected state information about expected speed and expected posture when the moving target passes through a set safety range;
the mobile target safely moves to the target address under the guidance of the expected state information and the local environment information.
Preferably, the moving of the moving target under the guidance of the expected state information and the local environment information comprises:
when the local environment information indicates that the road ahead is not available, the moving target moves according to the expected state information so as to decelerate in advance and/or change the driving route;
when the local environment information indicates that the front road is communicated with the vehicle but has an obstacle, the moving target moves according to the expected state information so as to decelerate in advance and/or change the driving lane;
and when the local environment information indicates that the road in front is smooth, the moving target continues to run according to the current state information.
Preferably, when the moving object moves in the intelligent factory, if other moving objects appear in the set safety range of the moving object, information interaction is performed among all moving objects, so that all moving objects move safely.
Preferably, information interaction is carried out among all moving targets, and instantaneous interaction about the minimum safe distance is carried out among a plurality of moving targets which are close to each other, so that collision is prevented.
Preferably, when the plurality of revised moving routes guiding all the moving targets to move in the intelligent factory have intersections, the information platform analyzes and processes the moving speeds and postures of the plurality of moving targets to pass through the intersections to obtain information about the moving speeds and postures guiding the plurality of moving targets to move, so that the plurality of moving targets are subjected to time sequence control and collision avoidance.
Preferably, after the moving target reaches the target address, the moving target is detected in place through a sensing end arranged at the target address, detected in-place information is sent to an information platform, and the information platform sends an instruction to enable the moving target to execute a preset task according to the in-place information.
Preferably, the moving object performs predetermined tasks including, but not limited to, precisely positioning, picking or dropping materials from the intelligent factory storage area, assembling or checking work in cooperation with other moving objects.
In addition, the invention also provides a method for moving the moving target on the highway, which comprises the following steps:
the information platform carries out information interaction with each moving target moving on the highway, so that the information platform obtains the moving route of each moving target according to the target address set by each moving target;
after the moving route of each moving target is obtained, the information platform carries out information interaction with a plurality of induction ends distributed on a highway, so that the information platform obtains a revised moving route of each moving target after real-time revision according to the environment information of each moving route and the position coordinates of the induction ends detected by the induction ends in real time;
guiding the moving target to move on the road according to the revised moving route of each moving target;
when the moving target moves on the highway, each moving target interacts with all induction ends within the set safety range of the moving target in real time, so that each induction end guides the moving target to safely move within the set safety range in real time according to the detected local environment information and the position coordinates of the induction end in the set safety range until the moving target reaches the target address.
Further, the method also comprises the following steps:
when the moving target moves on a highway, detecting the moving target through a sensing end through which the moving target passes so as to obtain current state information about the current speed and the current posture of the moving target;
and guiding the moving target to safely move in real time through the current state information of the moving target and the local environment information of the moving target within the set safety range.
Preferably, the guiding the moving target to safely move in real time according to the current state information of the moving target and the local environment information of the moving target within the set safety range includes:
the induction terminal sends the detected current state information of the moving target to the information platform;
the information platform analyzes and processes the current state information of the moving target to obtain expected state information about expected speed and expected posture when the moving target passes through a set safety range;
the mobile target safely moves to the target address under the guidance of the expected state information and the local environment information.
Preferably, the moving of the moving target under the guidance of the expected state information and the local environment information comprises:
when the local environment information indicates that the road ahead is not available, the moving target moves according to the expected state information so as to decelerate in advance and/or change the driving route;
when the local environment information indicates that the front road is communicated with the vehicle but has an obstacle, the moving target moves according to the expected state information so as to decelerate in advance and/or change the driving lane;
and when the local environment information indicates that the road in front is smooth, the moving target continues to run according to the current state information.
Preferably, when the moving target moves on the highway, if other moving targets appear in the set safety range of the moving target, information interaction is performed among all moving targets, so that all moving targets move safely.
Preferably, information interaction is carried out among all moving objects, and instantaneous interaction about the minimum safe distance is carried out among a plurality of moving objects which are close to each other so as to prevent collision.
Preferably, when the plurality of revised moving routes guiding all the moving targets to move on the highway have intersections, the information platform analyzes and processes the moving speeds and postures of the plurality of moving targets to pass through the intersections to obtain information about the moving speeds and postures guiding the plurality of moving targets to move, so that the plurality of moving targets are subjected to time sequence control and collision avoidance.
Preferably, after the moving target reaches the target address, the moving target is detected in place through a sensing terminal arranged at the target address.
Compared with the prior art, the intelligent moving method of the moving target in the intelligent factory and the method for moving the moving target on the highway have the following advantages:
1. according to the method, when the moving target moves in the intelligent factory or on the road, the moving target can be guided in real time to revise the moving route according to the environment in the intelligent factory or on the road, so that the moving target can move quickly and be positioned accurately, and the moving efficiency is improved.
2. According to the method, multiple moving targets can move in parallel at the same time in an intelligent factory or on a road, the multiple moving targets can run quickly and are positioned accurately, sequential control and collision avoidance can be achieved for the multiple moving targets, and moving efficiency is improved;
3. the method of the invention can not collide among a plurality of moving targets moving in the intelligent factory, thereby improving the moving safety, and the plurality of moving targets can be matched with each other to complete the preset task. The present invention will be described in detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a flow chart of a method of intelligent movement of moving objects within an intelligent plant of the present invention;
FIG. 2 is a schematic diagram of the architecture of a system for the intelligent mobility method of the present invention;
fig. 3 is a flow chart of a method of moving a moving object on a highway according to the present invention.
Detailed Description
As shown in fig. 1, which is a flowchart of an intelligent moving method for moving objects in an intelligent factory according to the present invention, it can be seen that the intelligent moving method includes:
the information platform carries out information interaction with each moving target moving in the intelligent factory, so that the information platform obtains the moving route of each moving target according to the target address set by each moving target;
after the moving route of each moving target is obtained, the information platform carries out information interaction with a plurality of induction ends distributed in an intelligent factory, so that the information platform obtains a revised moving route of each moving target after real-time revision according to the environment information of each moving route and the position coordinates of the induction ends detected by the induction ends in real time;
guiding the moving targets to move in the intelligent factory according to the revised moving route of each moving target;
when the moving target moves in the intelligent factory, real-time interaction is carried out between each moving target and all induction ends in the set safety range of the moving target, so that each induction end guides the moving target to safely move in the set safety range in real time according to the detected local environment information and the position coordinates of the induction end in the set safety range until the moving target reaches a target address and executes a preset task.
Specifically, the intelligent moving method of the moving target in the intelligent factory comprises the following steps:
s01, information interaction is carried out between the information platform and each moving target moving in the intelligent factory, so that the information platform can obtain a moving route of each moving target according to a target address set by each moving target
There are multiple moving objects in the physical space of the intelligent factory, each moving object has its own moving object address and predetermined task. The information platform and each mobile target can be connected through a wireless network in the prior art or through a private network so as to carry out information interaction.
When a plurality of moving targets move in the intelligent factory at the same time, information interaction is carried out between the information platform and each moving target.
The information platform can send different work tasks to different moving targets in a classified and ordered mode, wherein the work tasks comprise target addresses of the moving targets, work contents (namely, scheduled tasks) after the target addresses are reached, and report verification after work is completed. And the information platform calculates the moving route of each moving target according to the target address of each moving target.
Or, each moving object can send the set object address and the preset task to the information platform, and the information platform calculates the moving route of each moving object according to the received object address of each moving object.
S02, after the moving route of each moving target is obtained, the information platform carries out information interaction with a plurality of induction ends distributed in an intelligent factory, so that the information platform obtains the revised moving route of each moving target after being revised in real time according to the environment information of each moving route and the position coordinates of the induction ends, which are detected by the induction ends in real time
In the physical space of intelligent factory, a plurality of induction ends are distributed, a plurality of induction ends form an induction end distribution diagram arranged in a matrix, a plurality of induction ends form a surface and/or an individual real-time detection for the surrounding environment, the detected environmental information and the position coordinates of the induction ends are sent to the information platform in real time, the information platform guides the moving target to move according to the received information, and meanwhile, each induction end executes corresponding actions according to the instruction sent by the information platform. In addition, the sensing end can also detect the state information of the moving target and perform information interaction with the moving target. After the information platform obtains the moving route of each moving target, the information platform carries out information interaction with a plurality of induction ends distributed in a physical space, so that the plurality of induction ends carry out real-time detection on the surrounding environment of the moving route of each moving target, the detected environment information and the position coordinates of each involved induction end are sent to the information platform, and the information platform calculates the revised moving route of each moving target after real-time revision according to the environment information and the position coordinates.
When the sensing terminals are arranged, the sensing terminals are distributed in all physical spaces, through which the moving target may pass, in three directions of XYZ, and the number of the sensing terminals is increased at any set temporary parking position or final parking position (i.e., target address). The installation position of the sensing end in the physical space is determined according to the set position coordinate values, the real-time position of the moving target in the moving process is detected through the sensing end at the position coordinate values, and then the real-time route map for guiding the moving target to move is generated according to the information detected by the sensing end. In other words, the present application guides the real-time moving route of the moving object moving in the physical space (the real-time moving route is a revised moving route revised in real time) through the position coordinates of the sensing terminals distributed in the physical space and the detected real-time environment information, so that the moving method of the present application is different from the navigation method in the prior art, the mobility and flexibility of the moving object are greatly improved, and the positioning accuracy is improved.
The environment information includes, but is not limited to, traffic information of the moving route.
For example, if the environmental information sent to the information platform by the sensing terminal indicates that the moving route of a certain moving target is unfavorable for moving the moving target, the information platform automatically detects the environmental information on other routes which may reach the target address in real time through other sensing terminals, and obtains a revised moving route which is favorable for moving the moving target. On the contrary, if the environmental information indicates that the moving route is favorable for moving, the moving target takes the original moving route as the revised moving route.
It should be noted that, the revised moving route is a real-time revised moving route, when the moving target moves along the revised moving route, the sensing terminal in the physical space feeds back the environmental information to the information platform in real time and revises the moving route in real time, and the real-time revised moving route is used as the revised moving route when the moving target is guided to move next step.
S03, guiding the moving targets to move in the intelligent factory according to the revised moving route of each moving target
And after the information platform obtains the revised moving route, guiding the moving target to move in the intelligent factory through the revised moving route.
S04, when the moving target moves in the intelligent factory, real-time interaction is carried out between each moving target and all induction ends of the moving target within the set safety range, so that each induction end can guide the moving target to safely move within the set safety range in real time according to the detected local environment information and the position coordinates of the induction end in the set safety range until the moving target reaches the target address and executes a preset task
When each moving object moves in the physical space, a continuously set safety range exists around the moving object, and the set safety range can be an area which is more than 50 meters and less than 500 meters away from the moving object around the moving object. When the moving target moves, each moving target interacts with all induction ends in the set safety range of the moving target in real time, so that all the induction ends transmit the detected local environment information in the set safety range to the moving target in real time, and the moving of the moving target is guided according to the local environment information.
Meanwhile, when the moving target moves, the moving target is detected through the sensing terminal through which the moving target currently passes, so that current state information about the current speed and the current posture of the moving target is obtained. And the moving target guides the moving target to safely move in real time through the current state information of the moving target and the local environment information of the moving target within the set safety range.
Specifically, the real-time guiding of the safe movement of the moving target by the current state information of the moving target and the local environment information of the moving target within the set safe range includes:
the sensing end sends the detected current state information of the moving target to the information platform, wherein the current state information comprises the current speed and the current posture of the moving target, and the current posture comprises but is not limited to whether the moving target inclines or not, the inclination angle and the like;
the information platform analyzes and processes the current state information of the moving target to obtain expected state information about expected speed and expected posture when the moving target passes through a set safety range;
and the mobile target safely moves to the target address under the guidance of the expected state information and the local environment information and executes a preset task.
Wherein the moving of the moving target under the guidance of the expected state information and the local environment information comprises:
when the local environment information indicates that the front road is not available, the moving target moves according to the expected state information so as to decelerate in advance and/or change the driving route;
when the local environment information indicates that the front road is communicated with the vehicle but has an obstacle, the moving target moves according to the expected state information so as to decelerate in advance and/or change the driving lane;
and when the local environment information indicates that the road in front is smooth, the moving target continues to run according to the current state information.
When the moving target moves in the physical space, if other moving targets appear in the set safety range of the moving target, information interaction is carried out among all the moving targets, so that all the moving targets can move safely. And performing information interaction among all the moving targets, including instantaneous interaction between a plurality of moving targets which are close to each other and related to the minimum safety distance, so as to prevent collision until the moving targets are out of the specified set safety range. The instant interaction among a plurality of mobile targets can be realized through the existing wireless network, such as a mobile network, or Bluetooth and the like. The moving target may be mounted with a distance detecting element for warning a minimum safe distance to other objects, which may employ existing elements.
When intersections exist among a plurality of revised moving routes guiding all moving targets to move in a physical space of the intelligent factory, the information platform analyzes and processes moving speeds and postures of the plurality of moving targets to pass through the intersections to obtain information about the moving speeds and postures guiding the plurality of moving targets to move, so that the plurality of moving targets are subjected to time sequence control and collision avoidance.
After the moving target safely reaches the target address under the assistance of the sensor, the moving target is detected in place through the sensing end arranged at the target address, the detected in-place information is sent to the information platform, the information platform sends an instruction enabling the moving target to execute a preset task to the moving target according to the in-place information, and the moving target executes the preset task according to the instruction. The moving object performs predetermined tasks including, but not limited to, precisely positioning, grabbing or dropping material from the intelligent factory storage area, and performing assembly or inspection work in cooperation with other moving objects.
The method of the present invention will be described below by taking an example in which an AGV capable of executing various manual operations moves in a physical space of an intelligent factory and completes a production task.
The method comprises the following steps of arranging a plurality of sensing ends along the XYZ direction in a physical space of the intelligent factory, wherein when the sensing ends are arranged, the sensing ends are distributed in all the physical spaces which a moving target may pass through in the three XYZ directions, and the number of the sensing ends is increased at any set temporary parking position or final parking position (namely target address). Wherein, all positions that AGV can berth adopt the response end that has range finding sensor and/or speed sensor and/or vision capture and/or positioning sensor, and the position that can not berth can only use the response end that has speed sensor and/or vision capture.
When the AGV enters the physical space, the information interaction is carried out with the information platform, and the information platform generates a moving route for guiding the AGV to move according to the target address of the AGV (namely the position of the AGV to be parked).
After the moving route is obtained, the information platform revises the moving route in real time according to the real-time environment information fed back by each induction end and the position coordinates of each induction end to obtain a real-time dynamic revised moving route, and the AGV walks according to the real-time revised moving route.
Guiding the moving targets to move in the intelligent factory according to the revised moving route of each moving target;
when the moving target moves in the intelligent factory, real-time interaction is carried out between each moving target and all induction ends of the moving target within a set safety range, so that each induction end can guide the moving target to safely move within the set safety range in real time according to the detected local environment information and the position coordinates of the induction end in the set safety range until the moving target reaches a target address and executes a preset task.
Wherein, when the AGV was first started, the accurate position of AGV was confirmed through the response end (if through the sensor of settling on the response end) that sets up in AGV stop department. In the process that the AGV travels according to the real-time revised moving route, each sensing end in a set range is adopted to detect the position of the AGV in real time (for example, the position of the AGV is captured through vision), each sensing end generates a real-time route map which connects each sensing end together according to detected local environment information and position coordinates of each sensing end, and the AGV is guided to move in real time through the route indicated by the position coordinates of each sensing end on the real-time route map. The sensing end at the position where the vehicle passes by without stopping during moving can only have a visual capture function without a distance measuring sensor, and the passing position does not require the positioning precision of the AGV, so the required positioning precision can be achieved only by the positioning element of the AGV.
Wherein, at AGV walking in-process, each response end is except real-time detection AGV's positional information, information such as the speed of real-time detection AGV, and each response end sends information such as environmental information, AGV speed, position, gesture to information platform, and information platform keeps real-time interaction with between the AGV after handling these information analysis, makes AGV continue to move along the moving route of revising in real time. When the AGV reaches the designated parking position, the AGV interacts with the sensing end around the parking position, and the AGV is accurately positioned through the sensor on the sensing end and the image recognition contrast. Meanwhile, the information platform calculates and processes images and data acquired by a plurality of induction ends of the AGV stopping position and interacts with the AGV, so that the AGV can correct the position, speed and posture of the AGV and realize accurate positioning. If the AGV reaches the designated position, the cooperation between the plurality of induction ends and the AGV is used for acquiring whether the AGV inclines or does not incline, whether the AGV advances more or advances less, if the AGV inclines, the AGV is guided to be aligned, the AGV is guided to move backwards if the AGV advances more, and the AGV is guided to move forwards if the AGV advances less, so that the AGV is accurately positioned and adjusted in posture. Each sensing end and the information platform interact in a two-way mode to indicate whether obstacles exist on the real-time moving route or not and whether the sensing end is normal or not. Bidirectional interaction between the information platform and the AGV: interacting a target address of the AGV moving and guiding a dynamic moving route of the AGV moving so that the AGV can move according to the dynamic route; and (4) interacting the related information of the moving route so as to lead the AGV to decelerate or accelerate in advance, detour in advance and the like.
And bidirectional interaction is also carried out between the AGV and the induction end. A large amount of AGV are arranged in a workshop of an intelligent factory, the plurality of AGV realize the movement of any place and any position, and the AGV needs to be accurately positioned after moving to a target address. When multiple AGVs move in a workshop, multiple movement routes for guiding the multiple AGVs to move intersect. Correspondingly, each induction end in the range related to one or more real-time dynamic moving routes interacts with the information platform in real time until the AGV passes through the induction end at the intersection position. For example, the information platform may direct an AGV to advance within a certain range (e.g., two or five meters) from a plurality of AGVs (e.g., two AGVs) to the intersection, thereby avoiding the problem of collision or waiting at the intersection. Meanwhile, collision avoidance measures are also arranged between two adjacent AGVs, each AGV has an instruction to guide the AGV, and a verification is arranged between the two AGVs, so that the two AGVs do not arrive at the same place at the same time, and the collision between the two AGVs is avoided.
A plurality of AGVs can detect state information through the induction end at the station where each AGV arrives, and send the information to the information platform, and the AGV can not collide through the operation of the information platform.
If collision is about to occur or the safety distance is exceeded between the two AGVs, the computer carried by the AGVs rapidly processes the information and then stops temporarily or bypasses to give way so as to prevent collision. In other words, there is an instant interaction between the AGVs, and after the interaction is completed, the AGVs will be stopped or detoured, or braked or accelerated, and fed back to the information platform.
The AGV can be controlled by a pulse signal, the AGV is guided to move by an information platform for managing the position coordinates of the induction end, and the precision correction of the position, the speed and the posture is carried out by the interaction with the induction end of the stop point. The system for intelligently moving the moving target in the intelligent factory uses the physical space in the intelligent factory as a range boundary to realize the real-time management of the position, the moving process and the executed preset task of the moving target in the range. As shown in FIG. 2, the system comprises m moving objects, an information platform and n sensing terminals arranged in a physical space.
The moving target may be a person, various mobile robot devices, and the like, and currently mainly refers to an intelligent AGV capable of executing various human hand actions. The plurality of sensing ends are arranged in a physical space and are arranged at different fixed positions, and the plurality of sensing ends can realize real-time detection, transmission and information receiving. The information platform is a platform for realizing real-time uploading, issuing and coordination information in a defined physical space, and forms a physical double-closed-loop platform for realizing real-time acquisition, uploading, issuing and coordination information with a plurality of induction terminals.
The mobile target is provided with a data end interaction device capable of sending and receiving information, and the data end interaction device can be in real time and mutually connected with the information platform and a plurality of induction ends distributed in a physical space. The interaction method may employ a prior art method.
The moving target can move freely in a physical space, can respond to the information platform in real time, dynamically adjust the speed in real time, and has a large speed regulation range, preferably, the set speed of the moving target is within the range of 0-4 m/s. The high-precision position positioning of the moving target can be realized, and the real-time positioning precision of the working position reaches within 1 mm. The mobile target undertakes the work tasks, including material grabbing in a storage area, high-speed movement to a target process station, interaction with personnel on corresponding production equipment or station robots or stations, matching of the two parts to complete machining or inspection, completion of post-movement to the next process and the like. In any process, a plurality of moving targets can be matched with one working order until all production tasks of the process are completed to form finished products, and the finished products are grabbed and sent back to the storage area by another set moving target.
The multiple moving targets can be divided into different types according to work requirements and self-carried arms, the details of each type are different models, and each model can also be multiple in number. Different types of moving objects equate to different people.
The information platform can realize the following functions by matching with a plurality of induction terminals: 1. actively acquiring real-time positions and states of all moving targets in real time through a plurality of induction ends; 2. the work tasks are classified and ordered and are sent to different classified moving targets, the work tasks comprise moving target addresses (the information platform reaches the moving targets, and after the moving targets reach designated positions, verification is carried out by induction terminals arranged at the target address positions), work contents after the target addresses are reached (the information platform transmits the work contents to the moving targets, and secondary transmission and verification are carried out by the induction terminals at the positions), and report verification is carried out after the work is finished (the induction terminals at the target addresses detect the work completion conditions of the moving targets and send the work completion conditions to the information platform); 3. generating dynamic route guide maps of all moving targets according to the work tasks of all the moving targets by the information, performing time sequence control on all the line intersection points according to rules, avoiding collision, and simultaneously generating speed curves of all the moving targets in a working state; 4. after the work tasks are issued, a certain task or certain tasks are subjected to interrupt switching or cancellation in real time; 5. the process guarantee that any target moving target reaches the destination is realized through the information acquired by the physically distributed mesh sensing ends, and the dynamic setting and response of the moving precision and the speed of the target moving target in the moving process are realized; 6. and all moving targets are subjected to real-time calculation in cooperation operation, so that high-speed cooperation of multiple moving targets is achieved, and all moving targets can reach any working position in a set physical space.
The multiple sensing terminals are arranged in a physical space in a matrix manner, and each sensing terminal can be a small base station or a small computer. The system can interact with a fixing device (a machine tool, equipment, a detection station and the like) at a corresponding position, and can also acquire and feed back various information in a moving route of a moving target. The induction ends are divided into two types, one is a station position induction end, and the other is a mobile process management induction end. The position sensing end comprises the interaction of position information and the interaction of service information.
When the induction terminals are arranged, the station position induction terminal and the moving process management induction terminal can be arranged at the same station in the physical space, and of course, the station position induction terminal and the moving process management induction terminal can be integrated into one induction terminal, so that the induction terminal has the functions of the two induction terminals.
The information platform is a central platform of the whole system in the intelligent factory, is responsible for acquiring and interacting all dynamic execution information, and can process and decompose service information acquired from a superior platform (namely an intelligent information platform). After the information platform acquires the production tasks and the manufacturing information of the production units of the mobile target or other fixed targets in the intelligent factory, the mobile target can be mobilized in real time to expand various works. The system is a closed system and can only interact with various external existing software platforms through an information platform. Alternatively, the information platform may carry the service information itself.
The present invention provides a method for moving a moving object on a road in a place such as a highway, a community, a park, etc., in addition to the above-mentioned method for moving a moving object intelligently in an intelligent factory, as shown in fig. 3, including:
the information platform carries out information interaction with each moving target moving on the highway, so that the information platform obtains the moving route of each moving target according to the target address set by each moving target;
after the moving route of each moving target is obtained, the information platform carries out information interaction with a plurality of induction ends distributed on a highway, so that the information platform obtains a revised moving route of each moving target after real-time revision according to the environment information of each moving route and the position coordinates of the induction ends detected by the induction ends in real time;
guiding the moving target to move on the road according to the revised moving route of each moving target;
when the moving target moves on the highway, real-time interaction is carried out between each moving target and all induction ends within the set safety range of the moving target, so that each induction end can guide the moving target to safely move within the set safety range in real time according to the detected local environment information and the position coordinates of the induction end in the set safety range until the moving target reaches the target address.
When the moving target moves on the highway, the moving target is detected through the sensing end which the moving target passes by so as to obtain the current state information of the current speed and the current attitude of the moving target, and the moving target is guided to safely move in real time through the current state information of the moving target and the local environment information of the moving target within the set safety range.
Preferably, the guiding the moving target to safely move in real time according to the current state information of the moving target and the local environment information of the moving target within the set safety range includes:
the induction terminal sends the detected current state information of the moving target to the information platform;
the information platform analyzes and processes the current state information of the moving target to obtain expected state information about expected speed and expected posture when the moving target passes through a set safety range;
the mobile target safely moves to the target address under the guidance of the expected state information and the local environment information.
Preferably, the moving of the moving target under the guidance of the expected state information and the local environment information comprises:
when the local environment information indicates that the road ahead is not available, the moving target moves according to the expected state information so as to decelerate in advance and/or change the driving route;
when the local environment information indicates that the front road is communicated with the vehicle but has an obstacle, the moving target moves according to the expected state information so as to decelerate in advance and/or change the driving lane;
and when the local environment information indicates that the road in front is smooth, the moving target continues to run according to the current state information.
Preferably, when the moving target moves on the highway, if other moving targets appear in the set safety range of the moving target, information interaction is performed among all moving targets, so that all moving targets move safely.
Preferably, information interaction is carried out among all moving targets, and instantaneous interaction about the minimum safe distance is carried out among a plurality of moving targets which are close to each other, so that collision is prevented.
Preferably, when the plurality of revised moving routes guiding all the moving targets to move on the highway have intersections, the information platform analyzes and processes the moving speeds and postures of the plurality of moving targets to pass through the intersections to obtain information about the moving speeds and postures guiding the plurality of moving targets to move, so that the plurality of moving targets are subjected to time sequence control and collision avoidance.
Preferably, after the moving target reaches the target address, the moving target is detected in place through a sensing terminal arranged at the target address.
The method for moving the moving target on the highway is different from the method for moving the moving target in the intelligent factory in that a plurality of induction ends are arranged along the extending direction of the highway when the moving target moves on the highway, and each induction end can adopt an induction end with a distance measuring sensor and/or a speed measuring sensor and/or a visual capture and/or positioning sensor so as to detect the speed, the posture, the road condition information and the like of the moving target (such as an unmanned automobile) moving on the highway and the surrounding environment in real time, thereby guiding the moving route of the moving target in real time according to the position coordinates of each induction end; after the moving target reaches the target address, other actions do not need to be executed as the AGV in the intelligent factory. In addition, the method of moving the moving object on the highway is substantially the same as the method of moving the moving object in the smart factory, and only the closed physical space of the smart factory is replaced with the open physical space on the highway, so the moving process on the highway will not be described in detail herein. In summary, compared with the prior art, the intelligent moving method for the moving object in the intelligent factory and the method for the moving object to move on the highway provided by the invention have the following advantages:
1. according to the method, when the moving target moves in the intelligent factory or on the road, the moving target can be guided in real time to revise the moving route according to the environment in the intelligent factory or on the road, so that the moving target can move quickly and be positioned accurately, and the moving efficiency is improved.
2. According to the method, multiple moving targets can move in parallel at the same time in an intelligent factory or on a road, the multiple moving targets can run quickly and are positioned accurately, time sequence control can be achieved on the multiple moving targets, collision can be avoided, and moving efficiency is improved;
3. the method of the invention can not collide among a plurality of moving targets moving in the intelligent factory, thereby improving the moving safety, and the plurality of moving targets can be matched with each other to complete the preset task. Although the present invention has been described in detail, the present invention is not limited thereto, and those skilled in the art can modify the principle of the present invention, and thus, various modifications made in accordance with the principle of the present invention should be understood to fall within the scope of the present invention.
Claims (10)
1. An intelligent moving method of a moving object in an intelligent factory, comprising:
a plurality of moving targets are arranged in a physical space of the intelligent factory, and each moving target has an independent moving target address and a preset task;
the information platform sorts and orders the work tasks of different moving targets and sends the work tasks to the different moving targets, the work task of each moving target comprises a target address of the moving target, a preset task and report verification after work is finished, and the information platform calculates a moving route of each moving target according to the target address of each moving target; or each moving target sends the set independent target address and the preset task to the information platform, and the information platform calculates the independent moving route of each moving target according to the received independent target address of each moving target;
after obtaining the independent moving route of each moving target, the information platform carries out information interaction with a plurality of induction ends distributed in an intelligent factory so that the plurality of induction ends can carry out real-time detection on the surrounding environment of the independent moving route of each moving target, the detected environment information and the related position coordinates of each induction end are sent to the information platform, and the information platform calculates the independent revised moving route of each moving target after real-time revision according to the environment information and the position coordinates;
guiding the moving targets to move in the intelligent factory according to the independent revised moving route of each moving target, and carrying out real-time interaction between each moving target and all induction ends within the set safety range of the moving target when the moving targets move, so that all induction ends corresponding to each moving target transmit the detected local environment information and self position coordinates within the set safety range to the moving target in real time, and guiding the moving target to safely move within the set safety range in real time until the moving target reaches an independent target address and executes a preset task;
if the environmental information sent to the information platform by the induction terminal indicates that the moving route of a certain moving target is not favorable for moving the moving target, the information platform can automatically detect the environmental information on other routes which may reach the target address in real time through other induction terminals, and obtain a revised moving route which is favorable for moving the moving target.
2. The method of claim 1, further comprising:
when the moving target moves in the intelligent factory, detecting the moving target through a sensing end through which the moving target passes so as to obtain current state information about the current speed and the current posture of the moving target;
and guiding the moving target to safely move in real time through the current state information of the moving target and the local environment information of the moving target within the set safety range.
3. The method of claim 2, wherein the guiding the moving target to safely move in real time according to the current state information of the moving target and the local environment information within the set safety range of the moving target comprises:
the induction terminal sends the detected current state information of the moving target to the information platform;
the information platform analyzes and processes the current state information of the moving target to obtain expected state information about expected speed and expected posture when the moving target passes through a set safety range;
the mobile target safely moves to the target address under the guidance of the expected state information and the local environment information.
4. The method of claim 3, wherein moving the mobile object under guidance of the expected state information and the local environment information comprises:
when the local environment information indicates that the road ahead is not available, the moving target moves according to the expected state information so as to decelerate in advance and/or change the driving route;
when the local environment information indicates that the front road is communicated with the vehicle but has an obstacle, the moving target moves according to the expected state information so as to decelerate in advance and/or change the driving lane;
and when the local environment information indicates that the road in front is smooth, the moving target continues to run according to the current state information.
5. The method of claim 1, wherein when the moving object moves in the intelligent factory, if other moving objects appear in the set safety range of the moving object, information interaction is performed between all moving objects, so that all moving objects move safely.
6. The method of claim 5, wherein information interaction is performed between all moving objects, including instantaneous interaction between multiple moving objects in close proximity with respect to a minimum safe distance to prevent collisions.
7. The method according to claim 1, when intersection points exist in a plurality of revised moving routes guiding all moving targets to move in the intelligent factory, the information platform analyzes and processes moving speeds and postures of the plurality of moving targets to pass through the intersection points, and obtains information on the moving speeds and postures guiding the plurality of moving targets to move so as to perform time sequence control and avoid collision on the plurality of moving targets.
8. The method according to any one of claims 1 to 7, wherein after the moving target reaches the target address, the moving target is detected in place by a sensing terminal arranged at the target address, and the detected in-place information is sent to the information platform, and the information platform sends an instruction to enable the moving target to execute a predetermined task according to the in-place information.
9. The method of claim 1, wherein the moving object performs a predetermined task including, but not limited to, precisely positioning, picking or dropping material from an intelligent factory storage area, assembling or checking work with other moving objects.
10. A method of moving a moving object on a highway, comprising:
a plurality of moving targets are arranged in a physical space of the road, and each moving target has an independent moving target address;
the information platform sends the independent target addresses of different moving targets to the different moving targets, and the information platform calculates the independent moving route of each moving target according to the independent target address of each moving target; or each moving target sends the set individual target address to the information platform, and the information platform calculates the individual moving route of each moving target according to the received individual target address of each moving target;
after obtaining the independent moving route of each moving target, the information platform carries out information interaction with a plurality of induction ends distributed on a road so that the plurality of induction ends can carry out real-time detection on the surrounding environment of the independent moving route of each moving target, and sends the detected environment information and the related position coordinates of each induction end to the information platform, and the information platform calculates the independent revised moving route of each moving target after real-time revision according to the environment information and the position coordinates;
guiding the moving target to move on the road according to the independent revised moving route of each moving target, and carrying out real-time interaction between each moving target and all induction ends within the set safety range of the moving target when the moving target moves so that all induction ends corresponding to each moving target transmit the detected local environment information and the self position coordinates within the set safety range to the moving target in real time, so as to guide the moving target to safely move within the set safety range in real time until the moving target reaches an independent target address;
if the environmental information sent to the information platform by the induction terminal indicates that the moving route of a certain moving target is not favorable for moving the moving target, the information platform can automatically detect the environmental information on other routes which may reach the target address in real time through other induction terminals, and obtain a revised moving route which is favorable for moving the moving target.
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