CN111766857B - Vehicle movement method, movement control method and device - Google Patents
Vehicle movement method, movement control method and device Download PDFInfo
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- CN111766857B CN111766857B CN201910249346.8A CN201910249346A CN111766857B CN 111766857 B CN111766857 B CN 111766857B CN 201910249346 A CN201910249346 A CN 201910249346A CN 111766857 B CN111766857 B CN 111766857B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
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Abstract
The embodiment of the invention provides a vehicle movement method, a vehicle movement control method and a vehicle movement control device, wherein the position of a vehicle is described through map points of the vehicle, and the running gesture of the vehicle is described according to the target movement state of the vehicle, so that the space preemption information of the vehicle in two directions of a horizontal plane and a vertical plane is determined; the control center can determine the future and the happened three-dimensional space occupation information of each map point according to the application signals of the vehicles, and further judge whether the two vehicles collide. The method is suitable for AGVs with various code distances and various machine types, can reduce errors, and enables the AGVs to operate in a staggered mode to the greatest extent under the condition of fully meeting safety requirements.
Description
Technical Field
The invention relates to the technical field of AGVs, in particular to a vehicle movement method, a vehicle movement control method and a vehicle movement control device.
Background
An automated guided transport vehicle (Automated Guided Vehicle, AGV) is a vehicle equipped with an electromagnetic or optical automated guide device that can travel along a planned path and can have various transfer functions, and is widely used in industrial settings. Multiple AGVs are operated in a staggered manner in the system according to the target tasks to be executed, and accurate calculation methods are required in order to avoid collisions. The collision detection method in the traditional game is not suitable for a real industrial scene needing safety and reliability due to complex calculation and incomplete error consideration.
Disclosure of Invention
The embodiment of the invention provides a vehicle movement method, a vehicle movement control method and a vehicle movement control device, which are used for solving one or more technical problems in the prior art.
In a first aspect, an embodiment of the present invention provides a method for moving a vehicle, including:
Determining a pre-application locking path according to a target task and a current position of a vehicle, wherein the pre-application locking path comprises a plurality of map points;
determining a target motion state of the vehicle at each map point according to the target task;
determining the space information occupied by the vehicle at each map point according to each target motion state;
Transmitting an application signal for applying for a locking path to a control center, wherein the application signal comprises space information occupied by the vehicle at each map point;
And if receiving an application agreement signal sent by the control center to the pre-application locking path, executing the target task according to the pre-application locking path.
In one embodiment, the pre-occupation space information includes horizontal pre-occupation information and vertical pre-occupation information, and the determining the pre-occupation space information of the vehicle at each map point according to the target motion state of the vehicle at each map point includes:
Determining a horizontal pre-occupation area of the vehicle at the map point according to the horizontal projection of the vehicle at the map point, and determining the horizontal pre-occupation information according to the size information of the horizontal pre-occupation area;
and determining a vertical pre-occupied area of the vehicle at the map point according to the vertical projection of the vehicle at the map point, and determining the vertical pre-occupied information according to the size information of the vertical pre-occupied area.
In one embodiment, the determining the horizontal pre-occupied area of the vehicle at the map point according to the horizontal projection of the vehicle at the map point includes:
When the target motion state of the vehicle at the map point is stationary, judging whether the head direction of the vehicle is deviated or not;
If the vehicle is deflected, a rotation circle is determined according to the horizontal projection of the vehicle on the map point, the rotation circle is determined to be a horizontal pre-occupied area of the vehicle on the map point, the center of the rotation circle is the geometric center point of the horizontal projection, and the radius of the rotation circle is the farthest end from the geometric center point to the horizontal projection.
In one embodiment, the determining the horizontal pre-occupied area of the vehicle at the map point according to the horizontal projection of the vehicle at the map point includes:
And when the target motion state of the vehicle at the map point is rotation, determining a rotation circle according to the horizontal projection of the vehicle in the rotation process, and determining the rotation circle as a horizontal pre-occupied area of the vehicle at the map point.
In a second aspect, an embodiment of the present invention provides a movement apparatus of a vehicle, including:
The pre-application locking path determining module is used for determining a pre-application locking path according to a target task and a current position of the vehicle, wherein the pre-application locking path comprises a plurality of map points;
the target motion state determining module is used for determining the target motion state of the vehicle at each map point according to the target task;
the pre-occupied space information determining module is used for determining pre-occupied space information of the vehicle at each map point according to each target motion state;
the sending module is used for sending an application signal for applying for a locking path to a control center, wherein the application signal comprises space information occupied by the vehicle at each map point;
And the execution module is used for executing the target task according to the pre-application locking path when receiving an application signal which is sent by the control center and agrees to the pre-application locking path.
In one embodiment, the pre-emption space information includes horizontal pre-emption information and vertical pre-emption information, and the pre-emption space information determination module includes:
the first determining submodule is used for determining a horizontal pre-occupied area of the vehicle at the map point according to the horizontal projection of the vehicle at the map point and determining the horizontal pre-occupied information according to the size information of the horizontal pre-occupied area;
And the second determination submodule is used for determining a vertical pre-occupied area of the vehicle at the map point according to the vertical projection of the vehicle at the map point, and determining the vertical pre-occupied information according to the size information of the vertical pre-occupied area.
In one embodiment, the first determination submodule is further configured to:
When the target motion state of the vehicle at the map point is stationary, judging whether the head direction of the vehicle is deviated or not;
If the vehicle is deflected, a rotation circle is determined according to the horizontal projection of the vehicle on the map point, the rotation circle is determined to be a horizontal pre-occupied area of the vehicle on the map point, the center of the rotation circle is the geometric center point of the horizontal projection, and the radius of the rotation circle is the farthest end from the geometric center point to the horizontal projection.
In one embodiment, the first determination submodule is further configured to:
And when the target motion state of the vehicle at the map point is rotation, determining a rotation circle according to the horizontal projection of the vehicle in the rotation process, and determining the rotation circle as a horizontal pre-occupied area of the vehicle at the map point.
In a third aspect, an embodiment of the present invention provides a motion control method for a vehicle, including:
receiving an application signal of a target vehicle for a pre-application locking path, wherein the pre-application locking path comprises a plurality of map points, and the application signal comprises the pre-occupation space information of the target vehicle at each map point;
Judging whether the pre-application locking path can be executed or not according to the pre-occupation space information of the target vehicle at the map point and the pre-occupation space information of at least one obstacle vehicle at the surrounding points of the map point;
And if so, sending an agreement application signal for the pre-application locking path to the target vehicle.
In one embodiment, the determining whether the pre-application locking path is executable according to the pre-occupation space information of the target vehicle at the map point and the pre-occupation space information of at least one obstacle vehicle at the surrounding points of the map point includes:
Judging whether the occupied space information of the obstacle vehicle at the surrounding points is contradicted with the occupied space information of the target vehicle at the map points or not according to each surrounding point of the map points;
If there is no conflict at each surrounding point, the pre-application locking path is judged to be executable.
In one embodiment, the pre-occupation space information includes horizontal pre-occupation information and vertical pre-occupation information, and the determining whether there is pre-occupation space information of the obstacle vehicle at the surrounding point contradicts pre-occupation space information of the target vehicle at the map point includes:
Judging whether the horizontal pre-occupied area of the target vehicle at the map point is intersected with the horizontal pre-occupied area of the obstacle vehicle at the surrounding point or not according to the horizontal pre-occupied information of the target vehicle at the map point and the horizontal pre-occupied information of the obstacle vehicle at the surrounding point;
if the horizontal pre-occupation area is intersected, judging whether the vertical pre-occupation area of the target vehicle at the map point is intersected with the vertical pre-occupation area of the obstacle vehicle at the surrounding point according to the vertical pre-occupation information of the target vehicle at the map point and the vertical pre-occupation information of the obstacle vehicle at the surrounding point;
if the vertical pre-occupied areas do not intersect, it is determined that there is no conflict.
In a fourth aspect, an embodiment of the present invention provides a motion control apparatus for a vehicle, including:
the system comprises a receiving module, a locking module and a locking module, wherein the receiving module is used for receiving an application signal of a target vehicle for a pre-application locking path, the pre-application locking path comprises a plurality of map points, and the application signal comprises space information of the target vehicle in each map point;
The judging module is used for judging whether the pre-application locking path can be executed or not according to the pre-occupation space information of the target vehicle at the map point and the pre-occupation space information of at least one obstacle vehicle at the surrounding points of the map point;
And the sending module is used for sending an application agreement signal for the pre-application locking path to the target vehicle when the pre-application locking path is executable.
In one embodiment, the judging module includes:
A judging sub-module, configured to judge, for each surrounding point of the map point, whether or not the space information occupied by the obstacle vehicle at the surrounding point conflicts with the space information occupied by the target vehicle at the map point;
and the judging submodule is used for judging that the pre-application locking path is executable when no conflict exists in each surrounding point.
In one embodiment, the pre-occupation space information includes horizontal pre-occupation information and vertical pre-occupation information, and the judging sub-module is further configured to:
Judging whether the horizontal pre-occupied area of the target vehicle at the map point is intersected with the horizontal pre-occupied area of the obstacle vehicle at the surrounding point or not according to the horizontal pre-occupied information of the target vehicle at the map point and the horizontal pre-occupied information of the obstacle vehicle at the surrounding point;
if the horizontal pre-occupation area is intersected, judging whether the vertical pre-occupation area of the target vehicle at the map point is intersected with the vertical pre-occupation area of the obstacle vehicle at the surrounding point according to the vertical pre-occupation information of the target vehicle at the map point and the vertical pre-occupation information of the obstacle vehicle at the surrounding point;
if the vertical pre-occupied areas do not intersect, it is determined that there is no conflict.
The technical scheme can be suitable for AGVs with various code intervals and various models, can reduce errors, and enables the AGVs to operate in a staggered mode to the greatest extent under the condition of fully meeting safety requirements.
The foregoing summary is for the purpose of the specification only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will become apparent by reference to the drawings and the following detailed description.
Drawings
In the drawings, the same reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily drawn to scale. It is appreciated that these drawings depict only some embodiments according to the disclosure and are not therefore to be considered limiting of its scope.
Fig. 1-1 shows a schematic side view of an application example of a vehicle according to an embodiment of the present invention.
Fig. 1-2 show schematic top views of application examples of a vehicle according to an embodiment of the invention.
Fig. 2 shows a flowchart of a method of movement of a vehicle according to an embodiment of the invention.
Fig. 3-1 shows a schematic view of a horizontal footprint of a vehicle according to an embodiment of the invention.
Fig. 3-2 shows a schematic view of a horizontal footprint of a vehicle according to an embodiment of the invention.
Fig. 4 shows a flowchart of a motion control method of a vehicle according to an embodiment of the present invention.
Fig. 5 shows a flowchart of a motion control method of a vehicle according to an implementation of an embodiment of the invention.
Fig. 6 shows an exemplary diagram of intersection calculation of a motion control method of a vehicle according to an embodiment of the present invention.
Fig. 7 shows a block diagram of a movement apparatus of a vehicle according to an embodiment of the present invention.
Fig. 8 shows a block diagram of a motion control apparatus of a vehicle according to an embodiment of the present invention.
Detailed Description
Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.
The embodiment of the invention provides a vehicle movement method which can be applied to vehicles with different shapes, different structures and different movement postures. The embodiment of the invention also provides a vehicle motion control method which can be applied to a control center. The control center and the vehicle may be communicatively coupled to each other to send and receive signals to and from each other.
The vehicle of an embodiment of the present invention may be an AGV, which may include a travel assembly and a rotation assembly (e.g., a belt conveyor rotatable in a horizontal plane, which may be referred to as a belt), and the shape of each AGV may be different. For example: in the side view shown in fig. 1-1, the belt car 1 is an AGV, comprising a bottom travelable trolley 11, a middle support 12 and a top belt 13; the cage 2 is an AGV, and includes a bottom traveling carriage 21 and a top basket 22.
In conventional anti-collision strategies, it is common to determine whether two AGVs collide based on their map points, i.e., position information. In the top view shown in fig. 1-2, if the belt 13 of the truck 1 rotates, it will collide with the cage 2 according to the conventional anti-collision strategy; but from the side view shown in fig. 1-1, the belt 13 of the truck 1 does not collide with the cage 2 when rotated. Therefore, the conventional anti-collision strategy is relatively large in error and is not suitable for the special-shaped vehicle.
Fig. 2 shows a flowchart of a method of movement of a vehicle according to an embodiment of the invention. As shown in fig. 2, the method may include:
step S201, determining a pre-application locking path according to a target task and a current position of the vehicle, wherein the pre-application locking path comprises a plurality of map points.
The target task may include, among other things, a task being performed by the vehicle. For example: a task of delivering goods to a location. Map points are points that exist in a map, for example: in a table of N rows and M columns, the table can be used as a map, each cell is a map point, and the row and column information of the cell can represent the position of the vehicle on the horizontal plane. Wherein N and M are positive integers.
The path planning module of the vehicle can plan a path for the vehicle according to the current position of the vehicle and the target task when the vehicle is stationary. The planned path includes all map points arranged in the order of arrival of the vehicles between the start point and the end point of the vehicle. The locked path is a map point that the vehicle will pass from the current location, and is a subset of the planned path. During the running and movement of the vehicle, it is necessary to determine a pre-application locking path applied to the control center.
And step S202, determining the target motion state of the vehicle at each map point according to the target task.
The target motion state mainly comprises three types of static state, linear movement and rotation (such as belt rotation). The target task may be broken down into sub-tasks of the vehicle at each map point, each sub-task determining the target motion state of the vehicle at that map point. That is, the target motion state of the vehicle at a series of map points will be used to complete the target task. For example: the current position of the vehicle is the map point A0, the conveying direction of the belt is the front, and in a target task of delivering goods to a target object (map point a31 on the right side of A3), the pre-applied lock path of the vehicle may include map points A1, A2, and A3 (the arrival order of the vehicles is A1, A2, and A3). The vehicle moves linearly in the target movement states of A1 and A2, and the belt rotates rightward in the target movement state of A3, so that the conveying direction faces A4 on the right side of A3, and goods are delivered to the target object.
Step S203, determining space information occupied by the vehicle at each map point according to each target motion state.
The pre-occupation space information may include horizontal pre-occupation information and vertical pre-occupation information. The horizontal preemption information may be used to characterize the vehicle's space preemption in the horizontal plane; the vertical preemption information may be used to characterize the vehicle's space preemption in a vertical plane. Further, the preemption space information may be used to characterize the vehicle's space preemption in a three-dimensional coordinate system. The horizontal pre-occupation area of the vehicle at the map point can be determined according to the horizontal projection (such as a top view) of the vehicle at the map point; the vertical pre-occupancy zone of the vehicle at a map point may be determined from a vertical projection (e.g., a side view) of the vehicle at that map point. The horizontal pre-occupation information is the size information of the horizontal pre-occupation area; vertical pre-occupation information is size information of a vertical pre-occupation area.
The target motion state of the vehicle at a map point can affect the horizontal pre-occupancy zone of the vehicle at that map point. In step S202, the pre-occupation space information of the vehicle at the map point may be determined according to the target motion state of the vehicle at the map point.
In one example, the target motion state of the vehicle at map point B1 is stationary. Whether the head of the vehicle is deflected or not is judged. For example: in a horizontal coordinate system including an x-axis and a y-axis, when the angle of the headstock from the x-axis or the y-axis reaches 10 degrees or more, the headstock can be considered to be skewed.
When the head of the vehicle is not deflected, the horizontal projection of the vehicle at B1 can be used as the horizontal pre-occupied area L1 of the vehicle at B1, as shown in fig. 3-1. The size information d1, d2, d3, and d4 of the horizontal pre-occupation area L1, that is, the horizontal pre-occupation information of the vehicle at B1.
When the head of the vehicle is deflected, the horizontal projection of the vehicle at B1 may first be determined, and then the geometric center point C1 of the horizontal projection, and the line segment R1 of the geometric center point C1 to the furthest end D1 of the horizontal projection, may be determined. A rotation circle L2 with the geometric center point C1 as the center and the line segment R1 as the radius can be used as a horizontal pre-occupied area of the vehicle at B1, as shown in fig. 3-2. The dimension information R1 (length of R1) of the rotation circle L2 is horizontal preemption information of the vehicle at B1.
In one example, the target motion state of the vehicle at the map point B2 is a straight line movement. At this time, the horizontal projection of the vehicle at B1 may be directly taken as the horizontal pre-occupied area of the vehicle at B2.
In one example, the target motion state of the vehicle at map point B3 is rotation, such as belt rotation. At this time, a rotation circle may be determined according to a horizontal projection formed by the vehicle during rotation, and the rotation circle may be used as a horizontal pre-occupied area of the vehicle at B3. The center of the rotation circle can be the geometric center point of the horizontal projection of the rotation component (such as a belt), and the radius of the rotation circle can be the rotation radius of the rotation component.
Step S204, an application signal for applying for a locking path in advance is sent to a control center, wherein the application signal comprises space information occupied by the vehicle at each map point;
Step S205, if an application signal for agreeing on the pre-application locking path sent by the control center is received, the target task is executed according to the pre-application locking path, where the application signal is determined according to the space information occupied by each map point.
The vehicle may send an application signal to the control center for a pre-applied lock path, where the application signal includes preemptive spatial information for the vehicle at each map point of the pre-applied lock path. After the control center agrees to the vehicle to apply for the pre-applied locking path, the pre-occupied space information of the vehicle at each map point of the pre-applied locking path is saved, and an agreeing application signal is sent to the vehicle. After receiving an application signal sent by the control center and used for applying for the locking path in advance, the vehicle determines the pre-applied locking path as the locking path of the vehicle, and executes a target task according to the locking path. When the vehicle leaves the locked path, a release signal may be sent to the control center. After receiving the release signal, the control center can update the occupied space information of each map point of the locking path to be unoccupied.
The above method may be applied to a target vehicle and an obstacle vehicle, wherein a vehicle that is transmitting an application signal to a control center may be the target vehicle, and other vehicles monitored by the control center may be the obstacle vehicle.
Fig. 4 shows a flowchart of a motion control method of a vehicle according to an embodiment of the present invention. The method may be applied to a control center. As shown in fig. 4, the method may include:
Step S401, receiving an application signal of a target vehicle for a pre-application locking path, wherein the pre-application locking path comprises a plurality of map points, and the application signal comprises space information of the target vehicle in each map point;
Step S402, judging whether the pre-application locking path can be executed according to the pre-occupation space information of the target vehicle at the map point and the pre-occupation space information of at least one obstacle vehicle at the surrounding points of the map point; if yes, go to step S403;
Step S403, transmitting an agreement application signal for the pre-application locking path to the target vehicle.
In this embodiment, surrounding points of a certain map point may be map points whose code distance corresponds to a preset distance from the map point. For example: the pre-applied lock-up path of the target vehicle includes map points A1, A2, and A3. Map points a11, a12, a13, a14 whose code distance from the map point A1 is within a preset range are surrounding points of the map point A1. Map points a21, a22, a23, a24 whose code distance from the map point A2 is within a preset range are surrounding points of the map point A2. Map points a31, a32, a33, a34 whose code distances from the map point A3 are within a preset range are surrounding points of the map point A3. Wherein the code spacing may be the distance between the center points of two map points.
In one embodiment, in step S402, when there is no conflict for each map point in the pre-application locking path, it is determined that the pre-application locking path is executable. The collision may be a collision of the preemption space information of the target vehicle at the map point and the preemption space information of the obstacle vehicle at the surrounding points of the map point. For example: at the map point A1, no preemption space information of any obstacle vehicles at the surrounding points a11, a12, a13 and a14 conflicts with the target space occupation information of the target vehicle at the map point A1; at the map point A2, no preemption space information of any obstacle vehicles at the surrounding points a21, a22, a23 and a24 conflicts with the target space occupation information of the target vehicle at the map point A2; at the map point A3, the occupation space information of the surrounding points a31, a32, a33 and a34 of no obstacle vehicle is contradicted with the target space occupation information of the target vehicle at the map point A3; at this time, it may be determined that the pre-application lock-out path of the target vehicle is executable.
An example of a method for judging whether or not there is a conflict between the pre-occupation space information of the obstacle vehicle at the surrounding points and the target space occupation information of the target vehicle at the map points is given below in conjunction with fig. 5.
As shown in fig. 5, in this example, it may include:
Step S501, judging whether a horizontal pre-occupied area of the target vehicle at the map point intersects with a horizontal pre-occupied area of the obstacle vehicle at the surrounding point according to the horizontal pre-occupied information of the target vehicle at the map point and the horizontal pre-occupied information of the obstacle vehicle at the surrounding point; if the horizontal pre-occupied areas intersect, proceeding to step S502;
Step S502, judging whether a vertical pre-occupied area of the target vehicle at the map point is intersected with a vertical pre-occupied area of the obstacle vehicle at the surrounding point or not according to the vertical pre-occupied information of the target vehicle at the map point and the vertical pre-occupied information of the obstacle vehicle at the surrounding point; if the vertical pre-occupied areas do not intersect, proceeding to step S503;
Step S503, determining that there is no conflict.
For example: as shown in fig. 6, the target vehicle has L3 as the horizontal pre-occupation area of the map point A1, and has L3 as the size information d31, d32, d33, and d34 of the horizontal pre-occupation information, and the coordinates of the map point A1 are (x 1, y 1). The horizontal pre-occupied area of the obstacle vehicle at the surrounding point a11 is L4, the horizontal pre-occupied information is the size information d41, d42, d43, and d44 of L4, and the coordinates of the map point a11 are (x 2, y 2). Wherein dx= |x 1-x 2|, dy= |y1-y2|. When dx is equal to or less than d34+d42 and dy is equal to or less than d31+d43, L3 and L4 do not intersect, that is, the horizontal pre-occupied area of the target vehicle at the map point A1 does not intersect with the horizontal pre-occupied area of the obstacle vehicle at the surrounding point A11. Using a similar method, it is possible to determine whether the vertical pre-occupied area of the target vehicle at the map point A1 intersects with the vertical pre-occupied area of the obstacle vehicle at the surrounding point a 11.
When two vertical pre-occupied areas intersect, it can be predicted that the target vehicle may collide with the obstacle vehicle at the surrounding point a11 at the map point A1. At this time, the control center may transmit a denial application signal for pre-applying the lock path to the target vehicle. After receiving the denial application signal, the target vehicle may return to step S201 to redetermine the pre-application locking path.
When the two vertical pre-occupied areas do not intersect, it can be predicted that the target vehicle may not collide with the obstacle vehicle at the surrounding point a11 at the map point A1. Further, in a similar manner, a judgment is made as to whether or not there is a conflict for each of the surrounding points a11, a12, a13, and a14 of the map point A1.
According to the method, the position of the vehicle is described through map points of the vehicle, the running gesture of the vehicle is described according to the target motion state of the vehicle, and then the space occupation information of the vehicle in the two directions of the horizontal plane and the vertical plane is determined; the control center can determine the future and the happened three-dimensional occupation information of each map point according to the application signals of the vehicles, and further judge whether the two vehicles collide. The method is suitable for AGVs with various code distances and various machine types, can reduce errors, and enables the AGVs to operate in a staggered mode to the greatest extent under the condition of fully meeting safety requirements.
Fig. 7 shows a block diagram of a movement apparatus of a vehicle according to an embodiment of the present invention. As shown in fig. 7, the apparatus may include:
A pre-application locking path determining module 701, configured to determine a pre-application locking path according to a target task and a current position of a vehicle, where the pre-application locking path includes a plurality of map points;
a target motion state determining module 702, configured to determine a target motion state of the vehicle at each map point according to the target task;
A pre-occupied space information determining module 703, configured to determine pre-occupied space information of the vehicle at each map point according to each of the target motion states;
A sending module 704, configured to send an application signal for applying for a locking path to a control center, where the application signal includes space information of the vehicle for preemption at each map point;
and the executing module 705 is configured to execute the target task according to the pre-application locking path when receiving the grant signal sent by the control center and applied for the pre-application locking path.
In one embodiment, the pre-occupation space information includes horizontal pre-occupation information and vertical pre-occupation information, and the pre-occupation space information determining module 703 may include:
the first determining submodule is used for determining a horizontal pre-occupied area of the vehicle at the map point according to the horizontal projection of the vehicle at the map point and determining the horizontal pre-occupied information according to the size information of the horizontal pre-occupied area;
And the second determination submodule is used for determining a vertical pre-occupied area of the vehicle at the map point according to the vertical projection of the vehicle at the map point, and determining the vertical pre-occupied information according to the size information of the vertical pre-occupied area.
In one embodiment, the first determination submodule is further configured to:
When the target motion state of the vehicle at the map point is stationary, judging whether the head direction of the vehicle is deviated or not;
If the vehicle is deflected, a rotation circle is determined according to the horizontal projection of the vehicle on the map point, the rotation circle is determined to be a horizontal pre-occupied area of the vehicle on the map point, the center of the rotation circle is the geometric center point of the horizontal projection, and the radius of the rotation circle is the farthest end from the geometric center point to the horizontal projection.
In one embodiment, the first determination submodule is further configured to:
And when the target motion state of the vehicle at the map point is rotation, determining a rotation circle according to the horizontal projection of the vehicle in the rotation process, and determining the rotation circle as a horizontal pre-occupied area of the vehicle at the map point.
Fig. 8 shows a block diagram of a motion control apparatus of a vehicle according to an embodiment of the present invention. As shown in fig. 8, the apparatus may include:
A receiving module 801, configured to receive an application signal of a target vehicle for a pre-application locking path, where the pre-application locking path includes a plurality of map points, and the application signal includes space information of the target vehicle in each map point;
A judging module 802, configured to judge whether the pre-application locking path is executable according to the pre-occupation space information of the target vehicle at the map point and the pre-occupation space information of at least one obstacle vehicle at the surrounding points of the map point;
and a sending module 803, configured to send, when the pre-application locking path is executable, an application agreement signal for the pre-application locking path to the target vehicle.
In one embodiment, the determining module 802 may include:
A judging sub-module, configured to judge, for each surrounding point of the map point, whether or not the space information occupied by the obstacle vehicle at the surrounding point conflicts with the space information occupied by the target vehicle at the map point;
and the judging submodule is used for judging that the pre-application locking path is executable when no conflict exists in each surrounding point.
In one embodiment, the pre-occupation space information includes horizontal pre-occupation information and vertical pre-occupation information, and the judging sub-module is further configured to:
Judging whether the horizontal pre-occupied area of the target vehicle at the map point is intersected with the horizontal pre-occupied area of the obstacle vehicle at the surrounding point or not according to the horizontal pre-occupied information of the target vehicle at the map point and the horizontal pre-occupied information of the obstacle vehicle at the surrounding point;
if the horizontal pre-occupation area is intersected, judging whether the vertical pre-occupation area of the target vehicle at the map point is intersected with the vertical pre-occupation area of the obstacle vehicle at the surrounding point according to the vertical pre-occupation information of the target vehicle at the map point and the vertical pre-occupation information of the obstacle vehicle at the surrounding point;
if the vertical pre-occupied areas do not intersect, it is determined that there is no conflict.
The functions of each module in each device of the embodiments of the present invention may be referred to the corresponding descriptions in the above methods, and are not described herein again.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that various changes and substitutions are possible within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (12)
1. A method of moving a vehicle, comprising:
Determining a pre-application locking path according to a target task and a current position of a vehicle, wherein the pre-application locking path comprises a plurality of map points;
Determining a target motion state of the vehicle at each map point according to the target task, wherein the target motion state comprises at least one of static state, linear movement and rotation;
Determining the pre-occupation space information of the vehicle at each map point according to each target motion state, wherein the pre-occupation space information comprises horizontal pre-occupation information and vertical pre-occupation information;
Transmitting an application signal for applying for a locking path to a control center, wherein the application signal comprises space information occupied by the vehicle at each map point;
Executing the target task according to the pre-application locking path if receiving a pre-application signal sent by the control center, wherein the pre-application signal is determined by the control center according to the pre-occupation space information of the vehicle at the map point and the pre-occupation space information of at least one obstacle vehicle of the vehicle at the surrounding points of the map point; the obstacle vehicle includes a vehicle having a shape different from the vehicle shape;
Wherein the determining the space information occupied by the vehicle at each map point according to each target motion state includes: determining a horizontal pre-occupation area of the vehicle at the map point according to the horizontal projection of the vehicle at the map point, and determining the horizontal pre-occupation information according to the size information of the horizontal pre-occupation area; the determining the horizontal pre-occupied area of the vehicle at the map point according to the horizontal projection of the vehicle at the map point comprises the following steps: when the target motion state of the vehicle at the map point is stationary, judging whether the head direction of the vehicle is deviated or not; if the vehicle is deflected, a rotation circle is determined according to the horizontal projection of the vehicle on the map point, the rotation circle is determined to be a horizontal pre-occupied area of the vehicle on the map point, the center of the rotation circle is the geometric center point of the horizontal projection, and the radius of the rotation circle is the farthest end from the geometric center point to the horizontal projection.
2. The method of claim 1, wherein determining the occupancy space information for the vehicle at each of the map points based on the target motion state of the vehicle at each of the map points comprises:
and determining a vertical pre-occupied area of the vehicle at the map point according to the vertical projection of the vehicle at the map point, and determining the vertical pre-occupied information according to the size information of the vertical pre-occupied area.
3. The method of claim 1, wherein the determining a horizontal pre-occupancy zone of the vehicle at the map point based on the horizontal projection of the vehicle at the map point comprises:
And when the target motion state of the vehicle at the map point is rotation, determining a rotation circle according to the horizontal projection of the vehicle in the rotation process, and determining the rotation circle as a horizontal pre-occupied area of the vehicle at the map point.
4. A sports apparatus for a vehicle, comprising:
The pre-application locking path determining module is used for determining a pre-application locking path according to a target task and a current position of the vehicle, wherein the pre-application locking path comprises a plurality of map points;
a target motion state determining module, configured to determine a target motion state of the vehicle at each map point according to the target task, where the target motion state includes at least one of stationary, linear movement, and rotation;
The pre-occupation space information determining module is used for determining pre-occupation space information of the vehicle at each map point according to each target motion state, wherein the pre-occupation space information comprises horizontal pre-occupation information and vertical pre-occupation information;
the sending module is used for sending an application signal for applying for a locking path to a control center, wherein the application signal comprises space information occupied by the vehicle at each map point;
The execution module is used for executing the target task according to the pre-application locking path when receiving a pre-application signal sent by the control center, wherein the pre-application signal is determined by the control center according to the pre-occupation space information of the vehicle at the map point and the pre-occupation space information of at least one obstacle vehicle of the vehicle at the surrounding points of the map point; the obstacle vehicle includes a vehicle having a shape different from the vehicle shape;
Wherein, the pre-occupation space information determining module includes: the first determining submodule is used for determining a horizontal pre-occupied area of the vehicle at the map point according to the horizontal projection of the vehicle at the map point and determining the horizontal pre-occupied information according to the size information of the horizontal pre-occupied area; the first determining submodule is further used for judging whether the head direction of the vehicle is deviated or not when the target motion state of the vehicle at the map point is static; if the vehicle is deflected, a rotation circle is determined according to the horizontal projection of the vehicle on the map point, the rotation circle is determined to be a horizontal pre-occupied area of the vehicle on the map point, the center of the rotation circle is the geometric center point of the horizontal projection, and the radius of the rotation circle is the farthest end from the geometric center point to the horizontal projection.
5. The apparatus of claim 4, wherein the pre-emption space information determination module comprises:
And the second determination submodule is used for determining a vertical pre-occupied area of the vehicle at the map point according to the vertical projection of the vehicle at the map point, and determining the vertical pre-occupied information according to the size information of the vertical pre-occupied area.
6. The apparatus of claim 4, wherein the first determination submodule is further configured to:
And when the target motion state of the vehicle at the map point is rotation, determining a rotation circle according to the horizontal projection of the vehicle in the rotation process, and determining the rotation circle as a horizontal pre-occupied area of the vehicle at the map point.
7. A motion control method of a vehicle, characterized by comprising:
Receiving an application signal of a target vehicle to a pre-application locking path, wherein the pre-application locking path comprises a plurality of map points, the application signal comprises pre-occupation space information of the target vehicle at each map point, the pre-occupation space information comprises horizontal pre-occupation information and vertical pre-occupation information, the pre-occupation space information of the target vehicle at each map point is determined by the target vehicle according to a target motion state of the target vehicle at each map point, and the target motion state comprises at least one of static state, linear motion and rotation; wherein the information of the space occupied by the target vehicle at each map point is determined by the target vehicle according to the target motion state of the target vehicle at each map point, and the method comprises the following steps: determining a horizontal pre-occupation area of the vehicle at the map point according to the horizontal projection of the vehicle at the map point, and determining the horizontal pre-occupation information according to the size information of the horizontal pre-occupation area; the determining the horizontal pre-occupied area of the vehicle at the map point according to the horizontal projection of the vehicle at the map point comprises the following steps: when the target motion state of the vehicle at the map point is stationary, judging whether the head direction of the vehicle is deviated or not; if the vehicle is deflected, determining a rotation circle according to the horizontal projection of the vehicle on the map point, and determining the rotation circle as a horizontal pre-occupied area of the vehicle on the map point, wherein the center of the rotation circle is the geometric center point of the horizontal projection, and the radius of the rotation circle is the farthest end from the geometric center point to the horizontal projection;
Judging whether the pre-application locking path can be executed or not according to the pre-occupation space information of the target vehicle at the map point and the pre-occupation space information of at least one obstacle vehicle at the surrounding points of the map point; wherein the obstacle vehicle includes a vehicle having a different shape than the vehicle;
And if so, sending an agreement application signal for the pre-application locking path to the target vehicle.
8. The motion control method according to claim 7, wherein the determining whether the pre-application locking path is executable based on the pre-occupation space information of the target vehicle at the map point and the pre-occupation space information of at least one obstacle vehicle at the surrounding points of the map point includes:
Judging whether the occupied space information of the obstacle vehicle at the surrounding points is contradicted with the occupied space information of the target vehicle at the map points or not according to each surrounding point of the map points;
If there is no conflict at each surrounding point, the pre-application locking path is judged to be executable.
9. The motion control method according to claim 8, characterized in that the determining whether there is the preemption of the obstacle vehicle at the surrounding point space information contradicts the preemption of the target vehicle at the map point space information includes:
Judging whether the horizontal pre-occupied area of the target vehicle at the map point is intersected with the horizontal pre-occupied area of the obstacle vehicle at the surrounding point or not according to the horizontal pre-occupied information of the target vehicle at the map point and the horizontal pre-occupied information of the obstacle vehicle at the surrounding point;
if the horizontal pre-occupation area is intersected, judging whether the vertical pre-occupation area of the target vehicle at the map point is intersected with the vertical pre-occupation area of the obstacle vehicle at the surrounding point according to the vertical pre-occupation information of the target vehicle at the map point and the vertical pre-occupation information of the obstacle vehicle at the surrounding point;
if the vertical pre-occupied areas do not intersect, it is determined that there is no conflict.
10. A motion control apparatus of a vehicle, characterized by comprising:
The system comprises a receiving module, a locking module and a locking module, wherein the receiving module is used for receiving an application signal of a target vehicle to a pre-application locking path, the pre-application locking path comprises a plurality of map points, the application signal comprises pre-occupation space information of the target vehicle at each map point, the pre-occupation space information comprises horizontal pre-occupation information and vertical pre-occupation information, the pre-occupation space information of the target vehicle at each map point is determined by the target vehicle according to a target motion state of the target vehicle at each map point, and the target motion state comprises at least one of static state, linear motion and rotation; wherein the information of the space occupied by the target vehicle at each map point is determined by the target vehicle according to the target motion state of the target vehicle at each map point, and the method comprises the following steps: determining a horizontal pre-occupation area of the vehicle at the map point according to the horizontal projection of the vehicle at the map point, and determining the horizontal pre-occupation information according to the size information of the horizontal pre-occupation area; the determining the horizontal pre-occupied area of the vehicle at the map point according to the horizontal projection of the vehicle at the map point comprises the following steps: when the target motion state of the vehicle at the map point is stationary, judging whether the head direction of the vehicle is deviated or not; if the vehicle is deflected, determining a rotation circle according to the horizontal projection of the vehicle on the map point, and determining the rotation circle as a horizontal pre-occupied area of the vehicle on the map point, wherein the center of the rotation circle is the geometric center point of the horizontal projection, and the radius of the rotation circle is the farthest end from the geometric center point to the horizontal projection;
The judging module is used for judging whether the pre-application locking path can be executed or not according to the pre-occupation space information of the target vehicle at the map point and the pre-occupation space information of at least one obstacle vehicle at the surrounding points of the map point; wherein the obstacle vehicle includes a vehicle having a different shape than the vehicle;
And the sending module is used for sending an application agreement signal for the pre-application locking path to the target vehicle when the pre-application locking path is executable.
11. The motion control apparatus of claim 10, wherein the determination module comprises:
A judging sub-module, configured to judge, for each surrounding point of the map point, whether or not the space information occupied by the obstacle vehicle at the surrounding point conflicts with the space information occupied by the target vehicle at the map point;
and the judging submodule is used for judging that the pre-application locking path is executable when no conflict exists in each surrounding point.
12. The motion control apparatus of claim 11, wherein the determination submodule is further configured to:
Judging whether the horizontal pre-occupied area of the target vehicle at the map point is intersected with the horizontal pre-occupied area of the obstacle vehicle at the surrounding point or not according to the horizontal pre-occupied information of the target vehicle at the map point and the horizontal pre-occupied information of the obstacle vehicle at the surrounding point;
if the horizontal pre-occupation area is intersected, judging whether the vertical pre-occupation area of the target vehicle at the map point is intersected with the vertical pre-occupation area of the obstacle vehicle at the surrounding point according to the vertical pre-occupation information of the target vehicle at the map point and the vertical pre-occupation information of the obstacle vehicle at the surrounding point;
if the vertical pre-occupied areas do not intersect, it is determined that there is no conflict.
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