CN111857138A - Control method of manned automatic guided vehicle, application thereof and related device - Google Patents
Control method of manned automatic guided vehicle, application thereof and related device Download PDFInfo
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- CN111857138A CN111857138A CN202010637442.2A CN202010637442A CN111857138A CN 111857138 A CN111857138 A CN 111857138A CN 202010637442 A CN202010637442 A CN 202010637442A CN 111857138 A CN111857138 A CN 111857138A
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- 238000000034 method Methods 0.000 title claims abstract description 73
- 230000036541 health Effects 0.000 claims abstract description 33
- 230000008569 process Effects 0.000 claims description 10
- 238000013459 approach Methods 0.000 claims description 6
- 238000012216 screening Methods 0.000 claims description 3
- 230000000638 stimulation Effects 0.000 claims description 3
- 230000006698 induction Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- 208000019622 heart disease Diseases 0.000 description 4
- 230000004936 stimulating effect Effects 0.000 description 4
- 206010020772 Hypertension Diseases 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000002085 irritant Substances 0.000 description 2
- 231100000021 irritant Toxicity 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 231100000344 non-irritating Toxicity 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The application discloses a manned automatic guided vehicle and a control method, a control device and a computer readable storage medium of the manned automatic guided vehicle in an outdoor recreation place, and belongs to the technical field of automatic guided vehicles. The control method of the manned automatic guided vehicle firstly obtains characteristic information of passengers, then selects a driving path matched with the characteristic information of the passengers from preset paths, and drives on a lane of the manned automatic guided vehicle according to the selected driving path, wherein the characteristic information of the passengers comprises health condition information of the passengers. The health condition information of different passengers is different, if the general type driving path is set, some passengers can not adapt to, for example, the physical condition is not suitable, the driving path matched with the health condition information of the passengers is selected, the safety of the manned automatic guided vehicle carrying the passengers to drive along the preset driving path can be improved, and the riding experience of the passengers is improved.
Description
Technical Field
The present invention relates to the field of automated guided vehicles, and in particular, to a manned automated guided vehicle, a method and a device for controlling the manned automated guided vehicle in an outdoor amusement place, and a computer-readable storage medium.
Background
An Automated Guided Vehicle (AGV) is a Vehicle equipped with an automatic guiding device and capable of traveling along a predetermined travel path. When the AGV carries the load, only the driving path which best meets the economic benefit needs to be set according to the starting point and the terminal point. The AGVs can also be used for passengers, and when the manned automatic guided vehicle plans a driving path, due to the differences of passengers and the driving path, if only the economic benefit is considered, the riding experience of passengers riding the manned automatic guided vehicle may be reduced, and even potential safety hazards are brought. Therefore, when the driving path of the manned automatic guided vehicle is planned, the riding experience of passengers is comprehensively considered according to economic efficiency, so that the safety of the manned automatic guided vehicle carrying the passengers along the preset driving path is improved, and the riding experience of the passengers is improved.
Disclosure of Invention
The technical problem mainly solved by the application is to provide a manned automatic guided vehicle, a control method and a control device for the manned automatic guided vehicle in an outdoor amusement place, and a computer readable storage medium, so that the safety of the manned automatic guided vehicle carrying passengers to travel along a preset traveling path can be improved, and the riding experience of the passengers can be improved.
In order to solve the technical problem, the application adopts a technical scheme that:
the control method of the manned automatic guided vehicle comprises the following steps:
acquiring characteristic information of a passenger, wherein the characteristic information comprises health condition information of the passenger;
selecting a driving path matched with the characteristic information of the passenger from preset paths;
and driving on the lane of the manned automatic guided vehicle according to the driving path.
In order to solve the above technical problem, another technical solution adopted by the present application is:
the control method of the manned automatic guided vehicle in the outdoor amusement place comprises the following steps:
acquiring characteristic information of a tourist taking the manned automatic guided vehicle, wherein the characteristic information comprises health condition information of the tourist;
selecting a tour running path matched with the characteristic information of the tourist from preset tour paths;
and driving on the lane of the manned automatic guided vehicle according to the tour driving path.
In order to solve the above technical problem, another technical solution adopted by the present application is:
the control device of the manned automatic guided vehicle comprises the manned automatic guided vehicle, a controller and a memory, wherein the manned automatic guided vehicle and the memory are respectively coupled with the controller, the memory stores program instructions, and the controller can execute the program instructions to control the manned automatic guided vehicle to realize the control method of the manned automatic guided vehicle in the technical scheme and/or realize the control method of the manned automatic guided vehicle in the outdoor amusement place in the technical scheme.
In order to solve the above technical problem, another technical solution adopted by the present application is:
there is provided a computer readable storage medium having stored thereon program instructions executable to implement the method of controlling a people mover of the above-described technical solution and/or to implement the method of controlling a people mover of an outdoor attraction of the above-described technical solution.
The beneficial effect of this application is: different from the situation of the prior art, the control method of the manned automatic guided vehicle provided by the application firstly obtains the characteristic information of passengers, then selects the driving path matched with the characteristic information of the passengers from the preset paths, and then drives on the lane of the manned automatic guided vehicle according to the selected driving path, wherein the characteristic information of the passengers comprises the health condition information of the passengers. The health condition information of different passengers is different, if the general type driving path is set, some passengers can not adapt to, for example, the physical condition is not suitable, the driving path matched with the health condition information of the passengers is selected, the safety of the manned automatic guided vehicle carrying the passengers to drive along the preset driving path can be improved, and the riding experience of the passengers is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts. Wherein:
FIG. 1 is a schematic flow chart of a first embodiment of a control method of a manned automated guided vehicle according to the present application;
FIG. 2 is a schematic flow chart of a second embodiment of the control method of the manned automated guided vehicle according to the present application;
FIG. 3a is a schematic structural diagram of an embodiment of an engagement area of a manned automated guided vehicle;
FIG. 3b is a schematic structural view of an embodiment of an automated guided vehicle for passengers entering from a contact area
FIG. 4 is a schematic flow chart of a third embodiment of the control method of the manned automated guided vehicle according to the present application;
FIG. 5 is a schematic flow chart of a fourth embodiment of the control method of the manned automated guided vehicle according to the present application;
FIG. 6 is a schematic flow chart of a fifth embodiment of the control method of the manned automated guided vehicle according to the present application;
FIG. 7 is a schematic flow chart of a sixth embodiment of the control method of the manned automated guided vehicle according to the present application;
FIG. 8 is a schematic plan view of an embodiment of a path of travel of the manned automated guided vehicle;
FIG. 9a is a schematic plan view of an embodiment of a manned automated guided vehicle approaching a defined area;
FIG. 9b is a schematic plan view of the manned automated guided vehicle approaching a predetermined area according to one embodiment;
FIG. 9c is a schematic plan view of the manned automated guided vehicle rotated 180 degrees while traveling straight;
FIG. 10 is a schematic flow chart illustrating a seventh embodiment of a control method for a manned automated guided vehicle according to the present application;
FIG. 11 is a schematic plan view of an embodiment of a manned automated guided vehicle for detecting distance;
FIG. 12 is a schematic view of an embodiment of a loading view screen of the manned automated guided vehicle;
FIG. 13 is a schematic flow chart of a first embodiment of a control method for a manned automated guided vehicle for an outdoor attraction according to the present application;
FIG. 14 is a schematic flow chart of a second embodiment of the method for controlling a people-carrying automated guided vehicle in an outdoor attraction according to the present application;
FIG. 15 is a schematic plan view of one embodiment of a tour path of the people mover;
FIG. 16 is a schematic structural diagram of an embodiment of a control device of the present applicant's automated guided vehicle;
FIG. 17 is a schematic structural diagram of an embodiment of a computer-readable storage medium according to the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments that can be obtained by a person skilled in the art without making any inventive step based on the embodiments in the present application belong to the protection scope of the present application.
An Automated Guided Vehicle (AGV) is a Vehicle equipped with an automatic guiding device and capable of traveling along a predetermined travel path. The automatic guided vehicle comprises a movable base, the movable base generally comprises a vehicle frame and a driving wheel, and the driving wheel drives the vehicle frame to walk or turn so as to drive the automatic guided vehicle to walk or turn. The automatic guided vehicle can also carry people, and before the passenger carrying the automatic guided vehicle carries the passenger to travel along the travel path, the travel path needs to be planned by comprehensively considering the riding experience of the passenger. In order to solve the technical problem, the following technical scheme is adopted in the application.
Referring to fig. 1, fig. 1 is a schematic flow chart of a first embodiment of a control method of a people-carrying automated guided vehicle according to the present application, the control method including the following steps:
And S11, acquiring characteristic information of the passenger, wherein the characteristic information comprises the health condition information of the passenger.
According to the passenger automatic guided vehicle, one or more passengers can be carried, the characteristic information of different passengers is different, for example, children have old people, the health condition information of different passengers is different, for example, some passengers are completely healthy, some passengers have heart diseases or high blood pressure, if a universal driving path is set, some passengers can not adapt to the situation, for example, the physical condition is uncomfortable, and even potential safety hazards exist. Therefore, the characteristic information of the passenger is obtained before the driving path of the manned automatic guided vehicle is planned, and a more appropriate driving path is planned according to the characteristic information of the passenger.
In order to reduce the amount of passenger walking between the driven vehicle and the people carrying automated guided vehicle to be carried, in another embodiment, please refer to fig. 2, fig. 2 is a schematic flow chart of a second embodiment of the method for controlling the people carrying automated guided vehicle according to the present application, and compared with the first embodiment, the present embodiment is different from the first embodiment only in that the present embodiment further includes the following steps before step S11 (obtaining the characteristic information of the passenger):
And S111, controlling the manned automatic guided vehicle without passengers to run to an entrance of a parking lot or an engagement area of the manned automatic guided vehicle in the parking lot to take the passengers, wherein the parking lot comprises a stereo garage.
In an application scene, a passenger needs to go to a tourist attraction for visiting, drives a motor vehicle to arrive at a parking lot of the tourist attraction, the parking lot is provided with an engagement area of the manned automatic guided vehicle, and the passenger can directly take the manned automatic guided vehicle in the engagement area after stopping the motor vehicle. Various parking lots can be directly engaged with the manned automatic guided vehicle in the application, such as an outdoor parking lot, an indoor parking lot, a stereo garage and the like, which is not limited in the application. Specifically, please refer to fig. 3a and 3b, fig. 3a is a schematic structural diagram of an embodiment of an engagement area of the people-carrying automated guided vehicle, and fig. 3b is a schematic structural diagram of an embodiment of a passenger entering the people-carrying automated guided vehicle from the engagement area. A passenger P (one or more passengers) drives a trolley V to enter a meeting area from a lane shown by a double arrow on the right side in fig. 3a, the passenger P enters a platform C of the meeting area after the passenger P gets off from the motor vehicle V, a boarding point of the manned automatic guided vehicle 100 is arranged on the platform C, the passenger P enters the manned automatic guided vehicle from the boarding point, and after a driving route is set, the manned automatic guided vehicle 100 can carry a tourist attraction to go out from the lane shown by the double arrow on the left side in fig. 3 a. Further, the parking lot may be further provided with a parking robot that carries the vehicle V to a designated parking spot.
In this embodiment, the passenger P can directly enter the manned automatic guided vehicle 100 for visiting after getting off from the motor vehicle V, and does not need to walk a lot, and if the passenger has a health condition with inconvenient legs and feet, riding experience can be greatly improved.
With continued reference to fig. 1, the above embodiment further includes:
and S12, selecting a driving path matched with the characteristic information of the passenger from the preset paths.
In the present embodiment, after the passenger characteristic information (including the health condition information of the passenger) is acquired, the automated guided vehicle selects a travel route matching the passenger characteristic information from the preset routes. For example, if the passenger is a child, the passenger can select a more interesting driving path, and if the passenger is suffering from heart disease, the passenger can select a more gentle driving path, so that the stimulation of the manned automatic guided vehicle to the passenger in the driving process is reduced.
And S13, driving on the lane of the manned automatic guided vehicle according to the driving path.
After the manned automatic guided vehicle selects a driving path matched with the characteristic information of the passenger from the preset paths, the passenger is carried to drive on the lane of the manned automatic guided vehicle according to the driving path, and the passenger is led to the destination, or the passenger visits tourist attractions, or participates in stimulating or non-stimulating play items and the like. The lanes of the manned automated guided vehicle include motor vehicle lanes, or other lanes capable of safely traveling, which is not limited in this application. When the passenger is carried to travel on the lane according to the travel path, the manned automated guided vehicle can receive control commands of the passenger at any time, such as stop of travel, steering travel, early completion of travel, and the like, and can return to the travel path to continue traveling after the command is executed.
According to the embodiment, the driving path matched with the health condition information of the passenger is selected, so that the safety of the passenger carrying the automatic manned guided vehicle for driving along the preset driving path can be improved, and the riding experience of the passenger is improved.
In any of the above embodiments, referring to fig. 4, fig. 4 is a schematic flow chart of a third embodiment of the method for controlling a people-carrying automated guided vehicle according to the present application, and step S11 (obtaining characteristic information of a passenger) may further include the following steps:
and S113, receiving an instruction of setting a terminal by the passenger.
In one application scenario, a passenger needs to take the manned automated guided vehicle to a certain destination, and before or after the passenger enters the manned automated guided vehicle, an instruction for setting the destination as the destination is issued to the manned automated guided vehicle, so that the manned automated guided vehicle receives the instruction for setting the destination for the passenger.
And S115, screening out a path corresponding to the end point based on the instruction, and determining the path as a preset path.
After receiving the instruction of setting the destination for the passenger, the manned automatic guided vehicle screens out the paths corresponding to the destination based on the instruction, namely screens out a plurality of paths of which the destination is the destination of the passenger, and determines the plurality of paths as preset paths for further screening.
The steps after step S115 in this embodiment are the same as steps S11 to S13 in fig. 1, and the description about steps S11 to S13 can be referred to specifically.
In the embodiment, the manned automatic guided vehicle stores paths which take destination as many as possible as the destination in advance, can receive the instruction of setting the destination of the passenger, and screens the paths corresponding to the destination, so that the control method of the manned automatic guided vehicle provided by the application is more flexible and wider in universality, can provide riding service for the passenger more conveniently, and improves riding experience of the passenger.
In any of the above embodiments, please refer to fig. 5, fig. 5 is a schematic flow chart of a fourth embodiment of the control method for a people-carrying automated guided vehicle according to the present application, and step S12 may be specifically detailed as the following steps:
and S121, if the health state of the passenger is determined to be poor based on the health state information of the passenger, selecting a non-stimulation path from preset paths as a driving path.
The present embodiment further includes a step S11 before the step S121 and a step S13 after the step S121, wherein the steps S11 and S13 are the same as those described in the first embodiment of fig. 1, and the description about the steps S11 and S13 can be referred to specifically.
In an application scenario of the embodiment, a passenger needs to ride the automatic guided vehicle with a passenger to play in a theme park, where the theme park has a plurality of play items, and at this time, if it is determined that the health state of the passenger is not good based on the health state information of the passenger, for example, the passenger has hypertension, the automatic guided vehicle with a passenger selects a non-irritating path from preset paths, for example, a driving path without irritating play items, so as to improve the safety of the passenger riding the automatic guided vehicle with a passenger and improve the riding experience.
In any of the above embodiments, please refer to fig. 6, fig. 6 is a schematic flow chart of a fifth embodiment of the control method for a manned automated guided vehicle according to the present application, and step S12 can be further detailed as the following steps:
and S123, if the passenger is determined to be in a healthy state based on the health state information of the passenger, displaying all the preset paths.
In the application scenario in which the passenger rides the manned automated guided vehicle to play in a theme park, after acquiring the health state information of the passenger, the manned automated guided vehicle determines that the passenger is in a health state based on the health state information, and displays all preset paths, such as a driving path including only stimulating play items, a driving path including only non-stimulating play items, a driving path including two play items at the same time, and the like, for the passenger to select.
And S125, receiving a selection instruction of the passenger, and determining a driving path based on the selection instruction.
After receiving an instruction of selecting a certain preset path by a passenger, the manned automatic guided vehicle sets the preset path selected by the passenger as a traveling path based on the instruction so as to facilitate the passenger to travel according to the traveling path selected by the passenger.
The present embodiment further includes step S11 before step S123 and step S13 after step S125, wherein step S11 and step S13 are the same as those described in the first embodiment of fig. 1, and the description about steps S11 and S13 can be referred to specifically.
After the passenger is determined to be in the healthy state, all the preset paths are provided for the passenger to select, the riding requirement of the passenger can be met, and the riding experience of the passenger is improved.
In any of the above embodiments, please refer to fig. 7, fig. 7 is a schematic flowchart illustrating a sixth embodiment of the control method for a manned automated guided vehicle according to the present application, and step S13 may be specifically detailed as follows:
s131, according to the driving path, the vehicle drives on the lane of the manned automatic guided vehicle, and simultaneously judges whether a set area exists in the set distance range of the manned automatic guided vehicle.
Referring to fig. 8, fig. 8 is a schematic plan view of an embodiment of a travel path of the manned automated guided vehicle. The travel path 11 passes through three set areas X, Y and Z. When the passenger enters a set distance range of one of the set areas when the passenger drives along the driving path 11, the manned automatic guided vehicle makes different driving choices according to the types of the set areas under the condition that the passenger does not give an additional control instruction. Specifically, the type of the set area may be an area where an obstacle to be avoided is located, or a landscape area that can be viewed. Of course, if there is no set area within the set distance range, the travel along the travel path may be continued as shown in step S132 in fig. 7.
And S133, if the set area exists in the set distance range, adjusting the running speed or/and the running steering of the manned automatic guided vehicle to avoid or approach the set area.
If a set area exists within the set distance range, for example, if the set area is an area (set area X in fig. 8) having no ornamental value, such as an area where an obstacle that needs to be avoided is located, and the passenger has no interest in the set area X, the manned automated guided vehicle may adjust the traveling speed or/and the traveling direction of the manned automated guided vehicle so as to avoid the set area, thereby avoiding danger.
If the set area is an area having a viewing value such as a movie area, a landscape viewing area, an animal and plant viewing area, or a night sky viewing area (set areas Y and Z in fig. 8), and the passenger needs to view or stop on the way to view the set area, the manned automated guided vehicle may adjust the traveling speed or/and the traveling direction so as to approach the set area.
In addition, the manned automated guided vehicle provides at least two ways to approach the set area for the passengers to select, please refer to fig. 9a and 9b, fig. 9a is a schematic plan view of an embodiment of the manned automated guided vehicle approaching the set area, and fig. 9b is a schematic plan view of an embodiment of the manned automated guided vehicle approaching the set area.
In fig. 9a, the people mover 100 travels around the setting area Y at a setting speed lower than the normal traveling speed so that the passenger can sufficiently view the setting area Y, for example, a landscape viewing area, to allow the passenger to view the setting area Y. When the people-carrying automatic guided vehicle 100 runs around the set area Y, the vehicle body is as tangential as possible to the running route, the vehicle head 12 is kept in the forward direction, and the passengers can observe the landscape of the set area Y by leaning on. In fig. 9a, a broken line L1 indicates a line connecting the midpoints of the bodies of the people mover 100, and a broken line L2 indicates a line connecting the car heads 12.
In fig. 9b, the setting area Z is an area where the passengers need to stay for viewing, for example, a movie area, and the manned automated guided vehicle 100 controls the head 12 to always face the setting area Z and rotationally move around the setting area Z so that the passengers can view the setting area. When the set area Z passes, the speed of the people-carrying automated guided vehicle 100 may be further slowed or suspended for a period of time, so that the passengers have enough time to view the set area Z; the relative distance or the relative angle between the manned automated guided vehicle 100 and the set zone Z can be adjusted after the vehicle is paused, so that viewing experience at different distances and at different angles relative to the set zone Z and multi-angle viewing experience can be provided for passengers. In fig. 9b, a dotted line L3 indicates a line connecting the midpoints of the bodies of the people mover 100, and a dotted line L4 indicates a line connecting the car heads 12.
Further, referring to fig. 9c, fig. 9c is a schematic plan view of the manned automated guided vehicle rotating 180 degrees when the manned automated guided vehicle is traveling straight. At the position of the driving path where the set area does not exist, the manned automatic guided vehicle 100 can rotate while advancing, after rotating 180 degrees, the vehicle head 12 faces the rear of the advancing direction, and can also rotate 180 degrees continuously to enable the vehicle head 12 to face the advancing direction, so as to increase the riding pleasure of passengers, wherein the rotating speed and the rotating angle can be set in advance or receive the setting instruction of the passengers. The dashed line L5 in fig. 9c represents the connection of the vehicle head 12.
As shown in fig. 7, the present embodiment further includes steps S11 and S12 before step S131, wherein steps S11 and S12 are the same as in the first embodiment shown in fig. 1, and the above description about steps S11 and S12 can be referred to specifically.
In the embodiment, in the process that the manned automatic guided vehicle runs on the lane according to the running path, different running modes are selected according to different types of set areas, the ornamental requirements of passengers are met on the premise of safe running, and the riding experience of the passengers is improved.
In any of the above embodiments, please refer to fig. 10, fig. 10 is a schematic flow chart of a seventh embodiment of the control method for the people-carrying automated guided vehicle according to the present application, and step S13 can be further detailed as the following steps:
And S135, detecting the distance between the manned automatic guided vehicle and other vehicles or pedestrians by using the sensing device while driving on the lane of the manned automatic guided vehicle according to the driving path, and increasing the distance between the manned automatic guided vehicle and the other vehicles or pedestrians after the detected distance is less than the set distance.
The present embodiment further includes steps S11 and S12 before step S135, wherein steps S11 and S12 are the same as those in the first embodiment shown in fig. 1, and the description about steps S11 to S13 can be referred to specifically.
In the embodiment, when the manned automatic guided vehicle carries passengers to travel according to the travel path, the distance between the passengers and other vehicles or pedestrians detected by the sensing device is received in real time, and after the distance is judged to be smaller than the set safe distance, the travel direction or the travel angle is adjusted, so that the distance between the passengers and other vehicles or pedestrians is increased on the premise that the manned automatic guided vehicle does not deviate from the original travel path, and the safety of the passengers carrying the manned automatic guided vehicle is improved. Specifically, referring to fig. 11, fig. 11 is a schematic plan view of an embodiment of detecting a distance by the manned automated guided vehicle. In fig. 11, the automated guided vehicle 100 enters the setting area Z from the traveling route 11, and stops in the setting area Z so that the passenger can view the object to be viewed in the setting area Z, and the distance D from the other vehicle 200 on the right side is smaller than the setting distance, and at this time, the automated guided vehicle 100 adjusts the distance from the other vehicle 200 so as to be larger than the setting distance for the safety of the passenger. The circular area around the people mover 100 in fig. 11 represents the sensing area thereof. After the passenger finishes observing, the passenger returns to the traveling path 11 and continues traveling along the traveling path 11 to the destination.
In an eighth embodiment of the method for controlling a people-carrying automated guided vehicle according to the present application, please refer to fig. 12, where fig. 12 is a schematic structural view of an embodiment of a video viewing screen mounted on the people-carrying automated guided vehicle. In the present application, in which the automated guided vehicle 100 is equipped with the retractable viewing screen 300, the present embodiment specifically refines step S13 (running on the lane of the automated guided vehicle according to the running route) in the first embodiment shown in fig. 1 to:
and playing preset content on the film viewing screen while driving on the lane of the manned automatic guided vehicle according to the driving path so that passengers can view the preset content while riding the manned automatic guided vehicle.
The steps performed before this detailed step are the same as steps S11 and S12 in the first embodiment described in fig. 1, and will not be described again here.
In the present embodiment, before or after the people mover 100 travels into the setting area, the people mover 100 may play the preset content related to the setting area on the viewing screen, so that the passenger P may view the preset content while riding the people mover 100, for example, may be a brief introduction of a viewable landscape in the setting area Y, thereby improving the riding experience of the passenger P. Preferably, after the manned automated guided vehicle 100 enters the set area, the viewing screen 300 may be retracted, so as to avoid affecting the viewing of the scenery by the passenger and improve the viewing experience of the passenger P.
The present application also provides a method for controlling a people-carrying automated guided vehicle in an outdoor attraction, and specifically please refer to fig. 13, where fig. 13 is a schematic flow diagram of a first embodiment of a method for controlling a people-carrying automated guided vehicle in an outdoor attraction, and the method includes the following steps:
and S21, acquiring characteristic information of the tourists riding the manned automatic guided vehicle, wherein the characteristic information comprises health condition information of the tourists.
According to the people-carrying automatic guide vehicle in the outdoor amusement place, one or more tourists can be carried, the characteristic information of different tourists is different, for example, children have old people, the health condition information of different tourists is different, for example, some tourists are completely healthy, some tourists have heart diseases or hypertension, if a universal driving path is arranged, some tourists can not adapt to the situation, for example, the physical condition is uncomfortable, and even potential safety hazards exist. Therefore, the characteristic information of the tourists is obtained before the tour running path of the manned automatic guide vehicle in the outdoor recreation place is planned, so that a more appropriate tour running path is planned according to the characteristic information of the tourists, and the playing experience of the tourists is improved.
And S22, selecting a tour running path matched with the characteristic information of the tourists from the preset tour paths.
In the present embodiment, after acquiring the characteristic information of the tourist (including the health condition information of the tourist), the people-carrying automated guided vehicle selects a tour route matching the characteristic information of the tourist from the preset tour routes. For example, if the tourist is a child, a more interesting tour route including a child play item may be selected, if the tourist is a heart disease, a tour route not including an irritating play item may be selected, and if the tourist is a healthy adult, a more irritating tour route including an adult play item may be selected. After a plurality of tourist traveling matched with the health condition of the tourist are provided for the selection of the tourist, the selection of the tourist is received, and the tourist traveling path selected by the tourist is set as the tourist traveling path of the manned automatic guided vehicle.
And S23, driving on the lane of the manned automatic guided vehicle according to the tour driving path.
In the present embodiment, after the manned automated guided vehicle in the outdoor amusement place selects the tour route matching the characteristic information of the visitor from the preset tour routes, the manned automated guided vehicle drives on the lane of the manned automated guided vehicle according to the tour route, and takes the visitor to participate in the exciting or non-exciting play items on the tour route. The lanes of the manned automated guided vehicle include motor vehicle lanes, or other lanes capable of safely traveling, which is not limited in this application. When the manned automated guided vehicle is traveling on the lane according to the tour route, the manned automated guided vehicle can receive the control command of the tourist at any time, for example, stop traveling, turn to traveling, end traveling in advance, and the like, and can return to the tour route to continue traveling after the command is executed.
According to the embodiment, the driving path matched with the health condition information of the passenger is selected, so that the safety of the passenger carrying the automatic manned guided vehicle for driving along the preset driving path can be improved, and the riding experience of the passenger is improved.
In the above-mentioned embodiment shown in fig. 13, please refer to fig. 14, fig. 14 is a schematic flow chart of a second embodiment of the method for controlling a people-carrying automated guided vehicle in an outdoor attraction according to the present application, and step S23 can be specifically detailed as the following steps:
and S231, judging whether the scenic spot area exists in the set distance range of the manned automatic guided vehicle while driving on the lane of the manned automatic guided vehicle according to the tour driving path.
Specifically, referring to fig. 15, fig. 15 is a schematic plan view of an embodiment of a tour route of the people mover. Fig. 15 only schematically illustrates a case where the tour route 21 passes through two scenic spot areas a and B, different play items are respectively arranged in the two scenic spot areas, where a is an irritant play item such as a 5D movie, a ghost house, and the like, and B is a non-irritant play item such as an animal and plant view, a 3D movie, and the like. When carrying a tourist to drive along the tour driving path 21, the manned automatic guided vehicle judges whether scenic spot areas exist in a set distance range of the manned automatic guided vehicle in real time, and when entering the set distance range of one of the scenic spot areas, the manned automatic guided vehicle makes different driving selections according to the types of the scenic spot areas under the condition that the tourist does not give an additional control instruction. Of course, if there is no sight area within the set distance range, the tour travel path may be continued to be followed, as shown in step S233 in fig. 14.
S232, if the scenic spot area exists, driving around the scenic spot area according to a set speed so that the tourist can watch the scenic spot area; or the head of the manned automatic guided vehicle is controlled to always face the attraction area and rotate around the attraction area so that the tourist can watch the attraction area.
Specifically, the manned automated guided vehicle provides at least two approaches to attraction areas for selection by the guest based on the exciting or non-exciting nature of the play items within the attraction area. The specific control method is similar to the control method shown in fig. 9a and 9b, and reference can be continuously made to fig. 9a and 9b, and no additional drawing is needed here.
When entering the scenic spot area A, the manned automatic guided vehicle controls the head of the manned automatic guided vehicle to always face the scenic spot area A and rotate around the scenic spot area A so that the tourist can watch the scenic spot area A. When the tourist passes through the scenic spot area A, the speed of the manned automatic guided vehicle can be slowed down or the passenger stops driving for a period of time as far as possible, so that the tourist has enough time to experience the playing items in the scenic spot area A; the relative distance or the relative angle between the manned automatic guided vehicle and the scenic spot area A can be adjusted after the vehicle stops running, and the tourists can be provided with the playing experience of different distances and the playing experience of multiple angles relative to the scenic spot area A.
When entering the scenic spot area B, the manned automatic guided vehicle runs around the scenic spot area B at a set speed so that the tourist can watch the scenic spot area B, wherein the set speed is lower than a normal running speed so that the tourist can fully watch the scenic spot area B, and when the manned automatic guided vehicle runs around the scenic spot area B, the vehicle body is always tangent to a tour running route, the head of the vehicle is kept in a forward direction, and the tourist can observe the scenic spot of the scenic spot area B on one side.
As shown in fig. 14, the present embodiment further includes steps S21 and S22 before step S231, wherein steps S21 and S22 are the same as in the first embodiment shown in fig. 13, and the above description about steps S21 and S22 can be referred to specifically.
In the third embodiment of the method for controlling a man-riding automatic guided vehicle in an outdoor attraction according to the present invention, the man-riding automatic guided vehicle in the outdoor attraction is provided with a sensor, and the present embodiment specifically refines step S23 (traveling on the lane of the man-riding automatic guided vehicle according to the tour route) in the first embodiment described in fig. 13 to:
and in the process that the manned automatic guided vehicle advances according to the tour travel path, acquiring and adjusting the travel pose of the manned automatic guided vehicle in real time through a sensor so that the manned automatic guided vehicle advances according to the tour travel path.
The driving pose comprises a driving position and a driving direction, and the manned automatic guided vehicle can deviate from the original tour driving path due to avoiding of other vehicles or pedestrians or due to control of tourists in the process of driving according to the tour driving path.
The steps included in this embodiment before this step of detailed description are the same as steps S21 and S22 in the first embodiment described in fig. 13, and are not described again here.
In the fourth embodiment of the method for controlling a people mover in an outdoor attraction according to the present invention, after steps S21 to S23 in the first embodiment described in fig. 13 are executed, the method further includes the steps of:
and after the manned automatic guided vehicle travels to the terminal point according to the tour running path, controlling the manned automatic guided vehicle to adjust to a preset pose so that the manned automatic guided vehicle is in the same pose each time the manned automatic guided vehicle departs.
The starting point and the terminal point of the tour running path are preferably set to be coincident (in other embodiments, the starting point and the terminal point can also be set to be not coincident), the starting point and the terminal point are both located in a meeting area of the manned automatic guided vehicle with parking sound, tourists enter the manned automatic guided vehicle from the meeting area, after the tour running path is set, the manned automatic guided vehicle runs on a lane of the manned automatic guided vehicle according to the tour running path, and after the tour running reaches the terminal point, the tourists get back to the meeting area again, can conveniently get back to a motor vehicle which is located in a parking lot and is driven by the tourists, and then finish the tour. According to the embodiment, after the manned automatic guided vehicle travels to the terminal (namely the starting point), the manned automatic guided vehicle is controlled to be adjusted to the preset pose, so that the manned automatic guided vehicle is in the same pose each time when the manned automatic guided vehicle starts, and when a next batch of tourists take the manned automatic guided vehicle for visiting, the pose is not required to be adjusted before starting, so that the playing experience of the tourists is improved.
Referring to fig. 16, fig. 16 is a schematic structural diagram of an embodiment of a control device of a people-carrying automated guided vehicle according to the present application, where the control device includes a people-carrying automated guided vehicle 100, a controller 101, and a memory 102, where the people-carrying automated guided vehicle 100 and the memory 102 are respectively coupled to the controller 101, and the memory 102 stores program instructions, and the controller 101 can execute the program instructions to control the people-carrying automated guided vehicle 100 to implement the control method of the people-carrying automated guided vehicle according to any one of the above embodiments and/or the control method of the people-carrying automated guided vehicle in an outdoor attraction.
The following describes an operation process of the control device of the people-carrying automated guided vehicle according to the present application by taking a specific application scenario as an example, and of course, the control device has other operation modes, which is not limited in the present application.
Passengers drive vehicles to a park in a casino and enter manned automated guided vehicles 100 at the area of engagement. The controller 101 acquires that the health condition of the passenger is completely healthy by providing an option, displays all of a plurality of preset traveling paths prestored in the memory 102 to the passenger for selection, and sets the traveling path of the manned automated guided vehicle 100 based on the selection of the passenger. The controller 101 controls the automated guided vehicle 100 to travel in the lane thereof according to the travel path. During the driving process, the controller 101 receives the distance to other vehicles or pedestrians fed back by the sensing device of the people-carrying automated guided vehicle 100 in real time, and adjusts the driving process of the people-carrying automated guided vehicle 100 in real time according to the comparison between the distance and the set distance, so as to improve the safety. Meanwhile, the controller 101 also receives the driving pose of the automated guided vehicle 100 fed back by the sensor of the automated guided vehicle 100 in real time, judges whether the driving of the automated guided vehicle 100 deviates according to the driving pose, and adjusts the driving process of the automated guided vehicle 100 when the deviation occurs so as to drive according to the driving path selected by the passenger. When the manned automated guided vehicle 100 travels to a set range of a set area that can be viewed, if the passenger does not intervene to change the route, the controller 101 controls the manned automated guided vehicle 100 to enter the set area for viewing, and returns to the travel route after viewing is finished until the vehicle travels to the end point. At the end point coinciding with the starting point, the passenger gets off manned automated guided vehicle 100, returns to his vehicle from the point of engagement and drives away. The controller 101 controls the automated guided vehicle 100 to adjust to a preset pose for the next passenger to board.
According to the embodiment, the driving path matched with the health condition information of the passenger is selected, so that the safety of the passenger carrying the automatic manned guided vehicle for driving along the preset driving path can be improved, and the riding experience of the passenger is improved.
Referring to fig. 17, fig. 17 is a schematic structural diagram of an embodiment of a computer-readable storage medium of the present application, where the storage medium 500 stores program instructions 50, and the program instructions 50 can be executed by a processor to implement the method for controlling a people-carrying automated guided vehicle according to any one of the above embodiments and/or the method for controlling a people-carrying automated guided vehicle in an outdoor amusement place. Reference may be made to any of the above embodiments, which are not described herein again.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (16)
1. A control method of a manned automated guided vehicle is characterized by comprising the following steps:
acquiring characteristic information of a passenger, wherein the characteristic information comprises health condition information of the passenger;
Selecting a driving path matched with the characteristic information of the passenger from preset paths;
and driving on the lane of the manned automatic guided vehicle according to the driving path.
2. The control method of the manned automated guided vehicle according to claim 1, wherein the step of selecting a travel path matching the characteristic information of the passenger from among preset paths includes:
and if the health state of the passenger is determined to be poor based on the health state information of the passenger, selecting a non-stimulation path from the preset paths as the driving path.
3. The control method of the manned automated guided vehicle according to claim 1, wherein the step of selecting a travel path matching the characteristic information of the passenger from among preset paths includes:
if the passenger is determined to be in a healthy state based on the health state information of the passenger, displaying all preset paths;
receiving a selection instruction of a passenger, and determining the driving path based on the selection instruction.
4. The method of claim 1, wherein the step of traveling on the lane of the automated guided vehicle according to the travel path comprises:
Judging whether a set area exists in a set distance range of the manned automatic guided vehicle;
and if a set area exists in the set distance range, adjusting the running speed or/and the running steering of the manned automatic guided vehicle to avoid or approach the set area.
5. The method according to claim 4, wherein the step of adjusting the driving speed or/and the driving direction of the automated guided vehicle to avoid or approach the set area if the set area exists within the set distance range comprises:
if a set area exists in the set distance range, the passenger can drive around the set area according to a set speed to watch the set area; or
And controlling the head of the manned automatic guided vehicle to always face the set area and rotate around the set area so as to enable the passengers to watch the set area.
6. The method for controlling the automated guided vehicle for people according to any one of claims 1 to 5, wherein the step of traveling on the lane of the automated guided vehicle for people according to the traveling path comprises:
And detecting the distance between the manned automatic guided vehicle and other vehicles or pedestrians by using an induction device, and increasing the distance between the manned automatic guided vehicle and the vehicles or the pedestrians after detecting that the distance is smaller than a set distance.
7. The method for controlling the manned automated guided vehicle according to any one of claims 1 to 5, wherein the lane of the manned automated guided vehicle comprises a motor vehicle lane.
8. The method for controlling a manned automated guided vehicle according to any one of claims 1 to 5, wherein the step of obtaining the characteristic information of the passenger is preceded by:
receiving an instruction of the passenger to set a terminal;
and screening out a path corresponding to the end point based on the instruction, and determining the path as the preset path.
9. The method for controlling a manned automated guided vehicle according to any one of claims 1 to 5, wherein the step of obtaining the characteristic information of the passenger further comprises:
controlling the manned automatic guided vehicle without passengers to run to an entrance of a parking lot or an engagement area of the manned automatic guided vehicle of the parking lot to carry the passengers, wherein the parking lot comprises a stereo garage.
10. The method for controlling the manned automated guided vehicle according to any one of claims 1 to 5, wherein the manned automated guided vehicle is loaded with a retractable viewing screen, and the step of traveling on the lane of the manned automated guided vehicle according to the travel path comprises:
And playing preset content on the film watching screen so that the passenger can watch the preset content while riding the manned automatic guided vehicle.
11. A control method of a manned automatic guided vehicle in an outdoor amusement place is characterized by comprising the following steps:
acquiring characteristic information of a tourist taking the manned automatic guided vehicle, wherein the characteristic information comprises health condition information of the tourist;
selecting a tour running path matched with the characteristic information of the tourist from preset tour paths;
and driving on the lane of the manned automatic guided vehicle according to the tour driving path.
12. The method for controlling a people mover at an outdoor attraction according to claim 11, wherein the step of traveling on the driveway of the people mover in accordance with the tour travel path includes:
judging whether a scenic spot area exists in a set distance range of the manned automatic guided vehicle;
if the scenic spot area exists, driving around the scenic spot area according to a set speed so that the tourist can watch the scenic spot area; or
And controlling the head of the manned automatic guided vehicle to always face the attraction area and rotate around the attraction area so as to enable the tourist to watch the attraction area.
13. The method for controlling a people mover at an outdoor attraction according to claim 11, wherein the step of traveling on the driveway of the people mover in accordance with the tour travel path includes:
and in the process that the manned automatic guided vehicle advances according to the tour travel path, acquiring and adjusting the travel pose of the manned automatic guided vehicle in real time through a sensor so as to enable the manned automatic guided vehicle to advance according to the tour travel path.
14. The method for controlling a people mover at an outdoor attraction according to claim 13, wherein after the step of traveling on the driveway of the people mover along the tour travel path, further comprising:
and after the manned automatic guided vehicle travels to the terminal point according to the tour running path, controlling the manned automatic guided vehicle to adjust to a preset pose so that the manned automatic guided vehicle is in the same pose each time the manned automatic guided vehicle departs.
15. A control arrangement for a people mover, comprising a people mover, a controller and a memory, the people mover and the memory being coupled to the controller, respectively, the memory storing program instructions executable by the controller to control the people mover to implement a method of controlling a people mover according to any of claims 1-10 and/or to implement a method of controlling a people mover according to any of claims 11-14 at an outdoor attraction.
16. A computer-readable storage medium, characterized in that the storage medium has stored thereon program instructions executable by a processor for implementing a method for controlling a people mover according to any of claims 1-10 and/or for implementing a method for controlling a people mover of an outdoor attraction according to any of claims 11-14.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010637442.2A CN111857138A (en) | 2020-07-03 | 2020-07-03 | Control method of manned automatic guided vehicle, application thereof and related device |
| PCT/CN2020/106380 WO2022000681A1 (en) | 2020-07-03 | 2020-07-31 | Control method for manned automated guided vehicle, application thereof, and related apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010637442.2A CN111857138A (en) | 2020-07-03 | 2020-07-03 | Control method of manned automatic guided vehicle, application thereof and related device |
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| CN111857138A true CN111857138A (en) | 2020-10-30 |
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| WO (1) | WO2022000681A1 (en) |
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