CN112269377A - Travel control method and device for carrying equipment and electronic system - Google Patents

Travel control method and device for carrying equipment and electronic system Download PDF

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Publication number
CN112269377A
CN112269377A CN202010976526.9A CN202010976526A CN112269377A CN 112269377 A CN112269377 A CN 112269377A CN 202010976526 A CN202010976526 A CN 202010976526A CN 112269377 A CN112269377 A CN 112269377A
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CN
China
Prior art keywords
navigation
path
carrying equipment
travel
attribute
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Pending
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CN202010976526.9A
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Chinese (zh)
Inventor
赖文芊
马云飞
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Beijing Kuangshi Robot Technology Co Ltd
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Beijing Kuangshi Robot Technology Co Ltd
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Priority to CN202010976526.9A priority Critical patent/CN112269377A/en
Publication of CN112269377A publication Critical patent/CN112269377A/en
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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
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device

Abstract

The invention provides a driving control method and a driving control device for a carrying device and an electronic system, wherein a map of a target area is prestored on the carrying device, and the method comprises the following steps: if the carrying equipment receives the target task, determining a path list corresponding to the target task; the path list comprises a driving path from the current position of the carrying equipment to the target station; determining a navigation mode corresponding to the conveying equipment when the conveying equipment runs on each running path according to the attribute of each running path; the navigation modes comprise rail navigation and trackless navigation. The invention utilizes the complementation of rail navigation and trackless navigation to realize the automatic switching of two navigation modes in the operation of the carrying equipment, thereby improving the adaptability and the control precision of the carrying equipment to the environment and expanding the working scene of the carrying equipment.

Description

Travel control method and device for carrying equipment and electronic system
Technical Field
The invention relates to the technical field of conveying equipment, in particular to a driving control method and device of the conveying equipment and an electronic system.
Background
An Automated Guided Vehicle (AGV) is an Automated intelligent handling device, and is generally applied to a large-scale storage system. The guidance mode of the AGV can be divided into rail guidance based on a track and trackless guidance without setting a track, in the rail guidance mode, the AGV travels along a preset track, the position of the AGV does not need to be known clearly before encountering a marker on the track, and the track usually has a magnetic track, a color band track and the like; in a trackless navigation mode, the pose of the AGV in the environment is constantly acquired based on a laser contour positioning technology, and navigation is performed based on the pose.
Both the above-mentioned two kinds of guide ways all have good and bad, have rail navigation to reform transform the environment, and unable nimble deployment, AGV advancing speed is usually not fast, but dynamic, still can stable work in the adverse circumstances. Trackless navigation is greatly influenced by the environment, for example, laser contour positioning is difficult to ensure stable positioning in environments with similar characteristics such as long corridors and the like, open environments, high-frequency dynamic environments with a large number of moving objects or high-frequency dynamic environments which do not conform to pre-stored maps, trackless navigation deployment is flexible, deep transformation of the environment is not needed, and cost is low.
Therefore, the above two guiding manners make it difficult to flexibly deploy the AGV in a complex environment, which affects the operating efficiency of the AGV.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for controlling the driving of a handling device, and an electronic system, so as to alleviate the above problems, implement automatic switching between two navigation modes during the operation of the handling device, improve the adaptability and control accuracy of the handling device to the environment, and expand the working scene of the handling device.
In a first aspect, an embodiment of the present invention provides a method for controlling travel of a transportation device, where a map of a target area is prestored in the transportation device, and the method includes: receiving a target task and determining a path list corresponding to the target task; the path list comprises a driving path from the current position of the carrying equipment to the target station; determining a navigation mode corresponding to the conveying equipment when the conveying equipment runs on each running path according to the attribute of each running path; the attributes of the driving path are used for representing navigation modes supported by the driving path, and the navigation modes comprise rail navigation and trackless navigation.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where the map includes a tracked navigation area and a trackless navigation area, an attribute of a path in the tracked navigation area is a tracked navigation attribute, and an attribute of a path in the trackless navigation area is a trackless navigation attribute.
With reference to the first possible implementation manner of the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, wherein a navigation identifier is laid on a travel path corresponding to the tracked navigation area in the target area.
With reference to the second possible implementation manner of the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where the target area further includes a docking path, the docking path connects the second travel path in the trackless navigation area and the first travel path in the tracked navigation area, and a navigation identifier and a station beacon are laid on the docking path.
With reference to the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, where the route list includes a plurality of route groups, where attributes of travel routes in each route group are the same, and attributes of travel routes in adjacent route groups are different; the method for determining the navigation mode corresponding to the conveying equipment when the conveying equipment runs on each running path according to the attribute of each running path comprises the following steps: switching the navigation mode of the carrying equipment according to the attribute of the current driving path and the attribute of the previous driving path; or switching the navigation mode of the conveying equipment according to the path group to which the current traveling path and the previous traveling path belong.
With reference to the fourth possible implementation manner of the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the step of switching a navigation manner of the conveying apparatus according to a route group to which the current travel route and the previous travel route belong includes: if the carrying equipment runs on the current running path in a first navigation mode, checking whether the current running path is the last running path in a path group corresponding to the current running path; if so, detecting the current running path by applying a first component corresponding to the first navigation mode and/or starting a second component corresponding to the second navigation mode, and when a preset path switching mark is detected, switching the first navigation mode into the second navigation mode and continuing running; if not, the first navigation mode is maintained to continue driving.
With reference to the fifth possible implementation manner of the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, where the step of detecting the current travel path by applying the first component corresponding to the first navigation manner and/or starting the second component corresponding to the second navigation manner includes: if the first navigation mode is rail navigation, starting a laser sensor on the carrying equipment, and detecting whether a preset path switching mark exists on a current running path by using a beacon detector on the carrying equipment; and if the first navigation mode is trackless navigation, starting a beacon detector to detect whether a preset path switching mark exists on the current driving path.
With reference to the sixth possible implementation manner of the first aspect, an embodiment of the present invention provides a seventh possible implementation manner of the first aspect, where the method further includes: and when the path switching mark is detected, closing the first component corresponding to the first navigation mode.
With reference to the fifth possible implementation manner of the first aspect, an embodiment of the present invention provides an eighth possible implementation manner of the first aspect, wherein the step of maintaining the first navigation mode to continue driving includes: if the first navigation mode is rail navigation, controlling the carrying equipment to travel along a navigation identifier on a current travel path through a camera on the carrying equipment, and updating the position of the carrying equipment according to a station beacon detected by a beacon detector on the carrying equipment; and if the first navigation mode is trackless navigation, controlling the carrying equipment to run through a laser sensor and a map on the carrying equipment, and updating the position of the carrying equipment according to the contour mark detected by the laser sensor.
In a second aspect, an embodiment of the present invention further provides a method for controlling travel of a conveying apparatus, which is applied to a server, where a map of a target area is prestored in the server, and the method includes: generating a path list of target tasks for the carrying equipment; the path list comprises a driving path from the current position of the carrying equipment to the target station; issuing the route list to the carrying equipment so that the carrying equipment determines a navigation mode corresponding to the carrying equipment when the carrying equipment runs on each running route according to the attribute of each running route; the attributes of the driving path are used for representing navigation modes supported by the driving path, and the navigation modes comprise rail navigation and trackless navigation.
With reference to the second aspect, an embodiment of the present invention provides a first possible implementation manner of the second aspect, where the map includes a tracked navigation area and a trackless navigation area, an attribute of a path in the tracked navigation area is a tracked navigation attribute, and an attribute of a path in the trackless navigation area is a trackless navigation attribute.
With reference to the second aspect, an embodiment of the present invention provides a second possible implementation manner of the second aspect, where the step of generating a path list of the target task for the transporting apparatus includes: determining carrying equipment corresponding to the target task; determining a path list according to the current position of the carrying equipment and a target station of a target task; and merging the adjacent paths with the same attribute into the same path group according to the path sequence in the path list to obtain a path list comprising a plurality of path groups.
In a third aspect, an embodiment of the present invention further provides a travel control device for a transportation apparatus, which is applied to the transportation apparatus, wherein a map of a target area is prestored in the transportation apparatus, the travel control device including: the path list determining module is used for receiving the target task and determining a path list corresponding to the target task; the path list comprises a driving path from the current position of the carrying equipment to the target station; the navigation mode determining module is used for determining the navigation mode corresponding to the conveying equipment when the conveying equipment runs on each running path according to the attribute of each running path; the attributes of the driving path are used for representing navigation modes supported by the driving path, and the navigation modes comprise rail navigation and trackless navigation.
In a fourth aspect, an embodiment of the present invention further provides a travel control apparatus for a transportation device, which is applied to a server, where a map of a target area is prestored in the server, and the apparatus includes: the path list generating module is used for generating a path list of the target task for the carrying equipment; the path list comprises a driving path from the current position of the carrying equipment to the target station; the route list issuing module is used for issuing the route list to the conveying equipment so that the conveying equipment can determine a navigation mode corresponding to the conveying equipment when the conveying equipment runs on each running route according to the attribute of each running route; the attributes of the driving path are used for representing navigation modes supported by the driving path, and the navigation modes comprise rail navigation and trackless navigation.
In a fifth aspect, an embodiment of the present invention further provides an electronic system, where the electronic system includes: the system comprises a server and a carrying device, wherein the server comprises a first processing device and a first storage device; the carrying equipment comprises image acquisition equipment, second processing equipment and a second storage device; the image acquisition equipment is used for acquiring image information in the driving process; the first storage device stores a first computer program that executes the travel control method for the conveyance device according to the second aspect when executed by the first processing device; the second storage device stores a second computer program that executes the travel control method for the conveyance device according to the first aspect when executed by the second processing device.
In a sixth aspect, the present invention further provides a computer-readable storage medium, which stores a computer program, wherein the computer program is executed by a processing apparatus to execute the steps of the travel control method for a conveying apparatus according to the first aspect and the second aspect.
The embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a method and a device for controlling the running of a carrying device and an electronic system, wherein a path list corresponding to a target task of the carrying device comprises a running path from the current position of the carrying device to a target station, and the attribute of the running path represents a navigation mode supported by the running path, so that the carrying device can determine the navigation mode corresponding to the running of each running path according to the attribute of each running path, the mode integrates two navigation modes of rail navigation and trackless navigation, the flexible deployment and selection of the navigation mode of the carrying device according to the environmental condition are realized, the environmental deployment is more flexible, guide rails are deployed in the area convenient for the navigation track deployment, and the carrying device runs in the rail navigation mode. In the area where the navigation track is difficult to lay, the guide rail is not laid, the carrying equipment runs in a trackless navigation mode, and the adaptability and the control precision of the carrying equipment to the environment are improved and the working scene of the carrying equipment is expanded by automatically switching the two navigation modes.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of an electronic system according to an embodiment of the present invention;
FIG. 2 is a diagram of a track navigation application scenario provided by an embodiment of the present invention;
fig. 3 is a flowchart of a method for controlling the travel of a conveying apparatus according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a driving control method of a carrying apparatus according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a map of a target area according to an embodiment of the present invention;
fig. 6 is a flowchart of another travel control method for a conveying apparatus according to an embodiment of the present invention;
fig. 7 is a flowchart of another travel control method for a conveying apparatus according to an embodiment of the present invention;
fig. 8 is a schematic diagram of another travel control method for a carrier according to an embodiment of the present invention;
fig. 9 is a flowchart of another travel control method for a conveying apparatus according to an embodiment of the present invention;
fig. 10 is a schematic diagram of another travel control method for a carrier according to an embodiment of the present invention;
fig. 11 is a flowchart of a method for generating a path list according to an embodiment of the present invention;
fig. 12 is a schematic view of a travel control device of a carrying apparatus according to an embodiment of the present invention;
fig. 13 is a schematic view of a travel control device of another conveying apparatus according to an embodiment of the present invention;
fig. 14 is a schematic view of an electronic device according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to expand application scenes of the carrying equipment, the embodiment of the invention provides a driving control method and device of the carrying equipment and an electronic system, which are used for realizing the flexible switching of two navigation modes of rail-bound navigation and trackless navigation of the carrying equipment according to environmental conditions. The handling apparatus in the embodiment of the present invention includes various robot apparatuses in a warehouse, such as AGVs, AMR (Autonomous Mobile Robots), MIRs (Mobile Industrial Robots), and the like.
To facilitate understanding of the present embodiment, reference is first made to a schematic structural diagram of an electronic system shown in fig. 1. The electronic system can be used for realizing the running control method and device of the carrying equipment and the electronic system.
Fig. 1 is a schematic structural diagram of an electronic system, which includes a server 10 and a handling apparatus 20, wherein the server 10 includes a first storage device 101 for storing a first computer program, and a first processing apparatus 102; the handling device 20 comprises a second storage means 201 for storing a second computer program, and a second processing device 202.
In addition to the above-described server 10 and handling apparatus 20 comprising storage devices and processing equipment, the server 10 further comprises one or more first input and output devices 103, which are interconnected by a bus system and/or other form of connection mechanism (not shown). The handling apparatus 20 further comprises: one or more second input and output devices 203 and one or more image acquisition apparatuses 204.
It should be noted that the components and configuration of the electronic system shown in fig. 1 are exemplary only, and not limiting, and that the electronic system may have other components and configurations as desired.
The first processing device 102 and the second processing device 202 may be one or more processors, which may be a server, a smart terminal, or a device or apparatus including a Central Processing Unit (CPU) or other form of processing unit having data processing capability and/or instruction execution capability, and may process data of other components in the electronic system and control the other components in the electronic system to perform a function of travel control of the handling device.
The first storage device 101 and the second storage device 201 described above may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. Volatile memory can include, for example, Random Access Memory (RAM), cache memory (or the like). The non-volatile memory may include, for example, Read Only Memory (ROM), a hard disk, flash memory, and the like. One or more computer program instructions may be stored on a computer-readable storage medium and executed by a processing device corresponding to the storage means to implement the client functionality (implemented by the processing device) and/or other desired functionality in embodiments of the invention described below. Various applications and various data, such as various data used and/or generated by the applications, may also be stored in the computer-readable storage medium. For example: the first computer program, when executed by the first processing device, executes a travel control method for the server-side conveyance device in the following embodiments of the present invention; the second computer program, when executed by the second processing device, executes a travel control method for the conveyance device on the conveyance device side in the following embodiments of the present invention.
The first input and output device 103 and the second input and output device 203 may be an input unit and an output unit, the input unit may be a device used by a user to input instructions, and may include one or more of a keyboard, a mouse, a microphone, a touch screen, and the like, and may also be a data input interface.
The output means may include one or more of a display, a speaker, and the like, and may also be a data output interface for outputting various information (e.g., images or sounds) to the outside (e.g., a user).
The image capturing device 204 is used for capturing image information during driving, and storing the captured image information in a corresponding storage device for use by other components.
In addition, the electronic system may further include a network device (not shown in fig. 1) such as a gateway, in addition to the server 10 and the handling device 20, so as to transmit information to the corresponding device via a network.
For example, the devices in the electronic system and the driving control method and apparatus for implementing the conveying equipment according to the embodiment of the present invention may be integrally or dispersedly disposed, and the processing equipment, the storage device, and the input and output device on each of the server 10 and the conveying equipment 20 may be integrally disposed, and the image capturing equipment may be disposed at a designated position where the image information can be captured. When the respective devices in the server 10 and the carrier device 20 described above are integrally provided, the server 10 and the carrier device 20 may be implemented as an intelligent terminal such as a camera, a smartphone, a tablet computer, a vehicle-mounted terminal, or the like.
The embodiment of the invention provides a driving control method of a carrying device, wherein an execution main body of the method is the carrying device which is in communication connection with a server; the map of the target area is prestored on the carrying equipment, the map comprises a rail navigation area and a trackless navigation area, the attribute of a path in the rail navigation area is a rail navigation attribute, and the attribute of the path in the trackless navigation area is a trackless navigation attribute.
As shown in fig. 2, for a path in a tracked navigation area, a guide rail (also called a track) is laid on the path, which takes a color ribbon as an example, the color ribbon is different from the ground color of the path, color ribbon information is collected by an image collecting device (for example, a camera with a downward view) carried by a transporting device to identify the color ribbon where the transporting device is currently located, and the color ribbon is divided according to the color ribbon information to obtain a motion curve of the transporting device, so that the linear velocity and the angular velocity of the AGV are controlled to make the most front point of the motion curve be at the center of the view of the camera, and the transporting device advances along the color ribbon. In addition, each color band is also provided with a two-dimensional code, the position information corresponding to the two-dimensional code corresponds to the actual station one by one, when the carrying equipment identifies a certain two-dimensional code, the carrying equipment is indicated to arrive at the station corresponding to the two-dimensional code, and the station corresponding operation can be carried out. It should be noted that there may be a plurality of color bars in the track, corresponding sub-paths in the plurality of color bars constitute a traveling path of the handling device from the current position to a certain destination station, and the number of two-dimensional codes on each color bar may be set according to an actual situation, which is not limited in this embodiment of the present invention.
For the path in the trackless navigation area, the position of the handling equipment at the current time in the prior map can be calculated by comparing data returned by a laser radar sent by a laser on the handling equipment with the prior map based on a pre-established map (called prior map or profile map) and combining the coded disc of the handling equipment, the IMU (Inertial measurement unit) and the position of the handling equipment at the previous time. And comparing the current position with the virtual track on the map based on the calculated position to control the angular speed and the linear speed of the carrying equipment, so that the carrying equipment moves along the virtual track and finally reaches the destination.
Referring to a flowchart of a method for controlling the traveling of a conveyance device shown in fig. 3, the method is explained by taking a conveyance device side description as an example based on a map in which a target area is prestored on the conveyance device, and the method includes the steps of:
step S302, receiving a target task and determining a path list corresponding to the target task; the path list comprises a traveling path from the current position of the carrying equipment to the target station.
Specifically, if the carrying equipment receives the target task sent by the server, a path list corresponding to the target task is determined, wherein the path list comprises a traveling path corresponding to the target station of the target task from the current position of the carrying equipment, and the traveling path comprises a traveling path in the tracked navigation area and a traveling path in the trackless navigation area.
Step S304, determining a navigation mode corresponding to the conveying equipment when the conveying equipment runs on each running path according to the attribute of each running path; the attributes of the driving path are used for representing navigation modes supported by the driving path, and the navigation modes comprise rail navigation and trackless navigation.
After the transportation device determines the route list, for each travel route in the route list, the transportation device travels on each travel route according to the attribute of each travel route according to the corresponding navigation method, for example, for the travel route a and the travel route B in the route list, wherein the navigation method corresponding to the attribute of the travel route a is rail-guided navigation, and the navigation method corresponding to the attribute of the travel route B is trackless navigation, the transportation device will travel on the travel route a in a rail-guided navigation manner, and travel on the travel route B in a trackless navigation manner.
According to the driving control method of the carrying equipment provided by the embodiment of the invention, the path list corresponding to the target task of the carrying equipment comprises the driving path from the current position of the carrying equipment to the target station, and the attribute of the driving path represents the navigation mode supported by the driving path, so that the carrying equipment determines the navigation mode corresponding to each driving path according to the attribute of each driving path, and the navigation mode integrates two navigation modes of rail navigation and trackless navigation, so that the carrying equipment flexibly selects the navigation mode according to the environment condition, the environment deployment is more flexible, the guide rail is arranged in the area convenient for arranging the navigation track, and the carrying equipment drives in the rail navigation mode. In the area where the navigation track is difficult to lay, the guide rail is not laid, the carrying equipment runs in a trackless navigation mode, and the adaptability and the control precision of the carrying equipment to the environment are improved and the working scene of the carrying equipment is expanded by automatically switching the two navigation modes.
As a schematic diagram of a travel control method of a carrier apparatus shown in fig. 4, an environment deployment module for taking charge of preparatory work, including drawing of a map of a target area (e.g., a warehouse), is provided on the server 10 and stored in the server 10 and the carrier apparatus 20. When receiving the target task, a path planning module in the server 10 performs path planning according to the target task, generates a path list, and sends the path list to the handling equipment 20, so that the handling equipment 20 determines a corresponding navigation mode when driving on each driving path according to the attribute of each driving path in the path list, and drives according to the corresponding navigation mode; the navigation modes of the carrying equipment 20 comprise two navigation modes of rail navigation and trackless navigation, wherein the rail navigation mode is realized by a colored tape detection module and a two-dimensional code positioning module, the trackless navigation mode is realized by a laser contour positioning module, optionally, the colored tape detection module can be realized by a camera carried on the carrying equipment 20, and the two-dimensional code positioning module can be realized by a beacon detector; the laser profile positioning module may be a lidar or a laser sensor.
The map of the target area comprises a first type area and a second type area, wherein the first type area is an invalid area of trackless navigation, namely a track navigation area, and the second type area is an effective area of trackless navigation, namely a trackless navigation area; at this time, the route in the track-bound navigation area is subjected to a track-bound navigation method, and the route in the track-bound navigation area is subjected to a track-free navigation method to ensure the control accuracy of the conveyance device.
The schematic diagram of a warehouse map as shown in fig. 5, the map comprising two parts: the method comprises the following steps that a first type area, namely a type I area, and a second type area, namely a type II area, wherein the type I area is a rail navigation area, and the position of the carrying equipment in a map cannot be acquired by the carrying equipment through a laser sensor or a laser radar and the like due to the fact that the area is likely to have dynamic environment and no effective characteristics; the navigation mode of the type I area is rail-guided navigation, the navigation mode of the type II area is trackless navigation, and the adaptability of the carrying equipment to the environment is improved by complementary utilization of the two navigation modes.
In one possible embodiment, the target area is laid with a navigation identifier, such as a color bar navigation identifier, on the traveling path corresponding to the tracked navigation area in the warehouse, and the color bar navigation identifier is provided with a station beacon. Specifically, in the map shown in fig. 5, in the type I area, the curve 1, the curve 2, and the curve 3 are color bar navigation marks, and a station beacon 40 is disposed on each color bar navigation mark, where the station beacon 40 may be a two-dimensional code, or a bar code, or other special mark for representing an actual station, so that the handling device can perform position location through the station beacon 40.
In addition, in practical application, the environment deployment module firstly constructs a tracked navigation area and a trackless navigation area in a map of a target area, then determines each work station of the handling equipment, marks the work stations in the map, and deploys a plurality of station beacons 40 in the tracked navigation area, the station beacons 40 are deployed at the end of each path in the tracked navigation area, and the station beacons 40 are also marked in the map, and the station beacons 40 can be used for representing the actual stations and also can be used as switching stations of a navigation mode, so that the switching of the navigation mode is realized through the station beacons 40.
In one possible embodiment, the target area further includes a docking path, wherein the docking path is used for connecting the second travel path in the trackless navigation area with the first travel path in the tracked navigation area, and the docking path is paved with a navigation identifier and a station beacon, and the length of the docking path is a preset length.
In practical application, in order to ensure the control accuracy of the navigation mode, part of the navigation marks and the set station beacons 40 in the tracked navigation area may be extended to the trackless navigation area, that is, a sub-path of the first specified path close to the second specified path is paved with ribbon navigation marks and station beacons, for example, two station beacons set on curve 1 and curve 1 in fig. 5 are extended and set in the second type area, so that the transportation device can accurately implement the switching from trackless navigation to tracked navigation, and the switching from tracked navigation to trackless navigation, thereby improving the travel control accuracy of the transportation device.
On the basis of the method in fig. 3, another method for controlling the transportation device to travel is further provided in the embodiments of the present invention, where the method focuses on a process of determining a navigation mode corresponding to the transportation device when the transportation device travels along each travel path according to an attribute of each travel path, where a path list includes a plurality of path groups, the attributes of the travel paths in each path group are the same, and the attributes of the travel paths in adjacent path groups are different; as shown in fig. 6, the method comprises the steps of:
step S602, receiving a target task and determining a path list corresponding to the target task; the path list comprises a traveling path from the current position of the carrying equipment to the target station.
Step S604, switching the navigation mode of the conveying equipment according to the attribute of the current driving path and the attribute of the previous driving path; or switching the navigation mode of the conveying equipment according to the path group to which the current driving path and the previous driving path belong; the attributes of the driving path are used for representing navigation modes supported by the driving path, and the navigation modes comprise rail navigation and trackless navigation.
Specifically, for a plurality of travel routes in the route list, the travel routes with the same attribute are divided into the same route group according to the travel sequence of the conveying equipment from the current position to the target station, for example, the attributes are the same, and a plurality of adjacent travel routes are combined into the same route group, where the attribute of the route group is the attribute of each travel route in the route group. It should be noted that each route group may include one travel route or a plurality of travel routes, for example, for a certain current travel route a, if the attributes of the previous travel route B and the next travel route C of the certain current travel route a are different from those of the current travel route a, the current travel route a alone forms one route group, and if the attributes of the previous travel route B and the next travel route C are different from those of the current travel route a, the previous travel route B, the current travel route a, and the next travel route C form one route group according to the travel order. Therefore, the number of the travel paths in each path group is not limited to be described in the embodiment of the present invention.
In one possible embodiment, for each travel route in the route list, the navigation mode of the handling device is switched according to the attributes of the current travel route and the attributes of the previous travel route. As shown in fig. 5, when the transportation device operates on the current travel path, where the current travel path is a path corresponding to the curve 2, it needs to be determined whether the attributes of the current travel path and the previous travel path (the path corresponding to the curve 1) are the same, and if the attributes are the same, the navigation method does not need to be switched, and if the attributes are different, the navigation method of the transportation device needs to be switched. In addition, for a plurality of adjacent driving paths in the same path group, the conveying equipment only needs to drive according to the navigation mode supported by the attributes of the path group, and the attributes of each driving path in the path group corresponding to the current driving path do not need to be frequently judged, so that the navigation mode judging time and the judging frequency of the conveying equipment are saved, and the working efficiency of the conveying equipment is improved.
In another possible embodiment, when the current travel path of the transportation device is the first travel path of the path group, at this time, the navigation mode of the transportation device needs to be switched according to the path group to which the current travel path and the previous travel path belong. Therefore, the switching of the navigation modes can be realized by taking the path group as the switching unit, the judgment time and the judgment frequency of the navigation modes of the conveying equipment are saved, and the working efficiency of the conveying equipment is improved.
In another possible embodiment, on the basis of fig. 6, another driving control method for a transportation device is further provided in the embodiments of the present invention, which focuses on a process of switching a navigation mode of the transportation device according to a path group to which a current driving path and a previous driving path belong, as shown in fig. 7, the method includes the following steps:
step S702, receiving a target task and determining a path list corresponding to the target task; the path list comprises a traveling path from the current position of the carrying equipment to the target station.
Step S704, if the carrying equipment runs on the current running path in the first navigation mode, checking whether the current running path is the last running path in the path group corresponding to the current running path; if yes, step S706 is performed, and if no, step S708 is performed.
Specifically, the first navigation mode is rail-guided navigation or trackless navigation, when the transport equipment travels on a current travel path in a path group corresponding to the first navigation mode, it is determined whether the current travel path is a last travel path in the path group corresponding to the current travel path, if the current travel path is not the last travel path, the transport equipment continues to maintain the travel of the first navigation mode, and if the current travel path is the last travel path, the navigation mode needs to be switched.
Step S706, a first component corresponding to the first navigation mode is applied and/or a second component corresponding to the second navigation mode is started to detect the current running path, and when a preset path switching mark is detected, the first navigation mode is switched to the second navigation mode, and the vehicle continues to run.
If the first navigation mode is rail navigation, the carrying equipment is positioned by adopting a laser contour positioning mode, because the current running path is the last running path in a current path group corresponding to a rail navigation area, a laser sensor on the carrying equipment needs to be started, when a beacon detector on the carrying equipment detects that a preset path switching mark exists on the current running path, the carrying equipment is switched to a trackless navigation mode, color band information is collected by the laser sensor for positioning, and a first component corresponding to the first navigation mode is closed, namely the beacon detector is closed.
If the first navigation mode is trackless navigation, the carrying equipment collects color band information through a laser sensor for positioning, because the current running path is the last running path in a path group corresponding to the current running path, a beacon detector corresponding to the rail navigation needs to be started to detect whether a preset path switching mark exists on the current running path, if the path switching mark is detected, the beacon detector is switched to the rail navigation mode, and a first component corresponding to the first navigation mode, namely the laser sensor, is closed.
In step S708, the first navigation mode is maintained to continue the vehicle.
If the first navigation mode is rail navigation, controlling the carrying equipment to travel along a navigation identifier on a current travel path through a camera on the carrying equipment, and updating the position of the carrying equipment according to a station beacon detected by a beacon detector on the carrying equipment;
and if the first navigation mode is trackless navigation, controlling the carrying equipment to run through a laser sensor and a map on the carrying equipment, and updating the position of the carrying equipment according to the contour mark detected by the laser sensor.
This is illustrated here for ease of understanding. Fig. 8 is another travel control method for a conveying apparatus according to an embodiment of the present invention, where an execution subject is the conveying apparatus, and the method includes the following steps:
step S802, receiving a target task and determining a path list corresponding to the target task; the path list comprises a traveling path from the current position of the carrying equipment to the target station.
The travel routes in the route list may be route groups combined by routes or may be individual travel routes, and this embodiment will be described by taking route combination as an example. The path lists combined into the path groups are implemented similarly, except that the following paths are replaced by the path groups, and each path group is regarded as one path. And will not be described in detail herein.
And after the carrying equipment obtains the route list, the first running route is the route of the current position of the carrying equipment, the attribute of the running route is obtained through the route list, a navigation mode is further determined, and running is started in the navigation mode. During the driving, the following steps are performed.
Step S804, determining a navigation mode according to the attribute of the current driving path and the attribute of the next driving path;
if the attribute of the current driving path is the same as the attribute of the next driving path, continuing to drive in the current navigation mode, specifically, if the current navigation mode is rail-guided navigation, the navigation from the current driving path to the next driving path is rail-guided navigation, and executing step S806; if the current navigation mode is trackless navigation, the navigation from the current driving path to the next driving path is trackless navigation, and the step S808 is executed;
if the attribute of the current driving path is different from the attribute of the next driving path, and when the navigation mode corresponding to the attribute of the current driving path is rail-guided navigation, the navigation from the current driving path to the next path is rail-guided to trackless navigation, and the steps S810-S812 are executed; and when the navigation mode corresponding to the attribute of the current driving path is trackless navigation, the navigation from the current driving path to the next path is trackless navigation to a track, and the steps S814 to S816 are executed.
Step S806, the rail guidance mode is maintained and the vehicle continues to run.
And step S808, keeping the trackless navigation mode to continue running.
Step S810, setting the position of laser profile positioning, storing the position in the station corresponding to the path switching mark, and turning off the beacon detector.
In step S812, the trackless navigation mode is switched to continue the running.
Step S814, when the path switching flag is detected, the beacon detector is started, and the laser sensor is turned off.
And step S816, switching to a rail navigation mode to continue running.
Therefore, the running control method of the carrying equipment integrates two navigation modes of color band guidance of rail-bound navigation and laser contour positioning of trackless navigation, realizes flexible deployment of the carrying equipment according to environmental conditions, automatically switches the two navigation modes in operation, improves the adaptability and control precision of the carrying equipment to the environment, and expands the working scene of the carrying equipment.
On the basis of the above embodiment, another driving control method for a handling device is further provided in an embodiment of the present invention, where an execution subject is a server, where a map of a target area is pre-stored in the server, the map includes a track navigation area and a trackless navigation area, an attribute of a path in the track navigation area is a track navigation attribute, and an attribute of a path in the trackless navigation area is a trackless navigation attribute. As shown in fig. 9, the method includes the steps of:
step S902, generating a path list of target tasks for the carrying equipment; the path list comprises a traveling path from the current position of the carrying equipment to the target station.
Specifically, as shown in fig. 10, in the preparation work, the environment deployment module configures each path and site attribute in the map, where the site attribute includes a path switching flag. After the configuration is completed, in the automatic navigation mode switching, when the server receives a target task, the server selects proper carrying equipment, plans a path for the carrying equipment, obtains a path list, and issues the path list to the carrying equipment, so that the carrying equipment realizes the switching of the navigation mode according to the attribute of each driving path in the path list.
Step S904, the route list is issued to the carrying equipment, so that the carrying equipment determines the corresponding navigation mode of the carrying equipment when the carrying equipment runs on each running route according to the attribute of each running route; the attributes of the driving path are used for representing navigation modes supported by the driving path, and the navigation modes comprise rail navigation and trackless navigation.
According to the driving control method of the carrying equipment, the server generates a path list of a target task for the carrying equipment, wherein the path list comprises a driving path from the current position of the carrying equipment to a target station; the route list is issued to the carrying equipment, so that the carrying equipment determines a navigation mode corresponding to the carrying equipment when the carrying equipment runs on each running route according to the attribute of each running route; therefore, two navigation modes of rail navigation and trackless navigation are effectively utilized, the carrying equipment is flexibly deployed according to the environment condition, the two navigation modes are automatically switched in operation, the adaptability and the control precision of the carrying equipment to the environment are improved, and the working scene of the carrying equipment is expanded.
On the basis of fig. 9, another driving control method for a conveying apparatus according to an embodiment of the present invention is further provided, where the method focuses on a process of generating a route list by a server, and as shown in fig. 11, the method includes the following steps:
step S1102 is to determine a conveyance device corresponding to the target task.
And step S1104, determining a path list according to the current position of the conveying device and the target station of the target task.
Step S1106 is to merge adjacent paths with the same attribute into the same path group according to the path sequence in the path list, so as to obtain a path list including multiple path groups.
The server simplifies the stored map into small squares through an A-star map searching algorithm, searches the small squares to obtain a path list which is required to pass by the carrying equipment from the current position to the target station, reads the attribute of each driving path in the path list, and combines the driving paths which are adjacent and have the same attribute in the driving sequence according to a navigation mode to obtain a path group; for example: the carrying equipment needs to pass through traveling paths with the numbers of 0,1, 2,3, 4,5 and 6 from the current position to the target station, wherein the traveling paths of 0,1, 2,3, 4,5 and 6 are paths corresponding to a curve 0, a curve 1, a curve 2, a curve 3, a curve 4, a curve 5 and a curve 6 in a map respectively, wherein the navigation mode corresponding to the attributes of 0,1, 4 and 5 is trackless navigation, the navigation mode corresponding to the attributes of 2 and 3 is rail navigation, at this time, the server also packs a plurality of adjacent paths with the same attribute in the traveling sequence into path groups to obtain a path list, the path list comprises the path groups of (0,1), (2,3), (4,5), each path group has the attribute, namely the attribute of the traveling path in the path group, and issues the path list to the carrying equipment, the method and the device are convenient for the carrying equipment to run according to the navigation mode corresponding to the path list, so that the two navigation modes of rail navigation and trackless navigation are complementary, manual intervention is not needed, the two navigation modes can be automatically switched in the running process of the carrying equipment, the adaptability and the control precision of the carrying equipment to the environment are improved, and the working scene of the carrying equipment is expanded.
Corresponding to the travel control method of the conveying equipment shown in fig. 3, an embodiment of the invention also provides a travel control device of the conveying equipment, the execution main body is the conveying equipment, and a map of the target area is prestored in the conveying equipment. As shown in fig. 12, the apparatus includes a route list determining module 1201 and a navigation mode determining module 1202 connected in sequence, where the functions of the modules are as follows:
a path list determining module 1201, configured to receive a target task and determine a path list corresponding to the target task; the path list comprises a driving path from the current position of the carrying equipment to the target station;
a navigation mode determining module 1202, configured to determine, according to the attribute of each driving path, a navigation mode corresponding to the transportation device when the transportation device drives on each driving path; the attributes of the driving path are used for representing navigation modes supported by the driving path, and the navigation modes comprise rail navigation and trackless navigation.
The embodiment of the invention provides a running control device of a carrying device, wherein a path list in a target task of the carrying device comprises running paths of the carrying device from a current position to a target station, and attributes of the running paths represent navigation modes supported by the paths, so that the carrying device determines the corresponding navigation modes when running on each running path according to the attributes of each running path, the navigation modes are integrated with two navigation modes of rail navigation and trackless navigation, the carrying device flexibly selects the navigation modes according to environmental conditions, the environmental deployment is more flexible, guide rails are arranged in an area convenient for arranging the navigation rails, and the carrying device runs in the rail navigation mode. In the area where the navigation track is difficult to lay, the guide rail is not laid, the carrying equipment runs in a trackless navigation mode, and the adaptability and the control precision of the carrying equipment to the environment are improved and the working scene of the carrying equipment is expanded by automatically switching the two navigation modes.
In one possible embodiment, the first type area is an invalid area for trackless navigation, and the second type area is an valid area for trackless navigation; the map comprises a rail navigation area and a trackless navigation area, wherein the attribute of a path in the rail navigation area is a rail navigation attribute, and the attribute of the path in the trackless navigation area is a trackless navigation attribute.
In another possible embodiment, a navigation mark is laid on the travel path corresponding to the rail-guided navigation area in the target area.
In another possible embodiment, the target area further includes a docking path connecting the second travel path in the trackless navigation area and the first travel path in the tracked navigation area, and the docking path is paved with the navigation identifier and the station beacon.
In another possible embodiment, the route list includes a plurality of route groups, the attributes of the travel routes in each route group are the same, and the attributes of the travel routes in adjacent route groups are different; the navigation mode determination module 1202 is further configured to: switching the navigation mode of the carrying equipment according to the attribute of the current driving path and the attribute of the previous driving path; or switching the navigation mode of the conveying equipment according to the path group to which the current traveling path and the previous traveling path belong.
In another possible embodiment, the navigation mode determining module 1202 is further configured to: if the carrying equipment runs on the current running path in a first navigation mode, checking whether the current running path is the last running path in a path group corresponding to the current running path; if so, detecting the current running path by applying a first component corresponding to the first navigation mode and/or starting a second component corresponding to the second navigation mode, and when a preset path switching mark is detected, switching the first navigation mode into the second navigation mode to continue running; if not, the first navigation mode is maintained to continue driving.
In another possible embodiment, the detecting the current driving path by applying the first component corresponding to the first navigation mode and/or starting the second component corresponding to the second navigation mode includes: if the first navigation mode is rail navigation, starting a laser sensor on the carrying equipment, and detecting whether a preset path switching mark exists on a current running path by using a beacon detector on the carrying equipment; and if the first navigation mode is trackless navigation, starting the beacon detector to detect whether a preset path switching mark exists on the current driving path.
In another possible embodiment, the above apparatus is further configured to: and when the path switching mark is detected, closing the first component corresponding to the first navigation mode.
In another possible embodiment, the maintaining the first navigation mode to continue the driving includes: if the first navigation mode is rail navigation, controlling the carrying equipment to travel along the navigation identifier on the current travel path through a camera on the carrying equipment, and updating the position of the carrying equipment according to a station beacon detected by a beacon detector on the carrying equipment; and if the first navigation mode is trackless navigation, controlling the carrying equipment to run through a laser sensor and a map on the carrying equipment, and updating the position of the carrying equipment according to the contour mark detected by the laser sensor.
Corresponding to the method for controlling the travel of the conveying equipment shown in fig. 9, an embodiment of the present invention further provides a travel control device for a conveying equipment, the execution subject is a server, wherein a map of a target area is prestored in the server. As shown in fig. 13, the apparatus includes a path list generation module 1301 and a path list sending module 1302 connected in sequence, where the functions of the modules are as follows:
a path list generation module 1301, configured to generate a path list of the target task for the transport apparatus; the path list comprises a driving path from the current position of the carrying equipment to the target station;
a route list issuing module 1302, configured to issue the route list to the transportation device, so that the transportation device determines, according to the attribute of each driving route, a navigation mode corresponding to the transportation device when the transportation device drives on each driving route; the attributes of the driving path are used for representing navigation modes supported by the driving path, and the navigation modes comprise rail navigation and trackless navigation.
According to the driving control device of the carrying equipment provided by the embodiment of the invention, the server generates a path list of a target task for the carrying equipment, wherein the path list comprises a driving path from the current position of the carrying equipment to a target station; the route list is issued to the carrying equipment, so that the carrying equipment determines a navigation mode corresponding to the carrying equipment when the carrying equipment runs on each running route according to the attribute of each running route; therefore, by utilizing two navigation modes of rail navigation and trackless navigation, the carrying equipment is flexibly deployed according to the environment condition, the two navigation modes are automatically switched in operation, the adaptability and the control precision of the carrying equipment to the environment are improved, and the working scene of the carrying equipment is expanded.
In one possible embodiment, the map includes a tracked navigation area and a trackless navigation area, the attribute of the path in the tracked navigation area is a tracked navigation attribute, and the attribute of the path in the trackless navigation area is a trackless navigation attribute.
In another possible embodiment, the path list generating module 1301 is further configured to: determining carrying equipment corresponding to the target task; determining a path list according to the current position of the carrying equipment and a target station of a target task; and merging the adjacent paths with the same attribute into the same path group according to the path sequence in the path list to obtain a path list comprising a plurality of path groups.
The implementation principle and the technical effects of the travel control device for the conveying equipment provided by the embodiment of the invention are the same as those of the travel control method for the conveying equipment, and for the sake of brief description, corresponding contents in the travel control method for the conveying equipment can be referred to for parts which are not mentioned in the embodiment of the travel control device for the conveying equipment.
An embodiment of the present invention further provides an electronic device, as shown in fig. 14, which is a schematic structural diagram of the electronic device, where the electronic device includes a processor 141 and a memory 142, the memory 142 stores machine executable instructions that can be executed by the processor 141, and the processor 141 executes the machine executable instructions to implement the method for controlling the transportation device.
In the embodiment shown in fig. 14, the electronic device further comprises a bus 143 and a communication interface 144, wherein the processor 141, the communication interface 144 and the memory 142 are connected by the bus.
The Memory 142 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 144 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like may be used. The bus may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 14, but that does not indicate only one bus or one type of bus.
Processor 141 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 141. The Processor 141 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory, and the processor 141 reads the information in the memory 142, and completes the steps of the travel control method of the conveying equipment of the foregoing embodiment in combination with the hardware thereof.
The embodiment of the present invention further provides a machine-readable storage medium, where the machine-readable storage medium stores machine-executable instructions, and when the machine-executable instructions are called and executed by a processor, the machine-executable instructions cause the processor to implement the method for controlling the traveling of the transportation device, and specific implementation may refer to the foregoing method embodiment, and details are not described herein again.
The travel control method for a handling device, the travel control device for a handling device, and the computer program product for an electronic system according to the embodiments of the present invention include a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the travel control method for a handling device described in the foregoing method embodiments, and specific implementation may be referred to as method embodiments, and details are not repeated herein.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: u disk, removable hard disk, read only memory, random access memory, magnetic or optical disk, etc. for storing program codes.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (16)

1. A travel control method for a transport facility, the method being applied to a transport facility in which a map of a target area is prestored, the method comprising:
receiving a target task and determining a path list corresponding to the target task; the path list comprises a driving path from the current position of the carrying equipment to a target station;
determining a navigation mode corresponding to the conveying equipment when the conveying equipment runs on each running path according to the attribute of each running path; the attributes of the driving path are used for representing navigation modes supported by the driving path, and the navigation modes comprise rail navigation and trackless navigation.
2. The method for controlling the traveling of a carrier apparatus according to claim 1, wherein the map includes a track-guided navigation area and a trackless navigation area, and an attribute of a path in the track-guided navigation area is a track-guided navigation attribute, and an attribute of a path in the trackless navigation area is a trackless navigation attribute.
3. The method for controlling the traveling of a transport facility according to claim 2, wherein a navigation mark is laid on a traveling route corresponding to the guided navigation area in the target area.
4. The travel control method for a carrier apparatus according to claim 3, wherein the target area further includes a docking path that connects a second travel path in the trackless navigation area and a first travel path in the tracked navigation area, the docking path having the navigation mark and a station beacon laid thereon.
5. The travel control method for a conveyance apparatus according to claim 1, wherein the route list includes a plurality of route groups, and the attributes of the travel routes in each route group are the same, and the attributes of the travel routes in adjacent route groups are different;
the method for determining the navigation mode corresponding to the conveying equipment when the conveying equipment runs on each running path according to the attribute of each running path comprises the following steps:
switching the navigation mode of the carrying equipment according to the attribute of the current driving path and the attribute of the previous driving path; alternatively, the first and second electrodes may be,
and switching the navigation mode of the carrying equipment according to the path group to which the current driving path and the previous driving path belong.
6. The travel control method for a transport apparatus according to claim 5, wherein the step of switching the navigation mode of the transport apparatus according to the route group to which the current travel route and the previous travel route belong includes:
if the carrying equipment runs on the current running path in a first navigation mode, checking whether the current running path is the last running path in a path group corresponding to the current running path;
if so, detecting the current running path by applying a first component corresponding to the first navigation mode and/or starting a second component corresponding to the second navigation mode, and when a preset path switching mark is detected, switching the first navigation mode to the second navigation mode and continuing running;
if not, the first navigation mode is maintained to continue driving.
7. The method for controlling travel of a conveying facility according to claim 6, wherein the step of detecting the current travel route by applying the first member corresponding to the first navigation system and/or activating the second member corresponding to the second navigation system includes:
if the first navigation mode is the rail navigation, starting a laser sensor on the carrying equipment, and detecting whether a preset path switching mark exists on the current running path by using a beacon detector on the carrying equipment;
and if the first navigation mode is the trackless navigation, starting the beacon detector to detect whether a preset path switching mark exists on the current running path.
8. The travel control method for a conveying apparatus according to claim 7, characterized by further comprising:
and when the path switching mark is detected, closing the first component corresponding to the first navigation mode.
9. The method for controlling travel of a conveying facility according to claim 6, wherein the step of continuing travel while maintaining the first navigation mode includes:
if the first navigation mode is the rail navigation, controlling the carrying equipment to travel along a navigation identifier on a current travel path through a camera on the carrying equipment, and updating the position of the carrying equipment according to a station beacon detected by a beacon detector on the carrying equipment;
and if the first navigation mode is the trackless navigation, controlling the carrying equipment to run through a laser sensor on the carrying equipment and the map, and updating the position of the carrying equipment according to the contour mark detected by the laser sensor.
10. A travel control method for a transport apparatus, which is applied to a server in which a map of a target area is prestored, comprising:
generating a path list of target tasks for the carrying equipment; the path list comprises a driving path from the current position of the carrying equipment to a target station;
issuing the route list to the carrying equipment so that the carrying equipment determines a navigation mode corresponding to the carrying equipment when the carrying equipment runs on each running route according to the attribute of each running route; the attributes of the driving path are used for representing navigation modes supported by the driving path, and the navigation modes comprise rail navigation and trackless navigation.
11. The travel control method for a carrier according to claim 10, wherein the map includes a track-guided navigation area and a trackless navigation area, and an attribute of a path in the track-guided navigation area is a track-guided navigation attribute, and an attribute of a path in the trackless navigation area is a trackless navigation attribute.
12. The travel control method for a transport facility according to claim 10 or 11, wherein the step of generating the route list of the target task for the transport facility includes:
determining carrying equipment corresponding to the target task;
determining a path list according to the current position of the carrying equipment and the target station of the target task;
and merging the adjacent paths with the same attribute into the same path group according to the path sequence in the path list to obtain a path list comprising a plurality of path groups.
13. A travel control device for a transport facility in which a map of a target area is prestored, the travel control device comprising:
the path list determining module is used for receiving the target task and determining a path list corresponding to the target task; the path list comprises a driving path from the current position of the carrying equipment to a target station;
the navigation mode determining module is used for determining a navigation mode corresponding to the conveying equipment when the conveying equipment runs on each running path according to the attribute of each running path; the attributes of the driving path are used for representing navigation modes supported by the driving path, and the navigation modes comprise rail navigation and trackless navigation.
14. A travel control device for a transport facility, the travel control device being applied to a server in which a map of a target area is prestored, the travel control device comprising:
the path list generating module is used for generating a path list of the target task for the carrying equipment; the path list comprises a driving path from the current position of the carrying equipment to a target station;
the route list issuing module is used for issuing the route list to the carrying equipment so that the carrying equipment can determine a navigation mode corresponding to the carrying equipment when the carrying equipment drives on each driving route according to the attribute of each driving route; the attributes of the driving path are used for representing navigation modes supported by the driving path, and the navigation modes comprise rail navigation and trackless navigation.
15. An electronic system, characterized in that the electronic system comprises: the system comprises a server and a carrying device, wherein the server comprises a first processing device and a first storage device; the carrying equipment comprises image acquisition equipment, second processing equipment and a second storage device;
the image acquisition equipment is used for acquiring image information in the driving process;
a first computer program stored on the first storage device, the first computer program executing the method for controlling travel of the conveyance apparatus according to any one of claims 10 to 12 when executed by the first processing apparatus;
the second storage device has stored thereon a second computer program that, when executed by the second processing apparatus, executes the method for controlling travel of the conveyance apparatus according to any one of claims 1 to 9.
16. A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processing apparatus, performs the steps of the travel control method for a conveyance apparatus according to any one of claims 1 to 12.
CN202010976526.9A 2020-09-15 2020-09-15 Travel control method and device for carrying equipment and electronic system Pending CN112269377A (en)

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