CN112684783B - Control method and device for self-guided transportation equipment, storage medium and electronic equipment - Google Patents
Control method and device for self-guided transportation equipment, storage medium and electronic equipment Download PDFInfo
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Abstract
The embodiment of the application discloses a control method and device of self-guiding transportation equipment, a storage medium and electronic equipment. The method comprises the following steps: acquiring the current position and the target position of the self-guiding transportation equipment; allocating a first path for the self-guiding transportation equipment, and judging whether the head direction of the self-guiding transportation equipment meets the working condition or not after the self-guiding transportation equipment reaches the target position according to the first path; if the first virtual node does not meet the preset condition, determining that a vehicle head direction running to the branch path node according to the first path and the branch path node form a first virtual node, and determining that the opposite vehicle head direction of the branch path node and the branch path node form a second virtual node; and assigning a second path for the homing transport device to reach the target location via the second virtual node. By executing the scheme, the self-guiding transportation equipment can be used for performing multiple path distribution on one node according to the direction of the vehicle head by combining the direction of the vehicle head with the passing node as the virtual node.
Description
Technical Field
The embodiment of the application relates to the technical field of computers, in particular to a control method and device of self-guiding transportation equipment, a storage medium and electronic equipment.
Background
With the rapid development of the technology level, the self-guiding transportation equipment is increasingly applied to goods distribution centers such as warehouses.
The control method of the self-guiding transportation equipment is various, and the most common control method is to control the movement of the self-guiding transportation equipment through a pre-planned path and by combining the control information sent to the equipment. Astar is a relatively mature control mode of self-guided transport equipment. The control mode is that different nodes are arranged on each road section, for example, a main path node 1, a main path node 2 and a main path node 3 can be arranged on the main path, and a branch path node can be arranged on each branch path. And when allocating a path for a self-steering transport, the path is often represented in a series of nodes. And wherein if a node is used, it is deleted from all the current candidate nodes. That is, if a first route is allocated to the self-guided transportation device to reach the working point 1, and the route cannot be implemented due to the limitation of the head direction of the self-guided transportation device, for example, the self-guided transportation device is required to enter at the tail of the working point 1, a second route is allocated to the self-guided transportation device again, and the node used by the first route is deleted from the candidate nodes. Thus, if only one branch path is connected to the working point 1, the node used by the first path cannot be allocated to the second path again, and the homing transportation device cannot reach the working point 1 via the second path, which causes the allocation failure of the path.
Disclosure of Invention
The embodiment of the application provides a control method and device for a self-guiding transport device, a storage medium and an electronic device, and the aim of performing multiple path allocation on one node by the self-guiding transport device according to the direction of a vehicle head can be achieved by combining the direction of the vehicle head and the passing node as a virtual node.
In a first aspect, an embodiment of the present application provides a method for controlling a self-guiding transportation device, where the method includes:
acquiring the current position and the target position of the self-guiding transportation equipment;
distributing a first path for the homing transportation device, wherein the path distributed for the homing transportation device is composed of a main path node and a branch path node, and the main path is connected with at least one branch path;
judging whether the direction of the head of the self-guided transport equipment meets working conditions or not after the self-guided transport equipment reaches the target position according to the first path;
if the operation condition is not met, determining that the self-guiding transportation equipment runs to the head direction of the branch path node according to the first path and the branch path node form a first virtual node of the branch path node, and determining that the head direction opposite to the branch path node and the branch path node form a second virtual node of the branch path node; and allocating a second path for the homing transportation device to reach the target location via a second virtual node.
Further, assigning a second path for the homing transport device to reach the target location via a second virtual node, comprising:
determining whether there is a path to the branch path node different from the first path;
if yes, determining whether the direction of the head of the branch path reaching the node according to the path is opposite to the direction of the head of the first path;
and if so, determining the path as a second path which passes through the second virtual node and reaches the target position.
Further, after judging whether the direction of the head of the self-guided transportation device meets the working condition after the self-guided transportation device reaches the target position according to the first path, the method further comprises the following steps:
and if the working conditions are met, controlling the self-guiding transportation equipment to move to the target position according to the first path.
And further, if the direction of the vehicle head does not accord with the working condition and cannot distribute a second path reaching the target position, sending out alarm prompt information.
Further, the self-guided transport equipment comprises a forklift; the forklift can not turn around in situ at the main path node, the branch path node and the target position.
In a second aspect, an embodiment of the present application provides a control device for a self-guiding transportation apparatus, including:
the position acquisition module is used for acquiring the current position and the target position of the self-guiding transportation equipment;
the first path distribution module is used for distributing a first path to the self-guiding transportation equipment, wherein the path distributed to the self-guiding transportation equipment is composed of a main path node and a branch path node, and the main path is connected with at least one branch path;
the vehicle head direction judging module is used for judging whether the vehicle head direction of the self-guiding transportation equipment meets the working condition or not after the self-guiding transportation equipment reaches the target position according to the first path;
the second path distribution module is set to determine that the self-guiding transportation equipment runs to the head direction of the branch path node according to the first path and the branch path node form a first virtual node of the branch path node if the head direction judgment module judges that the head direction judgment module does not meet the working condition, and determine that the opposite head direction of the branch path node and the branch path node form a second virtual node of the branch path node; and allocating a second path for the homing transportation device to reach the target location via a second virtual node.
Further, the second path allocating module is specifically configured to:
determining whether there is a path to the branch path node different from the first path;
if yes, determining whether the direction of the head of the branch path reaching the node of the branch path is opposite to the direction of the head of the first path;
and if so, determining the path as a second path which passes through the second virtual node and reaches the target position.
Further, the apparatus further comprises:
and the first path operation module is set to control the self-guiding transportation equipment to operate to a target position according to the first path if the judgment result of the vehicle head direction judgment module is that the vehicle head direction judgment module meets the working condition.
Further, the apparatus further comprises:
and the alarm module is set to send out alarm prompt information if the direction of the vehicle head does not accord with the working condition and cannot distribute a second path reaching the target position.
Further, the self-guided transport equipment comprises a forklift; the forklift can not turn around in situ at the main path node, the branch path node and the target position.
In a third aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, where the program, when executed by a processor, implements a control method for a homing transportation device according to an embodiment of the present application.
In a fourth aspect, an embodiment of the present application provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable by the processor, where the processor executes the computer program to implement the method for controlling an homing transportation device according to the embodiment of the present application.
According to the technical scheme provided by the embodiment of the application, the current position and the target position of the self-guiding transportation equipment are obtained; distributing a first path for the homing transportation device, wherein the path distributed for the homing transportation device is composed of a main path node and a branch path node, and the main path is connected with at least one branch path; judging whether the direction of the head of the self-guided transport equipment meets the working condition or not after the self-guided transport equipment reaches the target position according to the first path; if the operation condition is not met, determining that the self-guiding transportation equipment runs to the head direction of the branch path node according to the first path and the branch path node form a first virtual node of the branch path node, and determining that the head direction opposite to the branch path node and the branch path node form a second virtual node of the branch path node; and allocating a second path for the homing transportation device to reach the target location via a second virtual node. By adopting the technical scheme provided by the application, the vehicle head direction and the passing nodes can be combined to serve as the virtual nodes, and the aim of carrying out multiple path distribution on one node by the homing transportation equipment according to the vehicle head direction is fulfilled.
Drawings
Fig. 1 is a flowchart of a control method of an autonomous transport apparatus according to an embodiment of the present application;
fig. 2 is a schematic path diagram of an autonomous transport apparatus provided in an embodiment of the present application;
fig. 3 is a schematic structural diagram of a control device of the self-guiding transportation equipment provided by the embodiment of the application;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Fig. 1 is a flowchart of a control method of a self-guided transportation device according to an embodiment of the present application, where the present embodiment is applicable to a control situation of the self-guided transportation device, and the method may be executed by a control apparatus of the self-guided transportation device according to the embodiment of the present application, where the apparatus may be implemented by software and/or hardware, and may be integrated in an electronic device such as an intelligent control device.
As shown in fig. 1, the method for controlling the self-guided transportation apparatus includes:
and S110, acquiring the current position and the target position of the self-guiding transportation equipment.
The self-guided transport equipment may be equipment for transporting goods in warehousing and other shipping centers. In this embodiment, the self-guided transport apparatus is a forklift. Among them, the forklift is characterized in that its rotation direction in situ can be realized only by a rather wide road due to the influence of its own structure, and the direction in which the vehicle enters the working place is often limited because the carrying structure of the forklift is at the rear of the vehicle. Therefore, in the case of a self-guiding transportation apparatus such as a forklift requiring a high direction, it is necessary to control not only the direction but also the movement path so as not to rotate.
The current position of the self-guided transportation device may be an address of a currently received task, for example, if the self-guided transportation device is a transportation task, the position of the transportation target object is the target position of the self-guided transportation device. From the current location to the target location, one or more paths may exist. Each path may include one or more main path nodes and one branch path node. The branch path is a path connecting the main path and the operating point or the charging station. Each branch path connects only one operating point, and thus, each branch path can be determined as one branch path node.
And S120, distributing a first path for the self-guiding transportation equipment, wherein the path distributed for the self-guiding transportation equipment is composed of a main path node and a branch path node, and the main path is connected with at least one branch path.
Fig. 2 is a schematic path diagram of an autonomous transport apparatus provided in an embodiment of the present application. As shown in fig. 2, the main path is provided with a main path node, and the branch path is provided with a branch path node. The main path in each carrying area of the main path can be connected with one or more branch paths. The branch path is a path connected to the main path and connected to the operating point or the charging station. The main path and the branch path may be connected by at least one circular arc-shaped turning path. Each branch path connects an operating point or charging station, or node for other functions. The main path node is a node which can be defined according to the working requirement, for example, the connection position of the main path and the circular arc-shaped turning path is determined as a main path node. The branch path node may be each branch path connected to a specific function node, defined as a branch path node. The homing transportation device can move on a main path and can reach a branch path connected to an operating point or a charging station through a turning path. The self-guiding transportation equipment takes a forklift as an example, forklift operation can be carried out after the self-guiding transportation equipment arrives at a working point, and charging can be carried out after the self-guiding transportation equipment arrives at a charging station. However, since the tail of the forklift needs to enter first at the working point and the head of the forklift needs to enter first at the charging station, it is necessary to determine whether the direction of the forklift moving to the target position along the route allocated to the self-guiding transportation apparatus is correct. For the existing control mode, if the branch path node is already allocated, the branch path node is not allocated to other paths. This also results in that if the direction of the first allocated vehicle head is incorrect, no further paths will be allocated and the truck will not be able to reach the target position. Taking the current location of the homing transport device as an example, if its assigned route is: main path node 1-branch path node 5-charging station, the direction of the head of the homing transport device reaching the charging station is right, and the direction of the head of the homing transport device passing through branch path node 5 is also right. If its assigned path is: main path node 1-main path node 2-branch path node 5-charging station, the direction of the head of the homing transportation device reaching the charging station is leftward, and the direction of the head of the homing transportation device passing through the branch path node 5 is also leftward. If fork truck needs the locomotive to get into earlier when charging, then first distribution route is reasonable, if fork truck needs the rear of a vehicle to get into earlier when charging, then second distribution route is reasonable. However, in the prior art, if the first allocated route already uses the branch route node 5, the branch route node 5 is not allowed to be used in the subsequent allocation process, which may cause that the forklift cannot allocate another route successfully under the condition that the allocation of one route cannot work normally.
In this embodiment, the allocated path may be represented by nodes, for example, a connection between one or more main path nodes and one branch path node may constitute a path to the target location.
S130, judging whether the direction of the head of the self-guiding transportation equipment meets working conditions or not after the self-guiding transportation equipment reaches the target position according to the first path.
The direction of the head of the homing transportation device when the homing transportation device reaches the target position can be determined according to the first path of the homing transportation device. In connection with the above example, if the homing transport device is a forklift and the target location is a charging station, the front of the forklift is required to enter preferentially, and if the target location is a working point, the rear of the forklift is required to enter preferentially. Because the forklift cannot rotate in situ at any position in the operation path, the direction of the forklift when the forklift reaches the target position can be determined according to the first path, and judgment can be made.
S140, if the self-guiding transportation equipment does not meet the working condition, determining that the head direction of the self-guiding transportation equipment running to the branch path node according to the first path and the branch path node form a first virtual node of the branch path node, and determining that the opposite head direction of the branch path node and the branch path node form a second virtual node of the branch path node; and allocating a second path for the homing transportation device to reach the target location via a second virtual node.
If the working condition is not met, the direction of the head of the self-guiding transportation equipment running to the branch path node according to the first path and the branch path node form a first virtual node of the branch path node, and the direction of the head of the branch path node opposite to the direction of the head of the branch path node and the branch path node form a second virtual node of the branch path node. Namely, two different virtual nodes are set for an original branch path node according to the difference of the direction of the vehicle head. The advantage of such an arrangement is that if a path is allocated to the homing transportation device again, under the condition that the direction of the head of the homing transportation device is opposite to the original direction of the head of the homing transportation device, the second virtual node of the branch path node can be used as a node forming a new path, and the direction of the head of the second virtual node is just opposite to that of the first virtual node, namely, under the condition that the direction of the head of the homing transportation device is not opposite to that of the first virtual node, the second virtual node can be used for ensuring the correctness of the direction of the head of the homing transportation device. In addition, because the first virtual node is already allocated, the first virtual node cannot be allocated again, and the virtual node with the wrong head direction cannot be allocated again, so that the correctness of the head direction of the re-allocated path is ensured.
After determining the second virtual node, a second path may be assigned to the homing transport device to the target location through the second virtual node. The arrangement can enable the direction of the head of the self-guiding transportation equipment when the self-guiding transportation equipment reaches the target position to be consistent with the direction of the head of the self-guiding transportation equipment required by actual work.
According to the technical scheme provided by the embodiment of the application, the current position and the target position of the self-guiding transportation equipment are obtained; distributing a first path for the homing transportation device, wherein the path distributed for the homing transportation device is composed of a main path node and a branch path node, and the main path is connected with at least one branch path; judging whether the direction of the head of the self-guided transport equipment meets working conditions or not after the self-guided transport equipment reaches the target position according to the first path; if the operation condition is not met, determining that the self-guiding transportation equipment runs to the head direction of the branch path node according to the first path and the branch path node form a first virtual node of the branch path node, and determining that the head direction opposite to the branch path node and the branch path node form a second virtual node of the branch path node; and allocating a second path for the homing transportation device to reach the target location via a second virtual node. By adopting the technical scheme provided by the application, the vehicle head direction and the passing nodes can be combined to serve as the virtual nodes, and the aim of carrying out multiple path distribution on one node by the homing transportation equipment according to the vehicle head direction is fulfilled.
On the basis of the foregoing technical solutions, optionally, allocating a second path to the destination location through a second virtual node for the self-guided transportation device includes: determining whether there is a path to the branch path node different from the first path; if yes, determining whether the direction of the head of the branch path reaching the node of the branch path is opposite to the direction of the head of the first path; and if so, determining the path as a second path which passes through the second virtual node and reaches the target position. In the technical solution, after it is determined that there is a problem in the head direction of the first path, it is necessary to determine whether there is a path reaching a branch path node, where the first path is different. If not, the second path will not be allocated. For example, if there is only one curved circular path to the branch path node, the homing transport device can only enter the branch path in one way, and therefore cannot allocate a second path. If a path which is different from the first path and reaches the branch path node exists, whether the direction of the head of the user who reaches the branch path node according to the path is opposite to the direction of the head of the first path is determined, and if the direction of the head of the user who reaches the branch path node according to the path is opposite to the direction of the head of the first path, the path is determined to be a second path which reaches the target position through a second virtual node. The significance of the technical scheme is that when other paths different from the first path exist, the direction of the vehicle head when the path reaches the branch path node can be further judged. If the heading directions are the same, the path cannot be assigned, and if the heading directions are different, the path can be assigned and determined to be a second path.
On the basis of the above technical solutions, optionally, after determining whether the head direction of the self-guided transportation device meets the working condition after the self-guided transportation device reaches the target position according to the first path, the method further includes: and if the working conditions are met, controlling the self-guiding transportation equipment to move to the target position according to the first path. If the direction of the vehicle head of the first path reaching the branch path node can be determined to meet the actual working requirement according to the direction of the vehicle head, the first path can be determined as the final path for controlling the operation of the self-guiding transportation equipment. The advantage of setting up like this can be according to whether judging in advance that the locomotive direction accords with operating condition to control the self-steering transportation equipment and move according to first route under the condition that accords with operating condition. The road congestion or energy loss caused by incorrect direction of the vehicle head can be avoided.
On the basis of the above technical solutions, optionally, if the direction of the vehicle head does not meet the working conditions and cannot be allocated to the second path to the target position, an alarm prompt message is sent. If the direction of the vehicle head does not accord with the working condition and the second path reaching the target position cannot be allocated, the warning prompt information can be directly sent out so as to be manually intervened by staff. The advantage of setting up like this is that can be quick confirm that the homing transportation equipment can carry out direct control, if can not realize through direct control, then can send prompt message, supplies the staff to carry out manual handling. Therefore, the idle of the self-guiding transportation equipment can be avoided, and the carrying efficiency of the articles can be improved.
On the basis of the above technical solutions, optionally, the self-guiding transportation device includes a forklift; the forklift can not turn around in situ at the main path node, the branch path node and the target position. The self-guiding transportation equipment can be a forklift and other equipment with larger in-situ rotation radius, and the forklift is characterized in that a carrying part is arranged at the tail of the forklift, so that the direction of the forklift reaching the target position in the front of the forklift is required to meet the actual use requirement. In the scheme, the forklift can not turn around in situ at the main path node, the branch path node and the target position. This has the advantage that the risk of collisions with the surrounding objects in the path and in the working position due to an excessively large radius of rotation is avoided.
Fig. 3 is a schematic structural diagram of a control device of a self-guiding transportation apparatus according to an embodiment of the present application. As shown in fig. 3, the control device of the self-guiding transportation apparatus includes:
a position acquisition module 310 configured to acquire a current position and a target position of the homing transportation device;
a first path allocating module 320 configured to allocate a first path to the homing transportation device, wherein the path allocated to the homing transportation device is composed of a main path node and a branch path node, and the main path is connected to at least one branch path;
a head direction determining module 330 configured to determine whether a head direction of the homing transportation device meets a working condition after the homing transportation device reaches a target position according to the first path;
a second path allocating module 340, configured to determine that the self-guided transport device operates to the head direction of the branch path node according to the first path and the branch path node form a first virtual node of the branch path node if the head direction determining module 330 determines that the head direction does not meet the working condition, and determine that the opposite head direction of the branch path node and the branch path node form a second virtual node of the branch path node; and allocating a second path for the homing transportation device to reach the target location via a second virtual node.
According to the technical scheme provided by the embodiment of the application, the current position and the target position of the self-guiding transportation equipment are obtained; allocating a first path to the self-guided transportation device, wherein the path allocated to the self-guided transportation device is composed of a main path node and a branch path node, and the main path is connected with at least one branch path; judging whether the direction of the head of the self-guided transport equipment meets the working condition or not after the self-guided transport equipment reaches the target position according to the first path; if the working condition is not met, determining that the self-guiding transportation equipment runs to the head direction of the branch path node according to the first path and the branch path node form a first virtual node of the branch path node, and determining that the head direction opposite to the branch path node and the branch path node form a second virtual node of the branch path node; and allocating a second path for the homing transportation device to reach the target location via a second virtual node. By adopting the technical scheme provided by the application, the vehicle head direction and the passing nodes can be combined to serve as the virtual nodes, and the aim of carrying out multiple path distribution on one node by the homing transportation equipment according to the vehicle head direction is fulfilled.
On the basis of the above technical solution, optionally, the second path allocating module is specifically configured to:
determining whether there is a path to the branch path node different from the first path;
if yes, determining whether the direction of the head of the branch path reaching the node of the branch path is opposite to the direction of the head of the first path;
and if so, determining the path as a second path which passes through the second virtual node and reaches the target position.
On the basis of the above technical solution, optionally, the apparatus further includes:
and the first path operation module is set to control the self-guiding transportation equipment to operate to a target position according to the first path if the judgment result of the vehicle head direction judgment module is that the vehicle head direction judgment module meets the working condition.
On the basis of the above technical solution, optionally, the apparatus further includes:
and the alarm module is set to send out alarm prompt information if the direction of the vehicle head does not accord with the working condition and cannot distribute a second path reaching the target position.
On the basis of the above technical solution, optionally, the self-guiding transportation device includes a forklift; the forklift can not turn around in situ at the main path node, the branch path node and the target position.
The product can execute the method provided by any embodiment of the application, and has the corresponding functional module and the beneficial effect of the execution method.
Embodiments of the present application also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a method of controlling an homing transport device, the method comprising:
acquiring the current position and the target position of the self-guiding transportation equipment;
allocating a first path to the self-guided transportation device, wherein the path allocated to the self-guided transportation device is composed of a main path node and a branch path node, and the main path is connected with at least one branch path;
judging whether the direction of the head of the self-guided transport equipment meets working conditions or not after the self-guided transport equipment reaches the target position according to the first path;
if the operation condition is not met, determining that the self-guiding transportation equipment runs to the head direction of the branch path node according to the first path and the branch path node form a first virtual node of the branch path node, and determining that the head direction opposite to the branch path node and the branch path node form a second virtual node of the branch path node; and allocating a second path for the homing transportation device to reach the target location via a second virtual node.
Storage medium-any of various types of memory devices or storage devices. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk, or tape devices; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, Lanbas (Rambus) RAM, etc.; non-volatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the computer system in which the program is executed, or may be located in a different second computer system connected to the computer system through a network (such as the internet). The second computer system may provide the program instructions to the computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations, such as in different computer systems that are connected by a network. The storage medium may store program instructions (e.g., embodied as a computer program) that are executable by one or more processors.
Of course, the storage medium provided in the embodiments of the present application contains computer-executable instructions, and the computer-executable instructions are not limited to the control operation of the self-guided transportation device described above, and may also execute related operations in the control method of the self-guided transportation device provided in any embodiment of the present application.
The embodiment of the application provides electronic equipment, and the control device of the self-guiding transportation equipment provided by the embodiment of the application can be integrated in the electronic equipment. Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 4, the present embodiment provides an electronic device 400, which includes: one or more processors 420; the storage device 410 is used for storing one or more programs, and when the one or more programs are executed by the one or more processors 420, the one or more processors 420 implement the method for controlling the homing transportation device provided by the embodiment of the present application, the method includes:
acquiring the current position and the target position of the self-guiding transportation equipment;
distributing a first path for the homing transportation device, wherein the path distributed for the homing transportation device is composed of a main path node and a branch path node, and the main path is connected with at least one branch path;
judging whether the direction of the head of the self-guided transport equipment meets working conditions or not after the self-guided transport equipment reaches the target position according to the first path;
if the operation condition is not met, determining that the self-guiding transportation equipment runs to the head direction of the branch path node according to the first path and the branch path node form a first virtual node of the branch path node, and determining that the head direction opposite to the branch path node and the branch path node form a second virtual node of the branch path node; and allocating a second path for the homing transportation device to reach the target location via a second virtual node.
Of course, those skilled in the art will understand that the processor 420 also implements the technical solution of the control method of the self-guiding transportation device provided in any embodiment of the present application.
The electronic device 400 shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 4, the electronic device 400 includes a processor 420, a storage device 410, an input device 430, and an output device 440; the number of the processors 420 in the electronic device may be one or more, and one processor 420 is taken as an example in fig. 4; the processor 420, the storage device 410, the input device 430, and the output device 440 in the electronic apparatus may be connected by a bus or other means, and are exemplified by a bus 450 in fig. 4.
The storage device 410 is a computer-readable storage medium, and can be used to store software programs, computer-executable programs, and module units, such as program instructions corresponding to the control method of the self-guiding transportation apparatus in the embodiment of the present application.
The storage device 410 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the storage 410 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, storage 410 may further include memory located remotely from processor 420, which may be connected via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means 430 may be used to receive input numbers, character information, or voice information, and to generate key signal inputs related to user settings and function control of the electronic device. The output device 440 may include a display screen, speakers, etc.
The electronic equipment provided by the embodiment of the application can be used as a virtual node by combining the direction of the vehicle head with the passing nodes, so that the aim of carrying out multiple path distribution on one node by the homing transportation equipment according to the direction of the vehicle head is fulfilled.
The control device, the storage medium and the electronic device of the self-guiding transportation equipment provided in the above embodiments can execute the control method of the self-guiding transportation equipment provided in any embodiment of the present application, and have corresponding functional modules and beneficial effects for executing the method. For technical details that are not described in detail in the above embodiments, reference may be made to a control method of an autonomous transport apparatus provided in any embodiment of the present application.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present application and the technical principles employed. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the appended claims.
Claims (10)
1. A method of controlling a self-guided transport apparatus, comprising:
acquiring the current position and the target position of the self-guiding transportation equipment;
distributing a first path for the homing transportation device, wherein the path distributed for the homing transportation device is composed of a main path node and a branch path node, and the main path is connected with at least one branch path;
judging whether the direction of the head of the self-guided transport equipment meets working conditions or not after the self-guided transport equipment reaches the target position according to the first path;
if the working condition is not met, determining that the self-guiding transportation equipment runs to the head direction of the branch path node according to the first path and the branch path node form a first virtual node of the branch path node, and determining that the head direction opposite to the branch path node and the branch path node form a second virtual node of the branch path node; and allocating a second path for the homing transportation device to reach the target location via a second virtual node.
2. The method of claim 1, wherein assigning the homing transport device a second path to a target location via a second virtual node comprises:
determining whether there is a path to the branch path node different from the first path;
if yes, determining whether the direction of the head of the branch path reaching the node of the branch path is opposite to the direction of the head of the first path;
and if so, determining the path as a second path which passes through the second virtual node and reaches the target position.
3. The method of claim 1, wherein after determining whether the heading direction of the homing transport device meets the operating condition after the homing transport device reaches the target location along the first path, the method further comprises:
and if the working conditions are met, controlling the self-guiding transportation equipment to move to the target position according to the first path.
4. The method as claimed in claim 1, wherein if the direction of the vehicle head does not meet the working conditions and the second path to the target position cannot be allocated, an alarm prompt message is issued.
5. The method of any one of claims 1-4, wherein the self-guided transport equipment comprises a forklift; the forklift can not turn around in situ at the main path node, the branch path node and the target position.
6. A control device for a self-guided transport apparatus, comprising:
the position acquisition module is used for acquiring the current position and the target position of the self-guiding transportation equipment;
the first path distribution module is used for distributing a first path to the self-guiding transportation equipment, wherein the path distributed to the self-guiding transportation equipment is composed of a main path node and a branch path node, and the main path is connected with at least one branch path;
the vehicle head direction judging module is used for judging whether the vehicle head direction of the self-guiding transportation equipment meets the working condition or not after the self-guiding transportation equipment reaches the target position according to the first path;
the second path distribution module is set to determine that the self-guiding transportation equipment runs to the head direction of the branch path node according to the first path and the branch path node form a first virtual node of the branch path node if the head direction judgment module judges that the head direction judgment module does not meet the working condition, and determine that the opposite head direction of the branch path node and the branch path node form a second virtual node of the branch path node; and allocating a second path for the homing transportation device to reach the target location via a second virtual node.
7. The apparatus of claim 6, wherein the second path allocation module is specifically configured to:
determining whether there is a path to the branch path node different from the first path;
if yes, determining whether the direction of the head of the branch path reaching the node of the branch path is opposite to the direction of the head of the first path;
and if so, determining the path as a second path which passes through the second virtual node and reaches the target position.
8. The apparatus of claim 6, further comprising:
and the first path operation module is set to control the self-guiding transportation equipment to operate to a target position according to the first path if the judgment result of the vehicle head direction judgment module is that the vehicle head direction judgment module meets the working condition.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method of controlling an autonomous transport apparatus according to any of claims 1-5.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of controlling an apparatus for homing transport according to any of the claims 1-5 when executing the computer program.
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