CN114803384A - Motion following anti-collision method and device and battery replacement station - Google Patents
Motion following anti-collision method and device and battery replacement station Download PDFInfo
- Publication number
- CN114803384A CN114803384A CN202210597612.8A CN202210597612A CN114803384A CN 114803384 A CN114803384 A CN 114803384A CN 202210597612 A CN202210597612 A CN 202210597612A CN 114803384 A CN114803384 A CN 114803384A
- Authority
- CN
- China
- Prior art keywords
- following
- current moving
- target
- component
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000012886 linear function Methods 0.000 claims description 80
- 230000002265 prevention Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 abstract description 10
- 230000008859 change Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 230000001419 dependent effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
Abstract
The invention discloses a motion following anti-collision method and device and a power change station. The motion following anti-collision method can realize that: the distance value between the current moving component and the target following component can be accurately obtained by establishing a coordinate system of the current moving component and the target following component, then the following speed of the current moving component following the target moving component can be accurately determined according to the distance value between the current moving component and the target following component and the preset deceleration interval, and the preset functional relation is established, so that the current moving component moves at the safe following speed, and the collision between the current moving component and the target following component in the following process can be avoided. Because the current motion part follows the motion of target following part with safe following speed, both are in the motion state, compare with prior art one side and need wait the other party to move to safe position just actionable mode, can realize improving the motion efficiency when guaranteeing safe operation, and then improve productivity ratio, especially be applicable more in miniaturized space place.
Description
Technical Field
The invention relates to the technical field of motion control, in particular to a motion following anti-collision method and device and a power change station.
Background
With the continuous upgrading and perfection of new energy automobile technology and service and the continuous improvement of social public acceptance, new energy automobiles are more and more popularized. Correspondingly, new energy charging and replacing stations matched with the new energy charging and replacing stations are more and more in the visual field of people. For example, palletizers and RGVs are very common functional components in power stations. In order to meet the requirement of miniaturization of the power station, the stacker crane and the RGV are required to be arranged on a straight line sometimes, so that the overlapping of the movement range of the stacker crane and the RGV is inevitably brought, and the risk of mutual collision of mechanisms is also brought.
In order to avoid collision, the conventional solution is to prevent both of them from moving at the same time, i.e. to move one first and then to move the other after moving to the safe position. Although this method can avoid collision and ensure safety, it reduces the efficiency of movement of the functional parts to some extent and reduces productivity.
Disclosure of Invention
The invention provides a motion following anti-collision method, a motion following anti-collision device and a power station, which are used for improving the motion efficiency and improving the productivity while ensuring the safe operation of a motion part.
According to an aspect of the present invention, there is provided a motion following collision avoidance method including:
establishing a coordinate system of a current moving part and a target following part;
acquiring current position information of the current moving component and current position information of the target following component;
determining the distance between the current moving component and the target following component according to the current position information of the current moving component and the current position information of the target following component;
and determining the following speed of the current moving part following the target moving part according to the distance between the current moving part and the target following part, a preset deceleration interval and a preset function relation corresponding to the preset deceleration interval.
Optionally, the preset deceleration interval at least comprises one deceleration interval, and is a first deceleration interval; correspondingly, the preset functional relationship at least comprises a linear function which is a first linear function;
the determining the following speed of the current moving component following the target moving component according to the distance between the current moving component and the target following component, a preset deceleration interval and a preset functional relationship corresponding to the preset deceleration interval includes:
and determining the following speed of the current moving part following the target moving part according to the distance between the current moving part and the target following part, the first deceleration interval and the first linear function.
Optionally, the preset deceleration interval at least includes three deceleration intervals, which are a first deceleration interval, a second deceleration interval and a third deceleration interval respectively; correspondingly, the preset functional relationship at least comprises three linear functions which are respectively a first linear function, a second linear function and a third linear function;
the determining the following speed of the current moving component following the target moving component according to the distance between the current moving component and the target following component, a preset deceleration interval and a preset function relationship corresponding to the preset deceleration interval includes:
determining a following speed at which the current moving part follows the target moving part, based on the distance of the current moving part from the target following part, the first deceleration section, the second deceleration section, the third deceleration section, and the first linear function, the second linear function, and the third linear function.
Optionally, the slopes of the first, second and third linear functions are different.
Optionally, the interval length of the deceleration interval is inversely proportional to the magnitude of the slope of the linear function.
Optionally, the current moving part is an RGV or a stacker, and correspondingly, the target following part is a stacker or an RGV.
Optionally, determining the distance between the current moving component and the target following component according to the current position information of the current moving component and the current position information of the target following component includes:
and obtaining the distance between the current moving component and the target following component according to the difference value between the current position information of the current moving component and the current position information of the target following component.
Optionally, the interval length of the preset deceleration interval is determined by a preset guard distance between the current moving component and the target following component.
According to another aspect of the present invention, there is provided a motion-following collision prevention device including:
the coordinate system establishing module is used for establishing a coordinate system of the current moving part and the target following part;
the position information acquisition module is used for acquiring the current position information of the current moving part and the current position information of the target following part;
the distance determining module is used for determining the distance between the current moving component and the target following component according to the current position information of the current moving component and the current position information of the target following component;
and the following speed determining module is used for determining the following speed of the current moving part following the target moving part according to the distance between the current moving part and the target following part, a preset deceleration interval and a preset function relation corresponding to the preset deceleration interval.
According to another aspect of the invention, a power swapping station is provided, which comprises a motion following collision prevention device as described in the second aspect.
According to the technical scheme of the embodiment of the invention, by providing the motion following anti-collision method, the motion following anti-collision device and the power change station, the method can realize the following steps: the distance value between the current moving component and the target following component can be accurately obtained by establishing a coordinate system of the current moving component and the target following component, then the following speed of the current moving component following the target moving component can be accurately determined according to the distance value between the current moving component and the target following component and the preset deceleration interval, and the preset functional relation is established, so that the current moving component moves at the safe following speed, and the collision between the current moving component and the target following component in the following process can be avoided. Because the current motion part follows the motion of target following part with safe following speed, both are in the motion state, compare with prior art one side and need wait the other party to move to safe position just actionable mode, can realize improving the motion efficiency when guaranteeing safe operation, and then improve productivity ratio, especially be applicable more in miniaturized space place.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a motion following collision avoidance method provided in an embodiment of the present invention;
FIG. 2 is a schematic layout of a palletizer and RGVs as provided in embodiments of the present invention;
FIG. 3 is a schematic of an RGV and palletizer coordinate system provided in an embodiment of the present invention;
FIG. 4 is a block diagram of a movement control system for a palletizer and RGVs as provided by embodiments of the present invention;
fig. 5 is a flow chart of another motion following collision avoidance method provided in embodiments of the present invention;
FIG. 6 is a schematic illustration of a follow speed profile provided in an embodiment of the present invention;
fig. 7 is a flow chart of another motion following collision avoidance method provided in embodiments of the present invention;
FIG. 8 is a schematic illustration of another follow-up speed profile provided in an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a motion following collision avoidance device according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a flowchart of a motion following anti-collision method according to an embodiment of the present invention. The embodiment may be applicable to the case of implementing motion following to avoid collision in the motion control processing platform, and the method may be executed by a motion following collision avoidance device, which may be implemented in the form of hardware and/or software, and may be configured in a controller of the motion control processing platform. As shown in fig. 1, the method includes:
and S110, establishing a coordinate system of the current moving part and the target following part.
The current moving part and the target following part refer to two moving parts which move in the same straight line or the same direction.
Optionally, the current moving part is an RGV or a palletiser and, correspondingly, the target following part is a palletiser or an RGV. For example, assuming that the current moving part is an RGV, the target following part is a stacker.
It should be noted that the current moving component and the target following component may also be other moving components that move with each other, such as a carrying trolley and a stacker crane in a logistics workshop, and may be specifically set according to actual conditions, which is not specifically limited herein.
It should be noted that the following embodiments are described by taking the current moving part as the RGV and the target following part as the stacker as an example.
Fig. 2 is a layout diagram of a stacker crane and an RGV provided in an embodiment of the present invention. Illustratively, referring to fig. 2, the palletizer and the RGV are laid out on the same moving track, and follow the movement in the same direction.
In order to accurately acquire the position information of the current moving part and the target following part, coordinate systems of the current moving part and the target following part can be established in advance, so that the positive directions of the coordinate systems are in the same direction, and the origin of the coordinate systems is set according to the actual conditions of the two parts on site. Figure 3 is a schematic diagram of an RGV and palletiser coordinate system provided in an embodiment of the invention. For example, referring to fig. 3, let the RGV axis be co-directional with the stacker axle, let the origin of the RGV on the RGV axis be O1, and the origin of the stacker on the stacker axle be O2.
And S120, acquiring current position information of the current moving part and current position information of the target following part.
Wherein, the coordinate system established in step S110 may be used to obtain the current position of the current moving part and the current position of the target following part. Illustratively, referring to FIG. 3, the current position of the RGV may be determined from the coordinate system and origin of the RGV, and similarly, the current position of the palletizer may also be determined from the coordinate system and origin of the palletizer.
And S130, determining the distance between the current moving part and the target following part according to the current position information of the current moving part and the current position information of the target following part.
The coordinate system of the current moving component and the coordinate system of the target following component are in the same direction, so that the distance between the current moving component and the target following component can be determined according to the current position information of the current moving component and the target following component. Illustratively, referring to FIG. 3, since the RGV coordinate system is co-directional with the palletizer coordinate system, the relative distance between the current position of the RGV and the current position of the palletizer, as shown by relative distance a in FIG. 3, can be determined.
S140, determining the following speed of the current moving part following the target moving part according to the distance between the current moving part and the target following part, the preset deceleration interval and the preset function relation corresponding to the preset deceleration interval.
The preset deceleration interval is an interval in which the current moving part and the target following part start to decelerate in the following process so as to prevent the current moving part and the target following part from colliding.
The preset functional relationship is a functional relationship of the current moving part in the speed reduction movement in the preset speed reduction interval.
The following speed determined according to the distance between the current moving component and the target following component, the preset deceleration interval and the preset function relation corresponding to the preset deceleration interval is the speed of the current moving component for safely driving along with the target following component.
In the technical scheme of the embodiment, the working principle of the motion following anti-collision method is as follows: firstly, pre-establishing a coordinate system of a current moving part and a target following part, and setting the origin of each coordinate system; then, acquiring the current position information of the current moving part and the current position information of the target following part; determining the distance between the current moving component and the target following component according to the current position information of the current moving component and the current position information of the target following component; and determining the following speed of the current moving part following the target moving part according to the distance between the current moving part and the target following part, the preset deceleration interval and the preset functional relationship corresponding to the preset deceleration interval. Thus, the method can realize that: the distance value between the current moving component and the target following component can be accurately obtained by establishing a coordinate system of the current moving component and the target following component, then the following speed of the current moving component following the target moving component can be accurately determined according to the distance value between the current moving component and the target following component and the preset deceleration interval, and the preset functional relation is established, so that the current moving component moves at the safe following speed, and the collision between the current moving component and the target following component in the following process can be avoided. Because the current motion part follows the motion of target following part with safe following speed, both are in the motion state, compare with prior art one side and need wait the other party to move to safe position just actionable mode, can realize improving the motion efficiency when guaranteeing safe operation, and then improve productivity ratio, especially be applicable more in miniaturized space place.
FIG. 4 is a block diagram of a movement control system for a palletizer and RGVs as provided by embodiments of the present invention. Illustratively, referring to fig. 4, the stacker and RGV motion control system includes a controller 10, a first driver 20, a second driver 30, a stacker motor 40, and an RGV motor. The controller 10 is electrically connected with the first driver 20, the first driver 20 is electrically connected with the stacker crane motor 40, the stacker crane motor 40 is connected with the stacker crane, and the controller 10 can drive the stacker crane motor 40 to rotate to drive the stacker crane to move by controlling the first driver 20. Similarly, the controller 10 is electrically connected to the second driver 30, the second driver 30 is electrically connected to the RGV motor 50, the RGV motor 50 is connected to the RGV, and the controller 10 can drive the RGV motor 50 to rotate to drive the RGV to move by controlling the second driver 30.
It should be noted that the motion following anti-collision method of the present embodiment may be executed by a motion following anti-collision device, and the motion following anti-collision device may be configured in a controller or a processor of the motion control processing platform. For example, the motion following collision prevention device may be configured in the controller 10 shown in fig. 4, and the controller may perform the motion following collision prevention method to avoid the collision between the RGV and the stacker following motion, thereby improving the motion efficiency and the productivity.
Optionally, the interval length of the preset deceleration interval is determined by a preset guard distance between the current moving component and the target following component.
The preset deceleration interval is the running distance from the beginning of deceleration to zero deceleration or at least just no collision of the current moving part for preventing the current moving part from colliding with the target following part in the following process of the current moving part and the target following part.
The preset warning distance is a distance value between the current moving component and the target following component in the following process and between the current moving component and the target following component when the current moving component starts to decelerate in order to prevent the current moving component from colliding with the target following component. The specific value can be set according to actual conditions, and is not specifically limited herein.
Fig. 5 is a flowchart of another motion following collision avoidance method provided in an embodiment of the present invention. As an embodiment, optionally, referring to fig. 5, the method comprises the steps of:
and S210, establishing a coordinate system of the current moving part and the target following part.
And S220, acquiring the current position information of the current moving part and the current position information of the target following part.
And S230, obtaining the distance between the current moving part and the target following part according to the difference value between the current position information of the current moving part and the current position information of the target following part.
And S240, determining the following speed of the current moving part following the target moving part according to the distance between the current moving part and the target following part, the first deceleration interval and the first linear function.
The preset deceleration interval at least comprises one deceleration interval which is a first deceleration interval; correspondingly, the predetermined functional relationship comprises at least one linear function, which is a first linear function. The first linear function is a functional relation between the distance between the current moving component and the target following component and the following speed of the current moving component following the target moving component, namely the distance between the current moving component and the target following component is an independent variable, and the following speed of the current moving component following the target moving component is a dependent variable. The length of the first deceleration section is determined by a preset warning distance between the current moving component and the target following component, and the specific numerical value can be set according to the actual situation without specific limitation.
Specifically, when the current moving part enters the first deceleration section, the distance between the current moving part and the target following part is calculated in real time, the distance value is substituted into the first linear function, and the following speed of the current moving part following the target moving part can be calculated according to the first linear function.
Fig. 6 is a schematic diagram of a following speed curve provided in an embodiment of the present invention. Illustratively, referring to fig. 6, L1 is a first deceleration interval, f (x1) is a first linear function, and the slope of f (x1) is the deceleration rate of the current moving part in the first deceleration interval. The magnitude of the slope of f (x1) is related to the actual working scene (distance and driving speed requirement, etc.), and the specific value can be set according to the actual situation, which is not limited herein.
In the technical scheme of the embodiment, the working principle of the motion following anti-collision method is as follows: firstly, pre-establishing a coordinate system of a current moving part and a target following part, and setting the origin of each coordinate system; then, acquiring the current position information of the current moving part and the current position information of the target following part; obtaining the distance between the current moving component and the target following component according to the difference value between the current position information of the current moving component and the current position information of the target following component; and determining the following speed of the current moving part following the target moving part according to the distance between the current moving part and the target following part, the first deceleration interval and the first linear function. Thus, the method can realize that: the distance value between the current moving component and the target following component can be accurately obtained by establishing a coordinate system of the current moving component and the target following component, then the distance value between the current moving component and the target following component is calculated in real time when the current moving component enters a first deceleration interval, the real-time distance value is substituted into a first linear function, the real-time following speed of the current moving component following the target moving component can be accurately calculated according to the first linear function, the current moving component moves at a safe following speed, and collision between the current moving component and the target following component in the following process can be avoided. Because the current motion part follows the motion of target following part with safe following speed, both are in the motion state, compare with prior art one side and need wait the other party to move to safe position just actionable mode, can realize improving the motion efficiency when guaranteeing safe operation, and then improve productivity ratio, especially be applicable more in miniaturized space place.
Fig. 7 is a flowchart of another motion following collision avoidance method provided in an embodiment of the present invention. As an embodiment, optionally, referring to fig. 7, the method comprises the steps of:
and S310, establishing a coordinate system of the current moving part and the target following part.
And S320, acquiring the current position information of the current moving part and the current position information of the target following part.
S330, obtaining the distance between the current moving component and the target following component according to the difference value between the current position information of the current moving component and the current position information of the target following component.
And S340, determining the following speed of the current moving part following the target moving part according to the distance between the current moving part and the target following part, the first deceleration section, the second deceleration section, the third deceleration section, the first linear function, the second linear function and the third linear function.
The preset deceleration interval at least comprises three deceleration intervals which are a first deceleration interval, a second deceleration interval and a third deceleration interval respectively; correspondingly, the preset functional relationship at least comprises three linear functions, namely a first linear function, a second linear function and a third linear function. The first linear function, the second linear function and the third linear function are all functional relations between the distance between the current moving component and the target following component and the following speed of the current moving component following the target moving component, namely the distance between the current moving component and the target following component is an independent variable, and the following speed of the current moving component following the target moving component is a dependent variable.
The length of the deceleration interval is determined by the preset warning distance between the current moving component and the target following component, and the specific numerical value can be set according to the actual situation without specific limitation. The first deceleration interval, the second deceleration interval and the third deceleration interval may be the same or different in interval length, and specific values may be set according to actual conditions, which is not specifically limited herein.
It should be noted that the number of the deceleration sections included in the preset deceleration section may also be two, four, and the like, and the specific number and the length of the specific segment section may be set according to the actual situation, which is not specifically limited herein.
Fig. 8 is a schematic diagram of another following speed curve provided in the embodiment of the present invention. Illustratively, referring to fig. 8, L1 is a first deceleration interval, f (x1) is a first linear function, and the slope of f (x1) is the deceleration rate of the current moving part in the first deceleration interval. L2 is a second deceleration interval, f (x2) is a second linear function, and the slope of f (x2) is the deceleration rate of the current moving part in the second deceleration interval. L3 is the third deceleration interval, f (x3) is the third linear function, and the slope of f (x3) is the deceleration rate of the current moving part in the third deceleration interval.
The magnitude of the slope of f (x1), the magnitude of the slope of f (x2), and the magnitude of the slope of f (x3) are related to the actual working scene (distance, driving speed requirement, etc.), and specific values may be set according to the actual situation, which is not limited specifically herein.
Specifically, when the current moving part enters a first deceleration interval, the distance between the current moving part and the target following part is calculated in real time, the distance value is substituted into a first linear function, and the following speed of the current moving part following the target moving part can be calculated according to the first linear function; then, when the current moving part enters a second deceleration interval, calculating the distance between the current moving part and the target following part in real time, substituting the distance value into a second linear function, and calculating the following speed of the current moving part following the target moving part according to the second linear function; and finally, when the current moving part enters a third deceleration section, calculating the distance between the current moving part and the target following part in real time, substituting the distance value into a third linear function, and calculating the following speed of the current moving part following the target moving part according to the third linear function. Therefore, the following anti-collision effect can be further improved by setting a plurality of deceleration sections and corresponding linear functions.
Optionally, the slopes of the first, second and third linear functions are different.
The larger the slope of the linear function of each deceleration interval is, the larger the deceleration rate is, and correspondingly, the larger the distance value between the current moving part and the target following part in the deceleration interval is, and conversely, the smaller the distance value is. The advantages of such an arrangement are: when the distance value between the current moving component and the target following component is large, the current moving component can keep high-speed movement, so that the movement time is reduced, the movement efficiency is improved, only when the distance value between the current moving component and the target following component is small, the current moving component can be quickly decelerated to prevent collision, and the movement speed can be improved while the collision is ensured.
Optionally, the interval length of the deceleration interval is inversely proportional to the magnitude of the slope of the linear function.
The larger the interval length of the deceleration interval is, the larger the distance value between the current moving component and the target following component in the deceleration interval is, and when the distance value between the current moving component and the target following component is larger, the current moving component enters the deceleration interval but is still in a state of being not easy to collide, so that the motion time is reduced in order to enable the current moving component to keep high-speed motion, and the larger the interval length of the deceleration interval is, the smaller the slope of the corresponding linear function is, namely, the smaller the deceleration rate is.
In the technical scheme of the embodiment, the working principle of the motion following anti-collision method is as follows: firstly, pre-establishing a coordinate system of a current moving part and a target following part, and setting the origin of each coordinate system; then, acquiring the current position information of the current moving part and the current position information of the target following part; obtaining the distance between the current moving component and the target following component according to the difference value between the current position information of the current moving component and the current position information of the target following component; and determining the following speed of the current moving part following the target moving part according to the distance between the current moving part and the target following part, the first deceleration section, the second deceleration section, the third deceleration section, the first linear function, the second linear function and the third linear function. Thus, the method can realize that: the method comprises the steps that a coordinate system of a current moving part and a target following part is established, so that the distance value between the current moving part and the target following part can be accurately obtained, then when the current moving part enters a first deceleration interval, the distance between the current moving part and the target following part is calculated in real time, the distance value is substituted into a first linear function, and the following speed of the current moving part following the target moving part can be calculated according to the first linear function; then, when the current moving part enters a second deceleration interval, calculating the distance between the current moving part and the target following part in real time, substituting the distance value into a second linear function, and calculating the following speed of the current moving part following the target moving part according to the second linear function; and finally, when the current moving part enters a third deceleration section, calculating the distance between the current moving part and the target following part in real time, substituting the distance value into a third linear function, and calculating the following speed of the current moving part following the target moving part according to the third linear function so that the current moving part moves in each deceleration section at a safe following speed, thereby further improving the following anti-collision effect by setting a plurality of deceleration sections and corresponding linear functions. And because the current motion part follows the motion of target following part with safe following speed, both are in the motion state, compare with the prior art one side and wait that the other party moves to safe position just actionable mode, can realize improving the motion efficiency when guaranteeing safe operation, and then improve productivity ratio, especially be applicable more in miniaturized space place.
Fig. 9 is a schematic structural diagram of a motion following collision avoidance device according to an embodiment of the present invention. As shown in fig. 9, the apparatus 100 includes: a coordinate system establishing module 101, configured to establish a coordinate system of the current moving component and the target following component; a position information obtaining module 102, configured to obtain current position information of a current moving component and current position information of a target following component; the distance determining module 103 is used for determining the distance between the current moving component and the target following component according to the current position information of the current moving component and the current position information of the target following component; and a following speed determining module 104, configured to determine a following speed of the current moving component following the target moving component according to the distance between the current moving component and the target following component, the preset deceleration interval, and a preset function relationship corresponding to the preset deceleration interval.
According to the technical scheme of the embodiment, the motion following anti-collision device is provided, and the device can realize that: the distance value between the current moving component and the target following component can be accurately obtained by establishing a coordinate system of the current moving component and the target following component, then the following speed of the current moving component following the target moving component can be accurately determined according to the distance value between the current moving component and the target following component and the preset deceleration interval, and the preset functional relation is established, so that the current moving component moves at the safe following speed, and the collision between the current moving component and the target following component in the following process can be avoided. Because the current motion part follows the motion of target following part with safe following speed, both are in the motion state, compare with prior art one side and need wait the other party to move to safe position just actionable mode, can realize improving the motion efficiency when guaranteeing safe operation, and then improve productivity ratio, especially be applicable more in miniaturized space place.
Optionally, the preset deceleration interval at least comprises one deceleration interval, and is a first deceleration interval; correspondingly, the preset functional relationship at least comprises a linear function which is a first linear function;
the following speed determination module 104 includes a first following speed determination unit for: and determining the following speed of the current moving part following the target moving part according to the distance between the current moving part and the target following part, the first deceleration interval and the first linear function.
Optionally, the preset deceleration interval at least comprises three deceleration intervals, namely a first deceleration interval, a second deceleration interval and a third deceleration interval; correspondingly, the preset functional relationship at least comprises three linear functions which are respectively a first linear function, a second linear function and a third linear function;
the following speed determination module 104 includes a second following speed determination unit for: and determining the following speed of the current moving part following the target moving part according to the distance between the current moving part and the target following part, the first deceleration section, the second deceleration section, the third deceleration section, the first linear function, the second linear function and the third linear function.
Optionally, the slopes of the first, second and third linear functions are different.
Optionally, the interval length of the deceleration interval is inversely proportional to the magnitude of the slope of the linear function.
Optionally, the current moving part is an RGV or a palletiser and, correspondingly, the target following part is a palletiser or an RGV.
Optionally, the distance determining module 103 is configured to obtain the distance between the current moving component and the target following component according to a difference between the current position information of the current moving component and the current position information of the target following component.
Optionally, the interval length of the preset deceleration interval is determined by a preset guard distance between the current moving component and the target following component.
The embodiment of the invention also provides a power switching station which comprises the motion following anti-collision device in any embodiment of the invention.
The power exchanging station can be suitable for storage centers, logistics platforms, factory workshops and the like.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired result of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A motion following collision avoidance method, comprising:
establishing a coordinate system of a current moving part and a target following part;
acquiring current position information of the current moving part and current position information of the target following part;
determining the distance between the current moving component and the target following component according to the current position information of the current moving component and the current position information of the target following component;
and determining the following speed of the current moving part following the target moving part according to the distance between the current moving part and the target following part, a preset deceleration interval and a preset function relation corresponding to the preset deceleration interval.
2. The motion-following collision avoidance method according to claim 1, wherein the preset deceleration section comprises at least one deceleration section, which is a first deceleration section; correspondingly, the preset functional relationship at least comprises a linear function which is a first linear function;
the determining the following speed of the current moving component following the target moving component according to the distance between the current moving component and the target following component, a preset deceleration interval and a preset functional relationship corresponding to the preset deceleration interval includes:
and determining the following speed of the current moving part following the target moving part according to the distance between the current moving part and the target following part, the first deceleration interval and the first linear function.
3. The motion-following collision avoidance method according to claim 1, wherein the preset deceleration section comprises at least three deceleration sections, namely a first deceleration section, a second deceleration section and a third deceleration section; correspondingly, the preset functional relationship at least comprises three linear functions which are respectively a first linear function, a second linear function and a third linear function;
the determining the following speed of the current moving component following the target moving component according to the distance between the current moving component and the target following component, a preset deceleration interval and a preset functional relationship corresponding to the preset deceleration interval includes:
determining a following speed at which the current moving part follows the target moving part, based on the distance of the current moving part from the target following part, the first deceleration section, the second deceleration section, the third deceleration section, and the first linear function, the second linear function, and the third linear function.
4. A motion-following collision avoidance method according to claim 3, wherein the slopes of the first, second and third linear functions are different.
5. The motion-following collision avoidance method according to claim 3 or 4, wherein a section length of the deceleration section is inversely proportional to a magnitude of a slope of the linear function.
6. The method according to claim 1, wherein the current moving component is an RGV or a stacker, and accordingly, the target following component is a stacker or an RGV.
7. The motion-following collision avoidance method according to claim 1, wherein determining the distance between the current moving element and the target following element based on the current position information of the current moving element and the current position information of the target following element comprises:
and obtaining the distance between the current moving component and the target following component according to the difference value between the current position information of the current moving component and the current position information of the target following component.
8. The motion-following collision avoidance method according to claim 1, wherein a section length of the preset deceleration section is determined by a preset guard distance of the current moving part from the target following part.
9. A motion following anti-collision device, comprising:
the coordinate system establishing module is used for establishing a coordinate system of the current moving part and the target following part;
the position information acquisition module is used for acquiring the current position information of the current moving part and the current position information of the target following part;
the distance determining module is used for determining the distance between the current moving component and the target following component according to the current position information of the current moving component and the current position information of the target following component;
and the following speed determining module is used for determining the following speed of the current moving part following the target moving part according to the distance between the current moving part and the target following part, a preset deceleration interval and a preset function relation corresponding to the preset deceleration interval.
10. A swapping station comprising a motion following collision prevention device as claimed in claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210597612.8A CN114803384B (en) | 2022-05-30 | 2022-05-30 | Motion following anti-collision method and device and power exchange station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210597612.8A CN114803384B (en) | 2022-05-30 | 2022-05-30 | Motion following anti-collision method and device and power exchange station |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114803384A true CN114803384A (en) | 2022-07-29 |
| CN114803384B CN114803384B (en) | 2024-04-02 |
Family
ID=82519773
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210597612.8A Active CN114803384B (en) | 2022-05-30 | 2022-05-30 | Motion following anti-collision method and device and power exchange station |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114803384B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116176317A (en) * | 2023-04-23 | 2023-05-30 | 成都市汇智讯新能源科技有限公司 | New energy automobile charging pile and running state early warning method thereof |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070284222A1 (en) * | 2006-06-07 | 2007-12-13 | Dikrun Dermarderosian | Component control device, systems, and methods |
| JP2009107753A (en) * | 2007-10-29 | 2009-05-21 | Hitachi Plant Technologies Ltd | Method for preventing collision of conveying vehicle |
| US20130282168A1 (en) * | 2011-02-02 | 2013-10-24 | Toshiaki Yokota | Method For Controlling Movement Of Travelling Carriers |
| EP2730945A1 (en) * | 2012-11-09 | 2014-05-14 | Nederlandse Organisatie voor toegepast -natuurwetenschappelijk onderzoek TNO | Vehicle spacing control |
| US20140172223A1 (en) * | 2012-12-18 | 2014-06-19 | Christopher John Murphy | Method of material handling with automatic guided vehicles |
| US20140262687A1 (en) * | 2013-03-15 | 2014-09-18 | Intelligrated Headquarters, Llc | Remotely driven shuttle car |
| CN109709953A (en) * | 2018-12-21 | 2019-05-03 | 北京智行者科技有限公司 | Vehicle follower method in road cleaning operation |
| CN209871771U (en) * | 2019-03-27 | 2019-12-31 | 大连瑞福电器设备有限公司 | Same-track material stacking and taking vehicle anti-collision control system for stock yard |
| CN210162597U (en) * | 2019-01-11 | 2020-03-20 | 杭州大氚智能科技有限公司 | Unmanned warehousing system |
| WO2020174306A1 (en) * | 2019-02-28 | 2020-09-03 | Robotopia, UAB | Method for supplying of energy sources to unmanned vehicles and system for implementing such method |
| US20210107745A1 (en) * | 2019-10-11 | 2021-04-15 | Semes Co., Ltd. | Method and device for controlling overhead hoist transfer vehicle |
| CN113291193A (en) * | 2021-04-06 | 2021-08-24 | 浙江吉利控股集团有限公司 | Vehicle positioning battery replacement method, device and system and storage medium |
| WO2021259632A1 (en) * | 2020-06-25 | 2021-12-30 | Autostore Technology AS | System and method of operating an automated storage and retrieval system |
-
2022
- 2022-05-30 CN CN202210597612.8A patent/CN114803384B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070284222A1 (en) * | 2006-06-07 | 2007-12-13 | Dikrun Dermarderosian | Component control device, systems, and methods |
| JP2009107753A (en) * | 2007-10-29 | 2009-05-21 | Hitachi Plant Technologies Ltd | Method for preventing collision of conveying vehicle |
| US20130282168A1 (en) * | 2011-02-02 | 2013-10-24 | Toshiaki Yokota | Method For Controlling Movement Of Travelling Carriers |
| EP2730945A1 (en) * | 2012-11-09 | 2014-05-14 | Nederlandse Organisatie voor toegepast -natuurwetenschappelijk onderzoek TNO | Vehicle spacing control |
| US20140172223A1 (en) * | 2012-12-18 | 2014-06-19 | Christopher John Murphy | Method of material handling with automatic guided vehicles |
| US20140262687A1 (en) * | 2013-03-15 | 2014-09-18 | Intelligrated Headquarters, Llc | Remotely driven shuttle car |
| CN109709953A (en) * | 2018-12-21 | 2019-05-03 | 北京智行者科技有限公司 | Vehicle follower method in road cleaning operation |
| CN210162597U (en) * | 2019-01-11 | 2020-03-20 | 杭州大氚智能科技有限公司 | Unmanned warehousing system |
| WO2020174306A1 (en) * | 2019-02-28 | 2020-09-03 | Robotopia, UAB | Method for supplying of energy sources to unmanned vehicles and system for implementing such method |
| CN209871771U (en) * | 2019-03-27 | 2019-12-31 | 大连瑞福电器设备有限公司 | Same-track material stacking and taking vehicle anti-collision control system for stock yard |
| US20210107745A1 (en) * | 2019-10-11 | 2021-04-15 | Semes Co., Ltd. | Method and device for controlling overhead hoist transfer vehicle |
| WO2021259632A1 (en) * | 2020-06-25 | 2021-12-30 | Autostore Technology AS | System and method of operating an automated storage and retrieval system |
| CN113291193A (en) * | 2021-04-06 | 2021-08-24 | 浙江吉利控股集团有限公司 | Vehicle positioning battery replacement method, device and system and storage medium |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116176317A (en) * | 2023-04-23 | 2023-05-30 | 成都市汇智讯新能源科技有限公司 | New energy automobile charging pile and running state early warning method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114803384B (en) | 2024-04-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106548660B (en) | Determining a theoretical trajectory of a vehicle | |
| CN106004860B (en) | Controlling device for vehicle running | |
| CN108563219B (en) | AGV avoidance method | |
| CN104111654A (en) | Vehicle control system and vehicle control method | |
| CN114803384A (en) | Motion following anti-collision method and device and battery replacement station | |
| US11634117B2 (en) | Parking support apparatus | |
| CN112319464B (en) | Automatic parking method, device, equipment and storage medium | |
| CN114859914B (en) | Obstacle detection method, apparatus, device and storage medium | |
| CN113276840A (en) | Steering wheel reverse control method, automatic parking system and vehicle | |
| CN110398993B (en) | Speed control method, apparatus and computer readable storage medium | |
| CN112731920A (en) | Method and device for controlling conveying equipment, conveying equipment and storage medium | |
| CN114296464B (en) | AGV control system and method based on two-dimensional code navigation | |
| CN112874538B (en) | Control method of unmanned vehicle, and computer device | |
| CN115535039A (en) | Method, device, equipment and medium for degrading operation of train | |
| CN114510052A (en) | Cloud service platform, and collaborative scheduling method, device and system | |
| CN114179078A (en) | Robot control method, device and system and readable storage medium | |
| CN110874098A (en) | Control module, intelligent vehicle control method and control system thereof | |
| CN111273646A (en) | AGV trolley scheduling method and device | |
| CN113386608B (en) | Automatic driving automobile-based charging overall ranking method and intelligent charging station | |
| CN113247514B (en) | Industrial Ethernet-based cooperative control method for multiple stackers | |
| CN114194153B (en) | Unmanned locomotive alignment control method and device | |
| CN107844105B (en) | obstacle avoidance control method based on time window | |
| CN116038713A (en) | Hard-connection-free multi-mobile robot collaborative handling method in secret environment | |
| CN117886227A (en) | Anti-collision control method, device, system, circuit, electronic equipment and storage medium | |
| CN115149862A (en) | Control method of multi-rotor direct-drive transmission system and related equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |