CN115056754B - Logistics luggage tractor brake control system and method - Google Patents

Logistics luggage tractor brake control system and method Download PDF

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Publication number
CN115056754B
CN115056754B CN202210989535.0A CN202210989535A CN115056754B CN 115056754 B CN115056754 B CN 115056754B CN 202210989535 A CN202210989535 A CN 202210989535A CN 115056754 B CN115056754 B CN 115056754B
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target
unit
data
tractor
processing module
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CN115056754A (en
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单萍
马海兵
沈亮
宋纯纯
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Jiangsu Tianyi Aviation Industry Co Ltd
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Jiangsu Tianyi Aviation Industry Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B60T2201/022—Collision avoidance systems

Abstract

The invention discloses a brake control system and method for a logistics luggage tractor, which relate to the technical field of vehicle brake control and comprise a digital processing module, a target processing module and a data processing module; the digital processing module is used for carrying out digital processing on the environment of the travel route of the luggage tractor and simultaneously acquiring information data of a target on the travel route of the luggage tractor; the target processing module is used for positioning and marking the target information data acquired by the digital processing module on the planar two-dimensional model; the data processing module is used for calculating and analyzing information data of the target on the plane two-dimensional model and judging whether potential safety hazards exist in the process of travelling of the luggage tractor; through the above content, the prediction of the target moving path and the judgment of whether the target moving path enters a dangerous area are realized, so that the luggage tractor can perform braking control according to an analysis result in the traveling process, and potential safety hazards are reduced.

Description

Logistics luggage tractor brake control system and method
Technical Field
The invention relates to the technical field of vehicle brake control, in particular to a brake control system and method for a logistics luggage tractor.
Background
The logistics luggage tractor is a vehicle for consigning luggage, is generally used in places such as airports, parks, universities and the like, and can play a role in quickly carrying luggage and reducing the burden of pedestrians;
luggage tractor is artificial driving and control mostly, when meeting with the barrier or the pedestrian that flees suddenly, can't be timely brake, the potential safety hazard appears easily, and active braking system among the prior art, it just carries out automatic braking when barrier or pedestrian appear in the vehicle the place ahead mostly, and can't brake when pedestrian or vehicle are close to luggage tractor direction, along with the popularization of unmanned technique, the unmanned technique of luggage tractor is also developing gradually, and how to carry out active braking when latent potential safety hazard appears in the vehicle of automatic driving, the emergence of reduction accident has become the present technological problem that awaits the solution urgently, so, people urgently need a commodity circulation luggage tractor braking control system and method to solve above-mentioned technical problem.
Disclosure of Invention
The invention aims to provide a logistics luggage tractor brake control system and a method thereof, which aim to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: a brake control method of a logistics luggage tractor specifically comprises the following steps:
s1, performing digital processing on the environment of the travelling route of the luggage tractor and the luggage tractor by using a digital processing module to obtain a plane two-dimensional model;
s2, collecting target information data on the travelling route of the luggage tractor by using a data collection unit;
s3, positioning and labeling the target information data obtained in the S2 on the plane two-dimensional model by using a target processing module;
s4, calculating and analyzing target information data on the plane two-dimensional model by using the data processing module so as to judge whether the normal running of the luggage tractor collides with the target or not, so that potential safety hazards can be predicted conveniently, and adjustment and braking control can be made in time;
and S5, according to the processing result of the data processing module on the target information data, performing brake control on the luggage tractor through a brake control unit.
According to the technical scheme, in S1-S2, the digital processing module comprises a model establishing unit, an area dividing unit and a data acquisition unit; the method comprises the steps of utilizing a model establishing unit to carry out digital processing on an environment on a travelling route of a luggage tractor and the luggage tractor, establishing a planar two-dimensional model, establishing a planar rectangular coordinate system by taking a central point of the luggage tractor as an original point, utilizing an area dividing unit to divide dangerous areas on the travelling route of the luggage tractor, installing a data acquisition unit on the luggage tractor for acquiring target information data around the luggage tractor, and acquiring the target information data every ts by the data acquisition unit.
According to the technical scheme, in S3, the target processing module comprises a target positioning unit and a target labeling unit;
the target positioning unit positions the target on the planar two-dimensional model according to the target information data acquired by the data acquisition unit and gives a coordinate value to the target on the planar two-dimensional model
Figure 100002_DEST_PATH_IMAGE001
And marking the same label on the targets at different positions by using a target marking unit according to the position change condition of the targets on the planar two-dimensional model:
calculating the position change distance of the target according to the following formula:
Figure 133675DEST_PATH_IMAGE002
；
wherein, the first and the second end of the pipe are connected with each other,
Figure 100002_DEST_PATH_IMAGE003
representing coordinate values
Figure 194035DEST_PATH_IMAGE004
And
Figure 100002_DEST_PATH_IMAGE005
the distance between the two points;
when in use
Figure 560425DEST_PATH_IMAGE006
Then the coordinate value is
Figure 100002_DEST_PATH_IMAGE007
And
Figure 418178DEST_PATH_IMAGE008
the two targets are marked as the same target;
when the temperature is higher than the set temperature
Figure 100002_DEST_PATH_IMAGE009
When it is, the coordinate value is determined to be
Figure 604440DEST_PATH_IMAGE010
And
Figure 468491DEST_PATH_IMAGE008
are different objects, wherein,
Figure 100002_DEST_PATH_IMAGE011
indicating a set distance change threshold.
Because under ts' interval, the removal of target can not take place the change of big distance, judge through the distance between the two times of analysis coordinate value, can be accurate carry out the interpolation of label to same target, make things convenient for the later stage to carry out the analysis of data.
According to the technical scheme, in S4-S5, the data processing module comprises a data integration unit and a data analysis unit, and target position information under the same label is integrated by using the data integration unit to form a set of the target position information
Figure 954967DEST_PATH_IMAGE012
Wherein j represents the jth target and n represents n position coordinate values;
the analysis process of the target information data by the data analysis unit specifically comprises the following steps:
s401, unifying the position coordinate values of the target to form a new target position information set
Figure 511850DEST_PATH_IMAGE013
；
S402, judging the behavior of the target according to the position change of the target;
s403, predicting the traveling route of the target according to the judgment result of the S402;
s404, judging whether potential safety hazards exist in normal running of the luggage tractor according to the prediction result of the S403, and sending the judgment result to a central control module;
when the analysis result of the data analysis unit shows that potential safety hazards exist in normal running of the luggage tractor, the instruction sending unit is used for sending instruction information to the brake control unit, and the brake control unit is used for carrying out deceleration braking on the luggage tractor to avoid the potential safety hazards;
when the analysis result of the data analysis unit indicates that no potential safety hazard exists in the normal running of the luggage tractor, the instruction sending unit does not send any instruction information, and the luggage tractor keeps running normally.
According to the above technical solution, in S401, the position coordinate values of the target are normalized according to the following formula:
Figure 513304DEST_PATH_IMAGE014
；
Figure 100002_DEST_PATH_IMAGE015
；
wherein v represents the travel speed of the luggage tractor; because the luggage tractor travels at a certain speed, the plane rectangular coordinate system is established by taking the central point of the luggage tractor as the original point, and the acquisition angle of the data acquisition unit is unchanged, the position information of the target acquired at different time points can have a difference on the vertical coordinate
Figure 853150DEST_PATH_IMAGE016
Therefore, the position coordinate values of the targets need to be unified;
in S402, the new target position information is collected
Figure 725291DEST_PATH_IMAGE017
And vectors are established between the two adjacent coordinate values according to the following formula:
Figure DEST_PATH_IMAGE018
；
wherein the content of the first and second substances,
Figure 921917DEST_PATH_IMAGE019
representing coordinate values
Figure DEST_PATH_IMAGE020
And coordinate value
Figure 876579DEST_PATH_IMAGE021
The vector formed therebetween;
set of component vectors
Figure DEST_PATH_IMAGE022
；
The included angle between two adjacent vectors in the set P is calculated according to the following formula
Figure 754536DEST_PATH_IMAGE023
And (3) calculating:
Figure DEST_PATH_IMAGE024
；
when in use
Figure 215605DEST_PATH_IMAGE025
When in use, will
Figure DEST_PATH_IMAGE026
Put into a collection
Figure 583132DEST_PATH_IMAGE027
In (1) formation of
Figure DEST_PATH_IMAGE028
Wherein m denotes m angles formed by m +1 vectors,
Figure 762441DEST_PATH_IMAGE029
representing a set included angle threshold;
when m is larger than or equal to g (n-2), the target is indicated to move towards a certain direction, and a clear destination is provided;
when m < g (n-2), the target is moving in a certain area and has no clear destination, wherein g represents a set proportionality coefficient;
the target is moved towards a given destination in a manner that the change of the included angle between two adjacent vectors is small but the target is moved irregularly in a certain area, and the change of the included angle between two adjacent vectors is large and an acute angle appears;
in S403, when the target is moving in a certain direction, the traveling route of the target needs to be predicted;
to the collection
Figure DEST_PATH_IMAGE030
Fitting the coordinate values to form a function
Figure 240827DEST_PATH_IMAGE031
；
Boundary function of the danger zone is
Figure DEST_PATH_IMAGE032
And
Figure 25243DEST_PATH_IMAGE033
(ii) a The dangerous area is an area in a certain range in front of the luggage tractor in the traveling direction, the boundary of the dangerous area is the boundary of the area, and because a plane rectangular coordinate system is established by taking the central point of the luggage tractor as an origin, the boundary function of the dangerous area is a function with an unchanged x value;
composition of
Figure DEST_PATH_IMAGE034
And solving to obtain the coordinate value of the intersection point
Figure 289303DEST_PATH_IMAGE035
If the coordinate value of the intersection point is the intersection point between the target and the boundary of the dangerous area when the target continues to travel along the current route, a represents a function
Figure DEST_PATH_IMAGE036
B represents a function
Figure 221487DEST_PATH_IMAGE037
A longitudinal coordinate value of an intersection point between the Y axis and the Y axis in the plane rectangular coordinate system, and c is a set constant;
the intersection point here is the intersection point between the target and the boundary of the danger area, indicating that the target is about to enter the danger area, at which point the target and the baggage tractor may collide if the target user and the baggage tractor continue to maintain the current direction and speed;
in the step S404, the process proceeds to,
when in use
Figure DEST_PATH_IMAGE038
When the luggage tractor is in collision with the target, the collision between the target and the luggage tractor is judged, and potential safety hazards do not exist, because the plane rectangular coordinate system is established by taking the central point of the luggage tractor as an original point, and the coordinate value of the intersection point is in the third quadrant or the fourth quadrant of the plane rectangular coordinate system at the moment, the collision between the target and the luggage tractor cannot occur necessarily;
when in use
Figure 237985DEST_PATH_IMAGE039
And at the moment, the data analysis unit sends the analysis result to the central control module, the command sending unit sends command information to the brake control unit, and the brake control unit is used for controlling the luggage tractor to brake and decelerate.
A brake control system of a logistics luggage tractor comprises a digital processing module, a target processing module, a data processing module and a central control module;
the digital processing module is used for carrying out digital processing on the environment of the travelling route of the luggage tractor and the luggage tractor to obtain a planar two-dimensional model, so that the digital analysis on the current travelling environment of the luggage tractor can be realized, the analysis result is more accurate, and meanwhile, the information data of the target on the travelling route of the luggage tractor is acquired;
the target processing module is used for positioning and marking the target information data acquired by the digital processing module on the planar two-dimensional model, so that each target can be endowed with an accurate coordinate value, and later analysis and calculation are facilitated;
the data processing module is used for calculating and analyzing information data of the target on the plane two-dimensional model, judging whether potential safety hazards exist in the travelling process of the luggage tractor or not, and determining whether the luggage tractor is subjected to brake control or not;
and the central control module is used for carrying out braking control on the luggage tractor according to the calculation and analysis results of the data processing module.
According to the technical scheme, the digital processing module comprises a model establishing unit, an area dividing unit and a data acquisition unit;
the model establishing unit is used for establishing an environment of a travel route of the luggage tractor and a plane two-dimensional model of the luggage tractor, and establishing a plane rectangular coordinate system by taking a central point of the luggage tractor as an origin; the region dividing unit is used for dividing a dangerous region in the traveling direction of the luggage tractor; the data acquisition unit is used for acquiring target information data around the luggage tractor;
and the output end of the data acquisition unit is connected with the input end of the target processing module.
According to the technical scheme, the target processing module comprises a target positioning unit and a target labeling unit;
the target positioning unit is used for positioning the specific position of the target in the planar two-dimensional model according to the target information data acquisition result of the data acquisition unit and giving a coordinate value to each target on the planar two-dimensional model; the target marking unit is used for marking the pedestrian according to the target information data acquired by the data acquisition unit, so that the walking path of the pedestrian can be analyzed according to the continuously changed position relation of the same target;
the output end of the data acquisition unit is connected with the input ends of the target positioning unit and the target labeling unit, and the output end of the target labeling unit is connected with the input end of the target positioning unit.
According to the technical scheme, the data processing module comprises a data integration unit and a data analysis unit;
the data integration unit is used for integrating and counting target information data on the planar two-dimensional model; the data analysis unit is used for analyzing and calculating the target information data processed by the data integration unit and judging whether pedestrians can enter a dangerous area or not so as to control the luggage tractor to brake;
the output end of the data integration unit is connected with the input end of the data analysis unit.
According to the technical scheme, the central control module comprises a control center, an instruction sending unit and a brake control unit;
the control center is used for intelligently managing the whole brake system according to the analysis result of the data analysis unit; the command sending unit is used for sending command information of active braking to the braking control unit; the braking control unit is used for braking control over the luggage tractor according to the instruction information of the instruction sending unit;
the output end of the data analysis unit is connected with the input end of the control center, the output end of the control center is connected with the input end of the instruction sending unit, and the output end of the instruction sending unit is connected with the input end of the brake control unit.
Compared with the prior art, the invention has the beneficial effects that:
the invention is provided with the digital processing module and the data processing module, so that the environment and the target in the travelling process of the luggage tractor can be digitally processed, and meanwhile, the digitally processed data is analyzed, whether potential safety hazards exist in the travelling process of the luggage tractor can be accurately judged, so that the luggage tractor can be conveniently braked and controlled.
Drawings
FIG. 1 is a schematic block diagram of a brake control system for a baggage tractor according to the present invention;
FIG. 2 is a schematic diagram of the connection relationship of the brake control system of the baggage tractor for logistics;
FIG. 3 is a schematic flow chart illustrating steps of a method for controlling the braking of a baggage tractor according to the present invention;
fig. 4 is a schematic diagram of a planar two-dimensional model of a logistic baggage tractor brake control system and method according to the present invention.
Detailed Description
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.
As shown in fig. 3 to 4, the present invention provides the following technical solutions, a brake control method for a logistics baggage tractor, specifically comprising the following steps:
s1, performing digital processing on the environment of the travelling route of the luggage tractor and the luggage tractor by using a digital processing module to obtain a plane two-dimensional model;
s2, collecting target information data on the travelling route of the luggage tractor by using a data collection unit;
s3, positioning and labeling the target information data obtained in the S2 on the plane two-dimensional model by using a target processing module;
s4, calculating and analyzing target information data on the plane two-dimensional model by using the data processing module so as to judge whether the normal running of the luggage tractor collides with the target or not, so that potential safety hazards can be predicted conveniently, and adjustment and braking control can be made in time;
and S5, according to the processing result of the data processing module on the target information data, performing braking control on the luggage tractor through a braking control unit.
In S1-S2, the digital processing module comprises a model establishing unit, an area dividing unit and a data acquisition unit; utilize the model to establish the unit and carry out digital processing to environment and the luggage tractor on the luggage tractor marching line, establish plane two dimension model, and use the central point of luggage tractor as the initial point and establish plane rectangular coordinate system, utilize regional division unit to divide the danger area on the luggage tractor marching line, the data acquisition unit is installed on the luggage tractor, a target information data for gathering around the luggage tractor, the data acquisition unit carries out the collection of target information data once every ts, the data acquisition unit adopts ultrasonic radar to carry out the collection of target information data.
In S3, the target processing module comprises a target positioning unit and a target labeling unit;
the target positioning unit positions the target on the planar two-dimensional model according to the target information data acquired by the data acquisition unit and gives a coordinate value to the target on the planar two-dimensional model
Figure DEST_PATH_IMAGE040
And marking the same label on the targets at different positions by using a target marking unit according to the position change condition of the targets on the plane two-dimensional model:
calculating the position change distance of the target according to the following formula:
Figure 673645DEST_PATH_IMAGE041
；
wherein, the first and the second end of the pipe are connected with each other,
Figure DEST_PATH_IMAGE042
representing coordinate values
Figure 320659DEST_PATH_IMAGE043
And
Figure 5718DEST_PATH_IMAGE005
the distance between the two points;
when in use
Figure DEST_PATH_IMAGE044
When the coordinate value is as
Figure 825906DEST_PATH_IMAGE045
And
Figure 647232DEST_PATH_IMAGE008
the two targets are marked as the same target;
when the temperature is higher than the set temperature
Figure DEST_PATH_IMAGE046
When the coordinate value is determined to be
Figure 793042DEST_PATH_IMAGE047
And
Figure DEST_PATH_IMAGE048
are different objects, wherein,
Figure 165730DEST_PATH_IMAGE011
indicating a set distance change threshold.
Because under ts' interval, the removal of target can not take place the change of big distance, judge through the distance between the two times of analysis coordinate value, can be accurate carry out the interpolation of label to same target, make things convenient for the later stage to carry out the analysis of data.
In S4-S5, the data processing module comprises a data integration unit and a data analysis unit, and target position information under the same label is integrated by using the data integration unit to form a set of the target position information
Figure 55189DEST_PATH_IMAGE012
Wherein, j is shownIndicating the jth target, n indicating n position coordinate values;
the analysis process of the target information data by the data analysis unit specifically comprises the following steps:
s401, unifying the position coordinate values of the target to form a new target position information set
Figure 996600DEST_PATH_IMAGE049
；
S402, judging the behavior of the target according to the position change of the target;
s403, predicting the traveling route of the target according to the judgment result of the S402;
s404, judging whether potential safety hazards exist in normal running of the luggage tractor according to the prediction result of the S403, and sending the judgment result to a central control module;
when the analysis result of the data analysis unit shows that potential safety hazards exist in normal running of the luggage tractor, the instruction sending unit is used for sending instruction information to the brake control unit, and the brake control unit is used for carrying out deceleration braking on the luggage tractor to avoid the potential safety hazards;
when the analysis result of the data analysis unit indicates that no potential safety hazard exists in the normal running of the luggage tractor, the instruction sending unit does not send any instruction information, and the luggage tractor keeps running normally.
In S401, the position coordinate values of the targets are normalized according to the following formula:
Figure DEST_PATH_IMAGE050
；
Figure 985416DEST_PATH_IMAGE051
；
wherein v represents the travel speed of the luggage tractor; because the luggage tractor travels at a certain speed, and the plane rectangular coordinate system is established by taking the central point of the luggage tractor as the origin, the dataThe collection angle of the collection unit is not changed, so the position information of the target collected at different time points can be different on the vertical coordinate
Figure DEST_PATH_IMAGE052
Therefore, the position coordinate values of the targets need to be unified;
in S402, the new target position information is collected
Figure 113909DEST_PATH_IMAGE053
And vectors are established between the two adjacent coordinate values according to the following formula:
Figure DEST_PATH_IMAGE054
；
wherein the content of the first and second substances,
Figure 275900DEST_PATH_IMAGE055
representing coordinate values
Figure DEST_PATH_IMAGE056
And coordinate value
Figure 743921DEST_PATH_IMAGE057
The vector formed therebetween;
set of component vectors
Figure DEST_PATH_IMAGE058
；
According to the following formula, the included angle between two adjacent vectors in the set P
Figure 965955DEST_PATH_IMAGE059
And (3) calculating:
Figure DEST_PATH_IMAGE060
；
when in use
Figure 319095DEST_PATH_IMAGE061
When in use, will
Figure DEST_PATH_IMAGE062
Put into a collection
Figure 284777DEST_PATH_IMAGE063
In (1) formation
Figure DEST_PATH_IMAGE064
Wherein m denotes m angles formed by m +1 vectors,
Figure 404043DEST_PATH_IMAGE065
indicating a set included angle threshold;
when m is larger than or equal to g (n-2), the target is indicated to move towards a certain direction, and a clear destination is provided;
when m is less than g (n-2), the target is moving in a certain area, and no clear destination is available, wherein g represents a set proportionality coefficient;
n coordinate points form n-1 vectors, n-1 vectors form n-2 included angles, and the set
Figure DEST_PATH_IMAGE066
When the number of included angles meeting the requirement exceeds a certain proportion of n-2 included angles formed by n coordinate points, the target can be judged to move towards the destination, and the certain proportion is a set threshold proportion;
the target does not move towards a set destination under two conditions, namely, the target moves towards the set destination in a mode of making the change of the included angle between two adjacent vectors smaller, and the target moves irregularly in a certain area in a mode of making the change of the included angle between two adjacent vectors larger and an acute angle appears;
in S403, when the target is moving in a certain direction, the traveling route of the target needs to be predicted;
to the collection
Figure 796978DEST_PATH_IMAGE067
Simulating by using the coordinate value ofCombining to form a function
Figure DEST_PATH_IMAGE068
；
Boundary function of the danger zone is
Figure 837746DEST_PATH_IMAGE069
And
Figure 138278DEST_PATH_IMAGE070
(ii) a The dangerous area is an area in a certain range in front of the luggage tractor in the traveling direction, the boundary of the dangerous area is the boundary of the area, and because a plane rectangular coordinate system is established by taking the central point of the luggage tractor as an origin, the boundary function of the dangerous area is a function with an unchanged x value;
composition of
Figure DEST_PATH_IMAGE071
And solving to obtain the coordinate value of the intersection point
Figure 112050DEST_PATH_IMAGE072
If the coordinate value of the intersection point is the intersection point between the target and the boundary of the dangerous area when the target continues to travel along the current route, a represents a function
Figure DEST_PATH_IMAGE073
B represents a function
Figure 675886DEST_PATH_IMAGE074
A longitudinal coordinate value of an intersection point between the Y axis and the Y axis in the plane rectangular coordinate system, and c is a set constant;
the intersection point here is the intersection point between the target and the boundary of the danger area, indicating that the target is about to enter the danger area, at which point the target and the baggage tractor may collide if the target user and the baggage tractor continue to maintain the current direction and speed;
in the step S404, the process proceeds,
when in use
Figure 732179DEST_PATH_IMAGE075
When the luggage tractor is started, the coordinate value of the intersection point is in the third quadrant or the fourth quadrant of the plane rectangular coordinate system, and the collision between the target and the luggage tractor is avoided;
when in use
Figure 305243DEST_PATH_IMAGE076
And at the moment, the data analysis unit sends the analysis result to the central control module, the command sending unit sends command information to the brake control unit, and the brake control unit is used for controlling the luggage tractor to brake and decelerate.
As shown in fig. 1-2 and 4, a brake control system of a logistic luggage tractor comprises a digital processing module, an object processing module, a data processing module and a central control module;
the digital processing module is used for carrying out digital processing on the environment of the travelling route of the luggage tractor and the luggage tractor to obtain a plane two-dimensional model, so that the digital analysis on the current travelling environment of the luggage tractor can be realized, the analysis result is more accurate, and meanwhile, the information data of the target on the travelling route of the luggage tractor is acquired;
the target processing module is used for positioning and marking the target information data acquired by the digital processing module on the planar two-dimensional model, so that each target can be endowed with an accurate coordinate value, and later analysis and calculation are facilitated;
the data processing module is used for calculating and analyzing information data of the target on the plane two-dimensional model, judging whether potential safety hazards exist in the process of travelling of the luggage tractor or not, and determining whether the luggage tractor is subjected to brake control or not;
and the central control module is used for carrying out braking control on the luggage tractor according to the calculation and analysis results of the data processing module.
The digital processing module comprises a model establishing unit, an area dividing unit and a data acquisition unit;
the model establishing unit is used for establishing an environment of a travel route of the luggage tractor and a plane two-dimensional model of the luggage tractor, and establishing a plane rectangular coordinate system by taking a central point of the luggage tractor as an origin; the region dividing unit is used for dividing the danger region in the travel direction of the luggage tractor, for example: the width of the luggage tractor is 2m, the area with the width of 3m and the length of 20m in the travelling direction of the luggage tractor is divided into dangerous areas; the data acquisition unit is used for acquiring target information data around the luggage tractor, such as: collecting pedestrian data of the left front part, the right front part and the right front part of the luggage tractor;
the output end of the data acquisition unit is connected with the input end of the target processing module.
The target processing module comprises a target positioning unit and a target labeling unit;
the target positioning unit is used for positioning the specific position of the target in the planar two-dimensional model according to the target information data acquisition result of the data acquisition unit and giving a coordinate value to each target on the planar two-dimensional model; the target marking unit is used for marking the pedestrian according to the target information data acquired by the data acquisition unit, so that the walking path of the pedestrian can be analyzed according to the continuously changed position relation of the same target;
the output end of the data acquisition unit is connected with the input ends of the target positioning unit and the target labeling unit, and the output end of the target labeling unit is connected with the input end of the target positioning unit.
The data processing module comprises a data integration unit and a data analysis unit;
the data integration unit is used for integrating and counting target information data on the planar two-dimensional model; the data analysis unit is used for analyzing and calculating the target information data processed by the data integration unit and judging whether pedestrians can enter a dangerous area or not so as to control the luggage tractor to brake;
the output end of the data integration unit is connected with the input end of the data analysis unit.
The central control module comprises a control center, an instruction sending unit and a brake control unit;
the control center is used for intelligently managing the whole brake system according to the analysis result of the data analysis unit; the command sending unit is used for sending command information of active braking to the braking control unit; the braking control unit is used for braking and controlling the luggage tractor according to the instruction information of the instruction sending unit;
the output end of the data analysis unit is connected with the input end of the control center, the output end of the control center is connected with the input end of the instruction sending unit, and the output end of the instruction sending unit is connected with the input end of the brake control unit.
Example (b):
the data acquisition unit acquires target information data every t =0.5 s.
In S3, the target processing module comprises a target positioning unit and a target labeling unit;
assigning coordinate values to objects on a planar two-dimensional model
Figure 930260DEST_PATH_IMAGE077
And marking the same label on the targets at different positions by using a target marking unit according to the position change condition of the targets on the planar two-dimensional model:
calculating the position change distance of the target according to the following formula:
Figure 196156DEST_PATH_IMAGE078
；
wherein the content of the first and second substances,
Figure 539413DEST_PATH_IMAGE079
representing coordinate values
Figure 181746DEST_PATH_IMAGE080
And
Figure 661269DEST_PATH_IMAGE081
the distance between the two points;
when in use
Figure 98067DEST_PATH_IMAGE082
Then the coordinate value is
Figure 866303DEST_PATH_IMAGE083
And
Figure 781169DEST_PATH_IMAGE084
the two targets are marked as the same target;
integrating the target position information under the same label by using a data integration unit to form a set of target position information
Figure DEST_PATH_IMAGE085
；
The analysis process of the target information data by the data analysis unit specifically comprises the following steps:
unifying the position coordinate values of the target according to the following formula:
Figure 646357DEST_PATH_IMAGE086
；
Figure DEST_PATH_IMAGE087
；
wherein v =8m/s represents the travel speed of the baggage tractor;
aggregating new target location information
Figure 722897DEST_PATH_IMAGE088
And vectors are established between the two adjacent coordinate values according to the following formula:
Figure DEST_PATH_IMAGE089
；
wherein the content of the first and second substances,
Figure 258657DEST_PATH_IMAGE090
representing coordinate values
Figure 977214DEST_PATH_IMAGE091
And coordinate value
Figure 431329DEST_PATH_IMAGE092
The vector formed therebetween;
set of component vectors
Figure 209930DEST_PATH_IMAGE093
；
Calculating the included angle between two adjacent vectors in the set P according to the following formula:
Figure 749495DEST_PATH_IMAGE094
；
Figure 475006DEST_PATH_IMAGE095
will be
Figure 783627DEST_PATH_IMAGE096
Put into a collection
Figure 998708DEST_PATH_IMAGE097
In (1) formation
Figure 759991DEST_PATH_IMAGE098
Wherein m =1 denotes m angles formed by m +1 vectors,
Figure 289192DEST_PATH_IMAGE099
representing a set included angle threshold;
m =1 ≧ g (n-2) =0.9 = 3-2) =0.9, indicating that the target is moving in a certain direction, and there is a definite destination;
the target is indicated to move towards a certain direction and has a definite destination;
when the target moves towards a certain direction, the traveling route of the target needs to be predicted;
to the collection
Figure 452320DEST_PATH_IMAGE100
Fitting the coordinate values to form a function
Figure 572723DEST_PATH_IMAGE101
；
Composition of
Figure 86881DEST_PATH_IMAGE102
Wherein, in the process,
Figure DEST_PATH_IMAGE103
is determined by the boundary of the hazard zone during travel of the tractor, i.e. by the width of the tractor when
Figure 682423DEST_PATH_IMAGE104
Then: the width of the tractor is 50, and the intersection point coordinate value is obtained by solving
Figure 903320DEST_PATH_IMAGE105
Or
Figure 460203DEST_PATH_IMAGE106
If the coordinate value of the intersection point is the intersection point between the target and the boundary of the dangerous area when the target continues to travel along the current route, a = -0.5 represents the function
Figure 196078DEST_PATH_IMAGE107
B =96 denotes a function
Figure 598240DEST_PATH_IMAGE108
The longitudinal coordinate value of the intersection point of the Y axis in the rectangular plane coordinate system, and c =25 is a set constant;
Figure 735961DEST_PATH_IMAGE109
if the collision between the target and the luggage tractor is judged, the potential safety hazard exists, and at the moment, the data analysis unit analyzes the collisionAnd the result is sent to the central control module, the command sending unit sends command information to the brake control unit, and the brake control unit is used for controlling the luggage tractor to brake and decelerate.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (6)

1. A brake control method of a logistics luggage tractor is characterized by comprising the following steps: the brake control method specifically comprises the following steps:
s1, performing digital processing on the environment of the travelling route of the luggage tractor and the luggage tractor by using a digital processing module to obtain a plane two-dimensional model;
s2, collecting target information data on the travelling route of the luggage tractor by using a data collection unit;
s3, positioning and labeling the target information data obtained in the S2 on the planar two-dimensional model by using a target processing module;
s4, calculating and analyzing target information data on the planar two-dimensional model by using a data processing module;
s5, according to the processing result of the data processing module on the target information data, the braking control unit is used for controlling the braking of the luggage tractor;
in S1-S2, the digital processing module comprises a model establishing unit, an area dividing unit and a data acquisition unit; the method comprises the steps that a model establishing unit is used for conducting digital processing on the environment on the travelling route of a luggage tractor and the luggage tractor, a plane two-dimensional model is established, a plane rectangular coordinate system is established with the central point of the luggage tractor as the original point, a region dividing unit is used for dividing dangerous regions on the travelling route of the luggage tractor, a data collecting unit is installed on the luggage tractor and used for collecting target information data around the luggage tractor, and the data collecting unit collects the target information data every ts;
in S3, the target processing module comprises a target positioning unit and a target labeling unit;
the target positioning unit positions the target on the plane two-dimensional model according to the target information data acquired by the data acquisition unit and gives a coordinate value to the target on the plane two-dimensional model
Figure DEST_PATH_IMAGE001
And marking the same label on the targets at different positions by using a target marking unit according to the position change condition of the targets on the plane two-dimensional model:
calculating the position change distance of the target according to the following formula:
Figure 357372DEST_PATH_IMAGE002
；
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE003
representing coordinate values
Figure 477775DEST_PATH_IMAGE004
And
Figure DEST_PATH_IMAGE005
the distance between the two points;
when in use
Figure 195195DEST_PATH_IMAGE006
Then the coordinate value is
Figure DEST_PATH_IMAGE007
And
Figure 528088DEST_PATH_IMAGE008
the two targets are marked as the same target;
when in use
Figure DEST_PATH_IMAGE009
When the coordinate value is determined to be
Figure 280143DEST_PATH_IMAGE010
And
Figure DEST_PATH_IMAGE011
are different targets, wherein,
Figure 40289DEST_PATH_IMAGE012
indicating a set distance change threshold;
in S4-S5, the data processing module comprises a data integration unit and a data analysis unit, and the data integration unit is used for integrating the target position information under the same label to form a set of the target position information
Figure 979426DEST_PATH_IMAGE013
Wherein j represents the jth target and n represents n position coordinate values;
the analysis process of the target information data by the data analysis unit specifically comprises the following steps:
s401, unifying the position coordinate values of the target to form a new target position information set
Figure 584851DEST_PATH_IMAGE014
；
S402, judging the behavior of the target according to the position change of the target;
s403, predicting the traveling route of the target according to the judgment result of the S402;
s404, judging whether potential safety hazards exist in normal running of the luggage tractor according to the prediction result of the S403, and sending the judgment result to a central control module;
when the analysis result of the data analysis unit shows that potential safety hazards exist in normal running of the luggage tractor, the instruction sending unit is used for sending instruction information to the brake control unit, and the brake control unit is used for carrying out deceleration braking on the luggage tractor to avoid the potential safety hazards;
when the analysis result of the data analysis unit indicates that no potential safety hazard exists during normal running of the luggage tractor, the instruction sending unit does not send any instruction information, and the luggage tractor keeps running normally;
in S401, the position coordinate values of the targets are normalized according to the following formula:
Figure DEST_PATH_IMAGE015
；
Figure 456992DEST_PATH_IMAGE016
；
wherein v represents the travel speed of the luggage tractor;
in S402, the new target position information is collected
Figure 981514DEST_PATH_IMAGE017
And vectors are established between the two adjacent coordinate values according to the following formula:
Figure 407947DEST_PATH_IMAGE018
；
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE019
representing coordinate values
Figure 82642DEST_PATH_IMAGE020
And sit onMarking value
Figure DEST_PATH_IMAGE021
The vector formed therebetween;
set of component vectors
Figure 809290DEST_PATH_IMAGE022
；
The included angle between two adjacent vectors in the set P is calculated according to the following formula
Figure DEST_PATH_IMAGE023
And (3) calculating:
Figure 176817DEST_PATH_IMAGE024
；
when in use
Figure DEST_PATH_IMAGE025
When in use, will
Figure 491212DEST_PATH_IMAGE026
Put into a collection
Figure DEST_PATH_IMAGE027
In (1) formation
Figure 969598DEST_PATH_IMAGE028
Wherein m denotes m angles formed by m +1 vectors,
Figure DEST_PATH_IMAGE029
representing a set included angle threshold;
when m is larger than or equal to g (n-2), the target is indicated to move towards a certain direction, and a clear destination is provided;
when m < g (n-2), the target is moving in a certain area and has no clear destination, wherein g represents a set proportionality coefficient;
in S403, when the target is moving in a certain direction, the traveling route of the target needs to be predicted;
to the collection
Figure 81910DEST_PATH_IMAGE030
Fitting the coordinate values to form a function
Figure DEST_PATH_IMAGE031
；
Composition of
Figure 495705DEST_PATH_IMAGE032
And solving to obtain the coordinate value of the intersection point
Figure DEST_PATH_IMAGE033
If the coordinate value of the intersection point is the intersection point between the target and the boundary of the danger area when the target continues to travel along the current route, a represents a function
Figure 162310DEST_PATH_IMAGE034
B represents a function
Figure DEST_PATH_IMAGE035
A longitudinal coordinate value of an intersection point between the Y axis and the Y axis in the plane rectangular coordinate system, and c is a set constant;
in the step S404, the process proceeds,
when in use
Figure 444387DEST_PATH_IMAGE036
When the luggage tractor is in collision with the target, the collision between the target and the luggage tractor is judged, and potential safety hazards do not exist, because the plane rectangular coordinate system is established by taking the central point of the luggage tractor as an original point, and the coordinate value of the intersection point is in the third quadrant or the fourth quadrant of the plane rectangular coordinate system at the moment, the collision between the target and the luggage tractor cannot occur necessarily;
when the temperature is higher than the set temperature
Figure DEST_PATH_IMAGE037
Then, the target is determined to be in contact withThe luggage tractors collide with each other, potential safety hazards exist, at the moment, the data analysis unit sends the analysis result to the central control module, the command sending unit sends command information to the brake control unit, and the brake control unit is used for controlling the luggage tractors to brake and decelerate.
2. A baggage tractor brake control system for implementing the baggage tractor brake control method according to claim 1, characterized in that: the brake control system comprises a digital processing module, a target processing module, a data processing module and a central control module;
the digital processing module is used for carrying out digital processing on the environment of the travel route of the luggage tractor and the luggage tractor to obtain a planar two-dimensional model and simultaneously acquiring information data of a target on the travel route of the luggage tractor;
the target processing module is used for positioning and marking the target information data acquired by the digital processing module on the planar two-dimensional model;
the data processing module is used for calculating and analyzing information data of the target on the plane two-dimensional model and judging whether potential safety hazards exist in the process of travelling of the luggage tractor;
and the central control module is used for carrying out braking control on the luggage tractor according to the calculation and analysis results of the data processing module.
3. The logistics baggage tractor brake control system of claim 2, wherein: the digital processing module comprises a model establishing unit, an area dividing unit and a data acquisition unit;
the model establishing unit is used for establishing an environment of a travel route of the luggage tractor and a plane two-dimensional model of the luggage tractor, and establishing a plane rectangular coordinate system by taking a central point of the luggage tractor as an origin; the region dividing unit is used for dividing a dangerous region in the traveling direction of the luggage tractor; the data acquisition unit is used for acquiring target information data around the luggage tractor;
and the output end of the data acquisition unit is connected with the input end of the target processing module.
4. The logistics baggage tractor brake control system of claim 3, wherein: the target processing module comprises a target positioning unit and a target labeling unit;
the target positioning unit is used for positioning the specific position of the target in the planar two-dimensional model according to the target information data acquisition result of the data acquisition unit and giving a coordinate value to each target on the planar two-dimensional model; the target marking unit is used for marking the pedestrian according to the target information data acquired by the data acquisition unit;
the output end of the data acquisition unit is connected with the input ends of the target positioning unit and the target labeling unit, and the output end of the target labeling unit is connected with the input end of the target positioning unit.
5. The logistics baggage tractor brake control system of claim 4, wherein: the data processing module comprises a data integration unit and a data analysis unit;
the data integration unit is used for integrating and counting target information data on the planar two-dimensional model; the data analysis unit is used for analyzing and calculating the target information data processed by the data integration unit and judging whether the pedestrian enters a dangerous area;
the output end of the data integration unit is connected with the input end of the data analysis unit.
6. The logistics baggage tractor brake control system of claim 5, wherein: the central control module comprises a control center, an instruction sending unit and a brake control unit;
the control center is used for intelligently managing the whole brake system according to the analysis result of the data analysis unit; the command sending unit is used for sending command information of active braking to the braking control unit; the brake control unit is used for carrying out brake control on the luggage tractor according to the instruction information of the instruction sending unit;
the output end of the data analysis unit is connected with the input end of the control center, the output end of the control center is connected with the input end of the instruction sending unit, and the output end of the instruction sending unit is connected with the input end of the brake control unit.
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