WO2022205973A1 - Procédé et appareil de commande de véhicule, dispositif, produit et support - Google Patents

Procédé et appareil de commande de véhicule, dispositif, produit et support Download PDF

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Publication number
WO2022205973A1
WO2022205973A1 PCT/CN2021/133599 CN2021133599W WO2022205973A1 WO 2022205973 A1 WO2022205973 A1 WO 2022205973A1 CN 2021133599 W CN2021133599 W CN 2021133599W WO 2022205973 A1 WO2022205973 A1 WO 2022205973A1
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WIPO (PCT)
Prior art keywords
vehicle
state
carrier
sleep
working
Prior art date
Application number
PCT/CN2021/133599
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English (en)
Chinese (zh)
Inventor
张文君
范小军
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北京迈格威科技有限公司
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Publication of WO2022205973A1 publication Critical patent/WO2022205973A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles

Definitions

  • the present application relates to the field of warehousing technology, and in particular, to a carrier control method, device, equipment, product and medium.
  • an automatically controlled handling trolley ie, carrier
  • carrier In the warehousing scene, an automatically controlled handling trolley (ie, carrier) is generally used to move back and forth on the road section in the warehouse to realize the handling of various materials.
  • users In actual work, users often hope that the vehicle can be in a working state for a long time, but in actual application scenarios, the operation of the vehicle will consume a lot of power, which greatly reduces the utilization rate of the vehicle's power and reduces the power consumption of the vehicle. Run time.
  • a method for controlling a vehicle includes:
  • At least some components configured on the carrier are controlled to enter the sleep state according to the working state of the carrier.
  • determining whether the vehicle needs to sleep including at least one of the following:
  • the stop state When the working state of the carrier is the stop state, and the duration of the stop state reaches the first time length, it is determined that the carrier needs to sleep, and the stop state at least includes any one of the following: the stop of lifting the material Status, waiting status of in and out of the warehouse;
  • determining whether the vehicle needs to sleep including at least one of the following:
  • the stop state When the working state of the carrier is the stop state, and the duration of the stop state reaches the first time length, it is determined that the carrier needs to sleep, and the stop state at least includes any one of the following: the stop of lifting the material Status, waiting status of in and out of the warehouse;
  • controlling at least some components configured on the carrier to enter a sleep state including:
  • controlling at least one first target component corresponding to the working state of the carrier to be in a target security state that does not have a security threat
  • the at least some components are controlled to enter a sleep state; wherein the at least some components include a part of the first target components.
  • controlling at least one first target component corresponding to the working state of the carrier to be in a target safe state including at least one of the following;
  • the working state of the carrier is the stop state of jacking up the material, unload the material, and restore the loading platform in the carrier for jacking up the material to the target initial position;
  • controlling the at least part of the components to enter the sleep state includes:
  • the at least part of the components are controlled to enter a sleep state.
  • the method further includes:
  • the second target component configured on the vehicle is controlled to maintain a normal working state, wherein the second target component includes a communication module on the vehicle for communication, and a A keypad for sensing user operations.
  • the method further includes:
  • the driving motor of the carrier is a motor without a brake, and/or the carrier does not have a locking device
  • the driving motor of the carrier is controlled to be in a working state.
  • controlling at least some components configured on the carrier to enter a sleep state including:
  • the motion actuator of the carrier is controlled to enter a dormant state; the motion actuator includes at least two of a drive motor, a top plate motor and a rotary motor.
  • controlling the motion actuator of the carrier to enter a dormant state according to the slope of the location where the carrier is located including:
  • the driving motor When the gradient is greater than or equal to the second gradient value, the driving motor is kept in a working state, and the top plate motor and the rotating motor are controlled to enter a sleep state.
  • the method further includes:
  • the method further includes:
  • the target wake-up condition includes: a charging completion event, a vehicle movement start event, a new task scheduling event, and a preset button in a triggered state at least one of;
  • the working state of the awakened component is restored.
  • the method further includes:
  • the awakened component When the working data is abnormal working data, the awakened component is initialized, so that the awakened component enters a working state.
  • the method further includes:
  • the wake-up instruction includes a vehicle movement start event
  • restoring the working state of the awakened component according to the working information of the vehicle when it is dormant including:
  • the method also includes:
  • a movement task corresponding to the vehicle movement start event is performed.
  • restoring the working state of the awakened component includes:
  • a target site corresponding to the vehicle is determined, and the vehicle is moved to the target site.
  • the method further includes:
  • the second pose difference is greater than the first pose difference.
  • a second aspect of the embodiments of the present application further provides a vehicle control device, the device comprising:
  • a detection module for detecting the working state of the vehicle
  • a determining module for determining whether the vehicle needs to sleep according to the working state of the vehicle
  • a sleep control module configured to control at least some components configured on the vehicle to enter the sleep state according to the working state of the vehicle when it is determined that the vehicle needs to sleep
  • a vehicle control device is further provided.
  • the vehicle control device includes a processor and a memory, and the processor can be used to execute the method of the first aspect when executed. .
  • a handling device is further provided, and the handling device includes, for example, a carrier control device and a carrier; wherein the carrier control device is used in the carrier control method described in the first aspect , so as to realize the sleep control of the vehicle.
  • the embodiment of the present application also discloses an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and running on the processor, the processor being configured to execute the vehicle control method.
  • a fifth aspect of the embodiments of the present application provides a computer program product, including a computer program or computer instructions, which implements the vehicle control method when the computer program or computer instructions are executed by a processor.
  • the embodiment of the present application also discloses a computer-readable storage medium, and the computer program stored in the storage medium enables the processor to execute the vehicle control method according to the embodiment of the first aspect of the present application.
  • the embodiments of the present application at least include the following advantages:
  • the working state of the vehicle can be detected; and according to the working state of the vehicle, it is determined whether the vehicle needs to sleep; when it is determined that the vehicle needs to sleep, according to the working state of the vehicle, Controlling at least some components configured on the vehicle to enter a sleep state. Because according to the working state of the vehicle, when it is determined that the vehicle needs to sleep, some components of the vehicle are put into the sleep state. When entering the sleep state, these dormant components do not need to work, that is, the dormant components do not need to consume power, so During the sleep period, the overall power output of the vehicle can be reduced. In this way, the vehicle can sleep for a period of time during the working period, thereby saving the power of the vehicle and extending the working time of the vehicle.
  • FIG. 1 is a schematic diagram of an implementation environment according to an embodiment of the present application.
  • FIG. 2 is a schematic structural frame diagram of a carrier according to an embodiment of the present application.
  • FIG. 3 is a flow chart of steps of a method for controlling a vehicle according to an embodiment of the present application
  • FIG. 4 is a structural block diagram of a vehicle control device according to an embodiment of the present application.
  • the vehicle can generally be AGV (Automated Guided Vehicle, automatic guided vehicle), AMR (Automated Mobile Robot, autonomous mobile robot), handling robot, forklift or stacker, through the above various types of vehicles indoors (such as warehouses, factories, etc.) or between various locations outdoors (such as roads, docks, etc.), materials are transported to designated locations.
  • AGV Automated Guided Vehicle
  • AMR Automatic Mobile Robot
  • handling robot forklift or stacker
  • AGVs are currently widely used in e-commerce, smart factories and other fields.
  • the performance of AGVs directly affects the work efficiency and safety of warehouses.
  • the standby time of AGVs is also an indicator of great concern. If the power consumption of the AGV is large and the battery life is short, the AGV needs to be charged and re-run frequently, which will cause the AGV to spend a lot of time on charging and greatly reduce the actual operating time.
  • the vehicle when the working state of the vehicle is suitable for dormancy, the vehicle can be controlled according to the working state of the vehicle. At least some of the configured components enter a dormant state. After at least some of the components are dormant, power consumption is not required, so that power consumption can be reduced during the working process of the vehicle, thereby saving power and extending the working time of the vehicle.
  • FIG. 1 a schematic diagram of the implementation environment of the embodiment of the present application is shown.
  • the carrier runs in the warehouse
  • the warehouse includes a shelf area
  • the shelf area is placed There are multiple shelves
  • the warehouse can also include a charging position.
  • the charging position is provided with a charging pile to facilitate the charging of the vehicle.
  • the dispatching server in the dispatching system can communicate with the vehicle, and the vehicle in the dispatching system can be There are multiple, and the schematic diagram of each vehicle is shown in Figure 2.
  • the carrier of the embodiment of the present application may include a main control module, a positioning component, various sensors, and a motion actuator.
  • the main control module is used to perform functions such as task reception and transmission, navigation, and control.
  • the sensor is mainly used to detect the direction, speed, load, etc. of the vehicle.
  • Motors and rotating motors, etc. are mainly used to perform the movement and locking of the carrier, the top plate motor is mainly used to lift the shelves or containers placed on the carrier (the containers and shelves are mainly used to carry materials), and the rotary motor is mainly used for Orientation change of shelves supporting jacking.
  • the positioning component is mainly used to position the vehicle, wherein the vehicle can also include a DSP (Digital Signal Processing) module for data detection, a laser module, a voice module for alarm prompts, and LED (Light-Emitting Diode, Light-emitting diode) light board and key board module, among which, the laser module is mainly used to emit laser light to detect obstacles in the surrounding environment.
  • the key board module is mainly used to provide support for keys for users.
  • the key board module may include keys for starting the vehicle, keys for sleeping the vehicle, and the like.
  • a vehicle control method according to an embodiment of the present application is introduced, wherein the vehicle control method in the embodiment of the present application can be executed by a server in a scheduling system, that is, the server acquires the vehicle in real time In order to make some components of the vehicle enter the dormant state, or the vehicle executes the vehicle control method, and then informs the server of the scheduling system of the execution result.
  • it can also be executed jointly by the server and the vehicle, that is, the vehicle informs the server of its current state, and the server determines whether to enter the sleep mode, and informs the vehicle during sleep, so that the vehicle can enter the sleep state by itself. No matter which of the above execution methods is adopted, the purpose of making the vehicle dormant during the working process can be achieved, thereby saving power and prolonging the working time of the vehicle.
  • FIG. 3 a flowchart of steps of a vehicle control method according to an embodiment of the present application is shown, as shown in FIG. 3 , which may specifically include the following steps:
  • Step S301 Detect the working state of the carrier.
  • the working state of the vehicle can be detected by acquiring the current working information of the vehicle in real time.
  • the vehicle can collect the working data of each component in real time to obtain the current working information.
  • Pose data of the cargo platform Collecting the data of the drive motor can obtain the movement data of the vehicle, etc.
  • the current work information may include, for example, a task list, work progress information, power information, etc.
  • the task list may store tasks to be performed by the vehicle
  • the work progress information may reflect the current progress of the vehicle when performing the current task
  • the power information can reflect the current remaining power of the vehicle.
  • the detected work status of the vehicle may at least include: task status to be executed, power status and work progress status.
  • the working state of the vehicle can represent the moving state, transportation posture and power state of the vehicle in the warehouse.
  • the moving state may refer to whether the vehicle is moving
  • the transport posture may refer to how much the vehicle is loaded and pose data.
  • a carrier is used to transport materials in a warehouse.
  • materials or containers or shelves carrying materials are transported to a designated storage site for storage of materials.
  • the containers or racks that carry the materials are transported to the designated outbound station to take out the materials for outbound.
  • the container for carrying the material may be, for example, a bin, a tray, or the like.
  • the process of the carrier moving between the racks can be regarded as the carrier in a moving working state.
  • the process of the carrier moving against the material can be regarded as the carrier in a fully loaded moving working state.
  • the process that the carrier is not moving against the material can be regarded as the carrier is in the moving working state of no load.
  • the carrier can be regarded as the stop state of the carrier when it is not waiting against the material or when it stops and waits not against the material.
  • the general vehicle will move to the waiting area to wait for the arrival of a new mission.
  • This state can be regarded as the vehicle is in a no-task working state; when the vehicle has insufficient power and needs to be charged, it can be regarded as a vehicle.
  • the working state of the appliance is the charging state.
  • Step S302 According to the working state of the vehicle, determine whether the vehicle needs to sleep.
  • the working state of the carrier may include the moving state, the power state and the transportation posture of the carrier in the warehouse.
  • the movement state may refer to whether the vehicle is moving
  • the transport posture may refer to how much the load of the vehicle moves
  • the transport posture may be determined by the position and attitude data of the vehicle. In this way, it can be determined whether the vehicle needs to sleep according to the current load of the vehicle, pose data, remaining power, and whether the vehicle is moving.
  • the working state when the working state conforms to the set working state, it can be determined that the vehicle needs to sleep.
  • the set working state may be a state in which the power is insufficient and needs to be charged, or a state in which the vehicle has not moved for a certain period of time.
  • it can also include not only the above set working states, but also other types of working states.
  • a sleep button can be set on the vehicle. When the sleep button is triggered, it also means that the vehicle has entered the setting. The working state requires hibernation.
  • the set sleep button can facilitate the manual operation of the vehicle to enter sleep.
  • Step S303 when it is determined that the carrier needs to sleep, control at least some components configured on the carrier to enter the sleep state according to the working state of the carrier.
  • At least part of the dormant components can be determined according to the current working state of the vehicle, and then at least some of the components in the configuration are controlled to enter the dormant state.
  • the dormant components when at least part of the dormant components are determined according to the current working state of the vehicle, in different working states, at least some of the determined dormant components may be different. In this way, under different working states suitable for dormancy, the dormant components may be different.
  • At least some of the components determined by the vehicle can be controlled to enter the sleep state, wherein entering the sleep state may refer to performing power-off processing on at least some of the determined components in sequence. In this way, at least a part of the device can be made to enter a state of being unable to work, thereby saving power consumption.
  • the second target component configured on the carrier may be controlled to maintain a normal working state; wherein the second target component includes a communication on the carrier for communication module, and a keypad for sensing user operations.
  • the communication module is used for basic communication with the dispatching server to ensure that the tasks assigned by the dispatching server and the instructions issued by the dispatching server can be received, so as to maintain the normal working state of the communication module and keep the communication between the vehicle and the dispatching server. to provide an interface for wake-up from sleep; wherein, if the carrier has a key board, the normal working state of the key board is also retained to provide a hardware interface for wake-up from sleep.
  • the driving motor of the carrier when it is determined that the vehicle needs to sleep, it may be determined first whether the drive motor of the vehicle is a motor with a brake and/or whether the vehicle has a locking device; When the driving motor of the carrier does not have a locking brake function, and/or the carrier does not have a locking device, the driving motor of the carrier is controlled to maintain a normal working state.
  • the vehicle is generally equipped with a brake function to avoid the vehicle sliding on the ramp when the power is turned off.
  • the drive motor can be a motor with a brake function, and in some vehicles, the drive motor It may not have a holding brake function.
  • a locking device is generally configured.
  • some vehicles may have a locking device at the same time and the drive motor has a holding brake function.
  • the second target component configured on the carrier can be controlled to maintain a normal working state first, and then it is determined whether the driving motor is a motor with a brake and/or whether the carrier has a lock device.
  • the drive motor when the drive motor has the brake function, the drive motor can be controlled to be powered off. In this way, it can be ensured that the drive motor brakes the vehicle when the vehicle sleeps, so as to prevent the vehicle from sliding; Brake function, but when the vehicle has a locking device, control the drive motor to power off. In this way, since the vehicle has a locking device, it can also prevent the vehicle from slipping.
  • the driving motor when the driving motor does not have a locking function and the vehicle does not have a locking device, the driving motor can be controlled to maintain a normal working state. In this way, the braking brought by the operation of the driving motor can be used to limit the downhill of the vehicle. speed to avoid rolling.
  • the drive motor if the drive motor does not have a locking function and the vehicle has a locking device, the drive motor can also be controlled to maintain a normal working state.
  • the normal operation of the communication module and the key board is maintained during sleep, and when the drive motor has a brake function, the drive motor is also maintained in a normal working state.
  • the user can use the key board to Dormant wake-up, on the other hand, can ensure the safety of the vehicle during sleep.
  • the other modules of the carrier such as the laser module, DSP module, top plate rotating motor, top lift motor, LED light board, and positioning components, can be powered off in sequence to enter the sleep state, thereby minimizing the power consumption of the related modules of the carrier.
  • the vehicle when it is determined that the vehicle needs to sleep according to the working state of the vehicle, some components of the vehicle are put into the sleep state, and when entering the sleep state, these dormant components do not need to work, that is, sleep.
  • the components of the device do not need to consume power, so that the overall power output of the vehicle can be reduced during the sleep period. In this way, it can sleep for a period of time during the working period, thereby saving the power of the vehicle and extending the working time of the vehicle.
  • the work of some components can be retained, so that the basic communication of the carrier and the safety of the carrier during the dormancy period can be reserved.
  • the embodiment of the present application proposes to control the vehicle to sleep in more application scenarios in order to allow the vehicle to remain on standby for a longer period of time, that is, to allow the power of the vehicle to meet the long-term use of the vehicle. of the following three cases:
  • Case 1 When the working state of the vehicle is a working state without a task, it is determined that the vehicle needs to sleep.
  • the non-task working state may refer to that the vehicle currently has no task to be performed and/or a task being performed. Generally, in this case, it can be determined that the vehicle needs to sleep.
  • the stop state includes at least any one of the following: the stop state of lifting materials, and the waiting state of entering and leaving the warehouse.
  • the stop state may refer to the state in which the carrier is not moving in the warehouse, including the stop state of the carrier not bearing the material, the stop state of not bearing the material, the waiting state of entering and leaving the warehouse, etc. .
  • the waiting state of entering and leaving the warehouse may refer to the vehicles queuing up for exiting or entering the warehouse. In this case, the waiting time of the vehicles is relatively long due to the generally long time of entering and leaving the warehouse.
  • warehousing refers to placing the material on the shelf
  • warehousing refers to placing the material on the carrier. Therefore, the waiting state of the warehousing and warehousing can include the stop state of lifting the material.
  • the working state of the vehicle when the remaining power of the vehicle is lower than the power threshold, it can be determined that the working state of the vehicle is a charging state, or, when the vehicle has been connected to a charging pile for charging, it can be determined that the vehicle is in a charging state.
  • the working state of the vehicle is the charging state. At this time, since the vehicle can neither move nor perform tasks during the charging process, it can be determined that the vehicle needs to sleep.
  • At least some components configured on the carrier are controlled to enter the sleep state according to the working state of the carrier, at least some components corresponding to the working state of the carrier can be controlled first according to the working state of the carrier.
  • a first target component is in a target security state with no security threat; and when it is determined that the at least one first target component is in the target security state, at least some components are controlled to enter a sleep state.
  • the at least component includes a portion of the first target component.
  • the at least one first target component corresponding to the working state of the carrier may be a motion actuator of the carrier, and the operation of the motion actuator may bring some hidden safety hazards to the sleep process of the carrier.
  • the horizontal and vertical movement of the lifting material/shelf/container of the carrier will hit the shelf or other carriers, and the driving mechanism of the carrier will cause the carrier to slip during the movement. Therefore, according to the working state of the vehicle, the motion actuator of the vehicle can be controlled to be in the target safe state in advance, so as to avoid some states of the motion actuator will be maintained during sleep, which will cause damage to surrounding objects, Safety issues posed by pedestrians and the vehicle itself.
  • the loading platform that lifts the material is in a lifting position in a certain direction, if it continues to maintain this position during sleep, it will collide with other vehicles or shelves, threatening the safety of both the vehicle and the shelf. Therefore, during sleep, the loading platform that lifts the material will be in a safe position.
  • At least one first target component is in the target safe state, that is, when the operation of controlling the at least one first target component to be in the target safe state is completed, at least some components that need to be dormant are controlled to enter the dormant state.
  • the first target component may include a motion actuator, such as a top plate motor and a rotating motor.
  • two situations are shown, how to control at least one first target component corresponding to the working state of the vehicle to be in a target safe state:
  • the carrier needs to enter the dormant state due to the charging state. Therefore, the carrier can keep some components corresponding to the charging state of the carrier continue to work for a second period of time, and then automatically enter the dormant state.
  • the motor driving component of the carrier may include a driving motor of the carrier, a top plate motor, a rotating motor, a communication module, and the like. The reason why the motor-driven components of the vehicle continue to work for the second time is that the vehicle may need to be moved to the charging pile and the material being lifted may be unloaded when the vehicle needs to be charged to actual charging. and so on.
  • the carrier can be given a certain working time to complete the movement of the carrier and the unloading of materials, so as to ensure that during the charging process, when the components of the carrier are in sleep, the carrier can be in a silent state, so as to perform safe charging. In this way, after the second time period is reached, most of the components of the control vehicle automatically enter the sleep state.
  • the determined component that needs to sleep may be other components except the drive motor. This is because, in the charging state, even if the vehicle receives a new command or a new task, it cannot be executed. Therefore, only the drive motor can be kept to prevent the vehicle from slipping, and the rest of the components, such as the top plate motor and the rotating motor and communication modules can be powered off.
  • the working state of the carrier when the working state of the carrier is a charging state, it may be determined whether the driving motor of the carrier is a motor with a lock brake, and/or whether the carrier has a lock device, so as to determine whether the drive motor of the carrier needs to be powered off.
  • the driving motor of the carrier when the driving motor of the carrier has a brake function, and/or the carrier has a locking device, the driving motor of the carrier is controlled to perform power-off processing.
  • the drive motor of the control vehicle when the drive motor of the vehicle does not have a locking brake or the vehicle does not have a locking device, the drive motor of the control vehicle does not perform power-off processing and maintains a normal working state.
  • the working state of the carrier is the stop state of jacking up the material. This state can indicate that the carrier stops moving when the material is jacked up. Generally, after the stop period exceeds the first period, the carrier will go to sleep. In this case, if the carrier remains dormant in the position of lifting the material, it will collide with other carriers or shelves during the dormancy process. a safe posture. Specifically, the cargo platform can be restored to the target initial position, and the target initial position can be a safe position that will not collide with other carriers or shelves, which can be understood as the position where the cargo platform is stopped from jacking up, for example It may be the position of the retracted pallet opposite the raised pallet from which the load is lifted.
  • the top tray motor is a component that can drive the loading platform to be raised or retracted.
  • the target initial position may be determined according to the discharge position of the shelves in the warehouse, the shape of the carrier, and the like, and the embodiment of the present application does not limit the target initial position.
  • the second duration may be a countdown duration.
  • the sensors configured on the carrier can be put into the dormant state, and according to the slope of the location where the carrier is located, the motion actuator of the carrier can be controlled to enter the dormant state.
  • the motion actuator includes at least two of a drive motor, a top plate motor and a rotating motor.
  • the slope of the position of the carrier can be obtained by the sensor.
  • the gradient of the position of the carrier can be obtained first by the sensor, and then the motion actuator of the carrier is controlled to enter the sleep state according to the slope of the position of the carrier, and then , and then put the sensor to sleep.
  • the motion actuator of the carrier when controlling the motion actuator of the carrier to enter the sleep state according to the gradient of the position of the carrier, if the gradient is less than or equal to the first gradient value, at least control the drive motor and the top plate configured on the carrier. The motor and the rotating motor go to sleep.
  • the slope of the location of the vehicle can reflect whether the location of the vehicle is horizontal or sloped. If the slope is less than or equal to the first slope value, it means that the vehicle is in a relatively horizontal position, and the possibility of slippage during sleep is small. . Therefore, the drive motor, the top plate motor and the rotating motor configured on the carrier can be controlled to enter the sleep state, that is, all motion actuators can be controlled to enter the sleep state. Of course, in addition to these motion actuators entering the dormant state, sensors, DSP modules, positioning modules, etc. can also enter the dormant state.
  • the driving motor is controlled to be in a working state accordingly, And control the top plate motor and the rotating motor to enter the sleep state.
  • the slope is greater than or equal to the second slope value, it means that the vehicle is on the slope, and the possibility of slipping during sleep is high. Or when the vehicle does not have a locking device, the drive motor can be kept in a working state. In this way, during sleep, if a slope occurs, the drive motor can use the braking force generated during operation to avoid the safety problem of slope collision.
  • the top plate motor is mainly used to lift or retract the cargo platform in the vertical direction
  • the rotary motor is mainly used to drive the cargo platform to rotate at a certain angle in the horizontal direction, so the top plate motor and the rotary motor can enter the sleep state.
  • sensors, DSP modules, positioning modules, etc. can also enter the dormant state.
  • the second gradient value is greater than the first gradient value.
  • the vehicle when the slope is large, the vehicle needs to have a holding brake function to ensure the safe operation of the vehicle.
  • the driving motor when the driving motor has a holding brake, the driving motor can be powered off, and the driving motor can be powered off when the driving motor has a holding brake.
  • the drive motor can be powered off regardless of whether the drive motor has the brake function or not. In this way, it can be determined whether to power off the drive motor to sleep in combination with the gradient and whether the drive motor has the function of a brake, which can make the sleep control of the drive motor more flexible in the present application.
  • the dormant components can also be woken up at an appropriate time to continue working.
  • work information of the vehicle during sleep may be saved, where the work information may include work collected by the sleep component before the sleep state.
  • Data such as sensor data, task progress data, load information of the lifted shelf, number of the shelf, orientation information of the shelf, position and attitude information, etc.
  • the saved working information can be helpful for subsequent wake-up of the hibernating component, so that the vehicle can be restored to the working state before hibernation, so as to continue the process. warehousing tasks.
  • the components in the sleep state may be awakened according to the triggered wake-up condition.
  • the vehicle may also receive a wake-up instruction, and wake up the component in the sleep state when it is detected that the target wake-up condition is met.
  • the target wake-up condition includes at least one of: a charging completion event, a vehicle movement start event, a new task scheduling event, and a preset button being in a triggered state.
  • the vehicle when it is detected that the target wake-up condition is met, the vehicle will also receive a wake-up command.
  • the wake-up command and the target wake-up condition can cooperate with each other.
  • the target wake-up condition can be used to trigger the vehicle to wake up the sleeping components, while the wake-up Instructions can be used to instruct the vehicle to perform tasks when waking up the corresponding component.
  • the wake-up command can instruct the vehicle to perform the next specific task, move the vehicle to the B position, lift the A material, etc.
  • the wake-up command may also complete some specific actions of the vehicle.
  • the target wake-up condition includes at least one of the charging completion event, the vehicle movement start event, the new task scheduling event, and the preset button being triggered, it can be guaranteed that the vehicle will be woken up under the following conditions:
  • a charging completion event When the vehicle is in the charging state when it is triggered to sleep, a charging completion event will be generated after the vehicle is fully charged, and the components in the dormant state will be automatically awakened, and the vehicle can return to the working state.
  • the working state of the awakened component can be restored according to the working information of the vehicle when the vehicle is sleeping.
  • the working state after waking up the dormant component, the vehicle can be restored to the working state before the dormancy.
  • the vehicle since the work information collected by the dormant component before the dormancy is saved, the vehicle can be restored to the working state before the dormancy according to the work information, so as to continue the warehousing task.
  • the restored working data is abnormal, which leads to logical errors in the subsequent scheduling tasks, and cannot be restored to the working state before hibernation, thereby failing to complete the normal scheduling tasks.
  • the working data of the awakened component is restored.
  • the working data may refer to the running data on the component, which may be used to indicate the working condition of the awakened component, such as the running data of the software.
  • the work information may refer to the task information stored by the vehicle and generated during the execution of the cargo-carrying task, which may be used to describe the execution status of the cargo-carrying task performed by the vehicle before the sleep starts, for example, including task progress data, task attribute data, etc.
  • the awakened component when the working state of the awakened component is restored according to the working information of the vehicle when it is dormant, when the working data is normal working data, the awakened component can be restored according to the working information of the vehicle when it is dormant.
  • the awakened component may also be initialized when the working data is abnormal working data, so that the awakened component enters a working state.
  • restoring the working data of the wake-up component can be regarded as: detecting the state of each sleep device during the wake-up process, that is, obtaining the respective working data of each awakened component, and then checking the respective working data of each component. A test is performed to determine whether the state of the various components that are awakened is normal.
  • the respective working data of each component are normal working data, indicating that the state of the device is normal, and subsequent task execution can be performed. If the working data of one of the components is abnormal, it indicates that the state of the device is abnormal, and subsequent task execution cannot be performed. In this case, the abnormal component can be initialized, for example, restart the Wake up the component to restore the component to its original working state.
  • alarm information when the working data is abnormal working data, after the wake-up component is initialized, when it is detected that the working data after the initialization target number of times is abnormal working data, alarm information is output.
  • alarm information can be output to inform the dispatching server of the situation, which is convenient for subsequent maintenance.
  • the respective working data of each component are normal working data, indicating that the state of the component is normal, and subsequent tasks can be executed.
  • Scenario 1 If the carrier is in the state of lifting the shelf when it is sleeping, generally when it is sleeping, the lifted loading platform will be restored to the set initial posture. In this case, after waking up the vehicle, , it is necessary to restore the jacked cargo platform to the jacking state when it was dormant.
  • the wake-up command of the wake-up component may include a vehicle movement start event, wherein the wake-up command may include instructions for instructing the vehicle to perform a specific task, move the vehicle to position B, lift material A, etc., of course , the wake-up command can also indicate the completion of some other specific actions of the vehicle.
  • the initial pose of the cargo bed of the carrier can be determined according to the work information; and the cargo bed of the carrier is restored to the initial pose from the current position.
  • the working information saves the working state of the vehicle before dormancy, including sensor data, task progress data, load information of the lifted shelf, orientation information of the shelf, position and attitude information, etc., if the load
  • the tool enters the dormant state from the stop state of jacking up the material.
  • the initial pose of the loading platform of the carrier can be obtained first.
  • the initial pose is It is the state of jacking up the material before sleep, including the position, orientation and jacking height of the loading platform for jacking up the material.
  • the cargo bed of the vehicle can be restored from the current position to the initial posture of the cargo bed before dormancy, so as to perform subsequent tasks.
  • the loading platform of the carrier is restored from the current position to the initial pose, it is possible to continue to perform the task of loading or unloading the rack.
  • the execution and the movement of the carrier can be started based on the restored initial pose.
  • the move task corresponding to the event.
  • Scenario 2 If the vehicle is dormant due to the charging state, in this case, the vehicle has completed charging, and the vehicle needs to be automatically returned to the site in front of the charging pile. .
  • the wake-up instruction in this scenario may include an instruction to complete charging, and specifically, the target site corresponding to the vehicle may be determined according to the work information, and the vehicle may be moved to the target site.
  • the work information may include the charging position of the vehicle during charging.
  • the charging position included in the work information is the position of the charging pile.
  • a wake-up instruction may be triggered, and the wake-up instruction may also include an instruction to instruct the vehicle to go to a corresponding position to wait for task scheduling, or continue unfinished tasks. Then the vehicle needs to wait for a new task scheduling or the vehicle needs to perform an unfinished task.
  • the target site may be a site where the vehicle is waiting for new task scheduling.
  • the target site may refer to the site closest to the charging position.
  • the target site may also be the site where the task is located when the vehicle performs the unfinished task. At this time, the vehicle needs to go to the site to perform the unfinished task.
  • the vehicle has a positioning system.
  • some vehicles without brakes can still be pushed. Therefore, the vehicle cannot know what state the vehicle is in after hibernation, and During this process, the sensors also sleep accordingly, so it is impossible to determine whether the related sensors of the vehicle are interfered. Therefore, after the vehicle wakes up and moves to complete the task, it is necessary to first obtain the pose of the vehicle, and locate the vehicle.
  • the system performs reset processing to avoid safety problems such as inaccurate positioning and collision with shelves caused by deviations in the movement of subsequent tasks.
  • the current pose of the vehicle can be obtained; and the pose difference between the current pose of the vehicle and the pose of the vehicle when it is dormant is determined.
  • the positioning component of the carrier is reset, and the positioning data corresponding to the carrier is acquired according to the reset positioning component.
  • the difference between the current posture of the vehicle and the posture of the vehicle when it is sleeping is greater than the first posture difference, indicating that the position change of the vehicle before sleep and after waking up is small, that is, The positional deviation of the subsequent task movement is not large. Therefore, the positioning component of the vehicle can be reset, and the positioning data corresponding to the vehicle can be obtained through the reset positioning component, so that the current positioning position shall prevail. , you can continue to perform the corresponding tasks without the need to schedule the server to re-plan the route.
  • abnormal alarm information is output.
  • the pose difference between the current pose of the vehicle and the pose of the vehicle when it is sleeping is greater than the second pose difference, which means that the position of the vehicle before sleeping and after waking up has changed greatly.
  • a large positional deviation will affect the safe movement of the vehicle, and it is also necessary to schedule the server to re-plan the route.
  • the vehicle may not be able to continue to perform unfinished tasks, or there may be a problem with the vehicle's positioning system Therefore, alarm processing can be performed, that is, abnormal alarm information is output to the dispatch server, and the voice module that is awakened at the same time can also voice alarm to indicate that the vehicle may be faulty.
  • the second pose difference can be greater than the first pose difference, and the pose difference can reflect the comprehensive difference in the position, orientation and height of the cargo platform of the vehicle.
  • the unfavorable influence on the movement of the vehicle caused by uncertain factors such as human intervention during the dormancy process of the vehicle can be eliminated, and the arbitrary operation of the vehicle during the dormancy process can be allowed as much as possible, and the wake-up from sleep can be guaranteed. Safe move after.
  • the vehicle may not receive a new scheduled task, and if there is an unfinished task, the unfinished task may be suspended or submitted to other vehicles for completion.
  • the vehicle can enter the sleep state under more conditions, thereby saving more power and prolonging the working time.
  • the carrier can control the corresponding parts to sleep in the working state of no task, the stop state of lifting materials, the waiting state of entering and leaving the warehouse, and the charging state, so the number of times the vehicle sleeps can be increased, thereby reducing the The power consumption of the vehicle increases the standby time.
  • the driving motor Since some components corresponding to the working state of the vehicle are determined to be in the target safe state, and then enter the sleep state, it is possible to avoid the safety problem caused by the fact that some states of the motion actuator are maintained during the sleep state.
  • the driving motor since the driving motor is kept in working state when the gradient is greater than or equal to the second gradient value, if a slope occurs, the driving motor can maintain the normal movement of the vehicle through the braking force, thereby improving the stability of the vehicle during the hibernation process. safety.
  • the pose difference between the current pose of the vehicle and the pose of the vehicle when it is sleeping is greater than the second pose difference, the abnormal alarm information is output, and the task execution is stopped, which can ensure that the vehicle is in an abnormal state. Security issues caused by the execution of the task under the circumstances.
  • the safety processing before hibernation the safety processing during hibernation, and the safety processing after waking up, the safety of the vehicle during hibernation and after waking up from hibernation can be improved.
  • the carrier enters a dormant state, and the determined power-off components may be other components except the drive motor, so that the power consumption can be reduced to the greatest extent possible, thereby speeding up the charging efficiency and completing the charging as soon as possible.
  • the standby time of the vehicle can be extended on the premise of ensuring the safety of the vehicle during the hibernation process.
  • an embodiment of the present application also discloses a vehicle control device.
  • a vehicle control device Referring to FIG. 4 , a schematic structural diagram of the vehicle control device is shown, which may specifically include the following modules:
  • a detection module 401 used to detect the working state of the carrier
  • a determination module 402 configured to determine whether the vehicle needs to sleep according to the working state of the vehicle
  • the sleep control module 403 is configured to control at least some components configured on the vehicle to enter the sleep state according to the working state of the vehicle when it is determined that the vehicle needs to sleep.
  • the load determining module 402 can be specifically used for:
  • the stop state When the working state of the carrier is the stop state, and the duration of the stop state reaches the first time length, it is determined that the carrier needs to sleep, and the stop state at least includes any one of the following: the stop of lifting the material Status, waiting status of in and out of the warehouse;
  • the sleep control module 403 may specifically include the following units:
  • a preprocessing unit configured to control at least one first target component corresponding to the working state of the vehicle to be in a target safety state without a safety threat according to the working state of the vehicle;
  • a sleep unit configured to control the at least part of the parts to enter a sleep state when it is determined that at least one first target part corresponding to the working state of the carrier is in a target safety state; wherein the at least part of the parts includes part of the first target component.
  • the sleep control module 403 can be specifically used for;
  • the working state of the carrier is the stop state of jacking up the material
  • the material is unloaded, and the loading platform used for jacking up the material in the carrier is restored to the target initial position.
  • the sleep unit is configured to control the at least part of the components to enter the sleep state when it is determined that the motor driving component is kept in the current working state for a second period of time;
  • the at least part of the components are controlled to enter a sleep state.
  • the device may also include the following modules:
  • the target component determination module is configured to control the second target component configured on the carrier to maintain a normal working state when it is determined that the carrier needs to sleep, wherein the second target component includes a A communication module for communication, and a key board for sensing user operations.
  • the device may also include the following modules:
  • a motor state determination module configured to determine whether the drive motor of the vehicle has a locking brake and/or whether the vehicle has a locking device when it is determined that the vehicle needs to sleep;
  • the working state maintaining module is configured to control the drive motor of the vehicle to be in a working state when it is determined that the motor of the drive motor of the vehicle does not have a brake, and/or the vehicle does not have a locking device.
  • the sleep control module 403 may specifically include the following units:
  • a first control unit configured to control the sensor configured on the vehicle to enter a sleep state
  • the second control unit is configured to control the motion actuator of the carrier to enter a dormant state according to the gradient of the position where the carrier is located; the motion actuator includes at least two of a drive motor, a top plate motor and a rotary motor .
  • the second control unit is specifically used for:
  • the driving motor When the gradient is greater than or equal to the second gradient value, the driving motor is kept in a working state, and the top plate motor and the rotating motor are controlled to enter a sleep state.
  • the device may also include the following modules:
  • the information saving module is used for saving the working information of the vehicle when it is dormant.
  • the device may also include the following modules:
  • the wake-up module is used to receive a wake-up command, and wake up the component in the dormant state when it is detected that the target wake-up condition is met;
  • the target wake-up condition includes: a charging completion event, a vehicle movement start event, a new task scheduling event, a preset event Set the button to be in at least one of the triggering states;
  • the restoration module is used for restoring the working state of the awakened component according to the working information of the vehicle when it is dormant.
  • the device may also include the following modules:
  • a data recovery module for recovering the working data of the awakened component
  • the restoration module is configured to restore the working state of the awakened component according to the working information of the vehicle when the vehicle is dormant when the working data is normal working data; and when the working data is abnormal working data At the time of initialization, the wake-up component is initialized, so that the wake-up component enters a working state.
  • the device further includes an initialization module for initializing the awakened component when the working data is abnormal working data, and detecting that the working data after the initialization target number of times is abnormal working data. , output alarm information.
  • an initialization module for initializing the awakened component when the working data is abnormal working data, and detecting that the working data after the initialization target number of times is abnormal working data. , output alarm information.
  • the recovery module may specifically include the following units:
  • an initial pose determination unit configured to determine the initial pose of the cargo bed of the vehicle according to the work information
  • a pose recovery unit used for recovering the cargo bed of the vehicle from the current position to the initial pose
  • the apparatus may also include the following modules:
  • a task execution module configured to execute a movement task corresponding to the vehicle movement start event based on the initial pose.
  • the recovery module may be specifically configured to determine the target site corresponding to the vehicle according to the work information, and move the vehicle to a the target site.
  • the device may also include the following modules:
  • the current pose obtaining module is used to obtain the current pose of the vehicle, and determine the pose difference between the current pose of the vehicle and the pose of the vehicle when it is dormant;
  • a reset module configured to reset the positioning component of the carrier when the position and posture difference is greater than the first posture difference, and obtain positioning data corresponding to the carrier according to the reset positioning component ;
  • an alarm module configured to output abnormal alarm information when the pose difference is greater than the second pose difference
  • the second pose difference is greater than the first pose difference.
  • the description of the embodiment of the vehicle control apparatus is relatively simple, and the relevant details can be referred to the description and explanation in the embodiment of the vehicle control method, which will not be repeated here.
  • An embodiment of the present application further provides a vehicle control device, the vehicle control device includes a processor and a memory, and the processor is configured to execute the vehicle control method described in the method embodiment when the processor is executed.
  • the vehicle control device may be located in the vehicle, or the vehicle control device may be located in a dispatch server connected to the vehicle.
  • An embodiment of the present application further provides a handling device, the handling device includes a vehicle control device and a vehicle; wherein the vehicle control device is configured to execute the vehicle control method described in the first aspect, so as to realize the control of all the vehicles. sleep control of the vehicle.
  • the handling device may be, for example, an AGV, an AMR, a handling robot, etc., which is not limited in the embodiments of the present application. With this handling device, the handling device can autonomously control its carrier to sleep.
  • Embodiments of the present application further provide an electronic device, which can be used to execute a vehicle control method, and can include a memory, a processor, and a computer program stored in the memory and running on the processor, the processor The vehicle control method is implemented during execution.
  • the embodiments of the present application further provide a computer-readable storage medium, and the computer program stored in the storage medium enables the processor to execute the vehicle control method described in the embodiments of the present application.
  • Embodiments of the present application further provide a computer program product, including a computer program or computer instructions, which implements the vehicle control method when the computer program or computer instructions are executed by a processor.
  • embodiments of the embodiments of the present application may be provided as methods, apparatuses, or computer program products. Accordingly, the embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing terminal equipment to produce a machine that causes the instructions to be executed by the processor of the computer or other programmable data processing terminal equipment Means are created for implementing the functions specified in the flow or flows of the flowcharts and/or the blocks or blocks of the block diagrams.
  • These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing terminal equipment to operate in a particular manner, such that the instructions stored in the computer readable memory result in an article of manufacture comprising instruction means, the The instruction means implement the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

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  • Engineering & Computer Science (AREA)
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  • Radar, Positioning & Navigation (AREA)
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  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Forklifts And Lifting Vehicles (AREA)
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Abstract

L'invention concerne un procédé et un appareil de commande de véhicule, un dispositif, un produit et un support de stockage. Le procédé consiste à : tester l'état de fonctionnement d'un véhicule (S301) ; déterminer, en fonction de l'état de fonctionnement du véhicule, si le véhicule a besoin d'être dormant (S302) ; et lorsqu'il est déterminé que le véhicule a besoin d'être dormant, commander, en fonction de l'état de fonctionnement du véhicule, au moins une partie des composants configurés sur le véhicule pour qu'ils entrent dans un état dormant (S303). L'appareil de commande de véhicule comprend un module de détection (401), un module de détermination (402) et un module de commande de dormance (403). Le dispositif électronique comprend une mémoire, un processeur et un programme informatique. Un dispositif de transport comprend l'appareil de commande de véhicule et le véhicule. Le produit de programme informatique comprend un programme informatique ou une instruction informatique. Le support de stockage lisible par ordinateur comprend le programme informatique stocké. La présente invention vise à prolonger la durée de fonctionnement et à améliorer le taux d'utilisation de la quantité électrique du véhicule.
PCT/CN2021/133599 2021-03-30 2021-11-26 Procédé et appareil de commande de véhicule, dispositif, produit et support WO2022205973A1 (fr)

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CN117301927A (zh) * 2023-09-05 2023-12-29 福建时代星云科技有限公司 一种充电桩低功耗运行方法及终端
CN117301927B (zh) * 2023-09-05 2024-05-10 福建时代星云科技有限公司 一种充电桩低功耗运行方法及终端

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