WO2022237374A1 - 用于仓库中的物流车的控制方法和控制装置 - Google Patents
用于仓库中的物流车的控制方法和控制装置 Download PDFInfo
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- WO2022237374A1 WO2022237374A1 PCT/CN2022/084314 CN2022084314W WO2022237374A1 WO 2022237374 A1 WO2022237374 A1 WO 2022237374A1 CN 2022084314 W CN2022084314 W CN 2022084314W WO 2022237374 A1 WO2022237374 A1 WO 2022237374A1
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- logistics vehicle
- obstacle
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- 238000000034 method Methods 0.000 title claims abstract description 70
- 230000008569 process Effects 0.000 claims abstract description 8
- 230000008034 disappearance Effects 0.000 claims description 29
- 238000004590 computer program Methods 0.000 claims description 13
- 230000004044 response Effects 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000006735 deficit Effects 0.000 description 2
- 239000003086 colorant Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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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
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
Definitions
- the invention relates to the field of logistics vehicles, in particular, to a control method and control device for logistics vehicles in warehouses.
- logistics vehicles are usually used in warehouses to move goods.
- the logistics vehicle usually drives along a fixed route or autonomously navigates in the warehouse. No matter which way the logistics vehicle drives, in the process of the logistics vehicle driving to perform the handling task, it is inevitable that there will be an event that causes the logistics vehicle to be unable to continue driving, that is, to continue to perform the handling task.
- the operator working in the warehouse is required to find the logistics vehicle that cannot continue to drive, so as to deal with it accordingly, so as to continue to complete the handling task.
- it may be difficult for the operator to find the logistics vehicle that cannot continue to drive to complete the handling task in time which may lead to the inability to complete the handling task in the warehouse in time, and may even cause the logistics vehicle in the warehouse to fail. congestion, and even safety hazards.
- the object of the present invention is to provide a control method and control device for logistics vehicles in warehouses.
- a control method for a logistics vehicle in a warehouse includes: detecting the logistics vehicle during the process of driving the logistics vehicle in the warehouse to perform at least one handling task Whether there is a driving obstacle; if it is detected that the logistics vehicle has a driving obstacle, determine the type of driving obstacle; according to the determined type of driving obstacle, control the logistics vehicle to stop and/or terminate the current handling task.
- the method further includes: generating warning information for prompting the logistics vehicle to encounter a driving obstacle when it is detected that the logistics vehicle has a driving obstacle.
- the step of determining the type of the driving obstacle includes: in the case of detecting an obstacle on the driving path of the logistics vehicle, determining the type of the driving obstacle is the type of obstacle; in the case that the logistics vehicle is detected to have a fault, it is determined that the type of the driving obstacle is the fault type.
- the step of controlling the logistics vehicle to stop and/or terminate the current handling task includes: controlling the logistics vehicle to stop at the current location and wait for the first predetermined time; After waiting for the first predetermined time, determine whether the obstacle disappears; when it is determined that the obstacle disappears, control the logistics vehicle to continue driving to continue the current handling task; when it is determined that the obstacle has not disappeared, terminate the current handling task, And continue to execute the next carrying task in the at least one carrying task.
- control method further includes: in the case of determining that the obstacle has not disappeared, determining whether there is another route that can continue to perform the current handling task; in the case of determining that there is the other route, controlling the logistics vehicle Driving according to the other route to continue the execution of the current transport task; where it is determined that the other route does not exist, terminate the current transport task and continue to perform the next transport task in the at least one transport task.
- control method further includes: when it is determined that there is no other route, controlling the logistics vehicle to drive to a waiting position corresponding to the current handling task; sending a notification to the server and/or the operator terminal An assistance request for the operator to assist in completing the current handling task; after sending the assistance request for a second predetermined time, determine whether to receive completion information sent by the server and/or input by the operator in response to the assistance request, wherein the The completion information indicates that the current handling task has been completed with the assistance of the operator; when it is determined that the completion information is received, it is determined that the current handling task has been completed, and continue to perform the next handling task in the at least one handling task; wherein, If it is determined that the completion information has not been received, the current transport task is terminated, and the next transport task in the at least one transport task is continued to be executed.
- the step of controlling the logistics vehicle to stop and/or terminate the current handling task includes: controlling the logistics vehicle to stop at the current location, and terminating the execution of the at least A moving task includes all unfinished moving tasks of the current moving task.
- control method further includes: after detecting the driving obstacle, detecting whether the driving obstacle disappears; in the case of detecting that the driving obstacle disappears, stopping the execution of controlling the logistics vehicle to stop and/or terminating the current transport task. step, so that the logistics vehicle continues to perform the unfinished handling tasks of the logistics vehicle.
- control method further includes: when it is detected that the logistics vehicle has a driving obstacle, sending information about the driving obstacle to the server, wherein the information about the driving obstacle is used to make the server send the The relevant logistics vehicle at the current position of the logistics vehicle sends waiting information or new route information, so that the relevant logistics vehicle stops and waits or bypasses the current position of the logistics vehicle, wherein the current position of the logistics vehicle is the logistics vehicle.
- the position where the vehicle encounters a driving obstacle when it is detected that the logistics vehicle has a driving obstacle, sending information about the driving obstacle to the server, wherein the information about the driving obstacle is used to make the server send the The relevant logistics vehicle at the current position of the logistics vehicle sends waiting information or new route information, so that the relevant logistics vehicle stops and waits or bypasses the current position of the logistics vehicle, wherein the current position of the logistics vehicle is the logistics vehicle.
- the position where the vehicle encounters a driving obstacle is not a driving obstacle.
- the driving obstacle information includes: the current location of the logistics vehicle and obstacle information; when the determined type of driving obstacle is a failure type
- the driving obstacle information includes: the current location and fault information of the logistics vehicle.
- control method further includes: when the obstacle disappears, sending obstacle disappearance information indicating the obstacle disappearance to the server, wherein the obstacle disappearance information is used to make the server receive the driving obstacle information If the obstacle disappearance information is not received after the third predetermined time, send waiting information or new route information to the relevant logistics vehicle, or the obstacle disappearance information is used when the server has sent the waiting information to the relevant logistics vehicle.
- the server in response to the obstacle disappearance information, sends to the relevant logistics vehicle driving information indicating that the relevant logistics vehicle continues to drive, or stops sending new route information to the relevant logistics vehicle.
- control method further includes: when the handling task is terminated, sending task termination information indicating the terminated handling task to the server, wherein the task termination information is used to make the server send the terminated handling task
- the task is assigned to the logistics vehicle in the warehouse to perform the handling task.
- the new route information includes a new route that enables the relevant logistics vehicle to bypass the current location of the logistics vehicle, or the new route information is used to enable the relevant logistics vehicle to re-plan to bypass the current location of the logistics vehicle.
- the new route of the current location of the logistics vehicle so that the relevant logistics vehicle travels according to the new route included in the new route information or re-planned.
- control method further includes: receiving from the server waiting information or new route information sent by the server in response to receiving information on driving obstacles from other logistics vehicles; in the case of receiving the waiting information, controlling the logistics vehicle Stop and wait until receiving the driving information indicating that the logistics vehicle continues to travel from the server; in the case of receiving new route information, control the logistics vehicle to travel according to the new route included in the received new route information to bypass The current position of the other logistics vehicle, continue to complete the unfinished handling task in the at least one handling task, or control the logistics vehicle to re-plan a new route that can bypass the current position of the other logistics vehicle according to the received new route information , and travel according to the re-planned new route, so as to continue to complete the unfinished transportation tasks in the at least one transportation task.
- a control device for a logistics vehicle in a warehouse includes: a detection unit configured to be able to perform at least one handling task when the logistics vehicle travels in the warehouse In the process of detecting whether there is a driving obstacle in the logistics vehicle; the determination unit is configured to be able to determine the type of driving obstacle when the logistics vehicle is detected to have a driving obstacle; the vehicle control unit is configured to According to the determined type of driving obstacle, the logistics vehicle can be controlled to stop and/or terminate the current transport task.
- a computer program product in particular a computer readable program carrier, wherein the computer program product comprises computer program instructions which, when executed by a processor, cause processing
- the controller implements the control method for logistics vehicles in warehouses according to the present invention.
- the logistics vehicle when any logistics vehicle in the warehouse encounters a driving obstacle, the logistics vehicle can be stopped and/or the current handling task can be terminated, thereby improving the speed of the logistics vehicle in the warehouse.
- the safety and efficiency of carrying out the handling tasks when any logistics vehicle in the warehouse encounters a driving obstacle, the logistics vehicle can be stopped and/or the current handling task can be terminated, thereby improving the speed of the logistics vehicle in the warehouse. The safety and efficiency of carrying out the handling tasks.
- Fig. 1 shows a flow chart of a control method for logistics vehicles in a warehouse according to an exemplary embodiment of the present invention.
- Fig. 2 shows a detailed flowchart of a control method for logistics vehicles in a warehouse according to an exemplary embodiment of the present invention.
- Fig. 3 shows a flowchart of a control method for a server to control logistics vehicles in a warehouse according to an exemplary embodiment of the present invention.
- Fig. 4 shows a block diagram of a control device for logistics vehicles in a warehouse according to an exemplary embodiment of the present invention.
- Fig. 5 shows a block diagram of a control device used for a server to control logistics vehicles in a warehouse according to an exemplary embodiment of the present invention.
- Fig. 1 shows a flow chart of a control method for logistics vehicles in a warehouse according to an exemplary embodiment of the present invention.
- step S11 when the logistics vehicle is driving in the warehouse to perform at least one transport task, it is detected whether the logistics vehicle has a driving obstacle.
- the logistics vehicle may be any logistics vehicle that can perform cargo handling tasks in the warehouse, such as AGV, AMR, and the like.
- the occurrence of an obstacle in the logistics vehicle may refer to an event that the logistics vehicle encounters at least temporarily causing the logistics vehicle to be unable to continue driving and thus unable to continue to perform the handling task.
- the logistics vehicle encounters an obstacle or the logistics vehicle breaks down.
- whether the logistics vehicle encounters an obstacle can be detected through a camera, an infrared sensor or other detection devices set on the logistics vehicle, and it can be detected by detecting the main components of the logistics vehicle (for example, wheels, communication systems or predetermined sensors (such as with The relevant detection device based on the state of the navigation sensor)) detects whether the main components of the logistics vehicle fail to determine whether the logistics vehicle fails.
- the main components of the logistics vehicle for example, wheels, communication systems or predetermined sensors (such as with The relevant detection device based on the state of the navigation sensor)
- step S12 when it is detected that the logistics vehicle has a driving obstacle, the type of the driving obstacle is determined.
- the driving obstacle information may also be sent to the server.
- the driving obstacle information is used to make the server send waiting information or new route information to the relevant logistics vehicle in the warehouse that will pass the current location of the logistics vehicle, so that the relevant logistics vehicle stops and waits or bypasses the logistics vehicle.
- the current position of the logistics vehicle wherein the current position of the logistics vehicle is the position where the logistics vehicle encounters a driving obstacle.
- the current position of the logistics vehicle can be regarded as the position of the obstacle, so that the relevant logistics vehicle can avoid the obstacle by sending the driving obstacle information.
- the location of the obstacle can be used to replace the current location of the logistics vehicle above, so that the relevant logistics vehicle can avoid the obstacle more accurately.
- the driving obstacle information may include at least one of the following items: the current location of the logistics vehicle, obstacle information and fault information.
- the new route information may include a new route that enables the relevant logistics vehicle to bypass the current location of the logistics vehicle, or the new route information is used to enable the relevant logistics vehicle to re-plan to bypass the current location of the logistics vehicle.
- the new route of the current location of the logistics vehicle so that the relevant logistics vehicle travels according to the new route included in the new route information or re-planned.
- the server can perform overall scheduling control of the logistics vehicle in the warehouse, thereby effectively avoiding congestion caused by the logistics vehicle's driving obstacle. Failure to complete the handling task in time, or even cause safety hazards.
- step S12 the type of driving obstacle can be determined in the following manner:
- the driving obstacle information may include: the current location of the logistics vehicle and obstacle information.
- the obstacle information may indicate the presence of the obstacle, the location of the obstacle, and/or the type of the obstacle, among others.
- the driving obstacle information may include: the current location and fault information of the logistics vehicle.
- fault information may indicate the presence of a fault and/or the specific component that failed, etc.
- control method for logistics vehicles in the warehouse may also include the following Step: generating warning information for prompting the logistics vehicle to encounter a driving obstacle when it is detected that the logistics vehicle has a driving obstacle.
- the warning information here may be any form of warning information, and as an example, the warning information may include sound warning information and/or light warning information.
- the generated warning information may be the same or different according to the types of obstacles encountered by the logistics vehicle. For example, in the case of different types of driving obstacles in the logistics vehicle, warning information with sounds of different frequencies and/or lights of different colors can be generated.
- the information of the driving obstacle may be sent to the operator terminal at the same time or differently from the sending of the information of the driving obstacle to the server.
- the driving obstacle information can be sent to all operator terminals within the broadcast coverage of the logistics vehicle in the form of broadcast.
- step S13 according to the determined type of driving obstacle, the logistics vehicle is controlled to stop and/or the current transport task is terminated.
- step S13 may include the following steps:
- the logistics vehicle can be controlled to stop and wait at the current location, for example, waiting for a first predetermined time, such as 5 seconds (the first predetermined time can also be set to be greater than or less than 5 seconds according to actual needs) ).
- a first predetermined time such as 5 seconds
- obstacles such as dropped goods in the warehouse, packing boxes, etc.
- obstacles such as other vehicles in the warehouse, such as logistics vehicles, forklifts, etc. etc.
- the logistics vehicle can be controlled to continue driving to continue to perform the current handling task.
- obstacle disappearance information indicating the obstacle disappearance may also be sent to the server.
- the server by sending the obstacle disappearance information to the server, for example, if the server does not receive the obstacle disappearance information after receiving the driving obstacle information sent in step S12 for a third predetermined time, it can send waiting information to the relevant logistics vehicle or new route information.
- the third predetermined time may be greater than the first predetermined time.
- the server After the server receives the driving obstacle information, if it receives the obstacle disappearance information, it does not need to send waiting information or new route information to the relevant logistics vehicle.
- the current carrying task may be terminated, and the next carrying task in the at least one carrying task may continue to be executed.
- task termination information indicating that the current transport task has been terminated may also be sent to the server.
- the task termination information can be used to make the server assign the terminated transport task (current transport task) to the logistics vehicle in the warehouse to perform the transport task.
- the server can timely reassign the terminated transport task of the logistics vehicle to other logistics vehicles in the warehouse for execution, thereby ensuring that all transport tasks can be completed in a timely and efficient manner.
- the obstacle not disappeared information indicating that the obstacle has not disappeared may also be sent to the server.
- the server can also be configured to send waiting information or new route information to the relevant logistics vehicle if the obstacle has not disappeared after receiving the driving obstacle information.
- the current handling task may not be terminated directly, but the following steps are first performed:
- the logistics vehicle can re-plan the route by itself to determine whether there are other routes that can continue to perform the current handling task, or the logistics vehicle can send a request for re-routing to the server to receive information from the server whether there are other routes.
- the logistics vehicle may be controlled to drive according to the other route to continue performing the current transport task.
- the logistics vehicle when the logistics vehicle re-plans the route and determines that there is another route or receives another route from the server, the logistics vehicle can be made to drive along the other route to continue carrying out the transport task.
- the current transport task can be terminated (optionally, task termination information is sent to the server) when it is determined that there is no other route, and the next task in the at least one transport task can be continued. Handling tasks.
- the current handling task may not be terminated directly, but the following steps are performed:
- the logistics vehicle can be controlled to travel to a waiting position corresponding to the current transport task and wait.
- the logistics vehicle can be driven to a waiting position that is closer to the target location of the current handling task.
- an assistance request for notifying the operator to assist in completing the current handling task may be sent to the server and/or the operator terminal.
- the logistics vehicle can send an assistance request to the server, so that the server can send assistance information to the operator terminal according to the assistance request.
- the assistance information can be sent to both the server and the operator terminal or only to the operator terminal.
- the server and/or input by the operator in response to the assistance request it may be determined whether completion information sent by the server and/or input by the operator in response to the assistance request is received, wherein the completion information indicates that the assistance request has been completed by the operator. Assist in completing the current handling tasks.
- the logistics vehicle may receive from the server the completion information that the server received from the operator terminal. Additionally, the logistics vehicle may receive operator-entered completion information from the operator.
- the logistics vehicle may have an interface capable of interacting with the operator, such as a touch display, and the operator may select a relevant button on the touch display to input completion information through operations such as touch, click, and long press.
- the second predetermined time can be set longer, for example, 1 minute.
- the second predetermined time may be set to other times according to actual needs.
- the current transport task may be terminated (optionally, task termination information is sent to the server) when it is determined that the completion information has not been received, and the next transport task in the at least one transport task is continued to be executed.
- step S13 may include the following steps: controlling the logistics vehicle to stop at the current location, and terminating the execution of the The at least one handling task includes all unfinished handling tasks of the current handling task.
- the logistics vehicle can be stopped at the current position immediately. In addition, because the logistics vehicle fails to continue to perform the handling task, all unfinished handling tasks of the logistics vehicle can be terminated.
- task termination information indicating that all unfinished tasks of the logistics vehicle have been terminated may also be sent to the server.
- the task termination information can be used to make the server assign all the terminated unfinished tasks to logistics vehicles in the warehouse to perform the handling task.
- the server can timely reassign the terminated transport task of the logistics vehicle to other logistics vehicles in the warehouse for execution, thereby ensuring that all transport tasks can be completed in a timely and efficient manner.
- control method for the logistics vehicle in the warehouse according to the present invention may further include the following steps:
- step S11 After the running obstacle is detected in step S11, it is checked whether the running obstacle disappears. For example, during the execution of steps S12 to S13, it may be continuously and periodically detected whether the driving obstacle disappears.
- step S13 the step of controlling the parking of the logistics vehicle and/or terminating the current transport task is stopped, so that the logistics vehicle continues to perform the unfinished tasks of the logistics vehicle. handling tasks.
- step S12 can be executed immediately after step S11 is executed, and the driving obstacle usually does not disappear before step S12 is completed, so step S13 can be stopped when it is detected that the driving obstacle disappears.
- step S12 may also be stopped.
- the obstacle disappearance information indicating the disappearance of the driving obstacle can be sent to the server, so that the server can receive the driving obstacle information as described above. If the obstacle disappearance information is not received after the third predetermined time, send waiting information or new route information to the relevant logistics vehicle; or in the case that the server has sent waiting information or new route information to the relevant logistics vehicle , causing the server to send driving information indicating that the relevant logistics vehicle continues to drive to the relevant logistics vehicle in response to the obstacle disappearance information, or stop sending new route information to the relevant logistics vehicle.
- the current logistics vehicle may encounter driving obstacles while driving in the warehouse to perform at least one handling task, but other logistics vehicles in the warehouse may also encounter driving obstacles during the driving process, so the current logistics vehicle may also need Avoid other logistics vehicles that have driving obstacles.
- control method for a logistics vehicle in a warehouse may further include the following steps:
- Waiting information or new route information sent by the server in response to receiving travel obstacle information from other logistics vehicles is received from the server.
- the logistics vehicle can be controlled to stop and wait until the driving information indicating that the logistics vehicle continues to drive is received from the server.
- the logistics vehicle can be controlled to travel according to the new route included in the received new route information, so as to bypass the current position of the other logistics vehicles and continue to complete the at least one handling task.
- the handling task is not completed, or the logistics vehicle can be controlled to re-plan a new route that can bypass the current position of the other logistics vehicle according to the received new route information, and drive according to the re-planned new route to continue to complete the at least one handling Unfinished handling tasks in tasks.
- the server can perform overall scheduling control on the logistics vehicles in the warehouse, and reassign the handling tasks that cannot be completed by the logistics vehicles to other logistics vehicles in the warehouse, thereby improving the efficiency of carrying out the handling tasks.
- Fig. 2 shows a detailed flowchart of a control method for logistics vehicles in a warehouse according to an exemplary embodiment of the present invention.
- step S11 when the logistics vehicle is driving in the warehouse to perform at least one transport task, it is detected whether the logistics vehicle has a driving obstacle.
- driving obstacles can be detected periodically while the logistics vehicle is driving.
- step S11 In the case that no driving obstacle is detected in step S11 ("N" in FIG. 2 ), it may return to continue to execute step S11.
- step S12 may be executed to determine the type of driving obstacle. At this time, the driving obstacle information may also be sent to the server.
- step S13-1 it may be determined whether the type of driving obstacle is an obstacle type.
- step S13-1 determines that the type of driving obstacle is an obstacle type ("Y" in FIG. 2)
- step S13-2 may be executed to control the logistics vehicle to stop at the current location and wait for the first predetermined time. At this time, a warning message can also be generated.
- step S13-3 may be performed to determine whether the obstacle disappears.
- step S13-4 may be executed to control the logistics vehicle to continue driving to continue to perform the current transport task.
- obstacle disappearance information indicating the obstacle disappearance may also be sent to the server. Additionally, generation of alert messages can be stopped.
- step S13-5 may be performed to determine whether there are other routes that can continue to perform the current transport task. At this time, obstacle not disappearing information indicating that the obstacle has not disappeared may also be sent to the server.
- step S13-6 may be performed to control the logistics vehicle to drive according to the other routes to continue to perform the current transport task.
- step S13-7 may be performed to control the logistics vehicle to travel to a waiting position corresponding to the current transport task.
- step S13-8 may be executed to send an assistance request for notifying the operator to assist in completing the current transport task to the server and/or the operator terminal.
- step S13-9 may be performed to determine whether completion information sent by the server and/or input by the operator in response to the assistance request is received after a second predetermined time after sending the assistance request.
- step S13-10 may be performed to determine that the current transport task has been completed, and continue to perform the next task in the at least one transport task. Handling tasks.
- step S13-11 may be executed to terminate the current transport task and continue to perform the next transport in the at least one transport task Task. At this time, task termination information may be sent to the server.
- step S13-12 may be executed to control the The logistics vehicle stops at the current location, and terminates execution of all unfinished transportation tasks including the current transportation task in the at least one transportation task.
- step S13-13 may also be executed to send task termination information indicating that all unfinished tasks of the logistics vehicle have been terminated to the server.
- Fig. 2 does not show the detection of whether the driving obstacle disappears and other steps performed when detecting the disappearance of the driving obstacle described with reference to Fig. The steps to be taken in case of information.
- the method for controlling logistics vehicles in warehouses according to the present invention can be implemented through more or fewer steps than those shown in FIG. 2 .
- the logistics vehicle when any logistics vehicle in the warehouse encounters a driving obstacle, the logistics vehicle can be stopped and/or the current handling task can be terminated, thereby improving the performance of the logistics vehicle in the warehouse. mission safety and efficiency.
- Fig. 3 shows a flowchart of a control method for a server to control logistics vehicles in a warehouse according to an exemplary embodiment of the present invention.
- step S21 assign the to-be-assigned transportation task to the logistics vehicles in the warehouse to perform the transportation task.
- At least one handling task can be assigned to each logistics vehicle.
- step S22 the obstacle logistics vehicle receives the driving obstacle information from the logistics vehicle that is performing the transportation task in the warehouse, wherein the obstacle logistics vehicle is a logistics vehicle that has a driving obstacle.
- the driving impairment information may be the driving impairment information described above with reference to FIGS. 1 and 2 .
- the driving obstacle information may include: the current location of the obstacle logistics vehicle, obstacle information and/or failure information.
- step S23 send waiting information or new route information to the relevant logistics vehicles that will pass the current position of the obstacle logistics vehicle among the logistics vehicles that are performing the handling task according to the received driving obstacle information, so that the relevant logistics vehicles stop and wait or go around The current position of the logistics vehicle passing the obstacle, wherein the current position of the obstacle logistics vehicle is the position where the obstacle logistics vehicle has a driving obstacle.
- the new route information may include a new route that enables the relevant logistics vehicle to bypass the current location of the obstacle logistics vehicle, or the new route information uses The purpose is to make the relevant logistics vehicle re-plan a new route that can bypass the current location of the obstacle logistics vehicle, so that the relevant logistics vehicle travels according to the new route included in the new route information or re-planned.
- control method for controlling the logistics vehicle may also include the following steps:
- all the handling tasks that have been terminated by the obstacle logistics vehicle may be allocated as handling tasks to be assigned to the logistics vehicles in the warehouse to perform the handling tasks.
- the waiting information or new route information may not be sent to the relevant logistics vehicle immediately, but the following steps are first performed: determine whether the obstacle logistics vehicle receives Obstacle disappearance message indicating that the obstacle has disappeared. Waiting information or new route information may be sent to the relevant logistics vehicle only when it is determined that no obstacle disappearance information is received.
- the third predetermined time for example, it may be greater than 5 seconds
- the waiting information is not sent to the relevant logistics vehicle immediately Or new route information, but perform the following steps: determine whether the obstacle has not disappeared information indicating that the obstacle has not disappeared is received from the obstacle logistics vehicle after receiving the driving obstacle information. Waiting information or new route information may be sent to the relevant logistics vehicle only after it is determined that the obstacle has not disappeared.
- the control method for controlling the logistics vehicle in the warehouse may further include the following steps: when the driving obstacle information includes obstacle information, receiving an assistance request from the obstacle logistics vehicle for notifying the operator to assist in completing the current handling task of the obstacle logistics vehicle ; In response to the assistance request, send to the corresponding operator terminal assistance information for assisting in completing the current handling task of the obstacle logistics vehicle; receive the completion information indicating that the operator has assisted in completing the current handling task from the corresponding operator terminal; The obstacle logistics vehicle sends the completion information.
- a completion message is not received from the operator terminal (e.g., after a predetermined time period, such as 1 minute, after sending the assistance message)
- no completion message may be sent to the obstacle logistics vehicle, or an indication may be sent to the obstacle logistics vehicle Unfinished information about the current handling task that has not been completed.
- the control method for controlling the logistics vehicle in the warehouse for the server may also be included: determining whether the obstacle disappearance information indicating that the driving obstacle disappears has been received from the obstacle logistics vehicle; when it is determined that the obstacle disappearance information is received, sending a message indicating that the relevant logistics vehicle continues to drive to the relevant logistics vehicle driving information, or stop sending new route information to the relevant logistics vehicle.
- the server control method for controlling logistics vehicles in the warehouse of the present invention when any logistics vehicle in the warehouse encounters a driving obstacle, the logistics vehicle in the warehouse can be controlled by interacting with the logistics vehicle that has a driving obstacle.
- the overall scheduling control can improve the safety and efficiency of logistics vehicles performing handling tasks in the warehouse.
- Fig. 4 shows a block diagram of a control device for logistics vehicles in a warehouse according to an exemplary embodiment of the present invention.
- the control device for a logistics vehicle in a warehouse includes: a detection unit 11 , a determination unit 12 and a vehicle control unit 13 .
- the detection unit 11 is configured to be able to detect whether the logistics vehicle encounters a driving obstacle when the logistics vehicle is driving in the warehouse to perform at least one transport task.
- the determining unit 12 is configured to be able to determine the type of the driving obstacle when it is detected that the logistics vehicle has a driving obstacle.
- the vehicle control unit 13 is configured to control the logistics vehicle to stop and/or terminate the current transport task according to the determined type of driving obstacle.
- the logistics vehicle when any logistics vehicle in the warehouse has a driving obstacle, the logistics vehicle can be stopped and/or the current handling task can be terminated, thereby improving the performance of the logistics vehicle in the warehouse. mission safety and efficiency.
- Fig. 5 shows a block diagram of a control device used for a server to control logistics vehicles in a warehouse according to an exemplary embodiment of the present invention.
- a server control device for controlling logistics vehicles in a warehouse includes: a distribution unit 21 , a communication unit 22 and a control unit 23 .
- the allocating unit 21 is configured to be able to allocate the to-be-allocated transport tasks to the logistics vehicles in the warehouse to perform the transport tasks.
- the communication unit 22 is configured to be able to receive driving obstacle information from the obstacle logistics vehicle in the logistics vehicle that is performing the handling task in the warehouse, wherein the obstacle logistics vehicle is a logistics vehicle that has a driving obstacle.
- the control unit 23 is configured to be able to send waiting information or new route information to the relevant logistics vehicle that will pass the current position of the obstacle logistics vehicle among the logistics vehicles that are performing the handling task according to the received driving obstacle information, so as to make the relevant logistics vehicle stop
- the current position of the logistic vehicle waiting for or bypassing the obstacle wherein the current position of the logistic vehicle of the obstacle is the position where the obstacle occurs to the logistic vehicle of the obstacle.
- control device used for the server to control the logistics vehicle in the warehouse of the present invention when any logistics vehicle in the warehouse has a driving obstacle, it can interact with the logistics vehicle in the warehouse to control the logistics vehicle in the warehouse.
- the overall scheduling control can improve the safety and efficiency of logistics vehicles performing handling tasks in the warehouse.
- a computer program product is also provided, wherein the computer program product includes a computer program, and when the computer program is executed by a processor, the processor implements the method for use in a warehouse according to the present invention.
- a computer program product may comprise a computer program, program code, instructions, or some combination thereof, for individually or collectively instructing or configuring hardware devices to operate as desired.
- a computer program and/or program code may comprise a program or computer readable instructions executable by one or more hardware devices, software components, software modules, data files, data structures, etc. Examples of program code may include machine code generated by a compiler and higher level program code executed using an interpreter.
- each unit in the above-described apparatuses and apparatuses according to exemplary embodiments of the present invention may be implemented as hardware components or software modules.
- those skilled in the art can realize each unit by using, for example, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), or a processor according to the processes performed by each defined unit.
- FPGA field programmable gate array
- ASIC application specific integrated circuit
- S11 detects whether there is a driving obstacle in the logistics vehicle while the logistics vehicle is running in the warehouse to perform at least one handling task
- S13-2 controls the logistics vehicle to stop at the current location and waits for the first scheduled time
- S13-4 controls the logistics vehicle to continue driving to continue to perform the current handling task
- S13-8 Send an assistance request to the server and/or operator terminal to notify the operator to assist in completing the current handling task
- S13-12 Control the logistics vehicle to stop at the current location, and terminate the execution of all unfinished handling tasks including the current handling task in the at least one handling task
- S21 assigns the handling tasks to be assigned to the logistics vehicles in the warehouse that are waiting to perform the handling tasks
- S22 receives driving obstacle information from the obstacle logistics vehicle in the logistics vehicle that is performing the handling task in the warehouse
- S23 sends waiting information or new route information to the relevant logistics vehicle that will pass the current position of the obstacle logistics vehicle in the logistics vehicle that is performing the handling task according to the received driving obstacle information
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Abstract
一种用于仓库中的物流车的控制方法和控制装置。其中，用于仓库中的物流车的控制方法包括：在物流车在仓库中行驶以执行至少一个搬运任务的过程中，检测物流车是否出现行驶障碍（S11）；在检测到物流车出现行驶障碍的情况下，确定行驶障碍的类型（S12）；根据确定的行驶障碍的类型，控制物流车停车和/或终止当前搬运任务（S13）。基于用于仓库中的物流车的控制方法和控制装置，在仓库中任意物流车出现行驶障碍时，能够使物流车停车和/或终止当前搬运任务，从而提高物流车在仓库中执行搬运任务的安全性和效率。
Description
本发明涉及物流车领域，特别地，涉及一种用于仓库中的物流车的控制方法和控制装置。
随着仓库规模的日益扩大，为了提高货物的搬运效率，在仓库中通常使用物流车来搬运货物。
物流车在仓库中通常沿固定路线行驶或者自主导航行驶。无论物流车以哪种方式行驶，在物流车行驶以执行搬运任务的过程中，难免会出现导致物流车无法继续行驶、即无法继续执行搬运任务的事件。
通常，需要在仓库中工作的操作员来发现无法继续行驶的物流车，从而对其进行相应的处理，以继续完成搬运任务。然而，在仓库规模较大的情况下，操作员可能难以及时发现无法继续行驶以继续完成搬运任务的物流车，从而可能导致无法及时完成仓库内的搬运任务，甚至可能会造成仓库内物流车的拥堵，甚至安全隐患。
因此，现有的物流车的搬运方式难以高效地完成搬运任务。
发明内容
本发明的目的在于提供一种用于仓库中的物流车的控制方法和控制装置。
根据本发明的一方面，提供了一种用于仓库中的物流车的控制方法，所述控制方法包括：在物流车在仓库中行驶以执行至少一个搬运任务的过程中，检测所述物流车是否出现行驶障碍；在检测到所述物流车出现行驶障碍的情况下，确定行驶障碍的类型；根据确定的行驶障碍的类型，控制所述物流车停车和/或终止当前搬运任务。
可选地，所述方法还包括：在检测到所述物流车出现行驶障碍的情况 下，生成用于提示所述物流车出现行驶障碍的警示信息。
可选地，在检测到所述物流车出现行驶障碍的情况下，确定行驶障碍的类型的步骤包括：在检测到所述物流车的行驶路径上出现障碍物的情况下，确定行驶障碍的类型为障碍物类型；在检测到所述物流车出现故障的情况下，确定行驶障碍的类型为故障类型。
可选地，在确定行驶障碍的类型为障碍物类型的情况下，控制所述物流车停车和/或终止当前搬运任务的步骤包括：控制物流车在当前位置停车，并等待第一预定时间；在等待第一预定时间之后，确定障碍物是否消失；在确定障碍物消失的情况下，控制物流车继续行驶以继续执行当前搬运任务；在确定障碍物未消失的情况下，终止当前搬运任务，并继续执行所述至少一个搬运任务中的下一搬运任务。
可选地，所述控制方法还包括：在确定障碍物未消失的情况下，确定是否存在能够继续执行当前搬运任务的其他路线；在确定存在所述其他路线的情况下，控制所述物流车根据所述其他路线行驶以继续执行当前搬运任务；其中，在确定不存所述其他路线的情况下，终止当前搬运任务，并继续执行所述至少一个搬运任务中的下一搬运任务。
可选地，所述控制方法还包括：在确定不存其他路线的情况下，控制所述物流车行驶到与当前搬运任务对应的等待位置等待；向服务器和/或操作员终端发送用于通知操作员协助完成当前搬运任务的协助请求；在发送所述协助请求第二预定时间后，确定是否接收到服务器发送的和/或操作员输入的响应于所述协助请求的完成信息，其中，所述完成信息指示已由操作员协助完成当前搬运任务；在确定接收到完成信息的情况下，确定当前搬运任务已完成，并继续执行所述至少一个搬运任务中的下一搬运任务；其中，在确定未接收到完成信息的情况下，终止当前搬运任务，并继续执行所述至少一个搬运任务中的下一搬运任务。
可选地，在确定行驶障碍的类型为故障类型的情况下，控制所述物流车停车和/或终止当前搬运任务的步骤包括：控制所述物流车在当前位置停车，并终止执行所述至少一个搬运任务中包括当前搬运任务的所有未完成搬运任务。
可选地，所述控制方法还包括：在检测到行驶障碍之后，检测行驶障 碍是否消失；在检测到行驶障碍消失的情况下，停止执行控制所述物流车停车和/或终止当前搬运任务的步骤，以使所述物流车继续执行所述物流车的未完成的搬运任务。
可选地，所述控制方法还包括：在检测到所述物流车出现行驶障碍的情况下，向服务器发送行驶障碍信息，其中，所述行驶障碍信息用于使服务器向仓库中将途径所述物流车的当前位置的相关物流车发送等待信息或新路线信息，以使所述相关物流车停车等待或绕过所述物流车的当前位置，其中，所述物流车的当前位置为所述物流车出现行驶障碍的位置。
可选地，在确定的行驶障碍的类型为障碍物类型的情况下，所述行驶障碍信息包括：所述物流车的当前位置和障碍物信息；在确定的行驶障碍的类型为故障类型的情况下，所述行驶障碍信息包括：所述物流车的当前位置和故障信息。
可选地，所述控制方法还包括：在障碍物消失的情况下，向服务器发送指示障碍物消失的障碍物消失信息，其中，所述障碍物消失信息用于使服务器在接收到行驶障碍信息第三预定时间后未接收到障碍物消失信息的情况下，向所述相关物流车发送等待信息或新路线信息，或者所述障碍物消失信息用于在服务器已经向所述相关物流车发送等待信息或新路线信息的情况下，使服务器响应于障碍消失信息而向所述相关物流车发送指示所述相关物流车继续行驶的行驶信息，或停止向相关物流车发送新路线信息。
可选地，所述控制方法还包括：在终止了搬运任务的情况下，向服务器发送指示已终止的搬运任务的任务终止信息，其中，所述任务终止信息用于使服务器将已终止的搬运任务分配给仓库中待执行搬运任务的物流车。
可选地，所述新路线信息包括能够使所述相关物流车绕过所述物流车的当前位置的新路线，或者所述新路线信息用于使所述相关物流车重新规划能够绕过所述物流车的当前位置的新路线，以使所述相关物流车按照新路线信息所包括的或重新规划的新路线行驶。
可选地，所述控制方法还包括：从服务器接收服务器响应于从其他物流车接收到行驶障碍信息而发送的等待信息或新路线信息；在接收到等待信息的情况下，控制所述物流车停车等待，直至从服务器接收到指示所述 物流车继续行驶的行驶信息为止；在接收到新路线信息的情况下，控制所述物流车根据接收的新路线信息包括的新路线行驶，以绕过所述其他物流车的当前位置，继续完成所述至少一个搬运任务中的未完成搬运任务，或者控制物流车根据接收的新路线信息重新规划能够绕过所述其他物流车的当前位置的新路线，并按照重新规划的新路线行驶，以继续完成所述至少一个搬运任务中的未完成搬运任务。
根据本发明的另一方面，提供了一种用于仓库中的物流车的控制装置，所述控制装置包括：检测单元，其被配置为能够在物流车在仓库中行驶以执行至少一个搬运任务的过程中，检测所述物流车是否出现行驶障碍；确定单元，其被配置为能够在检测到所述物流车出现行驶障碍的情况下，确定行驶障碍的类型；车辆控制单元，其被配置为能够根据确定的行驶障碍的类型，控制所述物流车停车和/或终止当前搬运任务。
根据本发明的另一方面，提供了一种计算机程序产品、特别是计算机可读程序载体，其中，所述计算机程序产品包括计算机程序指令，所述计算机程序指令在被处理器执行时，使得处理器实施根据本发明的用于仓库中的物流车的控制方法。
根据本发明的用于仓库中的物流车的控制方法和控制装置，能够在仓库中任意物流车出现行驶障碍时，使该物流车停车和/或终止当前搬运任务，从而能够提高物流车在仓库中执行搬运任务的安全性和效率。
通过以下结合附图所作的详细描述，将更全面地理解本发明的前述和其他方面，附图包括：
图1示出了根据本发明的一个示例性实施例的用于仓库中的物流车的控制方法的流程图。
图2示出了根据本发明的一个示例性实施例的用于仓库中的物流车的控制方法的详细流程图。
图3示出了根据本发明的一个示例性实施例的用于服务器的对仓库中的物流车进行控制的控制方法的流程图。
图4示出了根据本发明的一个示例性实施例的用于仓库中的物流车的 控制装置的框图。
图5示出了根据本发明的一个示例性实施例的用于服务器的对仓库中的物流车进行控制的控制装置的框图。
下面，将参照附图更为详细地描述本发明的一些示例性实施例，以便更好地理解本发明的基本思想和优点。
图1示出了根据本发明的一个示例性实施例的用于仓库中的物流车的控制方法的流程图。
参照图1，在步骤S11，在物流车在仓库中行驶以执行至少一个搬运任务的过程中，检测所述物流车是否出现行驶障碍。
这里，物流车可以是能够在仓库中执行货物搬运任务的任意物流车、例如AGV、AMR等。
作为示例，物流车出现行驶障碍可指物流车遇到至少导致物流车暂时无法继续行驶从而无法继续执行搬运任务的事件。例如，物流车遇到障碍物或者物流车出现故障等。
例如，可通过物流车上设置的相机、红外传感器或其他检测装置来检测物流车是否遇到障碍物，可通过用于检测物流车的主要部件(例如，车轮、通信系统或预定传感器(例如用于导航的传感器))的状态的相关检测装置来检测物流车的主要部件是否出现故障，来确定物流车是否出现故障。
在步骤S12，在检测到所述物流车出现行驶障碍的情况下，确定行驶障碍的类型。
此外，为了便于仓库内的物流车的整体调度，可选地，在检测到所述物流车出现行驶障碍的情况下，在步骤S12中还可向服务器发送行驶障碍信息。
作为示例，所述行驶障碍信息用于使服务器向仓库中将途径所述物流车的当前位置的相关物流车发送等待信息或新路线信息，以使所述相关物流车停车等待或绕过所述物流车的当前位置，其中，所述物流车的当前位置为所述物流车出现行驶障碍的位置。
这里，在检测到障碍物的情况下，可将所述物流车的当前位置视为障 碍物的位置，以通过发送行驶障碍信息来使相关物流车避开障碍物。此外，应该理解，在能够确定障碍物的具体位置的情况下，可使用障碍物的位置来替换以上物流车的当前位置，以使得相关物流车更精确地避开障碍物。
例如，行驶障碍信息可包括以下项中的至少一项：所述物流车的当前位置、障碍物信息和故障信息。
作为示例，所述新路线信息可包括能够使所述相关物流车绕过所述物流车的当前位置的新路线，或者所述新路线信息用于使所述相关物流车重新规划能够绕过所述物流车的当前位置的新路线，以使所述相关物流车按照新路线信息所包括的或重新规划的新路线行驶。
这里，在物流车出现行驶障碍的情况下，通过向服务器发送相关行驶障碍信息，可使得服务器对仓库内的物流车进行整体调度控制，从而可有效避免由于物流车出现行驶障碍而导致的拥堵、无法及时完成搬运任务、甚至造成安全隐患的情况。
作为示例，在步骤S12中可通过如下方式确定行驶障碍类型：
在检测到所述物流车的行驶路径上出现障碍物的情况下，可确定行驶障碍的类型为障碍物类型。在这种情况下，作为示例，所述行驶障碍信息可包括：所述物流车的当前位置和障碍物信息。例如，障碍物信息可指示障碍物的存在、障碍物的位置和/或障碍物的类型等。
在检测到所述物流车出现故障的情况下，可确定行驶障碍的类型为故障类型。在这种情况下，作为示例，所述行驶障碍信息可包括：所述物流车的当前位置和故障信息。例如，故障信息可指示故障的存在和/或出现故障的具体部件等。
此外，为了使仓库中的操作员等注意到物流车出现行驶障碍，以协助移除障碍物或修复故障等，作为示例，根据本发明的用于仓库中的物流车的控制方法还可包括以下步骤：在检测到所述物流车出现行驶障碍的情况下，生成用于提示所述物流车出现行驶障碍的警示信息。
这里的警示信息可以是任意形式的警示信息，作为示例，警示信息可包括声音警示信息和/或光警示信息。
生成的警示信息可根据物流车出现的行驶障碍的类型相同或不同。例如，可在物流车出现不同类型的行驶障碍的情况下，生成具有不同频率的 声音和/或不同颜色的光等的警示信息。
此外，为了使得操作员进一步了解物流车出现的行驶障碍的情况，还可与向服务器发送行驶障碍信息同时或不同时地将行驶障碍信息发送到操作员终端。例如，可以以广播的形式将行驶障碍信息发送到物流车广播覆盖范围内的所有操作员终端。
之后，在步骤S13，根据确定的行驶障碍的类型，控制所述物流车停车和/或终止当前搬运任务。
在步骤S13的第一种情况下，即在确定行驶障碍的类型为障碍物类型的情况下，作为示例，步骤S13可包括以下步骤：
首先，控制物流车在当前位置停车，并等待第一预定时间。
这里，为了进一步确定障碍物状态是否变化，可控制物流车在当前位置停车等待，例如等待第一预定时间、例如5秒(也可根据实际需求而将第一预定时间设置为大于或小于5秒)。
之后，可在等待第一预定时间之后，确定障碍物是否消失。
例如，在第一预定时间内，障碍物(例如，仓库中掉落的货物、包装箱等)可能会被操作员移除，或者障碍物(例如，仓库中的其他车辆、例如物流车、叉车等)可能会自行离开。
在确定障碍物消失的情况下，可控制物流车继续行驶以继续执行当前搬运任务。此外，为了便于仓库内的物流车的整体调度，可选地，还可向服务器发送指示障碍物消失的障碍物消失信息。
这里，通过向服务器发送障碍物消失信息，可例如使得服务器在接收到步骤S12发送的行驶障碍信息第三预定时间后未接收到障碍物消失信息的情况下，向所述相关物流车发送等待信息或新路线信息。例如，第三预定时间可大于第一预定时间。
也就是说，服务器在接收到行驶障碍信息后，如果接收到障碍物消失信息，则可不必向相关物流车发送等待信息或新路线信息。
此外，在确定障碍物未消失的情况下，可终止当前搬运任务，并继续执行所述至少一个搬运任务中的下一搬运任务。此外，为了便于仓库内的物流车的整体调度，可选地，还可向服务器发送指示当前搬运任务已终止的任务终止信息。作为示例，任务终止信息可用于使服务器将已终止的搬 运任务(当前搬运任务)分配给仓库中待执行搬运任务的物流车。
这里，通过向服务器发送任务终止信息，可使得服务器能够及时地将该物流车已终止的搬运任务重新分配给仓库中的其他物流车来执行，从而能够保证所有搬运任务能够及时、高效地完成。
此外，可选地，在确定障碍物未消失的情况下，还可向服务器发送指示障碍物未消失的障碍物未消失信息。在这种情况下，还可使得服务器在接收到行驶障碍信息后在接收到障碍物未消失信息的情况下，向所述相关物流车发送等待信息或新路线信息。
此外，在确定障碍物未消失的情况下，为了提高物流车执行搬运任务的灵活性和可能性，可不直接终止当前搬运任务，而是首先执行以下步骤：
首先，可确定是否存在能够继续执行当前搬运任务的其他路线。
例如，物流车可自行重新规划路线以确定是否存在能够继续执行当前搬运任务的其他路线，或者物流车可向服务器发送重新规划路线的请求，以从服务器接收是否存在其他路线的信息。
之后，在确定存在所述其他路线的情况下，可控制所述物流车根据所述其他路线行驶以继续执行当前搬运任务。
例如，在物流车重新规划路线确定出存在其他路线或者从服务器接收到其他路线的情况下，可使得物流车按照该其他路线行驶，以继续执行搬运任务。
在这种情况下，可在确定不存所述其他路线的情况下，才终止当前搬运任务(可选地，向服务器发送任务终止信息)，并继续执行所述至少一个搬运任务中的下一搬运任务。
此外，为了进一步提高物流车执行任务的灵活性和可能性，在确定不存在其他路线的情况下，也可不直接终止当前搬运任务，而执行以下步骤：
首先，可控制所述物流车行驶到与当前搬运任务对应的等待位置等待。
例如，可使物流车行驶到距离当前搬运任务的目标地点较近的等待位置等待。
之后，可向服务器和/或操作员终端发送用于通知操作员协助完成当前搬运任务的协助请求。
例如，在物流车仅可与服务器通信的情况下，物流车可向服务器发送 协助请求，以使服务器根据协助请求将协助信息发送到操作员终端。在物流车可与服务器和操作员终端通信的情况下，可将协助信息发送到服务器和操作员终端二者或仅发送到操作员终端。
之后，可在发送所述协助请求第二预定时间后，确定是否接收到服务器发送的和/或操作员输入的响应于所述协助请求的完成信息，其中，所述完成信息指示已由操作员协助完成当前搬运任务。
例如，物流车可从服务器接收服务器从操作员终端接收的完成信息。此外，物流车可从操作员接收操作员输入的完成信息。例如，物流车可具有能够与操作员交互的接口、例如触摸显示器，操作员可通过触摸、点击、长按等操作选择触摸显示器上的相关按键来输入完成信息。
这里，由于物流车无法停在当前搬运任务的目标地点等待，因此为了给操作员预留较长的时间来完成当前搬运任务，可将第二预定时间设置的较长，例如，1分钟。然而，可根据实际需要而将第二预定时间设置为其他时间。
之后，在确定接收到完成信息的情况下，可确定当前搬运任务已完成，并继续执行所述至少一个搬运任务中的下一搬运任务。
可在确定未接收到完成信息的情况下，才终止当前搬运任务(可选地，向服务器发送任务终止信息)，并继续执行所述至少一个搬运任务中的下一搬运任务。
此外，在步骤S13的第二种情况下，即在确定行驶障碍的类型为故障类型的情况下，作为示例，步骤S13可包括以下步骤：控制所述物流车在当前位置停车，并终止执行所述至少一个搬运任务中包括当前搬运任务的所有未完成搬运任务。
在行驶障碍的类型为故障类型的情况下，为了保障物流车以及周围人/物的安全，可使物流车立即停在当前位置。此外，由于物流车出现故障无法继续执行搬运任务，因此可终止物流车的所有未完成搬运任务。
此外，为了便于仓库内的物流车的整体调度，可选地，还可向服务器发送指示所述物流车的所有未完成任务已终止的任务终止信息。此时，任务终止信息可用于使服务器将已终止的所有未完成任务分配给仓库中待执行搬运任务的物流车。
这里，通过向服务器发送任务终止信息，可使得服务器能够及时地将该物流车已终止的搬运任务重新分配给仓库中的其他物流车来执行，从而能够保证所有搬运任务能够及时、高效地完成。
此外，由于物流车的行驶障碍可能会被修复，因此作为示例，根据本发明的用于仓库中的物流车的控制方法还可包括以下步骤：
在步骤S11检测到行驶障碍之后，检测行驶障碍是否消失。例如，可在执行步骤S12至步骤S13的过程中，持续周期性检测行驶障碍是否消失。
之后，可在检测到行驶障碍消失的情况下，停止执行控制所述物流车停车和/或终止当前搬运任务的步骤(步骤S13)，以使所述物流车继续执行所述物流车的未完成的搬运任务。
这里，由于在执行步骤S11之后即可立即执行步骤S12，行驶障碍通常不会在步骤S12完成之前消失，因此可在检测到行驶障碍消失的情况下停止执行步骤S13。然而，应该理解，如果在执行步骤S12之前或过程中检测到行驶障碍消失，则还可停止执行步骤S12。
此外，为了便于仓库内的物流车的整体调度，可选地，在障碍物消失的情况下，可向服务器发送指示行驶障碍消失的障碍消失信息，以使服务器如上所述在接收到行驶障碍信息第三预定时间后未接收到障碍物消失信息的情况下，向所述相关物流车发送等待信息或新路线信息；或者在服务器已经向所述相关物流车发送等待信息或新路线信息的情况下，使服务器响应于障碍消失信息而向所述相关物流车发送指示所述相关物流车继续行驶的行驶信息，或停止向相关物流车发送新路线信息。
此外，由于不仅当前物流车在仓库中行驶以执行至少一个搬运任务的过程中可能会出现行驶障碍，仓库中的其他物流车在行驶的过程中也有可能出现行驶障碍，因此当前物流车也可能需要避让出现行驶障碍的其他物流车。
在这种情况下，作为示例，根据本发明的用于仓库中的物流车的控制方法还可包括以下步骤：
从服务器接收服务器响应于从其他物流车接收到行驶障碍信息而发送的等待信息或新路线信息。
在接收到等待信息的情况下，可控制所述物流车停车等待，直至从服 务器接收到指示所述物流车继续行驶的行驶信息为止。
在接收到新路线信息的情况下，可控制所述物流车根据接收的新路线信息包括的新路线行驶，以绕过所述其他物流车的当前位置，继续完成所述至少一个搬运任务中的未完成搬运任务，或者可控制物流车根据接收的新路线信息重新规划能够绕过所述其他物流车的当前位置的新路线，并按照重新规划的新路线行驶，以继续完成所述至少一个搬运任务中的未完成搬运任务。
通过以上方式，可在物流车执行搬运任务的过程中出现行驶障碍的情况下，通过行驶障碍的不同情况，而执行不同的动作，从而能够增大物流车执行任务的灵活性和可能性。此外，通过与服务器的交互，可使得服务器对仓库内的物流车进行整体调度控制，并将物流车无法完成的搬运任务重新分配给仓库中另外的物流车，从而能够提高执行搬运任务的效率。
图2示出了根据本发明的一个示例性实施例的用于仓库中的物流车的控制方法的详细流程图。
参照图2，在步骤S11，在物流车在仓库中行驶以执行至少一个搬运任务的过程中，检测所述物流车是否出现行驶障碍。例如，可在物流车行驶过程中，周期性检测行驶障碍。
在步骤S11未检测到行驶障碍的情况下(图2中的“N”)，可返回继续执行步骤S11。
在步骤S11检测到行驶障碍的情况下(图2中的“Y”)，可执行步骤S12，确定行驶障碍的类型。此时，还可向服务器发送行驶障碍信息。
在步骤S13-1，可确定行驶障碍的类型是否为障碍物类型。
在步骤S13-1确定行驶障碍的类型为障碍物类型的情况下(图2中的“Y”)，可执行步骤S13-2，控制物流车在当前位置停车，并等待第一预定时间。此时，还可生成警示信息。
在等待第一预定时间之后，可执行步骤S13-3，确定障碍物是否消失。
在步骤S13-3确定障碍物消失的情况下(图2中的“Y”)，可执行步骤S13-4，控制物流车继续行驶以继续执行当前搬运任务。此时，还可向服务器发送指示障碍物消失的障碍物消失信息。此外，还可停止生成警示信息。
在步骤S13-3确定障碍物未消失的情况下(图2中的“N”)，可执行步 骤S13-5，确定是否存在能够继续执行当前搬运任务的其他路线。此时，还可向服务器发送指示障碍物未消失的障碍物未消失信息。
在步骤S13-5确定存在所述其他路线的情况下(图2中的“Y”)，可执行步骤S13-6，控制所述物流车根据所述其他路线行驶以继续执行当前搬运任务。
在步骤S13-5确定不存在所述其他路线的情况下(图2中的“N”)，可执行步骤S13-7，控制所述物流车行驶到与当前搬运任务对应的等待位置等待。
同时或之后，可执行步骤S13-8，向服务器和/或操作员终端发送用于通知操作员协助完成当前搬运任务的协助请求。
之后，可执行步骤S13-9，在发送所述协助请求第二预定时间后，确定是否接收到服务器发送的和/或操作员输入的响应于所述协助请求的完成信息。
在步骤S13-9确定接收到完成信息的情况下(图2中的“Y”)，可执行步骤S13-10，确定当前搬运任务已完成，并继续执行所述至少一个搬运任务中的下一搬运任务。
在步骤S13-9确定未接收到完成信息的情况下(图2中的“N”)，可执行步骤S13-11，终止当前搬运任务，并继续执行所述至少一个搬运任务中的下一搬运任务。此时，可向服务器发送任务终止信息。
此外，返回参照步骤S13-1，在步骤S13-1确定行驶障碍的类型不是障碍物类型而是故障类型的情况下(图2中的“N”)，可执行步骤S13-12，控制所述物流车在当前位置停车，并终止执行所述至少一个搬运任务中包括当前搬运任务的所有未完成搬运任务。
此外，同时或之后，还可执行步骤S13-13，向服务器发送指示所述物流车的所有未完成任务已终止的任务终止信息。
图2未示出参照图1所述的检测行驶障碍是否消失以及在检测到行驶障碍消失时所执行的其他步骤，以及在从服务器接收到与其他物流车的行驶障碍相关的等待信息和新路线信息的情况下所执行的步骤。
应该理解，根据实际需求，可通过比图2更多或更少的步骤来实现根据本发明的用于仓库中的物流车的控制方法。
根据本发明的用于仓库中的物流车的控制方法，能够在仓库中任意物流车出现行驶障碍时，使该物流车停车和/或终止当前搬运任务，从而能够提高物流车在仓库中执行搬运任务的安全性和效率。
图3示出了根据本发明的一个示例性实施例的用于服务器的对仓库中的物流车进行控制的控制方法的流程图。
参照图3，在步骤S21，向仓库中待执行搬运任务的物流车分配待分配的搬运任务。
例如，可向每个物流车分配至少一个搬运任务。
在步骤S22，从仓库中正在执行搬运任务的物流车中的障碍物流车接收行驶障碍信息，其中，障碍物流车为出现行驶障碍的物流车。
这里，行驶障碍信息可以是以上参照图1、图2描述的行驶障碍信息。作为示例，行驶障碍信息可包括：障碍物流车的当前位置、障碍物信息和/或故障信息。
在步骤S23，根据接收的行驶障碍信息向正在执行搬运任务的物流车中将途径障碍物流车的当前位置的相关物流车发送等待信息或新路线信息，以使所述相关物流车停车等待或绕过障碍物流车的当前位置，其中，障碍物流车的当前位置为障碍物流车出现行驶障碍的位置。
作为示例，与以上参照图1、图2所描述的类似地，所述新路线信息可包括能够使所述相关物流车绕过障碍物流车的当前位置的新路线，或者所述新路线信息用于使所述相关物流车重新规划能够绕过障碍物流车的当前位置的新路线，以使所述相关物流车按照新路线信息所包括的或重新规划的新路线行驶。
此外，在接收到行驶障碍信息之后，为了能够及时完成出现行驶障碍的物流车无法完成的搬运任务、即该物流车终止执行的搬运任务，作为示例，根据本发明的用于服务器的对仓库中的物流车进行控制的控制方法还可包括以下步骤：
确定是否从故障物流车接收到指示障碍物流车的已终止的搬运任务的任务终止信息。
在确定接收到任务终止信息的情况下，可将障碍物流车已终止的所有搬运任务作为待分配的搬运任务分配给仓库中待执行搬运任务的物流车。
这里，通过将故障物流车无法完成的搬运任务及时地重新分配给其他待执行搬运任务的物流车，能够保障搬运任务的高效完成。
此外，参照图1、图2所述，由于物流车在出现障碍物类型的行驶障碍的情况下，障碍物可能会被操作员清除或者自行离开。因此，在接收到行驶障碍信息后，可不立即向相关物流车发送等待信息或新路线信息，而是首先执行以下步骤：确定在接收到行驶障碍信息第三预定时间后是否从障碍物流车接收到指示障碍物消失的障碍物消失信息。可在确定未接收到障碍物消失信息的情况下，才向所述相关物流车发送等待信息或新路线信息。
也就是说，可在接收到行驶障碍信息一段时间(第三预定时间，例如可大于5秒)之后，确定没有接收到障碍物消失信息的情况下，才向相关物流车发送等待信息或新路线信息。
此外，作为示例，还可在接收到行驶障碍信息后(或者，还在接收到行驶障碍信息第三预定时间后没有接收到障碍物消失信息的情况下)，不立即向相关物流车发送等待信息或新路线信息，而是执行以下步骤：确定在接收到行驶障碍信息后是否从障碍物流车接收到指示障碍物未消失的障碍物未消失信息。可在确定接收到障碍物未消失信息的情况下，才向所述相关物流车发送等待信息或新路线信息。
此外，在仓库中的物流车无法与操作员终端通信的情况下，为了协助物流车与操作员之间的通信以完成物流车的当前搬运任务，作为示例，根据本发明的用于服务器的对仓库中的物流车进行控制的控制方法还可包括以下步骤：在行驶障碍信息包括障碍物信息的情况下，从障碍物流车接收用于通知操作员协助完成障碍物流车的当前搬运任务的协助请求；响应于所述协助请求，向相应操作员终端发送用于协助完成障碍物流车的当前搬运任务的协助信息；从相应操作员终端接收指示已由操作员协助完成当前搬运任务的完成信息；向障碍物流车发送所述完成信息。
应该理解，在(例如，在发送协助信息预定时间段、例如1分钟后)未从操作员终端接收到完成信息的情况下，可不向障碍物流车发送完成信息，或者可向障碍物流车发送指示当前搬运任务未完成的未完成信息。
此外，为了在障碍物流车确定其障碍消失的情况下，能够不再对其他物流车进行另外的调度控制，作为示例，根据本发明的用于服务器的对仓 库中的物流车进行控制的控制方法还可包括以下步骤：确定是否从障碍物流车接收到指示行驶障碍消失的障碍消失信息；在确定接收到障碍消失信息的情况下，向所述相关物流车发送指示所述相关物流车继续行驶的行驶信息，或停止向所述相关物流车发送新路线信息。
根据本发明的用于服务器的对仓库中的物流车进行控制的控制方法，能够在仓库中任意物流车出现行驶障碍时，通过与出现行驶障碍的物流车交互，而对仓库中的物流车进行整体调度控制，从而能够提高物流车在仓库中执行搬运任务的安全性和效率。
图4示出了根据本发明的一个示例性实施例的用于仓库中的物流车的控制装置的框图。
参照图4，根据本发明的用于仓库中的物流车的控制装置包括：检测单元11、确定单元12和车辆控制单元13。
检测单元11被配置为能够在物流车在仓库中行驶以执行至少一个搬运任务的过程中，检测所述物流车是否出现行驶障碍。
确定单元12被配置为能够在检测到所述物流车出现行驶障碍的情况下，确定行驶障碍的类型。
车辆控制单元13被配置为能够根据确定的行驶障碍的类型，控制所述物流车停车和/或终止当前搬运任务。
以上已经参照图1、图2对行驶障碍的检测、行驶障碍的类型以及根据行驶障碍的类型对物流车的控制进行了详细描述，这里不再赘述。
根据本发明的用于仓库中的物流车的控制装置，能够在仓库中任意物流车出现行驶障碍时，使该物流车停车和/或终止当前搬运任务，从而能够提高物流车在仓库中执行搬运任务的安全性和效率。
图5示出了根据本发明的一个示例性实施例的用于服务器的对仓库中的物流车进行控制的控制装置的框图。
参照图5，根据本发明的用于服务器的对仓库中的物流车进行控制的控制装置包括：分配单元21、通信单元22和控制单元23。
分配单元21被配置为能够向仓库中待执行搬运任务的物流车分配待分配的搬运任务。
通信单元22被配置为能够从仓库中正在执行搬运任务的物流车中的障 碍物流车接收行驶障碍信息，其中，障碍物流车为出现行驶障碍的物流车。
控制单元23被配置为能够根据接收的行驶障碍信息向正在执行搬运任务的物流车中将途径障碍物流车的当前位置的相关物流车发送等待信息或新路线信息，以使所述相关物流车停车等待或绕过障碍物流车的当前位置，其中，障碍物流车的当前位置为障碍物流车出现行驶障碍的位置。
以上已经参照图1至图3对搬运任务的分配、行驶障碍信息以及对根据行驶障碍信息对物流车的控制进行了详细描述，这里不再赘述。
根据本发明的用于服务器的对仓库中的物流车进行控制的控制装置，能够在仓库中任意物流车出现行驶障碍时，通过与出现行驶障碍的物流车交互，而对仓库中的物流车进行整体调度控制，从而能够提高物流车在仓库中执行搬运任务的安全性和效率。
根据本发明的示例性实施例还提供一种计算机程序产品，其中，所述计算机程序产品包括计算机程序，所述计算机程序在被处理器执行时，使得处理器实施根据本发明的用于仓库中的物流车的控制方法和/或用于服务器的对仓库中的物流车进行控制的控制方法。计算机程序产品可包括用于独立地或共同地命令或配置硬件装置以按照需要进行操作的计算机程序、程序代码、指令或它们的一些组合。计算机程序和/或程序代码可包括可由一个或多个硬件装置实施的程序或计算机可读指令、软件组件、软件模块、数据文件、数据结构等。程序代码的示例可包括由编译器产生的机器代码和使用解释器执行的更高级程序代码。
此外，根据本发明的示例性实施例的上述装置和设备中的各个单元可被实现为硬件组件或软件模块。此外，本领域技术人员可根据限定的各个单元所执行的处理，通过例如使用现场可编程门阵列(FPGA)、专用集成电路(ASIC)或处理器来实现各个单元。
尽管这里参考特定实施例说明和描述了本发明，但是本发明并不限于所示的细节。而是，可以在本发明的范围内对这些细节进行各种修改。
附图标记列表
S11在物流车在仓库中行驶以执行至少一个搬运任务的过程中，检测 所述物流车是否出现行驶障碍
S12确定行驶障碍的类型
S13根据确定的行驶障碍的类型，控制所述物流车停车和/或终止当前搬运任务
Y是
N否
S13-1确定故障类型是否为障碍物类型
S13-2控制物流车在当前位置停车，并等待第一预定时间
S13-3确定障碍物是否消失
S13-4控制物流车继续行驶以继续执行当前搬运任务
S13-5确定是否存在能够继续执行当前搬运任务的其他路线
S13-6控制所述物流车根据所述其他路线行驶以继续执行当前搬运任务
S13-7控制所述物流车行驶到与当前搬运任务对应的等待位置等待
S13-8向服务器和/或操作员终端发送用于通知操作员协助完成当前搬运任务的协助请求
S13-9确定是否接收到服务器发送的和/或操作员输入的响应于所述协助请求的完成信息
S13-10确定当前搬运任务已完成，并继续执行所述至少一个搬运任务中的下一搬运任务
S13-11终止当前搬运任务，并继续执行所述至少一个搬运任务中的下一搬运任务
S13-12控制所述物流车在当前位置停车，并终止执行所述至少一个搬运任务中包括当前搬运任务的所有未完成搬运任务
S13-13向服务器发送指示所述物流车的所有未完成任务已终止的任务终止信息
S21向仓库中待执行搬运任务的物流车分配待分配的搬运任务
S22从仓库中正在执行搬运任务的物流车中的障碍物流车接收行驶障碍信息
S23根据接收的行驶障碍信息向正在执行搬运任务的物流车中将途径 障碍物流车的当前位置的相关物流车发送等待信息或新路线信息
11检测单元
12确定单元
13车辆控制单元
21分配单元
22通信单元
23控制单元
Claims (16)
- 一种用于仓库中的物流车的控制方法，所述控制方法包括：在物流车在仓库中行驶以执行至少一个搬运任务的过程中，检测所述物流车是否出现行驶障碍；在检测到所述物流车出现行驶障碍的情况下，确定行驶障碍的类型；根据确定的行驶障碍的类型，控制所述物流车停车和/或终止当前搬运任务。
- 根据权利要求1所述的控制方法，其中，所述控制方法还包括：在检测到所述物流车出现行驶障碍的情况下，生成用于提示所述物流车出现行驶障碍的警示信息。
- 根据权利要求2所述的控制方法，其中，在检测到所述物流车出现行驶障碍的情况下，确定行驶障碍的类型的步骤包括：在检测到所述物流车的行驶路径上出现障碍物的情况下，确定行驶障碍的类型为障碍物类型；在检测到所述物流车出现故障的情况下，确定行驶障碍的类型为故障类型。
- 根据权利要求3所述的控制方法，其中，在确定行驶障碍的类型为障碍物类型的情况下，控制所述物流车停车和/或终止当前搬运任务的步骤包括：控制物流车在当前位置停车，并等待第一预定时间；在等待第一预定时间之后，确定障碍物是否消失；在确定障碍物消失的情况下，控制物流车继续行驶以继续执行当前搬运任务；在确定障碍物未消失的情况下，终止当前搬运任务，并继续执行所述至少一个搬运任务中的下一搬运任务。
- 根据权利要求4所述的控制方法，其中，所述控制方法还包括：在确定障碍物未消失的情况下，确定是否存在能够继续执行当前搬运任务的其他路线；在确定存在所述其他路线的情况下，控制所述物流车根据所述其他路线行驶以继续执行当前搬运任务；其中，在确定不存所述其他路线的情况下，终止当前搬运任务，并继续执行所述至少一个搬运任务中的下一搬运任务。
- 根据权利要求5所述的控制方法，其中，所述控制方法还包括：在确定不存其他路线的情况下，控制所述物流车行驶到与当前搬运任务对应的等待位置等待；向服务器和/或操作员终端发送用于通知操作员协助完成当前搬运任务的协助请求；在发送所述协助请求第二预定时间后，确定是否接收到服务器发送的和/或操作员输入的响应于所述协助请求的完成信息，其中，所述完成信息指示已由操作员协助完成当前搬运任务；在确定接收到完成信息的情况下，确定当前搬运任务已完成，并继续执行所述至少一个搬运任务中的下一搬运任务；其中，在确定未接收到完成信息的情况下，终止当前搬运任务，并继续执行所述至少一个搬运任务中的下一搬运任务。
- 根据权利要求3所述的控制方法，其中，在确定行驶障碍的类型为故障类型的情况下，控制所述物流车停车和/或终止当前搬运任务的步骤包括：控制所述物流车在当前位置停车，并终止执行所述至少一个搬运任务中包括当前搬运任务的所有未完成搬运任务。
- 根据权利要求4-7中任一项所述的控制方法，其中，所述控制方法还包括：在检测到行驶障碍之后，检测行驶障碍是否消失；在检测到行驶障碍消失的情况下，停止执行控制所述物流车停车和/或终止当前搬运任务的步骤，以使所述物流车继续执行所述物流车的未完成的搬运任务。
- 根据权利要求8所述的控制方法，其中，所述控制方法还包括：在检测到所述物流车出现行驶障碍的情况下，向服务器发送行驶障碍信息，其中，所述行驶障碍信息用于使服务器向仓库中将途径所述物流车的当前位置的相关物流车发送等待信息或新路线信息，以使所述相关物流车停车等待或绕过所述物流车的当前位置，其中，所述物流车的当前位置为所述物流车出现行驶障碍的位置。
- 根据权利要求9所述的控制方法，其中，在确定的行驶障碍的类型为障碍物类型的情况下，所述行驶障碍信息包括：所述物流车的当前位置和障碍物信息；在确定的行驶障碍的类型为故障类型的情况下，所述行驶障碍信息包括：所述物流车的当前位置和故障信息。
- 根据权利要求8所述的控制方法，其中，所述控制方法还包括：在障碍物消失的情况下，向服务器发送指示障碍物消失的障碍物消失信息，其中，所述障碍物消失信息用于使服务器在接收到行驶障碍信息第三预定时间后未接收到障碍物消失信息的情况下，向所述相关物流车发送等待信息或新路线信息，或者所述障碍物消失信息用于在服务器已经向所述相关物流车发送等待信息或新路线信息的情况下，使服务器响应于障碍消失信息而向所述相关物流车发送指示所述相关物流车继续行驶的行驶信息，或停止向相关物流车发送新路线信息。
- 根据权利要求4-7、9-11中任一项所述的控制方法，其中，所述控 制方法还包括：在终止了搬运任务的情况下，向服务器发送指示已终止的搬运任务的任务终止信息，其中，所述任务终止信息用于使服务器将已终止的搬运任务分配给仓库中待执行搬运任务的物流车。
- 根据权利要求9-11中任一项所述的控制方法，其中，所述新路线信息包括能够使所述相关物流车绕过所述物流车的当前位置的新路线，或者所述新路线信息用于使所述相关物流车重新规划能够绕过所述物流车的当前位置的新路线，以使所述相关物流车按照新路线信息所包括的或重新规划的新路线行驶。
- 根据权利要求11所述的控制方法，其中，所述控制方法还包括：从服务器接收服务器响应于从其他物流车接收到行驶障碍信息而发送的等待信息或新路线信息；在接收到等待信息的情况下，控制所述物流车停车等待，直至从服务器接收到指示所述物流车继续行驶的行驶信息为止；在接收到新路线信息的情况下，控制所述物流车根据接收的新路线信息包括的新路线行驶，以绕过所述其他物流车的当前位置，继续完成所述至少一个搬运任务中的未完成搬运任务，或者控制物流车根据接收的新路线信息重新规划能够绕过所述其他物流车的当前位置的新路线，并按照重新规划的新路线行驶，以继续完成所述至少一个搬运任务中的未完成搬运任务。
- 一种用于仓库中的物流车的控制装置，所述控制装置包括：检测单元，其被配置为能够在物流车在仓库中行驶以执行至少一个搬运任务的过程中，检测所述物流车是否出现行驶障碍；确定单元，其被配置为能够在检测到所述物流车出现行驶障碍的情况下，确定行驶障碍的类型；车辆控制单元，其被配置为能够根据确定的行驶障碍的类型，控制所述物流车停车和/或终止当前搬运任务。
- 一种计算机程序产品、特别是计算机可读程序载体，其中，所述计算机程序产品包括计算机程序指令，所述计算机程序指令在被处理器执行时，使得处理器实施权利要求1-14中的任一项所述的控制方法。
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2021
- 2021-05-14 CN CN202110531439.7A patent/CN115344032A/zh active Pending
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2022
- 2022-03-31 WO PCT/CN2022/084314 patent/WO2022237374A1/zh active Application Filing
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| JP2006259877A (ja) * | 2005-03-15 | 2006-09-28 | Daifuku Co Ltd | 物品搬送設備 |
| US20100114405A1 (en) * | 2006-09-14 | 2010-05-06 | Elston Edwin R | Multiple zone sensing for materials handling vehicles |
| JP2011141663A (ja) * | 2010-01-06 | 2011-07-21 | Hitachi Plant Technologies Ltd | 無人搬送車、および、その走行制御方法 |
| CN104364121A (zh) * | 2012-05-14 | 2015-02-18 | 亚马逊科技公司 | 用于操纵移动驱动单元的系统和方法 |
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| US20200065749A1 (en) * | 2017-04-28 | 2020-02-27 | Bayerische Motoren Werke Aktiengesellschaft | Method for Operating Transport Systems |
| CN108415424A (zh) * | 2018-02-05 | 2018-08-17 | 腾讯科技（深圳）有限公司 | 智能机器人控制方法和装置、系统及存储介质 |
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| CN109062202A (zh) * | 2018-07-24 | 2018-12-21 | 北京京东尚科信息技术有限公司 | 基于物联网驱动的智能仓储配送系统 |
| CN111462481A (zh) * | 2020-03-03 | 2020-07-28 | 北京理工大学 | 包含多功能无人车的云大脑智能交通系统 |
| CN111413976A (zh) * | 2020-04-01 | 2020-07-14 | 安徽工业大学 | 一种agv控制系统及控制方法 |
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