Unmanned vehicle and long-distance anti-collision method, device and system thereof

Abstract

The application discloses an unmanned vehicle and a long-distance anti-collision method, device and system thereof. The method comprises the following steps: receiving a task distributed by a dispatch center and a walking path of the unmanned vehicle, wherein the walking path of the unmanned vehicle comprises each position point in the walking path of the unmanned vehicle and a walking direction of the unmanned vehicle at the position point; in the case that the current unmanned vehicle walks through each position point, determining whether there is a conflict position point in a predetermined number of position points after the current position point in the walking path; in the case that there is a conflict position point in the predetermined number of position points after the current position point in the walking path, acquiring the walking directions of two unmanned vehicles at the conflict position point; in the case that the walking directions of the two unmanned vehicles at the conflict position point are opposite, instructing the dispatch center to select one of the two unmanned vehicles and re-planning the walking path of the unmanned vehicle. In the case that the AGV trolley collides, only one vehicle can be stopped and turned, so that the time consumption is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of unmanned vehicle control, in particular to an unmanned vehicle and a long-distance anti-collision method, device and system thereof. BACKGROUND

[0002] In the dispatch control of AGV (Automated Guided Vehicle, unmanned vehicle), anti-collision is very important. Currently, there are two ways for AGV anti-collision: one is AGV system anti-collision, and the other is AGV dispatch control system using lock point anti-collision.

[0003] The first way is the last line of defense. Some AGVs do not have this mechanism. Normally, the movement and stop of AGV are controlled by the lock point method. AGV can lock the point that has not been occupied and the point that has been locked for the next walking. AGV can and only can run to the point (position) locked by the AGV. Through this method, two AGVs can run to at most two adjacent positions without colliding.

[0004] In anti-collision, there is a special case in a two-way path. Two AGVs may face each other and collide with each other. Even if the lock point method is used to stop and then the path is re-planned, it is still to stop at the adjacent two points and then wait for the path to be re-calculated. However, this method has a large lag. SUMMARY

[0005] In view of the above technical problems, the present application provides an unmanned vehicle and a long-distance anti-collision method, device and system thereof. In the case of AGV collision, only one vehicle can be stopped and turned, reducing the time consumption.

[0006] According to one aspect of the present application, a long-distance anti-collision method for an unmanned vehicle is provided, comprising:

[0007] receiving a task assigned by a dispatch center and a walking path of the unmanned vehicle issued, wherein the walking path of the unmanned vehicle comprises each position point in the walking path of the unmanned vehicle and the walking direction of the unmanned vehicle at the position point;

[0008] judging whether there is a conflict position point in a predetermined number of position points after the current position point in the walking path in the case that the current unmanned vehicle walks through each position point, wherein the conflict position point is a position point locked by the opponent unmanned vehicle;

[0009] in the case that there is a conflict position point in the predetermined number of position points after the current position point in the walking path, obtaining the walking direction of two unmanned vehicles at the conflict position point, wherein the two unmanned vehicles include the current unmanned vehicle and the opponent unmanned vehicle;

[0010] determining whether the walking directions of the two unmanned vehicles at the conflict position point are opposite;

[0011] in the case that the walking directions of the two unmanned vehicles at the conflict position point are opposite, instructing the dispatch center to select one of the two unmanned vehicles and re-plan the walking path of the unmanned vehicle.

[0012] In an embodiment of the present application, the method further comprises:

[0013] in the case that the walking directions of the two unmanned vehicles at the conflict position point are opposite, obtaining the distances of the two unmanned vehicles from the conflict position point;

[0014] determining whether the distance of the current unmanned vehicle from the conflict position point is less than the distance of the other unmanned vehicle from the conflict position point;

[0015] if the distance of the current unmanned vehicle from the conflict position point is less than the distance of the other unmanned vehicle from the conflict position point, controlling the current unmanned vehicle to stop running, removing the conflict position point from the walking path of the current unmanned vehicle, and instructing the dispatch center to re-plan the walking path of the current unmanned vehicle.

[0016] In an embodiment of the present application, the method further comprises:

[0017] if the distance of the current unmanned vehicle from the conflict position point is not less than the distance of the other unmanned vehicle from the conflict position point, controlling the current unmanned vehicle to continue running.

[0018] In an embodiment of the present application, the method further comprises:

[0019] in the case that there is a conflict position point in the predetermined number of position points after the current position point in the walking path, obtaining the walking path tables of the current unmanned vehicle and the other unmanned vehicle;

[0020] by querying the walking path tables of the current unmanned vehicle and the other unmanned vehicle, obtaining the walking directions of the two unmanned vehicles at the conflict position point and the distances of the two unmanned vehicles from the conflict position point.

[0021] In an embodiment of the present application, the method further comprises:

[0022] in the case that the walking directions of the two unmanned vehicles at the conflict position point are not opposite, controlling the current unmanned vehicle to continue running.

[0023] In an embodiment of the present application, the method further comprises:

[0024] determining whether the unmanned vehicle can lock the predetermined number of position points after the current position point in the walking path;

[0025] If the current position point and the predetermined number of position points after the current position point in the walking path cannot be locked by the unmanned vehicle, it is determined that there is a conflict position point in the current position point and the predetermined number of position points after the current position point, and the step of obtaining the walking directions of the two unmanned vehicles at the conflict position point is performed.

[0026] If the current position point and the predetermined number of position points after the current position point in the walking path can be locked by the unmanned vehicle, it is determined that there is no conflict position point in the current position point and the predetermined number of position points after the current position point, and the unmanned vehicle continues to run.

[0027] According to another aspect of the present application, an unmanned vehicle long-distance anti-collision device is provided, comprising:

[0028] A path receiving module is configured to receive a task assigned by a dispatch center and an unmanned vehicle walking path issued by the dispatch center, wherein the unmanned vehicle walking path comprises each position point in the unmanned vehicle walking path and a walking direction of the unmanned vehicle at the position point.

[0029] A conflict point judging module is configured to judge whether there is a conflict position point in the current position point and the predetermined number of position points after the current position point in the walking path when the current unmanned vehicle passes through each position point, wherein the conflict position point is a position point locked by an opponent unmanned vehicle.

[0030] A walking direction obtaining module is configured to obtain the walking directions of the two unmanned vehicles at the conflict position point when the conflict point judging module determines that there is a conflict position point in the current position point and the predetermined number of position points after the current position point in the walking path, wherein the two unmanned vehicles comprise the current unmanned vehicle and the opponent unmanned vehicle.

[0031] A walking direction judging module is configured to judge whether the walking directions of the two unmanned vehicles at the conflict position point are opposite.

[0032] An unmanned vehicle control module is configured to instruct the dispatch center to select one of the two unmanned vehicles to re-plan the unmanned vehicle walking path when the walking direction judging module determines that the walking directions of the two unmanned vehicles at the conflict position point are opposite.

[0033] In an embodiment of the present application, the unmanned vehicle long-distance anti-collision device further comprises:

[0034] A distance obtaining module is configured to obtain the distances of the two unmanned vehicles from the conflict position point when the walking direction judging module determines that the walking directions of the two unmanned vehicles at the conflict position point are opposite.

[0035] A distance judging module is configured to judge whether the distance of the current unmanned vehicle from the conflict position point is less than the distance of the opponent unmanned vehicle from the conflict position point.

[0036] The unmanned vehicle control module is further configured to, in a case where the distance judgment module determines that the distance of the current unmanned vehicle to the conflict position point is less than the distance of the opponent unmanned vehicle to the conflict position point, control the current unmanned vehicle to stop running, remove the conflict position point from the walking path of the current unmanned vehicle, and instruct the dispatch center to re-plan the walking path of the current unmanned vehicle.

[0037] In an embodiment of the present application, the unmanned vehicle control module is further configured to, in a case where the distance judgment module determines that the distance of the current unmanned vehicle to the conflict position point is not less than the distance of the opponent unmanned vehicle to the conflict position point, control the current unmanned vehicle to continue running.

[0038] In an embodiment of the present application, the unmanned vehicle long-distance anti-collision device further comprises:

[0039] The path table acquisition module is configured to, in a case where the conflict point judgment module determines that there is a conflict position point in the predetermined number of position points after the current position point in the walking path, acquire the walking path tables of the current unmanned vehicle and the opponent unmanned vehicle;

[0040] The walking direction acquisition module is configured to acquire the walking directions of the two unmanned vehicles at the conflict position point by querying the walking path tables of the current unmanned vehicle and the opponent unmanned vehicle.

[0041] The distance acquisition module is configured to acquire the distances of the two unmanned vehicles to the conflict position point by querying the walking path tables of the current unmanned vehicle and the opponent unmanned vehicle.

[0042] In an embodiment of the present application, the unmanned vehicle control module is further configured to, in a case where the walking direction judgment module determines that the walking directions of the two unmanned vehicles at the conflict position point are not opposite, control the current unmanned vehicle to continue running.

[0043] In an embodiment of the present application, the conflict point judgment module is configured to judge whether the unmanned vehicle can lock the predetermined number of position points after the current position point in the walking path; in a case where the unmanned vehicle cannot lock the predetermined number of position points after the current position point in the walking path, determine that there is a conflict position point in the predetermined number of position points after the current position point, and instruct the walking direction acquisition module to perform the operation of acquiring the walking directions of the two unmanned vehicles at the conflict position point; in a case where the unmanned vehicle can lock the predetermined number of position points after the current position point in the walking path, determine that there is no conflict position point in the predetermined number of position points after the current position point, and instruct the unmanned vehicle control module to control the unmanned vehicle to continue running.

[0044] According to another aspect of the present application, there is provided an unmanned vehicle long-distance anti-collision device, comprising a memory and a processor, wherein:

[0045] The memory is configured to store instructions;

[0046] a processor configured to execute the instructions to cause the apparatus to perform operations to implement the method for preventing collision between AGVs at a long distance according to any one of the preceding embodiments.

[0047] According to another aspect of the present application, there is provided an AGV comprising the device for preventing collision between AGVs at a long distance according to any one of the preceding embodiments.

[0048] According to another aspect of the present application, there is provided an AGV system for preventing collision between AGVs at a long distance, comprising a dispatch center and the device for preventing collision between AGVs at a long distance according to any one of the preceding embodiments.

[0049] According to another aspect of the present application, there is provided a computer readable storage medium storing computer instructions, which when executed by a processor, implement the method for preventing collision between AGVs at a long distance according to any one of the preceding embodiments.

[0050] In the present application, in the case of collision between AGVs, only one vehicle is stopped and turned, and the other vehicle is ensured not to be stopped, thereby reducing time consumption from two aspects. First, the time for re-planning and calculating the path is not performed in the case of stopping of both vehicles; second, both vehicles do not have to be slowed down and stopped, and then accelerated to run, thereby improving the utilization rate of the AGV. BRIEF DESCRIPTION OF DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0052] Figure 1 FIG. 1 is a schematic diagram of an embodiment of the AGV system for preventing collision between AGVs at a long distance according to the present application.

[0053] Figure 2 FIG. 1 is a schematic diagram of an embodiment of the AGV system for preventing collision between AGVs at a long distance according to the present application.

[0054] Figure 3 FIG. 1 is a schematic diagram of an embodiment of the AGV system for preventing collision between AGVs at a long distance according to the present application.

[0055] Figure 4 FIG. 1 is a schematic diagram of an embodiment of the AGV system for preventing collision between AGVs at a long distance according to the present application.

[0056] Figure 5 FIG. 1 is a schematic diagram of an embodiment of the AGV system for preventing collision between AGVs at a long distance according to the present application.

[0057] Figure 6Navigation and running environment map of the unmanned aerial vehicle in one embodiment of the present application.

[0058] Figure 7a And Figure 7b Navigation and running environment map of the unmanned aerial vehicle in another embodiment of the present application.

[0059] Figure 8 Schematic diagram of another embodiment of the long-distance anti-collision device of the unmanned vehicle of the present application. DETAILED DESCRIPTION

[0060] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way limiting on the application or its applications or uses. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of the present application.

[0061] Unless otherwise specifically stated, the relative arrangements of parts and steps, numerical expressions, and numerical values set forth in the various examples disclosed herein are only to be used for illustrative purposes.

[0062] It should be understood that the sizes of the various portions shown in the drawings are not necessarily drawn to scale.

[0063] Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail in order to avoid obscuring the present application.

[0064] In all of the examples shown and discussed herein, any specific values should be interpreted as illustrative only and not as a limitation. Thus, other examples of the exemplary embodiments can have different values.

[0065] It should be noted that like reference numerals and letters refer to like items in the following drawings, and thus, once an item is defined in one drawing, it need not be discussed further in subsequent drawings.

[0066] The applicant finds that the current AGV lock point technology is a way of re-planning the path after anti-collision, in which two AGVs stop at the final points of their respective lock points, and when the two vehicles stop at adjacent two points, one AGV re-plans the path, and after the AGV avoids, the collision exception is resolved. This way is relatively lagging, and the present application aims to eliminate the lag time.

[0067] Figure 1It is a schematic view of an embodiment of the unmanned vehicle long-distance anti-collision system of the present application. As shown in the figure, the unmanned vehicle long-distance anti-collision system comprises a dispatch center 1 and an unmanned vehicle long-distance anti-collision device 2, wherein: Figure 1

[0068] The unmanned vehicle long-distance anti-collision device 2 is arranged in each unmanned vehicle 3.

[0069] The dispatch center 1 is configured to assign tasks to the unmanned vehicle long-distance anti-collision device 2 and issue an unmanned vehicle walking path, wherein the unmanned vehicle walking path comprises each position point in the unmanned vehicle walking path and the walking direction of the unmanned vehicle at the position point.

[0070] The unmanned vehicle long-distance anti-collision device 2 is configured to determine whether there is a conflict position point in a predetermined number of position points after the current position point in the walking path when the current unmanned vehicle passes through each position point, wherein the conflict position point is a position point locked by an opponent unmanned vehicle; in the case that there is a conflict position point in a predetermined number of position points after the current position point in the walking path, obtain the walking directions of two unmanned vehicles at the conflict position point, wherein the two unmanned vehicles include the current unmanned vehicle and the opponent unmanned vehicle; determine whether the walking directions of the two unmanned vehicles at the conflict position point are opposite; in the case that the walking directions of the two unmanned vehicles at the conflict position point are opposite, instruct the dispatch center to select one of the two unmanned vehicles to re-plan the unmanned vehicle walking path.

[0071] Based on the unmanned vehicle long-distance anti-collision system and the unmanned vehicle provided by the above embodiment of the present application, direction information is added in the table stored in the AGV path, if the collision of two AGVs encounters an obstacle at the locking point, i.e. another point cannot be locked, the detailed information corresponding to the point that cannot be locked is immediately determined, if the other party is another AGV or the point locked by the other party, the direction information of the other party at the point is determined, whether the directions of the two vehicles at the point are opposite is determined, if they are opposite, one of the AGVs is immediately selected to re-plan the path of the AGV.

[0072] Therefore, in the above embodiment of the present application, when the two vehicles are still running (without running to the position in front of the opposite AGV), the control system is reported, one of the AGVs is selected, and the path of the AGV is recalculated to reach the situation that the collision is avoided without stopping or stopping only one AGV, and the lag time of the existing scheme is eliminated.

[0073] In the case of AGV collision in the above embodiment of the present application, only one vehicle can be stopped and turned, and the other vehicle can be ensured not to stop, thereby reducing the time consumption from two aspects. First, the time for re-planning and calculating the path is not performed in the case that the two vehicles are stopped; second, the two vehicles do not have to be slowed down and stopped, and then accelerated to run, thereby improving the utilization rate of the trolley.​

[0074] The structure and function of the unmanned vehicle long-distance collision avoidance device 2 are further described below through specific embodiments.

[0075] Figure 2 This is a schematic diagram of an embodiment of the long-distance collision avoidance device for an unmanned vehicle of the present invention. Figure 2 As shown, Figure 1 The unmanned vehicle long-distance collision avoidance device 2 of the embodiment may include a path receiving module 21, a conflict point determination module 22, a walking direction acquisition module 23, a walking direction determination module 24 and an unmanned vehicle control module 25, wherein:

[0076] The path receiving module 21 is used to receive the tasks assigned by the dispatching center 1 and the unmanned vehicle walking path issued, wherein the unmanned vehicle walking path includes each position point in the unmanned vehicle walking path and the walking direction of the unmanned vehicle at the position point.

[0077] In one embodiment of the present invention, the unmanned vehicle walking path may include a walking path table, wherein the walking path table includes each position point in the unmanned vehicle walking path, the coordinates of the position point, and the walking direction of the unmanned vehicle at the position point.

[0078] The conflict point judgment module 22 is used to judge whether there is a conflict point among a predetermined number of points after the current position point in the walking path each time the current unmanned vehicle passes a position point, wherein the conflict point is a position point locked by the other unmanned vehicle.

[0079] In one embodiment of the present invention, the predetermined number can be any value between 5 and 50 according to circumstances.

[0080] The walking direction acquisition module 23 is used to obtain the walking directions of the two unmanned vehicles at the conflicting location point when the conflict point judgment module 22 determines that there is a conflicting location point among a predetermined number of locations after the current location point in the walking path, where the two unmanned vehicles include the current unmanned vehicle and the other unmanned vehicle.

[0081] The walking direction determination module 24 is used to determine whether the walking directions of the two unmanned vehicles at the conflicting position are opposite.

[0082] The unmanned vehicle control module 25 is used to select one of the two unmanned vehicles when the walking direction judgment module 24 determines that the two unmanned vehicles are walking in opposite directions at the conflict location point, and instruct the dispatching center 1 to replan the unmanned vehicle walking path of the selected unmanned vehicle.

[0083] In one embodiment of the present invention, the conflict point judgment module 22 can be used to determine whether the unmanned vehicle can lock a predetermined number of position points after the current position point in the walking path; if the unmanned vehicle cannot lock a predetermined number of position points after the current position point in the walking path, it is determined that there is a conflict position point among the predetermined number of position points after the current position point, and the walking direction acquisition module 23 is instructed to execute the operation of the unmanned vehicle to obtain the walking directions of the two unmanned vehicles at the conflict position point; if the unmanned vehicle can lock a predetermined number of position points after the current position point in the walking path, it is determined that there is no conflict position point among the predetermined number of position points after the current position point, and the unmanned vehicle control module 25 is instructed to control the unmanned vehicle to continue running.

[0084] In one embodiment of the present invention, the unmanned vehicle control module 25 can also be used to control the current unmanned vehicle to continue running when the walking direction judgment module 24 determines that the walking directions of the two unmanned vehicles at the conflict location are not opposite.

[0085] Based on the unmanned vehicle long-distance anti-collision device provided by the above embodiment of the present invention, direction information is added to the table storing the AGV vehicle path. If the collision of two AGVs encounters an obstacle at the locking point, that is, when the other point cannot be locked, the detailed information corresponding to the point that cannot be locked is immediately determined. If the other party is another AGV or the point it locks, the direction information of the other party at the point is determined, and whether the directions of the two vehicles at the point are opposite. If opposite, one of the AGVs is immediately selected to replan its path.

[0086] Therefore, the above embodiment of the present invention reports to the control system while the two vehicles are still in motion (have not run to the previous position of the opposite AGV), selects one of the AGVs, and recalculates the path of the AGV to avoid collision when the two vehicles do not stop or only stop one AGV, and eliminates the lag time of the existing solution.

[0087] In the event of a collision between two AGVs, the above-described embodiment of the present invention allows only one vehicle to stop and turn, while the other vehicle does not stop. This reduces time consumption in two ways. First, the recalculation of the route does not require both vehicles to stop. Second, both vehicles do not need to slow down and stop, then accelerate again, thereby improving vehicle utilization.

[0088] Figure 3 Schematic diagram of another embodiment of the long-distance collision avoidance device for unmanned vehicles of the present invention. Figure 2 Compared with the embodiment shown in Figure 3 In the illustrated embodiment, the unmanned vehicle long-distance collision avoidance device 2 may further include a distance acquisition module 26 and a distance judgment module 27, wherein:

[0089] The distance obtaining module 26 is configured to obtain the distances of the two unmanned vehicles from the conflict position point in the case that the walking direction judgment module 24 determines that the walking directions of the two unmanned vehicles at the conflict position point are opposite.

[0090] The distance judgment module 27 is configured to judge whether the distance of the current unmanned vehicle from the conflict position point is less than the distance of the opponent unmanned vehicle from the conflict position point.

[0091] The unmanned vehicle control module 25 is further configured to control the current unmanned vehicle to stop running, remove the conflict position point in the walking path of the current unmanned vehicle, and instruct the dispatch center 1 to re-plan the walking path of the current unmanned vehicle in the case that the distance judgment module 27 determines that the distance of the current unmanned vehicle from the conflict position point is less than the distance of the opponent unmanned vehicle from the conflict position point.

[0092] In an embodiment of the present application, the unmanned vehicle control module 25 is further configured to control the current unmanned vehicle to continue running in the case that the distance judgment module 27 determines that the distance of the current unmanned vehicle from the conflict position point is not less than the distance of the opponent unmanned vehicle from the conflict position point.

[0093] The above embodiments of the present application can compare the distance of the current unmanned vehicle from the conflict position point with the distance of the opponent unmanned vehicle from the conflict position point, stop the unmanned vehicle closer to the conflict position point, and re-plan the path, and the unmanned vehicle farther from the conflict position point continues to run. Thus, the above embodiments of the present application further reduce the time consumption.

[0094] In an embodiment of the present application, as shown in FIG. 2, the unmanned vehicle long-distance anti-collision device 2 further comprises a path table obtaining module 28, wherein: Figure 3

[0095] The path table obtaining module 28 is configured to obtain the walking path tables of the current unmanned vehicle and the opponent unmanned vehicle in the case that the conflict point judgment module 22 determines that there is a conflict position point in the predetermined number of position points after the current position point in the walking path.

[0096] The walking direction obtaining module 23 is configured to obtain the walking directions of the two unmanned vehicles at the conflict position point by querying the walking path tables of the current unmanned vehicle and the opponent unmanned vehicle.

[0097] The distance obtaining module 26 is configured to obtain the distances of the two unmanned vehicles from the conflict position point by querying the walking path tables of the current unmanned vehicle and the opponent unmanned vehicle.

[0098] The above embodiments of the present application can determine the walking directions of the two unmanned vehicles at the conflict position point and the distances of the two unmanned vehicles from the conflict position point by querying the walking path tables of the current unmanned vehicle and the opponent unmanned vehicle. ​

[0099] Figure 4 FIG. 2 is a schematic diagram of another embodiment of the method for long-distance anti-collision of the unmanned vehicle of the present application. Preferably, the embodiment can be executed by the long-distance anti-collision device or system of the unmanned vehicle of the present application. As shown in FIG. 2, the method can comprise: Figure 4

[0100] Step 41, receiving the task assigned by the dispatch center 1 and the issued unmanned vehicle walking path, wherein the unmanned vehicle walking path comprises each position point in the unmanned vehicle walking path and the walking direction of the unmanned vehicle at the position point.

[0101] In an embodiment of the present application, the unmanned vehicle walking path can comprise a walking path table, wherein the walking path table comprises each position point in the unmanned vehicle walking path, the coordinates of the position point, and the walking direction of the unmanned vehicle at the position point.

[0102] Step 42, determining whether there is a conflict position point in the predetermined number N of position points after the current position point in the walking path in the case that the current unmanned vehicle walks through each position point, wherein the conflict position point is a position point locked by the opponent unmanned vehicle.

[0103] In an embodiment of the present application, the predetermined number N can be selected as any value in the range of 5-50 according to the situation.

[0104] Step 43, obtaining the walking direction of the two unmanned vehicles at the conflict position point in the case that there is a conflict position point in the predetermined number of position points after the current position point in the walking path, wherein the two unmanned vehicles comprise the current unmanned vehicle and the opponent unmanned vehicle.

[0105] Step 44, determining whether the walking directions of the two unmanned vehicles at the conflict position point are opposite.

[0106] Step 45, selecting one of the two unmanned vehicles and instructing the dispatch center 1 to re-plan the unmanned vehicle walking path of the selected unmanned vehicle in the case that the walking directions of the two unmanned vehicles at the conflict position point are opposite.

[0107] In an embodiment of the present application, step 45 can also comprise: selecting one of the two unmanned vehicles and instructing the dispatch center to re-plan the unmanned vehicle walking path in the case that the walking directions of the two unmanned vehicles at the conflict position point are opposite. That is, the step of selecting one of the two unmanned vehicles can be executed by the long-distance anti-collision device 2 of the unmanned vehicle or by the dispatch center 1.

[0108] In an embodiment of the present application, the step of selecting one of the two unmanned vehicles can comprise randomly selecting any one of the two unmanned vehicles.

[0109] ​Based on the unmanned vehicle long-distance collision avoidance method provided by the above embodiment of the present invention, direction information is added to the table storing the AGV vehicle path. If the collision of two AGVs encounters an obstacle at the locking point, that is, when the other point cannot be locked, the detailed information corresponding to the point that cannot be locked is immediately determined. If the other party is another AGV or the point it locks, the direction information of the other party at the point is determined, and whether the directions of the two vehicles at the point are opposite. If opposite, one of the AGVs is immediately selected to replan its path.

[0110] Therefore, the above embodiment of the present invention reports to the control system while the two vehicles are still in motion (have not run to the previous position of the opposite AGV), selects one of the AGVs, and recalculates the path of the AGV to avoid collision when the two vehicles do not stop or only stop one AGV, and eliminates the lag time of the existing solution.

[0111] In the event of a collision between AGVs, the above-described embodiment of the present invention allows only one AGV to stop and turn, while the other does not stop. This reduces time consumption in two ways. First, the recalculation of the path does not require both AGVs to stop. Second, both AGVs do not need to slow down and stop before reaccelerating, thereby improving vehicle utilization.

[0112] Figure 5 Schematic diagram of an embodiment of the unmanned vehicle long-distance collision avoidance method of the present invention. Preferably, this embodiment can be executed by the unmanned vehicle long-distance collision avoidance device or system of the present invention. Figure 5 As shown, the method may include:

[0113] In step 51, the dispatch center 1 assigns tasks to the unmanned vehicle and sends the unmanned vehicle's walking path to the unmanned vehicle's long-distance collision avoidance device, where the unmanned vehicle's walking path includes each position point in the unmanned vehicle's walking path and the walking direction of the unmanned vehicle at the position point.

[0114] Then execute Figure 4 Step 42 of the embodiment is a step of determining whether there is a conflicting position point among a predetermined number N of position points after the current position point in the walking path each time the unmanned vehicle passes a position point.

[0115] In one embodiment of the present invention, Figure 5 As shown, Figure 4 Step 42 of the embodiment may include steps 52 - 54 .

[0116] Step 52 : obtaining the i-th position point among a predetermined number N of position points after the current position point, where i is a natural number greater than or equal to 1 and less than or equal to N, and the initial value of i is 0.

[0117] Step 53: Determine whether the current unmanned vehicle can lock onto the i-th location point. If the current unmanned vehicle can lock onto the i-th location point, proceed to step 54; otherwise, if the current unmanned vehicle cannot lock onto the i-th location point, proceed to step 56.

[0118] Step 54: Determine whether the predetermined number of positions can be locked. That is, determine whether i is equal to N. If i is equal to N, proceed to step 55; otherwise, if i is less than N, set i = i + 1 and then proceed to step 52.

[0119] Step 55: It is determined that there is no conflicting position point among the predetermined number of position points after the current position point, and the unmanned vehicle continues to operate.

[0120] Step 56: Determine if there is a conflicting position point among the predetermined number of positions after the current position point, and the i-th position point is the conflicting position point; obtain Figure 5 The following steps are performed: 1. The current unmanned vehicle and the opposing unmanned vehicle are shown in the travel path table; 2. The travel directions of the two unmanned vehicles at the conflicting location are obtained by querying the travel path table of the current unmanned vehicle and the opposing unmanned vehicle; 3. The two unmanned vehicles include the current unmanned vehicle and the opposing unmanned vehicle; 4. The following steps are performed: 5. The current unmanned vehicle and the opposing unmanned vehicle are shown in the travel path table; 5. The following steps are performed: 6. The current unmanned vehicle and the opposing unmanned vehicle are shown in the travel path table; 7. The current unmanned vehicle and the opposing unmanned vehicle are shown in the travel path table; 8. The following steps are performed: 9. The current unmanned vehicle and the opposing unmanned vehicle are shown in the travel path table; 10. The current unmanned vehicle and the opposing unmanned vehicle are shown in the travel path table; 11. The current unmanned vehicle and the opposing unmanned vehicle are shown in the travel path table; 12. The current unmanned vehicle and the opposing unmanned vehicle are shown in the travel path table; 13. The current unmanned vehicle and the opposing unmanned vehicle are shown in the travel path table; 14. The current unmanned vehicle and the opposing unmanned vehicle are shown in the travel path table; 15. The current unmanned vehicle and the opposing unmanned vehicle are shown in the travel path table; 16. The current unmanned vehicle and the opposing unmanned vehicle are shown in the travel path table; 17. The current unmanned vehicle and the opposing unmanned vehicle are shown in the travel path table; 18. The current unmanned vehicle and the opposing unmanned vehicle are shown in the travel path table; 19 ...

[0121] In one embodiment of the present invention, Figure 5 As shown, the walking path table may include each location point (path) in the walking path of the unmanned vehicle, the coordinates (x, y) of the location point, and the walking direction (direction) of the unmanned vehicle at the location point.

[0122] Step 57: Query the path tables of the current unmanned vehicle and the other unmanned vehicle to obtain the distances between the two unmanned vehicles and the conflict location. Then determine whether the current unmanned vehicle's distance from the conflict location is less than the other unmanned vehicle's distance from the conflict location. If so, proceed to step 59. Otherwise, if the current unmanned vehicle's distance from the conflict location is not less than the other unmanned vehicle's distance from the conflict location, proceed to step 59.

[0123] Step 58: No processing is performed on the current unmanned vehicle, and the current unmanned vehicle is controlled to continue running.

[0124] Step 59 , instructing the current unmanned vehicle to stop, removing the conflicting location point from the current unmanned vehicle's travel path, and instructing the dispatch center 1 to replan the current unmanned vehicle's travel path.

[0125] This embodiment of the present invention can compare the distance between the current unmanned vehicle and the conflicting location with the distance between the other unmanned vehicle and the conflicting location. The unmanned vehicle closer to the conflicting location can be stopped and rerouted, while the unmanned vehicle farther from the conflicting location can continue driving. This further reduces time consumption and improves vehicle utilization.

[0126] The present invention is described below by means of specific examples.

[0127] Figure 6 This is a navigation and operating environment diagram of a drone in one embodiment of the present invention. There are many types of AGV navigation and operating environments. Here we take the most complex grid map as an example. Figure 1 The center of the grid is the corresponding position point. The AGV determines and updates the position information through the communication information at this point. In the grid map environment, the AGV has a very high degree of freedom and can move forward, stop and turn at most positions. To simplify the environment, abstract Figure 6 As shown in Figure 7, the operation status of the two AGV vehicles is analyzed.

[0128] Figure 7a and Figure 7b FIG. 1 is a navigation and operating environment diagram of a drone in another embodiment of the present invention. Figure 7a and Figure 7b As shown in the figure, AGV100 and AGV200 are used as examples to represent two unmanned vehicles. Figure 7a and Figure 7b In the example, each square represents a location. "100" indicates that AGV 100 is at that location, and "U100" indicates that the location is locked by AGV 100. Similarly, "200" indicates that AGV 200 is at that location, and "U200" indicates that the location is locked by AGV 200.

[0129] The unmanned vehicle long-distance collision avoidance method of the present invention is implemented for the unmanned vehicles AGV100 and AGV200, which may specifically include:

[0130] Step 1: The dispatch center selects the unmanned vehicles AGV100 and AGV200 to perform the task, and calculates each position point in the path that the unmanned vehicles AGV100 and AGV200 need to travel and the direction in which the AGV needs to travel at that point.

[0131] Step 2: AGV100 and AGV200 calculate the future required locking point locations at each point they pass. That is, at each point they pass, they determine whether they can lock onto a predetermined number of points beyond the current location in the path.

[0132] In one embodiment of the present application, the predetermined number N of lock points can be 9.

[0133] Step 3, as shown in Figure 7a AGV 100 can only lock 6 position points; AGV 200 can only lock 3 position points. That is, the point (for example, the 7th position point after the current position point of AGV 100) that AGV 100 needs to lock is locked by AGV 200.

[0134] Step 4, search the path table of AGV 100 and AGV 200 to find the direction of AGV 100 and AGV 200 at the point.

[0135] Step 5, compare the directions of the two vehicles at the point. If the directions are opposite, stop one of the AGVs, recalculate the path, and calculate the path by cutting off the point (increase the path cost from other points to the point to infinity), and walk according to the new path (usually turn away from the path).

[0136] Step 6, the other AGV walks according to the original path.

[0137] In one embodiment of the present application, steps 5 and 6 can include: obtaining the distance of the current position of the two AGVs AGV 100 and AGV 200 from the conflict position point (the 7th position point after the current position point of AGV 100); for the AGV (AGV 200) closer to the conflict position point, recalculate the path, calculate the path by cutting off the point, and walk according to the new path; and the AGV (AGV 100) farther from the conflict position point walks according to the original path, as shown in Figure 7b

[0138] Figure 8 is a schematic diagram of another embodiment of the AGV long-distance anti-collision device of the present application. As shown in Figure 8 Figure 1 The AGV long-distance anti-collision device 2 of the embodiment can include a memory 201 and a processor 202, wherein:

[0139] The memory 201 is configured to store instructions.

[0140] The processor 202 is configured to execute the instructions, so that the device performs operations to implement the AGV long-distance anti-collision method as described in any of the above embodiments.

[0141] According to another aspect of the present application, a computer readable storage medium is also provided, which stores computer instructions, and the instructions are executed by a processor to implement the AGV long-distance anti-collision method as described in any of the above embodiments.

[0142] ​​The unmanned vehicle long-distance anti-collision device described above can be implemented as a general processor, a programmable logic controller (PLC), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or any appropriate combination thereof for performing the functions described in the present application.

[0143] So far, the present application has been described in detail. In order to avoid obscuring the concept of the present application, some details known in the art are not described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein according to the above description.

[0144] Those skilled in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or by program instructing relevant hardware, and the program can be stored in a computer readable storage medium, and the storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0145] The description of the present application is given for the purpose of illustration and description, and is not intended to be exhaustive or to limit the present application to the disclosed form. Many modifications and variations will be apparent to those skilled in the art. The embodiments are chosen and described in order to best explain the principles of the present application and its practical application, and to enable others skilled in the art to understand the present application in order to design various embodiments with various modifications for specific use.

Claims

1. A method for preventing collision at a long distance for an unmanned vehicle, characterized in that, The method comprises the following steps: receiving a task assigned by a dispatch center and a walking path of an unmanned vehicle, wherein the walking path of the unmanned vehicle comprises each position point in the walking path of the unmanned vehicle and a walking direction of the unmanned vehicle at the position point; when the current unmanned vehicle passes through each position point, determining whether there is a conflict position point in a predetermined number of position points after a current position point in the walking path, wherein the conflict position point is a position point locked by an opponent unmanned vehicle; when there is a conflict position point in the predetermined number of position points after the current position point in the walking path, acquiring the walking directions of the two unmanned vehicles at the conflict position point, wherein the two unmanned vehicles comprise the current unmanned vehicle and the opponent unmanned vehicle; determining whether the walking directions of the two unmanned vehicles at the conflict position point are opposite; when the walking directions of the two unmanned vehicles at the conflict position point are opposite, instructing the dispatch center to select one of the two unmanned vehicles to re-plan the walking path of the unmanned vehicle; when the walking directions of the two unmanned vehicles at the conflict position point are not opposite, controlling the current unmanned vehicle to continue running; The method further comprises the following steps: when the current unmanned vehicle passes through each position point, determining whether the unmanned vehicle can lock the predetermined number of position points after the current position point in the walking path; when the unmanned vehicle cannot lock the predetermined number of position points after the current position point in the walking path, determining that there is a conflict position point in the predetermined number of position points after the current position point, and performing the step of acquiring the walking directions of the two unmanned vehicles at the conflict position point; when the unmanned vehicle can lock the predetermined number of position points after the current position point in the walking path, determining that there is no conflict position point in the predetermined number of position points after the current position point, and the unmanned vehicle continues to run; The method further comprises the following steps: when the walking directions of the two unmanned vehicles at the conflict position point are opposite, acquiring the distances of the two unmanned vehicles from the conflict position point; determining whether the distance of the current unmanned vehicle from the conflict position point is less than the distance of the opponent unmanned vehicle from the conflict position point; when the distance of the current unmanned vehicle from the conflict position point is less than the distance of the opponent unmanned vehicle from the conflict position point, controlling the current unmanned vehicle to stop running, removing the conflict position point in the walking path of the current unmanned vehicle, and instructing the dispatch center to re-plan the walking path of the current unmanned vehicle; when the distance of the current unmanned vehicle from the conflict position point is not less than the distance of the opponent unmanned vehicle from the conflict position point, controlling the current unmanned vehicle to continue running, wherein the opponent unmanned vehicle stops running, the conflict position point is removed in the walking path of the opponent unmanned vehicle, and the dispatch center is instructed to re-plan the walking path of the opponent unmanned vehicle.

2. The method of claim 1, wherein, The method further comprises the following steps: when there is a conflict position point in the predetermined number of position points after the current position point in the walking path, acquiring the walking path tables of the current unmanned vehicle and the opponent unmanned vehicle; acquiring the walking directions of the two unmanned vehicles at the conflict position point and the distances of the two unmanned vehicles from the conflict position point by querying the walking path tables of the current unmanned vehicle and the opponent unmanned vehicle.

3. A device for preventing collision at a long distance for an unmanned vehicle, characterized by, The method comprises the following steps: The path receiving module is configured to receive a task allocated by the dispatch center and an unmanned vehicle walking path issued by the dispatch center, wherein the unmanned vehicle walking path comprises each position point in the unmanned vehicle walking path and a walking direction of the unmanned vehicle at the position point. The conflict point judging module is configured to judge whether there is a conflict position point in a predetermined number of position points after a current position point in the walking path in a case that the current unmanned vehicle passes through each position point, wherein the conflict position point is a position point locked by an opponent unmanned vehicle. The walking direction obtaining module is configured to obtain the walking directions of the two unmanned vehicles at the conflict position point in a case that the conflict point judging module judges that there is a conflict position point in the predetermined number of position points after the current position point in the walking path. The walking direction judging module is configured to judge whether the walking directions of the two unmanned vehicles at the conflict position point are opposite. The unmanned vehicle control module is configured to instruct the dispatch center to select one of the two unmanned vehicles and re-plan the unmanned vehicle walking path in a case that the walking direction judging module judges that the walking directions of the two unmanned vehicles at the conflict position point are opposite. The conflict point judging module is configured to judge whether the unmanned vehicle can lock the predetermined number of position points after the current position point in the walking path in a case that the current unmanned vehicle passes through each position point. In a case that the unmanned vehicle cannot lock the predetermined number of position points after the current position point in the walking path, it is judged that there is a conflict position point in the predetermined number of position points after the current position point, and the walking direction obtaining module is instructed to perform the operation of obtaining the walking directions of the two unmanned vehicles at the conflict position point. In a case that the unmanned vehicle can lock the predetermined number of position points after the current position point in the walking path, it is judged that there is no conflict position point in the predetermined number of position points after the current position point, and the unmanned vehicle control module is instructed to control the unmanned vehicle to continue running. The distance obtaining module is configured to obtain distances of the two unmanned vehicles from the conflict position point in a case that the walking direction judging module judges that the walking directions of the two unmanned vehicles at the conflict position point are opposite. The distance judging module is configured to judge whether the distance of the current unmanned vehicle from the conflict position point is less than the distance of the opponent unmanned vehicle from the conflict position point. The unmanned vehicle control module is further configured to control the current unmanned vehicle to stop running, remove the conflict position point in the walking path of the current unmanned vehicle, and instruct the dispatch center to re-plan the walking path of the current unmanned vehicle in a case that the distance judging module judges that the distance of the current unmanned vehicle from the conflict position point is less than the distance of the opponent unmanned vehicle from the conflict position point. ​ ​ The unmanned vehicle control module is further configured to, in a case where the distance determination module determines that the distance between the current unmanned vehicle and the conflict position point is not less than the distance between the opponent unmanned vehicle and the conflict position point, control the current unmanned vehicle to continue running, wherein the opponent unmanned vehicle stops running, the opponent unmanned vehicle removes the conflict position point from the walking path of the opponent unmanned vehicle, and instructs the dispatch center to re-plan the walking path of the current unmanned vehicle.

4. The anti-collision device for unmanned vehicles according to claim 3, characterized in that, Further comprising: a path table acquisition module configured to, in a case where the conflict point determination module determines that there is a conflict position point in the predetermined number of position points after the current position point in the walking path, acquire the walking path tables of the current unmanned vehicle and the opponent unmanned vehicle; a walking direction acquisition module configured to acquire the walking directions of the two unmanned vehicles at the conflict position point by querying the walking path tables of the current unmanned vehicle and the opponent unmanned vehicle; a distance acquisition module configured to acquire the distances between the two unmanned vehicles and the conflict position point by querying the walking path tables of the current unmanned vehicle and the opponent unmanned vehicle.

5. A device for preventing collision at a long distance for an unmanned vehicle, characterized by, comprising a memory and a processor, wherein: the memory is configured to store instructions; the processor is configured to execute the instructions, so that the apparatus performs operations for implementing the unmanned vehicle long-distance anti-collision method according to any one of claims 1-2.

6. An unmanned vehicle, characterized in that the unmanned vehicle long-distance anti-collision apparatus according to any one of claims 3-5.

7. A long distance anti-collision system for unmanned vehicles, characterized in that, the dispatch center and the unmanned vehicle long-distance anti-collision apparatus according to any one of claims 3-5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, and the instructions are executed by the processor to implement the unmanned vehicle long-distance anti-collision method according to any one of claims 1-2.

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