Control method, device, storage medium and electronic equipment for track-guided vehicle

Abstract

The embodiment of the present invention discloses a control method, device, storage medium and electronic device for track-guided vehicles. The method includes: determining at least one vehicle that has been assigned a task on the same track, wherein at least two vehicles are configured on the track; performing conflict detection on the task trajectory of the at least one vehicle; if there is a conflict between the task trajectories of the at least two vehicles, determining an avoidance vehicle and avoidance information of the avoidance vehicle; and controlling the movement of the avoidance vehicle according to the avoidance information. This ensures that there are no track conflicts and collisions between multiple RGV vehicles running on the same track, realizes precise control of multiple RGV vehicles, and improves the flexibility and efficiency of the system of multiple RGVs on the same track.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of automatic control technology, and in particular to a control method, device, storage medium and electronic equipment for a track-guided vehicle. Background Art

[0002] With the rapid development of the logistics industry at home and abroad, the market has higher and higher requirements for the safe use and protection measures of logistics equipment. Rail shuttles are widely used in logistics systems. They have the characteristics of fast speed, high reliability and low cost. The RGV (Rail Guided Vehicle) system can be used as a peripheral equipment of the stereoscopic warehouse or as an independent system. The pallet can be transported horizontally or vertically as needed, with strong transport capacity, which not only improves the handling capacity, but also improves the overall efficiency of the stereoscopic warehouse system.

[0003] However, in the process of realizing the present invention, the inventors found that there are at least the following technical problems in the prior art: Currently, the linear shuttle basically uses only one RGV for transportation under the same track, and the scheduling difficulty is small. The efficiency of a single RGV is limited. Under the condition of large traffic, when a single RGV cannot meet the demand, a method of regional transportation is usually adopted, that is, two sets of RGV systems are used, and the tracks are not interconnected, so as to reduce the scheduling difficulty in a partitioned manner, but the two areas cannot be interconnected, and the transportation needs between different areas cannot be met. Summary of the invention

[0004] The embodiments of the present invention provide a control method, a device, a storage medium and an electronic device for a track-guided vehicle, so as to improve the vehicle transportation efficiency.

[0005] In a first aspect, an embodiment of the present invention provides a control method for a track-guided vehicle, comprising:

[0006] Determining at least one vehicle to which a task has been assigned on the same track, wherein at least two vehicles are configured on the track;

[0007] performing conflict detection on the mission trajectory of the at least one vehicle;

[0008] If there is a conflict between the mission trajectories of the at least two vehicles, determining an avoidance vehicle and avoidance information of the avoidance vehicle;

[0009] The movement of the avoiding vehicle is controlled according to the avoiding information.

[0010] In a second aspect, an embodiment of the present invention further provides a control device for a track-guided vehicle, comprising:

[0011] A vehicle determination module, used to determine at least one vehicle to which a task has been assigned on the same track, wherein at least two vehicles are configured on the track;

[0012] A conflict detection module, configured to perform conflict detection on a task trajectory of the at least one vehicle;

[0013] an avoidance information determination module, configured to determine an avoidance vehicle and avoidance information of the avoidance vehicle if there is a conflict between the mission trajectories of the at least two vehicles;

[0014] A vehicle control module is used to control the movement of the avoidance vehicle according to the avoidance information.

[0015] In a third aspect, an embodiment of the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a control method for a track-guided vehicle as provided in any embodiment of the present invention is implemented.

[0016] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a control method for a track-guided vehicle as provided in any embodiment of the present invention.

[0017] The technical solution provided by the present invention improves the transportation efficiency of vehicles on the same track by configuring at least two RGV vehicles on the same track. In a system with multiple RGVs on the same track, after assigning tasks to each vehicle, conflict detection is performed on each vehicle, and when there is a track conflict, the avoidance vehicle and the avoidance information of the avoidance vehicle are determined, and the corresponding avoidance vehicle is controlled based on the avoidance information to ensure that there are no track conflicts and collisions between multiple RGV vehicles running on the same track, thereby achieving precise control of multiple RGV vehicles and improving the flexibility and efficiency of the system with multiple RGVs on the same track. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic flow chart of a control method for a track-guided vehicle provided by an embodiment of the present invention;

[0019] Figure 2 is a schematic diagram of a configuration of a dual RGV vehicle on the same track provided by an embodiment of the present invention;

[0020] Figure 3 is a trajectory line of the first RGV provided in an embodiment of the present invention;

[0021] Figure 4 is an example diagram of a trajectory diagram provided by an embodiment of the present invention;

[0022] Figure 5is an example diagram of a trajectory diagram provided by an embodiment of the present invention;

[0023] Figure 6 is an example diagram of a trajectory diagram provided by an embodiment of the present invention;

[0024] Figure 7 is an avoidance trajectory diagram provided by an embodiment of the present invention;

[0025] Figure 8 A flow chart of a control method for a track-guided vehicle provided by an embodiment of the present invention;

[0026] Fig. 9 It is a structural schematic diagram of a control device for a track-guided vehicle provided by an embodiment of the present invention;

[0027] Fig.10 A schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0029] Embodiment 1

[0030] Figure 1 A flow chart of a control method for a track-guided vehicle provided in Embodiment 1 of the present invention is provided. This embodiment is applicable to the case where a plurality of track-guided vehicles are arranged on the same track and the operation of each track-guided vehicle is controlled. The method can be executed by a control device for a track-guided vehicle provided in an embodiment of the present invention. The control device for the track-guided vehicle can be implemented by software and / or hardware. The control device for the track-guided vehicle can be configured on an electronic computing device such as a mobile phone, a computer or a server.

[0031] The RGV system includes tracks and track-guided vehicles. The RGV vehicles run on the tracks to transport goods. In order to solve the problem of poor efficiency caused by only one RGV being used for transportation on the same track, this embodiment provides a configuration method of multiple RGVs on the same track, and multiple RGV vehicles are dispatched and controlled on the same track to improve the transportation efficiency of goods. In some embodiments, two RGV vehicles are configured on the same track, and the transportation efficiency is improved by dispatching and controlling the two RGV vehicles, while reducing the difficulty of dispatching RGV vehicles on the same track. For example, see Figure 2 , Figure 2 It is a schematic diagram of the configuration of a dual RGV vehicle on the same track provided by an embodiment of the present invention. Figure 2 The first RGV and the second RGV are configured on the track, wherein the task track of the first RGV is from point P, through point P1 to point P2, wherein point P can be the initial position of the first RGV, point P1 can be the cargo assembly position of the assigned task, and point P2 can be the cargo unloading position. The two RGV vehicles on the same track can perform the assigned tasks at the same time, or any one of the RGV vehicles can perform the assigned tasks, which can be determined according to the number of tasks to be performed and the scheduling method of each RGV vehicle, thereby improving the transportation efficiency of the goods.

[0032] Compared with normal vehicles, RGV vehicles can only move in the positive or negative direction along the track and cannot change lanes. Therefore, when at least two RGV vehicles are configured on the same track, there is a problem of trajectory conflict between the two RGV vehicles during the operation of any RGV vehicle, resulting in a collision and affecting the normal operation of the RGV vehicle.

[0033] In view of the above problems, an embodiment of the present invention provides a control method for a track-guided vehicle, which specifically includes the following steps:

[0034] S110. Determine at least one vehicle to which a task has been assigned on the same track, wherein at least two vehicles are configured on the track.

[0035] S120: Perform conflict detection on the mission trajectory of the at least one vehicle.

[0036] S130: If there is a conflict between the mission trajectories of the at least two vehicles, determine an avoiding vehicle and avoidance information of the avoiding vehicle.

[0037] S140: Control the movement of the avoiding vehicle according to the avoiding information.

[0038] In this embodiment, each track-guided vehicle RGV is provided with a unique identifier, and each RGV vehicle can be called by the identifier. Optionally, the track-guided vehicle RGV is equipped with a communication module for signal transmission with the electronic device executing the method. Optionally, the transmitted signal can be a control signal, and the control signal includes but is not limited to a task assignment signal for the RGV vehicle, an operation status control signal, etc. The operation status can be start, pause and stop, etc., which is not limited to this. Optionally, the transmitted signal can be an RGV vehicle parameter, wherein the RGV vehicle parameter includes but is not limited to parameters such as vehicle position parameter, speed parameter, and whether to assign a task.

[0039] The electronic device obtains and stores the operating status of each vehicle (i.e., RGV vehicle) and assigned task information, wherein the assigned task information may include an identifier of the assigned task or operating parameters of the assigned task, etc. The operating parameters of the assigned task may include the starting point and end point of the assigned task.

[0040] Traverse the assigned task information of each vehicle on the track. If the assigned task information is set corresponding to the vehicle identification, determine that the vehicle has been assigned a task. If the assigned task information does not exist for the vehicle identification, determine that the vehicle has not been assigned a task.

[0041] In order to ensure that the assigned task vehicle can operate normally, the assigned task vehicle is subjected to conflict detection to determine whether the vehicle has a trajectory conflict with other vehicles on the same track during the execution of the assigned task. In some embodiments, the vehicle is subjected to conflict detection by matching the positions of the current vehicle with other vehicles. If the positions of the current vehicle and any other vehicle coincide at the same time, it is determined that the two vehicles have a trajectory conflict. Specifically, for the current vehicle that has been assigned a task, the position information at each moment is determined according to the task trajectory of the current vehicle, and the other vehicles are traversed to obtain the position information at each moment during the time period when the current vehicle executes the assigned task. Based on the timestamps corresponding to each position information, the position information corresponding to the current vehicle and other vehicles at the same timestamp is compared. When the position information corresponding to any timestamp is consistent or meets the preset distance condition, it is determined that the two vehicles have a trajectory conflict. Among them, the preset distance condition can be that the distance of the position information corresponding to any timestamp is less than the vehicle length of the two vehicles.

[0042] It should be noted that other vehicles that perform conflict detection with the current vehicle include all vehicles on the same track except the current vehicle, including other vehicles that have been assigned tasks and other vehicles that have not been assigned tasks.

[0043] In some embodiments, conflict detection is performed on the mission trajectory of at least one vehicle, including: generating a trajectory map based on the mission trajectories of each vehicle on the same track, wherein the trajectory map includes trajectory lines of each vehicle on the same track; if the trajectory lines of any two vehicles in the trajectory map overlap, it is determined that the mission trajectories of the two overlapping vehicles conflict.

[0044] The trajectory line is a curve of position-time variation. Optionally, the mission trajectory includes a starting point, an end point, and a stop point, as well as a timestamp of reaching each of the above points and a duration of stay. Accordingly, drawing the trajectory line of the vehicle according to the mission trajectory may be to create a two-dimensional coordinate system of position-time, form trajectory key points in each two-dimensional coordinate system according to the position coordinates, arrival timestamps, and stay times of each starting point, end point, and stop point of the mission trajectory, and connect each adjacent trajectory key point with a straight line according to the timestamp of each trajectory key point to form a trajectory line.

[0045] Optionally, the mission trajectory may also include a starting point, an end point, a stop point, a running speed, an acceleration, and a duration of stay at each of the above points. Drawing the vehicle's trajectory line according to the mission trajectory may be to create a two-dimensional coordinate system of position-time, and calculate the slope corresponding to the trajectory graph during the running process and the arrival time of each point according to the starting point, the end point, the stop point, and the running speed and acceleration of the vehicle to form a trajectory line.

[0046] It should be noted that for vehicles that are not assigned tasks, their task trajectory is to stay continuously at the current stop position.

[0047] by Figure 1 Taking the RGV system as an example, define one end of the track as the zero point, and P, P1, and P2 as the three destination points on the track. For example, point P is the starting point, point P2 is the terminal point, and point P1 is the stop point. In this embodiment, the stop point can be a cargo assembly position or an unloading position. Taking the first RGV as an example, the mission trajectory of the first RGV is to be located at point P at time 0, run to position P1 at time t1, and stay at this position until time t2. Run to position P2 at time t3 and stay at this position, and form a trajectory line according to the mission trajectory of the first RGV. See Figure 3 , Figure 3 is the trajectory line of the first RGV. Figure 3 The oblique line in the middle track line indicates that the RGV is running, and the slope can represent the running speed. The horizontal line indicates that the RGV stops running and stays at a certain point.

[0048] For each vehicle on the track, a corresponding track line is generated in the same two-dimensional coordinate system to form a track diagram of multiple vehicles on the same track. For example, see Figure 4 , Figure 4 is an example diagram of a trajectory diagram provided by an embodiment of the present invention. Figure 4 This is just an example, including the trajectory of the first RGV and the second RGV. Figure 4 The two trajectory lines in the figure can determine that the trajectory lines of the first RGV and the second RGV overlap at time T, and it can be determined that there is a trajectory conflict between the first RGV and the second RGV. According to the trajectory diagram, the location where the conflict occurs and the time when the conflict occurs can be determined, which is convenient for further control of the vehicle later.

[0049] In this embodiment, the trajectory lines of each vehicle on the same track are drawn to form a trajectory diagram to display the task trajectory of each vehicle, and conflict determination is performed clearly and intuitively in a graphical manner, thereby reducing the amount of calculation and improving the efficiency of conflict determination.

[0050] Figure 4 The position point at each moment on the middle trajectory line can be the position point of the center point of the RGV vehicle at each moment. Since the RGV vehicles all have a certain length, conflicts may also occur when there is no intersection in the trajectory line, that is, conflicts caused by the length of the vehicle. In response to the above problem, optionally, a trajectory diagram is generated based on the mission trajectory of the at least two vehicles, including: based on the length of each vehicle and the mission trajectory, a trajectory line containing the length of each vehicle is generated, wherein the vehicle length is the width of the trajectory line. By drawing a trajectory line with width and characterizing the vehicle length by the width, it is convenient to perform accurate conflict judgment through the trajectory line with width. If the trajectory lines of any two vehicles overlap, it is determined that there is a trajectory conflict between the two vehicles, wherein the overlapping methods include cross overlap and parallel overlap.

[0051] In some embodiments, based on the length of each vehicle and the mission trajectory, generating a trajectory line of each vehicle including the vehicle length may be: generating an initial trajectory line of the vehicle based on the center point of the vehicle and the mission trajectory, and setting the width of the initial trajectory line according to the vehicle length to form a trajectory line with a width. For example, see Figure 5 , Figure 5 is an example diagram of a trajectory diagram provided by an embodiment of the present invention. Figure 5 The background corresponding to the middle track line is the vehicle track line formed by the width setting. If the vehicle track lines (i.e., the track line background) of any two vehicles overlap, it is determined that the two vehicles have a track conflict.

[0052] In some embodiments, based on the length of each vehicle and the mission trajectory, generating a trajectory line of each vehicle including the length of the vehicle may be: obtaining the two end positions of the vehicle in the length direction, drawing the trajectory lines corresponding to the two end positions respectively based on the mission trajectory, and forming a trajectory line with a width of the corresponding vehicle based on the trajectory lines corresponding to the two end positions, that is, the distance between the trajectory lines corresponding to the two end positions is the length of the vehicle, that is, the width of the vehicle trajectory line. For example, see Figure 6 , Figure 6 is an example diagram of a trajectory diagram provided by an embodiment of the present invention. If one of the trajectory lines of a vehicle overlaps with one of the trajectory lines of another vehicle, it is determined that there is a trajectory conflict between the two vehicles.

[0053] In this embodiment, by generating a trajectory diagram including the vehicle length, accurate conflict judgment is made on the vehicle's mission trajectory, thereby avoiding judgment errors caused by the vehicle length, further improving the control accuracy of the vehicle, and improving the vehicle's operating safety.

[0054] On the basis of the above embodiment, for vehicles with conflicting trajectories, in order to avoid mission failure or vehicle collision caused by trajectory conflict, one of the vehicles is controlled to avoid, ensuring that each vehicle can operate normally without affecting each other. In this embodiment, the avoidance vehicle is determined based on the principle of minimum loss. Optionally, the loss in the vehicle avoidance process can be determined based on the avoidance time information of the vehicle performing the task.

[0055] In some embodiments, determining the avoidance vehicle includes: determining an idle vehicle as an avoidance vehicle among the two conflicting vehicles. An idle vehicle is a vehicle that has not been assigned a task. If the two conflicting vehicles include an idle vehicle and the idle vehicle does not incur loss by avoiding, the idle vehicle is determined as the avoidance vehicle and the idle vehicle is controlled to avoid, and the other vehicle that has been assigned a task is a non-avoidance vehicle and performs the assigned task.

[0056] In some embodiments, determining an avoidance vehicle includes: determining an unstarted vehicle as an avoidance vehicle, or determining a vehicle with a small avoidance loss as an avoidance vehicle, among two vehicles with conflicting tasks that have been assigned. The two conflicting vehicles are both vehicles with assigned tasks, and the operating status of the two vehicles is determined. If there is an unstarted vehicle and a started vehicle, the loss caused by the unstarted vehicle relative to the started vehicle is small, and the unstarted vehicle is determined as the avoidance vehicle. If both vehicles are started vehicles, or both are unstarted vehicles, the losses caused by the two vehicles being avoidance vehicles are determined, and the vehicle with the smallest loss is determined as the avoidance vehicle. Optionally, the loss can be determined based on the avoidance time information, wherein the avoidance time information can be the time length for the non-avoidance vehicle to complete the assigned task, and accordingly, the vehicle with the smallest avoidance time information is determined as the avoidance vehicle. Optionally, the loss can be determined based on the task priority, and accordingly, the vehicle with a low task priority can be determined as the avoidance vehicle.

[0057] It should be noted that if there are more than two RGV vehicles configured on the same track and there is a trajectory conflict between the two RGV vehicles, the avoiding vehicle and the non-avoiding vehicle are determined in turn among the two vehicles based on the above method until one non-avoiding vehicle and multiple avoiding vehicles are determined.

[0058] For the determined avoiding vehicle, avoidance information of the avoiding vehicle is further determined, wherein the determined avoiding vehicle includes avoidance position and avoidance time information, and the avoiding vehicle is controlled to perform avoidance based on the avoidance position and avoidance time information.

[0059] Optionally, determining the avoidance information of the avoiding vehicle includes: determining the avoidance position of the avoiding vehicle based on the end point position of the mission trajectory of the non-avoiding vehicle and the direction of the avoiding vehicle relative to the non-avoiding vehicle; and determining the avoidance time information of the avoiding vehicle based on the time information of the non-avoiding vehicle moving to the end point position.

[0060] According to the characteristics of the RGV system, multiple RGV vehicles run on the same track. Accordingly, the trajectory conflict of the RGV vehicles is formed based on the intersection of the mission trajectory, see Figure 5 or Figure 6 In order to ensure the normal operation of the non-avoiding vehicle, the avoiding vehicle may be controlled to run to the avoiding position, wherein the avoiding position is outside the mission track of the non-avoiding vehicle. Optionally, the avoiding position direction is determined based on the direction of the avoiding vehicle relative to the non-avoiding vehicle, and the avoiding position direction may include a first direction and a second direction. For example, the first direction may be the left side, and the second direction may be the right side. For example, if the avoiding vehicle is located on the left side of the non-avoiding vehicle, the avoiding position direction should be the left side. Accordingly, the avoiding position is determined based on the avoiding position direction and the terminal position of the non-avoiding vehicle, that is, the avoiding position is located in the avoiding position direction of the terminal position of the non-avoiding vehicle. For example, if the avoiding vehicle is located on the left side of the non-avoiding vehicle, the avoiding position is the left side of the terminal position of the non-avoiding vehicle. In some embodiments, the avoiding position is located at any position in the avoiding position direction of the terminal position of the non-avoiding vehicle, or the avoiding position is located in the avoiding position direction at a preset distance from the terminal position of the non-avoiding vehicle, and the preset distance may be determined based on the length of the two vehicles and the safety distance.

[0061] In this embodiment, the avoidance time information of the avoiding vehicle may include the duration from the current moment to the end of the avoidance, or the moment when the avoidance ends. The avoidance time information may be determined based on the task duration of the non-avoiding vehicle from the current moment to the end of the assigned task of the non-avoiding vehicle. In some embodiments, the avoidance duration in the avoidance time information is greater than the task duration of the non-avoiding vehicle, or the moment when the avoidance ends is later than the task end moment of the non-avoiding vehicle. Exemplarily, the preset time interval after the task end moment of the non-avoiding vehicle is determined as the avoidance end moment, and the task duration of the non-avoiding vehicle plus the preset time interval is determined as the avoidance duration, so that the non-avoiding vehicle can start running to a non-conflict position after completing the assigned task, so as to ensure that there is no conflict between the two vehicles.

[0062] In this embodiment, after the avoidance information of the avoiding vehicle is determined, the movement of the avoiding vehicle is controlled according to the avoidance information. Exemplarily, the avoiding vehicle is controlled to run to the avoidance position and stay at the avoidance position until the avoidance time information is met, wherein the operation process of the avoiding vehicle can be based on a preset speed, and the preset speed can be the same as the speed of the non-avoiding vehicle to ensure the distance between the two and avoid conflicts during the avoidance process.

[0063] For example, see Figure 7 , Figure 7 is an avoidance trajectory diagram provided by an embodiment of the present invention. In the first avoidance section, the second RGV acts as an avoidance vehicle, and the first RGV acts as a non-avoidance vehicle. Figure 1 For example, the RGV setting in the middle is as follows. At the initial moment, the first RGV is located on the left side of the second RGV. Accordingly, in the first avoidance section, the avoidance position of the second RGV is located on the right side of the terminal position in the task trajectory of the first RGV. Since the initial position of the second RGV meets the avoidance position, the second RGV is controlled to stay at the avoidance position, that is, Figure 7 The second RGV stays in place until the avoidance time information is met, that is, the time when the first RGV completes the assigned task. In the second avoidance section, the first RGV acts as an avoidance vehicle, and the second RGV acts as a non-avoidance vehicle. The first RGV is located on the left side of the second RGV. Accordingly, the avoidance position of the first RGV is located on the left side of the end position in the task trajectory of the second RGV. Since the first RGV is not in the avoidance position, the first RGV is controlled to run to the avoidance position and stay until the avoidance time information is met, that is, the time when the second RGV completes the assigned task.

[0064] The technical solution of this embodiment improves the transportation efficiency of vehicles on the same track by configuring at least two RGV vehicles on the same track. For a system with multiple RGVs on the same track, after assigning tasks to each vehicle, conflict detection is performed on each vehicle, and when there is a track conflict, the avoidance vehicle and the avoidance information of the avoidance vehicle are determined, and the corresponding avoidance vehicle is controlled based on the avoidance information to ensure that there are no track conflicts and collisions between multiple RGV vehicles running on the same track, thereby achieving precise control of multiple RGV vehicles and improving the flexibility and efficiency of the system with multiple RGVs on the same track.

[0065] Embodiment 2

[0066] Figure 8 A flow chart of a control method for a track-guided vehicle provided in Embodiment 2 of the present invention, the embodiment of the present invention can be combined with each optional solution in the above embodiment. In the embodiment of the present invention, optionally, before determining at least one vehicle that has been assigned a task on the same track, the method further includes: obtaining a task to be assigned, and calling an idle vehicle based on the starting position and / or the end position of the task to be assigned.

[0067] like Figure 8 As shown, the method of the embodiment of the present invention specifically includes the following steps:

[0068] S210: Acquire a task to be assigned, and call an idle vehicle based on the starting position and / or the end position of the task to be assigned.

[0069] S220, determining at least one vehicle to which a task has been assigned on the same track, wherein at least two vehicles are configured on the track;

[0070] S230, performing conflict detection on the mission trajectory of the at least one vehicle;

[0071] S240, if there is a conflict between the mission trajectories of the at least two vehicles, determining an avoidance vehicle and avoidance information of the avoidance vehicle;

[0072] S250: Control the movement of the avoiding vehicle according to the avoiding information.

[0073] In this embodiment, the task to be assigned is obtained, and an idle vehicle is called to execute the task to be assigned. The idle vehicle is determined based on the task assignment status of each vehicle. If there is no idle vehicle, the task to be assigned is cached, and the task execution status of each vehicle is continuously monitored until the task execution status of a vehicle is switched to completed, and the task assignment status of the vehicle is updated to none, and the vehicle is an idle vehicle. If there is an idle vehicle, the number of idle vehicles is determined. If the number of idle vehicles is 1, the idle vehicle is called to execute the task to be assigned. If the number of idle vehicles is greater than or equal to 2, the idle vehicle is called based on the starting position and / or the end position of the task to be assigned.

[0074] In this embodiment, idle vehicles are called based on the avoidance principle, and idle vehicles that do not need to be avoided are called from multiple idle vehicles, or idle vehicles with a small avoidance running distance are called, or idle vehicles with a small probability of conflict with subsequent tasks are called.

[0075] Optionally, calling an idle vehicle based on the starting position and / or the end position of the task to be assigned includes: if the number of idle vehicles is at least two, and the end position of the task to be assigned is located on the same side of the at least two idle vehicles, calling the idle vehicle closest to the end position to perform the task to be assigned. Figure 1For example, if the end position of the task to be assigned is located at point O, that is, the end position is on the same side (left side) of the first RGV and the second RGV, if the second RGV is called, the second RGV will inevitably conflict with the first RGV in the process of running to the end position, and the first RGV needs to give way; if the first RGV is called, the probability of conflict with the second RGV is small, therefore, the idle vehicle closest to the end position is called to perform the task to be assigned.

[0076] If there are at least two idle vehicles, and the starting point of the task to be assigned is located on the same side of the at least two idle vehicles, and the end point is located between the idle vehicles, then the idle vehicle closest to the starting point is called to perform the task to be assigned. Figure 1 For example, the starting point of the task to be assigned is located on the same side of the two vehicles, such as point O, and the end point is located between the two vehicles, such as point P1. If the second RGV is called, the second RGV will inevitably conflict with the first RGV in the process of running to the starting point, and the first RGV needs to give way; if the first RGV is called, there is no conflict with the second RGV, so the idle vehicle closest to the starting point is called to perform the task to be assigned.

[0077] If there are at least two idle vehicles, and the end position and the starting position of the task to be assigned are both between the idle vehicles, the idle vehicle closest to the end position is called to perform the task to be assigned. Figure 1 For example, the starting position and the end position of the task to be assigned are both located between two vehicles, such as the starting position is P1 and the end position is P2, and any idle vehicle can be called to perform the task to be assigned. In some embodiments, in order to avoid conflicts between the task trajectories of the two vehicles when a task is assigned to another idle vehicle after calling an idle vehicle, for the current task to be assigned, the idle vehicle closest to the end position is called to reduce the probability of conflicts with the subsequent assigned tasks of another idle vehicle.

[0078] If there are at least two idle vehicles, and the end positions of the tasks to be assigned are all located on one side of the idle vehicles, and the starting positions are all located on the other side of the idle vehicles, Figure 1 For example, the starting position is on the left side of the two vehicles, and the terminal position is on the right side of the two vehicles. There is a conflict when calling any vehicle. The avoidance running distance of each vehicle as an avoidance vehicle is determined, and an idle vehicle with a large avoidance running distance is called to perform the task to be assigned. Correspondingly, the avoidance running distance of another idle vehicle as an avoidance vehicle is relatively small.

[0079] The technical solution provided in this embodiment calls idle vehicles based on the starting and ending positions of the tasks to be assigned and the avoidance principle during the task assignment process, so as to reduce the probability of trajectory conflicts of the called vehicles during operation and improve operation efficiency.

[0080] Embodiment 3

[0081] Fig. 9 1 is a schematic structural diagram of a control device for a track-guided vehicle provided by an embodiment of the present invention, the device comprising:

[0082] The vehicle determination module 310 is used to determine at least one vehicle that has been assigned a task on the same track, wherein at least two vehicles are configured on the track;

[0083] A conflict detection module 320, configured to perform conflict detection on the mission trajectory of the at least one vehicle;

[0084] An avoidance information determination module 330, configured to determine an avoidance vehicle and avoidance information of the avoidance vehicle if there is a conflict between the mission trajectories of the at least two vehicles;

[0085] The vehicle control module 340 is used to control the movement of the avoiding vehicle according to the avoiding information.

[0086] Optionally, the conflict detection module 320 includes:

[0087] A trajectory map generating unit, configured to generate a trajectory map based on the mission trajectories of each vehicle on the same track, wherein the trajectory map includes the trajectory lines of each vehicle on the same track;

[0088] The conflict judgment module is used to determine that there is a conflict between the task trajectories of any two vehicles in the trajectory map if there is overlap between the trajectory lines of the two vehicles.

[0089] Optionally, the trajectory map generating unit is used to:

[0090] Based on the length of each vehicle and the mission trajectory, a trajectory line of each vehicle including the vehicle length is generated, wherein the vehicle length is the width of the trajectory line.

[0091] Optionally, the avoidance information determination module 330 includes:

[0092] A first avoiding vehicle determining unit is used to determine an idle vehicle as an avoiding vehicle among two conflicting vehicles; or

[0093] The second avoiding vehicle determining unit is used to determine the unstarted vehicle as the avoiding vehicle, or determine the vehicle with small avoiding loss as the avoiding vehicle, among two vehicles with conflicting assigned tasks.

[0094] Optionally, the avoidance information includes avoidance position and avoidance time information;

[0095] Optionally, the avoidance information determination module 330 includes:

[0096] an avoidance position determination unit, configured to determine the avoidance position of the avoidance vehicle based on the end position of the mission trajectory of the non-avoidance vehicle and the direction of the avoidance vehicle relative to the non-avoidance vehicle;

[0097] The avoidance time information determining unit is used to determine the avoidance time information of the avoidance vehicle based on the time information of the non-avoidance vehicle moving to the end position.

[0098] Based on the above embodiment, the device further includes:

[0099] The vehicle scheduling module is used to obtain the task to be assigned before determining at least one vehicle that has been assigned a task on the same track, and call an idle vehicle based on the starting position and / or end position of the task to be assigned.

[0100] Optionally, the vehicle dispatch module is used to:

[0101] If the number of idle vehicles is at least two, and the end position of the task to be assigned is located on the same side of the at least two idle vehicles, then calling the idle vehicle closest to the end position to execute the task to be assigned;

[0102] If the number of idle vehicles is at least two, and the end position and the starting position of the task to be assigned are both located between the idle vehicles, then the idle vehicle closest to the end position is called to perform the task to be assigned;

[0103] If there are at least two idle vehicles, and the starting point of the task to be assigned is located on the same side of the at least two idle vehicles, and the end point is located between the idle vehicles, then the idle vehicle closest to the starting point is called to execute the task to be assigned.

[0104] The control device for a track-guided vehicle provided in an embodiment of the present invention can execute the control method for a track-guided vehicle provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to executing the control method for a track-guided vehicle.

[0105] Embodiment 4

[0106] Fig.10 A schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. Fig.10 A block diagram of an electronic device 12 suitable for use in implementing embodiments of the present invention is shown. Fig.10The electronic device 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention. The device 12 is typically an electronic device that undertakes the image classification function.

[0107] like Fig.10 As shown, the electronic device 12 is in the form of a general purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors 16, a storage device 28, and a bus 18 connecting various system components (including the storage device 28 and the processor 16).

[0108] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. For example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0109] The electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0110] The storage device 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Fig.10 not shown, usually called a "hard drive"). Although Fig.10Not shown in the figure, a disk drive for reading and writing a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing a removable non-volatile optical disk (e.g., a read-only optical disk (Compact Disc-Read Only Memory, CD-ROM), a digital video disk (Digital Video Disc-Read Only Memory, DVD-ROM) or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The storage device 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of various embodiments of the present invention.

[0111] A program 36 having a set (at least one) of program modules 26 may be stored, for example, in a storage device 28, such program modules 26 including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination thereof may include an implementation of a gateway environment. The program modules 26 generally perform the functions and / or methods of the embodiments described herein.

[0112] The electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, cameras, displays 24, etc.), may communicate with one or more devices that enable a user to interact with the electronic device 12, and / or may communicate with any device that enables the electronic device 12 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed via an input / output (I / O) interface 22. In addition, the electronic device 12 may also communicate with one or more gateways (e.g., a local area network (LAN), a wide area network (WAN), and / or a public gateway, such as the Internet) via a gateway adapter 20. As shown, the gateway adapter 20 communicates with other modules of the electronic device 12 via a bus 18. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, disk arrays (Redundant Arrays of Independent Disks, RAID) systems, tape drives, and data backup storage systems.

[0113] The processor 16 executes various functional applications and data processing by running the programs stored in the storage device 28, such as implementing the control method of the track-guided vehicle provided by the above-mentioned embodiment of the present invention.

[0114] Embodiment 5

[0115] Embodiment 5 of the present invention provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the control method of a track-guided vehicle provided in the embodiment of the present invention is implemented.

[0116] Of course, the computer-readable storage medium provided by the embodiment of the present invention stores a computer program which is not limited to the method operation described above, but can also execute the control method of the track-guided vehicle provided by any embodiment of the present invention.

[0117] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0118] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable source code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0119] Source code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wire, electrical wire, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0120] Computer source code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The source code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of gateway, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0121] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A control method for a track-guided vehicle, characterized in that: include: Determining at least one vehicle to which a task has been assigned on the same track, wherein at least two vehicles are configured on the track; performing conflict detection on the mission trajectory of the at least one vehicle; If there is a conflict between the mission trajectories of the at least two vehicles, determining an avoidance vehicle and avoidance information of the avoidance vehicle; controlling the movement of the avoiding vehicle according to the avoiding information; The performing conflict detection on the mission trajectory of the at least one vehicle includes: Generate a trajectory map based on the mission trajectory of each vehicle on the same track, wherein the trajectory map includes the trajectory lines of each vehicle on the same track; the trajectory line is a position-time change curve; the mission trajectory includes a starting point, an end point and a stop point, a running speed, an acceleration and a stay time at the starting point, the end point and the stop point; draw the trajectory line of the vehicle according to the mission trajectory, including: creating a two-dimensional coordinate system of position-time, calculating the slope of the trajectory map corresponding to the running process and the arrival time of the starting point, the end point and the stop point according to the starting point, the end point and the stop point, and the running speed and acceleration of the vehicle, to form the trajectory line of the vehicle; If the trajectory lines of any two vehicles in the trajectory graph overlap, it is determined that the mission trajectories of the two overlapping vehicles conflict.

2. The method according to claim 1, characterized in that The generating a trajectory graph based on the mission trajectories of the at least two vehicles comprises: Based on the length of each vehicle and the mission trajectory, a trajectory line of each vehicle including the vehicle length is generated, wherein the vehicle length is the width of the trajectory line.

3. The method according to claim 1, characterized in that The step of determining the avoidance vehicle comprises: Among the two conflicting vehicles, the idle vehicle is determined as the avoidance vehicle; or, Among the two conflicting vehicles to which tasks have been assigned, the unstarted vehicle is determined as the avoidance vehicle, or the vehicle with less avoidance loss is determined as the avoidance vehicle.

4. The method according to claim 1, characterized in that: The avoidance information includes avoidance position and avoidance time information; Wherein, the determining of the avoidance information of the avoidance vehicle includes: Determining an avoidance position of the avoidance vehicle based on an end position of the mission trajectory of the non-avoidance vehicle and a direction of the avoidance vehicle relative to the non-avoidance vehicle; Based on the time information of the non-avoiding vehicle moving to the end position, the avoiding time information of the avoiding vehicle is determined.

5. The method according to claim 1, characterized in that Before determining at least one vehicle that has been assigned a task on the same track, the method further includes: Obtain the task to be assigned, and call an idle vehicle based on the starting position and / or the end position of the task to be assigned.

6. The method according to claim 5, characterized in that The calling of an idle vehicle based on the starting position and / or the ending position of the task to be assigned includes: If the number of idle vehicles is at least two, and the end position of the task to be assigned is located on the same side of the at least two idle vehicles, then calling the idle vehicle closest to the end position to execute the task to be assigned; If there are at least two idle vehicles, and the starting point of the task to be assigned is located on the same side of the at least two idle vehicles, and the end point is located between the idle vehicles, then the idle vehicle closest to the starting point is called to execute the task to be assigned.

7. A control device for a track-guided vehicle, characterized in that: include: A vehicle determination module, used to determine at least one vehicle to which a task has been assigned on the same track, wherein at least two vehicles are configured on the track; A conflict detection module, configured to perform conflict detection on a task trajectory of the at least one vehicle; an avoidance information determination module, configured to determine an avoidance vehicle and avoidance information of the avoidance vehicle if there is a conflict between the mission trajectories of the at least two vehicles; A vehicle control module, used for controlling the movement of the avoidance vehicle according to the avoidance information; The conflict detection module is specifically used to generate a trajectory map based on the task trajectories of each vehicle on the same track, wherein the trajectory map includes the trajectory lines of each vehicle on the same track; the trajectory lines are position-time change curves; if the trajectory lines of any two vehicles in the trajectory map overlap, it is determined that the task trajectories of the two overlapping vehicles conflict; Among them, the task trajectory includes a starting point, an end point and a stop point, a running speed, an acceleration and a stay time at the starting point, the end point and the stop point; drawing the vehicle trajectory line according to the task trajectory includes: creating a two-dimensional coordinate system of position-time, calculating the slope corresponding to the trajectory diagram during the running process and the arrival time of the starting point, the end point and the stop point according to the starting point, the end point and the stop point, and the running speed and acceleration of the vehicle, to form the vehicle trajectory line.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the control method of the track-guided vehicle as described in any one of claims 1-6 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the control method of a track-guided vehicle as described in any one of claims 1 to 6 is implemented.

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