A method, device and system for coordinated motion control of multiple vehicles

Abstract

This application relates to a multi-vehicle coordinated motion control method, device, and system. The method includes: constructing a vehicle motion coordinate system and obtaining the real-time position coordinates of the vehicle, the goods to be loaded / unloaded, and the destination on the coordinate system; constructing a dynamic motion model based on the real-time position coordinates on the coordinate system; determining the vehicle priority based on the dynamic motion model; and driving the vehicles to sequentially perform loading / unloading tasks according to the vehicle priority. This application, by constructing a vehicle motion coordinate system to determine the relative distance between the vehicle and the goods being loaded / unloaded, is used to determine vehicle priority; by constructing a dynamic motion model, it pre-determines whether the vehicle's trajectory during loading / unloading tasks intersects; and by judging vehicle priority based on the vehicle's working state and the dynamic motion model, it pre-plans and controls vehicle movement based on vehicle priority, thereby improving the efficiency and safety of the vehicle control system, freeing up labor, and increasing production efficiency.

Description

Technical Field

[0001] This application relates to vehicle automation equipment, and in particular to a method, device and system for coordinating the motion of multiple vehicles. Background Technology

[0002] In traditional vehicle control systems, each vehicle operates independently, and data between vehicles is isolated. Switching sensors are only located at the intersection of vehicles. When the distance between vehicles falls below a safety threshold, the vehicle stops operating and requires manual intervention to resume operation. This presents significant limitations to traditional vehicle control systems, as they cannot proactively handle multi-vehicle intersections, resulting in low efficiency and failing to meet the safety requirements for unattended operation.

[0003] Therefore, traditional vehicle control systems can only passively control the operation and stopping of vehicles based on switching sensors. After triggering a stop command, they cannot automatically avoid obstacles and continue to execute the task process. They can only wait for manual intervention. The level of intelligence is low, and they cannot actively handle the situation of two vehicles meeting. In the face of the rapid development of modern industrial manufacturing, traditional vehicle control systems can no longer adapt and even limit the development of productivity. Summary of the Invention

[0004] Therefore, it is necessary to provide a multi-vehicle coordinated motion control method, device, and system that can enable multiple vehicles to work synchronously and achieve efficient and intelligent planning, addressing the issues that traditional vehicle control systems have low intelligence and low safety in multi-vehicle coordinated motion and are unable to handle the problem of multiple vehicles merging in advance during vehicle movement.

[0005] In a first aspect, this application provides a multi-vehicle coordinated motion control method, comprising the following steps:

[0006] Construct a vehicle motion coordinate system and obtain the real-time position coordinates of the vehicle, the goods to be loaded / unloaded, and the destination in the coordinate system;

[0007] Based on real-time location coordinate information, a dynamic motion model of the vehicle is constructed; the dynamic motion model includes multiple dynamic motion regions, and the dynamic motion model is used to determine whether there is overlap of dynamic motion regions between vehicles;

[0008] The priority of the vehicle is determined based on its working status and dynamic motion model; the working status includes the status of performing loading and unloading tasks, the status of preparing to perform loading and unloading tasks, and the idle status.

[0009] Based on the priority of the vehicles, the driving vehicles are driven to perform loading and unloading tasks in sequence.

[0010] In one embodiment, the specific steps of constructing the vehicle motion coordinate system and obtaining the real-time position coordinates of the vehicle, the goods to be loaded / unloaded, and the destination coordinate system include:

[0011] Choose any point as the reference origin based on the boundary of the production workshop;

[0012] Define the driving direction as the first direction, and establish a one-dimensional spatial coordinate system with the reference origin as the origin in the first direction;

[0013] Based on the one-dimensional spatial coordinate system, the positions of the vehicle, the goods to be loaded / unloaded, and the destination are projected onto the one-dimensional spatial coordinate system, and the corresponding real-time position coordinates are read.

[0014] In one embodiment, the specific steps of constructing the vehicle motion coordinate system and obtaining the real-time position coordinates of the vehicle and the goods to be loaded / unloaded in the coordinate system include:

[0015] Based on the top view, the shape of the production workshop is defined as a rectangle;

[0016] Using the intersection of any two adjacent sides of a rectangle as the origin, and the two adjacent sides of the rectangle as the X-axis and Y-axis respectively, a Cartesian coordinate system is established, and the real-time position coordinates of the vehicle, the goods to be loaded / unloaded, and the destination in the Cartesian coordinate system are read.

[0017] The axis coordinates that are consistent with the direction of vehicle movement are defined as valid coordinates, and the dynamic movement area of ​​the vehicle is constructed based on the valid coordinates.

[0018] In one embodiment, the step of constructing a dynamic motion model of the vehicle based on real-time location coordinate information includes:

[0019] Project the current position of the vehicle, the position of the goods to be loaded / unloaded, and the destination position onto the coordinate system;

[0020] The predicted motion trajectory is formed on the coordinate system according to the order of the current position of the vehicle, the position of the goods to be loaded / unloaded, and the destination position;

[0021] The predicted trajectory of the current vehicle in the coordinate system is taken as the dynamic motion area of ​​the current vehicle.

[0022] In one embodiment, the step of detecting the vehicle's operating status and determining the vehicle's priority based on the vehicle's operating status and the dynamic movement area includes:

[0023] Detect the current working status of all vehicles and assign the highest priority to vehicles currently performing loading and unloading tasks;

[0024] If all vehicles are currently in a state of preparing to perform loading and unloading tasks or in an idle state, the priority of each vehicle is determined based on the relative distance between its real-time position and the corresponding position of the goods to be loaded or unloaded, and the dynamic movement area. When there is an overlap in the dynamic movement areas between vehicles, the smaller the relative distance between the real-time position of a vehicle and the corresponding position of the goods to be loaded or unloaded, the higher its priority. When there is no overlap in the dynamic movement areas between vehicles, multiple vehicles corresponding to them are assigned the same priority level, and vehicles with the same priority level independently perform loading and unloading tasks at the same time.

[0025] In one embodiment, the step of driving the vehicles to perform loading and unloading tasks sequentially according to their priority includes:

[0026] Query the priority of all vehicles currently in motion. If a vehicle currently has the highest priority, other vehicles shall give way to the vehicle with the highest priority. After the vehicle with the highest priority completes its loading and unloading task, the priority of all vehicles currently in motion shall be determined again.

[0027] If no vehicle currently has the highest priority, loading and unloading tasks are executed in order of priority. While a high-priority vehicle is executing its task, a low-priority vehicle will give way and suspend automatic operation.

[0028] In one embodiment, performing the vehicle avoidance includes:

[0029] During the loading and unloading process, the dynamic movement area of ​​the low-priority vehicle overlaps with that of the high-priority vehicle. The low-priority vehicle then moves away from the dynamic movement area of ​​the high-priority vehicle according to a preset safety threshold.

[0030] In one embodiment, the vehicle includes a large vehicle and a small vehicle, the small vehicle is mounted on the large vehicle and is movable relative to the large vehicle, the large vehicle is configured to move in a first direction, and the small vehicle is configured to move in a second direction perpendicular to the direction of movement of the large vehicle, the driving direction of the vehicle is the direction of movement of the large vehicle; the large vehicle can reciprocate in the first direction.

[0031] The crane also includes a lifting structure, which is mounted on the main vehicle or the trolley. The lifting structure is movable relative to the main vehicle or the trolley and is configured to move in a third direction perpendicular to the first direction and the second direction.

[0032] Secondly, a multi-vehicle coordinated motion control device, characterized in that it comprises:

[0033] A position coordinate acquisition unit is used to construct a vehicle motion coordinate system and acquire the real-time position coordinates of the current vehicle, the goods to be loaded / unloaded, and the destination in the coordinate system.

[0034] A model building unit is electrically connected to the position coordinate acquisition unit. The model building unit is used to build a dynamic motion model of the vehicle based on real-time position coordinate information. The dynamic motion model includes multiple dynamic motion regions and is used to determine whether there is overlap between dynamic motion regions of the vehicles.

[0035] The model processing unit is used to communicate with the model building unit and obtain the dynamic motion model built by the model building unit. The model processing unit is used to determine the priority of the vehicle based on the working status of the vehicle and the dynamic motion model. The working status includes the state of executing loading and unloading tasks, the state of preparing to execute loading and unloading tasks, and the idle state.

[0036] A control drive unit is used to drive the crane to perform loading and unloading tasks sequentially according to the crane's priority.

[0037] In one embodiment, the coordinate acquisition unit includes a wireless communication system and a real-time communication protocol, and a ranging unit. The wireless communication system is independent of the vehicle's own communication system, and the real-time communication protocol is independent of the vehicle's own communication protocol. The ranging unit is configured in a one-to-one correspondence with the vehicle, and the ranging unit is connected to the wireless communication system.

[0038] In one embodiment, the ranging unit has a measurement accuracy of less than 1 mm.

[0039] Thirdly, this application provides a multi-vehicle coordinated motion control system, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of any of the above-mentioned multi-vehicle coordinated motion control methods.

[0040] One of the above technical solutions has the following advantages and beneficial effects:

[0041] In the aforementioned multi-car coordination motion control device, a car motion coordinate system is constructed to obtain the real-time position coordinates of the car, the goods to be loaded / unloaded, and the destination on the coordinate system; a dynamic motion model is constructed based on the real-time position coordinates on the coordinate system; the priority of the car is determined based on the working status of the car and the dynamic motion model; and the car is driven to perform loading and unloading tasks sequentially according to the priority of the car, thereby realizing intelligent allocation of multiple cars when performing loading and unloading tasks, reducing manual intervention, which is conducive to realizing unmanned operation in the production workshop and improving production efficiency. This application constructs a crane motion coordinate system, enabling the relative distance between multiple cranes and their loading / unloading cargo to be determined through coordinate values, facilitating the determination of crane priorities. By constructing a dynamic motion model, it can predict in advance whether the motion trajectories of multiple cranes performing loading / unloading tasks intersect, facilitating early intervention and intelligent control. Based on the crane's working state and the dynamic motion model, priority can be determined for the current crane's loading / unloading process state, motion state, or preparation state. Based on the crane's priority, advance planning and control of crane movement can be implemented, improving the efficiency and safety of the crane control system. The crane control system based on the multi-crane coordinated motion control method enables unmanned operation in the production workshop, freeing up labor and improving production efficiency. Attached Figure Description

[0042] Figure 1 This is an application environment diagram of a multi-vehicle coordinated motion control method in the embodiments of this application.

[0043] Figure 2 This is a schematic diagram of the first process of a multi-vehicle coordinated motion control method in an embodiment of this application.

[0044] Figure 3 This is a schematic diagram of the first step in the real-time location coordinate acquisition process in an embodiment of this application.

[0045] Figure 4 This is a schematic diagram of the second process of obtaining the dynamic motion model in the embodiments of this application.

[0046] Figure 5 This is a schematic diagram of the third process for determining traffic priority in an embodiment of this application.

[0047] Figure 6 This is a structural block diagram of a multi-vehicle coordinated motion control device according to an embodiment of this application. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0049] Example 1

[0050] This embodiment provides a multi-vehicle coordinated motion control method, which can be applied to, for example... Figure 1 The application environment is illustrated. The processing device may include a processor and a memory. The memory stores data such as a pre-established coordinate system, the vehicle's task execution status, and a dynamic motion model. The processor acquires the current position of the vehicle, the goods to be loaded / unloaded, and their destination; reads the real-time position coordinates of the vehicle, goods to be loaded / unloaded, and their destination based on the pre-established coordinate system; constructs a dynamic motion model of the vehicle based on the real-time position coordinates; the dynamic motion model includes multiple dynamic motion regions and is used to determine whether there are intersections in the movement trajectories between vehicles; determines the vehicle's priority based on its working status and the dynamic motion model; the working status includes executing a loading / unloading task, preparing to execute a loading / unloading task, and idle; and drives the vehicle to execute loading / unloading tasks sequentially according to its priority. The processing device may also include a display, which can display real-time position coordinates, vehicle working status, vehicle priority, and other data through a graphical interface.

[0051] In one embodiment, such as Figure 2 As shown, a multi-vehicle coordinated motion control method is provided, which is applied to... Figure 1 Taking the processor in the example, the following steps are included:

[0052] Step S210: Construct a vehicle motion coordinate system and obtain the real-time position coordinates of the vehicle, the goods to be loaded / unloaded, and the destination in the coordinate system;

[0053] Step S220: Based on the real-time location coordinate information, construct a dynamic motion model of the vehicle; the dynamic motion model includes multiple dynamic motion regions, and the dynamic motion model is used to determine whether there is any overlap of dynamic motion regions between vehicles;

[0054] The dynamic movement area of ​​the vehicle changes with the real-time position coordinates of the vehicle.

[0055] Step S230: Determine the priority of the vehicle based on its working status and dynamic motion model; the working status includes the status of executing loading and unloading tasks, the status of preparing to execute loading and unloading tasks, and the idle status.

[0056] Step S240: Drive the crane to perform loading and unloading tasks sequentially according to the crane's priority.

[0057] like Figure 3 As shown, in addition to the features of the above embodiments, this embodiment further defines the specific steps for constructing a vehicle motion coordinate system and obtaining the real-time position coordinates of the current vehicle, the goods to be loaded / unloaded, and the destination coordinate system, including:

[0058] Step S310: Select any point as the reference origin based on the boundary of the production workshop;

[0059] Step S320: Define the driving direction as the first direction and establish a one-dimensional spatial coordinate system with the reference origin as the origin in the first direction;

[0060] Step S330: Based on the one-dimensional spatial coordinate system, project the positions of the vehicle, the goods to be loaded / unloaded, and the destination onto the one-dimensional spatial coordinate system and read the corresponding real-time position coordinates.

[0061] Optionally, the specific steps for constructing a vehicle motion coordinate system and obtaining the real-time position coordinates of the vehicle and the goods to be loaded / unloaded in the coordinate system include:

[0062] Based on the top view, the shape of the production workshop is defined as a rectangle;

[0063] Using the intersection of any two adjacent sides of a rectangle as the origin, and the two adjacent sides of the rectangle as the X-axis and Y-axis respectively, a Cartesian coordinate system is established, and the real-time position coordinates of each vehicle, the goods to be loaded / unloaded, and the destination in the Cartesian coordinate system are read.

[0064] The axis coordinates that are consistent with the direction of vehicle movement are defined as valid coordinates, and the dynamic movement area of ​​the vehicle is constructed based on the valid coordinates.

[0065] In the above embodiments, a coordinate system is established to read the location information of the vehicles, the goods to be loaded / unloaded, and the destination in the form of coordinate values. This facilitates the determination of the priority of each vehicle based on its working status and dynamic motion model. The absolute value of the difference between the vehicle coordinate values ​​and the coordinate values ​​of the goods to be loaded / unloaded is used to rank the priorities. For example, vehicles A and B and their corresponding coordinate values ​​X1 and X2, and goods C and D and their corresponding coordinate values ​​X3 and X4, where vehicle A corresponds to goods C and vehicle B corresponds to goods D, are calculated using the formulas a = |X1 - X3| and b = |X2 - X4|. Here, a is the relative distance between vehicle A and goods C, and b is the relative distance between vehicle B and goods D. If the value of a is less than b, then vehicle A has a higher priority than vehicle B.

[0066] like Figure 4 As shown, in addition to the features of the above embodiments, this embodiment further defines the step of constructing a dynamic motion model of the vehicle based on real-time position coordinate information as follows:

[0067] Step S410: Project the current position of the vehicle, the position of the goods to be loaded / unloaded, and the destination position onto the coordinate system;

[0068] Step S420: The predicted motion trajectory is formed on the coordinate system according to the order of the current position of the vehicle, the position of the goods to be loaded / unloaded, and the destination position.

[0069] Step S430: Take the interval of the predicted motion trajectory of the current vehicle in the coordinate system as the dynamic motion area of ​​the current vehicle.

[0070] Among them, the dynamic movement area of ​​a vehicle in an idle state is only a point on the coordinate system.

[0071] In the above embodiments, by using the predicted trajectory of the vehicle as a coordinate system interval segment as the vehicle's dynamic movement area, it is possible to accurately determine whether the vehicle's dynamic movement area overlaps with that of other vehicles while performing a task, thereby allowing for advance control of the vehicle's movement. For example, if a vehicle with the highest priority exists, other vehicles will move away from the dynamic movement area of ​​the highest-priority vehicle according to a preset safety threshold, based on the highest priority. By controlling the convergence of multiple vehicles in advance, it avoids situations where high-priority vehicles are forced to stop during loading and unloading tasks due to other vehicles being in the dynamic movement area of ​​high-priority vehicles, requiring manual intervention to continue the task. This effectively improves the efficiency and safety of the vehicle control system.

[0072] like Figure 5 As shown, in addition to the features of the above embodiments, this embodiment further defines the process for determining the driving priority based on the vehicle's operating status and dynamic movement area as follows:

[0073] Detect the current working status of all vehicles and assign the highest priority to vehicles currently performing loading and unloading tasks;

[0074] If all vehicles are currently in a state of preparing to perform loading and unloading tasks or in an idle state, the priority of each vehicle is determined based on the relative distance between its real-time position and the corresponding location of the goods to be loaded or unloaded, as well as its dynamic movement area. When there is an overlap in the dynamic movement areas between vehicles, the smaller the relative distance between the real-time position of a vehicle and the location of the goods to be loaded or unloaded, the higher its priority. When there is no overlap in the dynamic movement areas between vehicles, multiple vehicles corresponding to the same vehicle are assigned the same priority level, and vehicles with the same priority level independently perform loading and unloading tasks at the same time.

[0075] Among them, the idle vehicle has no corresponding cargo to be loaded or unloaded and no destination. The relative distance between the real-time position of the vehicle and the corresponding cargo to be loaded or unloaded is infinite. In other words, the idle vehicle has a lower priority than the vehicle that is performing a loading or unloading task or preparing to perform a loading or unloading task.

[0076] In addition to the features of the above embodiments, this embodiment further defines the process of driving the vehicle to perform loading and unloading tasks sequentially according to the vehicle's priority as follows:

[0077] Query the priority of all vehicles currently in motion. If a vehicle currently has the highest priority, other vehicles shall give way to the vehicle with the highest priority. After the vehicle with the highest priority completes its loading and unloading task, the priority of all vehicles currently in motion shall be determined again.

[0078] If no vehicle currently has the highest priority, loading and unloading tasks are executed in order of priority. While a high-priority vehicle is executing its task, a low-priority vehicle will give way and suspend automatic operation.

[0079] In addition to the features of the above embodiments, this embodiment further defines: performing vehicle avoidance includes:

[0080] During the loading and unloading process, the dynamic movement area of ​​the low-priority vehicle overlaps with that of the high-priority vehicle. The low-priority vehicle then moves away from the dynamic movement area of ​​the high-priority vehicle according to a preset safety threshold.

[0081] In addition to the features of the above embodiments, this embodiment further defines that: the vehicle includes a large vehicle and a small vehicle, the small vehicle is mounted on the large vehicle, the small vehicle is movable relative to the large vehicle, the large vehicle is configured to move in a first direction, the small vehicle is configured to move in a second direction perpendicular to the direction of movement of the large vehicle, the driving direction of the vehicle is the direction of movement of the large vehicle; the large vehicle can reciprocate in the first direction.

[0082] The crane also includes a lifting structure, which is mounted on the main vehicle or the trolley and is movable relative to the main vehicle or the trolley. The lifting structure is configured to move in a third direction perpendicular to the first direction and the second direction.

[0083] Example 2

[0084] like Figure 6 As shown, this embodiment provides a multi-vehicle coordinated motion control device, including:

[0085] The position coordinate acquisition unit 10 is used to construct a vehicle motion coordinate system and acquire the real-time position coordinates of the vehicle, the goods to be loaded / unloaded, and the destination in the coordinate system.

[0086] The model building unit 20 is electrically connected to the position coordinate acquisition unit. The model building unit is used to build a dynamic motion model of the vehicle based on real-time position coordinate information. The dynamic motion model includes multiple dynamic motion regions and is used to determine whether there is overlap of dynamic motion regions between vehicles.

[0087] The model processing unit 30 is used to communicate with the model building unit and obtain the dynamic motion model built by the model building unit. The model processing unit is used to detect the working status of the vehicle and determine the priority of the vehicle based on the working status and the dynamic motion model. The working status includes the status of executing loading and unloading tasks, the status of preparing to execute loading and unloading tasks, and the idle status.

[0088] The control drive unit 40 is connected to the vehicle for communication. The control drive unit is used to drive the vehicle to perform loading and unloading tasks sequentially according to the vehicle's priority.

[0089] In the above embodiments, each module in a multi-vehicle coordinated motion control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor of a multi-vehicle coordinated motion control system in hardware form, or stored in the memory of a multi-vehicle coordinated motion control system in software form, so that the controller can call and execute the operations corresponding to each module.

[0090] In addition to the features of the above embodiments, this embodiment further specifies that: the coordinate acquisition unit includes a wireless communication system and its real-time communication protocol, and a ranging unit. The wireless communication system is independent of the vehicle's own communication system, the real-time communication protocol is independent of the vehicle's own communication protocol, the ranging unit is set up in a one-to-one correspondence with the vehicle, and the ranging unit is connected to the wireless communication system.

[0091] In the above embodiments, each vehicle is equipped with a ranging unit. The ranging unit measures the distance between the current vehicle and the reference origin. Then, the distance between the vehicle and the reference origin is sent to the model building unit through a real-time communication system and its protocol independent of the vehicle's own communication system and protocol, thereby constructing a dynamic motion model. Utilizing a real-time communication system and its protocol independent of the vehicle's own communication system and protocol ensures the accuracy of the vehicle's real-time position coordinate information. This avoids delays in the vehicle's real-time position coordinate information that could lead to delays in the corresponding dynamic motion area, resulting in misjudgments or omissions in vehicle priority determination, thus affecting the vehicle's working efficiency and safety.

[0092] In addition to the features of the above embodiments, this embodiment further specifies that the ranging unit has a measurement accuracy of less than 1 mm.

[0093] In the above embodiments, by using a ranging unit with an accuracy of less than 1 mm, high precision of the real-time position coordinates of the vehicle is achieved. Correspondingly, the relative distance between the vehicle and the corresponding cargo to be loaded or unloaded is also more precise, improving the accuracy of vehicle priority judgment. At the same time, when a low-priority vehicle is performing avoidance, it can accurately move away from the dynamic movement area of ​​the vehicle currently performing the loading and unloading task according to the preset safety threshold, avoiding excessive ineffective movement of the low-priority vehicle and reducing power consumption.

[0094] Example 3

[0095] In one embodiment, a multi-vehicle coordinated motion control system is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement any of the steps of the multi-vehicle coordinated motion control method described above.

[0096] In one example, a processor may perform the following steps when executing a computer program:

[0097] A vehicle motion coordinate system is constructed to obtain the real-time position coordinates of the vehicle, the goods to be loaded / unloaded, and the destination in the coordinate system. Based on the real-time position coordinate information, a dynamic motion model of the vehicle is constructed. The dynamic motion model includes multiple dynamic motion regions, which are used to determine whether there is any overlap in the dynamic motion regions between vehicles. The priority of the vehicle is determined based on its working status and the dynamic motion model. The working status includes the status of executing loading / unloading tasks, the status of preparing to execute loading / unloading tasks, and the idle status. Based on the priority of each vehicle, the vehicles are driven to execute loading / unloading tasks sequentially.

[0098] In one example, when a processor executes a computer program, it may also perform the following steps:

[0099] Choose any point as the reference origin based on the boundary of the production workshop;

[0100] Define the direction of vehicle movement as the first direction, and establish a one-dimensional spatial coordinate system with the reference origin as the origin in the first direction;

[0101] Based on the one-dimensional spatial coordinate system, the positions of each vehicle, the goods to be loaded / unloaded, and the destination are projected onto the one-dimensional spatial coordinate system, and the corresponding real-time position coordinates are read.

[0102] In one example, when a processor executes a computer program, it may also perform the following steps:

[0103] Project the vehicle's current position, the location of the goods to be loaded / unloaded, and the destination onto the coordinate system;

[0104] The predicted motion trajectory is formed on the coordinate system according to the order of the current position of the vehicle, the position of the goods to be loaded / unloaded, and the destination position;

[0105] The predicted trajectory of the current vehicle in the coordinate system is taken as the dynamic motion area of ​​the current vehicle.

[0106] In one example, when a processor executes a computer program, it may also perform the following steps:

[0107] Detect the current working status of all vehicles and assign the highest priority to vehicles currently performing loading and unloading tasks;

[0108] If all vehicles are currently performing loading / unloading tasks or are idle, the priority of each vehicle is determined based on the relative distance between its real-time position and the corresponding cargo position, as well as its dynamic movement area. When there is overlap between the dynamic movement areas of vehicles, the smaller the relative distance between the real-time position of a vehicle and the corresponding cargo position, the higher its priority. When there is no overlap between the dynamic movement areas of vehicles, multiple vehicles corresponding to them are assigned the same priority level, and vehicles with the same priority level independently perform loading / unloading tasks at the same time.

[0109] In one example, when a processor executes a computer program, it may also perform the following steps:

[0110] Query the priority of all vehicles currently in motion. If a vehicle currently has the highest priority, other vehicles shall give way to the vehicle with the highest priority. After the vehicle with the highest priority completes its loading and unloading task, the priority of all vehicles currently in motion shall be determined again.

[0111] If no vehicle currently has the highest priority, loading and unloading tasks are executed in order of priority. While a high-priority vehicle is executing its task, a low-priority vehicle will give way and suspend automatic operation.

[0112] In the above embodiments, by constructing a crane motion coordinate system, the real-time position coordinates of the crane, the goods to be loaded / unloaded, and the destination on the coordinate system are obtained; a dynamic motion model is constructed based on the real-time position coordinates on the coordinate system; the priority of each crane is determined based on the working status of each crane and the dynamic motion model; and the cranes are driven to perform loading and unloading tasks sequentially according to the priority of each crane, thereby realizing intelligent allocation when multiple cranes perform loading and unloading tasks, reducing manual intervention, which is conducive to realizing unmanned operation in the production workshop and improving production efficiency. This application constructs a crane motion coordinate system, enabling the relative distance between multiple cranes and their loading / unloading cargo to be determined through coordinate values, facilitating the determination of crane priorities. By constructing a dynamic motion model, it can predict in advance whether the motion trajectories of multiple cranes performing loading / unloading tasks intersect, facilitating early intervention and intelligent control. Based on the crane's working state and the dynamic motion model, priority can be determined for the current crane's loading / unloading process state, motion state, or preparation state. Based on the crane's priority, advance planning and control of crane movement can be implemented, improving the efficiency and safety of the crane control system. The crane control system based on the multi-crane coordinated motion control method enables unmanned operation in the production workshop, freeing up labor and improving production efficiency.

[0113] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of each technical feature in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0114] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for coordinated motion control of multiple vehicles, characterized in that, Includes the following steps: Construct a vehicle motion coordinate system and obtain the real-time position coordinates of the goods to be loaded / unloaded, the destination, and at least two vehicles in the coordinate system; Based on real-time location coordinate information, a dynamic motion model of the vehicle is constructed; the dynamic motion model includes multiple dynamic motion regions, and the dynamic motion model is used to determine whether there is overlap of dynamic motion regions between vehicles; The priority of the vehicle is determined based on its working status and dynamic motion model; the working status includes the status of performing loading and unloading tasks, the status of preparing to perform loading and unloading tasks, and the idle status. Based on the driving priority, drive the vehicles to perform loading and unloading tasks sequentially; The step of constructing a dynamic motion model of the vehicle based on real-time location coordinate information includes: projecting the current position of the vehicle, the position of the goods to be loaded / unloaded, and the destination position onto the coordinate system; forming a predicted motion trajectory on the coordinate system in the order of the current position of the vehicle, the position of the goods to be loaded / unloaded, and the destination position; and taking the interval of the predicted motion trajectory of the current vehicle on the coordinate system as the dynamic motion area of ​​the current vehicle. The step of determining the priority of a vehicle based on its working status and dynamic movement area includes: detecting the working status of all vehicles and assigning the highest priority to vehicles currently performing loading and unloading tasks; if all vehicles are currently in a state of preparing to perform loading and unloading tasks or in an idle state, the priority of a vehicle is determined based on the relative distance between the real-time position of each vehicle and the corresponding position of the goods to be loaded or unloaded, and the dynamic movement area. When there is an overlap in the dynamic movement areas between vehicles, the smaller the relative distance between the real-time position of a vehicle and the corresponding position of the goods to be loaded or unloaded, the higher its priority. When there is no overlap in the dynamic movement areas between vehicles, multiple vehicles corresponding to them are assigned the same level of priority, and vehicles with the same level of priority independently perform loading and unloading tasks at the same time. The steps of driving the vehicles to perform loading and unloading tasks sequentially according to their priorities include: querying the priorities of all vehicles currently in operation; if a vehicle currently has the highest priority, other vehicles will perform driving avoidance based on the highest priority vehicle; after the highest priority vehicle completes its loading and unloading task, the priorities of all vehicles will be determined again; if no vehicle currently has the highest priority, the loading and unloading tasks will be performed in order of priority, and while the high-priority vehicle is performing its task, the low-priority vehicle will perform driving avoidance and pause automatic operation.

2. The multi-vehicle coordinated motion control method according to claim 1, characterized in that, The specific steps for constructing the vehicle motion coordinate system and obtaining the real-time position coordinates of at least two vehicles, the goods to be loaded / unloaded, and the destination coordinate system include: Choose any point as the reference origin based on the boundary of the production workshop; Define the direction of motion of one of the vehicles as the first direction, and establish a one-dimensional spatial coordinate system with the reference origin as the origin in the first direction; Based on the one-dimensional spatial coordinate system, the positions of the vehicle, the goods to be loaded / unloaded, and the destination are projected onto the one-dimensional spatial coordinate system, and the corresponding real-time position coordinates are read.

3. The multi-vehicle coordinated motion control method according to claim 1, characterized in that, The process of performing vehicle avoidance includes: During the loading and unloading process, the dynamic movement area of ​​the low-priority vehicle overlaps with that of the high-priority vehicle. The low-priority vehicle then moves away from the dynamic movement area of ​​the high-priority vehicle according to a preset safety threshold.

4. The multi-vehicle coordinated motion control method according to claim 2, characterized in that, The traveling vehicle includes a large vehicle and a small vehicle, the small vehicle being mounted on the large vehicle and movable relative to the large vehicle. The large vehicle is configured to move in a first direction, and the small vehicle is configured to move in a second direction perpendicular to the direction of movement of the large vehicle. The traveling direction of the traveling vehicle is the direction of movement of the large vehicle; the large vehicle can reciprocate in the first direction. The crane also includes a lifting structure, which is mounted on the main vehicle or the trolley. The lifting structure is movable relative to the main vehicle or the trolley and is configured to move in a third direction perpendicular to the first direction and the second direction.

5. A multi-vehicle coordinated motion control system, characterized in that, It includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the multi-vehicle coordinated motion control method according to any one of claims 1 to 4.

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