An overall configuration design method for a self-organizing and splicable transport platform

Abstract

The present application relates to a method for constructing an overall configuration of cooperative transportation of multiple units. The method includes: obtaining units to be spliced, splicing the current unit with the unit to be spliced ​​to obtain a spliced ​​unit; determining the trajectory constraint equation and relative position constraint equation corresponding to the spliced ​​unit based on preset trajectory constraints and relative position constraints; constructing the dynamic equation corresponding to the spliced ​​unit according to the trajectory constraint equation and the relative position constraint equation; taking the spliced ​​unit as the new current unit, continuing to execute the step of obtaining the unit to be spliced ​​until the number of units contained in the spliced ​​unit reaches the target number of units, and taking the spliced ​​unit as the target spliced ​​unit; constructing the overall configuration of cooperative transportation of multiple units based on the trajectory constraint equation, relative position constraint equation and dynamic equation corresponding to the target spliced ​​unit. The adoption of this method improves the synergy between multiple units.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method for designing an overall configuration of a self-organizing and splicable transport platform. Background Art

[0002] With the rapid development of vehicle transportation and other technologies and the needs of daily production and life, oversized and heavy-load transportation technology has been widely used in various fields such as economic production. However, due to the bottleneck constraints of the oversized and heavy-load transportation capacity of roads and the limited load capacity of a single vehicle, the transportation of oversized goods has placed increasingly higher requirements on the carrying capacity of the transportation platform.

[0003] At present, in order to reduce the difficulty of disassembling oversized goods, multiple vehicles are used to coordinate load-carrying transportation. Each vehicle is used as a unit, and multiple units are controlled to transport an oversized cargo according to a unified control mode, so that the load capacity of each unit meets the requirements of heavy-load road transportation.

[0004] However, in the current transportation method of oversized cargo, during the coordinated heavy-load transportation of multiple units, the multiple units are controlled according to a unified control mode, which leads to mutual interference between the multiple units and great difficulty in coordination between the multiple units. Summary of the invention

[0005] Based on this, it is necessary to provide an overall configuration design method for a self-organizing and splicable transport platform to address the above technical problems.

[0006] In a first aspect, the present application provides a method for designing an overall configuration of a self-organizing splicable transport platform. The method comprises:

[0007] Obtaining a unit body to be spliced, and splicing the current unit body with the unit body to be spliced ​​to obtain a spliced ​​unit body;

[0008] Based on the preset trajectory constraint conditions and relative position constraint conditions, determining the trajectory constraint equation and relative position constraint equation corresponding to the splicing unit body;

[0009] Constructing a dynamic equation corresponding to the splicing unit body according to the trajectory constraint equation and the relative position constraint equation;

[0010] The splicing unit body is used as a new current unit body, and the step of obtaining the unit body to be spliced ​​is continued until the number of unit bodies contained in the splicing unit body reaches the target number of unit bodies, and the splicing unit body is used as the target splicing unit body;

[0011] Based on the trajectory constraint equations, relative position constraint equations and dynamic equations corresponding to the target splicing unit body, the overall configuration of multi-unit collaborative transportation is constructed.

[0012] In one embodiment, before obtaining the unit body to be spliced, the method further includes:

[0013] Acquire size information of the unit body and object size information of the target object to be transported;

[0014] Based on the size information of the unit cell and the object size information, a target number of unit cells is determined.

[0015] In one embodiment, the determining of the trajectory constraint equation and the relative position constraint equation corresponding to the splicing unit body based on the preset trajectory constraint condition and the relative position constraint condition includes:

[0016] Based on the preset trajectory constraint conditions, constructing a trajectory constraint equation including the position information of the current unit body in the splicing unit body and the unit body to be spliced;

[0017] Based on the preset relative position constraint condition and the position information of the current unit body and the unit body to be spliced, the relative position relationship between the current unit body and the unit body to be spliced ​​in the splicing unit body is calculated to obtain a relative position constraint equation.

[0018] In one embodiment, constructing the dynamic equation corresponding to the splicing unit body according to the trajectory constraint equation and the relative position constraint equation includes:

[0019] Obtaining the dynamic equation of the splicing unit body under the condition of no trajectory constraint;

[0020] The dynamic equation of the splicing unit body without trajectory constraint is converted according to the relative position constraint equation and the trajectory constraint equation corresponding to the splicing unit body to determine the dynamic equation corresponding to the splicing unit body.

[0021] In one embodiment, the step of obtaining the dynamic equation of the splicing unit body under the condition of no trajectory constraint includes:

[0022] Obtaining a control vector of the splicing unit body under a condition without trajectory constraints, a moment of inertia of the splicing unit body, a mass of the splicing unit body, and an acceleration vector corresponding to the splicing unit body;

[0023] Constructing an inertia matrix of the splicing unit body according to the moment of inertia of the splicing unit body and the mass of the splicing unit body;

[0024] According to the equation relationship among the acceleration vector corresponding to the splicing unit body, the inertia matrix and the control vector under the condition of no trajectory constraint, the dynamic equation of the splicing unit body under the condition of no trajectory constraint is constructed.

[0025] In one embodiment, after constructing the overall configuration of multi-unit cooperative transportation based on the trajectory constraint equation, relative position constraint equation and dynamic equation corresponding to the target splicing unit, the method further includes:

[0026] Obtaining size information and power parameter information corresponding to the target splicing unit body;

[0027] According to the size information, the power parameter information and the overall configuration of the multi-unit cooperative transportation, the control amount of each unit body contained in the target splicing unit body in a preset direction is obtained; the control amount is used to control and drive the unit body in the target splicing unit body.

[0028] In a second aspect, the present application also provides a device for designing the overall configuration of a self-organizing and splicable transport platform. The device comprises:

[0029] A splicing module is used to obtain a unit body to be spliced, and splice the current unit body with the unit body to be spliced ​​to obtain a spliced ​​unit body;

[0030] A determination module, used to determine the trajectory constraint equation and the relative position constraint equation corresponding to the splicing unit body based on preset trajectory constraint conditions and relative position constraint conditions;

[0031] A first construction module is used to construct a dynamic equation corresponding to the splicing unit body according to the trajectory constraint equation and the relative position constraint equation;

[0032] A determination module, used for taking the splicing unit body as a new current unit body, continuing to execute the step of obtaining the unit body to be spliced, until the number of units contained in the splicing unit body reaches the target number of units, and taking the splicing unit body as the target splicing unit body;

[0033] The second construction module is used to construct the overall configuration of multi-unit collaborative transportation based on the trajectory constraint equation, relative position constraint equation and dynamic equation corresponding to the target splicing unit.

[0034] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0035] Obtaining a unit body to be spliced, and splicing the current unit body with the unit body to be spliced ​​to obtain a spliced ​​unit body;

[0036] Based on the preset trajectory constraint conditions and relative position constraint conditions, determining the trajectory constraint equation and relative position constraint equation corresponding to the splicing unit body;

[0037] Constructing a dynamic equation corresponding to the splicing unit body according to the trajectory constraint equation and the relative position constraint equation;

[0038] The splicing unit body is used as a new current unit body, and the step of obtaining the unit body to be spliced ​​is continued until the number of unit bodies contained in the splicing unit body reaches the target number of unit bodies, and the splicing unit body is used as the target splicing unit body;

[0039] Based on the trajectory constraint equations, relative position constraint equations and dynamic equations corresponding to the target splicing unit body, the overall configuration of multi-unit collaborative transportation is constructed.

[0040] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0041] Obtaining a unit body to be spliced, and splicing the current unit body with the unit body to be spliced ​​to obtain a spliced ​​unit body;

[0042] Based on the preset trajectory constraint conditions and relative position constraint conditions, determining the trajectory constraint equation and relative position constraint equation corresponding to the splicing unit body;

[0043] Constructing a dynamic equation corresponding to the splicing unit body according to the trajectory constraint equation and the relative position constraint equation;

[0044] The splicing unit body is used as a new current unit body, and the step of obtaining the unit body to be spliced ​​is continued until the number of unit bodies contained in the splicing unit body reaches the target number of unit bodies, and the splicing unit body is used as the target splicing unit body;

[0045] Based on the trajectory constraint equations, relative position constraint equations and dynamic equations corresponding to the target splicing unit body, the overall configuration of multi-unit collaborative transportation is constructed.

[0046] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0047] Obtaining a unit body to be spliced, and splicing the current unit body with the unit body to be spliced ​​to obtain a spliced ​​unit body;

[0048] Based on the preset trajectory constraint conditions and relative position constraint conditions, determining the trajectory constraint equation and relative position constraint equation corresponding to the splicing unit body;

[0049] Constructing a dynamic equation corresponding to the splicing unit body according to the trajectory constraint equation and the relative position constraint equation;

[0050] The splicing unit body is used as a new current unit body, and the step of obtaining the unit body to be spliced ​​is continued until the number of unit bodies contained in the splicing unit body reaches the target number of unit bodies, and the splicing unit body is used as the target splicing unit body;

[0051] Based on the trajectory constraint equations, relative position constraint equations and dynamic equations corresponding to the target splicing unit body, the overall configuration of multi-unit collaborative transportation is constructed.

[0052] The above-mentioned method for overall configuration of cooperative transportation of multiple units obtains the unit body to be spliced, and splices the current unit body with the unit body to be spliced ​​to obtain a spliced ​​unit body; based on the preset trajectory constraint conditions and relative position constraint conditions, the trajectory constraint equation and the relative position constraint equation corresponding to the spliced ​​unit body are determined; according to the trajectory constraint equation and the relative position constraint equation, the dynamic equation corresponding to the spliced ​​unit body is constructed; the spliced ​​unit body is used as the new current unit body, and the step of obtaining the unit body to be spliced ​​is continued until the number of units contained in the spliced ​​unit body reaches the target number of units, and the spliced ​​unit body is used as the target spliced ​​unit body; based on the trajectory constraint equation, the relative position constraint equation and the dynamic equation corresponding to the target spliced ​​unit body, the overall configuration of cooperative transportation of multiple units is constructed. By adopting this method, the overall configuration of multi-unit cooperative transportation is constructed by splicing the current unit body with the unit body to be spliced, and based on the constraints of the unit body's trajectory constraint equation, relative position constraint equation and dynamic equation. Based on the constraints of the trajectory constraint equation, relative position constraint equation and dynamic equation, the overall configuration of multi-unit cooperative transportation can determine the control amount of each unit body in a preset direction, and control each unit body based on the control amount of each unit body, avoiding the mutual interference problem of multiple units controlled according to a unified control mode, thereby improving the coordination between multiple units. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 A flowchart of a method for designing an overall configuration of a self-organizing connectable transport platform in one embodiment;

[0054] Figure 2 A schematic diagram of a structure in which unit bodies are layered and spliced ​​in one embodiment;

[0055] Figure 3A schematic flow chart of the steps of determining the target unit body splicing number in one embodiment;

[0056] Figure 4 A schematic flow chart of the steps of determining the trajectory constraint equation and the relative position constraint equation corresponding to the splicing unit body in one embodiment;

[0057] Figure 5 A schematic flow chart of the steps of constructing the kinetic equation corresponding to the splicing unit body in one embodiment;

[0058] Figure 6 is a schematic flow chart of the steps of the dynamic equation under the condition of no trajectory constraint in one embodiment;

[0059] Figure 7 A schematic flow chart of an application method of the overall configuration of a transport platform in one embodiment;

[0060] Figure 8 is a schematic diagram of the control amount of five unit bodies in the yaw direction in one embodiment;

[0061] Fig. 9 It is a schematic diagram of the control amount of five unit bodies in the lateral direction in one embodiment;

[0062] Fig.10 is a schematic diagram of the control amount of five unit bodies in the longitudinal direction in one embodiment;

[0063] Fig.11 It is a structural block diagram of an overall configuration design device of a self-organizing splicable transport platform in one embodiment;

[0064] Fig.12 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0066] In one embodiment, Figure 1 As shown, a method for designing the overall configuration of a self-organizing splicable transport platform is provided. This embodiment uses the method applied to a terminal as an example. It can be understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0067] Step 102, obtaining a unit body to be spliced, and splicing the current unit body with the unit body to be spliced ​​to obtain a spliced ​​unit body.

[0068] In practice, when transporting oversized objects, in order to reduce the transportation pressure on the road, multiple vehicles are usually used to coordinate the load-carrying transportation to ensure that the load capacity of a single vehicle meets the requirements of heavy-load transportation on the road. In order to ensure the coordination of multiple vehicles during transportation, multiple vehicles are usually combined into a whole, and then the control volume is allocated to the whole. Therefore, in order to facilitate the combination of multiple vehicles into a whole, a unit body that can carry and transport objects and can be spliced ​​end to end has emerged.

[0069] The terminal takes the current unit body as the first unit body and gradually performs unit body splicing. Specifically, the terminal obtains the unit body to be spliced ​​from multiple candidate unit bodies, splices the current unit body with the unit body to be spliced, and obtains the spliced ​​unit body. For example, a candidate unit body set is stored in the terminal, and any unit body in the candidate unit body set can be used as a unit body to be spliced ​​for unit body splicing. The specific conditions for screening the unit body to be spliced ​​can be determined based on actual business needs, and the embodiments of the present application are not limited here. After determining the unit body to be spliced ​​in the candidate unit body set, the terminal splices the unit body to be spliced ​​with the current unit body to obtain a spliced ​​unit body.

[0070] Step 104 : determining the trajectory constraint equation and the relative position constraint equation corresponding to the splicing unit body based on the preset trajectory constraint condition and the relative position constraint condition.

[0071] In the implementation, the terminal determines the trajectory constraint equation and the relative position constraint equation corresponding to the splicing unit body based on the preset trajectory constraint condition and the relative position constraint condition. Specifically, the terminal can use the circular trajectory as the trajectory constraint condition, and construct the trajectory constraint equation corresponding to the splicing unit body according to the calculation formula of the circular trajectory. Then, the terminal determines the relative relationship between the two adjacent unit bodies in the splicing unit body based on the position coordinates and heading angle between the two adjacent unit bodies, and constructs the relative position constraint equation corresponding to the splicing unit body.

[0072] Step 106, constructing the dynamic equation corresponding to the splicing unit body according to the trajectory constraint equation and the relative position constraint equation.

[0073] Among them, the power parameter information of the splicing unit body includes the mass, moment of inertia, position coordinates, acceleration of the splicing unit body in a preset direction (wherein the preset direction may be a yaw control direction, a lateral control direction and a longitudinal control direction), heading angle, etc. The embodiment of the present disclosure does not limit the data content contained in the power parameter information.

[0074] In the implementation, the terminal determines the dynamic equation of the spliced ​​unit body without trajectory constraints based on the dynamic parameter information of the spliced ​​unit body. Since the spliced ​​unit body is not subject to trajectory constraints, the terminal then updates the dynamic equation of the spliced ​​unit body without trajectory constraints based on the trajectory constraint equation and the relative position constraint equation, and constructs the dynamic equation corresponding to the spliced ​​unit body.

[0075] Step 108 , taking the spliced ​​unit body as a new current unit body, continuing to execute the step of obtaining the unit body to be spliced, until the number of units included in the spliced ​​unit body reaches the target number of units, and taking the spliced ​​unit body as the target spliced ​​unit body.

[0076] In implementation, since the target object to be transported may be an oversized item, in order to transport the target object, unit body splicing is required, and the specific number of unit body splicing is predetermined by the size information of the target object and the size information of a single unit body. After the target number of unit bodies to be spliced ​​is determined, cumulative splicing is performed, that is, the unit bodies to be spliced ​​are obtained, and the current unit body is spliced ​​with the unit body to be spliced, and then the trajectory constraint equation, relative position preset equation and dynamic equation corresponding to the spliced ​​unit body after the first splicing are determined. Then, the terminal determines whether the number of currently spliced ​​units reaches the target number of units. If the target number of units is reached, the unit body splicing is stopped and the current unit body is used as the target spliced ​​unit body. If the target number of units is not reached, step 102 is continued, the currently spliced ​​unit body is used as the new current unit body, and the next round of units to be spliced ​​are obtained for unit body splicing until the number of units contained in the spliced ​​unit body reaches the target number of units, and the spliced ​​unit body is used as the target spliced ​​unit body. Figure 2 As shown, Figure 2 Schematic diagram of the structure of layered splicing of unit bodies. Figure 2 After the middle unit 1 is spliced ​​with the unit 2, a first-level spliced ​​unit (i.e., a first-level analytical model) is obtained. The first-level spliced ​​unit is used as a new unit (i.e., a new current unit) to continue to be spliced ​​with the unit 3. The process is repeated to obtain a layered spliced ​​unit.

[0077] Step 110, constructing the overall configuration of multi-unit collaborative transportation based on the trajectory constraint equation, relative position constraint equation and dynamic equation corresponding to the target splicing unit.

[0078] Among them, the overall configuration of multi-unit collaborative transportation is an overall configuration of a self-organizing and splicable transportation platform.

[0079] During implementation, the terminal constructs an overall configuration of multi-unit collaborative transportation based on the trajectory constraint equations, relative position constraint dust prevention and dynamic equations corresponding to the target splicing unit body, that is, the overall configuration of multi-unit collaborative transportation not only includes the target splicing unit body spliced ​​together by the target number of units, but also includes the trajectory constraint equations, relative position constraint equations and execution constraints of the dynamic equations, thereby determining the control amount of each unit body in the target splicing unit body in each preset direction.

[0080] In the above-mentioned method for constructing the overall configuration of multi-unit cooperative transportation, the terminal obtains the unit body to be spliced, splices the current unit body with the unit body to be spliced ​​to obtain the spliced ​​unit body; based on the preset trajectory constraint conditions and relative position constraint conditions, the trajectory constraint equation and the relative position constraint equation corresponding to the spliced ​​unit body are determined; according to the trajectory constraint equation and the relative position constraint equation, the dynamic equation corresponding to the spliced ​​unit body is constructed; the spliced ​​unit body is used as the new current unit body, and the step of obtaining the unit body to be spliced ​​is continued until the number of units contained in the spliced ​​unit body reaches the target number of units, and the spliced ​​unit body is used as the target spliced ​​unit body; based on the trajectory constraint equation corresponding to the target spliced ​​unit body The method is used to construct the overall configuration of cooperative transportation of multiple units by splicing the current unit with the unit to be spliced, and based on the trajectory constraint equation, relative position constraint equation and dynamic equation of the unit, the overall configuration of cooperative transportation of multiple units is constructed. Based on the constraints of trajectory constraint equation, relative position constraint equation and dynamic equation, the overall configuration of cooperative transportation of multiple units can determine the control amount of each unit in a preset direction, and control each unit based on the control amount of each unit, so as to avoid the mutual interference problem of multiple units controlled according to a unified control mode, and improve the coordination between multiple units.

[0081] In one embodiment, Figure 3 As shown, before obtaining the unit body to be spliced ​​in step 102, the method further includes the following steps:

[0082] Step 302: Acquire the size information of the unit body and the size information of the target object to be transported.

[0083] In implementation, the actual transport carrier of the multi-unit coordinated transport overall configuration is a target spliced ​​unit obtained by splicing multiple units, and the multiple units are spliced ​​longitudinally from head to tail when splicing. Therefore, when transporting the target object to be transported, the number of longitudinally spliced ​​units needs to be considered. The number of units is determined by the object size information of the target object to be transported, so the terminal obtains the size information of a single unit and the object size information of the target object to be transported.

[0084] Optionally, the unit body may be a two-axis unit body, a three-axis unit body, or a five-axis unit body. The embodiment of the present application does not limit the size of a single unit body and the number of axes of the unit body.

[0085] Step 304: Determine the target number of unit cells based on the size information of the unit cells and the size information of the object.

[0086] In implementation, the terminal determines the target number of unit bodies based on the object size information and the size information of a single unit body. Specifically, the object size information includes the length of the target object, and the unit body size information also includes the length of a single unit body. The target number of unit bodies can be obtained by dividing the length of the target object by the length of the unit body and rounding the result of the operation. That is, the total length of the target spliced ​​unit body obtained by splicing the target number of unit bodies is ensured to be greater than or equal to the length of the target object to be transported.

[0087] In this embodiment, the target number of unit bodies is determined by the object size information of the target object to be transported and the size information of a single unit body, and then the target number of unit bodies are spliced ​​based on the target number of unit bodies.

[0088] In one embodiment, Figure 4 As shown, in step 104, based on the preset trajectory constraint conditions and relative position constraint conditions, determining the trajectory constraint equation and relative position constraint equation corresponding to the splicing unit body includes:

[0089] Step 402 : constructing a trajectory constraint equation including position information of a current unit body and a unit body to be spliced ​​in the spliced ​​unit bodies based on preset trajectory constraint conditions.

[0090] In implementation, the terminal constructs a trajectory constraint equation including position information of a current unit body and a unit body to be spliced ​​in the spliced ​​unit bodies based on a preset trajectory constraint condition.

[0091] Specifically, since the spliced ​​unit body is obtained by splicing the current unit body and the unit body to be spliced, taking the spliced ​​unit body as two unit body elements (that is, only one unit body is represented in the current unit body at this time) as an example, for the convenience of description, the two unit bodies are respectively referred to as the first unit body and the second unit body for explanation, wherein the first unit body and the second unit body can be any unit body, and the specific process of determining the trajectory constraint equation of the spliced ​​unit body is as follows:

[0092] The trajectory constraint equation of the first unit cell is:

[0093]

[0094] Taking the circular constraint trajectory as the trajectory constraint condition, the formula of the circular constraint trajectory is as follows:

[0095] X=5sint

[0096] Y=-5cost

[0097] in,

[0098]

[0099]

[0100]

[0101] A1 is the coefficient matrix of the trajectory constraint equation corresponding to the first unit body, b1 is the circular trajectory vector of the first unit body, is the acceleration vector of the first unit cell, where is the acceleration of the first unit in the lateral control direction, is the acceleration of the first unit in the longitudinal control direction, is the acceleration of the first unit body in the yaw direction. In the circular constraint trajectory, X represents the horizontal coordinate of the unit body in the world coordinate system, Y represents the vertical coordinate of the unit body in the world coordinate system, and t represents time. The coefficients 5 and -5 in the trajectory constraint formula can also be updated and replaced with any values ​​based on the trajectory requirements. This application only gives an example without limitation.

[0102] Since the spliced ​​unit body includes the second unit body and the first unit body, the second unit body in the spliced ​​unit body is still constrained by the same circular trajectory, and the trajectory constraint equation corresponding to the spliced ​​unit body is:

[0103]

[0104] Among them, the formula of the circular constraint trajectory corresponding to the splicing unit body is transformed into the following formula:

[0105]

[0106] R2 is an arbitrary positive number. X2 is the horizontal coordinate of the splicing unit body, and Y2 is the vertical coordinate of the splicing unit body.

[0107]

[0108]

[0109]

[0110] A 12is the coefficient matrix of the trajectory constraint equation corresponding to the spliced ​​unit cell of the two unit cells, where is the heading angle of the second unit body, and is the specific numerical element in the coefficient matrix, b 12 is the trajectory constraint vector of the splicing unit body, L is the wheelbase of the unit body, is the acceleration vector of the splicing unit body, where and This has been explained above and will not be repeated here. is the acceleration of the second unit in the lateral control direction, is the acceleration of the second unit in the longitudinal control direction, is the acceleration of the second unit in the yaw direction.

[0111] Step 404 , based on the preset relative position constraint condition and the position information of the current unit body and the unit body to be spliced, the relative position relationship between the current unit body and the unit body to be spliced ​​in the spliced ​​unit body is calculated to obtain a relative position constraint equation.

[0112] In implementation, the terminal calculates the relative position relationship between the current unit body and the unit body to be spliced ​​in the spliced ​​unit body based on the preset relative position constraint condition and the position information of the current unit body and the unit body to be spliced, and obtains the relative position constraint equation.

[0113] Specifically, the splicing unit body includes a first unit body and a second unit body. Therefore, there is a relative position relationship between the first unit body and the second unit body. Specifically, the relative position constraint equation is:

[0114] X1-X2=L cosφ2

[0115] Y1-Y2=L sinφ2

[0116] φ1-φ2=0

[0117] Among them, X1 and Y1 are the horizontal and vertical coordinates of the first unit body, and X2 and Y2 are the horizontal and vertical coordinates of the second unit body. is the heading angle of the first unit body, is the heading angle of the second unit.

[0118] In one embodiment, Figure 5 As shown, in step 106, according to the trajectory constraint equation and the relative position constraint equation, the dynamic equation corresponding to the splicing unit body is constructed, including:

[0119] Step 502, obtaining the dynamic equation of the splicing unit body under the condition of no trajectory constraint.

[0120] In implementation, the terminal obtains the dynamic equations of the spliced ​​unit body without trajectory constraints.

[0121] Specifically, the dynamic equation of the spliced ​​unit body under the condition of no trajectory constraint can be determined by iterative calculation based on a single unit body. An example is given for explaining the spliced ​​unit obtained by splicing two unit bodies, as follows:

[0122] The dynamic equation of a single unit body without trajectory constraints is as follows:

[0123]

[0124] in

[0125]

[0126]

[0127]

[0128] Where M1 is the inertia matrix, and the elements m and I in M1 are the unit body mass and moment of inertia respectively; Q1 is a 0 vector, and each element in the vector is 0, which means that the control amount (the control amount is the magnitude of the control force, unit: Newton) of each unit body contained in the unit body in the preset direction under the condition of no trajectory constraint is 0. Q1 represents that the control amount required by the unit body in the lateral, longitudinal and yaw directions under the condition of no trajectory constraint is 0.

[0129] The trajectory of a single unit body is constrained by a circular constraint trajectory, that is, the trajectory constraint equation of a single unit body under the circular constraint trajectory is used. If constraints are imposed, the dynamic equation of a single unit under trajectory constraints is converted to:

[0130]

[0131] in

[0132]

[0133]

[0134] is the control vector of a single unit under trajectory constraints, The equation is the UK equation (Udwadia–Kalaba, a constrained mechanical system motion equation), which is based on the trajectory constraint equation The control quantity equation is obtained by pseudo-inverse calculation of the dynamic equation without trajectory constraints, where + is the symbol of pseudo-inverse calculation.

[0135] Based on the conversion relationship between the dynamic equation of a single unit body without trajectory constraints and the dynamic equation with trajectory constraints, it can be seen that the dynamic equation of the spliced ​​unit body without trajectory constraints is:

[0136]

[0137] in,

[0138]

[0139]

[0140] Step 504, according to the relative position constraint equation and trajectory constraint equation corresponding to the splicing unit body, the dynamic equation of the splicing unit body without trajectory constraint is converted and processed to determine the dynamic equation corresponding to the splicing unit body.

[0141] In the implementation, the terminal performs two differential operations on the constraint trajectory and relative position relationship in the trajectory constraint conditions and relative position constraint conditions corresponding to the splicing unit body, and determines the trajectory constraint equation and relative position constraint equation corresponding to the splicing unit body. Then, the terminal converts the dynamic equation of the splicing unit body under the condition of no trajectory constraint according to the relative position constraint equation and trajectory constraint equation corresponding to the splicing unit body, and determines the dynamic equation corresponding to the splicing unit body.

[0142] Specifically, referring to the above-mentioned dynamic equation of the splicing unit body without trajectory constraints, the dynamic equation of the splicing unit body under trajectory constraints is:

[0143]

[0144] in

[0145]

[0146]

[0147]

[0148] In one embodiment, Figure 6 As shown, in step 502, the dynamic equation of the splicing unit body without trajectory constraints is obtained, which specifically includes the following steps:

[0149] Step 602 , obtaining the control vector of the splicing unit body without trajectory constraints, the moment of inertia of the splicing unit body, the mass of the splicing unit body, and the acceleration vector corresponding to the splicing unit body.

[0150] In the implementation, the terminal obtains the control vector of the spliced ​​unit body under the condition of no trajectory constraint, the moment of inertia of the spliced ​​unit body, the mass of the spliced ​​unit body, and the acceleration vector corresponding to the spliced ​​unit body. Among them, the information such as the moment of inertia, the mass of the spliced ​​unit body and the acceleration vector can be obtained by various types of sensors, and the embodiments of the present application do not limit this. For example, taking the spliced ​​unit body obtained by splicing two unit bodies as an example, m, I, Q 12 Can be obtained directly.

[0151] Step 604: construct an inertia matrix of the splicing unit body according to the rotational inertia of the splicing unit body and the mass of the splicing unit body.

[0152] In implementation, the terminal obtains the moment of inertia of the splicing unit body and the mass of the splicing unit body, and constructs the inertia matrix of the splicing unit body. The matrix form of the inertia matrix is ​​as shown in the above M 12 It is the inertia matrix of the spliced ​​unit body of two unit bodies.

[0153] Step 606, constructing a dynamic equation of the spliced ​​unit body under the condition of no trajectory constraint according to the equation relationship among the acceleration vector, the inertia matrix and the control vector under the condition of no trajectory constraint corresponding to the spliced ​​unit body.

[0154] In implementation, the terminal constructs the dynamic equation of the spliced ​​unit body under the condition of no trajectory constraint according to the equation relationship among the acceleration vector, the inertia matrix and the control vector under the condition of no trajectory constraint corresponding to the spliced ​​unit body. Specifically, the process of determining the kinetic equation has been described in step S502 of the above embodiment, and will not be repeated in the embodiment of the present application.

[0155] In one embodiment, Figure 7 As shown, after step 110, the method further includes:

[0156] Step 702, obtaining the size information and power parameter information corresponding to the target splicing unit body.

[0157] In implementation, for the constructed multi-unit coordinated transport overall configuration, the actual transport carrier corresponding to the multi-unit coordinated transport overall configuration, that is, the target splicing unit, can be controlled. Specifically, the terminal obtains the size information and power parameter information corresponding to the target unit, wherein the size information of the target splicing unit is used to determine the L unit wheelbase, and the power parameter information of the target splicing unit includes: the mass, moment of inertia, position coordinates, acceleration of the target splicing unit in a preset direction (wherein the preset direction can be the yaw control direction, the lateral control direction and the longitudinal control direction), heading angle, etc. of the target splicing unit, which is not limited in the embodiment of the present application.

[0158] Step 704, obtaining the control amount of each unit body included in the target spliced ​​unit body in the preset direction according to the size information, the power parameter information and the overall configuration of the multi-unit coordinated transportation.

[0159] Among them, each control quantity is used to control and drive the unit body in the target splicing unit body.

[0160] In the implementation, the size information and power parameter information of the target splicing object are input into the overall configuration of multi-unit coordinated transportation, and the control amount of each unit body contained in the target splicing unit body in the preset direction is obtained through the calculation and processing of the overall configuration of multi-unit coordinated transportation. Specifically, the preset direction includes the lateral, longitudinal and yaw directions in the world coordinate system. Taking the overall configuration of multi-unit coordinated transportation composed of 5 splicing units as an example, the control amounts of the 5 units in the preset directions are respectively as follows: Figure 8 , Fig. 9 and Fig.10 As shown, Figure 8 It is a schematic diagram of the control amount of the five unit bodies in the yaw direction. Fig. 9 is a schematic diagram of the control volume of the five unit cells in the lateral direction, and Fig.10 Schematic diagram of the control volume of 5 unit cells in the longitudinal direction.

[0161] In one embodiment, a process of gradually splicing a plurality of (n>2, unit: pieces) unit bodies into a target splicing unit is given, thereby obtaining a multi-unit body cooperative transport overall configuration. The specific process of this example is as follows:

[0162] Step 1, determine the dynamic equation of a single unit cell (also referred to as unit cell 1 or first unit cell) without trajectory constraints:

[0163]

[0164] in

[0165]

[0166]

[0167]

[0168] Step 2, determine the trajectory constraint equation of a single unit body under the preset circular trajectory constraint:

[0169]

[0170] Take the circular constraint trajectory as an example

[0171] X=5sint

[0172] Y=-5cost

[0173] but

[0174]

[0175]

[0176] Step 3, based on steps 1 to 2, determine the dynamic equation of a single unit body under the circular trajectory constraint:

[0177]

[0178] in

[0179]

[0180]

[0181] Step 4, obtain the unit body to be spliced ​​(also called unit body 2 or the second unit body), splice unit body 2 with unit body 1 to obtain a spliced ​​unit body, and determine the relative position constraint equation of unit body 1 and unit body 2 in the spliced ​​unit body, as follows:

[0182] X1-X2=L cosφ2

[0183] Y1-Y2=L sinφ2

[0184] φ1-φ2=0

[0185] The circular constraint trajectory has the following constraints:

[0186]

[0187] Therefore, the determined trajectory constraint equation is:

[0188]

[0189]

[0190]

[0191]

[0192] Finally, the dynamic equation of the spliced ​​unit body of the two unit bodies under the trajectory constraint and relative position constraint is determined as:

[0193]

[0194] in

[0195]

[0196]

[0197]

[0198] Then, the spliced ​​unit body is taken as the new unit body 1, and the unit body to be spliced ​​is taken as the unit body 2, and step 4 is repeated. When the new unit body 1 and the unit body to be spliced ​​are spliced, the target spliced ​​unit body n obtained contains n (n>2) units, and the relative position constraint equation of the unit body 1 and the unit body 2 (i.e., the unit body to be spliced) in the corresponding target spliced ​​unit body n is as follows:

[0199] X1-X n =(n-1)L cosφ n

[0200] Y1-Y n =(n-1)L sinφ n

[0201] φ1-φ n =0

[0202] Among them, X1 is the horizontal coordinate of the current unit 1, X n is the horizontal coordinate of the unit body to be spliced ​​(i.e. the current unit body 2, i.e. the nth unit body to be spliced ​​in the target splicing unit body n), is the heading angle of unit 1, is the heading angle of the unit body to be spliced ​​(ie, the current unit body 2), and n is the number of units included in the target splicing unit body n.

[0203] The circular constraint trajectory has the following constraints:

[0204]

[0205] Where R n Any positive number.

[0206] Determine the trajectory constraint equation corresponding to the target splicing unit n as:

[0207] in,

[0208]

[0209]

[0210]

[0211] Finally, the dynamic equation of the spliced ​​unit body of the two unit bodies under the trajectory constraint and relative position constraint is determined as:

[0212]

[0213] in

[0214]

[0215]

[0216]

[0217] is the acceleration vector of the target splicing unit n, and the acceleration vector is the acceleration of the nth unit body (i.e., the current unit body 2) in the lateral control direction of the target unit body n, is the acceleration of the nth unit body (i.e. the current unit body 2) in the target unit body n in the longitudinal control direction, is the acceleration of the nth unit body in the target unit body n in the yaw direction. 1n is the trajectory constraint vector of the target splicing unit n. Q is the control vector of the target splicing unit n under trajectory constraints. 1n is the control vector of the target splicing unit n without trajectory constraints.

[0218] In this embodiment, the overall configuration of multi-unit cooperative transportation is constructed through the trajectory constraint equation, relative position constraint equation and dynamic equation of the unit body. Based on the constraints of the trajectory constraint equation, relative position constraint equation and dynamic equation, the control quantity of each unit body in the overall configuration can be determined. Each unit body is controlled based on the control quantity of each unit body, which can avoid mutual interference between multiple units caused by controlling multiple units according to a unified control mode, thereby improving the coordination between multiple units.

[0219] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0220] Based on the same inventive concept, the embodiment of the present application also provides a self-organizing splicing transport platform overall configuration design device for implementing the above-mentioned self-organizing splicing transport platform overall configuration design method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in the embodiments of the overall configuration design device of one or more self-organizing splicing transport platforms provided below can refer to the limitations of the overall configuration design method of the self-organizing splicing transport platform in the above text, and will not be repeated here.

[0221] In one embodiment, Fig.11 As shown, a device 1100 for designing an overall configuration of a self-organizing splicable transport platform is provided, comprising: a splicing module 1110, a determining module 1120, a first constructing module 1130, a judging module 1140 and a second constructing module 1150, wherein:

[0222] A splicing module 1110 is used to obtain a unit body to be spliced, and splice the current unit body with the unit body to be spliced ​​to obtain a spliced ​​unit body;

[0223] A determination module 1120, configured to determine a trajectory constraint equation and a relative position constraint equation corresponding to the splicing unit body based on preset trajectory constraint conditions and relative position constraint conditions;

[0224] The first construction module 1130 is used to construct the dynamic equation corresponding to the splicing unit body according to the trajectory constraint equation and the relative position constraint equation;

[0225] The determination module 1140 is used to take the spliced ​​unit body as a new current unit body, continue to execute the step of obtaining the unit body to be spliced, until the number of units included in the spliced ​​unit body reaches the target number of units, and take the spliced ​​unit body as the target spliced ​​unit body;

[0226] The second construction module 1150 is used to construct a multi-unit coordinated transport overall configuration based on the trajectory constraint equation, relative position constraint equation and dynamic equation corresponding to the target splicing unit body. The multi-unit coordinated transport overall configuration is an overall configuration of a self-organizing splicable transport platform.

[0227] In an exemplary embodiment, the apparatus further comprises:

[0228] A first acquisition module is used to acquire the size information of the unit body and the object size information of the target object to be transported;

[0229] The second determination module is used to determine the target number of unit cells based on the size information of the unit cells and the size information of the object.

[0230] In an exemplary embodiment, the determination module 1120 is specifically used to construct a trajectory constraint equation including position information of the current unit body and the unit body to be spliced ​​in the spliced ​​unit body based on a preset trajectory constraint condition;

[0231] Based on the preset relative position constraint conditions and the position information of the current unit body and the unit body to be spliced, the relative position relationship between the current unit body and the unit body to be spliced ​​in the spliced ​​unit body is calculated to obtain the relative position constraint equation.

[0232] In an exemplary embodiment, the first construction module 1130 is specifically used to obtain the dynamic equation of the splicing unit body under the condition of no trajectory constraint;

[0233] According to the relative position constraint equation and the trajectory constraint equation corresponding to the splicing unit body, the dynamic equation of the splicing unit body under the condition of no trajectory constraint is converted and processed to determine the dynamic equation corresponding to the splicing unit body.

[0234] In an exemplary embodiment, the first construction module 1130 is specifically used to obtain the control vector of the splicing unit body under the condition of no trajectory constraint, the moment of inertia of the splicing unit body, the mass of the splicing unit body and the acceleration vector corresponding to the splicing unit body;

[0235] According to the moment of inertia of the spliced ​​unit body and the mass of the spliced ​​unit body, an inertia matrix of the spliced ​​unit body is constructed;

[0236] According to the equation relationship among the acceleration vector, inertia matrix and control vector corresponding to the spliced ​​unit body under the condition of no trajectory constraint, the dynamic equation of the spliced ​​unit body under the condition of no trajectory constraint is constructed.

[0237] In an exemplary embodiment, the apparatus 1100 further includes:

[0238] The second acquisition module is used to acquire the size information and power parameter information corresponding to the target splicing unit body;

[0239] The processing module is used to obtain the control amount of each unit body contained in the target splicing unit body in a preset direction according to the size information, power parameter information and the overall configuration of the multi-unit coordinated transportation; the control amount is used to control the unit body in the target splicing unit body.

[0240] Each module in the overall configuration design device of the self-organizing splicable transport platform can be implemented in whole or in part by software, hardware and a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0241] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig.12 As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for designing the overall configuration of a self-organizing splicable transport platform is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0242] Those skilled in the art will understand that Fig.12 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0243] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0244] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0245] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0246] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0247] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0248] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0249] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features 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.

[0250] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for designing the overall configuration of a self-organizing splicable transport platform, characterized in that: The method comprises: Obtaining a unit body to be spliced, and splicing the current unit body with the unit body to be spliced ​​to obtain a spliced ​​unit body; Based on the preset trajectory constraint conditions and relative position constraint conditions, determining the trajectory constraint equation and relative position constraint equation corresponding to the splicing unit body; Constructing a dynamic equation corresponding to the splicing unit body according to the trajectory constraint equation and the relative position constraint equation; The splicing unit body is used as a new current unit body, and the step of obtaining the unit body to be spliced ​​is continued until the number of unit bodies contained in the splicing unit body reaches the target number of unit bodies, and the splicing unit body is used as the target splicing unit body; Based on the trajectory constraint equation, relative position constraint equation and dynamic equation corresponding to the target splicing unit body, the overall configuration of multi-unit cooperative transportation is constructed; The step of constructing the dynamic equation corresponding to the splicing unit body according to the trajectory constraint equation and the relative position constraint equation includes: Obtaining the dynamic equation of the splicing unit body under the condition of no trajectory constraint; According to the relative position constraint equation and the trajectory constraint equation corresponding to the splicing unit body, the dynamic equation of the splicing unit body under the condition of no trajectory constraint is converted to determine the dynamic equation corresponding to the splicing unit body; The step of obtaining the dynamic equation of the splicing unit body under the condition of no trajectory constraint includes: Obtaining a control vector of the splicing unit body under a condition without trajectory constraints, a moment of inertia of the splicing unit body, a mass of the splicing unit body, and an acceleration vector corresponding to the splicing unit body; Constructing an inertia matrix of the splicing unit body according to the moment of inertia of the splicing unit body and the mass of the splicing unit body; According to the equation relationship among the acceleration vector corresponding to the splicing unit body, the inertia matrix and the control vector under the condition of no trajectory constraint, the dynamic equation of the splicing unit body under the condition of no trajectory constraint is constructed.

2. The method according to claim 1, characterized in that Before obtaining the unit body to be spliced, the method further includes: Acquire size information of the unit body and object size information of the target object to be transported; Based on the size information of the unit cell and the object size information, a target number of unit cells is determined.

3. The method according to claim 1, characterized in that The step of determining the trajectory constraint equation and the relative position constraint equation corresponding to the splicing unit body based on the preset trajectory constraint condition and the relative position constraint condition includes: Based on the preset trajectory constraint conditions, constructing a trajectory constraint equation including the position information of the current unit body in the splicing unit body and the unit body to be spliced; Based on the preset relative position constraint condition and the position information of the current unit body and the unit body to be spliced, the relative position relationship between the current unit body and the unit body to be spliced ​​in the splicing unit body is calculated to obtain a relative position constraint equation.

4. The method according to claim 1, characterized in that After constructing the overall configuration of multi-unit cooperative transportation based on the trajectory constraint equation, relative position constraint equation and dynamic equation corresponding to the target splicing unit, the method further includes: Obtaining size information and power parameter information corresponding to the target splicing unit body; According to the size information, the power parameter information and the overall configuration of the multi-unit cooperative transportation, the control amount of each unit body contained in the target splicing unit body in a preset direction is obtained; the control amount is used to control and drive the unit body in the target splicing unit body.

5. An overall configuration design device for a self-organizing splicable transport platform, characterized in that: The device comprises: A splicing module is used to obtain a unit body to be spliced, and splice the current unit body with the unit body to be spliced ​​to obtain a spliced ​​unit body; A determination module, used to determine the trajectory constraint equation and the relative position constraint equation corresponding to the splicing unit body based on preset trajectory constraint conditions and relative position constraint conditions; A first construction module is used to construct a dynamic equation corresponding to the splicing unit body according to the trajectory constraint equation and the relative position constraint equation; A determination module, used for taking the splicing unit body as a new current unit body, continuing to execute the step of obtaining the unit body to be spliced, until the number of units contained in the splicing unit body reaches the target number of units, and taking the splicing unit body as the target splicing unit body; The second construction module is used to construct the overall configuration of multi-unit cooperative transportation based on the trajectory constraint equation, relative position constraint equation and dynamic equation corresponding to the target splicing unit body; The first building module is specifically used to obtain the dynamic equation of the splicing unit body under the condition of no trajectory constraint; According to the relative position constraint equation and the trajectory constraint equation corresponding to the splicing unit body, the dynamic equation of the splicing unit body under the condition of no trajectory constraint is converted and processed to determine the dynamic equation corresponding to the splicing unit body; The first construction module is specifically used to obtain the control vector of the splicing unit body under the condition of no trajectory constraint, the moment of inertia of the splicing unit body, the mass of the splicing unit body and the acceleration vector corresponding to the splicing unit body; According to the moment of inertia of the spliced ​​unit body and the mass of the spliced ​​unit body, an inertia matrix of the spliced ​​unit body is constructed; According to the equation relationship among the acceleration vector, inertia matrix and control vector corresponding to the spliced ​​unit body under the condition of no trajectory constraint, the dynamic equation of the spliced ​​unit body under the condition of no trajectory constraint is constructed.

6. The device according to claim 5, characterized in that The device also includes: A first acquisition module is used to acquire the size information of the unit body and the object size information of the target object to be transported; The second determination module is used to determine the target number of unit cells based on the size information of the unit cells and the size information of the object.

7. The device according to claim 5, characterized in that The determination module is specifically used to construct a trajectory constraint equation containing position information of the current unit body and the unit body to be spliced ​​in the splicing unit body based on the preset trajectory constraint condition; Based on the preset relative position constraint conditions and the position information of the current unit body and the unit body to be spliced, the relative position relationship between the current unit body and the unit body to be spliced ​​in the spliced ​​unit body is calculated to obtain the relative position constraint equation.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

Images