A collision fault determination method and device, electronic equipment and storage medium

Abstract

The application discloses a collision fault determination method and device, electronic equipment and storage medium. The method comprises the following steps: obtaining vehicle information of a target transport vehicle and obstacle information of the target transport vehicle; determining whether a collision fault determination mode of the target transport vehicle and the obstacle is a first determination mode based on the obstacle information; if the collision fault determination mode of the target transport vehicle and the obstacle is the first determination mode, determining whether a collision fault occurs between the target transport vehicle and the obstacle based on position information of the target transport vehicle and position information of the obstacle; and if the collision fault determination mode of the target transport vehicle and the obstacle is not the first determination mode, determining whether a collision fault occurs between the target transport vehicle and the obstacle based on position information and hierarchical information of the target transport vehicle and position information and hierarchical information of the obstacle. The collision between the transport vehicle and the obstacle can be determined according to the vehicle information and the obstacle information, the probability of misjudgment can be reduced, and the cargo transportation efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of Automated Guided Vehicle (AGV) control technology, and in particular to a method, apparatus, electronic device, and storage medium for determining collision faults. Background Technology

[0002] With the rise of smart factories and unmanned warehouses, automated guided vehicles (AGVs) have been widely used, for example, to move goods and to acquire information about shelves and goods in warehouses and factories. Therefore, collision detection for AVTs is a crucial issue.

[0003] Currently, the collision detection method for automated guided vehicles (AGVs) determines the relative relationship between the AGV's maximum dimensions on a plane, its maximum dimensions in space, and the dimensions of the rack support layers, thereby determining whether a collision has occurred between the AGV and the rack. However, the shapes of the rack support layers and the AGV are not necessarily regular cuboids. If the maximum dimensions are used to determine whether a collision has occurred, it may lead to misjudgments of collision faults, affecting cargo handling efficiency and wasting cargo handling resources. Summary of the Invention

[0004] This invention provides a method, apparatus, electronic device, and storage medium for determining collision faults, which can reduce the probability of misjudgment and improve cargo transportation efficiency.

[0005] According to one aspect of the present invention, a method for determining a collision fault is provided, the method comprising:

[0006] Obtain vehicle information and obstacle information of the target transport vehicle. The vehicle information includes the location and hierarchy information of the target transport vehicle, and the obstacle information includes the location and hierarchy information of the obstacles.

[0007] Determine whether the collision fault determination method between the target transport vehicle and the obstacle is the first determination method based on obstacle information;

[0008] If the collision fault determination method between the target transport vehicle and the obstacle is the first determination method, then it is determined whether a collision fault has occurred between the target transport vehicle and the obstacle based on the location information of the target transport vehicle and the location information of the obstacle.

[0009] If the collision fault determination method between the target transport vehicle and the obstacle is not the first determination method, then the collision fault between the target transport vehicle and the obstacle is determined based on the location information and hierarchical information of the target transport vehicle and the location information and hierarchical information of the obstacle.

[0010] Optionally, the location information of the target transport vehicle includes a first position projection of the target transport vehicle, and the hierarchical information of the target transport vehicle includes a first level of the target transport vehicle, a first shape information of the target transport vehicle corresponding to the first level, and a first size information of the target transport vehicle; the location information of the obstacle includes a second position projection of the obstacle, and the hierarchical information of the obstacle includes a second level of the obstacle, a second shape information of the obstacle corresponding to the second level, and a second size information of the obstacle.

[0011] Optionally, obstacle information may also include obstacle type information.

[0012] Optionally, determining whether the collision fault determination method between the target transport vehicle and the obstacle is the first determination method based on obstacle information includes: determining whether the obstacle is a transport vehicle based on type information; if the obstacle is a transport vehicle, then determining that the collision fault determination method between the target transport vehicle and the obstacle is the first determination method; if the obstacle is not a transport vehicle, then determining that the collision fault determination method between the target transport vehicle and the obstacle is not the first determination method.

[0013] Optionally, determining whether a collision fault occurs between the target transport vehicle and the obstacle based on the location information of the target transport vehicle and the location information of the obstacle includes: determining whether there is an overlap between the first position projection and the second position projection; if there is an overlap between the first position projection and the second position projection, then determining that a collision fault will occur between the target transport vehicle and the obstacle; if there is no overlap between the first position projection and the second position projection, then determining that a collision fault will not occur between the target transport vehicle and the obstacle.

[0014] Optionally, determining whether a collision fault has occurred between the target transport vehicle and the obstacle based on the location and hierarchical information of the target transport vehicle and the location and hierarchical information of the obstacle includes: determining the maximum height value of the target transport vehicle based on the first hierarchical number and the first size information; determining the allowable height threshold of the obstacle based on the second hierarchical number and the second size information; determining whether the maximum height value is less than the allowable height threshold; if the maximum height value is less than the allowable height threshold, determining whether a collision fault has occurred between the target transport vehicle and the obstacle based on the first position projection, the second position projection, and the second size information; if the maximum height value is greater than or equal to the allowable height threshold, determining whether a collision fault has occurred between the target transport vehicle and the obstacle based on the first position projection, the first hierarchical number, the first shape information, the first size information, the second position projection, the second hierarchical number, the second shape information, and the second size information.

[0015] Optionally, determining whether a collision fault occurs between the target transport vehicle and the obstacle based on the first position projection, the second position projection, and the second size information includes: determining whether the first position projection and the second position projection overlap; if the first position projection and the second position projection do not overlap, then determining that a collision fault will not occur between the target transport vehicle and the obstacle; if the first position projection and the second position projection overlap, then determining the support position of the obstacle based on the second size information, and determining whether the first position projection and the support position overlap; if the first position projection and the support position overlap, then determining that a collision fault will occur between the target transport vehicle and the obstacle; if the first position projection and the support position do not overlap, then determining that a collision fault will not occur between the target transport vehicle and the obstacle.

[0016] Optionally, determining whether a collision fault has occurred between the target transport vehicle and the obstacle based on the first position projection, the first level, the first shape information, the first size information, the second position projection, the second level, the second shape information, and the second size information includes: determining the allowable size of the obstacle based on the second level, the second shape information, and the second size information; determining the height level information set of the target transport vehicle based on the first position projection, the first level, the first shape information, and the first size information, wherein the height level information set includes each height level of the target transport vehicle, the third position projection corresponding to each height level, and the third size information; and determining whether a collision fault has occurred between the target transport vehicle and the obstacle based on the allowable size, the second position projection, each height level, the third position projection, and the third size information.

[0017] According to another aspect of the present invention, a collision fault determination device is provided, the device comprising:

[0018] The parameter acquisition module is used to acquire vehicle information and obstacle information of the target transport vehicle. The vehicle information includes the location and layer information of the target transport vehicle, and the obstacle information includes the location and layer information of the obstacles.

[0019] The information determination module is used to determine, based on obstacle information, whether the collision fault determination method between the target transport vehicle and the obstacle is the first determination method;

[0020] The first detection module is used to determine whether a collision fault has occurred between the target transport vehicle and the obstacle based on the location information of the target transport vehicle and the location information of the obstacle if the collision fault determination method between the target transport vehicle and the obstacle is the first determination method.

[0021] The second detection module is used to determine whether a collision fault has occurred between the target transport vehicle and the obstacle if the collision fault determination method between the target transport vehicle and the obstacle is not the first determination method.

[0022] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0023] At least one processor; and a memory communicatively connected to the at least one processor;

[0024] The memory stores a computer program that can be executed by at least one processor, which enables the at least one processor to perform the collision fault determination method according to any embodiment of the present invention.

[0025] According to another aspect of the present invention, a computer-readable storage medium is provided that stores computer instructions for causing a processor to execute and implement the collision fault determination method described in any embodiment of the present invention.

[0026] The technical solution of this invention involves acquiring vehicle information and obstacle information of a target transport vehicle. The vehicle information includes the target transport vehicle's location and layer information, and the obstacle information includes the obstacle's location and layer information. Based on the obstacle information, it determines whether the collision fault determination method between the target transport vehicle and the obstacle is a first determination method. If the collision fault determination method is the first determination method, it determines whether a collision fault has occurred between the target transport vehicle and the obstacle based on the target transport vehicle's location information and the obstacle's location information. If the collision fault determination method is not the first determination method, it determines whether a collision fault has occurred between the target transport vehicle and the obstacle based on the target transport vehicle's location and layer information, and the obstacle's location and layer information. This allows for determining the collision fault determination method based on obstacle information, and determining whether a transport vehicle will collide with an obstacle based on the collision fault determination method, vehicle information, and obstacle information. This reduces the probability of misjudgment, improves cargo transportation efficiency, and saves transportation resources. This solves the problem of misjudging collision faults by using the maximum dimensions of the automated guided vehicle (AGV) on the plane and the maximum dimensions in space, which leads to the impact on cargo handling efficiency and waste of cargo handling resources.

[0027] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a flowchart illustrating a method for determining a collision fault according to Embodiment 1 of the present invention;

[0030] Figure 2 This is a flowchart illustrating a method for determining a collision fault according to Embodiment 2 of the present invention;

[0031] Figure 3 This is a schematic diagram of the structure of a transport vehicle provided in Embodiment 2 of the present invention;

[0032] Figure 4 This is a schematic diagram of another transport vehicle provided in Embodiment 2 of the present invention;

[0033] Figure 5 This is a schematic diagram of the structure of a shelf provided in Embodiment 2 of the present invention;

[0034] Figure 6 This is a schematic diagram of another type of shelf structure provided in Embodiment 2 of the present invention;

[0035] Figure 7 This is a projection diagram provided in Embodiment 2 of the present invention;

[0036] Figure 8 This is a schematic diagram of a region division provided in Embodiment 2 of the present invention;

[0037] Figure 9 This is a projection diagram provided in Embodiment 2 of the present invention, illustrating the relationship between the projection of a target transport vehicle and the projection of an obstacle.

[0038] Figure 10 This is a schematic diagram showing the relationship between the projection of a target transport vehicle and the projection of an obstacle, provided in Embodiment 2 of the present invention.

[0039] Figure 11 This is a schematic diagram of a target transport vehicle and a shelf provided in Embodiment 2 of the present invention;

[0040] Figure 12 This is a schematic diagram of the structure of a collision fault determination device provided in Embodiment 3 of the present invention;

[0041] Figure 13 This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. Detailed Implementation

[0042] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0043] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0044] Example 1

[0045] Figure 1 This is a flowchart illustrating a collision fault determination method provided in Embodiment 1 of the present invention. This embodiment is applicable to collision detection of transport vehicles in smart factories, collision detection of transport vehicles in unmanned warehouses, etc. The method can be executed by the collision fault determination device provided in this embodiment of the present invention. This device can be implemented in hardware and / or software. In a specific embodiment, the device can be integrated into an electronic device. The following embodiments will illustrate this using the integration of the device into an electronic device as an example. Figure 1 The method specifically includes the following steps:

[0046] S101. Obtain vehicle information and obstacle information of the target transport vehicle.

[0047] Vehicle information can be understood as the vehicle's attribute information, such as the vehicle's own parameters and its location information in environments such as warehouses, factories, and libraries. The target transport vehicle's vehicle information can include its location and hierarchy information; the target transport vehicle includes AGVs (Automated Guided Vehicles). Obstacle information can be understood as information about items in the current environment that affect the target transport vehicle's movement. For example, information about other transport vehicles affecting the target transport vehicle's movement, or information about shelves affecting the target transport vehicle's movement. Obstacle information includes the obstacle's location and hierarchy information.

[0048] Specifically, the location information of the target transport vehicle can be understood as the ground coordinates of the target transport vehicle in environments such as warehouses, factories, and libraries. The hierarchical information of the target transport vehicle can be understood as the parameter information of the target transport vehicle itself, including the height information of the target transport vehicle in space and the hierarchical information of the target transport vehicle. Furthermore, the hierarchical information of the target transport vehicle is related to the model of the target transport vehicle. Similarly, the location information of an obstacle can be understood as the coordinates of the obstacle in environments such as warehouses, factories, and libraries. The hierarchical information of an obstacle can be understood as the parameter information of the obstacle itself, including the height information of the obstacle in space and the hierarchical information of the obstacle. Furthermore, the hierarchical information of an obstacle is related to the type and model of the obstacle. This embodiment does not limit this.

[0049] In a specific example, obtaining the vehicle information and obstacle information of the target transport vehicle can be understood as obtaining the coordinate information of the target transport vehicle in environments such as warehouses, factories, and libraries, the spatial height information of the target transport vehicle, the hierarchical information of the target transport vehicle, the coordinate information of obstacles in environments such as warehouses, factories, and libraries, the spatial height information of obstacles, and the hierarchical information of obstacles.

[0050] Specifically, an information collection device can be installed on the target transport vehicle to collect environmental information within a preset range. The collected environmental information can be used to analyze obstacle information of the target transport vehicle. The preset range can be set and adjusted according to the data collection range of the information collection device and the obstacle information collection requirements; this embodiment does not set such a range.

[0051] The advantage of this setup is that it allows us to obtain real and accurate vehicle information and obstacle information for the target transport vehicle.

[0052] S102. Determine whether the collision fault determination method between the target transport vehicle and the obstacle is the first determination method based on obstacle information.

[0053] If the collision fault determination method between the target transport vehicle and the obstacle is the first determination method, then step S103 is executed; if the collision fault determination method between the target transport vehicle and the obstacle is not the first determination method, then step S104 is executed.

[0054] Specifically, different types of obstacles require different collision detection methods. For example, when the obstacle is a transport vehicle, the collision fault determination method is to determine whether there is a conflict between the trajectory of the target transport vehicle and the obstacle, and whether there is a conflict between the projections of the target transport vehicle and the obstacle on the ground in environments such as warehouses, factories, and libraries. When the obstacle is a shelf, the collision fault determination method is to determine whether the target transport vehicle can pass smoothly through the bottom of the shelf, and whether there is a conflict between the projections of the target transport vehicle and the obstacle on the ground and in space in environments such as warehouses, factories, and libraries.

[0055] The first determination method can be a collision fault determination method when the obstacle is a transport vehicle. For example, when the obstacle is a transport vehicle, the collision fault determination method between the target transport vehicle and the obstacle is the first determination method.

[0056] The advantage of this setup is that obstacles can be classified based on obstacle information, so that the collision fault determination method of the target transport vehicle and the obstacle corresponding to the obstacle type can be used to determine whether a collision has occurred between the obstacle and the target transport vehicle, thereby improving the efficiency of collision fault detection.

[0057] S103. Determine whether a collision fault has occurred between the target transport vehicle and the obstacle based on the location information of the target transport vehicle and the obstacle.

[0058] The location information of the target transport vehicle can be understood as the ground coordinate information of the target transport vehicle in environments such as warehouses, factories, and libraries, while the location information of the obstacle can be understood as the ground coordinate information of the obstacle in environments such as warehouses, factories, and libraries.

[0059] Specifically, when the obstacle is a transport vehicle, whether a collision fault will occur can be determined by whether there is a conflict between the trajectory of the target transport vehicle and the obstacle, or whether there is a conflict between the projections of the target transport vehicle and the obstacle on the ground in environments such as warehouses, factories, and libraries. If there is a conflict between the trajectory of the target transport vehicle and the obstacle, or a conflict between their projections on the ground, then a collision fault is determined to occur; if there is no conflict between the trajectory of the target transport vehicle and the obstacle, and no conflict between their projections on the ground, then a collision fault is determined not to occur.

[0060] The advantage of this setup is that it allows for direct determination of whether a collision has occurred between the target transport vehicle and the obstacle based on the projection information of the target transport vehicle and the obstacle, thus speeding up the judgment of collision faults.

[0061] S104. Determine whether a collision fault has occurred between the target transport vehicle and the obstacle based on the location and hierarchical information of the target transport vehicle and the location and hierarchical information of the obstacle.

[0062] The shelving consists of multiple layers, with the layer closest to the ground not containing any items. Transport vehicles can pass through the bottom layer of the shelving. Whether a collision occurs between the target transport vehicle and the shelving depends on information such as the height of the bottom layer of the shelving, the height of the target transport vehicle, the projection of the shelving onto the ground, and the projection of the target transport vehicle onto the ground.

[0063] Among them, the location information of the target transport vehicle can be understood as the coordinates of the target transport vehicle's projection on the ground, the hierarchical information of the target transport vehicle can be understood as the height information of the target transport vehicle, the location information of the obstacle can be understood as the coordinates of the obstacle's projection on the ground, and the hierarchical information of the obstacle can be understood as the height information of the bottom layer of the obstacle.

[0064] Specifically, based on the location and layer information of the target transport vehicle and the location and layer information of the obstacle, it is determined whether a collision fault has occurred between the target transport vehicle and the obstacle. This includes: determining whether there is a conflict between the projection of the target transport vehicle on the ground and the projection of the obstacle on the ground; if there is no conflict, it is determined that a collision fault will not occur between the target transport vehicle and the obstacle; if there is a conflict, it is determined whether a collision fault has occurred between the target transport vehicle and the obstacle based on the conflict type, the height information of the target transport vehicle, and the height information of the bottom layer of the obstacle.

[0065] The types of conflicts include partial coverage conflicts, Type I full coverage conflicts, and Type II full coverage conflicts. A partial coverage conflict can be understood as the projection of the target transport vehicle and the projection of the obstacle partially overlapping. Type I full coverage conflicts can be understood as the projection of the target transport vehicle wrapping the projection of the obstacle. Type II full coverage conflicts can be understood as the projection of the obstacle wrapping the projection of the target transport vehicle. Specifically, if the conflict type is a partial coverage conflict, then the collision failure between the target transport vehicle and the obstacle is determined based on the target vehicle's trajectory and the obstacle's support information. For example, if the target transport vehicle's trajectory conflicts with the obstacle's support, a collision failure is determined; if the target transport vehicle's trajectory does not conflict with the obstacle's support, a collision failure is determined. If the conflict type is a first-class full coverage conflict, a collision failure is determined. If the conflict type is a second-class full coverage conflict, then the collision failure between the target transport vehicle and the obstacle needs to be determined based on the target transport vehicle's height information and the bottom layer of the obstacle's height information. For example, if the target transport vehicle's height is greater than or equal to the bottom layer of the obstacle's height, a collision failure is determined; if the target transport vehicle's height is less than the bottom layer of the obstacle's height, a collision failure is determined.

[0066] The advantage of this setup is that it can combine the projection information of the target transport vehicle, the projection information of the obstacle, the height of the target transport vehicle, and the bottom height of the shelf to determine whether the target transport vehicle and the obstacle have collided, thus improving the accuracy of collision detection.

[0067] The technical solution of this invention involves acquiring vehicle information and obstacle information of a target transport vehicle. The vehicle information includes the target transport vehicle's location and layer information, and the obstacle information includes the obstacle's location and layer information. Based on the obstacle information, it determines whether the collision fault determination method between the target transport vehicle and the obstacle is a first determination method. If the collision fault determination method is the first determination method, it determines whether a collision fault has occurred between the target transport vehicle and the obstacle based on the target transport vehicle's location information and the obstacle's location information. If the collision fault determination method is not the first determination method, it determines whether a collision fault has occurred between the target transport vehicle and the obstacle based on the target transport vehicle's location and layer information, and the obstacle's location and layer information. This allows for determining the collision fault determination method based on obstacle information, and determining whether a transport vehicle will collide with an obstacle based on the collision fault determination method, vehicle information, and obstacle information. This reduces the probability of misjudgment, improves cargo transportation efficiency, and saves transportation resources. This solves the problem of misjudging collision faults by using the maximum dimensions of the automated guided vehicle (AGV) on the plane and the maximum dimensions in space, which leads to the impact on cargo handling efficiency and waste of cargo handling resources.

[0068] Example 2

[0069] Figure 2 This is a flowchart illustrating a collision fault determination method provided in Embodiment 2 of the present invention. This embodiment is applicable to collision detection of transport vehicles in smart factories, collision detection of transport vehicles in unmanned warehouses, etc. The method can be executed by the collision fault determination device provided in this embodiment of the present invention. This device can be implemented in hardware and / or software. In a specific embodiment, the device can be integrated into an electronic device. The following embodiments will illustrate this using the integration of the device into an electronic device as an example. (Refer to...) Figure 2 The method specifically includes the following steps:

[0070] S201. Obtain vehicle information and obstacle information of the target transport vehicle.

[0071] The vehicle information includes the location and hierarchy information of the target transport vehicle, and the obstacle information includes the location, hierarchy information, and type information of the obstacle.

[0072] The location information of the target transport vehicle includes the first position projection of the target transport vehicle, and the hierarchical information of the target transport vehicle includes the first hierarchical number of the target transport vehicle, the first shape information and the first size information of the target transport vehicle corresponding to the first hierarchical number; the location information of the obstacle includes the second position projection of the obstacle, and the hierarchical information of the obstacle includes the second hierarchical number of the obstacle, the second shape information and the second size information of the obstacle corresponding to the second hierarchical number.

[0073] Taking the current environment as a library as an example, the vehicle information and obstacle information of the target transport vehicle are described. The first position projection can be understood as the ground coordinate information of the target transport vehicle in the library, and the second position projection can be understood as the ground coordinate information of the obstacle in the library. The first level can be understood as the level information of the target transport vehicle, and the second level can be understood as the level information of the obstacle. Specifically, the level of the target transport vehicle is related to the model of the target transport vehicle, and the level information of the obstacle is related to the type and model of the obstacle. This embodiment does not limit this.

[0074] Figure 3 This is a schematic diagram of the structure of a transport vehicle provided in Embodiment 2 of the present invention. Figure 4 This is a schematic diagram of another transport vehicle provided in Embodiment 2 of the present invention. Figure 5 This is a schematic diagram of the structure of a shelf provided in Embodiment 2 of the present invention. Figure 6 This is a schematic diagram of another shelf structure provided in Embodiment 2 of the present invention. Specifically, Figure 3 and Figure 4 They are two different models of transport vehicles. Figure 3 The first level of the transport vehicle in the middle is 1. The first shape information of the target transport vehicle corresponding to the first level can be understood as the cross-section of a cuboid, and the first size information can be understood as the length and width information of the cross-section. Figure 4 The transport vehicle in the diagram has three levels: Level 1, Level 2, and Level 3. Level 3 represents the level containing the cuboid in the diagram. Level 2 represents the level containing the cylinder directly connected to the cuboid. Level 1 represents the level containing the cylinder not connected to the cuboid. The first shape information of the target transport vehicle corresponding to Level 1 can be understood as the cross-section of the cylinder corresponding to Level 1, and the first dimension information can be understood as the length, width, or radius of the cross-section. The first shape information of the target transport vehicle corresponding to Level 2 can be understood as the cross-section of the cylinder corresponding to Level 2, and the first dimension information can be understood as the length, width, or radius of the cross-section. The first shape information of the target transport vehicle corresponding to Level 3 can be understood as the cross-section of the cuboid, and the first dimension information can be understood as the length and width of the cross-section. Figure 5 and Figure 6These are two different types of shelves. Shelves generally have two levels. The bottom level, without books, is considered level 1, and all levels from the first level where books are placed are considered level 2. Figure 5 For example, the direction in which the number of books decreases is the upward direction. It is worth noting that... Figure 6 The shelving in the middle has a unique structure; the partially connected shelves can hold books or not, and are initially considered to be the second level. Furthermore, if the obstacle is... Figure 6 When performing fault detection on the shelving, it is necessary to further determine whether there is a collision fault between the shelving and the target transport vehicle based on the projection of the shelving on the ground, the projection of the target transport vehicle on the ground, the projection of the target transport vehicle in space, the projection of the shelving level 1 and the layers of the shelving that are not fully connected in space.

[0075] Figure 7 This is a projection diagram provided in Embodiment 2 of the present invention, from... Figure 7 As can be seen, the projections of the target transport vehicle and obstacles on the ground include rectangles, circles, triangles, polygons, etc., and this embodiment does not limit this. The advantage of this setting is that the projection of objects can be determined according to the structure of objects in the environment, so that the target transport vehicle can determine its running trajectory based on the outline information of the projection, without having to determine the trajectory based on the grid, thus improving the transport efficiency of the transport vehicle and the utilization rate of the planar map; secondly, the actions of requesting and releasing the trajectory are continuous, which can reduce the probability of missing space release and ensure the stability of the system; finally, the outlines of obstacles include polygons and circles, which provides better support for the walking arc of the target transport vehicle.

[0076] S202. Determine whether the obstacle is a transport vehicle based on type information.

[0077] If the obstacle is a transport vehicle, proceed to step S203; if the obstacle is not a transport vehicle, proceed to step S205. Specifically, obstacles include transport vehicles and shelves. The obstacle type information can be understood as the obstacle's identification information, used to indicate whether the obstacle is a transport vehicle or a shelf. Furthermore, shelves and transport vehicles differ in structure, style, and other information; based on the obstacle's structure, style, and other information, it can also be determined whether the obstacle is a transport vehicle.

[0078] S203, The collision fault determination method between the target transport vehicle and the obstacle is determined as the first determination method.

[0079] The first determination method can be understood as the collision fault determination method when the obstacle is a transport vehicle. Specifically, the first determination method can be to determine whether a collision fault has occurred between the target transport vehicle and the obstacle based on whether there is a conflict between their trajectories, or it can be to determine whether a collision fault has occurred between the target transport vehicle and the obstacle based on whether there is a conflict between their projections on the ground in environments such as warehouses, factories, and libraries. This embodiment does not limit this method.

[0080] S204. Determine whether a collision fault has occurred between the target transport vehicle and the obstacle based on the location information of the target transport vehicle and the obstacle.

[0081] When the obstacle is a transport vehicle, whether a collision fault will occur between the target transport vehicle and the obstacle can be determined by whether their projections conflict. Specifically, determining whether a collision fault will occur between the target transport vehicle and the obstacle based on the position information of the target transport vehicle and the obstacle includes: determining whether there is overlap between the first position projection and the second position projection; if the first position projection and the second position projection overlap, it is determined that a collision fault will occur between the target transport vehicle and the obstacle; if the first position projection and the second position projection do not overlap, it is determined that a collision fault will not occur between the target transport vehicle and the obstacle.

[0082] Assumption Figure 3 The transport vehicle in question is model 1. Figure 4The transport vehicle in the model is model 2. The projection of the cylinder of level 1 of the transport vehicle corresponding to model 2 onto the ground is greater than the projection of the cylinder of level 2 onto the ground. The height of the transport vehicle corresponding to model 1 is less than the sum of the heights of the cylinders of level 1 and level 2 of the transport vehicle corresponding to model 2. If both the target transport vehicle and the obstacle transport vehicle are model 1 or both are model 2, then it is determined whether there is a collision conflict between them based on the projections of the target transport vehicle and the obstacle transport vehicle onto the ground. When the projections of the target transport vehicle and the obstacle transport vehicle onto the ground intersect, it is determined that there is a collision conflict between them. When the projections of the target transport vehicle and the obstacle transport vehicle onto the ground do not intersect, it is determined that there is no collision conflict between them. If the target transport vehicle is model 2 and the obstacle transport vehicle is model 1, the collision detection method is determined based on the projections of the cylinder of level 1 of the target transport vehicle onto the ground and the projections of the obstacle transport vehicle onto the ground. A collision is confirmed if the projections intersect; otherwise, no collision is confirmed. Similarly, the collision detection method is the same when the target transport vehicle is model 1 and the obstacle transport vehicle is model 2, and will not be elaborated further here.

[0083] Figure 8 This is a schematic diagram of area division provided in Embodiment 2 of the present invention. The present invention divides the entire environment into areas using the smallest projection in the environment as the unit projection. A, B, and C in the diagram represent different areas. Specifically, when the target transport vehicle and the obstacle are in different areas, collision fault detection is not required, meaning the target transport vehicle and the obstacle will not collide. When the target transport vehicle and the obstacle are in the same area, a collision may occur, requiring collision fault detection.

[0084] For example, assume that both the target transport vehicle and the obstacle transport vehicle are Model 1. Figure 9 This is a projection diagram provided by Embodiment 2 of the present invention. Embodiment 2 of the present invention provides a schematic diagram of the relationship between the projection of the target transport vehicle and the projection of the obstacle. In the figure, the black solid rectangle is the projection of the target transport vehicle on the ground, and the black hollow rectangle is the projection of the obstacle transport vehicle on the ground. It can be seen from the figure that when the projections of the target transport vehicle and the obstacle transport vehicle on the ground intersect, it is determined that there is a collision conflict between the target transport vehicle and the obstacle transport vehicle.

[0085] S205. The method for determining the collision fault between the target transport vehicle and the obstacle is not the first method.

[0086] When the obstacle is a shelf, the collision fault determination method is not the first determination method. Specifically, when the collision fault determination method is not the first determination method, it can be considered as the second determination method. Further, the second fault determination method can be to determine whether a collision fault has occurred between the target transport vehicle and the obstacle based on whether the target transport vehicle can smoothly pass through the bottom of the shelf, or it can be to determine whether a collision fault has occurred between the target transport vehicle and the obstacle based on whether there is a conflict between the projections of the target transport vehicle and the obstacle on the ground and in space in environments such as warehouses, factories, and libraries, etc. This embodiment does not limit this.

[0087] S206. Determine whether a collision fault has occurred between the target transport vehicle and the obstacle based on the location and hierarchical information of the target transport vehicle and the location and hierarchical information of the obstacle.

[0088] Specifically, determining whether a collision has occurred between the target transport vehicle and the obstacle based on the location and hierarchical information of the target transport vehicle and the location and hierarchical information of the obstacle includes: determining the maximum height of the target transport vehicle based on the first hierarchical number and the first size information; determining the allowable height threshold of the obstacle based on the second hierarchical number and the second size information; determining whether the maximum height is less than the allowable height threshold; if the maximum height is less than the allowable height threshold, determining whether a collision has occurred between the target transport vehicle and the obstacle based on the first position projection, the second position projection, and the second size information; if the maximum height is greater than or equal to the allowable height threshold, determining whether a collision has occurred between the target transport vehicle and the obstacle based on the first position projection, the first hierarchical number, the first shape information, the first size information, the second position projection, the second hierarchical number, the second shape information, and the second size information.

[0089] The maximum height of the target transport vehicle can be understood as the distance from the highest point of the target transport vehicle to the ground, and the allowable height threshold of the obstacle can be understood as the height of the bottom layer of the shelf. If the maximum height of the target transport vehicle is greater than or equal to the allowable height threshold of the obstacle, a collision will inevitably occur when the target transport vehicle passes through the shelf. If the maximum height of the target transport vehicle is less than the allowable height threshold of the obstacle, it is initially determined that the target transport vehicle can pass through the shelf. However, it is necessary to determine whether a collision will occur between the target transport vehicle and the shelf based on the projection information, hierarchical information, shape information, and size information of both the target transport vehicle and the shelf.

[0090] Optionally, determining whether a collision fault occurs between the target transport vehicle and the obstacle based on the first position projection, the second position projection, and the second size information includes: determining whether the first position projection and the second position projection overlap; if the first position projection and the second position projection do not overlap, then determining that a collision fault will not occur between the target transport vehicle and the obstacle; if the first position projection and the second position projection overlap, then determining the support position of the obstacle based on the second size information, and determining whether the first position projection and the support position overlap; if the first position projection and the support position overlap, then determining that a collision fault will occur between the target transport vehicle and the obstacle; if the first position projection and the support position do not overlap, then determining that a collision fault will not occur between the target transport vehicle and the obstacle.

[0091] The support position can be understood as the projection of the shelf's supports onto the ground. Generally, a shelf includes at least four supports. Specifically, if the projection of the first position and the support position do not overlap, it is necessary to determine whether a collision will occur between the target transport vehicle and the obstacle, taking into account the target transport vehicle's travel direction.

[0092] For example, suppose the maximum height of the target transport vehicle is less than the allowable height threshold of the obstacle. Figure 10 This is a schematic diagram illustrating the relationship between the projection of a target transport vehicle and the projection of obstacles, provided in Embodiment 2 of the present invention. The solid black rectangles in the diagram represent the projection of the target transport vehicle on the ground, the dashed rectangles represent the projection of the shelf on the ground, the solid black rectangles at the four corners of the dashed rectangles represent the projections of the four supports of the shelf on the ground, and the arrows indicate the direction of travel of the target transport vehicle. Figure 10 As can be seen, the projections of the target transport vehicle and the shelf on the ground overlap, but the projections of the target transport vehicle and the four supports of the shelf do not overlap. Furthermore, the direction of travel of the target transport vehicle does not conflict with the supports of the shelf. Therefore, it is determined that there is no collision fault between the target transport vehicle and the shelf. However, if the target transport vehicle rotates 90° clockwise or counterclockwise, the projections of the target transport vehicle and the supports on the ground will conflict, meaning a collision fault will occur between the target transport vehicle and the shelf. Figure 11 This is a schematic diagram of a target transport vehicle and a shelf provided in Embodiment 2 of the present invention. The black arrow in the diagram indicates the driving direction of the target transport vehicle. When there is no conflict between the height of the target transport vehicle and the shelf in space and their projection on the ground plane, it is considered that the target transport vehicle can freely pass through the bottom layer of the shelf.

[0093] It is worth noting that the height relationship between the target transport vehicle and the obstacle can be determined first, and then the projection relationship between the target transport vehicle and the obstacle on the ground plane can be determined. Alternatively, the projection relationship between the target transport vehicle and the obstacle on the ground plane can be determined first, and then the height relationship between the target transport vehicle and the obstacle can be determined. This embodiment does not limit this.

[0094] Furthermore, if the shelf is Figure 6 For the shelves, it is necessary to determine whether a collision or malfunction will occur between the target transport vehicle and the shelves based on the information of the target transport vehicle, the information of the incompletely connected storage layers on the shelves, and the bottom layer information.

[0095] Optionally, determining whether a collision fault has occurred between the target transport vehicle and the obstacle based on the first position projection, the first level, the first shape information, the first size information, the second position projection, the second level, the second shape information, and the second size information includes: determining the allowable size of the obstacle based on the second level, the second shape information, and the second size information; determining the height level information set of the target transport vehicle based on the first position projection, the first level, the first shape information, and the first size information, wherein the height level information set includes each height level of the target transport vehicle, the third position projection corresponding to each height level, and the third size information; and determining whether a collision fault has occurred between the target transport vehicle and the obstacle based on the allowable size, the second position projection, each height level, the third position projection, and the third size information.

[0096] The permissible dimensions of the obstacle can be understood as the permissible shape of the shelf and the length information of each side of that permissible shape. The height hierarchy information set of the target transport vehicle includes at least one height information, when the target transport vehicle is... Figure 3 When the target transport vehicle is in the context of a transport vehicle, the height level information set includes a height level, the corresponding projection information of that height level, and the size information of the projection. Figure 4 When transporting vehicles, the height level information set includes three height levels, the projection information corresponding to each height level, and the size information of the projection.

[0097] With the target transport vehicle as Figure 4 The transport vehicle in the middle, the shelf is not Figure 6 Taking a shelving unit as an example, the process of determining the collision between the target transport vehicle and the shelving unit is explained. First, the permissible shape of the shelving unit in space and the length information of each side of the permissible shape are determined. Second, the height correspondence between the target transport vehicle and the permissible shape is determined based on the height information of each layer of the target transport vehicle. Finally, based on the correspondence, the projection of the target transport vehicle on the ground and the projection of the shelving unit on the ground in each correspondence, it is determined whether a collision failure has occurred between the target transport vehicle and the shelving unit.

[0098] For example, the clearance shape of the shelf is "I". The clearance shape of the shelf is divided into three levels. The correspondence between the three levels of the transport vehicle and the three levels of the clearance shape of the shelf is determined. Then, it is determined whether there is a conflict between the projection of the target transport vehicle and the shelf on the ground in each correspondence. Only when there is no conflict between the projection of the target transport vehicle and the shelf on the ground in the three correspondences will the target transport vehicle and the shelf not collide.

[0099] The technical solution of this invention involves acquiring vehicle information and obstacle information of a target transport vehicle. The vehicle information includes the target transport vehicle's location and hierarchy information, and the obstacle information includes the obstacle's location and hierarchy information. Based on the type information, it is determined whether the obstacle is a transport vehicle. If the obstacle is a transport vehicle, the collision fault determination method between the target transport vehicle and the obstacle is determined to be a first determination method, and a collision fault is determined based on the target transport vehicle's location information and the obstacle's location information. If the obstacle is not a transport vehicle, the collision fault determination method is determined not to be the first determination method, and a collision fault is determined based on the target transport vehicle's location and hierarchy information, and the obstacle's location and hierarchy information. This method can determine the collision fault determination method based on the obstacle's type, and determine whether a collision between the transport vehicle and the obstacle will occur based on the collision fault determination method, vehicle information, and obstacle information, reducing the probability of misjudgment, improving cargo transportation efficiency, and saving transportation resources. This solves the problem of misjudging collision faults by using the maximum dimensions of the automated guided vehicle (AGV) on the plane and the maximum dimensions in space, which leads to the impact on cargo handling efficiency and waste of cargo handling resources.

[0100] Example 3

[0101] Figure 12 This is a schematic diagram of a collision fault determination device provided in Embodiment 3 of the present invention. Figure 12 As shown, the device includes: a parameter acquisition module 1201, an information determination module 1202, a first detection module 1203, and a second detection module 1204.

[0102] The parameter acquisition module 1201 is used to acquire vehicle information and obstacle information of the target transport vehicle. The vehicle information includes the location information and layer information of the target transport vehicle, and the obstacle information includes the location information and layer information of the obstacles.

[0103] The information determination module 1202 is used to determine whether the collision fault determination method between the target transport vehicle and the obstacle is the first determination method based on the obstacle information.

[0104] The first detection module 1203 is used to determine whether a collision fault has occurred between the target transport vehicle and the obstacle based on the location information of the target transport vehicle and the location information of the obstacle if the collision fault determination method between the target transport vehicle and the obstacle is the first determination method.

[0105] The second detection module 1204 is used to determine whether a collision fault has occurred between the target transport vehicle and the obstacle based on the location information and hierarchical information of the target transport vehicle and the location information and hierarchical information of the obstacle if the collision fault determination method between the target transport vehicle and the obstacle is not the first determination method.

[0106] Optionally, the location information of the target transport vehicle includes a first position projection of the target transport vehicle, and the hierarchical information of the target transport vehicle includes a first level of the target transport vehicle, a first shape information of the target transport vehicle corresponding to the first level, and a first size information of the target transport vehicle; the location information of the obstacle includes a second position projection of the obstacle, and the hierarchical information of the obstacle includes a second level of the obstacle, a second shape information of the obstacle corresponding to the second level, and a second size information of the obstacle.

[0107] Optionally, obstacle information may also include obstacle type information.

[0108] Optionally, the information determination module 1202 is specifically used to determine whether the obstacle is a transport vehicle based on the type information; if the obstacle is a transport vehicle, the collision fault determination method between the target transport vehicle and the obstacle is determined to be the first determination method; if the obstacle is not a transport vehicle, the collision fault determination method between the target transport vehicle and the obstacle is determined to be not the first determination method.

[0109] Optionally, the first detection module 1203 is specifically used to determine whether the first position projection and the second position projection overlap; if the first position projection and the second position projection overlap, it is determined that the target transport vehicle and the obstacle will collide; if the first position projection and the second position projection do not overlap, it is determined that the target transport vehicle and the obstacle will not collide.

[0110] Optionally, the second detection module 1204 is specifically used to determine the maximum height of the target transport vehicle based on the first level and the first size information; determine the allowable height threshold of the obstacle based on the second level and the second size information; determine whether the maximum height value is less than the allowable height threshold; if the maximum height value is less than the allowable height threshold, determine whether a collision fault has occurred between the target transport vehicle and the obstacle based on the first position projection, the second position projection, and the second size information; if the maximum height value is greater than or equal to the allowable height threshold, determine whether a collision fault has occurred between the target transport vehicle and the obstacle based on the first position projection, the first level, the first shape information, the first size information, the second position projection, the second level, the second shape information, and the second size information.

[0111] Optionally, the second detection module 1204 is specifically used to determine whether the first position projection and the second position projection overlap; if the first position projection and the second position projection do not overlap, it is determined that the target transport vehicle and the obstacle will not collide; if the first position projection and the second position projection overlap, the support position of the obstacle is determined based on the second size information, and it is determined whether the first position projection and the support position overlap; if the first position projection and the support position overlap, it is determined that the target transport vehicle and the obstacle will collide; if the first position projection and the support position do not overlap, it is determined that the target transport vehicle and the obstacle will not collide.

[0112] Optionally, the second detection module 1204 is specifically used to determine the allowable size of the obstacle based on the second level, the second shape information, and the second size information; to determine the height level information set of the target transport vehicle based on the first position projection, the first level, the first shape information, and the first size information, wherein the height level information set includes each height level of the target transport vehicle, the third position projection and the third size information corresponding to each height level; and to determine whether a collision fault has occurred between the target transport vehicle and the obstacle based on the allowable size, the second position projection, each height level, the third position projection and the third size information.

[0113] The collision fault determination device provided in this embodiment of the invention can execute the collision fault determination method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0114] Example 4

[0115] Figure 13 This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0116] like Figure 13As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0117] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0118] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as methods for determining collision faults.

[0119] In some embodiments, the collision fault determination method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the collision fault determination method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the collision fault determination method by any other suitable means (e.g., by means of firmware).

[0120] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0121] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0122] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0123] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0124] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0125] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0126] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0127] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for determining collision faults, characterized in that, include: The system acquires vehicle information of the target transport vehicle and obstacle information of the target transport vehicle. The vehicle information includes the target transport vehicle's location and layer information; the obstacle information includes obstacle type information, location information, and layer information. The target transport vehicle's location information includes a first location projection of the target transport vehicle; the target transport vehicle's layer information includes the target transport vehicle's first layer number, the target transport vehicle's first shape information, and the target transport vehicle's first size information corresponding to the first layer number. The obstacle's location information includes a second location projection of the obstacle; the obstacle's layer information includes the obstacle's second layer number, the obstacle's second shape information, and the obstacle's second size information corresponding to the second layer number. Based on the type information, determine whether the obstacle is a transport vehicle; If the obstacle is a transport vehicle, then the collision fault determination method between the target transport vehicle and the obstacle is determined to be the first determination method, which determines whether a collision fault has occurred between the target transport vehicle and the obstacle based on the location information of the target transport vehicle and the location information of the obstacle; If the obstacle is not a transport vehicle, then the collision fault determination method between the target transport vehicle and the obstacle is determined to be not the first determination method. The maximum height value of the target transport vehicle is determined based on the first level and the first size information. The allowable height threshold of the obstacle is determined based on the second level and the second size information. It is then determined whether the maximum height value is less than the allowable height threshold. If the maximum height value is less than the allowable height threshold, then it is determined whether the first position projection and the second position projection overlap. If the first position projection and the second position projection do not overlap, it is determined that the target transport vehicle and the obstacle will not collide.

2. The method according to claim 1, characterized in that, The step of determining whether a collision has occurred between the target transport vehicle and the obstacle based on the location information of the target transport vehicle and the location information of the obstacle includes: Determine whether the first position projection and the second position projection overlap; If the first position projection and the second position projection overlap, it is determined that a collision failure will occur between the target transport vehicle and the obstacle. If the first position projection and the second position projection do not overlap, it is determined that the target transport vehicle and the obstacle will not collide.

3. The method according to claim 1, characterized in that, If the maximum height value is greater than or equal to the allowable height threshold, then based on the first position projection, the first number of levels, the first shape information, the first size information, the second position projection, the second number of levels, the second shape information, and the second size information, it is determined whether the target transport vehicle and the obstacle have collided. The step of determining whether a collision has occurred between the target transport vehicle and the obstacle based on the first position projection, the first layer number, the first shape information, the first size information, the second position projection, the second layer number, the second shape information, and the second size information includes: The allowable size of the obstacle is determined based on the second level, the second shape information, and the second size information; wherein, the obstacle is a shelf, and the allowable size is the allowable shape of the shelf and the length information of each side of the allowable shape; Based on the first position projection, the first number of levels, the first shape information, and the first size information, a height level information set of the target transport vehicle is determined. The height level information set includes each height level of the target transport vehicle, the third position projection corresponding to each height level, and the third size information. The third position projection is the projection of the target transport vehicle on the ground, and the third size information is the size information of the projection of the target transport vehicle on the ground. Based on the allowable dimensions, the second position projection, the various height levels, the third position projection, and the third dimension information, it is determined whether a collision fault occurs between the target transport vehicle and the obstacle; wherein, when the projections of the target transport vehicle and the shelf do not overlap at any height level, it is determined that the target transport vehicle and the shelf will not collide.

4. The method according to claim 1, characterized in that, If the first position projection and the second position projection overlap, the support position of the obstacle is determined based on the second size information, and it is determined whether the first position projection and the support position overlap; wherein, the obstacle is a shelf, and the support position of the obstacle is the projection of the shelf's support on the ground; If the projection of the first position and the support position overlap, it is determined that the target transport vehicle and the obstacle will collide. If the projection of the first position and the support position do not overlap, it is determined that the target transport vehicle and the obstacle will not collide.

5. A device for determining collision faults, characterized in that, include: The parameter acquisition module is used to acquire vehicle information of the target transport vehicle and obstacle information of the target transport vehicle. The vehicle information includes the target transport vehicle's position and layer information; the obstacle information includes obstacle type information, position information, and layer information. The target transport vehicle's position information includes a first position projection of the target transport vehicle; the target transport vehicle's layer information includes the target transport vehicle's first layer number, the first shape information of the target transport vehicle corresponding to the first layer number, and the first size information of the target transport vehicle. The obstacle's position information includes a second position projection of the obstacle; the obstacle's layer information includes the obstacle's second layer number, the second shape information of the obstacle corresponding to the second layer number, and the second size information of the obstacle. An information determination module is used to determine whether the obstacle is a transport vehicle based on the type information; if the obstacle is a transport vehicle, the collision fault determination method between the target transport vehicle and the obstacle is determined to be the first determination method; if the obstacle is not a transport vehicle, the collision fault determination method between the target transport vehicle and the obstacle is determined not to be the first determination method. The first detection module is used to determine whether a collision fault has occurred between the target transport vehicle and the obstacle if the collision fault determination method between the target transport vehicle and the obstacle is the first determination method; The second detection module is configured to: if the collision fault determination method between the target transport vehicle and the obstacle is not the first determination method, determine whether a collision fault has occurred between the target transport vehicle and the obstacle based on the position information of the target transport vehicle and the obstacle; if the collision fault determination method between the target transport vehicle and the obstacle is not the first determination method, determine the maximum height value of the target transport vehicle based on the first level and the first size information; determine the allowable height threshold of the obstacle based on the second level and the second size information; determine whether the maximum height value is less than the allowable height threshold; if the maximum height value is less than the allowable height threshold, determine whether the first position projection and the second position projection overlap; if the first position projection and the second position projection do not overlap, determine that a collision fault will not occur between the target transport vehicle and the obstacle.

6. An electronic device, characterized in that, The electronic device includes: At least one processor; and a memory communicatively connected to said at least one processor; The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the collision fault determination method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method for determining collision faults as described in any one of claims 1 to 4.

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