Vehicle control method and device, computer device and storage medium
By acquiring the target pallet pose and calculating path points, the unmanned forklift can be controlled to quickly adjust its posture in confined spaces, solving the accuracy problem when the unmanned forklift picks up goods and achieving efficient and high-precision autonomous positioning.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHENZHEN HAIXING ZHIJIA TECH CO LTD
- Filing Date
- 2023-06-21
- Publication Date
- 2026-06-23
AI Technical Summary
When unmanned forklifts pick up goods, they have difficulty quickly adjusting their position and posture within a short distance to meet the picking conditions, resulting in low picking accuracy.
By acquiring the pose of the target pallet, the target parking pose and reference line of the target vehicle are determined. Based on the angle and distance parameters, the path point is calculated, and the vehicle is controlled to move to the path point until it reaches the target parking pose, thus achieving high-precision autonomous positioning.
Without the need for pre-planned paths, the efficiency and accuracy of unmanned forklifts in confined spaces are improved, enabling vehicles to achieve high-precision autonomous positioning over short distances.
Smart Images
Figure CN116767275B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of autonomous driving technology, specifically to vehicle control methods, devices, computer equipment, and storage media. Background Technology
[0002] With the development of automation and intelligence, unmanned transport vehicles have been widely used in park logistics transportation. Unmanned forklifts, with their high efficiency, independence, and safety, have begun to gradually replace manual labor in tasks such as handling, loading, and unloading. Among them, unmanned forklifts, as the most popular unmanned transport vehicles in parks, have already played an important role in industries such as industrial manufacturing, logistics, and warehousing. However, in actual operation, a major challenge remains—the "last mile" for unmanned forklifts. This means that pallets must be placed in the set position and angle for successful pickup. When there is a significant deviation between the pallet's placement and the set position, the forklift needs to quickly adjust its position and posture within a short distance to meet the pickup requirements.
[0003] Current vehicle control methods are mostly applied to path tracking scenarios for unmanned vehicles, focusing more on the smoothness and stability of tracking. However, forklift operation scenarios often involve limited space, require rapid adjustments, and do not need to consider comfort. In addition, the goods may not be placed upright, making it difficult for the unmanned forklift to accurately align with the pallet after moving to the goods' location, thus affecting work efficiency. Summary of the Invention
[0004] In view of this, the present invention provides a vehicle control method, device, computer equipment and storage medium to solve the problem of low accuracy when unmanned forklifts pick up goods.
[0005] In a first aspect, the present invention provides a vehicle control method, the method comprising:
[0006] The pose of the target pallet is obtained to determine the target parking pose of the target vehicle;
[0007] A reference line is determined based on the pose of the target tray;
[0008] Angle parameters are determined based on the reference line and the preset angle reference line, and the distance parameter from the target vehicle to the reference line is determined based on the angle parameters and the current pose of the target vehicle.
[0009] The path points on the reference line are determined based on the distance parameters, angle parameters, and target docking pose.
[0010] Control the target vehicle to move to the path point until the target vehicle reaches the target parking position.
[0011] The vehicle method provided in this embodiment acquires the pose of the target pallet to determine the target parking pose and reference line of the target vehicle; determines angle parameters based on the reference line and a preset angle reference line, and determines the distance parameters from the target vehicle to the reference line based on the angle parameters and the current pose of the target vehicle; determines path points on the reference line based on the distance parameters, angle parameters, and target parking pose; and controls the target vehicle to move to the path points until the target vehicle reaches the target parking pose. This method eliminates the need for pre-planning, reduces the planning time based on the target parking pose, improves overall efficiency, and controls the vehicle based on the target parking pose to achieve high-precision autonomous positioning for short-distance travel.
[0012] In some optional implementations, obtaining the pose of the target pallet to determine the target parking pose of the target vehicle includes:
[0013] Obtain the pose of the target tray;
[0014] Based on the pose of the target pallet and the structural parameters of the target vehicle, the forking distance between the target vehicle and the target pallet is determined when the target vehicle forks the target pallet.
[0015] Based on the forklift distance and the pose of the target pallet, the target parking pose when the target vehicle forks the target pallet is determined.
[0016] In some optional implementations, determining the reference line based on the pose of the target tray includes:
[0017] Based on the target docking pose, determine the first projection point of the target docking pose on the target tray;
[0018] The extension of the line connecting the projection point and the target docking pose is defined as the reference line, which is perpendicular to the target tray.
[0019] In some optional implementations, the distance parameters include a first distance and a second distance, and determining the distance parameters from the target vehicle to the reference line based on the angle parameters and the current pose of the target vehicle includes:
[0020] The vertical distance from the target vehicle to the reference line is calculated based on the current pose of the target vehicle and the angle parameters to determine the first distance;
[0021] The second projection point of the target vehicle on the reference line is determined based on the current pose of the target vehicle;
[0022] The second distance between the second projection point and the target docking pose is calculated based on the angle parameters.
[0023] In some optional implementations, determining the path points on the reference line based on the distance parameters, angle parameters, and target docking pose includes:
[0024] The aiming distance is calculated based on the first distance, the second distance, and a preset coefficient;
[0025] The coordinates of the path point are calculated based on the difference between the second distance and the aiming distance, the angle parameter, and the target's docking pose, in order to determine the path point.
[0026] In some optional implementations, controlling the target vehicle to move to the waypoint until the target vehicle reaches the target parking position includes:
[0027] The steering angle control amount is calculated based on the preset included angle coefficient, the current driving speed of the target vehicle, the structural parameters of the target vehicle, and the deflection angle of the target vehicle to the path point.
[0028] Based on the angle control amount, the target vehicle is controlled to move to the path point until the target vehicle reaches the target parking position.
[0029] In some optional implementations, obtaining the pose of the target tray includes:
[0030] Receive the working instructions from the target vehicle, the working instructions including the position and orientation information of the loading point;
[0031] Based on the pose information of the loading point and the structural parameters of the target vehicle, the target vehicle is controlled to move to the target detection point;
[0032] When the target vehicle moves to the target detection point, the pose of the target tray is obtained.
[0033] In a second aspect, the present invention provides a vehicle control device, the device comprising:
[0034] The pose acquisition module is used to acquire the pose of the target pallet in order to determine the target parking pose of the target vehicle.
[0035] A reference line determination module is used to determine a reference line based on the pose of the target tray;
[0036] The parameter determination module is used to determine angle parameters based on the reference line and the preset angle reference line, and to determine the distance parameters from the target vehicle to the reference line based on the angle parameters and the current pose of the target vehicle.
[0037] The path point determination module is used to determine path points on the reference line based on the distance parameters, angle parameters, and target docking pose.
[0038] The vehicle control module is used to control the target vehicle to move to the waypoint until the target vehicle reaches the target parking position.
[0039] Thirdly, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the vehicle control method of the first aspect or any corresponding embodiment described above.
[0040] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform the vehicle control method of the first aspect or any corresponding embodiment thereof. Attached Figure Description
[0041] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0042] Figure 1 This is a schematic flowchart of a vehicle control method according to an embodiment of the present invention;
[0043] Figure 2 This is a schematic diagram of vehicle control according to an embodiment of the present invention;
[0044] Figure 3 This is a schematic diagram of a vehicle control method according to an embodiment of the present invention;
[0045] Figure 4 This is a structural block diagram of a vehicle control device according to an embodiment of the present invention;
[0046] Figure 5 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed Implementation
[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0048] Current vehicle control methods are mostly applied to path tracking scenarios for unmanned vehicles, focusing more on the smoothness and stability of tracking. However, forklift operation scenarios often involve limited space, require rapid adjustments, and do not need to consider comfort. In high-precision operation scenarios, forklift picking actions have high precision requirements for both lateral and heading errors. In actual operation scenarios, space is limited. Because the forklift needs to adjust the forks to be perfectly aligned with the pallet slots before entering the pallet, the presence of the forks further compresses the forklift's movement space. For the aforementioned scenarios with short travel distances, large initial errors, and high precision requirements, existing control methods are not well adapted. Therefore, this invention provides a vehicle control method.
[0049] According to an embodiment of the present invention, a vehicle control method embodiment is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.
[0050] This embodiment provides a vehicle control method that can be used in autonomous vehicles. Figure 1 This is a flowchart of a vehicle control method according to an embodiment of the present invention, such as... Figure 1 As shown, the process includes the following steps:
[0051] Step S11: Obtain the pose of the target pallet to determine the target parking pose of the target vehicle.
[0052] The target vehicle is an unmanned vehicle, which in this embodiment may specifically refer to an unmanned forklift. The target pallet is loaded with goods, and the position of the target pallet can be obtained by a detection device installed on the target vehicle. The detection device may refer to a sensor.
[0053] When the target vehicle is in the target parking position, its forks can precisely align with the target pallet and insert into the pallet's slots to pick up the pallet, thus loading the goods. In practical applications, the target vehicle can begin acquiring the target pallet's position after receiving a loading command, and determine the target parking position based on the forklift's parameters and the pallet's position. The target parking position is aligned with the pallet's orientation; the pallet can be considered a cube, with its front surface facing the forklift perpendicular to the vehicle's forks.
[0054] Step S12: Determine the reference line based on the pose of the target tray.
[0055] The reference line is a virtual line segment perpendicular to the front surface of the target pallet facing the target vehicle. It consists of countless discrete points, and the set of these points constitutes the characteristics of the reference line. Starting from the target's parking pose, several discrete points are obtained by interpolation with a fixed step size on the vertical virtual line segment. During the vehicle's movement, the coordinates, direction, velocity, and acceleration of these discrete points are assigned values.
[0056] Step S13: Determine the angle parameters based on the reference line and the preset angle reference line, and determine the distance parameters from the target vehicle to the reference line based on the angle parameters and the current pose of the target vehicle.
[0057] The angle parameters include the orientation of the target pallet, with the angle between the preset angle reference line and the reference line set as the orientation of the target pallet. The distance parameters include the lateral and longitudinal distances of the target vehicle relative to the target parking pose, i.e., the distance from the target vehicle's current pose to the reference line.
[0058] Step S14: Determine the path points on the reference line based on the distance parameters, angle parameters, and target docking pose.
[0059] The path points are the points on the reference line that the target vehicle passes through during its movement to the target parking position. The nearest path point on the reference line is found based on the target vehicle's current position, and the vehicle then starts its journey from that path point.
[0060] The specific calculation method is described below.
[0061] Step S15: Control the target vehicle to move to the waypoint until the target vehicle reaches the target parking position.
[0062] The target vehicle adjusts its driving direction and driving distance according to the steering angle control amount. After reaching the waypoint, it determines whether it has reached the target parking position. If it has not reached the target parking position, the process of steps S11 to S15 is repeated until the target parking position is reached.
[0063] The vector pointing from the target vehicle to the target parking position is projected onto the direction of the target parking position. This value has a positive or negative sign. When this value is less than the preset arrival threshold, it can be determined that the target vehicle has reached the target parking position.
[0064] The specific methods are described below.
[0065] The vehicle method provided in this embodiment acquires the pose of the target pallet to determine the target parking pose and reference line of the target vehicle; determines angle parameters based on the reference line and a preset angle reference line, and determines the distance parameters from the target vehicle to the reference line based on the angle parameters and the current pose of the target vehicle; determines path points on the reference line based on the distance parameters, angle parameters, and target parking pose; and controls the target vehicle to move to the path points until the target vehicle reaches the target parking pose. This method eliminates the need for pre-planning, reduces the planning time based on the target parking pose, improves overall efficiency, and controls the vehicle based on the target parking pose to achieve high-precision autonomous positioning for short-distance travel.
[0066] This embodiment provides a vehicle control method that can be used for autonomous vehicles. The method includes the following steps:
[0067] Step S21: Obtain the pose of the target pallet to determine the target parking pose of the target vehicle.
[0068] Specifically, step S21 above includes the following steps:
[0069] Step S211: Obtain the pose of the target tray.
[0070] The position and orientation of the target pallet can be obtained through detection equipment.
[0071] Step S212: Based on the pose of the target pallet and the structural parameters of the target vehicle, determine the forking distance between the target vehicle and the target pallet when the target vehicle forks the target pallet.
[0072] The structural parameters of the target vehicle may include the vehicle's dimensions. Specifically, taking a forklift as an example, the fork take-up distance is the distance from the positioning point to the top of the forks. If the positioning point is the center of the rear axle, the fork take-up distance is the length of the forks.
[0073] Step S213: Based on the forklift distance and the pose of the target pallet, determine the target parking pose when the target vehicle picks up the target pallet.
[0074] The target parking position includes the parking direction and location of the target vehicle. To ensure that the target pallet has been picked up by the forks when the target vehicle is in the target parking position, and that the target pallet and goods are on the forks, the parking position of the target vehicle can be determined based on the picking distance. To ensure that the forks can accurately insert into the holes of the target pallet, the forks should be perpendicular to the plane of the target pallet's holes, thus determining the direction of the target vehicle when parking.
[0075] Step S22: Determine the reference line based on the pose of the target pallet.
[0076] Please see details Figure 1 Step S12 of the illustrated embodiment will not be described again here.
[0077] Step S23: Determine the angle parameters based on the reference line and the preset angle reference line, and determine the distance parameters from the target vehicle to the reference line based on the angle parameters and the current pose of the target vehicle.
[0078] Please see details Figure 1 Step S13 of the illustrated embodiment will not be described again here.
[0079] Step S24: Determine the path points on the reference line based on the distance parameters, angle parameters, and target docking pose.
[0080] Please see details Figure 1 Step S14 of the illustrated embodiment will not be described again here.
[0081] Step S25: Control the target vehicle to move to the waypoint until the target vehicle reaches the target parking position.
[0082] Please see details Figure 1 Step S15 of the illustrated embodiment will not be described again here.
[0083] In some optional implementations, step S211 above includes:
[0084] Step a1: Receive the working instructions from the target vehicle, the working instructions including the position and orientation information of the loading point.
[0085] In actual production scenarios, when loading and transporting goods is required, manual operation of relevant equipment can be used to issue work instructions, directing the target vehicle to perform the goods picking task. The pose information of the loading point refers to the pose of the frame drawn on the ground in the factory environment for placing goods. This information can be collected manually in advance and stored in a database, and then directly retrieved and issued when instructions are given.
[0086] Step a2: Based on the pose information of the loading point and the structural parameters of the target vehicle, control the target vehicle to move to the target detection point.
[0087] The actual position of the pallet may deviate from the position of the loading point. In order to obtain the actual position of the target pallet, the target detection point is generally determined according to the length of the vehicle body and the size of the surrounding space. Usually, the target detection point is about 2.5 meters to 3 meters away from the target pallet, and there is no specific limit.
[0088] Step a3: When the target vehicle moves to the target detection point, obtain the pose of the target pallet.
[0089] After the target detection point is determined, the target vehicle moves to the target detection point, and the position and orientation of the target pallet are obtained through the detection equipment. For example... Figure 2 As shown, point B is the target detection point, and point A is the target's docking pose.
[0090] The vehicle control method provided in this embodiment determines the target detection point by combining the structural parameters of the target vehicle, and then obtains the pose of the target pallet. This is used to avoid the situation where the pose of the target pallet is inconsistent with the pose of the loading point, thereby improving the accuracy of subsequent target vehicle control.
[0091] This embodiment provides a vehicle control method that can be used for autonomous vehicles. The method includes the following steps:
[0092] Step S31: Obtain the pose of the target pallet to determine the target parking pose of the target vehicle.
[0093] Please see details Figure 1 Step S11 of the illustrated embodiment will not be described again here.
[0094] Step S32: Determine the reference line based on the pose of the target tray.
[0095] Specifically, step S32 above includes the following steps:
[0096] Step S321: Determine the first projection point of the target docking pose on the target tray based on the target docking pose.
[0097] Step S322: Determine the extension line of the line connecting the projection point and the target docking pose as the reference line.
[0098] like Figure 2 As shown, the target's docking pose is point A, and the first projection point of the target's docking pose onto the target pallet is point C. The reference line is perpendicular to the target pallet.
[0099] Step S33: Determine the angle parameters based on the reference line and the preset angle reference line, and determine the distance parameters from the target vehicle to the reference line based on the angle parameters and the current pose of the target vehicle.
[0100] Please see details Figure 1 Step S13 of the illustrated embodiment will not be described again here.
[0101] Step S34: Determine the path points on the reference line based on the distance parameters, angle parameters, and target docking pose.
[0102] Please see details Figure 1 Step S14 of the illustrated embodiment will not be described again here.
[0103] Step S35: Control the target vehicle to move to the waypoint until the target vehicle reaches the target parking position.
[0104] Please see details Figure 1 Step S15 of the illustrated embodiment will not be described again here.
[0105] The vehicle control method provided in this embodiment generates a reference line based on the target parking pose, which does not require the participation of a planning module and is completed only by the control module in the vehicle, thereby improving the overall operating efficiency.
[0106] This embodiment provides a vehicle control method that can be used for autonomous vehicles. The method includes the following steps:
[0107] Step S41: Obtain the pose of the target pallet to determine the target parking pose of the target vehicle.
[0108] Please see details Figure 1 Step S11 of the illustrated embodiment will not be described again here.
[0109] Step S42: Determine the reference line based on the pose of the target tray.
[0110] Please see details Figure 1 Step S12 of the illustrated embodiment will not be described again here.
[0111] Step S43: Determine the angle parameters based on the reference line and the preset angle reference line, and determine the distance parameters from the target vehicle to the reference line based on the angle parameters and the current pose of the target vehicle.
[0112] Specifically, the distance parameters include a first distance and a second distance, and step S43 above includes the following steps:
[0113] Step S431: Calculate the vertical distance from the target vehicle to the reference line based on the current pose of the target vehicle to determine the first distance;
[0114] Step S432: Determine the second projection point of the target vehicle on the reference line based on the current pose of the target vehicle;
[0115] Step S433: Calculate the second distance between the second projection point and the target docking pose.
[0116] The target vehicle's current pose includes its current position and attitude information in the global coordinate system, which can reflect the errors between the vehicle and the reference line, including lateral error, heading error, and longitudinal distance.
[0117] The first distance, lateral error, is a fundamental quantity in autonomous driving control technology. It is a variable representing the lateral deviation between the vehicle and the path. It is calculated by projecting the vector pointing from the vehicle to the target point onto the path direction, that is, multiplying the vector by the path normal vector.
[0118] like Figure 2 As shown, the first distance e lat The calculation method is as follows:
[0119] e lat= dycosθ - dxsinθ
[0120] The second projection point is point E, and the second distance is d. target The calculation method is as follows:
[0121] d target = dxcosθ + dysinθ
[0122] Where θ represents the angle parameter.
[0123] Step S44: Determine the path points on the reference line based on the distance parameters, angle parameters, and target docking pose.
[0124] Specifically, step S44 above includes the following steps:
[0125] Step S441: Calculate the aiming distance based on the first distance, the second distance, and the preset coefficient.
[0126] like Figure 2 As shown, the aiming distance L pre The calculation method is as follows:
[0127]
[0128] Where, k l k represents the first distance coefficient. v L represents the second distance coefficient. o Indicates the preset aiming distance, e lat Let d represent the first distance. target Indicates the second distance.
[0129] The preset coefficients include the first distance coefficient and the second distance coefficient, the aiming distance and the lateral error term e. lat Negative correlation; the first distance coefficient is used to adjust the pre-aiming distance under different lateral errors; the pre-aiming distance is related to the longitudinal distance d. target Positive correlation; the second distance coefficient is used to adjust the pre-aiming distance at different longitudinal distances. The preset pre-aiming distance is used to avoid the pre-aiming distance L obtained by the formula calculation. pre Too small.
[0130] Step S442: Calculate the coordinates of the path point based on the difference between the second distance and the aiming distance, the angle parameter, and the target docking pose, in order to determine the path point.
[0131] like Figure 2 As shown, the coordinates of path point D are calculated as follows:
[0132] x pre =x target +(d target -L pre cosθ
[0133] y pre =y target +(d target -L pre sinθ
[0134] Where, x target The x-coordinate of the target's docking pose, y target The vertical coordinate d represents the target's docking pose. target L represents the second distance. pre Indicates the aiming distance.
[0135] Step S45: Control the target vehicle to move to the waypoint until the target vehicle reaches the target parking position.
[0136] Please see details Figure 1 Step S15 of the illustrated embodiment will not be described again here.
[0137] The vehicle control method provided in this embodiment calculates the pre-aiming distance in the form of a factorial of the lateral error based on real-time vehicle status information, and adaptively and dynamically selects path points, enabling the vehicle to quickly adjust its posture within a short distance and maintain high-precision driving after reaching the working conditions, thereby achieving stable pallet picking operations.
[0138] In some alternative implementations, the above Figure 1 Step S15 includes the following steps:
[0139] Step S51: Calculate the steering angle control amount based on the preset included angle coefficient, the current driving speed of the target vehicle, the structural parameters of the target vehicle, and the deflection angle of the target vehicle to the path point.
[0140] The calculation method for the steering angle control variable δ is as follows:
[0141]
[0142]
[0143] Where ω represents the yaw rate of the target vehicle, and k α This represents the preset angle coefficient, α represents the deflection angle, and v represents the target vehicle's speed. f L represents wheel speed, L represents wheel wheelbase, L represents radius of rotation, δ lat The compensation control term for the first distance, δ heading This refers to the compensation control item for heading error.
[0144] The compensation control terms for the first distance and the compensation control terms for the heading error can be set according to the actual first distance and heading error, respectively. The steering angle control amount can be the steering angle control amount of the vehicle's front wheels.
[0145] The yaw angle is the offset angle between the vehicle's current heading and its path point. Please refer to [reference needed]. Figure 2 .
[0146] Step S52: Based on the angle control quantity, control the target vehicle to move to the path point until the target vehicle reaches the target parking position.
[0147] The target vehicle adjusts its driving direction and distance according to the steering angle control. After reaching the waypoint, it determines whether it has reached the target parking position. If it has not reached it, the process from steps S11 to S15 is repeated until the target parking position is reached. The vector pointing from the target vehicle to the target parking position is projected onto the direction of the target parking position. This value has a positive or negative sign. When this value is less than a preset arrival threshold, it can be determined that the target vehicle has reached the target parking position.
[0148] The following is a specific embodiment to illustrate how the vehicle control method is implemented.
[0149] Taking an unmanned forklift as an example, the forklift performs cargo handling operations within the park, moving goods from point x to point y within the park. The operator sends work instructions, including the pose information of the loading point, to the forklift's computing platform via the work instruction platform. Upon receiving the work instructions, the forklift performs pallet pose detection and outputs the results to the control module. Based on the detection results, the control module generates a virtual reference line and calculates the current error state, i.e., the distance parameter. Based on the distance parameter, it determines a path point and moves to that point. As the initial distance changes, the pre-aiming distance also dynamically adjusts adaptively. A larger initial distance results in a smaller pre-aiming distance, and the pre-aiming direction points closer to the virtual reference line. Conversely, a smaller initial distance results in a larger pre-aiming distance, and the vehicle's pre-aiming direction tends towards the target direction. As the vehicle travels, the initial distance approaches zero, thus the pre-aiming distance also increases, and the vehicle's travel direction tends towards the target direction. During this process, with the adaptive adjustment of the pre-aiming distance, the vehicle's lateral and heading errors converge, ultimately enabling the vehicle to complete the pallet picking operation with high precision.
[0150] like Figure 3 As shown, the vehicle moves from its initial position to the loading line, adjusts its course after determining the path points, and continuously confirms and calculates the accuracy of each path point during the journey until successful pallet loading. Different vehicle control effects are achieved by adjusting the pre-aiming distance, enabling a series of actions such as rapid loading, alignment, and pallet loading, thus completing a high-precision pallet loading and unloading operation.
[0151] This embodiment also provides a vehicle control device for implementing the above embodiments and implementation methods; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.
[0152] This embodiment provides a vehicle control device, such as... Figure 4 As shown, it includes:
[0153] The pose acquisition module 61 is used to acquire the pose of the target pallet in order to determine the target parking pose of the target vehicle.
[0154] Reference line determination module 62 is used to determine a reference line based on the pose of the target tray;
[0155] The parameter determination module 63 is used to determine angle parameters based on the reference line and the preset angle reference line, and to determine the distance parameters from the target vehicle to the reference line based on the angle parameters and the current pose of the target vehicle.
[0156] The path point determination module 64 is used to determine path points on the reference line based on the distance parameters, angle parameters, and target docking pose.
[0157] The vehicle control module 65 is used to control the target vehicle to move to the waypoint until the target vehicle reaches the target parking position.
[0158] In some alternative implementations, the pose acquisition module 61 includes:
[0159] The pose acquisition unit is used to acquire the pose of the target tray;
[0160] The distance determination unit is used to determine the forking distance between the target vehicle and the target pallet when the target vehicle forks the target pallet, based on the pose of the target pallet and the structural parameters of the target vehicle;
[0161] The pose determination unit is used to determine the target parking pose of the target vehicle when it picks up the target pallet based on the forklift distance and the pose of the target pallet.
[0162] In some alternative implementations, the reference line determination module 62 includes:
[0163] The first projection point determination unit is used to determine the first projection point of the target parking pose on the target tray based on the target parking pose.
[0164] A reference line determination unit is used to determine the extension line of the line connecting the projection point and the target docking posture as the reference line, wherein the reference line is perpendicular to the target tray.
[0165] In some optional implementations, the distance parameters include a first distance and a second distance, and the parameter determination module 63 includes:
[0166] The first distance calculation unit is used to calculate the vertical distance from the target vehicle to the reference line based on the current pose of the target vehicle and the angle parameters, so as to determine the first distance;
[0167] The second projection point determination unit is used to determine the second projection point of the target vehicle on the reference line based on the current pose of the target vehicle.
[0168] The second distance determination unit is used to calculate the second distance between the second projection point and the target docking pose based on the angle parameters.
[0169] In some alternative implementations, the waypoint determination module 64 includes:
[0170] A targeting distance determination unit is used to calculate the targeting distance based on the first distance, the second distance, and a preset coefficient.
[0171] The path point determination unit is used to calculate the coordinates of the path point based on the difference between the second distance and the aiming distance, the angle parameter, and the target docking pose, so as to determine the path point.
[0172] In some alternative implementations, the vehicle control module 65 includes:
[0173] The control quantity calculation unit is used to calculate the steering angle control quantity based on the preset included angle coefficient, the current driving speed of the target vehicle, the structural parameters of the target vehicle, and the deflection angle of the target vehicle to the path point;
[0174] The pose determination unit is used to control the target vehicle to move to the path point based on the angle control amount until the target vehicle reaches the target parking pose.
[0175] In some optional implementations, the pose acquisition unit includes:
[0176] The instruction receiving subunit is used to receive the working instructions of the target vehicle, the working instructions including the pose information of the loading point;
[0177] The vehicle movement subunit is used to control the target vehicle to move to the target detection point based on the pose information of the loading point and the structural parameters of the target vehicle.
[0178] The pose acquisition subunit is used to acquire the pose of the target tray when the target vehicle moves to the target detection point.
[0179] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.
[0180] In this embodiment, the vehicle control device is presented in the form of a functional unit. Here, a unit refers to a general-purpose circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above-mentioned functions.
[0181] This invention also provides a computer device having the above-described features. Figure 4 The vehicle control device shown.
[0182] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 5 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 5 Take a processor 10 as an example.
[0183] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GPA), or any combination thereof.
[0184] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.
[0185] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
[0186] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.
[0187] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.
[0188] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.
[0189] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.
Claims
1. A vehicle control method, characterized in that, The method includes: Obtain the pose of the target pallet to determine the target parking pose of the target vehicle; Determining a reference line based on the pose of the target pallet includes: determining a first projection point of the target parking pose on the target pallet based on the target parking pose; and determining the extension line of the line connecting the first projection point and the target parking pose as the reference line, wherein the reference line is perpendicular to the target pallet. Angle parameters are determined based on the reference line and the preset angle reference line, and the distance parameter from the target vehicle to the reference line is determined based on the angle parameters and the current pose of the target vehicle. The path points on the reference line are determined based on the distance parameters, angle parameters, and target docking pose. Control the target vehicle to move to the waypoint until the target vehicle reaches the target parking position; The distance parameters include a first distance and a second distance. Determining the distance parameters from the target vehicle to the reference line based on the angle parameters and the current pose of the target vehicle includes: The vertical distance from the target vehicle to the reference line is calculated based on the current pose of the target vehicle and the angle parameters to determine the first distance; The second projection point of the target vehicle on the reference line is determined based on the current pose of the target vehicle; The second distance between the second projection point and the target docking pose is calculated based on the angle parameters.
2. The method according to claim 1, characterized in that, The step of obtaining the pose of the target pallet to determine the target parking pose of the target vehicle includes: Obtain the pose of the target tray; Based on the pose of the target pallet and the structural parameters of the target vehicle, the forking distance between the target vehicle and the target pallet is determined when the target vehicle forks the target pallet. Based on the forklift distance and the pose of the target pallet, the target parking pose when the target vehicle forks the target pallet is determined.
3. The method according to claim 1, characterized in that, Determining the path points on the reference line based on the distance parameters, angle parameters, and target docking pose includes: The aiming distance is calculated based on the first distance, the second distance, and a preset coefficient; The coordinates of the path point are calculated based on the difference between the second distance and the aiming distance, the angle parameter, and the target's docking pose, in order to determine the path point.
4. The method according to claim 1, characterized in that, The control of the target vehicle to move to the waypoint until the target vehicle reaches the target parking position includes: The steering angle control amount is calculated based on the preset included angle coefficient, the current driving speed of the target vehicle, the structural parameters of the target vehicle, and the deflection angle of the target vehicle to the path point. Based on the angle control amount, the target vehicle is controlled to move to the path point until the target vehicle reaches the target parking position.
5. The method according to claim 2, characterized in that, The process of obtaining the pose of the target tray includes: Receive the working instructions from the target vehicle, the working instructions including the position and orientation information of the loading point; Based on the pose information of the loading point and the structural parameters of the target vehicle, the target vehicle is controlled to move to the target detection point; When the target vehicle moves to the target detection point, the pose of the target tray is obtained.
6. A vehicle control device, characterized in that, The device includes: The pose acquisition module is used to acquire the pose of the target pallet in order to determine the target parking pose of the target vehicle. A reference line determination module is used to determine a reference line based on the pose of the target pallet; the determination of the reference line based on the pose of the target pallet includes: determining a first projection point of the target parking pose on the target pallet based on the target parking pose; determining the extension line of the line connecting the first projection point and the target parking pose as the reference line, the reference line being perpendicular to the target pallet; A parameter determination module is used to determine angle parameters based on the reference line and a preset angle reference line, and to determine distance parameters from the target vehicle to the reference line based on the angle parameters and the current pose of the target vehicle. The distance parameters include a first distance and a second distance. Determining the distance parameters from the target vehicle to the reference line based on the angle parameters and the current pose of the target vehicle includes: calculating the vertical distance from the target vehicle to the reference line based on the current pose of the target vehicle and the angle parameters to determine the first distance; determining a second projection point of the target vehicle on the reference line based on the current pose of the target vehicle; and calculating the second distance between the second projection point and the target vehicle's parking pose based on the angle parameters. The path point determination module is used to determine path points on the reference line based on the distance parameters, angle parameters, and target docking pose. The vehicle control module is used to control the target vehicle to move to the waypoint until the target vehicle reaches the target parking position.
7. A computer device, characterized in that, include: A memory and a processor are communicatively connected, the memory stores computer instructions, and the processor executes the vehicle control method of any one of claims 1 to 5 by executing the computer instructions.
8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the vehicle control method according to any one of claims 1 to 5.