Method for controlling movement of a transport device

Abstract

The application discloses a moving control method of a transportation device, comprising the following steps: acquiring global navigation information of a current scene and moving path information of a first transportation device during movement of the first transportation device; the moving path information comprises a traveled section and a preoccupied section; determining a conflict position at which the first transportation device collides with other transportation devices in the current scene according to the global navigation information; the conflict position is a position in the preoccupied section; and adjusting the preoccupied section of the first transportation device according to the global navigation information, so that the first transportation device and the other transportation devices do not meet at the conflict position. The application can effectively reduce path conflicts between different transportation devices by implementing the strategy of dynamically adjusting the preoccupied section during execution of the transportation device on the basis of mastering the global navigation information, thereby avoiding excessive manual intervention and improving overall traffic logistics efficiency.

Description

Technical Field

[0001] This application relates to the field of logistics technology, and in particular to a method for controlling the movement of a transportation device, a computer-readable storage medium, an electronic device, and a computer program product. Background Technology

[0002] In logistics scenarios, optimizing the navigation paths of transportation devices to minimize path interference and conflicts between different devices is an important means of improving logistics efficiency.

[0003] Currently, each transport device moves along its pre-established route. When two transport devices conflict because they pass through the same section of road in opposite directions at the same time, manual intervention can be used to resolve the conflict.

[0004] However, the current plan leads to frequent route conflicts, resulting in high manpower costs and reduced logistics efficiency. Summary of the Invention

[0005] This application provides a method for controlling the movement of a transportation device, a computer-readable storage medium, an electronic device, and a computer program product, in order to reduce the frequency of path conflicts, reduce human processing costs, and improve logistics efficiency.

[0006] According to a first aspect of this application, a method for controlling the movement of a transport device is disclosed, comprising:

[0007] During the movement of the first transport device, global navigation information of the current scene and movement path information of the first transport device are acquired; the global navigation information includes the current location information and movement path information of all transport devices in the current scene; the movement path information includes: the already traveled road segment and the pre-occupied road segment;

[0008] Based on the global navigation information, the conflict location where the first transportation device collides with other transportation devices in the current scene is determined; the conflict location is a position within the pre-occupied road segment.

[0009] Based on the global navigation information, the pre-occupied road segment of the first transportation device is adjusted so that the first transportation device and the other transportation devices do not meet at the conflict location.

[0010] According to a second aspect of this application, an electronic device is disclosed, comprising: a memory, a processor, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the steps of the movement control method for the transport device as described in the first aspect.

[0011] According to a third aspect of this application, a computer-readable storage medium is disclosed, on which a program is stored, which, when executed by the processor, implements the steps of the movement control method for the transport device as described in the first aspect.

[0012] According to a fourth aspect of this application, a computer program product is disclosed, the computer program product comprising a computer program that, when executed by a processor, implements the steps of the movement control method for a transport device as described in the first aspect.

[0013] In this embodiment, during the movement of the first transport device, conflict locations along its path can be determined based on global navigation information, which includes the positions and movement paths of all transport devices. Then, based on the global navigation information, the pre-occupied road segment of the first transport device is adjusted to prevent it from meeting other transport devices at conflict locations. This application, by dynamically adjusting the pre-occupied road segment during transport device execution based on global navigation information, effectively reduces path conflicts between different transport devices, avoids excessive manual intervention, and thus improves overall transportation and logistics efficiency. Attached Figure Description

[0014] Figure 1 This is a flowchart of a movement control method for a transportation device according to some embodiments of this application;

[0015] Figure 2 This is a schematic diagram illustrating one method for searching extended road segments according to some embodiments of this application;

[0016] Figure 3 This is a flowchart of another method for controlling the movement of a transportation device according to some embodiments of this application;

[0017] Figure 4 This is a schematic diagram of a pre-occupied road segment adjustment strategy according to some embodiments of this application;

[0018] Figure 5 This is a schematic diagram of another pre-occupied road segment adjustment strategy according to some embodiments of this application;

[0019] Figure 6 This is a schematic diagram illustrating the division of a transportation device according to some embodiments of this application;

[0020] Figure 7 This is a general logic diagram of a movement control method for a transportation device according to some embodiments of this application;

[0021] Figure 8 This is a logical schematic diagram of a branch process of a movement control method for a transportation device according to some embodiments of this application;

[0022] Figure 9 This is a logical schematic diagram of a branch process of a movement control method for a transportation device according to some embodiments of this application;

[0023] Figure 10 This is a logical schematic diagram of a branch process of a movement control method for a transportation device according to some embodiments of this application;

[0024] Figure 11 This is a logical schematic diagram of a branch process of a movement control method for a transportation device according to some embodiments of this application;

[0025] Figure 12 This is a schematic diagram of the structure of the movement control device of the transportation device according to some embodiments of this application;

[0026] Figure 13 This is a block diagram of an electronic device according to some embodiments of this application. Detailed Implementation

[0027] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of this application are not limited to the described order of actions, because according to the embodiments of this application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of this application.

[0029] With the development of intelligent technologies such as the Internet of Things (IoT), artificial intelligence (AI), and big data, the demand for transforming and upgrading the traditional logistics industry using these technologies is becoming increasingly strong, making intelligent logistics (Intelligent Logistics System) a research hotspot in the logistics field. Intelligent logistics utilizes AI, big data, and various IoT devices and technologies such as information sensors, RFID, and GPS to be widely applied to basic activities such as material transportation, warehousing, distribution, packaging, loading and unloading, and information services. This enables intelligent analysis and decision-making, automated operation, and high-efficiency optimization management of the material management process. IoT technologies include sensing devices, RFID, laser infrared scanning, and infrared sensing identification. The IoT effectively connects materials in logistics to the network, enabling real-time monitoring of materials and sensing environmental data such as humidity and temperature in warehouses to ensure proper storage conditions. Big data technology can sense and collect all data in logistics, upload it to the information platform's data layer, and perform filtering, mining, and analysis on the data. Ultimately, this provides precise data support for business processes (such as transportation, warehousing, storage, picking, packaging, sorting, outbound, inventory, and distribution). The application of artificial intelligence (AI) in logistics can be broadly categorized into two types: 1) AI-enabled intelligent equipment, such as unmanned trucks, Automated Guided Vehicles (AGVs), Autonomous Mobile Robots (AMRs), forklifts, shuttles, stacker cranes, unmanned delivery vehicles, drones, service robots, robotic arms, and smart terminals, replacing some manual labor; 2) Software systems driven by computer vision, machine learning, operations research, and other technologies or algorithms, such as transportation equipment management systems, warehouse management systems, equipment logistics systems, and order allocation systems, improving manual efficiency. With the research and advancement of smart logistics, this technology has been applied in numerous fields, including retail and e-commerce, electronics, tobacco, pharmaceuticals, industrial manufacturing, footwear and apparel, textiles, and food.

[0030] This application primarily focuses on the motion control of transportation devices in transportation and logistics scenarios. The goal of transportation and logistics is to provide movement path information for a large number of transportation devices, enabling each device to move according to its own path and minimizing conflicts between these paths, thereby improving traffic efficiency. The transportation devices can be any of the following: unmanned trucks, AGVs, AMRs, forklifts, shuttles, unmanned delivery vehicles, drones, and service robots.

[0031] Of course, the above are merely illustrative examples of possible scenarios for the methods provided in the embodiments of this application, and do not constitute a limitation on the embodiments of this application.

[0032] In the transportation and logistics scenarios of related technologies, the entire navigation process of transportation devices can be realized using the Plan-Execute-Resolve (PER) methodology: First, planning involves planning a feasible route from the starting point to the destination for all transportation devices to be transported; then, execution involves actually traveling along the planned path based on certain rules to achieve a collision-free trajectory; finally, resolution involves resolving conflicts by appropriately adjusting the travel trajectory or path planning of the transportation devices to ensure that all transportation devices successfully reach their destination.

[0033] However, in related technologies, the transportation and logistics system provides movement path information for each transportation device. This allows the transportation device to further reduce the probability of conflict with other transportation devices by adjusting the path when moving according to the movement path information. However, the transportation device only considers very local navigation information when moving according to the already traveled path, and pre-occupies the already traveled path information based on simple rules (such as pre-occupying according to the set maximum pre-occupy length or number of pre-occupied nodes). This can easily lead to spatiotemporal conflicts between the paths of different transportation devices (multiple transportation devices will pass through the same road segment at the same time, and the transportation devices will travel in opposite directions), resulting in low overall traffic efficiency.

[0034] This application provides a method for controlling the movement of a transportation device. During the movement of a first transportation device, based on global navigation information including the positions and movement paths of all transportation devices, conflict locations along the movement path of the first transportation device are determined. Then, based on the global navigation information, the pre-occupied road segment of the first transportation device is adjusted to prevent the first transportation device from meeting other transportation devices at conflict locations. This application, by dynamically adjusting the pre-occupied road segment during the operation of the transportation device based on global navigation information, effectively reduces path conflicts between different transportation devices, avoids excessive manual intervention, and thus improves overall transportation and logistics efficiency.

[0035] Please refer to Figure 1 The diagram illustrates a flowchart of a movement control method for a transportation device provided in an embodiment of this application. Figure 1 As shown, the movement control method for the transport device includes steps 101-103.

[0036] Step 101: During the movement of the first transport device, obtain the global navigation information of the current scene and the movement path information of the first transport device.

[0037] The global navigation information includes the current location information and movement path information of all transportation devices in the current scene; the movement path information includes: the traveled road segment and the reserved road segment.

[0038] In this embodiment of the application, the transportation and logistics scenario is based on the road network of the global map corresponding to the current scenario. The path planning is performed on each transportation device according to the task requirements, so that each transportation device moves along the planned path, and the paths of each transportation device are required to be as free as possible from mutual conflict.

[0039] Specifically, the movement path information of the transportation device can include traveled road segments and pre-occupied road segments. Traveled road segments refer to road segments that the transportation device has pre-occupied and completed the planned route. Pre-occupied road segments are small sections of road that the transportation device occupies in advance each time it travels from the starting point to the destination according to the planned route. After pre-occupation, the pre-occupied road segment can only be traveled by the current transportation device until it releases the pre-occupied road segment, at which point other transportation devices can pre-occupy it. Pre-occupied road segments can be searched in the road network of the global map. Multiple pre-occupied road segments obtained from multiple pre-occupations are sequentially stitched after the traveled road segments as road segments that the transportation device may refer to later. The embodiments of this application aim to adjust the strategy for generating pre-occupied road segments for transportation devices, thereby minimizing conflicts between different transportation devices later on.

[0040] It should be noted that the movement path information can be the final complete path of the transportation device. The movement path information as a whole can be composed of the original road segment and the extended segment. The original road segment is the original working path planned for the transportation device. The extended segment is specifically defined as: the necessary path that the transportation device must take when leaving the task endpoint of the original road segment. Specifically, it is assumed that the endpoint v of the transportation device reaching the already traveled road segment cannot be known in advance. destination The next destination location is unknown, but it is confirmed that the transport device will not be at the final destination. destinatio If the stay is long, then it can be determined based on the destination v of the transport device. destinatio Using the coordinates and road network information in the global map, calculate the distance from the endpoint v destination Does a unique path exist that must be traversed during the search to other points? If a unique path exists, define this unique path as the extension segment v of the transportation device. ext Calculate the extended segment v ext The method is as follows:

[0041] Reference Figure 2The diagram illustrates a search method for an extended segment, including three cases: (1), (2), and (3). In a directed road network, starting from a fixed point, a breadth-first search is performed on all paths. The conditions for stopping the search for each path are divided into three types: Condition 1 is that the road network is not connected; Condition 2 is that the road network is unusable (e.g., obstacles are set up, or transportation devices cannot pass); Condition 3 is that during the search for adjacent edges, a point has multiple unsearched edges (e.g., road intersections). For all the searched paths, only the paths that stop searching due to Condition 3 are retained. If only one path is found in the end, then that path segment is the unique path starting from that fixed point, which is the extended segment v. ext The extension segment can be spliced ​​after the original segment to form the movement path information.

[0042] Regarding situation (1), from destination A destination The search begins with two paths. The path to the left stops due to a fork in the road (condition 3), and the path to the right stops because the endpoint of the edge is not connected to other points (condition 1). Therefore, car A has an extended segment.

[0043] Regarding situation (2), from endpoint A destination The initial search revealed two paths. The search for the path to the left was halted due to a fork in the road (condition 3), while the search for the path to the right was halted due to an impassable point (condition 2). Therefore, car A has an extended section.

[0044] Regarding situation (3), from endpoint A destination The initial search revealed two paths, both of which stopped at a fork in the road (condition 3). The paths were not unique, therefore car A has no extension segment. Since no extension segment exists, v can be... ext Set to empty.

[0045] In this step, the implementation of the entire solution first requires obtaining the movement path information and global navigation information for the first transportation device. The global navigation information includes the current real-time location of each transportation device and the movement path information of each transportation device. Subsequently, this application embodiment will use the global navigation information to dynamically adjust the strategy for generating pre-occupied road segments for the transportation devices from a global perspective to avoid path conflicts. The first transportation device can be any transportation device in the current scene. The introduction of global navigation information in this application embodiment can enrich the reference information of the pre-occupied road segment generation strategy of the transportation devices, so that the pre-occupied road segment generation strategy of each transportation device will take into account the situation of other transportation devices in the scene, thereby effectively reducing the probability of path conflicts and improving the efficiency of transportation and logistics.

[0046] Step 102: Based on the global navigation information, determine the conflict location where the first transportation device conflicts with other transportation devices in the current scene; the conflict location is the location in the pre-occupied road segment.

[0047] In the embodiments of this application, due to the limited size of the scene, different transportation devices will inevitably have path conflicts with each other during actual operation (such as spatiotemporal conflicts, which refer to multiple transportation devices passing through the same road segment at the same time period, and the transportation devices traveling in opposite directions). Path conflicts cause transportation devices to be unable to complete the task on time due to congestion, and in severe cases, they may even cause transportation devices to be unable to get out of trouble, resulting in task failure.

[0048] In practical applications, the transport device moves along the already traveled route. Simultaneously, the transportation and logistics system continues to search for new pre-occupied route segments (also known as path pre-occupation) based on the global map's road network, starting from the end of the already traveled route. This continuously increases the length of the transport device's movement path information until the transport device reaches the task point. The searched pre-occupied route segments are paths predicted based on the current environmental conditions. Since the transport device has not yet entered a pre-occupied route segment, this embodiment can determine whether there are conflicting locations on overlapping road segments based on the real-time location and movement path information of each transport device in the global navigation information. If conflicting locations exist, these transport devices will experience path conflicts on the overlapping road segments, leading to reduced traffic efficiency.

[0049] After determining the conflict locations along the movement path of the first transport device, the probability of path conflicts can be reduced by adjusting the pre-occupied road segment search strategy of the first transport device.

[0050] Step 103: Based on the global navigation information, adjust the pre-occupied road segment of the first transportation device so that the first transportation device and the other transportation devices do not meet at the conflict location.

[0051] In this embodiment of the application, after determining the conflict locations along the movement path of the first transport device, the pre-occupied road segment of the first transport device can be adjusted so that the first transport device and other transport devices do not meet at the conflict locations.

[0052] Specifically, there are several ways to adjust the pre-occupied section of the first transport device, such as: 1. Adjusting the pre-occupied section of the first transport device so that its endpoint is before the conflict location. This allows the first transport device to wait until it reaches the position before the conflict location, following the pre-occupied section. After other transport devices have passed the conflict location, the pre-occupied section of the first transport device is then controlled to continue pre-occupying the conflict location and subsequent positions, allowing the first transport device to pass the conflict location and continue moving. 2. Adjusting the pre-occupied section of the first transport device so that the adjusted pre-occupied section bypasses the conflict location, thereby avoiding path conflicts.

[0053] This application provides a method for controlling the movement of a transportation device. During the movement of a first transportation device, based on global navigation information including the positions and movement paths of all transportation devices, conflict locations along the movement path of the first transportation device are determined. Then, based on the global navigation information, the pre-occupied road segment of the first transportation device is adjusted to prevent the first transportation device from meeting other transportation devices at conflict locations. This application, by dynamically adjusting the pre-occupied road segment during the operation of the transportation device based on global navigation information, effectively reduces path conflicts between different transportation devices, avoids excessive manual intervention, and thus improves overall transportation and logistics efficiency.

[0054] This application provides another method for controlling the movement of a transportation device. (Refer to...) Figure 3 The method for controlling the movement of the transport device includes steps 201-209.

[0055] Step 201: During the movement of the first transport device, obtain the global navigation information of the current scene and the movement path information of the first transport device.

[0056] The global navigation information includes the current location information and movement path information of all transportation devices in the current scene; the movement path information includes: the traveled road segment and the reserved road segment.

[0057] For details, please refer to step 101 above; it will not be repeated here.

[0058] Step 202: Based on the global navigation information, determine the overlapping sections between the movement path information of the first transportation device and the movement path information of other transportation devices.

[0059] In this embodiment, the overlapping road segment is the segment where the first transport device and other transport devices are most likely to have path conflicts, especially when the movement direction of the first transport device is opposite to that of the other transport devices in the overlapping road segment. Congestion is easily caused by path conflicts between the first transport device and the other transport devices. Of course, congestion can also occur when the movement direction of the first transport device is the same as that of the other transport devices in the overlapping road segment.

[0060] Specifically, define V extPath This provides the movement path information for the transportation device, and then, based on the movement path information V of the transportation device... extPathCalculate the overlapping sections between transport devices (including same-direction overlapping sections and opposite-direction overlapping sections, where opposite-direction overlapping sections refer to overlapping sections where the movement direction of the first transport device is opposite to that of other transport devices, and same-direction overlapping sections refer to overlapping sections where the movement direction of the first transport device is the same as that of other transport devices).

[0061] The strategy for determining overlapping road segments includes: assuming there is a first transport device a and other transport devices b in a set of vehicles V, a path This represents the movement path information of the first transport device a, b path This represents the movement path information of other transport device b, a path’ The reverse path representing the movement path information of the first transport device a, b path’ If the reverse path represents the movement path information of other transport device b, then the overlapping road segment O in the same direction between the first transport device a and other transport devices b is determined. a,b Overlapping road segment O' a,b hour:

[0062] 1. For any o∈O a,b and satisfy And for any o1∈O a,b / o, then

[0063] 2. For any o'∈O' a,b and satisfy And for any o1'∈O' a,b / o', then

[0064] Step 203: Take the first endpoint of the overlapping road segment as the conflict location. The first endpoint is the endpoint closest to the first transport device.

[0065] In this embodiment of the application, after determining the overlapping road segments between the movement path information of the first transportation device and the movement path information of other transportation devices, the corresponding conflict positions can be specifically determined from the overlapping road segments according to the pre-occupied road segment adjustment strategy to be executed by the first transportation device.

[0066] Specifically, in one implementation of this application, when the first transport device needs to avoid other transport devices, the overlapping road segment relative to the starting point of the first transport device (e.g., in terms of the first transport device's direction of movement, if the overlapping road segment is a→b, then a is the starting point of the overlapping road segment relative to the first transport device) can be set as a conflict area. Then, when adjusting the pre-occupied road segment of the first transport device, one approach is to set the end point of the pre-occupied road segment to a position point before the conflict location. This allows the first transport device to wait when it reaches the position before the conflict location, until other transport devices have exited the overlapping road segment, before entering the overlapping road segment along the conflict location to move, reducing the probability of path conflicts between the first transport device and other transport devices. Alternatively, the first transport device can also use a position point before the conflict location as its starting point to plan an off-road path that bypasses the conflict location and the overlapping road segment, and use this off-road path as a new pre-occupied road segment. This avoidance method also reduces the probability of path conflicts between the first transport device and other transport devices.

[0067] Step 204: Based on the global navigation information, adjust the pre-occupied road segment of the first transportation device so that the first transportation device and the other transportation devices do not meet at the conflict location.

[0068] For details, please refer to step 103 above; it will not be repeated here.

[0069] Optionally, step 204 may specifically include:

[0070] Sub-step 2041: Based on the global navigation information, determine the first relative positional relationship of the first transportation device relative to the overlapping road segment, and determine the second relative positional relationship of the other transportation devices relative to the overlapping road segment.

[0071] In this embodiment of the application, since the global navigation information records the global map of the current scene, the current real-time position of each transportation device, and the movement path information of each transportation device, this embodiment of the application can use the global navigation information to determine the relative orientation relationship between the first transportation device and other transportation devices, and based on the relative orientation relationship, dynamically adjust the strategy of generating pre-occupied road segments for the transportation devices from a global perspective to avoid path conflicts.

[0072] Specifically, determining the relative positional relationship between the first transport device and other transport devices can include: the first relative positional relationship between the first transport device and the overlapping road segment, and the second relative positional relationship between the other transport devices and the overlapping road segment. That is, the relative positional relationship between the first transport device and other transport devices and the overlapping road segment is a prerequisite for determining the conflict location and adjusting the pre-occupancy route strategy.

[0073] Sub-step 2042: If the second relative position relationship indicates that the other transport device has not yet entered or left the overlapping road segment, and the first relative position relationship indicates that the first transport device has not yet entered the overlapping road segment, then the end point of the pre-occupied road segment of the first transport device is set as the target position before the conflict position; the target position is in the movement path information of the first transport device.

[0074] In this embodiment, sub-step 2042 represents a branch of the target dependency decision-making process for the transportation device. The target dependency problem refers to the situation where, after a transportation device reaches its target destination, its own actions or unloading of goods will affect other transportation devices passing through that destination, preventing them from following the originally planned route. When the first transportation device has the following relationships with other transportation devices, the first transportation device needs to search for pre-occupied road segments based on the target dependency decision-making principle: 1. The first transportation device and other transportation devices have the same destination, the first transportation device stays at the destination for a long time, and other transportation devices cannot reach the point occupied by other transportation devices; 2. The destination of the first transportation device is on the path of other transportation devices (not the destination), the first transportation device stays at the destination for a long time, and other transportation devices cannot pass through the point occupied by other transportation devices, or the first transportation device unloads goods at the destination and occupies the road, the first transportation device leaves the destination, and other transportation devices are carrying goods and cannot pass through points with goods while carrying goods.

[0075] Therefore, the decision principle of target-dependent decision-making is as follows: when the first transport device and other transport devices have the above-mentioned target-dependent relationship, the first transport device cannot enter the overlapping section when pre-occupying the overlapping section. The first transport device must wait for other transport devices to enter the same-direction overlapping section or exit the opposite-direction overlapping section before it can pre-occupy the overlapping section.

[0076] Specifically, given the aforementioned target dependency relationship between the first transport device and other transport devices, the pre-occupied road segment determination strategy of the first transport device can be adjusted based on the positional relationship between the first transport device and other transport devices relative to the overlapping road segment. Sub-step 2042 embodies one branch, namely, determining that if other transport devices have not yet entered or left the overlapping road segment, and the first transport device has not yet entered the overlapping road segment, then the endpoint of the pre-occupied road segment of the first transport device is set to the target position before the conflict position. This can effectively reduce the probability of path conflicts between the first transport device and other transport devices in the overlapping road segment.

[0077] Sub-step 2043: If the first relative positional relationship indicates that the other transport device has not yet entered or left the overlapping road segment, and the first relative positional relationship indicates that the first transport device has already entered the overlapping road segment, then adjust the path direction of the pre-occupied road segment of the first transport device so that the adjusted pre-occupied road segment bypasses the conflict location.

[0078] In this embodiment, a strategy can also be employed to adjust the pre-occupied road segment of the first transport device so that the first transport device and the other transport device do not meet at the conflict location. This strategy involves the transport device planning a new path from its current location to its destination, requiring the replanned new path to follow the original path as closely as possible until it is necessary to deviate from it. Thus, this embodiment can adjust the pre-occupied road segment of the first transport device using this strategy, ensuring that the adjusted pre-occupied road segment avoids the conflict location. Optionally, the adjusted pre-occupied road segment can also avoid the overlapping road segment where the conflict location is located.

[0079] Specifically, if the movement path information of the first transport device overlaps with that of other transport devices, then during their respective planned journeys, the time periods in which they pass through the overlapping sections may be completely different, or there may be path conflicts (i.e., there are other transport devices that have overlapping sections with the first transport device and have already entered those overlapping sections). In this case, as the distance between the two devices gets closer, there may be branch roads that allow them to deviate from the current path. By obtaining this path information, it can be ensured that the first transport device deviates from its original path at the appropriate time to avoid conflicts with other vehicles.

[0080] In this embodiment, based on the target dependency decision described in sub-step 2042, under the premise that there is a target dependency relationship between the first transport device and other transport devices, the pre-occupied road segment determination strategy of the first transport device can be adjusted according to the first relative position relationship between the first transport device and other transport devices relative to the overlapping road segment. Sub-step 2043 embodies another branch, that is, based on the first relative position relationship, it is determined that other transport devices have not yet entered or left the overlapping road segment, and the first transport device has already entered the overlapping road segment. In this case, in order to avoid path conflict, the first transport device needs to actively avoid the conflict, that is, adjust the pre-occupied road segment of the first transport device so that the adjusted pre-occupied road segment bypasses the conflict position.

[0081] Specifically, the implementation of unilateral active avoidance includes: taking a point outside the starting point of the overlapping road segment as a temporary avoidance point, planning the pre-occupied road segment to the temporary avoidance point first, and then planning from the temporary avoidance point around the conflict position and overlapping area to the target endpoint, splicing these two road segments as the avoidance road for the car, and the avoidance road is the pre-occupied road segment adjusted by the first transportation device.

[0082] Optionally, the global navigation information further includes: a global map; and after sub-step 2042, it further includes:

[0083] Sub-step 2044: When it is determined that the first transport device has moved to the target position, control the first transport device to stop moving.

[0084] Sub-step 2045: After waiting for the other transport devices to pass the conflict location, search for a new pre-occupied road segment for the first transport device in the global map, starting from the target location.

[0085] In one implementation of this application, for sub-steps 2042, 2044, and 2045, the adjustment strategy can set the endpoint of the pre-occupied road segment to the target position before the conflict position. This allows the first transport device to wait when it moves to the position before the conflict position. After other transport devices leave the overlapping road segment, the pre-occupied road segment of the first transport device can continue to pre-occupy the position points in the conflict position and the subsequent overlapping road segment. This allows the first transport device to subsequently enter the overlapping road segment along the conflict position and move without causing path conflicts with other transport devices, thus reducing the probability of path conflicts between the first transport device and other transport devices.

[0086] Optionally, before substep 2043, the following may also be included:

[0087] Sub-step 2046: Determine whether the pre-occupied road segment of the other transportation device has pre-occupied the second endpoint of the overlapping road segment.

[0088] Sub-step 2047: If it is determined that the pre-occupied road segment of the other transport device has pre-occupied the second endpoint, proceed to the step of adjusting the end point of the pre-occupied road segment of the first transport device to the target position, wherein the second endpoint is the endpoint close to the other transport device.

[0089] In this embodiment of the application, for sub-steps 2046-2047, refer to Figure 4 It illustrates a schematic diagram of a pre-occupied road segment adjustment strategy, and describes the implementation method with an example:

[0090] Suppose that in a given road network C = (N, A), N = {(nx, ny)} represents the set of nodes, A = {(m, n)} represents the set of edges, where edges are connections between nodes, and there exists a set of transportation devices {v(current, forward, destination, path)}, where v current Indicates the current position of transport device v; v destination Indicates the destination of the transport device v; v pathThis indicates the section of road that the transport device v has already traveled; v forward This indicates the end point of the currently reserved road segment for transport device v, along which transport device v travels. path From v current to v forward It enjoys exclusive right-of-way; if transport device v cannot update its pre-occupancy, it will remain at v. forward Pre-occupancy refers to a method by which a single transport device secures its right-of-way and safe travel by occupying the path ahead from its current position, thus forming a conflict-free trajectory. The pre-occupied path belongs only to the current transport device and can only be pre-occupied by other transport devices after the current transport device has passed and released the path.

[0091] Specifically, such as Figure 4 As shown, transportation device A is planned to have a route from A current To A destination Path A plan Transportation device B planned a route from B current To B destination Path B plan Given A plan There is an overlapping road segment from n1 to n2, and transport device B will pass through this overlapping road segment in the opposite direction. Assume that transport device B has already started from the current point B. current Point B has been pre-occupied forward (Including point n2), at this time, transport device A is at point A. current The request is to reserve N points (including point n1, i.e., conflicting locations).

[0092] According to the relevant technology, transportation device A successfully pre-occupies N points to reach A. forward As the transport devices move along the path, transport devices A and B eventually meet and collide, potentially requiring manual intervention to extricate them from the predicament.

[0093] According to the movement control method of the transportation device in the embodiments of this application, if it is known that the transportation device B has pre-occupied the second endpoint n2 of the overlapping road segment, the pre-occupancy strategy of the transportation device A can be adjusted to control the transportation device A to pre-occupy the point before the conflict position n1 at most. Until the transportation device B has completed the overlapping road segment from n2 to n1 (after the transportation device B has passed the conflict position n1), the transportation device A is allowed to pre-occupy the conflict position n1 and other position points in the overlapping road segment, so that the two transportation devices can reach their respective destinations without conflict.

[0094] Optionally, if there are impassable locations in the pre-occupied section of the first transport device; step 204 may specifically include:

[0095] Sub-step 2048: Adjust the path direction of the pre-occupied section of the first transport device so that the adjusted pre-occupied section bypasses the impassable location.

[0096] In some practical situations, there may be at least one impassable location in the pre-occupied section of the first transport device. The impassable location is the location that affects the normal passage of the first transport device, such as accident roadblocks, road damage, etc. Therefore, in this case, the pre-occupied section of the first transport device can be adjusted so that the adjusted pre-occupied section bypasses the impassable location.

[0097] Optionally, sub-step 2048 may specifically include:

[0098] Sub-step 20481: Based on the impassable location and the movement path information of the first transport device, determine the deviation position on the movement path information of the first transport device.

[0099] Sub-step 20482: Starting from the deviation position, determine a deviation section that bypasses the impassable position.

[0100] Sub-step 20483: Combine the deviated road segment with the road segment before the deviated position in the movement path information of the first transportation device to obtain the adjusted pre-occupied road segment.

[0101] For sub-steps 20481-20483, refer to Figure 5 It illustrates another pre-occupied road segment adjustment strategy, assuming the original pre-occupied road segment V of the first transport device is... path There exists a set M of impassable locations. v This caused the first transport device to be unable to operate according to V. path Proceed to the destination v destination Therefore, in this embodiment of the application, the set of inaccessible locations M can be... v The points and edges at those points are removed from the road network, and a new road from v is then planned. current to v destination offset path v path’ Define the path offset distance v div equals v forward Distance to the deviation point.

[0102] Specifically, the strategy requires the first transport unit to travel along the original route as much as possible, and the deviation point should be v. forward The farther the offset path v is, the better. path’ The component method is as follows:

[0103] 1. Let Sn be the set of impassable locations M. v The closest to vforward The node preceding the point.

[0104] 2. Let the candidate set S = {v} forward =S1→S2→…→Sn}, where S is V path From v forward For all points between Sn, if the newly reserved road segment v path’ If it exists, then the offset point must belong to this candidate set S.

[0105] 3. Also, S' = {v} forward =S1←S2←…←Sn}, set the weights of the edges in S' to be very large (generally greater than the order of the entire path) in order to minimize movement along S'.

[0106] 4. Taking point Sn as the starting point, v destination As the endpoint, considering M v Based on S', calculate the shortest path. If there is no solution, it means that there is no offset path v. path’ If a new solution to v exists path’ The solution closest to v forward Furthermore, the points belonging to S' are the deviation points, and the original pre-occupied road segment V is... path From v current The path to the deviation point, and the offset path v path’ The splicing process is then completed, and the spliced ​​result serves as the final adjusted pre-occupied road segment.

[0107] Optionally, the global navigation information further includes: a global map of the current scene; the pre-occupied road segment of the first transportation device is obtained through the following steps:

[0108] Step 205: Starting from the end of the already traveled road segment, search for passable road segments in the global map.

[0109] Step 206: Designate the passable road segment as the pre-occupied road segment.

[0110] In this embodiment, for steps 205-206, the pre-occupied road segment is a short path obtained by searching from the end point of the already traveled road segment at each search time, based on the road network information contained in the global map. The pre-occupied road segment is appended after the already traveled road segment to update the already traveled road segment. Subsequently, the search for a new pre-occupied road segment can continue from the end point of the updated already traveled road segment. If a pre-occupied road segment is found, it is appended after the already traveled road segment. If no pre-occupied road segment is found, it is determined that the currently searched pre-occupied road segment is empty.

[0111] It should be noted that, for the spliced ​​road segment, if the distance between the current position of the first transport device and the end point of the new traveled road segment is less than or equal to the preset distance, the search for a new pre-occupied road segment will continue in the global map starting from the end point of the new traveled road segment.

[0112] Furthermore, if a new pre-occupied road segment is found, the new pre-occupied road segment is appended to the new already traveled road segment to complete the update of the movement path information.

[0113] In this embodiment, during the journey to the final destination, the transport device continuously searches for pre-occupied road segments starting from the end of the already traveled road segment, and searches for new pre-occupied road segments starting from the end of a new already traveled road segment, continuing the process until the final spliced ​​road segment reaches the destination. This continuous searching and splicing of pre-occupied road segments allows the transport device to update the route based on real-time road network conditions during its journey, resulting in a more optimized travel path. Compared to a fixed, already traveled route with the destination as the final destination, this embodiment's method of searching for and splicing pre-occupied road segments to obtain travel path information improves path throughput, reduces the likelihood of congestion, and enhances overall traffic efficiency.

[0114] The condition for triggering the update of the pre-occupied road segment is as follows: for the spliced ​​road segment, if the distance between the current position of the first transport device and the end point of the spliced ​​road segment is less than or equal to the preset distance, it can be considered that the first transport device is about to reach the end point of the already traveled road segment and needs to trigger the update of the pre-occupied road segment. In this embodiment, the preset distance can be set according to actual needs, and this embodiment does not limit it.

[0115] Optionally, during the search for passable road segments in the global map, if an overlapping road segment is found between the first transport device and other transport devices, the method further includes:

[0116] Step 207: Based on the global navigation information, determine the movement direction of the first transportation device and the other transportation devices, and whether the other transportation devices are currently passing through the endpoint of the overlapping road segment.

[0117] Step 208: If it is determined that the first transport device and the other transport device are moving in the same direction, and the other transport device is currently passing through the overlapping road segment and is close to the endpoint of the other transport device, then the endpoint of the pre-occupied road segment of the first transport device is extended to the target endpoint of the overlapping road segment, the target endpoint including any endpoint of the overlapping road segment or a point between two endpoints of the overlapping road segment.

[0118] In this embodiment, based on the target dependency decision described in sub-step 2042, under the premise that there is a target dependency relationship between the first transport device and other transport devices, the pre-occupancy segment determination strategy of the first transport device can be adjusted according to the positional relationship between the first transport device and other transport devices relative to the overlapping road segment. Step 208 embodies another branch, that is, if it is determined that the first transport device and the other transport devices are moving in the same direction, and the other transport devices are currently passing through the overlapping road segment and are close to the endpoint of the other transport devices, then the endpoint of the pre-occupancy segment of the first transport device is extended to the target endpoint of the overlapping road segment. In this case, it is considered that the pre-occupancy segment of the first transport device is pre-occupied normally and will not cause path conflicts between the first transport device and other transport devices.

[0119] Step 209: If it is determined that the first transport device and the other transport device are moving in opposite directions, and the other transport device is currently passing through the overlapping road segment away from the endpoint of the other transport device, then the endpoint of the pre-occupied road segment of the first transport device is extended to the target endpoint of the overlapping road segment.

[0120] In this embodiment, based on the target dependency decision described in sub-step 2042, under the premise that there is a target dependency relationship between the first transport device and other transport devices, the pre-occupancy segment determination strategy of the first transport device can be adjusted according to the positional relationship between the first transport device and other transport devices relative to the overlapping road segment. Step 209 embodies another branch, namely, if it is determined that the first transport device and the other transport devices are moving in opposite directions, and the other transport devices are currently passing through the end point of the overlapping road segment (the other transport devices have passed through the end point of the opposite overlapping road segment), then the end point of the pre-occupancy segment of the first transport device is extended to the target endpoint of the overlapping road segment. In this case, it is considered that the pre-occupancy segment of the first transport device is pre-occupied normally and will not cause path conflicts between the first transport device and other transport devices.

[0121] In summary, the embodiments of this application also provide a description of the overall process of the movement control method for transportation devices. The entire process requires adjusting the generation strategy of the pre-occupied road segment of the first transportation device A based on the orientation of the first transportation device A and other transportation devices B relative to the overlapping road segment.

[0122] (1) Calculate the extended road section:

[0123] The process of calculating the extended road section can be referred to the above embodiments. Figure 2 The description of [the path] is omitted here. Extended paths can be appended to the original path to form movement path information.

[0124] (2) Calculate overlapping road segments:

[0125] The process of calculating overlapping road segments can be referred to the above description (excluding 202), and will not be repeated here.

[0126] (3) Generate a set:

[0127] First, a set can be constructed based on the relative conditions of the transportation devices and overlapping road sections:

[0128] Define the set λ as the decision radius A centered on the first transportation device A. radius The set of other transportation devices that intersect with the formed decision circle;

[0129] Define a set For other transport devices If there is a reverse overlapping section O' between the first transport device A and other transport devices B A,B ,but That is, set λ1 records other transportation devices B in the decision circle that have a reverse overlapping section with A.

[0130] Define a set For other transport devices If o∈ in the opposite overlapping segment O' A,B This makes B forward ∈o, then That is, set λ2 records other transportation devices B in the decision circle that have a reverse overlapping road segment with A and have already entered that overlapping road segment. Where A... current (The end point of A's current reserved road segment), B current (The end point of B's ​​current reserved road segment)

[0131] Reference Figure 6 It shows a schematic diagram of the division of a transportation device, further subdividing set λ2 into three sets:

[0132] Set (0): records B forward (The end point of B's ​​current reserved road segment) and A forward (The end of the current pre-occupied section of A) will connect to other transport units B;

[0133] Set (1): records B forward and A forward Both have entered overlapping sections, but B forward and A forward Other transport devices B in cases where there are other nodes in between;

[0134] Set (2): records B forward We have entered an overlapping section, but A forward B has not yet entered the overlapping section, but forward and A forwardAnother transport apparatus B in the case where there are other nodes in between.

[0135] (4) Preemption adjustment strategy:

[0136] Based on the above set division situation, with reference to Figure 7 , which shows a general logic schematic diagram of a movement control method for a transport apparatus, comprising: S11, A requests to preoccupy a length N forward; S12, calculating a preemption road section; S13, calculating an overlapping road section; S14, generating a set; S15, judging whether the set λ2 is empty; if λ2 is empty, executing S16, finding B closest to A in the set λ2, and when B belongs to the set (0), or the set (1), or the set (2), executing S17, target dependency detection, and adjusting the decision result. Finally, outputting the result. If λ2 is non-empty; executing S18, A performs normal preemption with a preemption length of N, and S17 is executed after S18 is completed.

[0137] Further with reference to Figure 8 , which shows a logic schematic diagram of a branch flow of the movement control method for a transport apparatus, when B belongs to the set (0), executing M11, A invokes an offset path strategy while avoiding the preemption road section of B. M12, judging whether A has an available offset path. If it exists, executing M13, A decides to use the offset path, and after M13 is executed, executing M14, target dependency detection, and adjusting the decision result. When A has no available offset path, executing M15, judging whether B is identified to have an available offset path; if B has an available offset path, executing M16, A gives up preemption and waits for B, with the preemption length being 0; if B has no available offset path, executing M17, A performs passive avoidance (A and B have already occupied resources mutually, and no better strategy can be found to avoid the conflict, so the current preemption of A is not adjusted), with the preemption length being N; M14 can be executed after M16 and M17.

[0138] Further with reference to Figure 9 , which shows a logic schematic diagram of another branch flow of the movement control method for a transport apparatus, when B belongs to the set (1), executing N11, A invokes an offset path strategy while avoiding the preemption road section of B. N12, judging whether A has an available offset path. If A has an available offset path, executing N13, calculating the distance Adiv from A to the deviation point of the offset path of A, comparing the magnitude relationship between Adiv and the preemption length N; in the case of Adiv=0, executing N14, A decides to use the offset path; in the case of 0<Adiv<N, executing N15, A decides to perform reduced preemption, with the preemption length being Adiv; in the case of Adiv>N, executing N16, A decides to perform normal preemption, with the preemption length being N; after N14, N15, and N16 are completed, executing N17, target dependency detection, and adjusting the decision result.

[0139] In addition, if no available offset path exists for A, step N18 is executed to determine whether an available offset path exists for B; if an available offset path exists for B, step N19 is executed to calculate Bdiv, which is the distance of the deviation point on the offset path from A to B, and compare the magnitude of Bdiv and N; when Bdiv=0, step N20 is executed, where A gives up preemption and waits for B, with the preemption length being 0; when 0<Bdiv<N, step N21 is executed, where A decides to perform reduced-quantity preemption, with the preemption length being Bdiv; when Bdiv>N, step N22 is executed, where A decides to perform normal preemption, with the preemption length being N. After N20, N21 and N22 are completed, step N17 is executed. If no available offset path exists for B, step N23 is executed, where A passively yields, with the preemption length being N. After N23 is completed, step N17 is executed.

[0140] With further reference to Figure 10 , which shows a logic schematic diagram of a branch process of another movement control method for a transportation device, when B belongs to the set (2), step X11 is executed to calculate Aentry, which is the distance from A to the point preceding the start point of the reverse overlapping road segment, and compare the magnitude relationship between Aentry and the preemption length N; when Aentry>N, step X12 is executed, where A decides to perform normal preemption, with the preemption length being N; when 0<Aentry<N, step X13 is executed, where A decides to perform reduced-quantity preemption, with the preemption length being Aentry. After X12 and X13 are completed, step X14 is executed to perform target dependency detection and adjust the decision result. When 0=Aentry<N, step X15 is executed, where A invokes an offset path strategy while avoiding the preempted road segment of B; step X16 is executed to determine whether an offset path exists for A; if no offset path exists for A, step X17 is executed, where A decides to give up preemption and wait for B, with the preemption length being 0, and after X17 is completed, step X14 is executed. If an offset path exists for A, step X18 is executed to compare the magnitude of Adiv, which is the offset distance of the deviation point on the offset path of A, and the preemption distance N; when Adiv<N, step X19 is executed, where A gives up preemption and waits for B, with the preemption length being 0; when Adiv>N, step X20 is executed, where A performs normal preemption, with the preemption length being N. After X19 and X20 are completed, step X14 is executed.

[0141] With further reference to Figure 11, which shows a logical schematic diagram of a branch process of a movement control method for another transport device, comprising performing Y11: acquiring the decision type of A and the updated pre-occupation length N, then performing Y12: determining whether the decision type of A uses a detour path, outputting a result if the detour path is used; and if the detour path is not used, performing Y13: traversing all overlapping road segments between A and other transport devices, then performing Y14: determining whether there is a target dependency between transport device C corresponding to the overlapping road segment and A, if there is no target dependency, performing Y19: determining whether the traversal of the overlapping road segments is completed, if the traversal of the overlapping road segments is completed, performing Y20: determining whether A has an avoidance point, outputting a result if there is no avoidance point; if there is an avoidance point, performing Y21: selecting the avoidance point farthest from A, planning a path passing through the avoidance point as a detour path, then performing Y22: using the detour path, and outputting a result after Y22. If the traversal of the overlapping road segments is not completed at Y19, performing Y13.

[0142] If it is determined at Y14 that there is a target dependency, performing Y15: determining whether C has passed the entrance of the same-direction overlapping road segment or the exit of the reverse-direction overlapping road segment, if yes, performing Y19; if no, performing Y16: determining whether A is already within the overlapping road segment, if A is already within the overlapping road segment, performing Y23: A actively takes unilateral avoidance, and records the avoidance point; if A is not within the overlapping road segment, performing Y17: calculating the distance Aentry from A to a point outside the entrance of the same-direction overlapping road segment, comparing Aentry with the pre-occupation length N, and in the case that Aentry<N, performing Y18: updating the pre-occupation length N=Aentry, if Aentry=0, abandoning the pre-occupation, and if Aentry>0, performing decremental pre-occupation. Performing Y19 after Y18. In the case that Aentry>N, performing Y19.

[0143] Herein, several pre-occupied road segment adjustment strategies for A included in the above process comprise:

[0144] Normal pre-occupation: means that A can continue traveling along the current path, and can proceed from A forward to the full pre-occupation point A occupy (the expected pre-occupation end point when A requests a new pre-occupation).

[0145] Decremental pre-occupation: means that A can continue traveling along the current path, but can only pre-occupy up to a certain point between A forward and A occupy .

[0146] Pre-occupation abandonment: means that A abandons this pre-occupation, and does not update A forward forward.

[0147] Using a detour path: A plans a path from the current point to the end point, and decides to travel according to the new path to avoid the current conflict.

[0148] Passive avoidance: A has already engaged in resource sharing with other vehicles and has not found a better strategy to avoid the conflict, so no adjustments will be made to the pre-allocation at present.

[0149] In summary, the movement control method for a transportation device provided in this application can determine conflict locations along the movement path of the first transportation device during its movement, based on global navigation information including the positions and movement paths of all transportation devices. Then, based on the global navigation information, the pre-occupied road segment of the first transportation device is adjusted to prevent it from meeting other transportation devices at conflict locations. This application, by dynamically adjusting the pre-occupied road segment during the operation of the transportation device based on global navigation information, effectively reduces path conflicts between different transportation devices, avoids excessive manual intervention, and thus improves overall transportation and logistics efficiency.

[0150] Figure 11 This is a schematic diagram of the structure of the movement control device of a transportation device according to some embodiments of this application. For example... Figure 11 As shown, the movement control device of the transportation device may include: an acquisition module 301 and a processing module 302.

[0151] The acquisition module 301 is used to acquire global navigation information of the current scene and the movement path information of the first transportation device during the movement of the first transportation device; the global navigation information includes the current location information and movement path information of all transportation devices in the current scene; the movement path information includes: the already traveled road segment and the pre-occupied road segment;

[0152] The processing module 302 is configured to determine, based on the global navigation information, the conflict location where the first transport device collides with other transport devices in the current scene; the conflict location is a position in the pre-occupied road segment; and adjust the pre-occupied road segment of the first transport device based on the global navigation information, so that the first transport device and the other transport devices do not meet at the conflict location.

[0153] Optionally, the global navigation information further includes: a global map of the current scene; the processing module 302 is specifically used for:

[0154] Starting from the end of the already traveled road segment, search for passable road segments in the global map;

[0155] The passable road segment is designated as the pre-occupied road segment.

[0156] Optionally, during the search for passable road segments in the global map, if an overlapping road segment is found between the first transport device and other transport devices, the processing module 302 is further configured to:

[0157] Based on the global navigation information, determine the movement direction of the first transportation device and the other transportation devices, and whether the other transportation devices are currently passing through the endpoints of the overlapping road segment;

[0158] If it is determined that the first transport device and the other transport device are moving in the same direction, and the other transport device is currently passing through the overlapping road segment and is close to the endpoint of the other transport device, then the endpoint of the pre-occupied road segment of the first transport device is extended to the target endpoint of the overlapping road segment, the target endpoint including any endpoint of the overlapping road segment or a point between the two endpoints of the overlapping road segment.

[0159] If it is determined that the first transport device and the other transport device are moving in opposite directions, and the other transport device is currently passing through the overlapping road segment away from the endpoint of the other transport device, then the endpoint of the pre-occupied road segment of the first transport device is extended to the target endpoint of the overlapping road segment.

[0160] Optionally, the processing module 302 is specifically used for:

[0161] Based on the global navigation information, the overlapping sections between the movement path information of the first transportation device and the movement path information of other transportation devices are determined;

[0162] The first endpoint of the overlapping road segment is taken as the conflict location, and the first endpoint is the endpoint closest to the first transport device.

[0163] Optionally, the processing module 302 is specifically used for:

[0164] Based on the global navigation information, determine the first relative positional relationship of the first transportation device relative to the overlapping road segment, and determine the second relative positional relationship of the other transportation devices relative to the overlapping road segment;

[0165] If the second relative position relationship indicates that the other transport device has not yet entered or left the overlapping road segment, and the first relative position relationship indicates that the first transport device has not yet entered the overlapping road segment, then the end point of the pre-occupied road segment of the first transport device is set as the target position before the conflict position; the target position is in the movement path information of the first transport device.

[0166] If the first relative positional relationship indicates that the other transport device has not yet entered or left the overlapping road segment, and the first relative positional relationship indicates that the first transport device has already entered the overlapping road segment, then the path direction of the pre-occupied road segment of the first transport device is adjusted so that the adjusted pre-occupied road segment bypasses the conflict location.

[0167] Optionally, the global navigation information further includes: a global map; optionally, the processing module 302 is also used for:

[0168] When it is determined that the first transport device has moved to the target position, the first transport device is controlled to stop moving;

[0169] After waiting for the other transport devices to pass the conflict location, a new pre-occupied road segment is searched for the first transport device in the global map, starting from the target location.

[0170] Optionally, the processing module 302 is also used for:

[0171] Determine whether the pre-occupied road segment of the other transportation device has pre-occupied the second endpoint of the overlapping road segment;

[0172] If it is determined that the pre-occupied section of the other transport device has pre-occupied the second endpoint, the step of adjusting the end point of the pre-occupied section of the first transport device to the target position is entered, where the second endpoint is the endpoint close to the other transport device.

[0173] Optionally, if there are impassable locations in the pre-occupied section of the first transport device;

[0174] Processing module 302 is also used for:

[0175] The path direction of the pre-occupied section of the first transportation device is adjusted so that the adjusted pre-occupied section bypasses the impassable location.

[0176] Optionally, the processing module 302 is specifically used for:

[0177] Based on the impassable location and the movement path information of the first transport device, determine the deviation position on the movement path information of the first transport device;

[0178] Starting from the aforementioned deviation location, determine a deviated route that bypasses the impassable location;

[0179] The deviated road segment is spliced ​​with the road segment before the deviation position in the movement path information of the first transportation device to obtain the adjusted pre-occupied road segment.

[0180] In summary, the movement control device for a transportation device provided in this application can determine conflict locations along the movement path of the first transportation device during its movement, based on global navigation information including the positions and movement paths of all transportation devices. Then, based on the global navigation information, it adjusts the pre-occupied road segment of the first transportation device to prevent it from meeting other transportation devices at conflict locations. This application, by dynamically adjusting the pre-occupied road segment during the operation of the transportation device based on global navigation information, effectively reduces path conflicts between different transportation devices, avoids excessive manual intervention, and thus improves overall transportation and logistics efficiency.

[0181] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0182] In addition, this application also provides an electronic device, which can be referred to in detail. Figure 12 The electronic device 700 includes a processor 710, a memory 720, and a computer program stored in the memory 720 and executable on the processor 710. When the computer program is executed by the processor 710, it implements the various processes of the above-described embodiments of the movement control method for the transportation device and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0183] This application also provides a computer-readable storage medium storing a computer program. When executed by a processor, this computer program implements the various processes of the above-described embodiments of the movement control method for the transportation device, achieving the same technical effects. To avoid repetition, it will not be described again here. The computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc.

[0184] This application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described embodiments of the movement control method for the transportation device and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0185] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, embodiments of this application can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of this application can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0186] This application describes embodiments with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0187] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0188] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0189] Although preferred embodiments of the present application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present application.

[0190] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0191] The foregoing has provided a detailed description of the movement control method, apparatus, electronic device, and computer storage medium for a transportation device provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for controlling the movement of a transport device, characterized in that, include: During the movement of the first transport device, global navigation information of the current scene and movement path information of the first transport device are acquired; The global navigation information includes the current location information and movement path information of all transportation devices in the current scene; The movement path information includes: the route already traveled and the route to be reserved; Based on the global navigation information, the conflict location where the first transportation device collides with other transportation devices in the current scene is determined; the conflict location is a position within the pre-occupied road segment. Based on the global navigation information, the pre-occupied road segment of the first transportation device is adjusted so that the first transportation device and the other transportation devices do not meet at the conflict location. The global navigation information also includes: a global map of the current scene; the pre-occupied road segment of the first transportation device is obtained through the following steps: Starting from the end of the already traveled road segment, search for passable road segments in the global map; The passable road segment is designated as the pre-occupied road segment; During the search for passable road segments in the global map, if an overlapping road segment is found between the first transport device and other transport devices, the method further includes: Based on the global navigation information, determine the movement direction of the first transportation device and the other transportation devices, and whether the other transportation devices are currently passing through the endpoints of the overlapping road segment; If it is determined that the first transport device and the other transport device are moving in the same direction, and the other transport device is currently passing through the overlapping road segment and is close to the endpoint of the other transport device, then the endpoint of the pre-occupied road segment of the first transport device is extended to the target endpoint of the overlapping road segment, the target endpoint including any endpoint of the overlapping road segment or a point between the two endpoints of the overlapping road segment. If it is determined that the first transport device and the other transport device are moving in opposite directions, and the other transport device is currently passing through the overlapping road segment away from the endpoint of the other transport device, then the endpoint of the pre-occupied road segment of the first transport device is extended to the target endpoint of the overlapping road segment.

2. The method according to any one of claims 1, characterized in that, The step of determining the conflict location between the first transportation device and other transportation devices in the current scene based on the global navigation information includes: Based on the global navigation information, the overlapping sections between the movement path information of the first transportation device and the movement path information of other transportation devices are determined; The first endpoint of the overlapping road segment is taken as the conflict location, and the first endpoint is the endpoint closest to the first transport device.

3. The method according to claim 2, characterized in that, The step of adjusting the pre-occupied road segment of the first transportation device according to the global navigation information includes: Based on the global navigation information, determine the first relative positional relationship of the first transportation device relative to the overlapping road segment, and determine the second relative positional relationship of the other transportation devices relative to the overlapping road segment; If the second relative position relationship indicates that the other transport device has not yet entered or left the overlapping road segment, and the first relative position relationship indicates that the first transport device has not yet entered the overlapping road segment, then the end point of the pre-occupied road segment of the first transport device is set as the target position before the conflict position; the target position is in the movement path information of the first transport device. If the first relative positional relationship indicates that the other transport device has not yet entered or left the overlapping road segment, and the first relative positional relationship indicates that the first transport device has already entered the overlapping road segment, then the path direction of the pre-occupied road segment of the first transport device is adjusted so that the adjusted pre-occupied road segment bypasses the conflict location.

4. The method according to claim 2, characterized in that, The global navigation information further includes: a global map; after setting the endpoint of the pre-occupied section of the first transportation device to a target location prior to the conflict location, the method further includes: When it is determined that the first transport device has moved to the target position, the first transport device is controlled to stop moving; After waiting for the other transport devices to pass the conflict location, a new pre-occupied road segment is searched for the first transport device in the global map, starting from the target location.

5. The method according to claim 2, characterized in that, Before setting the end point of the pre-occupied section of the first transport device to the target location prior to the conflict location, the method further includes: Determine whether the pre-occupied road segment of the other transportation device has pre-occupied the second endpoint of the overlapping road segment; If it is determined that the pre-occupied section of the other transport device has pre-occupied the second endpoint, the step of adjusting the end point of the pre-occupied section of the first transport device to the target position is entered, where the second endpoint is the endpoint close to the other transport device.

6. The method according to claim 1, characterized in that, If there are impassable locations in the pre-occupied section of the first transport device; The step of adjusting the pre-occupied road segment of the first transportation device according to the global navigation information includes: The path direction of the pre-occupied section of the first transportation device is adjusted so that the adjusted pre-occupied section bypasses the impassable location.

7. The method according to claim 6, characterized in that, The adjustment of the path direction of the pre-occupied section of the first transport device, so that the adjusted pre-occupied section bypasses the impassable location, includes: Based on the impassable location and the movement path information of the first transport device, determine the deviation position on the movement path information of the first transport device; Starting from the aforementioned deviation location, determine a deviated route that bypasses the impassable location; The deviated road segment is spliced ​​with the road segment before the deviation position in the movement path information of the first transportation device to obtain the adjusted pre-occupied road segment.

8. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the steps of the movement control method for the transport device as described in any one of claims 1 to 7.

9. An electronic device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the movement control method for the transport device as claimed in any one of claims 1 to 7.

10. A computer program product, characterized in that, The computer program product stores a computer program that, when executed by a processor, implements the steps of the movement control method for the transport device as described in any one of claims 1 to 7.

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