A floating locking trolley transportation method, system, storage medium and intelligent terminal

Abstract

The application relates to a floating locking trolley transportation method and system, a storage medium and an intelligent terminal, and relates to the field of trolley transportation. The application comprises the following steps: acquiring a trolley position and a workpiece size; determining a scanning range; scanning in the scanning range to acquire an obstacle range; when the obstacle range does not exist, continuing to move the trolley along a sliding rail; when the obstacle range exists, determining an avoidance scheme; obtaining an avoidance scanning range; when there is no obstacle range after scanning in the avoidance scanning range, operating the trolley according to the avoidance scheme; when there is still an obstacle range after scanning in the avoidance scanning range, redetermining the avoidance scheme until there is no avoidance scanning range or there is no avoidance scheme. The application has the effect that the scheme of avoiding the obstacle is found according to the position of the obstacle, so that the trolley shell cannot collide with the obstacle on the path during trolley transportation and is damaged, and the safety during workpiece transportation is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle transportation, and in particular to a floating locking vehicle transportation method, system, storage medium, and intelligent terminal. Background Technology

[0002] The floating locking mechanism is an important component in the process of generating simulated impulse in the simulated launch device. It mainly consists of a floating piston that replaces the projectile and a locking key that completes the locking task.

[0003] In related technologies, the transportation of large workpieces, such as car bodies, is quite difficult. When the clamping force is too small, the weight of the car body itself is large and it is easy to fall. When the clamping force is too large, the car body is thin and it is easy to deform. Therefore, in order to prevent the workpiece from being damaged due to excessive clamping during the clamping process, a floating locking mechanism is used as a clamping device, and then a sliding rail is used for sliding transportation.

[0004] The existing technology has the following problems: although the trolley itself uses a floating locking mechanism to lock the workpiece so that it will not be damaged by the trolley, it is difficult to guarantee against external collisions during the transportation of the trolley, and it is still easy to be damaged. There is still room for improvement. Summary of the Invention

[0005] To address the issue of trolleys being easily damaged during transport due to the difficulty in preventing external collisions, this application provides a floating locking trolley transport method, system, storage medium, and intelligent terminal.

[0006] Firstly, this application provides a method for transporting a floating locking trolley, employing the following technical solution:

[0007] A method for transporting a floating locking trolley includes:

[0008] The position of the trolley and the size of the workpiece are obtained. The trolley includes a floating locking mechanism, a horizontal rotation mechanism, a vertical lifting mechanism, and a lateral movement mechanism.

[0009] The scanning range is determined based on the trolley position, workpiece size, preset sliding track, movable range, and reaction distance;

[0010] Perform a scan within the scanning range to obtain the extent of obstacles;

[0011] When there are no obstacles, the trolley will continue to move along the sliding track;

[0012] When an obstacle exists, an avoidance plan is determined based on the obstacle's extent and the workpiece size.

[0013] The scanning range is updated based on the avoidance scheme to obtain the avoidance scanning range;

[0014] If no obstacles are found within the obstacle avoidance scanning range, the vehicle will operate according to the obstacle avoidance plan;

[0015] If obstacles still exist after scanning within the avoidance scanning range, the avoidance plan is redefined until there is no avoidance scanning range or no avoidance plan.

[0016] By adopting the above technical solution, obstacles are identified by scanning the area in front of the trolley during its movement, and then an avoidance plan is found based on the location of the obstacle. This ensures that the trolley shell will not collide with obstacles on the path and be damaged during the trolley's transportation, thus improving the safety of the workpiece transportation process.

[0017] Optionally, methods for determining avoidance schemes based on obstacle range and workpiece size include:

[0018] The workpiece width range is determined based on the workpiece width, workpiece height, and preset placement reference points in the workpiece dimensions;

[0019] The interlacing range is determined based on the range of obstacles and the range of workpiece width;

[0020] The available movement vectors are determined based on the interlacing range and the preset clearance and avoidance distance;

[0021] The candidate movement vectors are filtered based on the movable range to obtain the suitable movement vectors;

[0022] Based on the conformity of the movement vector, the movement category in the avoidance scheme is determined to be translational.

[0023] Based on the translation category, the moving device is determined to be a vertical lifting mechanism and a horizontal moving mechanism;

[0024] The moving device consists of a vertical lifting mechanism and a horizontal moving mechanism, and the moving distance is output as a moving vector to avoid obstacles.

[0025] Optionally, the moving device can be a vertical lifting mechanism and a lateral moving mechanism, and the moving distance can be output as a moving vector to provide an avoidance solution.

[0026] The reaction position is calculated based on the sliding track, reaction distance, and trolley position.

[0027] The reaction location category is determined based on the reaction location and the sliding trajectory;

[0028] When the reaction position category is a straight line or a circular corner, the moving device is a vertical lifting mechanism and a horizontal moving mechanism, and the moving distance is output as a moving vector to avoidance scheme.

[0029] When the reaction location category is a straight corner, the workpiece length range is determined based on the workpiece length and the preset placement reference point;

[0030] The scanning range of the inflection point located at the corner of a straight line is determined based on the workpiece length range;

[0031] The inflection point intersection range is determined based on the inflection point scanning range and the obstacle range;

[0032] The available movement vectors for inflection points are determined based on the inflection point intersection range and the clearance and avoidance distance.

[0033] The inflection point movement vector is filtered based on the movable range to obtain the inflection point movement vector;

[0034] When the inflection point movement vector exists, the final inflection point movement vector is determined based on the inflection point movement vector and the movement vector.

[0035] The moving device is a vertical lifting mechanism and a horizontal moving mechanism, and the moving distance is the final inflection point moving vector as the output of the avoidance scheme.

[0036] When the matching inflection point movement vector does not exist, the inflection point scanning range is updated again based on the workpiece width range to obtain the reset scanning range, and the matching inflection point movement vector is re-determined and defined as the back inflection point movement vector.

[0037] When the backward inflection point movement vector exists, the scanning range located at the straight corner and before is re-determined based on the workpiece length range. This scanning range is defined as the forward scanning range, and the corresponding inflection point movement vector is re-determined. This corresponding inflection point movement vector is defined as the forward inflection point movement vector.

[0038] When the current inflection point movement vector exists, the moving device is a horizontal rotation mechanism, a vertical lifting mechanism, and a lateral movement mechanism. The movement distance is the forward inflection point movement vector, the rear inflection point movement vector, and the preset vertical rotation angle as the avoidance scheme output. After the output, the workpiece length range and the workpiece width range are interchanged.

[0039] If the current inflection point movement vector does not exist or the next inflection point movement vector does not exist, output the message "Cannot move".

[0040] By adopting the above technical solution, when the car is about to reach the corner, it means that the car is about to turn. However, in order to make the car body more stable, some cars may only rotate the chassis while the car body remains in its original orientation. Therefore, when judging the range swept by the car body along the sliding track at the corner, it is the length of the car body. Therefore, it is necessary to determine whether the angle can be adjusted in advance for transportation, so that the car can rotate the car body at the corner and before and after the corner to achieve the effect of avoiding the corner, thus improving the diversity and flexibility of the avoidance scheme.

[0041] Optionally, methods for maneuvering the vehicle according to the actual obstacle avoidance plan include:

[0042] Obtain the actual avoidance plan and obstacle range currently being used by the vehicle, define the actual avoidance plan as the current avoidance plan, and define the obstacle range as the current obstacle range;

[0043] Once a new avoidance plan is determined, the newly determined avoidance plan is defined as the expected avoidance plan.

[0044] Simulations are performed based on the anticipated avoidance plan to obtain the expected range of the workpiece.

[0045] When the workpiece is not expected to fall within the current obstacle range, the trolley will operate according to the expected avoidance plan;

[0046] When the expected range of the workpiece falls into the current obstacle range, the adjustment movement distance is calculated based on the reaction position, trolley position and workpiece length range corresponding to the current avoidance plan.

[0047] The car operates according to the current avoidance plan and moves forward. When it reaches the adjusted moving distance, it stops moving and then operates according to the expected avoidance plan.

[0048] By adopting the above technical solution, when the obstacle avoidance plan for the next position will interfere with the obstacle position corresponding to the current plan, the trolley will first move to the obstacle position corresponding to the current plan to avoid it, and then stop before adopting a new obstacle avoidance plan. This will enable the trolley to avoid all obstacles and ensure the safety of the workpiece.

[0049] Optionally, it also includes a method for the trolley to operate according to the expected avoidance plan when the expected range of the workpiece falls into the current obstacle range, the method including:

[0050] Define the reaction position corresponding to the current avoidance plan as the current reaction position, and define the reaction position corresponding to the expected avoidance plan as the expected reaction position;

[0051] Calculate the current percentage based on the vehicle's position, current reaction position, and expected reaction position;

[0052] Determine the mid-journey avoidance plan based on the current percentage, the current avoidance plan, and the corresponding conforming movement vector of the expected avoidance plan;

[0053] Simulations were conducted based on mid-course avoidance schemes to obtain the expected range of the workpiece mid-course;

[0054] When the expected range of the workpiece does not fall within the current obstacle range, the trolley will operate according to the expected avoidance plan;

[0055] When the expected range of the workpiece falls into the current obstacle range, the trolley operates according to the current avoidance plan and moves forward. When it reaches the adjusted moving distance, it stops moving and then operates according to the expected avoidance plan.

[0056] By adopting the above technical solution, when the car can pass through the obstacle corresponding to the current avoidance plan during the process of changing from the current avoidance plan to the expected avoidance plan, the plan can be changed and the car can move at the same time during the movement, which improves the smoothness of the car's transportation.

[0057] Optionally, methods for scanning within the scanning range to obtain the extent of obstacles include:

[0058] The range of obstacles located between the reaction distance and the vehicle's position is defined as the historical obstacle range;

[0059] Obtain the scanning feedback distance along the sliding track direction;

[0060] Define the coordinates corresponding to the scanning feedback distance as the current coordinates, form the current horizontal profile based on the current coordinates, record the current horizontal profile in the historical coordinate database, and define the current horizontal profile recorded in the historical coordinate database as the historical horizontal profile.

[0061] Based on the current horizontal profile, retrieve the corresponding historical horizontal profile from the historical coordinate database;

[0062] Determine the contour movement trajectory based on the current horizontal contour and historical horizontal contours;

[0063] The current horizontal contour is simulated based on the reaction time and contour movement trajectory corresponding to the reaction distance to obtain the expected horizontal contour;

[0064] When the scanning feedback distance corresponding to the expected horizontal profile is less than or equal to the reaction distance, the coordinates corresponding to the expected horizontal profile are defined as obstacle coordinates, and the obstacle range is formed based on the obstacle coordinates.

[0065] By adopting the above technical solution, by forming an outline and comparing it each time, it is determined that the same outline belongs to the same object. Then, the movement trajectory of the object is identified to determine the specific position of the obstacle during the movement of the car, and then to determine whether it will collide with obstacles in the future, thereby improving the accuracy and predictability of obstacle recognition.

[0066] Optionally, methods for determining the contour movement trajectory based on the current horizontal contour and historical horizontal contours include:

[0067] Match the current horizontal profile with any historical horizontal profile;

[0068] When the current horizontal profile is completely identical to one of the historical horizontal profiles, determine the profile movement trajectory of all the completely identical historical horizontal profiles and the current horizontal profile.

[0069] Determine the similarity between the current horizontal profile and any historical horizontal profile when the current horizontal profile is inconsistent with any historical horizontal profile.

[0070] When the similarity is greater than the preset critical similarity, the corresponding historical horizontal contour is defined as the same horizontal contour.

[0071] The similarity is re-determined based on the same horizontal contour, the current horizontal contour, and the remaining historical horizontal contours, and the same horizontal contour is re-determined until there are no remaining historical horizontal contours or no remaining same horizontal contours.

[0072] The contour movement trajectory and contour change trajectory are determined based on the same horizontal contour and the current horizontal contour, and both are output together.

[0073] By adopting the above technical solution, when the obstacle itself undergoes shape changes, it is identified through similarity to determine the outline of the same obstacle. Then, the changes in these outlines are identified to determine the expected shape changes. By comprehensively considering the evolution process of the obstacle, the accuracy of obstacle identification is improved.

[0074] Secondly, this application provides a floating locking trolley transportation system, which adopts the following technical solution:

[0075] A floating locking trolley transport system, comprising:

[0076] The acquisition module is used to acquire the position of the trolley, the size of the workpiece, the range of obstacles, and the scanning feedback distance;

[0077] A memory for storing the program of the control method for any of the above-mentioned floating locking trolley transportation methods;

[0078] The processor and the program in the memory can be loaded and executed by the processor to implement the control method of any of the above-mentioned floating locking trolley transportation methods.

[0079] By adopting the above technical solution, obstacles are identified by scanning the area in front of the trolley during its movement, and then an avoidance plan is found based on the location of the obstacle. This ensures that the trolley shell will not collide with obstacles on the path and be damaged during the trolley's transportation, thus improving the safety of the workpiece transportation process.

[0080] Thirdly, this application provides a smart terminal, which adopts the following technical solution:

[0081] The intelligent terminal includes a memory and a processor, the memory storing a computer program that can be loaded by the processor and executed any of the above-mentioned floating locking trolley transportation methods.

[0082] By adopting the above technical solution, obstacles are identified by scanning the area in front of the trolley during its movement, and then an avoidance plan is found based on the location of the obstacle. This ensures that the trolley shell will not collide with obstacles on the path and be damaged during the trolley's transportation, thus improving the safety of the workpiece transportation process.

[0083] Fourthly, this application provides a computer storage medium capable of storing corresponding programs, characterized by rapid response and accurate recognition.

[0084] Computer-readable storage media adopt the following technical solutions:

[0085] A computer-readable storage medium storing a computer program that can be loaded by a processor and executed in any of the above-described floating locking trolley transport methods.

[0086] By adopting the above technical solution, obstacles are identified by scanning the area in front of the trolley during its movement, and then an avoidance plan is found based on the location of the obstacle. This ensures that the trolley shell will not collide with obstacles on the path and be damaged during the trolley's transportation, thus improving the safety of the workpiece transportation process.

[0087] In summary, this application includes at least the following beneficial technical effects:

[0088] By finding avoidance solutions based on the location of obstacles, the car body will not collide with obstacles in the path and be damaged during the transportation of the trolley, thus improving the safety of the workpiece transportation process.

[0089] It can be determined whether the angle can be adjusted in advance for transportation, so that the car can rotate the car body at the turning point and before and after the turning point to achieve the effect of avoiding obstacles, thereby improving the diversity and flexibility of the avoidance scheme.

[0090] Determining the specific location of obstacles during the vehicle's movement, and subsequently determining whether a collision with obstacles in the future will occur, improves the accuracy and predictability of obstacle recognition. Attached Figure Description

[0091] Figure 1 This is a flowchart of a floating locking trolley transportation method according to an embodiment of this application.

[0092] Figure 2 This is a schematic diagram of the floating locking trolley in the embodiments of this application.

[0093] Figure 3 This is a schematic diagram of the obstacle range in an embodiment of this application.

[0094] Figure 4 This is a flowchart of a method for determining an avoidance scheme based on the obstacle range and workpiece size in an embodiment of this application.

[0095] Figure 5 This is a flowchart of a method in this application embodiment where the moving device is a vertical lifting mechanism and a horizontal moving mechanism, and the moving distance is a moving vector that is output as an avoidance scheme.

[0096] Figure 6 This is a schematic diagram of the trolley sliding on the sliding track in an embodiment of this application.

[0097] Figure 7 This is a flowchart illustrating the method of operating the vehicle according to the actual obstacle avoidance plan in an embodiment of this application.

[0098] Figure 8 This is a flowchart illustrating the method by which a trolley operates according to a planned avoidance scheme when the expected range of a workpiece falls into the current obstacle range, as described in this application embodiment.

[0099] Figure 9 This is a flowchart of a method for scanning within a scanning range to obtain the obstacle range 8 in an embodiment of this application.

[0100] Figure 10 This is a schematic diagram of the horizontal profile in an embodiment of this application.

[0101] Figure 11 This is a flowchart of a method for determining the contour movement trajectory based on the current horizontal contour and historical horizontal contours in an embodiment of this application.

[0102] Figure 12 This is a system module diagram of a floating locking trolley transportation method according to an embodiment of this application.

[0103] Explanation of reference numerals in the attached diagram: 1. Bearing housing; 2. Linear slide rail; 3. Locking block; 4. Limiting block; 5. Electric push rod; 6. Locking stop block; 7. Floating plate; 8. Obstacle range; 9. Scanning range; 10. Interlacing range; 11. Car body range; 12. Rotating chassis; 13. Car body; 14. Sliding track. Implementation

[0104] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figures 1-12 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0105] This application discloses a method for transporting a floating locking trolley. (Refer to...) Figure 1 A method for transporting a floating locking trolley includes:

[0106] Step 100: Obtain the position of the trolley and the size of the workpiece. The trolley includes a floating locking mechanism, a horizontal rotation mechanism, a vertical lifting mechanism, and a lateral movement mechanism.

[0107] The trolley position refers to the current location of the trolley, which can be obtained from a GPS positioning system. The workpiece dimensions are the dimensions of the workpiece clamped on the trolley, including its length, width, and height. For simplicity, the workpiece is calculated as a cuboid. For example... Figure 2 and Figure 3 As shown, the trolley includes a floating locking mechanism, a horizontal rotation mechanism, a vertical lifting mechanism, and a lateral movement mechanism. The floating locking mechanism works as follows: an electric push rod 5 is energized and extends and retracts. Locking blocks 3 are mounted at both ends of the electric push rod 5, and locking stops 6 are symmetrically mounted at both ends of the center of the floating plate 7. The extension and retraction of the electric push rod 5 locks and floats the floating plate 7, achieving a floating locking function. A linear slide rail 2 is connected below the locking blocks 3 for guidance. Limit blocks 4 are mounted on both sides of the locking blocks 3 to limit the movement distance of the locking stops 6. A rotating shaft is installed at the top, connected to a bearing seat 1 on the floating plate 7, enabling angular movement to clamp different workpieces. The horizontal rotation mechanism, vertical lifting mechanism, and lateral movement mechanism are all installed below the floating locking mechanism and are not shown in the figure. The horizontal rotation mechanism can be a rotary cylinder, while the vertical lifting mechanism and lateral movement mechanism can be cylinders.

[0108] Step 101: Determine the scanning range based on the trolley position, workpiece size, preset sliding track, movable range, and reaction distance.

[0109] The sliding track is the path the trolley follows during transport. The movable range is the range within which the entire workpiece can move due to the limitations of the vertical lifting and lateral moving mechanisms' mechanical structures. The reaction distance is the distance the trolley moves corresponding to the maximum time required for the vertical lifting and lateral moving mechanisms to move; here, the maximum time is the longest time required to move from any position to any other position. The scanning range is the area to be scanned at the reaction distance location. For example... Figure 3 As shown, the method of determination is to first determine the plane where the scanning is located based on the position of the trolley, the sliding track and the reaction distance, then simulate the car body area corresponding to the workpiece size on the corresponding plane, and then move it within the movable range to form the boundary position. The area formed by the boundary position is the scanning range.

[0110] Step 102: Scan within the scanning range to obtain the obstacle range 8.

[0111] The obstacle range 8 refers to the range of obstacles that could collide with the vehicle body 13 within the reaction distance. In this embodiment, for ease of calculation and drawing, it is represented by a rectangle. The method of obtaining this rectangle will be explained in subsequent steps and will not be repeated here.

[0112] Step 103: When there is no obstacle in range 8, continue to move the trolley along the sliding track.

[0113] When there are no obstacles, it means that there are no obstacles in front that could cause a collision, and it is safe to proceed.

[0114] Step 104: When obstacle range 8 exists, determine an avoidance scheme based on obstacle range 8 and workpiece size.

[0115] The obstacle avoidance plan refers to the method by which the car avoids obstacles. This avoidance plan could involve stopping until the obstacle is no longer present, or it could employ a subsequent plan, which will not be elaborated upon here.

[0116] Step 105: Update the scanning range based on the avoidance scheme to obtain the avoidance scanning range.

[0117] The avoidance scanning range is the actual scanning range when the avoidance scheme is adopted. Here, because the avoidance scheme is adopted, the vehicle body 13 is not within the original scanning range when it moves forward. Since the avoidance scanning range has some new ranges compared with the original scanning range, it is necessary to re-scan.

[0118] Step 106: After scanning within the avoidance scanning range and finding no obstacles within range 8, the vehicle will operate according to the avoidance plan.

[0119] Step 107: If there is still an obstacle range of 8 after scanning within the avoidance scanning range, redetermine the avoidance plan until there is no avoidance scanning range or no avoidance plan.

[0120] Reference Figure 4 The methods for determining avoidance schemes based on obstacle range 8 and workpiece size include:

[0121] Step 200: Determine the workpiece width range based on the workpiece width, workpiece height and preset placement reference point in the workpiece dimensions.

[0122] The workpiece width is the width of the workpiece. The workpiece height is the height of the workpiece. The placement reference point is the default standard point for workpiece placement, which can be set as the center point at the bottom of the workpiece. This value can be manually measured and input. It's important to note that this is the initial stage; there is no avoidance phase at the beginning. The reference point will be updated based on the amount of movement in subsequent processes.

[0123] The workpiece width range refers to the range of the workpiece in the width direction. It is determined as follows: Figure 3 As shown, the width range is determined by using the center point as the midpoint of the lower width, and then the height range is established by using the center point as the lowest point of the height, thus determining the workpiece width range, as follows. Figure 3 The image shows the vehicle body area 11.

[0124] Step 201: Determine the interlacing range based on the obstacle range 8 and the workpiece width range.

[0125] The overlapping area is the region where the two areas coincide. This can be determined using CAD drawing methods.

[0126] Step 202: Determine the available movement vectors based on the interlacing range and the preset clearance and avoidance distance.

[0127] The clearance distance is provided to prevent calculation errors or to allow for sufficient space to ensure a certain passage distance. The selectable movement vector is the vector to be moved. For example, here... Figure 3 As shown, the direction of the selected movement vector is the direction away from the obstacle range 8, while the distance is the width or length of the intersecting range plus the clearance distance. Figure 3 If the selected direction of departure is horizontal to the right, then the distance is the width of the interlacing range.

[0128] Step 203: Filter the candidate movement vectors based on the movable range to obtain the matching movement vectors.

[0129] The selected movement vectors are those that meet the requirements. Due to the limitations of the mechanical structure of the vertical lifting mechanism and the lateral moving mechanism, some obstacles may not be avoidable in a certain direction, so screening is necessary.

[0130] Step 204: Determine the movement category in the avoidance scheme as translation based on the conforming movement vector.

[0131] Translation category refers to the method of translation, that is, the category of movement in the vertical plane.

[0132] Step 205: Determine the moving device as a vertical lifting mechanism or a horizontal moving mechanism based on the translation category.

[0133] When it is a translation, a vertical lifting mechanism and a horizontal moving mechanism can be used for movement.

[0134] Step 206: The moving device is a vertical lifting mechanism and a horizontal moving mechanism, and the moving distance is a moving vector as the output of the avoidance scheme.

[0135] The specific solution here is to control the vertical lifting mechanism and the horizontal moving mechanism to move the car body 13 on the trolley according to the direction and distance that conform to the movement vector.

[0136] Reference Figure 5 Methods that output the avoidance scheme by defining the moving device as a vertical lifting mechanism and a horizontal moving mechanism, with the moving distance being a moving vector, include:

[0137] Step 300: Calculate the reaction position based on the sliding track, reaction distance, and trolley position.

[0138] The reaction position is the location after the reaction is completed. The calculation uses the maximum reaction distance, meaning the obstacle avoidance strategy for the reaction position may have been completed before or just before reaching that position. The calculation method involves starting from the vehicle's position and calculating the distance along the sliding track to obtain the position equal to the reaction distance from the vehicle's position.

[0139] Step 301: Determine the reaction site category based on the reaction site and the sliding trajectory.

[0140] The reaction position category is the category of the reaction position on the sliding track, such as: straight line, corner, etc., and the corner includes circular corner and vertical corner.

[0141] Step 302: When the reaction position category is a straight line or a circular corner, the moving device is a vertical lifting mechanism and a horizontal moving mechanism, and the moving distance is a moving vector as an avoidance scheme for output.

[0142] When the lines are straight and the circles are circumference, it means that even after passing through the point, the workpiece is still placed according to the placement direction between the inflection points. Therefore, the scanning range at this position can still be determined according to the original width and height. Alternatively, the moving device can be a vertical lifting mechanism and a horizontal moving mechanism, and the moving distance can be a moving vector as an avoidance scheme for output.

[0143] Step 303: When the reaction position category is a straight corner, determine the workpiece length range based on the workpiece length and the preset placement reference point.

[0144] A straight-line corner is a corner where the two sides of a point are perpendicular or at a certain angle. This can be determined by checking whether the lines on both sides of the reaction position are straight lines and have an angle, even 90°. Figure 6 As shown. If here is as... Figure 6 As shown, there is a right-angled corner. At the corresponding position, there is a rotating base 12. This base rotates the track on the base, connecting the section of track before the corner to the track after the corner. The workpiece length range refers to the length of the workpiece. The method for determining this range is similar to that for the workpiece width range, and will not be elaborated here. The purpose of this determination is to ensure that when the trolley is on the rotating base 12 and has not yet rotated, it is necessary to consider not only obstacles along the track direction before the corner, but also obstacles along the track direction after the corner.

[0145] It should be noted here that when the trolley moves to the corner of the straight line, there is a rotating chassis 12 under the track that can rotate, causing the trolley and the track to rotate together. In order to make the car body 13 as stable as possible, the car body 13 should not rotate with the trolley. Therefore, the floating locking device of the trolley and the chassis of the trolley will rotate relative to each other, so that while the chassis of the trolley 12 rotates with the rotating chassis 12, the car body 13 does not rotate.

[0146] Step 304: Determine the scanning range of the inflection point located at the corner of the straight line based on the workpiece length range.

[0147] The inflection point scanning range is the area that needs to be scanned at the corner of a straight line. It is similar to the scanning range and will not be described in detail here.

[0148] Step 305: Determine the inflection point intersection range based on the inflection point scanning range and obstacle range 8.

[0149] The inflection point intersection range is the area where two regions overlap, which is similar to the intersection range and will not be elaborated here.

[0150] Step 306: Determine the available movement vectors for the inflection points based on the inflection point intersection range and the clearance distance.

[0151] The inflection point selection vector is the selection vector located at the corner of the straight line, and is similar to the selection vector, so it will not be described in detail here.

[0152] Step 307: Filter the inflection point movement vectors based on the movable range to obtain the inflection point movement vectors.

[0153] The coincidence inflection point movement vector is the coincidence movement vector located at the corner of the straight line, and it is similar to the coincidence movement vector, so it will not be described in detail here.

[0154] Step 308: When the inflection point movement vector exists, determine the final inflection point movement vector based on the inflection point movement vector and the movement vector.

[0155] The final inflection point movement vector is the vector that can be avoided by the intersection range of the other scheme when moving according to one of the vectors. Here, it can be compared in a way that, when the directions are the same, the one with the larger distance is the final inflection point movement vector; if the two directions are not the same, then the inflection point movement vector is defined as not existing.

[0156] Step 309: The moving device is a vertical lifting mechanism and a horizontal moving mechanism, and the moving distance is the final inflection point moving vector as the avoidance scheme output.

[0157] Step 310: When the matching movement vector does not exist, update the inflection point scanning range based on the workpiece width range to obtain the reset scanning range, and redetermine the matching inflection point movement vector, and define the matching inflection point movement vector as the back inflection point movement vector.

[0158] If the workpiece is not present, it means it cannot be moved past the inflection point. In this case, the workpiece needs to be adjusted by rotating it 90° so that its length direction remains parallel to the sliding track after the corner. Reset the scan range to the workpiece width range as the baseline.

[0159] Step 311: When the backward inflection point movement vector exists, re-determine the scanning range located at the straight corner and before based on the workpiece length range, define the scanning range as the forward scanning range, and re-determine the inflection point movement vector, define the inflection point movement vector as the forward inflection point movement vector.

[0160] In order to be parallel to the sliding track in the length direction at the corner, the workpiece needs to be rotated 90° before the corner.

[0161] Step 312: When the current inflection point movement vector exists, the moving device is a horizontal rotation mechanism, a vertical lifting mechanism, and a lateral movement mechanism. The movement distance is the forward inflection point movement vector, the backward inflection point movement vector, and the preset vertical rotation angle, which are output as the avoidance scheme.

[0162] The vertical rotation angle is 90°. It is important to note that the forward inflection point movement vector is the movement vector on the plane encompassing the workpiece length, while the reverse inflection point movement vector is the movement vector on the plane encompassing the workpiece width.

[0163] Step 313: Output "Cannot move" message if the current inflection point movement vector does not exist or the subsequent inflection point movement vector does not exist.

[0164] If none of the above conditions are met, it means that avoidance is not possible, so no movement is made and an "cannot move" message is output.

[0165] Reference Figure 7 Methods for maneuvering the car according to the actual obstacle avoidance plan include:

[0166] Step 400: Obtain the actual avoidance scheme and obstacle range 8 currently being used on the vehicle, define the actual avoidance scheme as the current avoidance scheme, and define the obstacle range 8 as the current obstacle range 8.

[0167] Step 401: Once the avoidance plan is determined again, the newly determined avoidance plan is defined as the expected avoidance plan.

[0168] Step 402: Simulate the expected avoidance scheme to obtain the expected range of the workpiece.

[0169] The expected range of the workpiece is the range within which the workpiece is expected to be located after being moved according to the expected avoidance plan. This can be simulated using CAD drawing.

[0170] Step 403: When the expected range of the workpiece does not fall into the current obstacle range 8, the trolley will operate according to the expected avoidance plan.

[0171] If it does not fall into the obstacle, it means that directly using the expected avoidance method will not cause it to collide with the obstacle corresponding to the current obstacle range 8 during the movement.

[0172] Step 404: When the expected range of the workpiece falls into the current obstacle range 8, the adjustment movement distance is calculated based on the reaction position, trolley position and workpiece length range corresponding to the current avoidance scheme.

[0173] The movement distance is adjusted so that before reaching this position, the current avoidance plan is executed to avoid the obstacle corresponding to the current obstacle range 8. Then, the movement proceeds according to the expected avoidance plan, moving to the position specified in the expected avoidance plan during the process of avoiding the obstacle corresponding to the expected avoidance plan. If the movement falls into the expected avoidance plan, it indicates that the expected avoidance plan cannot be executed.

[0174] Step 405: The car operates according to the current avoidance plan and moves forward. When it reaches the adjusted moving distance, it stops moving and then operates according to the expected avoidance plan.

[0175] Here, it is necessary to first avoid the obstacles corresponding to the current obstacle range of 8, and then execute the expected avoidance plan. However, since the expected avoidance plan is generated at the reaction distance, in order to prevent the expected avoidance plan from being unable to be completed at the position corresponding to the obstacle of the expected avoidance plan, the movement is stopped at the adjusted movement distance position to complete the expected avoidance plan, and then the movement is resumed.

[0176] Reference Figure 8 It also includes a method for the trolley to operate according to the expected avoidance plan when the expected range of the workpiece falls into the current obstacle range 8, the method including:

[0177] Step 500: Define the reaction position corresponding to the current avoidance plan as the current reaction position, and define the reaction position corresponding to the expected avoidance plan as the expected reaction position.

[0178] Step 501: Calculate the current percentage based on the trolley position, the current reaction position, and the expected reaction position.

[0179] The current percentage represents the distance between the current reaction position and the trolley position as a percentage of the distance between the expected reaction position and the trolley position. Here, the distance between the trolley position and the expected reaction position is the reaction distance. It is calculated by dividing the distance between the current reaction position and the trolley position by the expected reaction position and the trolley position.

[0180] Step 502: Determine the mid-journey avoidance plan based on the current percentage, the current avoidance plan, and the corresponding conforming movement vector of the expected avoidance plan.

[0181] The intermediate avoidance plan is the actual movement vector at the current reaction position during the gradual transition from the current avoidance plan to the expected avoidance plan. For example, if the current avoidance plan is to move 5cm to the left, while the expected avoidance plan is to move 5cm to the right, and the current percentage is 50%, then the intermediate avoidance plan is 0cm.

[0182] Step 503: Simulate based on the mid-way avoidance scheme to obtain the expected range of the mid-way workpiece.

[0183] The simulation here involves moving the workpiece width or length range according to a mid-way avoidance scheme. This simulation is similar to step 402 and will not be described in detail here.

[0184] Step 504: When the expected range of the workpiece does not fall into the current obstacle range 8, the trolley will operate according to the expected avoidance plan.

[0185] If the obstacle doesn't fall into the obstacle's range, it means that reacting according to this reaction distance will prevent a collision at the current position. Even though the workpiece is expected to fall into the current obstacle range (range 8), it hasn't fallen in before reaching the current position and has just avoided it. Therefore, the trolley can proceed according to the planned avoidance strategy. Here, to ensure a collision is avoided, the operation will be performed according to the time corresponding to the reaction distance.

[0186] Step 505: When the expected range of the workpiece falls into the current obstacle range 8, the trolley operates according to the current avoidance plan and moves forward. When it reaches the adjusted moving distance, it stops moving and then the trolley operates according to the expected avoidance plan.

[0187] When it falls in, it means that a collision may occur at the current position. Therefore, it is determined that it is not possible to start operating according to the expected avoidance plan directly. Therefore, the plan in step 405 is still adopted.

[0188] Reference Figure 9 The method for scanning within the scanning range to obtain the obstacle range 8 includes:

[0189] Step 600: Define the obstacle range 8 located between the reaction distance and the vehicle position as the historical obstacle range 8.

[0190] Step 601: Obtain the scanning feedback distance along the sliding track direction.

[0191] The scanning feedback distance is the distance scanned along the sliding track. The scanning method here could involve placing several distance scanners above the track. When the trolley moves to a certain position, the distance scanner at that position scans along the sliding track and then captures the distance value within the scanned range.

[0192] Step 602: Define the coordinates corresponding to the scanning feedback distance as the current coordinates, form the current horizontal contour based on the current coordinates, record the current horizontal contour in the historical coordinate database, and define the current horizontal contour recorded in the historical coordinate database as the historical horizontal contour.

[0193] The current horizontal profile is the profile on a horizontal plane perpendicular to the scanning plane, such as... Figure 10 As shown, because the scanner can only scan the outline in the direction of the scanner, and cannot scan the outline in the opposite direction, only a local area is shown in the figure. In addition, when it goes beyond the scanning plane, that is, when the scanning distance is greater than the reaction distance, it is automatically removed. The purpose of recording it in the historical coordinate database is to leave a record for traceability.

[0194] Step 603: Based on the current horizontal contour, find the corresponding historical horizontal contour from the historical coordinate database.

[0195] The search method will be introduced later and will not be elaborated here.

[0196] Step 604: Determine the contour movement trajectory based on the current horizontal contour and historical horizontal contours.

[0197] The contour movement trajectory is the movement trajectory formed by the evolution of the historical horizontal contours in sequence over time until the current horizontal contour. Here, a certain point in the contour can be used as a reference point.

[0198] Step 605: Simulate the current horizontal profile based on the reaction time and profile movement trajectory corresponding to the reaction distance to obtain the expected horizontal profile.

[0199] The simulation method here is to draw the trajectory on the CAD drawing and then extend it using the extension tool. For example, in the historical process, a point in the horizontal contour moves from the coordinate point (0,0) to (1,3) in a straight line over a period of 2 seconds, while the reaction time is 4 seconds. Therefore, after simulation, the final contour point can be obtained as (2,6).

[0200] Step 606: When the scanning feedback distance corresponding to the expected horizontal profile is less than or equal to the reaction distance, the coordinates corresponding to the expected horizontal profile are defined as obstacle coordinates, and the obstacle range 8 is formed based on the obstacle coordinates.

[0201] If the reaction time is less than 8, it indicates a high probability of becoming an obstacle, and the expected horizontal profile is taken as the obstacle range 8. Here, there is a possibility that the vehicle will only reach a position less than the reaction distance within the reaction time corresponding to the reaction distance, and the vehicle will just avoid it. However, to reduce the amount of calculation, this possibility is not considered. That is, if the scanning feedback distance corresponding to the horizontal profile is less than or equal to the reaction distance, it is assumed to be an obstacle.

[0202] Reference Figure 11 Methods for determining the contour movement trajectory based on the current horizontal contour and historical horizontal contours include:

[0203] Step 700: Match the current horizontal profile with any historical horizontal profile.

[0204] Although it is matched with any one here, it is actually matched with the historical horizontal profile generated by adjacent time nodes.

[0205] Step 701: When the current horizontal profile is completely consistent with one of the historical horizontal profiles, determine the profile movement trajectory of all completely consistent historical horizontal profiles and the current horizontal profile.

[0206] When a match is successful, it is assumed to be the same obstacle and will not deform, so the movement trajectory can be determined based on the same shape.

[0207] Step 702: When the current horizontal profile is inconsistent with any historical horizontal profile, determine the similarity between the current horizontal profile and any historical horizontal profile.

[0208] Similarity is defined as the percentage of identical line segments or curves between two contours. This is achieved by drawing the contours in CAD and then moving the entire contour until they largely overlap. The horizontal contours at two adjacent time points are also used to determine similarity.

[0209] Step 703: When the similarity is greater than the preset critical similarity, the corresponding historical horizontal contour is defined as the same horizontal contour.

[0210] The critical similarity is a manually set percentage of similarity. In this case, it is set manually, that is, by human observation, and then obtained based on the set scanning time interval and personal experience. For example, if the set time interval is 0.1s, then the critical similarity percentage may be 99%.

[0211] Step 704: Re-determine the similarity based on the same horizontal contour, the current horizontal contour, and the remaining historical horizontal contours, and re-determine the same horizontal contour until there are no remaining historical horizontal contours or no remaining same horizontal contours.

[0212] Step 705: Determine the contour movement trajectory and contour change trajectory based on the same horizontal contour and the current horizontal contour, and output both together.

[0213] Based on the same inventive concept, embodiments of the present invention provide a floating locking trolley transportation system.

[0214] Reference Figure 12 A floating locking trolley transport system, comprising:

[0215] The acquisition module is used to acquire the position of the trolley, the size of the workpiece, the obstacle range, and the scanning feedback distance.

[0216] A memory for storing a program for controlling a floating locking trolley transportation method;

[0217] The processor and memory are programs that can be loaded and executed by the processor to implement a control method for a floating locking trolley transportation method.

[0218] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0219] This invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a floating locking trolley transportation method.

[0220] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0221] Based on the same inventive concept, embodiments of the present invention provide a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded and executed by the processor to provide a floating locking trolley transportation method.

[0222] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A method for transporting a floating locking trolley, characterized in that, include: The position of the trolley and the size of the workpiece are obtained. The trolley includes a floating locking mechanism, a horizontal rotation mechanism, a vertical lifting mechanism, and a lateral movement mechanism. The scanning range is determined based on the trolley position, workpiece size, preset sliding track, movable range, and reaction distance; Perform a scan within the scanning range to obtain the obstacle range (8); When there is no obstacle in the area (8), the trolley will continue to move along the sliding track; When the obstacle range (8) exists, an avoidance scheme is determined based on the obstacle range (8) and the workpiece size; The scanning range is updated based on the avoidance scheme to obtain the avoidance scanning range; If no obstacle is found within the avoidance scanning range (8), the vehicle will operate according to the avoidance plan; If there is still an obstacle range after scanning within the avoidance scanning range (8), the avoidance plan is re-determined until there is no avoidance scanning range or no avoidance plan; Among them, the methods for determining the avoidance scheme based on the obstacle range (8) and the workpiece size include: The workpiece width range is determined based on the workpiece width, workpiece height, and preset placement reference points in the workpiece dimensions; The interlacing range is determined based on the obstacle range (8) and the workpiece width range; The available movement vectors are determined based on the interlacing range and the preset clearance and avoidance distance; The candidate movement vectors are filtered based on the movable range to obtain the suitable movement vectors; Based on the conformity of the movement vector, the movement category in the avoidance scheme is determined to be translational. Based on the translation category, the moving device is determined to be a vertical lifting mechanism and a horizontal moving mechanism; The moving device consists of a vertical lifting mechanism and a horizontal moving mechanism, and the moving distance is output as a moving vector to avoidance scheme. The method of using a vertical lifting mechanism and a horizontal moving mechanism as the moving device, and outputting the moving distance as a moving vector as the avoidance scheme, includes: The reaction position is calculated based on the sliding track, reaction distance, and trolley position. The reaction location category is determined based on the reaction location and the sliding trajectory; When the reaction position category is a straight line or a circular corner, the moving device is a vertical lifting mechanism and a horizontal moving mechanism, and the moving distance is output as a moving vector to avoidance scheme. When the reaction location category is a straight corner, the workpiece length range is determined based on the workpiece length and the preset placement reference point; The scanning range of the inflection point located at the corner of a straight line is determined based on the workpiece length range; The inflection point intersection range is determined based on the inflection point scanning range and the obstacle range (8); The available movement vectors for inflection points are determined based on the inflection point intersection range and the clearance and avoidance distance. The inflection point movement vector is filtered based on the movable range to obtain the inflection point movement vector; When the inflection point movement vector exists, the final inflection point movement vector is determined based on the inflection point movement vector and the movement vector. The moving device is a vertical lifting mechanism and a horizontal moving mechanism, and the moving distance is the final inflection point moving vector as the output of the avoidance scheme. When the matching inflection point movement vector does not exist, the inflection point scanning range is updated again based on the workpiece width range to obtain the reset scanning range, and the matching inflection point movement vector is re-determined and defined as the back inflection point movement vector. When the backward inflection point movement vector exists, the scanning range located at the straight corner and before is re-determined based on the workpiece length range. This scanning range is defined as the forward scanning range, and the corresponding inflection point movement vector is re-determined. This corresponding inflection point movement vector is defined as the forward inflection point movement vector. When the current inflection point movement vector exists, the moving device is a horizontal rotation mechanism, a vertical lifting mechanism, and a lateral movement mechanism. The movement distance is the forward inflection point movement vector, the rear inflection point movement vector, and the preset vertical rotation angle as the avoidance scheme output. After the output, the workpiece length range and the workpiece width range are interchanged. If the current inflection point movement vector does not exist or the next inflection point movement vector does not exist, output the message "Cannot move".

2. The floating locking trolley transportation method according to claim 1, characterized in that, Methods for maneuvering the car according to the actual obstacle avoidance plan include: Obtain the actual avoidance scheme and obstacle range (8) being used on the vehicle, define the actual avoidance scheme as the current avoidance scheme, and define the obstacle range (8) as the current obstacle range (8). Once a new avoidance plan is determined, the newly determined avoidance plan is defined as the expected avoidance plan. Simulations are performed based on the anticipated avoidance plan to obtain the expected range of the workpiece. When the expected range of the workpiece does not fall within the current obstacle range (8), the trolley will operate according to the expected avoidance plan; When the expected range of the workpiece falls into the current obstacle range (8), the adjustment movement distance is calculated based on the reaction position, trolley position and workpiece length range corresponding to the current avoidance scheme; The car operates according to the current avoidance plan and moves forward. When it reaches the adjusted moving distance, it stops moving and then operates according to the expected avoidance plan.

3. The floating locking trolley transportation method according to claim 2, characterized in that, It also includes a method for the trolley to operate according to the expected avoidance plan when the expected range of the workpiece falls into the current obstacle range (8), the method including: Define the reaction position corresponding to the current avoidance plan as the current reaction position, and define the reaction position corresponding to the expected avoidance plan as the expected reaction position; Calculate the current percentage based on the vehicle's position, current reaction position, and expected reaction position; Determine the mid-journey avoidance plan based on the current percentage, the current avoidance plan, and the corresponding conforming movement vector of the expected avoidance plan; Simulations were conducted based on mid-course avoidance schemes to obtain the expected range of the workpiece mid-course; When the expected range of the workpiece does not fall into the current obstacle range (8), the trolley will operate according to the expected avoidance plan; When the expected range of the workpiece falls into the current obstacle range (8), the trolley operates according to the current avoidance plan and moves forward. When it moves to the adjusted moving distance, it stops moving and then the trolley operates according to the expected avoidance plan.

4. The floating locking trolley transportation method according to claim 1, characterized in that, Methods for scanning within the scanning range to obtain the obstacle range (8) include: The range of obstacles (8) located between the reaction distance and the vehicle position is defined as the historical obstacle range (8); Obtain the scanning feedback distance along the sliding track direction; Define the coordinates corresponding to the scanning feedback distance as the current coordinates, form the current horizontal profile based on the current coordinates, record the current horizontal profile in the historical coordinate database, and define the current horizontal profile recorded in the historical coordinate database as the historical horizontal profile. Based on the current horizontal profile, retrieve the corresponding historical horizontal profile from the historical coordinate database; Determine the contour movement trajectory based on the current horizontal contour and historical horizontal contours; The current horizontal contour is simulated based on the reaction time and contour movement trajectory corresponding to the reaction distance to obtain the expected horizontal contour; When the scanning feedback distance corresponding to the expected horizontal profile is less than or equal to the reaction distance, the coordinates corresponding to the expected horizontal profile are defined as obstacle coordinates, and the obstacle range is formed based on the obstacle coordinates (8).

5. The floating locking trolley transportation method according to claim 4, characterized in that, Methods for determining the contour movement trajectory based on the current horizontal contour and historical horizontal contours include: Match the current horizontal profile with any historical horizontal profile; When the current horizontal profile is completely identical to one of the historical horizontal profiles, determine the profile movement trajectory of all the completely identical historical horizontal profiles and the current horizontal profile. Determine the similarity between the current horizontal profile and any historical horizontal profile when the current horizontal profile is inconsistent with any historical horizontal profile. When the similarity is greater than the preset critical similarity, the corresponding historical horizontal contour is defined as the same horizontal contour. The similarity is re-determined based on the same horizontal contour, the current horizontal contour, and the remaining historical horizontal contours, and the same horizontal contour is re-determined until there are no remaining historical horizontal contours or no remaining same horizontal contours. The contour movement trajectory and contour change trajectory are determined based on the same horizontal contour and the current horizontal contour, and both are output together.

6. A floating locking trolley transport system, characterized in that, include: The acquisition module is used to acquire the position of the trolley, the size of the workpiece, the range of obstacles (8) and the scanning feedback distance; A memory for storing a program of the control method for a floating locking trolley transportation method as described in any one of claims 1 to 5; The processor and the program in the memory can be loaded and executed by the processor to implement the control method of the floating locking trolley transportation method as described in any one of claims 1 to 5.

7. A smart terminal, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any one of claims 1 to 5 for transporting a floating locking trolley.

8. A computer-readable storage medium, characterized in that, The computer program is stored and can be loaded by a processor and executed as described in any one of claims 1 to 5.

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