Automatic transport control system and control method

Abstract

The present invention provides an automatic transfer control system and control method to solve the technical problem that vehicles lack efficient transfer means at high loading density. The system includes: a transfer response layer, which interacts with the upper system for data, forms an operation strategy for the transfer equipment according to the control purpose of the upper system, monitors the operation status of the transfer equipment and feeds back to the upper system; a signal aggregation layer, which obtains the setting benchmark of the built-in sensor of the transfer equipment, obtains the operation signal of the transfer equipment collected by the built-in sensor, and forms the field operation data according to the setting benchmark; a function configuration layer, which stores customized data processing processes, processes the field operation data through the data processing process to respond to the transfer control process request; a transfer control layer, which adapts the operation strategy to form the transfer control process of the transfer equipment, and controls the transfer of the transfer equipment vehicle. The control process of vehicle transfer is decoupled from the control process of the transfer equipment, which ensures the adaptability to complex transfer scenarios and the control versatility of the transfer equipment.

Description

Technical Field

[0001] The present invention relates to the field of transportation technology, and in particular to an automatic transport control system and a control method. Background Art

[0002] my country's automobile exports are mainly transported by car carriers, container ships, China-Europe trains and road transportation. Among them, sea transportation ranks first in terms of volume, and car carriers are the main mode of transportation. The principle in the transportation process is that the fewer actions taken on the car, the better the transportation quality. Therefore, how to avoid vehicle loss and damage while improving transportation efficiency during the vehicle transportation process such as receiving, loading and unloading is a technical problem that always needs to be faced.

[0003] In the prior art, low-center-of-gravity transport forklifts formed by steering wheel technology have low-center-of-gravity stability, flexible driving direction, and certain adaptability to automobile transport scenarios with high loading density. However, the control structure and control process of the existing low-center-of-gravity transport forklifts are not targeted at shipping scenarios and cannot be effectively used. Summary of the invention

[0004] In view of the above problems, an embodiment of the present invention provides an automatic transfer control system and control method to solve the technical problem of lack of efficient transfer means when the vehicle has a high loading density.

[0005] The automatic transport control system of the embodiment of the present invention comprises:

[0006] The transfer response layer is used to exchange data with the upper system, form the operation strategy of the transfer equipment according to the control purpose of the upper system, monitor the operation status of the transfer equipment and provide feedback to the upper system;

[0007] The signal aggregation layer is used to obtain the setting benchmark of the built-in sensors of the transfer equipment, and obtain the operation signals of the transfer equipment collected by the built-in sensors, and form the field operation data according to the setting benchmark;

[0008] Functional configuration layer, used to store customized data processing procedures, and to process field operation data through data processing procedures to respond to the request of the transport control process;

[0009] The transfer control layer is used to adapt the operation strategy to form the transfer control process of the transfer equipment and control the transfer equipment to complete the vehicle transfer.

[0010] In one embodiment of the present invention, the transport response layer comprises:

[0011] A purpose analysis device, used to receive upper control data to perform control purpose analysis and form a control purpose coordinate space;

[0012] Resource matching means for acquiring associated geographic information data according to the control target coordinate space;

[0013] A strategy planning device for quantifying a transshipment strategy for a transshipment area based on the control purpose spatial data and associated geographic information data;

[0014] The status monitoring device is used to continuously synchronize the on-site operation data of the transfer equipment, and feed back the generated alarm trigger data or early warning trigger data to the upper system according to the preset destination deviation threshold rule.

[0015] In one embodiment of the present invention, the signal aggregation layer includes:

[0016] The sensor type identification device is used to receive the information of the transfer equipment sensor, identify the individual sensor and the type sensor, and form the sensor body reference data;

[0017] An installation reference identification device is used to quantify the sensor installation reference, sensor signal expression type and signal expression limit in the sensor information to form sensor layout reference data;

[0018] A signal acquisition and packaging device, used for performing analog-to-digital conversion and time-series packaging of the sensor acquisition signal to form single sensor field data;

[0019] The data status synchronization device is used to synchronize the field data of all single sensors in time sequence and form field operation data according to various benchmark data.

[0020] In one embodiment of the present invention, the function configuration layer includes:

[0021] A storage framework response device is used to establish a storage update framework, modularly store and update responses to the customized data processing process, and form an index and access to the customized data processing process;

[0022] Functional request response device, used to establish a request response interface and trigger the customized data processing process to run according to the request parameters;

[0023] The data request response device is used to establish a data access interface and read the field operation data according to the customized data processing process data requirements.

[0024] In one embodiment of the present invention, the transport control layer includes:

[0025] The process planning subsystem is used to form a transfer path planning for the transfer equipment in the transfer area according to the transfer strategy, and form an overall control process on the transfer path;

[0026] The equipment driving subsystem is used to form an electric control process of the electric drive mechanism in the transfer equipment according to the overall control process to drive the transfer equipment to operate;

[0027] The target search subsystem is used to form a target positioning control process during the operation of the transfer equipment, and use a customized posture data processing process to form the posture positioning of the target vehicle on site;

[0028] The target fixing subsystem is used to form a target fixing control process during the operation of the transfer equipment, and to form an adaptive fixation of the on-site target vehicle and the transfer equipment using a customized fixed data processing process;

[0029] The target avoidance subsystem is used to form the main obstacle avoidance control process during the operation of the transfer equipment, and use the customized obstacle avoidance data processing process to form the transfer equipment's avoidance of adjacent on-site vehicles.

[0030] The automatic transport control method of the embodiment of the present invention includes:

[0031] Interact with the host system for data, form the operation strategy of the transfer equipment according to the control purpose of the host system, monitor the operation status of the transfer equipment and provide feedback to the host system;

[0032] Obtain the setting benchmark of the built-in sensor of the transfer equipment, and obtain the operation signal of the transfer equipment collected by the built-in sensor, and form the on-site operation data according to the setting benchmark;

[0033] Store customized data processing procedures, and respond to transfer control process requests by processing field operation data through data processing procedures;

[0034] The adapted operation strategy forms the transfer control process of the transfer equipment, and controls the transfer equipment to complete the vehicle transfer.

[0035] The automatic transport control system of the embodiment of the present invention comprises:

[0036] A memory, used to store program codes corresponding to the control process in the automatic transport control method as described above;

[0037] A controller is used to run the program code.

[0038] The automatic transfer control system and control method of the embodiment of the present invention ensure the adaptability to complex transfer scenarios and the control versatility of the transfer equipment by decoupling the control process of vehicle transfer from the control process of the transfer equipment. The complexity of constructing the automatic control process for the transfer scenario and reconstructing the data processing process of the transfer equipment is reduced, and the control reliability is improved. By decoupling and layering the transfer requirements of complex environments, the control benchmarks of equipment operations, data processing with high adaptation levels, and flexible control of on-site transfer, it is possible to fully utilize external resources to optimize the transfer process and reduce the potential impact of the differences in transfer equipment on the transfer process. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 FIG. 4 is a schematic diagram of the architecture of an automatic transport control system according to an embodiment of the present invention.

[0040] Figure 2 FIG. 4 is a flow chart of an automatic transport control method according to an embodiment of the present invention.

[0041] Figure 3 The figure is a top view schematic diagram of a transfer device using the automatic transfer control system according to an embodiment of the present invention.

[0042] Figure 4 Shown is a side schematic diagram of a transfer device using an automatic transfer control system according to an embodiment of the present invention.

[0043] Figure 5 FIG. 1 is a schematic diagram of the architecture of a target fixing subsystem according to an embodiment of the present invention.

[0044] Figure 6 FIG. 1 is a schematic diagram of data distribution of tire measurements in a target fixing method according to an embodiment of the present invention.

[0045] Figure 7 FIG. 4 is a flow chart of a target fixing method according to an embodiment of the present invention.

[0046] Figure 8 FIG. 4 is a schematic diagram of the architecture of a target search subsystem according to an embodiment of the present invention.

[0047] Fig. 9 FIG. 4 is a flow chart of a target search method according to an embodiment of the present invention.

[0048] Fig.10 FIG. 4 is a schematic diagram of the architecture of a target avoidance subsystem according to an embodiment of the present invention.

[0049] Fig.11 FIG. 1 is a schematic diagram of data distribution of distance measurement in a target avoidance subsystem according to an embodiment of the present invention.

[0050] Fig.12 FIG. 4 is a flow chart of a target avoidance method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the present invention clearer and more understandable, the present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] An automatic transport control system according to an embodiment of the present invention is as follows Figure 1 As shown. Figure 1 In the embodiment of the present invention, the present invention includes:

[0053] The transfer response layer 10 is used to exchange data with the upper system, form an operation strategy for the transfer equipment according to the control purpose of the upper system, monitor the operation status of the transfer equipment and provide feedback to the upper system.

[0054] Data interaction with the upper system includes obtaining upper control requirements and upper control resources. The upper control requirements include but are not limited to the transfer area requirements, transfer path requirements, transfer reliability requirements, etc. for the attributes of the vehicle to be transported. The upper control resources include but are not limited to the coordinate space related to the transfer site, obstacle information in the coordinate space, and passing information around the coordinate space.

[0055] According to the upper control requirements, quantitative control objectives are formed for factors such as the number of vehicles, storage environment, transfer restrictions and transfer destinations. Then, regional control strategies for vehicle transfers such as transfer routes, transfer speeds and transfer purposes are formed for transfer equipment. At the same time, qualitative monitoring is performed on the thread operation status formed by the transfer equipment to achieve alarm feedback to the upper system and even early warning feedback.

[0056] The signal aggregation layer 20 is used to obtain the setting benchmark of the built-in sensor of the transfer equipment, and obtain the operation signal of the transfer equipment collected by the built-in sensor, and form the field operation data according to the setting benchmark.

[0057] Those skilled in the art can understand that the controlled transfer equipment must include components such as an electric drive architecture that drives the active loading and unloading structure and the operation of the equipment, a mechanical force-bearing architecture that carries the load, loads and unloads the load and integrates the equipment, and a perception architecture of the load and its own posture. The transfer equipment adapts the components of the corresponding structural specifications, electronic control specifications and sensor specifications according to the structural characteristics of the transfer vehicle. The perception architecture includes a determined sensor type, a number of sensors and a sensor signal acquisition benchmark. By obtaining the layout benchmark or measurement benchmark of the sensor signal on the electric drive architecture or the mechanical force-bearing architecture, combined with the sensor's perception signal dimension, the operation signal of the transfer equipment can be collected according to the sensor layout intention. The operation signal includes but is not limited to reflecting the continuous state or posture of the transfer equipment walking, lifting, starting and stopping, overall movement, local active force structure changes or movements or maintenance. Complete time series data reflecting the on-site operation of the transfer equipment can be formed through analog-to-digital signal conversion and data encapsulation.

[0058] The function configuration layer 30 is used to store customized data processing processes, and to process field operation data through the data processing processes to respond to the transport control process request.

[0059] Those skilled in the art can understand that in the control process of automatic transportation, there are general control steps and model-specific control steps for different types of transportation equipment. By effectively adjusting the control logic to reduce the coupling between the control steps, the data processing process of most control steps can be clarified. Customizing the general control steps to form a general data processing process, and customizing the specific control steps to form a targeted data processing process can make the data processing process modular and improve the versatility of the control steps. By constructing the control or input parameters of the data processing process in a diverse manner, the application compatibility of the modular data processing process can be formed, reducing the compilation and optimization costs of the control steps. The modular data processing process can be formed in the form of a method, function or module to respond to the control request or data request of the transportation control process, and process the field operation data to form the corresponding intermediate processing results or intermediate state data.

[0060] The transfer control layer 40 is used to adapt the operation strategy to form a transfer control process of the transfer equipment, and control the transfer equipment to complete the vehicle transfer.

[0061] According to the clear transfer purpose formed by the operation strategy, a real-time control process of the transfer process and transfer action of the transfer equipment on site is formed, and control feedback for the transfer process and transfer action is formed. According to the control purpose, control object and control logic, a relatively independent control subsystem or independent control process is formed, and the control subsystem or independent control process is used to call the customized data processing process to complete the data processing process of the specific transfer steps. The effective coordination of the control subsystem or independent control process forms a complete control process for the vehicle transfer purpose.

[0062] The automatic transfer control system of the embodiment of the present invention ensures adaptability to complex transfer scenarios and universal control of transfer equipment by decoupling the control process of vehicle transfer from the control process of transfer equipment. The complexity of constructing automatic control processes for transfer scenarios and reconstructing data processing processes for transfer equipment is reduced, and control reliability is improved. By decoupling and layering the transfer requirements of complex environments, the control benchmarks of equipment operations, data processing with high adaptability levels, and flexible control of on-site transfer, it is possible to fully utilize resources outside the system to optimize the transfer process and reduce the potential impact of differences in transfer equipment on the transfer process.

[0063] like Figure 1 As shown, in one embodiment of the present invention, the transport response layer 10 includes:

[0064] The purpose analysis device 11 is used to receive the upper control data to perform control purpose analysis and form a control purpose coordinate space.

[0065] The upper control data at least provides basic information about the storage area and the transfer destination area of ​​the vehicles to be transferred, and the basic information includes but is not limited to the distribution information of the vehicles to be transferred in the storage area and the distribution information of the vehicles to be transferred in the transfer destination area. As the initial control factor of the transfer control, the upper control data can at least quantify the initial spatial data and target spatial data of the transfer of the vehicles to be transferred. Through the spatial data, continuous spatial quantification can be formed in the transfer process, and the basic coordinate space of the transfer can be established.

[0066] The resource matching device 12 is used to obtain the associated geographic information data according to the control target coordinate space.

[0067] Request the associated geographic information data of the relevant resource system according to the coordinate space. The associated geographic information data includes but is not limited to the terrain drop, obstacle outline, bottom surface texture, space clear height and available travel channel identification in the coordinate space. Use the associated geographic information data to establish a basic quantification of the driving conditions of the transfer equipment in the coordinate space.

[0068] The strategy planning device 13 is used to quantify the transfer strategy of the transfer area based on the control purpose spatial data and the associated geographic information data.

[0069] Combining the control purpose spatial data and related geographic information data, an overall operation strategy including macro starting point planning, macro end point planning, macro obstacle avoidance planning, macro transfer speed planning, macro transfer speed, and macro transfer route planning is formed for the overall operation process according to the control purpose.

[0070] The status monitoring device 14 is used to continuously synchronize the on-site operation data of the transfer equipment, and feed back the generated alarm trigger data or early warning trigger data to the upper system according to the preset target deviation threshold rule.

[0071] The purpose deviation threshold rule has different levels of threshold rule sets. It is set according to the degree of influence of the transfer equipment on the transfer space. The purpose deviation threshold rule is used to judge the transfer continuity of the automatic transfer process, the transfer stability of the transfer equipment, and the potential harm of the transfer equipment to the transfer vehicle.

[0072] The automatic transport control system of the present invention establishes a control data link, a resource acquisition link and a monitoring feedback link with the upper system, forming a quantification of the macroscopic transport demand in the automatic transport process. The operation strategy is formed by quantification to establish a macroscopic operation strategy to complete the control purpose, reflecting the overall control target and macroscopic control content of the automatic transport control, ensuring the relative independence of the automatic transport control and the transport equipment model, effectively separating the specific control of the transport equipment, and improving the versatility of the automatic transport control.

[0073] like Figure 1 As shown, in one embodiment of the present invention, the signal aggregation layer 20 includes:

[0074] The sensor type identification device 21 is used to receive the sensor information of the transfer equipment, perform individual identification and type identification on the sensor, and form sensor body reference data.

[0075] For all sensors installed on the transfer equipment, the individual identification information is set in the sensor's signal conversion packaging circuit, and the signal source is determined by the individual identification. The sensor type identification includes but is not limited to proximity sensors, ranging sensors, pressure sensors, etc., and the sensor model, accuracy information, and acquisition signal range are quantified by the type identification.

[0076] The installation reference identification device 22 is used to quantify the sensor installation reference, sensor signal expression type and signal expression restriction in the sensor information to form sensor layout reference data.

[0077] The sensor installation reference includes the identification of the sensor installation position and the signal acquisition position, which can describe the physical setting of the acquisition signal. The sensor signal expression type includes angle, distance or pressure, which can be targeted at specific physical dimensions. The signal expression limit includes the signal interval or signal end value corresponding to the acquisition signal, which can limit the effective signal range of a specific sensor.

[0078] The signal acquisition and packaging device 23 is used to perform analog-to-digital conversion and time-series packaging on the sensor acquisition signal to form single sensor field data.

[0079] Analog-to-digital conversion and timing packaging ensure the sensor's ability to continuously acquire a single target state and signal accuracy.

[0080] The data state synchronization device 24 is used for time-series synchronization of all single sensor field data and forms field operation data according to various benchmark data.

[0081] Through time series synchronization, the correlation of single sensor field data in the time dimension is established, forming the basis for describing the overall operation status data of the transfer equipment at a specific operating moment. Field operation data can be stored in a relational data structure.

[0082] The automatic transport control system of the embodiment of the present invention integrates the sensor layout information and the real-time acquisition signal to establish a unified acquisition data description specification based on the existing perception architecture of the transport equipment. The differences in field operation perception formed by the differences in the structure and function of specific models can be expressed based on the definition of the unified perception architecture, and the content and information meaning of the field operation data formed are open, which is conducive to the centralized storage of data and the parallel response and utilization of data.

[0083] like Figure 1 As shown, in one embodiment of the present invention, the function configuration layer 30 includes:

[0084] The storage framework response device 31 is used to establish a storage update framework, modularly store and update the customized data processing process, and form an index and access to the customized data processing process.

[0085] The storage update framework forms a modular storage structure for the customized data processing process. The modular storage structure provides a means of searching for the customized data processing process, and the search means form an access match for the customized data processing process. The key words of the search means include but are not limited to the explicit quantitative description content, functional description content, parameter description content or device parameter adaptation content of the customized data processing process. The search means establish the status of confirmed existence, confirmed absence or confirmed replacement of the customized data processing process.

[0086] Function request response means 32 is used to establish a request response interface and trigger the customized data processing process to run according to the request parameters.

[0087] After the customized data processing process that matches the control step requirements is determined through the index and access permission is formed, the control request parameters or function request parameters of the control step are transmitted using the request response interface. When the request parameters match the customized data processing process, the operation trigger of the customized data processing process is formed.

[0088] The data request response device 33 is used to establish a data access interface and read the field operation data according to the customized data processing process data requirements.

[0089] The customized data processing process adapted to the control step establishes access permission to the field operation data through the data access interface, transmits the filtering parameters of the field operation data through the data access interface, receives the filtered field operation data, and the customized data processing process uses the field operation data to form the operation status judgment result or the electromechanical mechanism action control signal. Until the customized data processing process is completed, the operation result of the control step is formed.

[0090] The automatic transport control system of the embodiment of the present invention modularizes the customized data processing process by forming a storage structure, operation trigger mechanism and data access control mechanism of the data processing process, effectively separates the data processing process of specific on-site operation data from the control process, reduces the difficulty of compiling the control process, and improves the optimization efficiency of the data processing process.

[0091] like Figure 1 As shown, in one embodiment of the present invention, the transport control layer 40 includes:

[0092] The process planning subsystem 41 is used to form a transfer path planning for the transfer equipment in the transfer area according to the transfer strategy, and form an overall control process on the transfer path.

[0093] According to the quantitative control purpose of the transfer strategy, the transfer path planning of the transfer site is carried out to quantify the specific path for each vehicle to be transferred. The transfer path planning includes but is not limited to the start and end lengths, directions, drops, driving speeds, turning angles and widths of each section in the coordinate space when each vehicle is transferred. The overall control process of the automatic transfer site is formed according to the transfer path planning.

[0094] The equipment driving subsystem 42 is used to form an electric control process of the electric drive mechanism in the transfer equipment according to the overall control process to drive the transfer equipment to operate.

[0095] According to the overall control process, a timing control process of the output power signal in the electromechanical control mechanism is formed to form the basic operating state of the transfer equipment at the transfer site.

[0096] The target search subsystem 43 is used to form a target positioning control process during the operation of the transfer equipment, and use a customized posture data processing process to form the posture positioning of the on-site target vehicle.

[0097] The target positioning control process accurately positions the current vehicle on the basis of maintaining the basic operating status of the transfer site, provides accurate positioning data of the current vehicle, and corrects the relative posture of the transfer equipment before the vehicle is fixed on the transfer path.

[0098] The target fixing subsystem 44 is used to form a target fixing control process during the operation of the transfer equipment, and utilizes a customized fixing data processing process to form an adaptive fixation between the on-site target vehicle and the transfer equipment.

[0099] The target fixation control process forms an adaptive fixation for the current vehicle when the vehicle is fixed. The relative position data of each fixed part of the current vehicle is obtained, and the adaptability adjustment of the fixed mechanism of the transfer equipment is performed to complete the reliable fixed load of the current vehicle.

[0100] The target avoidance subsystem 45 is used to form a main body obstacle avoidance control process during the operation of the transfer equipment, and utilizes a customized obstacle avoidance data processing process to form the transfer equipment's avoidance of adjacent on-site vehicles.

[0101] When the transfer equipment carries the current vehicle and moves in a narrow and long space, the main obstacle avoidance control process detects the approach trend between the transfer equipment and the adjacent vehicle, forms distance feedback, and encourages the transfer equipment to make timely adjustments to the driving direction.

[0102] The automatic transport control system of the embodiment of the present invention forms an overall transport control process and a targeted correction control process that conforms to the macro control of the adaptive operation strategy through the transport control process. The correction control process is used to improve the transport quality and efficiency. The transport control process has greater flexibility and adaptability in data acquisition, data processing and process adjustment for the transport site and transport equipment, effectively eliminating the impact of the differences in the transport equipment architecture on the overall transport control quality, and improving the transport efficiency.

[0103] An automatic transport control method according to an embodiment of the present invention is as follows Figure 2 As shown. Figure 2 In this embodiment, the present invention includes:

[0104] Step 01: Exchange data with the upper system, form the operation strategy of the transfer equipment according to the control purpose of the upper system, monitor the operation status of the transfer equipment and provide feedback to the upper system;

[0105] Step 02: Obtain the setting benchmark of the built-in sensor of the transfer equipment, and obtain the operation signal of the transfer equipment collected by the built-in sensor, and form the field operation data according to the setting benchmark;

[0106] Step 03: Store customized data processing process, process field operation data through data processing process to respond to the transfer control process request;

[0107] Step 04: Adapt the operation strategy to form the transfer control process of the transfer equipment, and control the transfer equipment to complete the vehicle transfer.

[0108] like Figure 2 As shown, in one embodiment of the present invention, step 01 includes:

[0109] 01a: Receive upper control data to analyze the control purpose and form the control purpose coordinate space;

[0110] 01b: Obtain the associated geographic information data according to the control target coordinate space;

[0111] 01c: Quantify the transshipment strategy of the transshipment area based on the control purpose spatial data and associated geographic information data;

[0112] 01d: Continuously synchronize the on-site operation data of the transfer equipment, and feed back the generated alarm trigger data or early warning trigger data to the upper system according to the preset destination deviation threshold rules.

[0113] like Figure 2 As shown, in one embodiment of the present invention, step 02 includes:

[0114] 02a: Receive the information of the transfer equipment sensor, identify the individual and type of the sensor, and form the sensor body benchmark data;

[0115] 02b: Quantify the sensor installation benchmark, sensor signal expression type and signal expression limit in the sensor information to form sensor deployment benchmark data;

[0116] 02c: Perform analog-to-digital conversion and timing packaging on the sensor acquisition signal to form a single sensor field data;

[0117] 02d: Time-series synchronization of all single sensor field data, forming field operation data based on each benchmark data.

[0118] like Figure 2 As shown, in one embodiment of the present invention, step 03 includes:

[0119] 03a: Establish a storage and update framework to modularly store and update the customized data processing process, forming an index and access to the customized data processing process;

[0120] 03b: Establish a request response interface to trigger the customized data processing process according to the request parameters;

[0121] 03c: Establish a data access interface to read field operation data according to the customized data processing process data requirements.

[0122] like Figure 2 As shown, in one embodiment of the present invention, step 04 includes:

[0123] 04a: According to the transfer strategy, the transfer path planning of the transfer equipment in the transfer area is formed to form the overall control process on the transfer path;

[0124] 04b: According to the overall control process, the electric control process of the electric drive mechanism in the transfer equipment is formed to drive the transfer equipment to operate;

[0125] 04c: Form a target positioning control process during the operation of the transfer equipment, and use the customized posture data processing process to form the posture positioning of the target vehicle on site;

[0126] 04d: Form a target fixed control process during the operation of the transfer equipment, and use a customized fixed data processing process to form an adaptive fixation of the on-site target vehicle and the transfer equipment;

[0127] 04e: The obstacle avoidance control process of the transfer equipment is formed during its operation, and the customized obstacle avoidance data processing process is used to enable the transfer equipment to avoid adjacent vehicles.

[0128] An automatic transport control system according to an embodiment of the present invention comprises:

[0129] A memory, used to store program codes corresponding to the control process in the automatic transport control method of the above embodiment;

[0130] The controller is used to run the program code corresponding to the control process of the automatic transport control method of the above embodiment.

[0131] The controller may adopt a DSP (Digital Signal Processor) digital signal processor, an FPGA (Field-Programmable Gate Array) field programmable gate array, an MCU (Microcontroller Unit) system board, a SoC (system on a chip) system board or a PLC (Programmable Logic Controller) minimum system including I / O.

[0132] A top view of the architecture of a transport device using the automatic transport control system of the embodiment of the present invention is as follows: Figure 3 As shown. Figure 3 In the figure, the transfer equipment includes two parallel upright fixed frames 51 and a horizontal fixed frame 52 fixed on the top of the upright fixed frame 51, and four steering wheel sets symmetrically arranged at the bottom of the upright fixed frame 51. The two upright fixed frames 51 form a through passage for accommodating the vehicle to be transferred, and the steering wheel set is controlled as part of the electric drive structure to form the running track of the transfer equipment. A pan / tilt 52a is arranged on the horizontal fixed frame 52 for deploying a video sensor for collecting information about the surrounding environment of the transfer equipment.

[0133] A side view of the architecture of a transport device using the automatic transport control system of the embodiment of the present invention is as follows Figure 4 As shown. Combined Figure 3 and Figure 4 As shown, a clamping mechanism 53, a spacing adjustment mechanism 54, a clamping mechanism 55 and a lifting mechanism 56 corresponding to the vehicle wheels are arranged at the bottom of the upright fixed frame 51, and a wheelbase adjustment mechanism 57 is arranged between the clamping mechanisms on the same side, wherein:

[0134] The clamping mechanism 53 is used to control a pair of lifting cross bars 53a that can be parallel to the vehicle drive shaft to clamp the tire from the outer edge of the tire circumference; it serves as an electromechanical actuator for tire clamping control.

[0135] The spacing adjustment mechanism 54 is used to adjust the parallel spacing of a pair of lifting cross bars based on the clamping mechanism; it serves as an electromechanical actuator adapted to the outer edge of the tire.

[0136] The clamping mechanism 55 is used to squeeze the wheel hub inward along the axial direction of the tire under the control of the clamping mechanism; it serves as an electromechanical actuator to stabilize the vehicle.

[0137] The wheelbase adjustment mechanism 56 is used for controlled adjustment of the spacing between the clamping mechanisms on the same side; it serves as an electromechanical actuator for adapting the wheelbase of the vehicle.

[0138] The lifting mechanism 57 is used to controllably drive the clamping mechanism to perform lifting actions; it serves as an electromechanical actuator for lifting the vehicle.

[0139] The above-mentioned controlled electromechanical actuators form an integral part of the mechanical force-bearing structure. The outer edge of the tire is clamped and lifted by the clamping mechanism 53. The clamping distance is adjusted by the spacing adjustment mechanism 54 to determine the clamping position at the outer edge of the tire. The wheelbase adjustment mechanism 56 makes the clamping mechanism 53 adapt to the wheelbase distance of the front and rear tires. The lifting mechanism 57 drives the clamping mechanism 53 to rise and fall to form the loading and unloading of the vehicle. The clamping mechanism 55 abuts the wheel hub to maintain the stability of the vehicle during the transportation process. The electromechanical control power signal of the active part of the structure in the mechanical force-bearing structure is provided by the electric drive structure. Some controlled electromechanical motors are arranged in groups. Each group of controlled electromechanical mechanisms can form a synchronous linkage according to the control logic of the control process. The controlled electromechanical mechanisms in the same group have an adaptive assembly structure, and limited improvement differences are formed according to the model of the transfer equipment. The specific structural composition of each mechanism of a transfer equipment in an embodiment of the present invention is not the technical focus of this application. Here, only a general description that can be achieved by a technician in this field using general assembly technology is made.

[0140] like Figure 3 As shown, a proximity switch sensor 61 is provided on the opposite inner side of the lifting cross bar 53a of the clamping mechanism 53 for sensing the abutment of the circumferential outer edge of the tire.

[0141] like Figure 3 As shown, a line laser spacing sensor 62 is provided inside a lifting cross bar 53a of the clamping mechanism 53 for sensing the spacing between the lifting cross bars 53a.

[0142] like Figure 3 As shown, a line laser tire positioning sensor 63 is arranged on the side wall of the clamping mechanism 53 toward the opposite side, for sensing the tire status of the vehicle.

[0143] like Figure 3 As shown, a line laser wheelbase sensor 64 is provided between the clamping mechanisms 53 on the same side to sense the distance between the clamping mechanisms 53 on the same side.

[0144] like Figure 3 As shown, a pair of linear laser inner distance sensors 65 with a small spacing and parallel to each other are arranged on the inner side wall of the parallel frame 51 to sense the inner distance between the inner side wall of the parallel frame 51 and the side wall of the load vehicle. Specifically, four linear laser inner distance sensors are arranged on both sides of an axle.

[0145] like Figure 3As shown, a pair of line laser distance sensors 66 with a large spacing are arranged on the outer side wall of the parallel frame 51 on the same side, for sensing the outer spacing between the outer side wall of the parallel frame 51 and the adjacent vehicle side wall. Specifically, four line laser distance sensors are arranged on the outer sides of the two axles.

[0146] like Figure 3 As shown, an infrared camera sensor 67 and a matrix laser sensor 68 are arranged on the top of the fixed frame 52 for performing posture perception on the vehicle to be transferred on the running track of the transfer equipment.

[0147] The above sensors form an integral part of the perception architecture, which senses the specific operating status of the transfer equipment on site during the transfer process. The above mechanical force architecture and perception architecture, as the main components of the transfer equipment, can be described, quantified, and can form a control and feedback benchmark. There will be differences in technical details depending on the specific implementation of the specific model of the equipment. The specific assembly structure of each sensor of a transfer equipment in an embodiment of the present invention is not the technical focus of this application. Here, only a general description of what can be achieved by technical personnel in this field using general assembly technology is made.

[0148] Some sensors are set up in groups, and the sensing information of each group of sensors can be used to verify each other. Alternatively, only one group can be set up based on the comprehensiveness of the sensing information.

[0149] The automatic transfer control system of the embodiment of the present invention provides a target fixing subsystem for the control process of loading and unloading the transfer vehicle by the transfer equipment. The control process of vehicle loading and fixing is formed by coordinating the control of the electromechanical actuators such as wheelbase adjustment, tire diameter confirmation, tire clamping control, vehicle stability control and vehicle lifting control in the mechanical force structure of the transfer equipment through the targeted data processing process, so as to complete the loading and unloading of the transfer vehicle.

[0150] The target fixed subsystem of an embodiment of the present invention is as follows Figure 5 As shown. Figure 5 In this embodiment, the present invention includes:

[0151] The tire confirmation module 44A is used to form a tire data processing process according to the time series data of the centerline laser tire positioning sensor in the field operation data to realize tire status confirmation.

[0152] In the target fixing method according to an embodiment of the present invention, the tire measurement data is distributed as follows: Figure 6 As shown. Combined Figure 6 As shown. Combined Figure 6 As shown, in one embodiment of the present invention, the tire data processing process includes:

[0153] -Get the installation reference, reference orientation and scanning length of the line laser tire positioning sensor to determine the scanning range. The line laser sensor can form a distance and angle recognition of the high-frequency light reflection signal within a linear length range, and the high-frequency laser signal is periodically scanned along the linear length range. The reference orientation is aligned with one end of the linear length range. The installation reference determines the relative position of the line laser tire positioning sensor on the clamping mechanism of the transfer equipment, and the relative coordinates of the line laser tire positioning sensor can be quantified based on the relative position.

[0154] -After the wheel side enters the scanning range, the front outer edge reflection distance len1 and the rear outer edge reflection distance len2 of the tire are determined according to the reflection signal from the front and rear outer edges of the tire circumference, and the front outer edge measurement angle angle1 and the rear outer edge measurement angle angle2 of the tire are determined according to the reference orientation. The laser emission signal of the laser tire positioning sensor is emitted in sequence along the scanning range, and within the scanning range, the light forms an intersecting light segment with the wheel side, and the two ends of the intersecting light segment are the front and rear outer edges of the tire.

[0155] -Determine the chord length l of the intersecting light segments within the corresponding scanning range based on the reflection distance of the front and rear outer edges and the measurement angle of the front and rear outer edges. The specific calculation process is:

[0156] l=len2*sin(anlge2)-len1*sin(angle1)

[0157] -Determine the tire axis projection position dis1 based on the chord length and installation reference. The specific calculation process is:

[0158] dis1=len1*sin(angle1)+(len2*sin(anlge2)-len1*sin(angle1)) / 2

[0159] -Determine the tire outer diameter and circumference c based on the chord length l and the relative height d of the scanning range. The outer edge of the tire is grounded, and the relative height of the scanning range is the relative height of the installation reference of the line laser tire positioning sensor to the ground. The outer diameter of the perfect circle can be determined based on the collective relationship between the chord length and arc height corresponding to the arc on the perfect circle. The specific calculation process is:

[0160] The radius of a perfect circle r = ((l / 2)^2+d^2) / 2d

[0161] Tire circumference c = 2πr

[0162] The wheelbase adjustment module 44B is used to form a wheelbase data processing process of the clamping mechanism on the same side according to the front and rear tire states of the current vehicle in the field operation data, so as to adjust the distance between the clamping mechanisms.

[0163] In one embodiment of the present invention, the wheelbase data processing process includes:

[0164] - Obtain the projection position dis1 of the front tire axis of the front wheel tire on the same side of the vehicle relative to the linear laser tire positioning sensor at the rear of the through-channel of the transfer equipment, and the projection position dis2 of the rear tire axis of the rear wheel tire on the same side of the vehicle relative to the linear laser tire positioning sensor at the front of the through-channel of the transfer equipment at the same time when the current vehicle enters the through-channel of the transfer equipment. According to the process of the through-channel of the transfer equipment gradually accommodating the current vehicle, the front wheel of the vehicle (the one that enters the through-channel first) first approaches and then leaves the linear laser tire positioning sensor at the front of the transfer equipment and then approaches the linear laser tire positioning sensor at the rear. Then the rear wheel of the vehicle (the one that enters the through-channel later) approaches the linear laser tire positioning sensor at the front.

[0165] -Determine the distance between the front and rear axles of the vehicle based on the installation reference of the linear laser tire positioning sensor at the front of the transfer equipment, the projection position dis2 of the rear tire axis of the vehicle, the installation reference of the linear laser tire positioning sensor at the rear of the transfer equipment, and the projection position dis1 of the front tire axis of the vehicle. The installation reference has a determined relative position coordinate, and the projection position of the tire axis has a quantified offset distance relative to the installation reference. The specific calculation process is:

[0166] Front and rear axle spacing = |rear tire axis projection position dis2 - front tire axis projection position dis1|.

[0167] -The wheelbase adjustment mechanism adjusts the distance between the front and rear clamping mechanisms on the same side according to the distance between the front and rear axles.

[0168] -Based on the timing data of the line laser wheelbase sensor in the field operation data, feedback is given on whether the spacing adjustment of the clamping mechanism on the same side is in place.

[0169] The clamping positioning module 44C is used to form a positioning data processing process according to the spacing between the front and rear clamping mechanisms on the same side of the current vehicle in the field operation data, so as to achieve alignment between the clamping mechanism and the vehicle tire.

[0170] In one embodiment of the present invention, the positioning data processing process includes:

[0171] -Determine the relative position of the clamping mechanism action reference reference position according to the installation reference of the line laser tire alignment sensor. The action reference reference of the clamping mechanism can be the reference center position of the clamping mechanism body or the reference reference position of the clamping mechanism action. The action reference reference of the clamping mechanism and the installation reference of the sensor are kept constant.

[0172] - A driving signal for the transfer device is formed according to the relative position deviation between the reference datum of the clamping mechanism and the projection position dis1 of the tire axis, and the transfer device is driven to move and align the clamping mechanism and the tire.

[0173] The spacing adjustment module 44D is used to form a spacing data processing process according to the tire outer diameter and tire clamping position of the current vehicle in the field operation data, so as to realize the spacing adjustment of the lifting crossbar of the clamping mechanism.

[0174] In one embodiment of the present invention, the spacing data processing process includes:

[0175] -The spacing adjustment data of the lifting crossbars of the clamping mechanism is formed according to the tire outer diameter and tire clamping position of the current vehicle, and the horizontal spacing of the lifting crossbars when they are in place is adjusted according to the spacing adjustment data. Usually, the lifting crossbars keep the spacing of the coaxial lines fixed in the initial state, and form a parallel steady state when they are in place. The parallel spacing of the lifting crossbars when they are in place corresponds to the contact position with the outer edge of the tire when clamping the tire. The choice of the contact position is related to the height, center of gravity, tonnage and wheelbase of the vehicle.

[0176] -Based on the timing data of the line laser spacing sensor in the field operation data, feedback is given on whether the spacing adjustment of the clamping mechanism is in place.

[0177] The clamping and lifting module 44E is used to form a lifting data processing process according to the clamping mechanism action information in the field operation data, so as to achieve the lifting of the tire into place.

[0178] In one embodiment of the present invention, the lifting data processing process includes:

[0179] -When the lifting crossbar is judged to be in place according to the proximity switch timing data, the lifting control data is generated to control the lifting mechanism to drive the clamping mechanism to lift the tire to the specified height.

[0180] The clamping and tightening module 44F is used to form a tightening data processing process according to the operating status information of the transfer equipment in the on-site operating data, so as to achieve vehicle stability during the transfer process.

[0181] In one embodiment of the present invention, the accelerated data processing process includes:

[0182] -The clamping mechanism is actuated according to the proximity switch sensor timing data, the lifting control data and the operating status of the transfer equipment, so that the actuating part of the clamping mechanism abuts against the wheel hub axially.

[0183] - Adjust the axial contact force according to the operating speed of the transfer equipment, ground height and vehicle mass.

[0184] The target fixing subsystem of the embodiment of the present invention uses a customized data processing process to process the field operation data in the field transportation working scenario of the vehicle fixing transportation to form a comprehensive control process for each corresponding controlled electromechanical actuator. The comprehensive control process effectively forms a control process of automatic measurement, automatic adaptation and automatic fixing of the vehicle based on the operation strategy data, planning data and field working condition data in the field operation data, and ensures the stability of the vehicle during the automatic transportation process.

[0185] like Figure 5 As shown, in one embodiment of the present invention, it also includes:

[0186] The unloading operation module 44G is used to form an unloading data processing process according to the path planning data in the field operation data to realize vehicle unloading.

[0187] In one embodiment of the present invention, the process of unloading data includes:

[0188] -Determine whether the unloading location has been reached based on the path planning data, and form the unloading sequence control data of the clamping mechanism, lifting mechanism and clamping mechanism at the unloading location to realize vehicle unloading.

[0189] The uninstallation order is:

[0190] The lifting mechanism drives the clamping mechanism and the clamping mechanism to descend so that the vehicle tire contacts the ground;

[0191] The clamping mechanism withdraws the action component;

[0192] The lifting crossbar of the clamping mechanism is reset.

[0193] The unloading operation module is used to realize the orderly separation of the transfer equipment and the vehicle. By establishing the automatic unloading operation, the automatic transfer process is made continuous, which satisfies the reliable cycle reset of the transfer equipment working conditions and the reliable connection of the transfer scene between the automatic unloading, automatic loading and automatic path transfer of batch vehicles.

[0194] The target fixing method of the embodiment of the present invention is as follows Figure 7 As shown. Figure 7 In this embodiment, the present invention includes:

[0195] Step 44a: forming a tire data processing process according to the time series data of the centerline laser tire positioning sensor in the field operation data to realize tire status confirmation;

[0196] Step 44b: forming a wheelbase data processing process of the clamping mechanism on the same side according to the front and rear tire states of the current vehicle in the field operation data, so as to adjust the distance between the clamping mechanisms;

[0197] Step 44c: forming a positioning data processing process according to the spacing between the front and rear clamping mechanisms on the same side of the current vehicle in the field operation data, so as to achieve alignment between the clamping mechanism and the vehicle tire;

[0198] Step 44d: forming a spacing data processing process according to the tire outer diameter and tire clamping position of the current vehicle in the field operation data, and realizing the spacing adjustment of the lifting crossbar of the clamping mechanism;

[0199] Step 44e: forming a lifting data processing process according to the clamping mechanism action in-place information in the field operation data, so as to achieve the lifting of the tire into place;

[0200] Step 44f: An accelerated data processing process is formed according to the operating status information of the transfer equipment in the on-site operating data to achieve vehicle stability during the transfer process.

[0201] like Figure 7 As shown, in one embodiment of the present invention, it also includes:

[0202] Step 44g: Form an unloading data processing process according to the path planning data in the field operation data to realize vehicle unloading.

[0203] A target fixing subsystem according to an embodiment of the present invention includes:

[0204] A memory, used to store program codes corresponding to the data processing process in the target fixing method of the above embodiment;

[0205] The controller is used to run the program code corresponding to the data processing process in the target fixing method of the above embodiment.

[0206] The controller may adopt a DSP (Digital Signal Processor) digital signal processor, an FPGA (Field-Programmable Gate Array) field programmable gate array, an MCU (Microcontroller Unit) system board, a SoC (system on a chip) system board or a PLC (Programmable Logic Controller) minimum system including I / O.

[0207] The automatic transfer control system of the embodiment of the present invention provides a target search subsystem for the control process of position confirmation, posture recognition and posture adjustment between the transfer equipment and the target vehicle. The environmental information of the transfer equipment traveling along the transfer path is processed by a targeted data processing process to form a control process for positioning the target vehicle on the complete transfer path, providing a driving positioning basis before loading for the control of the steering wheel group of the transfer equipment.

[0208] The target search subsystem of an embodiment of the present invention is as follows Figure 8 As shown. Figure 8 In this embodiment, the present invention includes:

[0209] The transfer stage confirmation module 43A is used to form a transfer position confirmation data processing process based on the transfer path data matching the operation strategy in the on-site operation data, so as to realize the confirmation of the planned position of the transfer equipment.

[0210] In one embodiment of the present invention, the data processing process for confirming the transfer location includes:

[0211] -Determine whether the current transfer state of the transfer equipment is switched from the driving process to the vehicle search process based on the transfer path planning data. The transfer path planning data includes the driving process for driving the transfer equipment between the loading area, the transfer process and the unloading area, as well as the vehicle search process starting near the loading area and the ground search process starting near the unloading area. The main body positioning of the transfer equipment on the transfer path is based on GNSS navigation signals, UWB positioning signals or positioning identifiers.

[0212] -When switching to the vehicle search process, a trigger signal is generated to activate the video sensor for video acquisition.

[0213] The target area recognition module 43B is used to form an object recognition data processing process based on the vehicle loading area video data in the field operation data, so as to realize the target vehicle recognition in the vehicle parking area.

[0214] In one embodiment of the present invention, the object recognition data processing process includes:

[0215] - Identify the vehicle spacing data between the ground projections of the vehicles in the loading area based on the infrared data in the video data, and form a vehicle loading obstacle judgment based on the vehicle spacing data. The infrared data is collected by an infrared camera, and the large signal contrast formed by the surface material difference between the vehicle and the ground is used to obtain accurate ground recognition between vehicles, thereby forming a ground distribution pattern between vehicles in the local loading area. Determine whether there are unexpected obstacles based on the signal difference on the ground pattern. The ground distribution pattern is usually in a grid shape, and those skilled in the art can understand that the signal difference recognition in the image and the ground pattern fitting of similar signal pixels can use general computer graphics technology.

[0216] -Identify the vehicle contour data based on the laser point cloud data in the video data, and form a vehicle loading volume judgment based on the vehicle contour data. The laser point cloud data is collected by a matrix laser sensor, and the contour features of the target vehicle are obtained using the laser point cloud data. The vehicle contour is modeled based on the contour features to form the three-dimensional contour and main three-dimensional dimensions of the target vehicle. According to the main three-dimensional dimensions, it is judged whether there is a non-standard vehicle that is not suitable for the size of the transfer equipment. Those skilled in the art can understand that the modeling process and measurement process of the laser point cloud data can adopt the general laser radar modeling technology.

[0217] The vehicle posture recognition module 43C is used to form a vehicle posture recognition data processing process based on the vehicle loading area video data in the field operation data, so as to realize the recognition of the parking state of the vehicle.

[0218] In one embodiment of the present invention, the vehicle posture recognition data processing process includes:

[0219] - Establishing a reference benchmark for the target vehicle's posture based on the position data of the transfer vehicle's body in the coordinate space. The position data of the transfer vehicle's body in the coordinate space is formed by a navigation or positioning signal.

[0220] - The basic posture data of the target vehicle in the parking range is formed based on the vehicle outline data. The relative position and orientation of the vehicle can be confirmed based on the length and width dimensions in the vehicle outline data, and the position and orientation of the target vehicle in the coordinate space can be determined based on the offset of the vehicle outline data relative to the target vehicle posture reference benchmark.

[0221] -Based on the vehicle spacing data, basic posture data of the target vehicle parking range in the coordinate space is formed. The vehicle spacing data can form a ground distribution pattern around the target vehicle to quantify the target vehicle parking range. There is an overlap boundary between the vehicle spacing data and the vehicle profile data. Based on the position and orientation of the target vehicle in the coordinate space of the overlapped part, the position and orientation of the target vehicle parking range in the coordinate space are formed.

[0222] The transfer posture recognition module 43D is used to form a transfer posture adjustment data processing process based on the transfer equipment body posture data and the basic posture data of the target vehicle in the on-site operation data, so as to achieve the posture matching of the transfer equipment.

[0223] In one embodiment of the present invention, the data processing process of the transfer posture adjustment includes:

[0224] -Form a loading node according to the parking range of the target vehicle, generate steering wheel direction control data at the loading node, and adjust the transfer equipment to the correct position according to the direction control data.

[0225] -Generate steering wheel translation control data according to the parking position of the target vehicle, adjust the translation of the transfer equipment to the correct position according to the translation control data, and determine the posture state of the transfer equipment at the loading node. The posture state includes the coordinate information of the loading node and the initial orientation of the transfer equipment at the loading node when loading.

[0226] The target search subsystem of the embodiment of the present invention adjusts the posture of the transfer equipment according to the position and orientation of the target vehicle and the parking range of the target vehicle based on the transfer path of the operation strategy. It makes full use of the body posture perception advantage of the transfer equipment, combines the video acquisition data to form the data basis for automatic loading when targeting the target vehicle, ensures that the loading reliability is improved at the beginning of each automatic loading process, and the posture matching of the target vehicle and the transfer equipment is accurate.

[0227] A target search method according to an embodiment of the present invention is as follows Fig. 9 As shown. Fig. 9 In this embodiment, the present invention comprises:

[0228] Step 43a: Based on the transfer path data matching the operation strategy in the field operation data, a transfer location confirmation data processing process is formed to realize the confirmation of the planned location of the transfer equipment;

[0229] Step 43b: Based on the video data of the vehicle loading area in the field operation data, an object recognition data processing process is formed to realize target vehicle recognition in the vehicle parking area;

[0230] Step 43c: Based on the video data of the vehicle loading area in the field operation data, a vehicle posture recognition data processing process is formed to realize the recognition of the parking state of the vehicle;

[0231] Step 43d: Based on the transfer equipment body posture data and the basic posture data of the target vehicle in the field operation data, a transfer posture adjustment data processing process is formed to achieve posture matching of the transfer equipment.

[0232] A target search subsystem according to an embodiment of the present invention includes:

[0233] A memory, used to store program codes corresponding to the data processing process in the target search method of the above embodiment;

[0234] The controller is used to run the program code corresponding to the data processing process in the target search method of the above embodiment.

[0235] The controller may adopt a DSP (Digital Signal Processor) digital signal processor, an FPGA (Field-Programmable Gate Array) field programmable gate array, an MCU (Microcontroller Unit) system board, a SoC (system on a chip) system board or a PLC (Programmable Logic Controller) minimum system including I / O.

[0236] The automatic transfer control system of the embodiment of the present invention provides a target avoidance subsystem for the control process of the transfer equipment for the trajectory error of the target vehicle posture and the trajectory error of the adjacent vehicles during the target vehicle loading process. The trajectory of the transfer equipment is processed by a targeted data processing process to form a control process for trajectory monitoring on the path during loading, providing a driving correction basis for the control of the steering wheel group of the transfer equipment during loading.

[0237] The target avoidance subsystem of an embodiment of the present invention is shown as follows Fig.10 As shown. Fig.10 In this embodiment, the present invention comprises:

[0238] Enter the trajectory control module 45A, which is used to form a steering wheel group forward data processing process based on the position data of the transfer equipment at the current loading node in the on-site operation data, so as to realize that the steering wheel group drives the transfer equipment to move forward along the ground extension direction on both sides of the target vehicle, and gradually accommodate the current target vehicle.

[0239] In one embodiment of the present invention, the forward data processing process includes:

[0240] -Determine the forward trajectory direction based on the position and posture data of the transfer equipment at the current loading node. The position and posture data include the coordinate position and posture orientation of the transfer equipment when it reaches the current loading node.

[0241] -Determine the forward trajectory length based on the vehicle profile data of the current vehicle.

[0242] -According to the length of the forward trajectory and the posture direction of the transfer equipment, the steering wheel group drive control data is generated to drive the transfer equipment forward.

[0243] The exit trajectory control module 45B is used to form a steering wheel group retreat data processing process based on the current posture data of the transfer equipment in the field operation data, so that the steering wheel group drives the transfer equipment to retreat to the current loading node along the ground extension direction on both sides of the target vehicle to complete the loading of the target vehicle.

[0244] In one embodiment of the present invention, the backward data processing process includes:

[0245] -Determine the direction of the backward trajectory according to the posture data of the transfer device at the current loading position. The posture data of the current loading position includes the coordinate position and posture orientation of the transfer device when the current vehicle is loaded.

[0246] -According to the position data of the transfer equipment at the current loading position and the current loading node, the steering wheel group drive control data is generated to drive the transfer equipment backward. The direction and distance of the transfer equipment backward can be obtained according to the spatial coordinate distance calculation formula through the coordinate position and attitude orientation of the two end points.

[0247] The trajectory monitoring feedback module 45C is used to form an inner distance data processing process based on the centerline laser inner distance sensor data of the on-site operation data, and to form an outer distance data processing process based on the centerline laser outer distance sensor data of the on-site operation data, so as to realize the distance monitoring between the parallel frame of the current target vehicle and the adjacent vehicles and the transfer equipment.

[0248] The distribution of the distance measurement data in the target fixing method according to an embodiment of the present invention is as follows: Fig.11 As shown. Combined Fig.11 As shown, in one embodiment of the present invention, the inner distance data processing process includes:

[0249] -Based on the same side line laser inner distance sensor data, the single side wall distance data between the transfer equipment body and the current vehicle and the offset data toward the current vehicle are formed. The specific calculation process is:

[0250] Offset data towards the current vehicle = (distance d3 measured by the second laser inner distance sensor on the left - distance d2 measured by the first laser inner distance sensor on the left) / distance dl1 measured by the laser inner distance sensor on the same side

[0251] Offset data toward the current vehicle = (distance d4 measured by the second laser internal distance sensor on the right side - distance d1 measured by the first laser internal distance sensor on the right side) / distance dl1 measured by the laser internal distance sensor on the same side

[0252] -Verification of the double-side inner wall distance data and the offset data toward the current vehicle formed based on the double-side line laser inner distance sensor data.

[0253] The external distance data processing process includes:

[0254] -Based on the data from the laser distance sensor on the same side, the distance data between the transfer equipment body and the adjacent vehicle and the offset data toward the adjacent vehicle are formed. The specific calculation process is:

[0255] Offset data toward the adjacent vehicle on the left = (distance d7 measured by the second laser distance sensor on the left - distance d6 measured by the first laser distance sensor on the left) / distance dl2 measured by the laser distance sensor on the same side

[0256] Offset data toward the right adjacent vehicle = (distance d8 measured by the second laser distance sensor on the right - distance d5 measured by the first laser distance sensor on the right) / distance dl2 measured by the laser distance sensor on the same side

[0257] - Based on the data from the laser distance sensors on both sides, the distance between the two sides and the offset data towards the adjacent vehicle are formed. Usually, there are differences in the distance and direction between the transport equipment and the adjacent two sides, thereby confirming the maximum collision risk.

[0258] The trajectory correction output module 45D is used to form a trajectory correction data processing process based on the spacing monitoring data in the on-site operation data, so as to realize the steering wheel group drive correction when the transfer equipment is moving forward or backward.

[0259] In one embodiment of the present invention, the trajectory correction data processing process includes:

[0260] - The driving control data for correcting the heading angle of the steering wheel assembly is formed according to the distance data between the inner walls on both sides, the offset data toward the current vehicle, the distance data between the outer walls on both sides and the offset data toward the adjacent vehicle. The specific calculation process is:

[0261] Forward driving heading angle Cita = k1*(0.5*(d1-d4) / dl1+0.5*(d3-d2) / dl1)+k2*(0.5*(d8-d5) / dl2+0.5*(d7-d6) / dl2)

[0262] Reverse driving heading angle Cita = (0.5*(d8-d5) / dl2+0.5*(d7-d6) / dl2)

[0263] Where k1 is the weighting coefficient of the inner offset data, and k2 is the weighting coefficient of the two side offset data.

[0264] The target avoidance subsystem of the embodiment of the present invention corrects the heading angle of the steering wheel group according to the distance between the current vehicle and the adjacent vehicle during the target vehicle loading process to avoid potential collision risks. It can adapt to the orientation error and adjacent distance error of the vehicles placed in the loading area, avoid vehicle damage, and effectively improve the quality of transportation.

[0265] In the embodiment of the present invention, based on the overall control process of the transfer path planning formed by the automatic transfer control system, the transfer equipment uses the target search subsystem to form the posture adjustment at the beginning of the loading process, uses the target avoidance subsystem to form the movement avoidance during the loading process, and uses the target fixation subsystem to form the vehicle fixation adaptation. In the loading stage, the transfer control is carried out from different loading dimensions to ensure the quality of transfer transportation.

[0266] A target avoidance method according to an embodiment of the present invention is as follows Fig.12 As shown. Fig.12 In this embodiment, the present invention includes:

[0267] Step 45a: Based on the position data of the transfer equipment at the current loading node in the field operation data, a data processing process of the steering wheel group is formed, so that the steering wheel group drives the transfer equipment to move forward along the ground extension direction on both sides of the target vehicle, and gradually accommodates the current target vehicle;

[0268] Step 45b: Based on the current position data of the transfer equipment in the field operation data, a data processing process of the steering wheel group retreating is formed, so that the steering wheel group drives the transfer equipment to retreat to the current loading node along the ground extension direction on both sides of the target vehicle, and the loading of the target vehicle is completed;

[0269] Step 45c: Based on the data of the inner laser distance sensor in the field operation data, an inner distance data processing process is formed to realize the distance monitoring between the parallel frame of the current target vehicle and the transfer equipment; based on the data of the outer laser distance sensor in the field operation data, an outer distance data processing process is formed to realize the distance monitoring between the parallel frame of the adjacent vehicle and the transfer equipment;

[0270] Step 45d: Based on the mid-distance monitoring data of the on-site operation data, a trajectory correction data processing process is formed to realize the steering wheel group drive correction when the transfer equipment is moving forward or backward.

[0271] A target avoidance subsystem according to an embodiment of the present invention includes:

[0272] A memory, used to store program codes corresponding to the data processing process in the target avoidance method of the above embodiment;

[0273] The controller is used to run the program code corresponding to the data processing process in the target avoidance method of the above embodiment.

[0274] The controller may adopt a DSP (Digital Signal Processor) digital signal processor, an FPGA (Field-Programmable Gate Array) field programmable gate array, an MCU (Microcontroller Unit) system board, a SoC (system on a chip) system board or a PLC (Programmable Logic Controller) minimum system including I / O.

[0275] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An automatic transport control system, characterized in that: include: The transfer response layer is used to exchange data with the upper system, form the operation strategy of the transfer equipment according to the control purpose of the upper system, monitor the operation status of the transfer equipment and provide feedback to the upper system; The signal aggregation layer is used to obtain the setting benchmark of the built-in sensors of the transfer equipment, and obtain the operation signals of the transfer equipment collected by the built-in sensors, and form the field operation data according to the setting benchmark; Functional configuration layer, used to store customized data processing procedures, and to process field operation data through data processing procedures to respond to the request of the transport control process; The transfer control layer is used to adapt the operation strategy to form the transfer control process of the transfer equipment and control the transfer equipment to complete the vehicle transfer; The transport control layer comprises: The process planning subsystem is used to form a transfer path planning for the transfer equipment in the transfer area according to the transfer strategy, and form an overall control process on the transfer path; The equipment driving subsystem is used to form an electric control process of the electric drive mechanism in the transfer equipment according to the overall control process to drive the transfer equipment to operate; The target search subsystem is used to form a target positioning control process during the operation of the transfer equipment, and use a customized posture data processing process to form the posture positioning of the target vehicle on site; The target fixing subsystem is used to form a target fixing control process during the operation of the transfer equipment, and to form an adaptive fixation of the on-site target vehicle and the transfer equipment using a customized fixed data processing process; The target avoidance subsystem is used to form the main obstacle avoidance control process during the operation of the transfer equipment, and use the customized obstacle avoidance data processing process to form the transfer equipment's avoidance of adjacent on-site vehicles.

2. The automatic transport control system according to claim 1, characterized in that: The transport response layer includes: A purpose analysis device, used to receive upper control data to perform control purpose analysis and form a control purpose coordinate space; Resource matching means for acquiring associated geographic information data according to the control target coordinate space; A strategy planning device for quantifying a transshipment strategy for a transshipment area based on control purpose spatial data and associated geographic information data; The status monitoring device is used to continuously synchronize the on-site operation data of the transfer equipment, and feed back the generated alarm trigger data or early warning trigger data to the upper system according to the preset destination deviation threshold rule.

3. The automatic transport control system according to claim 1, characterized in that: The signal aggregation layer comprises: The sensor type identification device is used to receive the information of the transfer equipment sensor, identify the individual sensor and the type sensor, and form the sensor body reference data; An installation reference identification device is used to quantify the sensor installation reference, sensor signal expression type and signal expression limit in the sensor information to form sensor layout reference data; A signal acquisition and packaging device, used for performing analog-to-digital conversion and time-series packaging of the sensor acquisition signal to form single sensor field data; The data status synchronization device is used to synchronize the field data of all single sensors in time sequence and form field operation data according to various benchmark data.

4. The automatic transport control system according to claim 1, characterized in that: The functional configuration layer includes: A storage framework response device is used to establish a storage update framework, modularly store and update responses to the customized data processing process, and form an index and access to the customized data processing process; Functional request response device, used to establish a request response interface and trigger the customized data processing process to run according to the request parameters; The data request response device is used to establish a data access interface and read the field operation data according to the customized data processing process data requirements.

5. An automatic transport control method, characterized in that: include: Interact with the host system for data, form the operation strategy of the transfer equipment according to the control purpose of the host system, monitor the operation status of the transfer equipment and provide feedback to the host system; Obtain the setting benchmark of the built-in sensor of the transfer equipment, and obtain the operation signal of the transfer equipment collected by the built-in sensor, and form the on-site operation data according to the setting benchmark; Store customized data processing procedures, and respond to transfer control process requests by processing field operation data through data processing procedures; Adapt the operation strategy to form the transfer control process of the transfer equipment, and control the transfer equipment to complete the vehicle transfer; including: According to the transfer strategy, the transfer path planning of the transfer equipment in the transfer area is formed, and the overall control process on the transfer path is formed; According to the overall control process, an electric control process of the electric drive mechanism in the transfer equipment is formed to drive the transfer equipment to operate; The target positioning control process is formed during the operation of the transfer equipment, and the posture positioning of the target vehicle on site is formed by using the customized posture data processing process; A target fixed control process is formed during the operation of the transfer equipment, and the adaptation and fixation of the on-site target vehicle and the transfer equipment are formed by using a customized fixed data processing process; An obstacle avoidance control process is formed during the operation of the transfer equipment, and a customized obstacle avoidance data processing process is used to enable the transfer equipment to avoid adjacent on-site vehicles.

6. An automatic transport control system, characterized in that: include: A memory for storing program codes corresponding to the control process in the automatic transport control method according to claim 5; A controller is used to run the program code.

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