Unmanned transport vehicle positioning method, system and medium based on train gravity energy storage

Abstract

The embodiment of the present invention discloses a positioning method, system and medium for an unmanned transport vehicle based on gravity energy storage, the method comprising: determining that the unmanned transport vehicle is traveling at high speed to a material-collecting area, and driving it to move forward at a low speed; determining that the unmanned transport vehicle is traveling at a low speed to a first hoisting area according to a comparison relationship between a first front-to-back distance measurement value and a first preset characteristic distance, performing a position calibration and a gravity block assembly, and driving it to move forward at a medium speed to a slope area; determining that the unmanned transport vehicle is transmitted upward along the slope and continues to travel to a material-discharging area according to its position relative to the slope area, and driving it to move forward at a low speed; determining that the unmanned transport vehicle is traveling at a low speed to a second hoisting area according to a comparison relationship between a second front-to-back distance measurement value and a second preset characteristic distance, performing a secondary position calibration and disengagement of the gravity block, driving it to an upper yard waiting area and parking it, which can accurately judge the relative position of the unmanned transport vehicle to the first hoisting area and the second hoisting area, and helps to achieve accurate parking positioning.

Description

Technical Field

[0001] The present invention relates to the technical field of train gravity energy storage, and in particular to a method, system and medium for positioning an unmanned transport vehicle based on train gravity energy storage. Background Art

[0002] Train gravity energy storage technology is a way to implement gravity energy storage technology. It uses unmanned transport vehicles to transport heavy objects on a slope to store and release energy. That is, the heavy objects are lifted to the top of the slope to store energy, and when needed, the heavy objects are allowed to slide down the slope, and the generator is driven by gravity to generate electricity, thereby releasing energy.

[0003] There are many existing unmanned transport vehicle positioning methods, including barcode positioning, ultrasonic positioning, laser distance measurement positioning, and image recognition positioning. However, barcode positioning has high requirements for application scenarios, and the accuracy of barcode positioning will decrease over time; ultrasonic positioning will have blind spots and low reliability; laser distance measurement positioning is highly dependent on the environment, such as in fog, rain or smoke, and is easily affected by the diffuse reflectivity of the object being measured; image recognition positioning is easily affected by the amount of light at night and obstacles, and is prone to misidentification. In the train gravity energy storage project, extremely high requirements are placed on the maintenance cycle, reliability, self-positioning, self-position correction and other issues of the unmanned transport vehicle. Summary of the invention

[0004] Based on this, it is necessary to propose a positioning method, system and storage medium for an unmanned transport vehicle based on gravity energy storage to address the above problems.

[0005] A method for positioning an unmanned transport vehicle based on gravity energy storage, the method comprising:

[0006] After determining that the unmanned transport vehicle is traveling at high speed to the material fetching area, the unmanned transport vehicle is driven forward at a low speed.

[0007] A comparison relationship between the first front-to-back distance measurement value and the first preset characteristic distance is determined.

[0008] According to the comparison relationship between the first front-to-rear distance measurement value and the first preset characteristic distance, it is determined that the unmanned transport vehicle drives at a low speed to the first lifting area, stops for a position calibration and gravity block assembly, and then drives the unmanned transport vehicle carrying the gravity block forward at a medium speed to the slope area.

[0009] According to the position of the unmanned transport vehicle carrying the gravity block relative to the slope area, after determining that the unmanned transport vehicle carrying the gravity block is transported upward along the slope and continues to travel to the discharge area, the unmanned transport vehicle carrying the gravity block is driven forward at a low speed.

[0010] A comparison relationship between the second front-to-back distance measurement value and a second preset characteristic distance is determined.

[0011] According to the comparison relationship between the second front-to-back distance measurement value and the second preset characteristic distance, it is determined that the unmanned transport vehicle carrying the gravity block drives at a low speed to the second lifting area, stops for secondary position calibration and after the gravity block is detached, drives the unmanned transport vehicle to the upper yard waiting area and stops.

[0012] Among them, according to the comparison relationship between the first front-to-rear distance measurement value and the first preset characteristic distance, determining that the unmanned transport vehicle drives at a low speed to the first hoisting area, stops to perform a position calibration and gravity block assembly, and then drives the unmanned transport vehicle forward at a medium speed to the slope area specifically includes:

[0013] If the first front-to-rear distance measurement value is equal to the first preset characteristic distance, the unmanned transport vehicle will drive at a low speed to the first hoisting area and stop to perform a position calibration and gravity block assembly.

[0014] If the first front-to-rear distance measurement value is greater than or less than the first preset characteristic distance, it is determined whether the unmanned transport vehicle has driven out of the material picking area.

[0015] If it is determined that the unmanned transport vehicle has driven out of the material-collecting area, the unmanned transport vehicle is driven to run in reverse at a low speed, and the comparison relationship between the first front-to-back distance measurement value and the first preset characteristic distance is determined again.

[0016] If it is determined that the unmanned transport vehicle has not left the material-collecting area, the unmanned transport vehicle is driven forward at a low speed, and the comparison relationship between the first front-to-rear distance measurement value and the first preset characteristic distance is determined again.

[0017] If the first front-to-rear distance measurement value is equal to the first preset characteristic distance, the unmanned transport vehicle drives at a low speed to the first hoisting area, stops to perform a position calibration and gravity block assembly, specifically including:

[0018] After confirming that the weight block is accurately assembled to the unmanned transport vehicle, the unmanned transport vehicle carrying the weight block is driven forward at a medium speed to the slope area.

[0019] If it is determined that the gravity block is not accurately assembled to the unmanned transport vehicle, the gravity block is assembled again.

[0020] Among them, the method of determining that the unmanned transport vehicle carrying the gravity block is transported upward along the slope and continues to travel to the discharge area according to the position of the unmanned transport vehicle carrying the gravity block relative to the slope area, and before driving the unmanned transport vehicle carrying the gravity block to move forward at a low speed, further specifically includes:

[0021] When the unmanned transport vehicle carrying the gravity block starts to travel from the parking position of the first hoisting area, a pulse signal is sent.

[0022] The pulse count value corresponding to the pulse signal is continuously monitored to determine the initial pulse count value when the unmanned transport vehicle carrying the gravity block travels from the parking position to the starting position of the slope area and the terminal pulse count value when the unmanned transport vehicle carrying the gravity block travels from the parking position to the ending position of the slope area.

[0023] According to the comparison between the pulse count value and the preset reference value, the position of the unmanned transport vehicle carrying the gravity block relative to the slope area is determined.

[0024] The step of determining the position of the unmanned transport vehicle carrying the gravity block relative to the slope area according to the comparison between the pulse count value and the preset reference value specifically includes:

[0025] If it is determined that the initial pulse count value is greater than or equal to the preset reference value, the unmanned transport vehicle carrying the gravity block is located at the starting position of the slope area.

[0026] If it is determined that the initial pulse count value is less than the preset reference value, the unmanned transport vehicle carrying the gravity block is not located at the starting position of the slope area, and the unmanned transport vehicle carrying the gravity block continues to travel at a medium speed.

[0027] If it is determined that the end pulse count value is greater than or equal to the preset reference value, the unmanned transport vehicle carrying the gravity block is located at the end position of the slope area.

[0028] If it is determined that the end pulse count value is less than the preset reference value, the unmanned transport vehicle carrying the gravity block is not located at the end position of the slope area, and the unmanned transport vehicle carrying the gravity block continues to be transported upward along the slope with the upward chain.

[0029] Among them, according to the position of the unmanned transport vehicle carrying the gravity block relative to the slope area, after determining that the unmanned transport vehicle carrying the gravity block is transported upward along the slope and continues to travel to the discharge area, the unmanned transport vehicle carrying the gravity block is driven to move forward at a low speed, specifically including:

[0030] When it is determined that the unmanned transport vehicle carrying the gravity block recognizes the starting position of the slope area and is located at the starting position of the slope area, the unmanned transport vehicle carrying the gravity block extends a hook to clamp the upward chain and waits for upward transmission along the slope.

[0031] If it is determined that the unmanned transport vehicle carrying the weight block has not identified the starting position of the slope area and is not located at the starting position of the slope area, the unmanned transport vehicle carrying the weight block continues to travel at a medium speed.

[0032] It is determined that the unmanned transport vehicle carrying the gravity block recognizes the end position of the slope area and is transmitted upward along the slope to the end position of the slope area. Then, after the unmanned transport vehicle retracts the hook and continues to travel to the discharge area, it drives the unmanned transport vehicle carrying the gravity block forward at a low speed.

[0033] If it is determined that the unmanned transport vehicle carrying the weight block has not identified the end position of the slope area and is not located at the end position of the slope area, the unmanned transport vehicle carrying the weight block continues to be transported upward along the slope along the upward chain.

[0034] Among them, according to the comparison relationship between the second front-to-back distance measurement value and the second preset characteristic distance, it is determined that the unmanned transport vehicle carrying the gravity block drives at a low speed to the second lifting area, stops for secondary position calibration and after the gravity block is separated, drives the unmanned transport vehicle to the upper yard waiting area and stops, specifically including:

[0035] If the second front-to-rear distance measurement value is greater than or less than the second preset characteristic distance, the unmanned transport vehicle carrying the gravity block is driven to continue to move forward at a low speed.

[0036] If the second front-to-rear distance measurement value is equal to the second preset characteristic distance, the unmanned transport vehicle carrying the gravity block drives at a low speed to the second lifting area, stops to perform secondary position calibration and detach the gravity block.

[0037] If it is determined that the gravity block is separated from the unmanned transport vehicle, the unmanned transport vehicle is driven to continue traveling, and it is determined whether the unmanned transport vehicle recognizes the upper yard waiting area.

[0038] If it is determined that the gravity block has not been separated from the unmanned transport vehicle, the process waits for the gravity block to be separated again.

[0039] Wherein, when it is determined that the gravity block is separated from the unmanned transport vehicle, the unmanned transport vehicle is driven to continue to travel, and whether the unmanned transport vehicle recognizes the upper yard waiting area is determined, specifically including:

[0040] If the unmanned transport vehicle recognizes the upper yard waiting area and runs at a low speed, and determines that the workshop distance between the unmanned transport vehicle and the preceding vehicle is less than or equal to the minimum workshop distance threshold or triggers the coupling buffer, the unmanned transport vehicle arrives at the upper yard waiting area and stops.

[0041] If the unmanned transport vehicle recognizes the upper yard waiting area and runs at a low speed, and it is determined that the workshop distance between the unmanned transport vehicle and the preceding vehicle is greater than the minimum workshop distance threshold or the coupling buffer is not triggered, the unmanned transport vehicle continues to run at a low speed.

[0042] If the unmanned transport vehicle fails to identify the upper yard waiting area, the unmanned transport vehicle is driven to continue traveling.

[0043] A positioning system for an unmanned transport vehicle based on gravity energy storage, the system comprising:

[0044] The material-collecting area positioning module is used to determine that after the unmanned transport vehicle drives at high speed to the material-collecting area, it drives the unmanned transport vehicle to move forward at a low speed.

[0045] The first distance comparison module is used to determine the comparison relationship between the first front-to-back distance measurement value and the first preset characteristic distance.

[0046] The slope area positioning module is used to determine that the unmanned transport vehicle drives at a low speed to the first lifting area according to the comparison between the first front-to-back distance measurement value and the first preset characteristic distance, stops to perform a position calibration and gravity block assembly, and then drives the unmanned transport vehicle carrying the gravity block to move forward at a medium speed to the slope area.

[0047] The material discharge area positioning module is used to determine that the unmanned transport vehicle carrying the gravity block is transferred upward along the slope and continues to travel to the material discharge area according to the position of the unmanned transport vehicle carrying the gravity block relative to the slope area, and then drive the unmanned transport vehicle carrying the gravity block to move forward at a low speed.

[0048] The second distance comparison module is used to determine the comparison relationship between the second front-to-back distance measurement value and the second preset characteristic distance.

[0049] The upper yard waiting area positioning module is used to determine that the unmanned transport vehicle carrying the gravity block drives at a low speed to the second lifting area according to the comparison between the second front-to-back distance measurement value and the second preset characteristic distance, stops for secondary position calibration and after the gravity block is detached, drives the unmanned transport vehicle to the upper yard waiting area and stops.

[0050] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor executes the steps of the method described above.

[0051] The embodiments of the present invention have the following beneficial effects:

[0052] The present invention can accurately determine the relative position between the unmanned transport vehicle and the first hoisting area and the second hoisting area by measuring and comparing the first front-to-back distance measurement value and the first preset characteristic distance and the second front-to-back distance measurement value and the second preset characteristic distance in real time, which helps to achieve accurate parking and positioning and avoid problems caused by being too close or too far. After accurately positioning and parking in the first hoisting area and the second hoisting area, a position calibration and a secondary position calibration are performed to provide high-precision position coordinates, ensuring that the unmanned transport vehicle can accurately dock with the hoisting area and improving the efficiency and safety of the hoisting operation. In addition, the present invention ensures that the unmanned transport vehicle can travel safely and stably by adjusting the vehicle speed in different areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0054] in:

[0055] Figure 1 A schematic flow chart of an embodiment of a method for positioning an unmanned transport vehicle based on gravity energy storage provided by the present invention;

[0056] Figure 2 A schematic structural diagram of an embodiment of an unmanned transport vehicle provided by the present invention;

[0057] Figure 3 A structural schematic diagram of an embodiment of an unmanned transport vehicle positioning system based on gravity energy storage provided by the present invention;

[0058] Figure 4 A schematic flow chart of another embodiment of a method for positioning an unmanned transport vehicle based on gravity energy storage provided by the present invention;

[0059] Figure 5 A structural schematic diagram of another embodiment of an unmanned transport vehicle positioning system based on gravity energy storage provided by the present invention;

[0060] Figure 6 A schematic structural diagram of an embodiment of a storage medium provided by the present invention. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

[0062] like Figure 1 As shown, Figure 1 A flow chart of an embodiment of a method for positioning an unmanned transport vehicle based on gravity energy storage provided by the present invention. A method for positioning an unmanned transport vehicle based on gravity energy storage, the method comprising:

[0063] S101: After determining that the unmanned transport vehicle is traveling at high speed to the material-collecting area, the unmanned transport vehicle is driven forward at a low speed.

[0064] For example, Figure 2 As shown, Figure 2 The schematic diagram of the structure of an embodiment of the unmanned transport vehicle provided by the present invention. The unmanned transport vehicle 10 includes: a main control unit 11, a radio frequency card reader 12, a laser ranging sensor 13, a vehicle-mounted ultra-wideband tag 14, an encoder 15 and a proximity switch 16. Specifically, the radio frequency card reader 12 is installed at the bottom of the unmanned transport vehicle, two laser ranging sensors 13 are respectively installed at the front side and the rear side of the unmanned transport vehicle, the vehicle-mounted ultra-wideband tag 14 is installed in front of and behind the unmanned transport vehicle, the encoder 15 is installed on the front and rear wheels or the left and right wheels of the unmanned transport vehicle, the proximity switch 16 is installed on the side of the unmanned transport vehicle, and the radio frequency card reader 12, the laser ranging sensor 13, the vehicle-mounted ultra-wideband tag 14 and the proximity switch 16 are respectively connected to the main control unit.

[0065] The main control unit 11 enters the automatic energy storage mode, the unmanned transport vehicle 10 performs a self-check, and the main control unit 11 starts the unmanned transport vehicle 10 and drives it forward at high speed. Radio frequency identification cards 18 are installed at the starting and ending positions of the material-collecting area respectively. When the radio frequency card reader 12 reads the radio information of the radio frequency identification card 18 located at the starting position of the material-collecting area during the driving of the unmanned transport vehicle, it means that the unmanned transport vehicle 10 has driven to the starting position of the material-collecting area. Similarly, when the radio frequency card reader 12 reads the radio information of the radio frequency identification card 18 located at the ending position of the material-collecting area, it means that the unmanned transport vehicle 10 has driven to the ending position of the material-collecting area. The radio frequency card reader 12 of the unmanned transport vehicle 10 determines whether the material-collecting area is recognized. If the radio frequency card reader 12 of the unmanned transport vehicle 10 recognizes the material-collecting area, it is determined that the unmanned transport vehicle 10 drives the unmanned transport vehicle 10 at a low speed after driving to the material-collecting area at a high speed; if the radio frequency card reader 12 of the unmanned transport vehicle 10 does not recognize the material-collecting area, the unmanned transport vehicle 10 continues to move forward at a high speed.

[0066] S102: Determine a comparison relationship between a first front-to-back distance measurement value and a first preset characteristic distance.

[0067] Exemplarily, two laser distance measuring sensors 13 installed at the front side and the rear side of the unmanned transport vehicle 10 detect the first front-to-back distance measurement value between the unmanned transport vehicle 10 and the distance identification plate 17 in real time, and determine the comparison between the first front-to-back distance measurement value and the first preset characteristic distance. Specifically, the front and rear laser distance measuring sensors 13 are respectively connected to the main control unit 11, and the distance identification plate 17 is distributed on the front and rear sides of the hoisting area of ​​the unmanned transport vehicle 10, located on the same horizontal line, corresponding to the positions of the front and rear laser distance measuring sensors 13. Figure 3 As shown, Figure 3 This is a structural schematic diagram of an embodiment of an unmanned transport vehicle 10 positioning system based on gravity energy storage provided by the present invention. The distance sign 17 is divided into a square extension and a raised cylindrical core. Therefore, the first preset characteristic distance includes a first inherent distance reference value between the unmanned transport vehicle 10 and the square extension and a second inherent distance reference value between the unmanned transport vehicle 10 and the cylindrical core. When the first front-to-back distance measurement values ​​measured by the front-to-back laser ranging sensors 13 are both equal to the first inherent distance reference value, it means that the distance sensor of the unmanned transport vehicle 10 has reached the square outer edge of the distance sign 17, which means that the unmanned transport vehicle 10 is about to reach the parking position. When the first front-to-back distance measurement values ​​are both equal to the second inherent distance reference value, it means that the distance sensor of the unmanned transport vehicle 10 has reached the circular raised position of the distance sign 17, which means that the unmanned transport vehicle 10 has reached the parking point of the first hoisting area, and the unmanned transport vehicle 10 should stop driving and wait for hoisting.

[0068] S103: According to the comparison relationship between the first front-to-rear distance measurement value and the first preset characteristic distance, it is determined that the unmanned transport vehicle drives at a low speed to the first lifting area, stops to perform a position calibration and gravity block assembly, and then drives the unmanned transport vehicle carrying the gravity block forward at a medium speed to the slope area.

[0069] Exemplarily, if the front-to-back distance measurement value is determined to be equal to the first preset characteristic distance, the unmanned transport vehicle 10 will drive to the first hoisting area at a low speed and stop to perform a position calibration and gravity block assembly. If the front-to-back distance measurement value is determined to be greater than or less than the preset characteristic distance, it is determined whether the unmanned transport vehicle 10 has driven out of the material-collecting area; if the unmanned transport vehicle 10 has driven out of the material-collecting area, the unmanned transport vehicle 10 is driven to reverse at a low speed, and the comparison relationship between the front-to-back distance measurement value and the preset characteristic distance is determined again. If the unmanned transport vehicle 10 has not driven out of the material-collecting area, the unmanned transport vehicle 10 is driven forward at a low speed, and the comparison relationship between the front-to-back distance measurement value and the preset characteristic distance is determined again. When performing a position calibration, the position coordinates of the parking point in the first hoisting area are accurately known, recorded as the first calibration coordinates, and whenever the unmanned transport vehicle 10 recognizes that the unmanned transport vehicle 10 has arrived at the first hoisting area and stopped through the laser ranging sensor 13, the current position coordinates are updated to the actual first calibration coordinates, and the coordinates are recalculated on this basis.

[0070] When the unmanned transport vehicle 10 stops at the first hoisting area, it first waits for the crane to place the weight block on the unmanned transport vehicle 10. Further, the proximity switch 16 is used to detect whether the weight block is accurately assembled to the unmanned transport vehicle 10. If it is determined that the weight block is accurately assembled to the unmanned transport vehicle 10, the unmanned transport vehicle 10 carrying the weight block is driven forward at a medium speed to the slope area; if it is determined that the weight block is not accurately assembled to the unmanned transport vehicle 10, the weight block is assembled again.

[0071] S104: According to the position of the unmanned transport vehicle carrying the gravity block relative to the slope area, after determining that the unmanned transport vehicle carrying the gravity block is transported upward along the slope and continues to travel to the discharge area, the unmanned transport vehicle carrying the gravity block is driven forward at a low speed.

[0072] Exemplarily, when the unmanned transport vehicle 10 carrying the gravity block starts to travel from the parking position of the first lifting area, the encoder 15 sends a pulse signal; the main control unit 11 continuously monitors the pulse count value corresponding to the pulse signal, determines the initial pulse count value of the unmanned transport vehicle 10 carrying the gravity block traveling from the parking position to the starting position of the slope area and the terminal pulse count value of the unmanned transport vehicle 10 carrying the gravity block traveling from the parking position to the ending position of the slope area; as the unmanned transport vehicle 10 continues to travel, the pulse count value continues to increase, and if it is determined that the initial pulse count value is greater than or equal to a preset reference value, the unmanned transport vehicle 10 carrying the gravity block is located at the starting position of the slope area; if it is determined that the initial pulse count value is less than the preset reference value, the unmanned transport vehicle 10 carrying the gravity block continues to travel at medium speed; if it is determined that the terminal pulse count value is greater than or equal to the preset reference value, the unmanned transport vehicle 10 carrying the gravity block is located at the ending position of the slope area; if it is determined that the terminal pulse count value is less than the preset reference value, the unmanned transport vehicle 10 carrying the gravity block continues to be transmitted upward along the slope with the upward chain.

[0073] Further, it is determined whether the unmanned transport vehicle 10 carrying the weight block has identified the starting position of the slope area and whether the unmanned transport vehicle 10 has reached the starting position of the slope area. If it is determined that the unmanned transport vehicle 10 carrying the weight block has identified the starting position of the slope area and is located at the starting position of the slope area, the unmanned transport vehicle 10 carrying the weight block extends the hook to clamp the upward chain and waits for upward transmission along the slope; if it is determined that the unmanned transport vehicle 10 carrying the weight block has not identified the starting position of the slope area and is not located at the starting position of the slope area, the unmanned transport vehicle 10 carrying the weight block continues to travel at a medium speed.

[0074] Further, it is determined whether the unmanned transport vehicle 10 carrying the weight block has identified the end position of the slope area and whether the unmanned transport vehicle 10 has reached the end position of the slope area. If it is determined that the unmanned transport vehicle 10 carrying the weight block has identified the end position of the slope area and has been transferred upward along the slope to the end position of the slope area, the unmanned transport vehicle 10 carrying the weight block retracts the hook and continues to drive to the discharge area, and then drives the unmanned transport vehicle 10 carrying the weight block to move forward at a low speed. If it is determined that the unmanned transport vehicle 10 carrying the weight block has not identified the end position of the slope area and is not at the end position of the slope area, the unmanned transport vehicle 10 carrying the weight block continues to be transferred upward along the slope with the upward chain.

[0075] When the RFID card reader 12 determines that the unmanned transport vehicle 10 carrying the gravity block recognizes the RFID card 18 in the material discharge area, the unmanned transport vehicle 10 carrying the gravity block is in the material discharge area, and drives the unmanned transport vehicle 10 carrying the gravity block to move forward at a low speed.

[0076] S105: Determine a comparison relationship between the second front-to-back distance measurement value and the second preset characteristic distance.

[0077] For example, two laser distance measuring sensors 13 installed at the front side and the rear side of the unmanned transport vehicle 10 detect the second front-to-rear distance measurement value between the unmanned transport vehicle 10 and the distance sign 17 in real time, and determine the comparison between the second front-to-rear distance measurement value and the second preset characteristic distance. Figure 3, the distance sign 17 is divided into a square extension and a raised cylindrical core, therefore, the second preset characteristic distance includes the third inherent distance reference value between the unmanned transport vehicle 10 and the square extension and the fourth inherent distance reference value between the unmanned transport vehicle 10 and the cylindrical core. When the second front-to-back distance measurement values ​​are equal to the third inherent distance reference value, it means that the distance sensor of the unmanned transport vehicle 10 has reached the square outer edge of the distance sign 17, which means that the unmanned transport vehicle 10 is about to reach the parking position. When the second front-to-back distance measurement values ​​are equal to the fourth inherent distance reference value, it means that the distance sensor of the unmanned transport vehicle 10 has reached the circular raised position of the distance sign 17, which means that the unmanned transport vehicle 10 has reached the parking point of the second lifting area, and the unmanned transport vehicle 10 should stop driving and wait for lifting.

[0078] S106: According to the comparison relationship between the second front-to-back distance measurement value and the second preset characteristic distance, the unmanned transport vehicle carrying the gravity block is driven to the second lifting area at a low speed, and after stopping for secondary position calibration and detachment of the gravity block, the unmanned transport vehicle is driven to the upper yard waiting area and stops.

[0079] Exemplarily, if the second front-to-back distance measurement value is equal to the second preset characteristic distance, then the unmanned transport vehicle 10 carrying the weight block drives at a low speed to the second lifting area, stops to perform secondary position calibration and the weight block falls off. If the second front-to-back distance measurement value is greater than or less than the second preset characteristic distance, the unmanned transport vehicle 10 carrying the weight block is driven to continue to move forward at a low speed. When performing the secondary position calibration, the position coordinates of the parking point in the second lifting area are accurately known and recorded as the second calibration coordinates. Whenever the unmanned transport vehicle 10 recognizes that the unmanned transport vehicle 10 has arrived at the second lifting area and stops through the laser ranging sensor 13, the current position coordinates are updated to the actual second calibration coordinates, and the coordinates are recalculated on this basis.

[0080] Among them, when the unmanned transport vehicle 10 carrying the weight block stops in the second hoisting area, it first waits for the crane to transfer the weight block to the upper yard. Further, the proximity switch 16 is used to detect whether the weight block has been separated from the unmanned transport vehicle 10. If it is determined that the weight block is separated from the unmanned transport vehicle 10, the unmanned transport vehicle 10 is driven to continue driving, and it is judged whether the unmanned transport vehicle 10 recognizes the waiting area of ​​the upper yard; if the unmanned transport vehicle 10 recognizes the waiting area of ​​the upper yard, it runs at a low speed, and it is determined that the workshop distance between the unmanned transport vehicle 10 and the preceding vehicle is less than or equal to the workshop minimum distance threshold or the coupling buffer is triggered, then the unmanned transport vehicle 10 arrives at the waiting area of ​​the upper yard and stops; if the unmanned transport vehicle 10 does not recognize the waiting area of ​​the upper yard, the unmanned transport vehicle 10 is driven to continue driving; if the unmanned transport vehicle 10 recognizes the waiting area of ​​the upper yard, it runs at a low speed, and it is determined that the workshop distance between the unmanned transport vehicle 10 and the preceding vehicle is greater than the workshop minimum distance threshold or the coupling buffer is not triggered, then the unmanned transport vehicle continues to run at a low speed. If it is determined that the gravity block has not been separated from the unmanned transport vehicle 10, the system waits for the gravity block to be separated again.

[0081] It should be noted that medium speed, high speed and low speed are determined according to the actual application scenario. The reference speed value is the maximum speed and minimum speed allowed for the vehicle to travel on site under actual working conditions. The median value between the maximum speed and the minimum speed is the medium speed.

[0082] It can be known from the above description that the present invention can accurately determine the relative position between the unmanned transport vehicle and the first hoisting area and the second hoisting area by measuring and comparing the first front-to-back distance measurement value and the first preset characteristic distance and the second front-to-back distance measurement value and the second preset characteristic distance in real time, which helps to achieve accurate parking and positioning and avoid problems caused by being too close or too far. After accurately positioning and parking in the first hoisting area and the second hoisting area, a position calibration and a secondary position calibration are performed to provide high-precision position coordinates, ensuring that the unmanned transport vehicle can accurately dock with the hoisting area and improving the efficiency and safety of the hoisting operation. In addition, the present invention ensures that the unmanned transport vehicle can travel safely and stably by adjusting the vehicle speed in different areas.

[0083] like Figure 4 As shown, Figure 4 A flow chart of another embodiment of a method for positioning an unmanned transport vehicle based on gravity energy storage provided by the present invention. A method for positioning an unmanned transport vehicle based on gravity energy storage, the method comprising:

[0084] S201: After determining that the unmanned transport vehicle is traveling at high speed to the material-collecting area, the unmanned transport vehicle is driven forward at a low speed.

[0085] For example, in combination with participation Figure 2 , the main control unit 11 enters the automatic energy storage mode, the unmanned transport vehicle 10 performs a self-check, the active unit starts the unmanned transport vehicle 10, and drives it forward at high speed. The RFID card 18 is installed at the starting and ending positions of the material-collecting area respectively. When the unmanned transport vehicle 10 is driving, when the RFID card reader 12 reads the radio information of the RFID card 18 located at the starting position of the material-collecting area, it means that the unmanned transport vehicle 10 has driven to the starting position of the material-collecting area. Similarly, when the RFID card reader 12 reads the radio information of the RFID card 18 located at the ending position of the material-collecting area, it means that the unmanned transport vehicle 10 has driven to the ending position of the material-collecting area. The RFID card reader 12 of the unmanned transport vehicle 10 determines whether the material-collecting area is recognized. If the RFID card reader 12 of the unmanned transport vehicle 10 recognizes the material-collecting area, it is determined that the unmanned transport vehicle 10 drives to the material-collecting area at high speed, and then drives the unmanned transport vehicle 10 to move forward at a low speed; if the RFID card reader 12 of the unmanned transport vehicle 10 does not recognize the material-collecting area, the unmanned transport vehicle 10 continues to move forward at a high speed.

[0086] S202: Determine a comparison relationship between a first front-to-back distance measurement value and a first preset characteristic distance.

[0087] Exemplarily, two laser distance measuring sensors 13 installed at the front side and the rear side of the unmanned transport vehicle 10 detect the first front-to-back distance measurement value between the unmanned transport vehicle 10 and the distance identification plate 17 in real time, and determine the comparison between the first front-to-back distance measurement value and the first preset characteristic distance. Specifically, the front and rear laser distance measuring sensors 13 are respectively connected to the main control unit 11, and the distance identification plate 17 is distributed on the front and rear sides of the hoisting area of ​​the unmanned transport vehicle 10, located on the same horizontal line, corresponding to the positions of the front and rear laser distance measuring sensors 13. Figure 3 , the distance sign 17 is divided into a square extension and a raised cylindrical core, therefore, the first preset characteristic distance includes a first inherent distance reference value between the unmanned transport vehicle 10 and the square extension and a second inherent distance reference value between the unmanned transport vehicle 10 and the cylindrical core. When the first front-to-back distance measurement values ​​are equal to the first inherent distance reference value, it means that the distance sensor of the unmanned transport vehicle 10 has reached the square outer edge of the distance sign 17, which means that the unmanned transport vehicle 10 is about to reach the parking position. When the first front-to-back distance measurement values ​​are equal to the second inherent distance reference value, it means that the distance sensor of the unmanned transport vehicle 10 has reached the circular raised position of the distance sign 17, which means that the unmanned transport vehicle 10 has reached the parking point of the first hoisting area, and the unmanned transport vehicle 10 should stop driving and wait for hoisting.

[0088] S2021: If the first front-to-rear distance measurement value is equal to the first preset characteristic distance, the unmanned transport vehicle drives at a low speed to the first lifting area, stops to perform a position calibration and gravity block assembly.

[0089] Exemplarily, when performing a position calibration, the position coordinates of the parking point in the first lifting area are accurately known and recorded as the first calibration coordinates. Whenever the unmanned transport vehicle 10 recognizes through the laser ranging sensor that the unmanned transport vehicle 10 has arrived at the first lifting area and parked, the current position coordinates are updated to the actual first calibration coordinates, and the coordinates are recalculated on this basis.

[0090] S203: After confirming that the gravity block is accurately assembled on the unmanned transport vehicle, the unmanned transport vehicle carrying the gravity block is driven forward at a medium speed to the slope area.

[0091] S204: If it is determined that the gravity block is not accurately assembled to the unmanned transport vehicle, the gravity block is assembled again.

[0092] S2022: If the first front-to-rear distance measurement value is greater than or less than the preset characteristic distance, it is determined whether the unmanned transport vehicle has driven out of the material collection area.

[0093] S2051: When it is determined that the unmanned transport vehicle has left the material-collecting area, the unmanned transport vehicle is driven to run in reverse at a low speed, and a comparison relationship between the first front-to-back distance measurement value and the preset characteristic distance is determined again.

[0094] S2052: If it is determined that the unmanned transport vehicle has not left the material-collecting area, the unmanned transport vehicle is driven forward at a low speed, and a comparison relationship between the first front-to-rear distance measurement value and the preset characteristic distance is determined again.

[0095] S206: Determine whether the unmanned transport vehicle carrying the gravity block has recognized the starting position of the slope area and whether the unmanned transport vehicle is located at the starting position of the slope area.

[0096] S2061: Determine that the unmanned transport vehicle carrying the gravity block recognizes the starting position of the slope area and is located at the starting position of the slope area, then the unmanned transport vehicle carrying the gravity block extends a hook to clamp the upward chain and waits for upward transmission along the slope.

[0097] Exemplarily, when the unmanned transport vehicle 10 carrying the weight block starts to travel from the parking position of the first lifting area, a pulse signal is sent; the pulse count value corresponding to the pulse signal is continuously monitored to determine the initial pulse count value of the unmanned transport vehicle 10 carrying the weight block traveling from the parking position to the starting position of the slope area and the terminal pulse count value of the unmanned transport vehicle 10 carrying the weight block traveling from the parking position to the ending position of the slope area; if the initial pulse count value is determined to be greater than or equal to the preset reference value, then the unmanned transport vehicle 10 carrying the weight block is located at the starting position of the slope area. position; if it is determined that the initial pulse count value is less than the preset reference value, the unmanned transport vehicle 10 carrying the gravity block is not located at the starting position of the slope area, and the unmanned transport vehicle 10 carrying the gravity block continues to travel at medium speed; if it is determined that the termination pulse count value is greater than or equal to the preset reference value, the unmanned transport vehicle 10 carrying the gravity block is located at the end position of the slope area; if it is determined that the termination pulse count value is less than the preset reference value, the unmanned transport vehicle 10 carrying the gravity block is not located at the end position of the slope area, and the unmanned transport vehicle 10 carrying the gravity block continues to be transmitted upward along the slope with the upward chain.

[0098] Further, it is determined whether the unmanned transport vehicle 10 carrying the weight block has identified the starting position of the slope area and whether the unmanned transport vehicle 10 has reached the starting position of the slope area. If it is determined that the unmanned transport vehicle 10 carrying the weight block has identified the starting position of the slope area and is located at the starting position of the slope area, the unmanned transport vehicle 10 carrying the weight block extends the hook to clamp the upward chain and waits for upward transmission along the slope.

[0099] S2062: If it is determined that the unmanned transport vehicle carrying the weight block has not identified the starting position of the slope area and is not located at the starting position of the slope area, the unmanned transport vehicle carrying the weight block continues to travel at a medium speed.

[0100] S207: Determine whether the unmanned transport vehicle carrying the gravity block has recognized the end position of the slope area and whether the unmanned transport vehicle is located at the end position of the slope area.

[0101] S2071: Determine that the unmanned transport vehicle carrying the gravity block recognizes the end position of the slope area and transmits upward along the slope to the end position of the slope area, then the unmanned transport vehicle retracts the hook and continues to drive to the discharge area, and drives the unmanned transport vehicle carrying the gravity block forward at a low speed.

[0102] S2072: If it is determined that the unmanned transport vehicle carrying the gravity block has not identified the end position of the slope area and is not located at the end position of the slope area, the unmanned transport vehicle carrying the gravity block continues to be transported upward along the slope along the upward chain.

[0103] S208: Determine a comparison relationship between the second front-to-back distance measurement value and the second preset characteristic distance.

[0104] For example, two laser distance measuring sensors 13 installed at the front side and the rear side of the unmanned transport vehicle 10 detect the second front-to-rear distance measurement value between the unmanned transport vehicle 10 and the distance sign 17 in real time, and determine the comparison between the second front-to-rear distance measurement value and the second preset characteristic distance. Figure 3 , the distance sign 17 is divided into a square extension and a raised cylindrical core, therefore, the second preset characteristic distance includes the third inherent distance reference value between the unmanned transport vehicle 10 and the square extension and the fourth inherent distance reference value between the unmanned transport vehicle 10 and the cylindrical core. When the second front-to-back distance measurement values ​​are equal to the third inherent distance reference value, it means that the distance sensor of the unmanned transport vehicle 10 has reached the square outer edge of the distance sign 17, which means that the unmanned transport vehicle 10 is about to reach the parking position. When the second front-to-back distance measurement values ​​are equal to the fourth inherent distance reference value, it means that the distance sensor of the unmanned transport vehicle 10 has reached the circular raised position of the distance sign 17, which means that the unmanned transport vehicle 10 has reached the parking point of the second lifting area, and the unmanned transport vehicle 10 should stop driving and wait for lifting.

[0105] S2081: If the second front-to-rear distance measurement value is greater than or less than the second preset characteristic distance, the unmanned transport vehicle carrying the gravity block is driven to continue to move forward at a low speed.

[0106] S2082: If the second front-to-rear distance measurement value is equal to the second preset characteristic distance, the unmanned transport vehicle carrying the gravity block drives at a low speed to the second lifting area, stops to perform secondary position calibration and detach the gravity block.

[0107] S209: Determine whether the gravity block is separated from the unmanned transport vehicle.

[0108] S2091: Determine that the gravity block is detached from the unmanned transport vehicle, drive the unmanned transport vehicle to continue driving, and determine whether the unmanned transport vehicle has recognized the upper yard waiting area.

[0109] S2101: If the unmanned transport vehicle recognizes the upper yard waiting area and runs at a low speed, and determines that the workshop distance between the unmanned transport vehicle and the vehicle in front is less than or equal to the minimum workshop distance threshold or the coupling buffer is triggered, the unmanned transport vehicle arrives at the upper yard waiting area and stops.

[0110] S2102: If the unmanned transport vehicle does not recognize the upper yard waiting area, the unmanned transport vehicle is driven to continue traveling.

[0111] S2103: If the unmanned transport vehicle recognizes the upper yard waiting area and runs at a low speed, and it is determined that the workshop distance between the unmanned transport vehicle and the vehicle in front is greater than the minimum workshop distance threshold or the coupling buffer is not triggered, the unmanned transport vehicle continues to run at a low speed.

[0112] S2092: Determine that the gravity block has not detached from the unmanned transport vehicle, and wait for the gravity block to detach again.

[0113] It should be noted that steps S209-S2092 are Figure 1 This has been discussed in detail in the implementation scenario shown and will not be repeated here.

[0114] like Figure 5 As shown, Figure 5 A structural schematic diagram of another embodiment of an unmanned transport vehicle positioning system based on gravity energy storage provided by the present invention. An unmanned transport vehicle positioning system 20 based on gravity energy storage, the system comprises:

[0115] The material-collecting area positioning module 21 is used to determine that after the unmanned transport vehicle drives at high speed to the material-collecting area, it drives the unmanned transport vehicle to move forward at a low speed.

[0116] The first distance comparison module 22 is used to determine a comparison relationship between the first front-to-back distance measurement value and the first preset characteristic distance.

[0117] The slope area positioning module 23 is used to determine that the unmanned transport vehicle drives at a low speed to the first lifting area according to the comparison relationship between the first front-to-back distance measurement value and the first preset characteristic distance, stops to perform a position calibration and gravity block assembly, and then drives the unmanned transport vehicle carrying the gravity block to move forward at a medium speed to the slope area.

[0118] The material discharge area positioning module 24 is used to determine that the unmanned transport vehicle carrying the gravity block is transported upward along the slope and continues to travel to the material discharge area according to the position of the unmanned transport vehicle carrying the gravity block relative to the slope area, and then drive the unmanned transport vehicle carrying the gravity block to move forward at a low speed.

[0119] The second distance comparison module 25 is used to determine the comparison relationship between the second front-to-back distance measurement value and the second preset characteristic distance.

[0120] The upper yard waiting area positioning module 26 is used to determine that the unmanned transport vehicle carrying the gravity block drives at a low speed to the second lifting area according to the comparison relationship between the second front-to-back distance measurement value and the second preset characteristic distance, stops for secondary position calibration and after the gravity block is detached, drives the unmanned transport vehicle to the upper yard waiting area and stops.

[0121] Exemplarily, in the material-collecting area positioning module 21, after determining that the unmanned transport vehicle 10 drives at high speed to the material-collecting area, the unmanned transport vehicle 10 is driven forward at a low speed. In the first distance comparison module 22, the comparison relationship between the front-to-back distance measurement value and the first preset characteristic distance is determined. Further, in the slope area positioning module 23, if the first front-to-back distance measurement value is equal to the first preset characteristic distance, then the unmanned transport vehicle 10 drives at a low speed to the first hoisting area, stops to perform a position calibration and gravity block assembly; if the first front-to-back distance measurement value is greater than or less than the first preset characteristic distance, it is determined whether the unmanned transport vehicle 10 has driven out of the material-collecting area; if it is determined that the unmanned transport vehicle 10 has driven out of the material-collecting area, the unmanned transport vehicle 10 is driven to run in reverse at a low speed, and the comparison relationship between the first front-to-back distance measurement value and the first preset characteristic distance is determined again; if it is determined that the unmanned transport vehicle 10 has not driven out of the material-collecting area, the unmanned transport vehicle 10 is driven forward at a low speed, and the comparison relationship between the first front-to-back distance measurement value and the first preset characteristic distance is determined again. Further, in the material discharge area positioning module 24, if it is determined that the unmanned transport vehicle 10 carrying the gravity block recognizes the starting position of the slope area and is located at the starting position of the slope area, the unmanned transport vehicle 10 carrying the gravity block extends the hook to clamp the upward chain and waits for transmission upward along the slope; if it is determined that the unmanned transport vehicle 10 carrying the gravity block does not recognize the starting position of the slope area and is not located at the starting position of the slope area, the unmanned transport vehicle 10 carrying the gravity block continues to travel at medium speed; if it is determined that the unmanned transport vehicle 10 carrying the gravity block recognizes the ending position of the slope area and is transmitted upward along the slope to the ending position of the slope area, the unmanned transport vehicle 10 retracts the hook and continues to travel to the material discharge area, and drives the unmanned transport vehicle 10 carrying the gravity block to move forward at a low speed; if it is determined that the unmanned transport vehicle 10 carrying the gravity block does not recognize the ending position of the slope area and is not located at the ending position of the slope area, the unmanned transport vehicle 10 carrying the gravity block continues to be transmitted upward along the slope with the upward chain. Furthermore, in the second distance comparison module 25, the comparison relationship between the front-to-back distance measurement value and the second preset characteristic distance is determined. Finally, in the upper yard waiting area positioning module 26, if the second front-to-back distance measurement value is greater than or less than the second preset characteristic distance, the unmanned transport vehicle 10 carrying the weight block is driven to continue to move forward at a low speed; if the second front-to-back distance measurement value is equal to the second preset characteristic distance, then the unmanned transport vehicle 10 carrying the weight block is driven at a low speed to the second hoisting area, stops for secondary position calibration and weight block detachment; if it is determined that the weight block is detached from the unmanned transport vehicle 10, the unmanned transport vehicle 10 is driven to continue driving, and it is determined whether the unmanned transport vehicle 10 recognizes the upper yard waiting area; if it is determined that the weight block is not detached from the unmanned transport vehicle 10, wait for the weight block to detach again.

[0122] like Figure 6 As shown, Figure 6The storage medium 30 stores at least one computer program 31, which is executed by a processor to implement the following. Figure 1 and Figure 4 In one embodiment, the storage medium 30 may be a storage chip, a hard disk, a mobile hard disk, a USB flash drive, an optical disk, or other readable and writable storage tools, or a server, etc.

[0123] The above describes specific embodiments of the present specification, and other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily have to be performed in the specific order or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0124] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, equipment, and non-volatile computer-readable storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0125] The apparatus, device, non-volatile computer-readable storage medium and method provided in the embodiments of this specification correspond to each other, and therefore, the apparatus, device, and non-volatile computer storage medium also have similar beneficial technical effects as the corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the corresponding apparatus, device, and non-volatile computer storage medium will not be repeated here.

[0126] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0127] For the convenience of description, the above device is described by being divided into various units according to their functions and described separately. Of course, when implementing this specification, the functions of each unit can be implemented in one or more software and / or hardware. It should be understood by those skilled in the art that this specification embodiment can be provided as a method, system, or computer program product. Therefore, this specification embodiment can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this specification embodiment can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0128] This specification is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of this specification. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0129] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0130] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0131] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0132] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0133] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0134] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0135] This specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media including storage devices.

[0136] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0137] The above disclosure is only the preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A method for positioning an unmanned transport vehicle based on gravity energy storage, characterized in that: The method comprises: After determining that the unmanned transport vehicle is traveling at high speed to the material-collecting area, driving the unmanned transport vehicle to move forward at a low speed; Determine a comparison relationship between a first front-to-back distance measurement value and a first preset characteristic distance; According to the comparison relationship between the first front-to-rear distance measurement value and the first preset characteristic distance, it is determined that the unmanned transport vehicle drives at a low speed to the first hoisting area, stops to perform a position calibration and weight block assembly, and then drives the unmanned transport vehicle carrying the weight block to move forward at a medium speed to the slope area; When the unmanned transport vehicle carrying the weight block starts to travel from the parking position of the first hoisting area, a pulse signal is sent; the pulse count value corresponding to the pulse signal is continuously monitored to determine the initial pulse count value of the unmanned transport vehicle carrying the weight block traveling from the parking position to the starting position of the slope area and the terminal pulse count value of the unmanned transport vehicle carrying the weight block traveling from the parking position to the ending position of the slope area; the position of the unmanned transport vehicle carrying the weight block relative to the slope area is determined based on the comparison between the pulse count value and the preset reference value; According to the position of the unmanned transport vehicle carrying the weight block relative to the slope area, after determining that the unmanned transport vehicle carrying the weight block is transported upward along the slope and continues to travel to the discharge area, the unmanned transport vehicle carrying the weight block is driven forward at a low speed; Determining a comparison relationship between a second front-to-back distance measurement value and a second preset characteristic distance; According to the comparison relationship between the second front-to-back distance measurement value and the second preset characteristic distance, it is determined that the unmanned transport vehicle carrying the gravity block drives at a low speed to the second lifting area, stops for secondary position calibration and after the gravity block is detached, drives the unmanned transport vehicle to the upper yard waiting area and stops.

2. The unmanned transport vehicle positioning method based on gravity energy storage according to claim 1 is characterized in that: The step of determining, based on the comparison relationship between the first front-to-rear distance measurement value and the first preset characteristic distance, that the unmanned transport vehicle travels at a low speed to the first hoisting area, stops to perform a position calibration and gravity block assembly, and then drives the unmanned transport vehicle forward at a medium speed to the slope area specifically includes: If the first front-to-rear distance measurement value is equal to the first preset characteristic distance, the unmanned transport vehicle drives at a low speed to the first hoisting area, stops to perform a position calibration and gravity block assembly; If the first front-to-back distance measurement value is greater than or less than the first preset characteristic distance, determining whether the unmanned transport vehicle has driven out of the material collection area; If it is determined that the unmanned transport vehicle has driven out of the material-collecting area, the unmanned transport vehicle is driven to run in reverse at a low speed, and a comparison relationship between the first front-to-back distance measurement value and the first preset characteristic distance is determined again; If it is determined that the unmanned transport vehicle has not left the material-collecting area, the unmanned transport vehicle is driven forward at a low speed, and the comparison relationship between the first front-to-rear distance measurement value and the first preset characteristic distance is determined again.

3. The unmanned transport vehicle positioning method based on gravity energy storage according to claim 2 is characterized in that: If the first front-to-rear distance measurement value is equal to the first preset characteristic distance, the unmanned transport vehicle drives at a low speed to the first hoisting area, stops to perform a position calibration and gravity block assembly, specifically including: Determining that the weight block is accurately assembled to the unmanned transport vehicle, driving the unmanned transport vehicle carrying the weight block forward at a medium speed to the slope area; If it is determined that the gravity block is not accurately assembled to the unmanned transport vehicle, the gravity block is assembled again.

4. The unmanned transport vehicle positioning method based on gravity energy storage according to claim 1 is characterized in that: Determining the position of the unmanned transport vehicle carrying the gravity block relative to the slope area according to the comparison between the pulse count value and the preset reference value specifically includes: Determining that the initial pulse count value is greater than or equal to the preset reference value, the unmanned transport vehicle carrying the gravity block is located at the starting position of the slope area; Determining that the initial pulse count value is less than the preset reference value, the unmanned transport vehicle carrying the weight block is not located at the starting position of the slope area, and the unmanned transport vehicle carrying the weight block continues to travel at a medium speed; Determining that the end pulse count value is greater than or equal to the preset reference value, the unmanned transport vehicle carrying the gravity block is located at the end position of the slope area; If it is determined that the end pulse count value is less than the preset reference value, the unmanned transport vehicle carrying the gravity block is not located at the end position of the slope area, and the unmanned transport vehicle carrying the gravity block continues to be transported upward along the slope with the upward chain.

5. The unmanned transport vehicle positioning method based on gravity energy storage according to claim 4 is characterized in that: The method of determining, based on the position of the unmanned transport vehicle carrying the weight block relative to the slope area, that the unmanned transport vehicle carrying the weight block is transported upward along the slope and continues to travel to the discharge area, and then driving the unmanned transport vehicle carrying the weight block forward at a low speed specifically includes: Determining that the unmanned transport vehicle carrying the weight block recognizes the starting position of the slope area and is located at the starting position of the slope area, the unmanned transport vehicle carrying the weight block extends a hook to clamp the upward chain and waits for upward transmission along the slope; If it is determined that the unmanned transport vehicle carrying the weight block has not identified the starting position of the slope area and is not located at the starting position of the slope area, the unmanned transport vehicle carrying the weight block continues to travel at a medium speed; Determining that the unmanned transport vehicle carrying the weight block recognizes the end position of the slope area and is transported upward along the slope to the end position of the slope area, the unmanned transport vehicle retracts the hook and continues to travel to the material discharge area, and then drives the unmanned transport vehicle carrying the weight block to move forward at a low speed; If it is determined that the unmanned transport vehicle carrying the weight block has not identified the end position of the slope area and is not located at the end position of the slope area, the unmanned transport vehicle carrying the weight block continues to be transported upward along the slope along the upward chain.

6. The unmanned transport vehicle positioning method based on gravity energy storage according to claim 5 is characterized in that: The method of determining, based on the comparison relationship between the second front-to-rear distance measurement value and the second preset characteristic distance, that the unmanned transport vehicle carrying the gravity block drives at a low speed to the second hoisting area, stops for secondary position calibration and after the gravity block is detached, drives the unmanned transport vehicle to the upper yard waiting area and stops, specifically includes: If the second front-to-rear distance measurement value is greater than or less than the second preset characteristic distance, the unmanned transport vehicle carrying the gravity block is driven to continue to move forward at a low speed; If the second front-to-rear distance measurement value is equal to the second preset characteristic distance, the unmanned transport vehicle carrying the weight block drives at a low speed to the second hoisting area, stops to perform secondary position calibration and detach the weight block; Determining that the gravity block is separated from the unmanned transport vehicle, driving the unmanned transport vehicle to continue traveling, and determining whether the unmanned transport vehicle recognizes the upper yard waiting area; If it is determined that the gravity block has not been separated from the unmanned transport vehicle, the process waits for the gravity block to be separated again.

7. The unmanned transport vehicle positioning method based on gravity energy storage according to claim 6 is characterized in that: Determining that the gravity block is separated from the unmanned transport vehicle, driving the unmanned transport vehicle to continue traveling, and determining whether the unmanned transport vehicle recognizes the upper yard waiting area specifically includes: If the unmanned transport vehicle recognizes the upper yard waiting area and runs at a low speed, and determines that the inter-vehicle distance between the unmanned transport vehicle and the preceding vehicle is less than or equal to the inter-vehicle minimum distance threshold or the coupling buffer is triggered, the unmanned transport vehicle arrives at the upper yard waiting area and stops; If the unmanned transport vehicle recognizes the upper yard waiting area and runs at a low speed, and it is determined that the inter-vehicle distance between the unmanned transport vehicle and the preceding vehicle is greater than the inter-vehicle minimum distance threshold or the coupling buffer is not triggered, the unmanned transport vehicle continues to run at a low speed; If the unmanned transport vehicle fails to identify the upper yard waiting area, the unmanned transport vehicle is driven to continue traveling.

8. An unmanned transport vehicle positioning system based on gravity energy storage, characterized in that: The system comprises: The material-collecting area positioning module is used to determine that after the unmanned transport vehicle has driven at high speed to the material-collecting area, it drives the unmanned transport vehicle to move forward at a low speed; A first distance comparison module, used to determine a comparison relationship between a first front-to-back distance measurement value and a first preset characteristic distance; The slope area positioning module is used to determine that the unmanned transport vehicle drives to the first hoisting area at a low speed according to the comparison between the first front-to-back distance measurement value and the first preset characteristic distance, and after stopping for a position calibration and gravity block assembly, the unmanned transport vehicle carrying the gravity block is driven to the slope area at a medium speed, and the unmanned transport vehicle carrying the gravity block sends a pulse signal when the unmanned transport vehicle carrying the gravity block starts to drive from the parking position of the first hoisting area; continuously monitor the pulse count value corresponding to the pulse signal to determine the initial pulse count value of the unmanned transport vehicle carrying the gravity block driving from the parking position to the starting position of the slope area and the terminal pulse count value of the unmanned transport vehicle carrying the gravity block driving from the parking position to the ending position of the slope area; determine the position of the unmanned transport vehicle carrying the gravity block relative to the slope area according to the comparison between the pulse count value and the preset reference value; The material discharge area positioning module is used to determine that the unmanned transport vehicle carrying the weight block is transported upward along the slope and continues to travel to the material discharge area according to the position of the unmanned transport vehicle carrying the weight block relative to the slope area, and then drive the unmanned transport vehicle carrying the weight block to move forward at a low speed; A second distance comparison module, used to determine a comparison relationship between a second front-to-back distance measurement value and a second preset characteristic distance; The upper yard waiting area positioning module is used to determine that the unmanned transport vehicle carrying the gravity block drives at a low speed to the second lifting area according to the comparison between the second front-to-back distance measurement value and the second preset characteristic distance, stops for secondary position calibration and after the gravity block is detached, drives the unmanned transport vehicle to the upper yard waiting area and stops.

9. A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor is caused to perform the steps of the method according to any one of claims 1 to 7.

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