Control method for cooperative automatic transportation of double unmanned vehicles and unmanned vehicle

Abstract

An unmanned double-vehicle cooperative automatic transportation control method is characterized in that an applied area comprises a main road and a branch connected with the main road, the terminal of the branch is a warehouse, the junction of the starting end of the branch and the main road is an intersection, the road surface of the intersection is provided with a warehouse number, and at the same time, more than one unmanned transport vehicle is limited for transportation. The unmanned vehicle is mostly used for transportation of double vehicles or multiple vehicles, the control method comprises a first vehicle control algorithm and a second vehicle control algorithm so as to achieve cooperation of the double vehicles or the multiple vehicles and achieve automatic transportation of all the vehicles, and the unmanned vehicle comprises a main control module, a motor driving module, a visual detection and recognition module and a wireless communication module, and the motor driving module, the visual detection and recognition module and the wireless communication module are in signal connection with the main control module. The motor driving module comprises a motor driving unit and an encoder. According to the design, double vehicles or multiple vehicles can be coordinated for automatic transportation, and the transportation efficiency is high.

Description

Technical Field

[0001] The present invention relates to a control method for unmanned transportation, belongs to the field of unmanned transport vehicles, and in particular to a control method for unmanned dual-vehicle coordinated automatic transportation and an unmanned vehicle. Background Art

[0002] At present, with the continuous growth of the e-commerce economy, the demand for warehousing and cargo transportation is also increasing. At the same time, with the advent of the information age, unmanned driving technology is becoming more and more widely used. Therefore, unmanned transport vehicles are also receiving more and more attention.

[0003] However, in a large warehouse area (open space or closed large warehouse), more than one unmanned vehicle will be used on site. Often two or even more unmanned vehicles will be involved in transportation. At this time, a problem will be faced, that is, how to coordinate two or more unmanned transport vehicles to work effectively. Otherwise, not only will automatic transportation fail to improve transportation efficiency, but it will cause obstacles and even accidents, which will damage efficiency.

[0004] The invention patent application with application number 201811638745.5 and application publication date May 7, 2019 discloses a method and device for dispatching unmanned guided vehicles based on smart warehouses, the method comprising: the user terminal system reads the tag information and cargo location information of the RFID tag attached to the goods to be stored and / or shipped out based on the tag reader; the user terminal system transmits the tag information and cargo location information to the warehouse management system based on Ethernet; after receiving the tag information and cargo location information, the warehouse management system generates a transportation instruction, and transmits the transportation instruction to the unmanned guided vehicle management system based on Ethernet; the unmanned guided vehicle management system parses the transportation instruction and determines whether there is an idle unmanned guided vehicle in non-energy-saving sleep and can execute the transportation instruction in the current time period; if so, the unmanned guided vehicle management system controls the idle unmanned guided vehicle to complete the transportation task in the transportation instruction. Although the application expects to improve transportation efficiency by dispatching unmanned guided vehicles, it has the following defects: The application does not provide a specific introduction on how the unmanned guided vehicle management system controls unmanned guided vehicles for transportation, especially on how to coordinate the collaboration between two or more unmanned guided vehicles, making it difficult to achieve true dual-vehicle or multi-vehicle automatic transportation, resulting in low transportation efficiency.

[0005] The information disclosed in this background technology section is only intended to increase the understanding of the overall background of the application, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art already known to ordinary technicians in this field. Summary of the invention

[0006] The purpose of the present invention is to overcome the defects and problems existing in the prior art that two or more vehicles cannot be coordinated for automatic transportation and the transportation efficiency is low, and to provide a control method and an unmanned vehicle for unmanned dual-vehicle collaborative automatic transportation that can coordinate two or more vehicles for automatic transportation and has high transportation efficiency.

[0007] To achieve the above purpose, the technical solution of the present invention is: a control method for unmanned dual-vehicle cooperative automatic transportation, the control method includes a control algorithm for vehicle No. 1 and a control algorithm for vehicle No. 2: the area where the automatic transportation is located includes a main road and a branch road connected thereto, the terminal of the branch road is a warehouse, the intersection of the starting end of the branch road and the main road is an intersection, and a warehouse number is set on the road surface of the intersection; The control algorithm of vehicle No. 1 includes: firstly preparing vehicle No. 1, at this time, vehicle No. 1 is loading, and then determining whether it is a dual-vehicle mode, if so, sending a confirmation signal to vehicle No. 2, and then determining whether the two vehicles go to the same warehouse after receiving the target warehouse data of vehicle No. 2, if not, accepting the driving command, starting driving, until reaching the intersection, then identifying the warehouse number on the road surface, and determining whether it is the first time to identify the warehouse number, if not, continuing to identify the warehouse number on the road surface, if so, first sending the driving command and the target warehouse data of vehicle No. 1 to vehicle No. 2, and then continuing to identify the warehouse number on the road surface, and then determining whether there is a target warehouse number, if not, vehicle No. 1 continues to move, if so, vehicle No. 1 performs a warehouse search operation, then enters the target warehouse, and lights up the red light, and then starts unloading, until the unloading is completed, and then determining whether the target warehouse position of vehicle No. 1 is farther than that of vehicle No. 2, if not, turning off the red light, and returning according to the memory route until returning to the initial position, and then sending a return command to vehicle No. 2, and ending; The control algorithm of car No. 2 includes: first preparing car No. 2, at this time, car No. 2 is loaded or empty, and then judging whether the confirmation signal of car No. 1 is received, and then sending the target warehouse data of the car to car No. 1, and then judging whether the driving command of car No. 1 is received, and then starting to drive, and then identifying the warehouse number on the road at each intersection, and then judging whether there is a target warehouse number, if not, car No. 2 continues to move, if so, car No. 2 performs a warehouse search operation, then enters the target warehouse, and lights up the blue light, and then starts unloading or loading, until unloading or loading is completed, and then judging whether the target warehouse data of car No. 1 is received, and then judging whether the two cars go to the same warehouse, if not, then judging whether the return command of car No. 1 is received, and then turning off the blue light, and returning according to the memory route, until returning to the initial position, and ending.

[0008] The control algorithm for car No. 1 also includes: when judging whether the target warehouse position of car No. 1 is farther than that of car No. 2, if so, first send a return command to car No. 2, then turn off the red light, and return according to the memorized route until it returns to the initial position and ends.

[0009] The control algorithm of car No. 1 also includes: when judging whether the two cars go to the same warehouse, if so, first receiving the driving command of car No. 1, then starting to drive, then identifying the warehouse number on the road at each intersection, and then judging whether there is a target warehouse number, if not, car No. 1 continues to move, if so, car No. 1 performs a warehouse search operation, then enters the target warehouse, and lights up the red light, and then starts unloading, until the unloading is completed, then turns off the red light, and returns according to the memory route until it returns to the initial position, and then sends a driving command to car No. 2 and the target warehouse data of car No. 1, and ends; The control algorithm of vehicle No. 2 also includes: when determining whether two vehicles are going to the same warehouse, if so, first turn off the blue light, then return according to the memory route until returning to the initial position, and then end.

[0010] The control algorithm of vehicle No. 1 also includes: when judging whether it is a dual-vehicle mode, if not, first receive the driving command of vehicle No. 1, then start driving, then identify the warehouse number on the road at each intersection, and then judge whether there is a target warehouse number, if not, vehicle No. 1 continues to move, if so, vehicle No. 1 performs a warehouse search operation, then enters the target warehouse, and turns on the red light, and then starts unloading, until the unloading is completed, then turns off the red light, and returns according to the memory route to end.

[0011] The warehouse search operation means: first determine whether the target warehouse is on the right side of the intersection, if so, turn right to enter the right branch road, if not, turn left to enter the left branch road, and then continue driving until entering the target warehouse.

[0012] The vehicle preparation operation means: first starting vehicle No. 1 or vehicle No. 2, then initializing the on-vehicle system, and then accepting the target warehouse number.

[0013] There are six target warehouses, namely Warehouse No. 1, Warehouse No. 2, Warehouse No. 3, Warehouse No. 4, Warehouse No. 5, and Warehouse No. 6. The branches correspond to the warehouses one by one, namely Branch No. 1, Branch No. 2, Branch No. 3, Branch No. 4, Branch No. 5, and Branch No. 6. Among them, Branch No. 1 and Branch No. 2 are opposite to each other on the left and right, Branch No. 3 and Branch No. 4 are opposite to each other on the left and right, and Branch No. 5 and Branch No. 6 are opposite to each other on the left and right.

[0014] An unmanned vehicle, wherein the unmanned vehicle is the first vehicle or the second vehicle in the control method for unmanned dual-vehicle coordinated automatic transportation; The unmanned vehicle includes a power supply and a main control module connected thereto, a motor drive module, a visual detection and recognition module, and a wireless communication module, and the motor drive module includes a motor drive unit and an encoder; The motor drive module, the wireless communication module, the visual detection and recognition module are all connected to the main control module by signals, and the two vehicles communicate with each other through the wireless communication module.

[0015] The main control module is STM32F103RCT6, and the visual detection and recognition module includes a K210 camera and an OpenMV camera. The K210 camera is used for the operation of identifying the warehouse number on the road surface, and the OpenMV camera is used for automatic path finding when vehicle No. 1 or vehicle No. 2 is driving.

[0016] The automatic path finding refers to first using the OpenMV camera to collect the guide line on the main road, and then binarizing the collected image. The processing includes using the maximum inter-class variance method to select the image binarization threshold, and then using the linear regression algorithm of computer vision to find the trajectory of the guide line. After finding the guide line, feedback information is provided to the main control module, and then the main control module controls the motor drive module to operate to achieve automatic path finding.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The control method of unmanned dual-vehicle coordinated automatic transportation and the unmanned vehicle of the present invention are based on a warehouse area with multiple intersections and multiple warehouses. At the same time, it is limited to more than one unmanned transport vehicle for transportation, mostly for two or more vehicles. The control method of the unmanned transport vehicle is designed to achieve the coordination of two or more vehicles and the automatic transportation of all vehicles, thereby improving the transportation efficiency. Its main advantages include: First point: The entire control method includes the control algorithm of car No. 1 and car No. 2 to control both cars at the same time, focusing on the communication between the two cars to achieve the coordination of the two cars and ensure that both can carry out automatic transportation. Moreover, similar control algorithms can be superimposed based on the coordination of the two cars to realize the automatic transportation of multiple cars. Second point: Warehouse number identification signs are set up on the road surface of each intersection, so that warehouse identification can be judged at the intersection, so as to introduce a judgment node, thereby guiding the control algorithm of car No. 1 and car No. 2, ensuring the smooth implementation of the overall control method, and avoiding interference between car No. 1 and car No. 2 as much as possible in the general direction; Third point: Using confirmation signals, target warehouse data, driving commands, and return commands as signal nodes for communication between the two vehicles not only enables the two vehicles to know each other's information, but also controls the movement of the two vehicles through these signal nodes, realizes orderly scheduling, and truly realizes the coordination of the two vehicles; Fourth point: During the control algorithm of car 1 and car 2, multiple judgments involving the two cars will be made, such as whether they are going to the same warehouse? Is the warehouse location of car 1 farther than that of car 2? Are the two cars going to the same warehouse? Etc. These judgments can not only command the corresponding vehicles to perform corresponding operations, but also control the order of the two cars at a higher level based on the above multiple signal nodes, which is more conducive to the coordination of the two cars; Therefore, the present invention can not only coordinate two or more vehicles to carry out automatic transportation, but also has high transportation efficiency.

[0018] 2. In the control method and unmanned vehicle for unmanned dual-vehicle coordinated automatic transportation of the present invention, under the premise that the dual-vehicle targets are inconsistent, the distance of the dual-vehicle target warehouse will be further considered to send a return command to the second vehicle at different times to achieve the coordination of the second vehicle and the first vehicle, thereby improving the integrity of the control algorithm, and further improving the accuracy and scope of application of the entire control method. Therefore, the present invention has high accuracy and a wide range of application.

[0019] 3. In the control method and unmanned vehicle of the present invention for cooperative automatic transportation of two unmanned vehicles, under the premise that the two vehicles have the same goal, the first vehicle is used as the basis of the entire control algorithm, and the driving command is not sent to the second vehicle until the first vehicle returns to the initial position. This design can not only completely avoid the interference between the first vehicle and the second vehicle, but also can match this possible control algorithm with other control algorithms to the greatest extent, thereby summarizing it into an overall control method for wide application in unmanned transport vehicles. Therefore, the possibilities considered by the present invention are relatively complete and have strong adaptability.

[0020] 4. In the control method for unmanned dual-vehicle coordinated automatic transportation and the unmanned vehicle of the present invention, in addition to dual-vehicle coordination, the single-vehicle mode of vehicle No. 1 is also compatible to avoid the situation of single-vehicle operation in practice, thereby further expanding the scope of application of the control method to truly realize the coordinated transportation of dual or multiple vehicles in various situations. Therefore, the scope of application of the present invention is relatively wide.

[0021] 5. In the control method of unmanned dual-vehicle cooperative automatic transportation and unmanned vehicle of the present invention, in order to realize the cooperative transportation of dual or multiple vehicles, the unmanned vehicle preferably includes a power supply and a main control module connected thereto, a motor drive module, a visual detection and recognition module (preferably including a K210 camera and an OpenMV camera), and a wireless communication module (preferably ZiGBee), wherein the motor drive module includes a motor drive unit and an encoder; the motor drive module, the wireless communication module, and the visual detection and recognition module are all connected to the main control module by signal, and the dual vehicles communicate with each other through the wireless communication module. When applied, the K210 camera is used Identify the number and find the corresponding number and send the identification information to the main control module through the serial port to enter the corresponding warehouse. The OpenMV camera is used to track and prevent the vehicle from deviating from the predetermined track, so that it can drive along the guide line. The No. 1 and No. 2 vehicles communicate with each other through ZiGBee to achieve the effect of coordinated transportation of the two vehicles. In addition, the main control module designs the closed-loop speed control system of the vehicle through the information feedback from the motor encoder to achieve precise control of the transportation distance, so that the various systems on the vehicle can realize the vehicle speed control, warehouse number recognition, and automatic vehicle path finding under the coordination of the main control module, so as to facilitate the coordination of two or more vehicles and realize real automatic transportation. Therefore, the hardware system of the present invention can support the implementation of the control method, so as to coordinate two or more vehicles for automatic transportation and improve transportation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a flow chart of the control algorithm of vehicle No. 1 in the present invention.

[0023] Figure 2 yes Figure 1 An enlarged schematic diagram of a portion of the image.

[0024] Figure 3 yes Figure 1 An enlarged schematic diagram of another part.

[0025] Figure 4 yes Figure 1 An enlarged schematic diagram of another part.

[0026] Figure 5 It is a flow chart of the control algorithm of vehicle No. 2 in the present invention.

[0027] Figure 6 yes Figure 5 An enlarged schematic diagram of a portion of the image.

[0028] Figure 7 yes Figure 5 An enlarged schematic diagram of another part.

[0029] Figure 8 It is a structural schematic diagram of the driverless car in the present invention.

[0030] Fig. 9 It is a plan view of a warehouse area to which the present invention is applied. DETAILED DESCRIPTION

[0031] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0032] See also Figure 1 — Fig. 9 , a control method for unmanned dual-vehicle cooperative automatic transportation, the control method comprising a first vehicle control algorithm and a second vehicle control algorithm: the area where the automatic transportation is located includes a main road and a branch road connected thereto, the terminal of the branch road is a warehouse, the intersection of the starting end of the branch road and the main road is an intersection, and a warehouse number is set on the road surface of the intersection; The control algorithm of vehicle No. 1 includes: firstly preparing vehicle No. 1, at this time, vehicle No. 1 is loading, and then determining whether it is a dual-vehicle mode, if so, sending a confirmation signal to vehicle No. 2, and then determining whether the two vehicles go to the same warehouse after receiving the target warehouse data of vehicle No. 2, if not, accepting the driving command, starting driving, until reaching the intersection, then identifying the warehouse number on the road surface, and determining whether it is the first time to identify the warehouse number, if not, continuing to identify the warehouse number on the road surface, if so, first sending the driving command and the target warehouse data of vehicle No. 1 to vehicle No. 2, and then continuing to identify the warehouse number on the road surface, and then determining whether there is a target warehouse number, if not, vehicle No. 1 continues to move, if so, vehicle No. 1 performs a warehouse search operation, then enters the target warehouse, and lights up the red light, and then starts unloading, until the unloading is completed, and then determining whether the target warehouse position of vehicle No. 1 is farther than that of vehicle No. 2, if not, turning off the red light, and returning according to the memory route until returning to the initial position, and then sending a return command to vehicle No. 2, and ending; The control algorithm of car No. 2 includes: first preparing car No. 2, at this time, car No. 2 is loaded or empty, and then judging whether the confirmation signal of car No. 1 is received, and then sending the target warehouse data of the car to car No. 1, and then judging whether the driving command of car No. 1 is received, and then starting to drive, and then identifying the warehouse number on the road at each intersection, and then judging whether there is a target warehouse number, if not, car No. 2 continues to move, if so, car No. 2 performs a warehouse search operation, then enters the target warehouse, and lights up the blue light, and then starts unloading or loading, until unloading or loading is completed, and then judging whether the target warehouse data of car No. 1 is received, and then judging whether the two cars go to the same warehouse, if not, then judging whether the return command of car No. 1 is received, and then turning off the blue light, and returning according to the memory route, until returning to the initial position, and ending.

[0033] The control algorithm for car No. 1 also includes: when judging whether the target warehouse position of car No. 1 is farther than that of car No. 2, if so, first send a return command to car No. 2, then turn off the red light, and return according to the memorized route until it returns to the initial position and ends.

[0034] The control algorithm of car No. 1 also includes: when judging whether the two cars go to the same warehouse, if so, first receiving the driving command of car No. 1, then starting to drive, then identifying the warehouse number on the road at each intersection, and then judging whether there is a target warehouse number, if not, car No. 1 continues to move, if so, car No. 1 performs a warehouse search operation, then enters the target warehouse, and lights up the red light, and then starts unloading, until the unloading is completed, then turns off the red light, and returns according to the memory route until it returns to the initial position, and then sends a driving command to car No. 2 and the target warehouse data of car No. 1, and ends; The control algorithm of vehicle No. 2 also includes: when determining whether two vehicles are going to the same warehouse, if so, first turn off the blue light, then return according to the memory route until returning to the initial position, and then end.

[0035] The control algorithm of vehicle No. 1 also includes: when judging whether it is a dual-vehicle mode, if not, first receive the driving command of vehicle No. 1, then start driving, then identify the warehouse number on the road at each intersection, and then judge whether there is a target warehouse number, if not, vehicle No. 1 continues to move, if so, vehicle No. 1 performs a warehouse search operation, then enters the target warehouse, and turns on the red light, and then starts unloading, until the unloading is completed, then turns off the red light, and returns according to the memory route to end.

[0036] The warehouse search operation means: first determine whether the target warehouse is on the right side of the intersection, if so, turn right to enter the right branch road, if not, turn left to enter the left branch road, and then continue driving until entering the target warehouse.

[0037] The vehicle preparation operation means: first starting vehicle No. 1 or vehicle No. 2, then initializing the on-vehicle system, and then accepting the target warehouse number.

[0038] There are six target warehouses, namely Warehouse No. 1, Warehouse No. 2, Warehouse No. 3, Warehouse No. 4, Warehouse No. 5, and Warehouse No. 6. The branches correspond to the warehouses one by one, namely Branch No. 1, Branch No. 2, Branch No. 3, Branch No. 4, Branch No. 5, and Branch No. 6. Among them, Branch No. 1 and Branch No. 2 are opposite to each other on the left and right, Branch No. 3 and Branch No. 4 are opposite to each other on the left and right, and Branch No. 5 and Branch No. 6 are opposite to each other on the left and right.

[0039] An unmanned vehicle, wherein the unmanned vehicle is the first vehicle or the second vehicle in the control method for unmanned dual-vehicle coordinated automatic transportation; The unmanned vehicle includes a power supply and a main control module connected thereto, a motor drive module, a visual detection and recognition module, and a wireless communication module, and the motor drive module includes a motor drive unit and an encoder; The motor drive module, the wireless communication module, the visual detection and recognition module are all connected to the main control module by signals, and the two vehicles communicate with each other through the wireless communication module.

[0040] The main control module is STM32F103RCT6, and the visual detection and recognition module includes a K210 camera and an OpenMV camera. The K210 camera is used for the operation of identifying the warehouse number on the road surface, and the OpenMV camera is used for automatic path finding when vehicle No. 1 or vehicle No. 2 is driving.

[0041] The automatic path finding refers to first using the OpenMV camera to collect the guide line on the main road, and then binarizing the collected image. The processing includes using the maximum inter-class variance method to select the image binarization threshold, and then using the linear regression algorithm of computer vision to find the trajectory of the guide line. After finding the guide line, feedback information is provided to the main control module, and then the main control module controls the motor drive module to operate to achieve automatic path finding.

[0042] The supplementary technical features of the present invention are as follows: The present invention is based on a warehouse area with multiple intersections and multiple warehouses, where the main road is bounded by a solid line (preferably a single lane, which can better highlight the advantages of the present invention), and a guide line for automatic driving is set on the main road (indicated by a dotted line). At the same time, warehouse identification signs are set on the left and right sides of each intersection (for example, Fig. 9 1, 2, 3, 4, 5, 6) at the intersection of the middle road to identify the warehouse or direction by automatic driving, and the warehouse identification sign is preferably painted on the road surface (the warehouse number and the corresponding warehouse identification sign can be randomly arranged, not limited to Fig. 9 as shown, depending on the actual internal configuration of the distribution center).

[0043] In the present invention, it is preferred that the speeds of car No. 1 and car No. 2 are the same.

[0044] The target warehouse signal in the present invention and the driving command received by vehicle No. 1 are preferably input manually on-site or remotely by an operator.

[0045] The maximum inter-class variance method in the present invention corresponds to Otsu, and the linear regression corresponds to LinearClassification.

[0046] The main control module in the present invention is preferably also connected to the display and the infrared sensor for signal connection.

[0047] Embodiment 1: See also Figure 1 — Fig. 9 The area where the automatic transportation is located, i.e., the warehouse area, includes a main road and a branch road connected thereto, the terminal of the branch road is a warehouse, the intersection of the starting end of the branch road and the main road is an intersection, and a warehouse number (preferably a warehouse identification plate) is set on the road surface of the intersection, and the control method includes a control algorithm for car No. 1 and a control algorithm for car No. 2; The control algorithm of vehicle No. 1 includes: first preparing vehicle No. 1, at this time, vehicle No. 1 is loaded, and then it is determined whether it is a dual-vehicle mode. If so, a confirmation signal is sent to vehicle No. 2, and then after receiving the target warehouse data of vehicle No. 2, it is determined whether the two vehicles go to the same warehouse. If not, the driving command is accepted and driving is started until the intersection is reached, and then the warehouse number on the road is identified, and it is determined whether it is the first time to identify the warehouse number. If not, the warehouse number on the road is continuously identified. If so, the driving command and the target warehouse data of vehicle No. 1 are first sent to vehicle No. 2, and then the warehouse number on the road is continuously identified. , then determine whether there is a target warehouse number. If not, car No. 1 continues to move. If so, car No. 1 performs a warehouse search operation, then enters the target warehouse, and turns on the red light, and then starts unloading until the unloading is completed. Then determine whether the target warehouse position of car No. 1 is farther than that of car No. 2. If not, turn off the red light, and return according to the memory route until it returns to the initial position, and then send a return command to car No. 2 to end; preferably, when determining whether the target warehouse position of car No. 1 is farther than that of car No. 2, if so, first send a return command to car No. 2, then turn off the red light, and return according to the memory route until it returns to the initial position, and end; The control algorithm of car No. 2 includes: first preparing car No. 2, at this time, car No. 2 is loaded or empty, and then judging whether the confirmation signal of car No. 1 is received, and then sending the target warehouse data of the car to car No. 1, and then judging whether the driving command of car No. 1 is received, and then starting to drive, and then identifying the warehouse number on the road at each intersection, and then judging whether there is a target warehouse number, if not, car No. 2 continues to move, if so, car No. 2 performs a warehouse search operation, then enters the target warehouse, and lights up the blue light, and then starts unloading or loading, until unloading or loading is completed, and then judging whether the target warehouse data of car No. 1 is received, and then judging whether the two cars go to the same warehouse, if not, then judging whether the return command of car No. 1 is received, and then turning off the blue light, and returning according to the memory route, until returning to the initial position, and ending.

[0048] Embodiment 2: The basic content is the same as that of Example 1, except that: The unmanned vehicle is vehicle No. 1 or vehicle No. 2 in the above-mentioned control method for unmanned dual-vehicle collaborative automatic transportation; the unmanned vehicle includes a power supply and a main control module, a motor drive module, a visual detection and identification module, and a wireless communication module connected thereto, and the motor drive module includes a motor drive unit and an encoder; the motor drive module, the wireless communication module, and the visual detection and identification module are all signal-connected to the main control module, and the two vehicles communicate with each other through the wireless communication module.

[0049] The preferred main control module is STM32F103RCT6, and the visual detection and recognition module includes a K210 camera and an OpenMV camera, wherein the K210 camera is used for the operation of identifying the warehouse number on the road, and the OpenMV camera is used for automatic path finding when the No. 1 or No. 2 vehicle is driving. Embodiment 3: The basic content is the same as that of Example 1, except that: The control algorithm of car No. 1 also includes: when judging whether the two cars go to the same warehouse, if so, first receiving the driving command of car No. 1, then starting to drive, then identifying the warehouse number on the road at each intersection, and then judging whether there is a target warehouse number, if not, car No. 1 continues to move, if so, car No. 1 performs a warehouse search operation, then enters the target warehouse, and lights up the red light, and then starts unloading, until the unloading is completed, then turns off the red light, and returns according to the memory route until it returns to the initial position, and then sends a driving command to car No. 2 and the target warehouse data of car No. 1, and ends; The control algorithm of vehicle No. 2 also includes: when determining whether two vehicles are going to the same warehouse, if so, first turn off the blue light, then return according to the memory route until returning to the initial position, and then end.

[0050] Embodiment 4: The basic content is the same as that of Example 1, except that: The control algorithm of vehicle No. 1 also includes: when judging whether it is a dual-vehicle mode, if not, first receive the driving command of vehicle No. 1, then start driving, then identify the warehouse number on the road at each intersection, and then judge whether there is a target warehouse number, if not, vehicle No. 1 continues to move, if so, vehicle No. 1 performs a warehouse search operation, then enters the target warehouse, and turns on the red light, and then starts unloading, until the unloading is completed, then turns off the red light, and returns according to the memory route to end.

[0051] Embodiment 5: The basic content is the same as that of Example 1, except that: After the end of the cycle, car No. 2 becomes car No. 1, car No. 1 becomes car No. 2, or car No. 2 becomes car No. 1, and another car becomes the new car No. 2 to keep the entire control method running continuously. It is also possible to superimpose the control algorithm of car No. 1 and the control algorithm of car No. 2 to achieve coordinated transportation of more vehicles.

[0052] Embodiment 6: The basic content is the same as that of Example 2, except that: The automatic path finding refers to first using the OpenMV camera to collect the guide line on the main road, and then binarizing the collected image (preferably adjusting the image to grayscale, not processing the tracking color, setting the image size to QQVGA, and reducing the image area to increase the processing speed). The processing includes using the maximum inter-class variance method to select the image binarization threshold, and then using the linear regression algorithm of computer vision to find the trajectory of the guide line, so as to find the guide line, and then provide feedback information to the main control module, and then the main control module controls the motor drive module to operate to achieve automatic path finding.

[0053] The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiment. Any equivalent modifications or changes made by ordinary technicians in this field based on the contents disclosed by the present invention should be included in the protection scope recorded in the claims.

Claims

1. A control method for unmanned dual-vehicle cooperative automatic transportation, characterized in that: The control method includes a control algorithm for vehicle No. 1 and a control algorithm for vehicle No. 2: the area where the automatic transport is located includes a main road and a branch road connected thereto, the terminal of the branch road is a warehouse, the intersection where the starting end of the branch road and the main road meet is an intersection, and a warehouse number is set on the road surface of the intersection; The control algorithm of vehicle No. 1 includes: firstly preparing vehicle No. 1, at this time, vehicle No. 1 is loading, and then determining whether it is a dual-vehicle mode, if so, sending a confirmation signal to vehicle No. 2, and then determining whether the two vehicles go to the same warehouse after receiving the target warehouse data of vehicle No. 2, if not, accepting the driving command, starting driving, until reaching the intersection, then identifying the warehouse number on the road surface, and determining whether it is the first time to identify the warehouse number, if not, continuing to identify the warehouse number on the road surface, if so, first sending the driving command and the target warehouse data of vehicle No. 1 to vehicle No. 2, and then continuing to identify the warehouse number on the road surface, and then determining whether there is a target warehouse number, if not, vehicle No. 1 continues to move, if so, vehicle No. 1 performs a warehouse search operation, then enters the target warehouse, and lights up the red light, and then starts unloading, until the unloading is completed, and then determining whether the target warehouse position of vehicle No. 1 is farther than that of vehicle No. 2, if not, turning off the red light, and returning according to the memory route until returning to the initial position, and then sending a return command to vehicle No. 2, and ending; The control algorithm of car No. 2 includes: first preparing car No. 2, at this time, car No. 2 is loaded or empty, and then judging whether the confirmation signal of car No. 1 is received, and then sending the target warehouse data of the car to car No. 1, and then judging whether the driving command of car No. 1 is received, and then starting to drive, and then identifying the warehouse number on the road at each intersection, and then judging whether there is a target warehouse number, if not, car No. 2 continues to move, if so, car No. 2 performs a warehouse search operation, then enters the target warehouse, and lights up the blue light, and then starts unloading or loading, until unloading or loading is completed, and then judging whether the target warehouse data of car No. 1 is received, and then judging whether the two cars go to the same warehouse, if not, then judging whether the return command of car No. 1 is received, and then turning off the blue light, and returning according to the memory route, until returning to the initial position, and ending.

2. The control method for unmanned dual-vehicle cooperative automatic transportation according to claim 1 is characterized in that: The control algorithm for car No. 1 also includes: when judging whether the target warehouse position of car No. 1 is farther than that of car No. 2, if so, first send a return command to car No. 2, then turn off the red light, and return according to the memorized route until it returns to the initial position and ends.

3. A control method for unmanned dual-vehicle cooperative automatic transportation according to claim 1 or 2, characterized in that: The control algorithm of car No. 1 also includes: when judging whether the two cars go to the same warehouse, if so, first receiving the driving command of car No. 1, then starting to drive, then identifying the warehouse number on the road at each intersection, and then judging whether there is a target warehouse number, if not, car No. 1 continues to move, if so, car No. 1 performs a warehouse search operation, then enters the target warehouse, and lights up the red light, and then starts unloading, until the unloading is completed, then turns off the red light, and returns according to the memory route until it returns to the initial position, and then sends a driving command to car No. 2 and the target warehouse data of car No. 1, and ends; The control algorithm of vehicle No. 2 also includes: when determining whether two vehicles are going to the same warehouse, if so, first turn off the blue light, then return according to the memory route until returning to the initial position, and then end.

4. A control method for unmanned dual-vehicle cooperative automatic transportation according to claim 1 or 2, characterized in that: The control algorithm of vehicle No. 1 also includes: when judging whether it is a dual-vehicle mode, if not, first receive the driving command of vehicle No. 1, then start driving, then identify the warehouse number on the road at each intersection, and then judge whether there is a target warehouse number, if not, vehicle No. 1 continues to move, if so, vehicle No. 1 performs a warehouse search operation, then enters the target warehouse, and turns on the red light, and then starts unloading, until the unloading is completed, then turns off the red light, and returns according to the memory route to end.

5. The control method for unmanned dual-vehicle cooperative automatic transportation according to claim 1 or 2, characterized in that: The warehouse search operation refers to: first determine whether the target warehouse is on the right side of the intersection. If so, turn right to enter the right branch road. If not, turn left to enter the left branch road, and then continue driving until entering the target warehouse.

6. A control method for unmanned dual-vehicle cooperative automatic transportation according to claim 1 or 2, characterized in that: The vehicle preparation operation means: first starting vehicle No. 1 or vehicle No. 2, then initializing the on-vehicle system, and then accepting the target warehouse number.

7. A control method for unmanned dual-vehicle cooperative automatic transportation according to claim 1 or 2, characterized in that: There are six target warehouses, namely Warehouse No. 1, Warehouse No. 2, Warehouse No. 3, Warehouse No. 4, Warehouse No. 5, and Warehouse No.

6. The branches correspond to the warehouses one by one, namely Branch No. 1, Branch No. 2, Branch No. 3, Branch No. 4, Branch No. 5, and Branch No.

6. Among them, Branch No. 1 and Branch No. 2 are opposite to each other on the left and right, Branch No. 3 and Branch No. 4 are opposite to each other on the left and right, and Branch No. 5 and Branch No. 6 are opposite to each other on the left and right.

8. An unmanned vehicle, characterized in that: The unmanned vehicle is vehicle No. 1 or vehicle No. 2 in the control method for unmanned dual-vehicle cooperative automatic transportation as described in claim 1 or 2; The unmanned vehicle includes a power supply and a main control module connected thereto, a motor drive module, a visual detection and recognition module, and a wireless communication module, and the motor drive module includes a motor drive unit and an encoder; The motor drive module, the wireless communication module, the visual detection and recognition module are all connected to the main control module by signals, and the two vehicles communicate with each other through the wireless communication module.

9. The driverless vehicle according to claim 8, characterized in that: The main control module is STM32F103RCT6, and the visual detection and recognition module includes a K210 camera and an OpenMV camera. The K210 camera is used for the operation of identifying the warehouse number on the road surface, and the OpenMV camera is used for automatic path finding when vehicle No. 1 or vehicle No. 2 is driving.

10. The driverless vehicle according to claim 9, characterized in that: The automatic path finding refers to first using the OpenMV camera to collect the guide line on the main road, and then binarizing the collected image. The processing includes using the maximum inter-class variance method to select the image binarization threshold, and then using the linear regression algorithm of computer vision to find the trajectory of the guide line. After finding the guide line, feedback information is provided to the main control module, and then the main control module controls the motor drive module to operate to achieve automatic path finding.

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