Trackless multi-route riding system and method

Abstract

The invention discloses a trackless multi-route riding system and method.The trackless multi-route riding system comprises a trackless riding route, the trackless riding route comprises a circulating route connected end to end, the circulating route comprises N roundabout bodies connected with one another, each roundabout body is connected with M branch routes, N is larger than or equal to 1, and M is larger than or equal to 3; each AGV (automated guided vehicle) runs in the trackless riding path according to a set riding route; and the vehicle control system is used for carrying out vehicle control on each AGV trolley. According to the trackless multi-route riding system and method provided by the invention, the experience degree and mystery of a project are enhanced, and the repeated garden entering rate and the return rate of tourists are indirectly enhanced.

Description

Technical Field

[0001] The invention relates to a trackless multi-route riding system and method, belonging to the technical field of amusement park riding entertainment. Background Art

[0002] 4D DarkRide is a 4D dark ride, also known as a 4D track car movie or a themed DarkRide. A 4D dark ride is a ride in a controlled environment that has been themed. Visitors ride on multi-degree-of-freedom track cars, roller coasters, boats, etc., along a set story route, and travel through different themed scenes composed of themed mechas, motion effects, music, and visual effects. Existing traditional dark rides usually have only one track, and a specific scene is only passed once during a single ride. The user experience is relatively simple. After experiencing it several times, visitors will lose their sense of freshness for the established story route, resulting in a low repeat experience rate for the project. Traditional track-based dark rides will use more building area in the same track length, increasing the construction cost of the project, as a single ride experience cannot return to the track route that has been passed. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a trackless multi-route riding system and method to enhance the experience and mystery of the project, and indirectly increase the multiple entry rate and return rate of tourists.

[0004] In order to solve the above technical problems, the technical solution of the present invention is:

[0005] One aspect of the present invention provides a trackless multi-route riding system, which comprises:

[0006] A trackless riding path, wherein the trackless riding path comprises a loop-type route connected end to end, wherein the loop-type route comprises N interconnected roundabouts, each of the roundabouts is connected to M branch routes, wherein N ≥ 1, and M ≥ 3;

[0007] AGV vehicles, each of which travels on a trackless riding path according to a predetermined riding route;

[0008] A vehicle control system, wherein the vehicle control system is used to control each of the AGV vehicles.

[0009] Furthermore, the roundabout is composed of a closed circular route connected end to end.

[0010] Furthermore, the vehicle control system comprises:

[0011] The vehicle-mounted control system is installed in the AGV and is used to perform laser global positioning navigation, path planning, path correction control, motion control, safety protection and intelligent scheduling on the AGV;

[0012] SLAM application software, the SLAM application software communicates wirelessly with the vehicle control system to perform map construction, parameter setting and equipment debugging;

[0013] Offline simulation software, which is used for path planning and motion simulation, and sends motion instruction files to the vehicle control system; the path planning includes importing a scene map or CAD drawing into the offline simulation software, editing the walking path and travel speed in the map, saving the set path and generating the vehicle operation instruction code of the AGV car;

[0014] The scene master control software is used to manage the operation of the entire system and perform status monitoring and scheduling management on the system;

[0015] A cloud server is used to collect data and remotely maintain the vehicle control system.

[0016] Furthermore, the vehicle-mounted control system includes:

[0017] The vehicle central control module is used to receive instructions from the scene master control software, collect sensor and positioning information, plan walking paths and correct deviations, control motor movements, and provide real-time safety protection;

[0018] The laser global positioning module is used to obtain the laser radar, vehicle-mounted gyroscope, and odometer data and perform fusion calculations, perform global positioning through map matching, and then send the vehicle position information of the AGV to the vehicle central control module in real time and receive the mileage information of the drive motor;

[0019] A walking control module is used to parse the path instruction code, drive the AGV to move according to the instruction, calculate the vehicle position deviation of the AGV in real time and perform deviation correction control;

[0020] Intelligent scheduling module, which is used to automatically plan the optimal path based on the vehicle position and status information of each AGV in the scene, combined with the scene position and status of the current AGV, and adjust the optimal path in real time according to the changes in the overall status of the scene;

[0021] Motion control module, which is used to analyze motion instructions, perform posture calculation, and use S-curve and natural curve for motion fitting, and plan the speed, acceleration and jerk of the motor of the AGV;

[0022] The safety control module is used to detect the safety status of all devices in the system in real time. When a danger is detected, the system movement is terminated and an alarm is issued.

[0023] Furthermore, the laser global positioning module includes:

[0024] Laser radar, which is used to update the surrounding environment of the AGV in real time;

[0025] A vehicle-mounted gyroscope, which is used to monitor the vehicle motion state of the AGV in real time;

[0026] The navigation and positioning module is used to fuse the laser radar, vehicle-mounted gyroscope and odometer data and perform global positioning through map matching.

[0027] Furthermore, the safety control module has the highest authority in the vehicle control system.

[0028] Another aspect of the present invention provides a control method for a trackless multi-route riding system, which comprises the following steps:

[0029] Step S1, constructing a scene map;

[0030] Step S2: planning the trackless riding path of the AGV in the scene;

[0031] Step S3, importing the constructed scene map and trackless riding path into the vehicle control system;

[0032] Step S4: The operator sends instructions through the scene master control software, and the vehicle control system parses the preset instruction file and automatically dispatches and controls the AGV to run according to the established riding route.

[0033] Furthermore, the predetermined riding route includes:

[0034] In different departure rhythms, the order of the branch routes that the AGV enters and exits after passing through the roundabout is also different;

[0035] Assume that there are branch routes n, branch routes n+1 and branch routes n+2 on the Nth roundabout, n≥1;

[0036] At the mth departure cycle, the order of the branch routes that the AGV enters and exits after passing through the roundabout is: branch route n, branch route n+1, branch route n+2;

[0037] At the m+1th departure cycle, the order of the branch routes that the AGV enters and exits after passing through the roundabout is: branch route n+1, branch route n+2, branch route n;

[0038] At the m+2th departure cycle, the order of the branch routes that the AGV enters and exits after passing through the roundabout is: branch route n+2, branch route n, branch route n+1;

[0039] The order of the branch routes that the AGV enters and exits after passing the roundabout at the m+3th departure cycle is the same as that of the first departure cycle;

[0040] Among them, m≥1.

[0041] Furthermore, the AGVs passing through the roundabout move in a clockwise or counterclockwise direction.

[0042] Furthermore, the number of times the AGV passes through the roundabout in each of the departure cycles is ≥ 1.

[0043] By adopting the above technical solution, the present invention uses multiple established routes to derive multiple play experiences. Due to the single experience route of traditional dark rides, tourists can understand the experience content of this ride project by riding only once, while multiple established routes allow tourists to ride multiple times and have multiple experience content rides. The full content of the project enhances the experience and mystery of the project, and indirectly enhances the tourists' multiple entry rate and return rate. The multiple passes set by the roundabout can reduce the project's building area and construction cost within the same experience time without reducing the track length. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a principle block diagram of a vehicle control system of the present invention;

[0045] Figure 2 A route map of the three-roundabout trackless riding route of the present invention;

[0046] Figure 3 A double roundabout trackless riding route map of the present invention;

[0047] Figure 4 A single roundabout trackless riding route map of the present invention;

[0048] Figure 5 It is a flow chart of walking control of the present invention;

[0049] Figure 6 is a flow chart of the scheduling control of the present invention;

[0050] Figure 7 It is a schematic diagram of a predetermined riding route of the present invention.

[0051] Figure 8 is a flow chart of a control method of a trackless multi-route riding system of the present invention; DETAILED DESCRIPTION

[0052] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments in conjunction with the accompanying drawings.

[0053] Embodiment 1

[0054] The present embodiment provides a trackless multi-route riding system, which includes:

[0055] Trackless riding paths, such as Figure 2 , 3 As shown in , 4 , the trackless riding path includes a circular route connected end to end, the circular route includes N interconnected roundabouts 1, and each roundabout 1 is connected to M branch routes 2, wherein N ≥ 1, M ≥ 3.

[0056] AGV car, each AGV car travels on the trackless riding path according to the established riding route.

[0057] Vehicle control system: The vehicle control system is used to control each AGV vehicle.

[0058] like Figure 2 , 3 As shown in FIG. 4 , the roundabout in this embodiment is composed of a closed circular route connected end to end, and the shape of the circular route can be circular, elliptical, rectangular, irregular, etc.

[0059] like Figure 1 As shown, the vehicle control system of this embodiment includes:

[0060] On-board control system: The on-board control system is installed in the AGV and is used for laser global positioning navigation, path planning, path correction control, motion control, safety protection and intelligent scheduling of the AGV;

[0061] SLAM application software, which communicates wirelessly with the vehicle control system to build maps, set parameters, and debug equipment;

[0062] Offline simulation software, which is used for path planning and motion simulation, and sends motion instruction files to the vehicle control system; path planning includes importing scene maps or CAD drawings into the offline simulation software, editing the walking path and travel speed in the map, saving the set path and generating the vehicle operation instruction code of the AGV car;

[0063] The scene master control software is used to manage the operation of the entire system, monitor the system status and perform scheduling management. The operator performs command operations through the software interface or console buttons;

[0064] Cloud server,The cloud server is used for data collection and remote maintenance of the vehicle control system.

[0065] like Figure 1 As shown, the vehicle-mounted control system of this embodiment includes:

[0066] The vehicle central control module is the core control module of the AGV. The vehicle central control module is used to receive instructions from the scene control software, collect sensing and positioning information, plan walking paths and correct deviations, control motor motion, and provide real-time safety protection.

[0067] The laser global positioning module is developed based on SLAM (simultaneous localization and mapping) technology. It is used to obtain laser radar, vehicle-mounted gyroscope, and odometer data and perform fusion calculations. It performs global positioning through map matching, and then sends the vehicle position information of the AGV car to the vehicle central control module in real time through bus communication and receives the mileage information of the drive motor.

[0068] The walking control module is used to parse the path instruction code and drive the AGV to move according to the instruction. It calculates the vehicle position deviation of the AGV in real time and performs correction control to ensure the accuracy of the AGV's movement. The program flow of walking control is as follows: Figure 5 shown.

[0069] Intelligent scheduling module, which is used to automatically plan the optimal path based on the vehicle position and status information of each AGV in the scene, combined with the current scene position and status of the AGV, and adjust the optimal path in real time according to the changes in the overall state of the scene. The program operation process of intelligent scheduling is as follows Figure 6 shown.

[0070] Motion control module: The motion control module is used to parse motion instructions, perform posture calculations, and use S-curves and natural curves for motion fitting. It plans the speed, acceleration, and jerk of the AGV's motor to achieve the ultimate motion effect and physical sensation.

[0071] The safety control module is used to detect the safety status of all devices in the system in real time, such as vehicle anti-collision sensor information, motor speed and current, seat protection devices, etc. When a danger is detected, the system movement is terminated and an alarm is issued. The safety control module of this embodiment has the highest authority in the vehicle control system.

[0072] like Figure 1 As shown, the laser global positioning module of this embodiment includes:

[0073] Laser radar, which is used to update the surrounding environment of the AGV in real time;

[0074] On-board gyroscope: The on-board gyroscope is used to monitor the vehicle motion status of the AGV in real time;

[0075] The navigation and positioning module is used to fuse the lidar, vehicle-mounted gyroscope and odometer data, and perform global positioning through map matching.

[0076] Embodiment 2

[0077] like Figure 7 As shown, this embodiment provides a control method for the trackless multi-route riding system as in Embodiment 1, which comprises the following steps:

[0078] Step S1, constructing a scene map;

[0079] Step S2: planning the trackless riding path of the AGV in the scene;

[0080] Step S3, importing the constructed scene map and trackless riding path into the vehicle control system;

[0081] Step S4: The operator sends instructions through the scene master control software, and the vehicle control system parses the preset instruction file and automatically dispatches and controls the AGV to run according to the established riding route.

[0082] like Figure 8 As shown, the predetermined riding route of this embodiment includes:

[0083] In different departure rhythms, the order of the branch routes that the AGV enters and exits after passing through the roundabout is also different;

[0084] Assume that there are branch routes n, branch routes n+1 and branch routes n+2 on the Nth roundabout, n≥1;

[0085] At the mth departure cycle, the order of the branch routes that the AGV enters and exits after passing through the roundabout is: branch route n, branch route n+1, branch route n+2;

[0086] At the m+1th departure cycle, the order of the branch routes that the AGV enters and exits after passing through the roundabout is: branch route n+1, branch route n+2, branch route n;

[0087] At the m+2th departure cycle, the order of the branch routes that the AGV enters and exits after passing through the roundabout is: branch route n+2, branch route n, branch route n+1;

[0088] The order of the branch routes that the AGV enters and exits after passing the roundabout at the m+3th departure cycle is the same as that of the first departure cycle;

[0089] Among them, m≥1.

[0090] Similarly, when there are more entrances and exits, the departure rhythm will also change accordingly. In order to increase the departure frequency and smooth traffic, the AGV carts passing through the roundabout will move clockwise or counterclockwise.

[0091] Since the AGV enters and exits each branch route at different times, the number of times the AGV passes through the roundabout in each departure cycle is ≥1, and each AGV can pass through the roundabout multiple times during a tour experience.

[0092] The specific embodiments described above further illustrate the technical problems, technical solutions and beneficial effects solved by the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A trackless multi-route riding system, characterized in that: It includes: A trackless riding path, wherein the trackless riding path comprises a loop-type route connected end to end, wherein the loop-type route comprises N interconnected roundabouts, each of the roundabouts is connected to M branch routes, wherein N ≥ 1, and M ≥ 3; AGV vehicles, each of which travels on a trackless riding path according to a predetermined riding route; A vehicle control system, wherein the vehicle control system is used to perform vehicle control on each of the AGV vehicles.

2. The trackless multi-route riding system according to claim 1, characterized in that: The roundabout is composed of a closed circular route connected end to end.

3. The trackless multi-route riding system according to claim 1, characterized in that: The vehicle control system comprises: The vehicle-mounted control system is installed in the AGV and is used to perform laser global positioning navigation, path planning, path correction control, motion control, safety protection and intelligent scheduling on the AGV; SLAM application software, the SLAM application software communicates wirelessly with the vehicle control system to perform map construction, parameter setting and equipment debugging; Offline simulation software, which is used for path planning and motion simulation, and sends motion instruction files to the vehicle control system; the path planning includes importing a scene map or CAD drawing into the offline simulation software, editing the walking path and travel speed in the map, saving the set path and generating the vehicle operation instruction code of the AGV car; The scene master control software is used to manage the operation of the entire system and perform status monitoring and scheduling management on the system; A cloud server is used to collect data and remotely maintain the vehicle control system.

4. The trackless multi-route riding system according to claim 3, characterized in that: The vehicle-mounted control system comprises: The vehicle central control module is used to receive instructions from the scene master control software, collect sensor and positioning information, plan walking paths and correct deviations, control motor movements, and provide real-time safety protection; The laser global positioning module is used to obtain the laser radar, vehicle-mounted gyroscope, and odometer data and perform fusion calculations, perform global positioning through map matching, and then send the vehicle position information of the AGV to the vehicle central control module in real time and receive the mileage information of the drive motor; A walking control module is used to parse the path instruction code, drive the AGV to move according to the instruction, calculate the vehicle position deviation of the AGV in real time and perform deviation correction control; Intelligent scheduling module, which is used to automatically plan the optimal path based on the vehicle position and status information of each AGV in the scene, combined with the scene position and status of the current AGV, and adjust the optimal path in real time according to the changes in the overall status of the scene; Motion control module, which is used to analyze motion instructions, perform posture calculation, and use S-curve and natural curve for motion fitting, and plan the speed, acceleration and jerk of the motor of the AGV; The safety control module is used to detect the safety status of all devices in the system in real time. When a danger is detected, the system movement is terminated and an alarm is issued.

5. The trackless multi-route riding system according to claim 4, characterized in that: The laser global positioning module comprises: Laser radar, which is used to update the surrounding environment of the AGV in real time; A vehicle-mounted gyroscope, which is used to monitor the vehicle motion state of the AGV in real time; The navigation and positioning module is used to fuse the laser radar, vehicle-mounted gyroscope and odometer data and perform global positioning through map matching.

6. The trackless multi-route riding system according to claim 4, characterized in that: The safety control module has the highest authority in the vehicle control system.

7. A control method for a trackless multi-route riding system as claimed in any one of claims 1 to 6, characterized in that: It includes the following steps: Step S1, constructing a scene map; Step S2: planning the trackless riding path of the AGV in the scene; Step S3, importing the constructed scene map and trackless riding path into the vehicle control system; Step S4: The operator sends instructions through the scene master control software, and the vehicle control system parses the preset instruction file and automatically dispatches and controls the AGV to run according to the established riding route.

8. The control method of the trackless multi-route riding system according to claim 7, characterized in that: The planned riding routes include: In different departure rhythms, the order of the branch routes that the AGV enters and exits after passing through the roundabout is also different; Assume that there are branch routes n, branch routes n+1 and branch routes n+2 on the Nth roundabout, n≥1; At the mth departure cycle, the order of the branch routes that the AGV enters and exits after passing through the roundabout is: branch route n, branch route n+1, branch route n+2; At the m+1th departure cycle, the order of the branch routes that the AGV enters and exits after passing through the roundabout is: branch route n+1, branch route n+2, branch route n; At the m+2th departure cycle, the order of the branch routes that the AGV enters and exits after passing through the roundabout is: branch route n+2, branch route n, branch route n+1; The order of the branch routes that the AGV enters and exits after passing the roundabout at the m+3th departure cycle is the same as that of the first departure cycle; Among them, m≥1.

9. The control method of the trackless multi-route riding system according to claim 8, characterized in that: The AGVs passing through the roundabout move in a clockwise or counterclockwise manner.

10. The control method of the trackless multi-route riding system according to claim 8, characterized in that: The number of times the AGV passes through the roundabout in each of the said departure cycles is ≥ 1.

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