Autonomous navigation method and system for rescue material distribution machine

Abstract

The invention discloses an autonomous navigation method and system for a relief material distribution machine, and belongs to the technical field of emergency rescue logistics transportation. The method comprises the following steps: planning a transportation formation of a distribution machine according to the shape and quality of relief goods; a distribution machine formation control model is constructed, and distribution machines are controlled to keep the transportation formation in the transportation process through the distribution machine formation control model; detecting whether an obstacle exists in the forward direction, and if it is detected that the obstacle exists in the forward direction, obtaining obstacle information which comprises the position and the contour of the obstacle; and constructing a safe transportation model, obtaining an obstacle avoidance control instruction in combination with the safe transportation model and the obstacle information, and completing autonomous navigation of the rescue material distribution machine. By recognizing the obstacles and sending out the control instruction, the problem that the transportation formation is not changed while the multiple transportation machines quickly and intelligently recognize the obstacles and effectively avoid the obstacles in the transportation process is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of emergency rescue logistics transportation, and in particular relates to an autonomous navigation method and system for a rescue material distribution machine. Background Art

[0002] With the continuous improvement of the performance of intelligent agents, the potential application areas of multi-agent systems are becoming more and more extensive, and the complexity of tasks is also increasing. This means that when multiple agents work together to complete tasks in a specific working environment, they face many constraints, including collision avoidance with obstacles, collision avoidance between agents, formation configuration constraints, control input limitations, and energy constraints. At the same time, in actual situations, intelligent agents are inevitably subject to model uncertainty, external interference, and communication delays; especially in the transportation of emergency rescue materials, due to disasters, there are still situations where the same materials are transported by multiple transport machines. This means that multiple transport machines are required to quickly and intelligently identify obstacles during transportation and effectively avoid them while keeping the transportation formation unchanged. This is a problem that needs to be solved urgently. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides an autonomous navigation method and system for rescue material distribution machines, which enables multiple transport machines to quickly and intelligently identify obstacles and effectively avoid them during transportation while keeping the transport formation unchanged.

[0004] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0005] A method for autonomous navigation of a rescue material distribution machine comprises the following steps:

[0006] Plan the transportation formation of distribution machines according to the shape and quality of relief supplies;

[0007] Constructing a distribution machine formation control model, and controlling the distribution machines to maintain the transportation formation during transportation through the distribution machine formation control model;

[0008] Detecting whether there is an obstacle in the forward direction, and if an obstacle is detected in the forward direction, obtaining obstacle information, wherein the obstacle information includes the position and outline of the obstacle;

[0009] A safe transportation model is constructed, and obstacle avoidance control instructions are obtained by combining the safe transportation model with the obstacle information to complete autonomous navigation of the rescue material distribution machine.

[0010] In a second aspect, the present invention provides an autonomous navigation system for a rescue material distribution machine, comprising:

[0011] A formation planning unit is used to plan the transport formation of the distribution machines according to the shape and quality of the relief supplies;

[0012] A formation control unit, used to construct a distribution machine formation control model, and control the distribution machines to maintain the transportation formation during transportation through the distribution machine formation control model;

[0013] An obstacle detection unit is used to detect whether there is an obstacle in the forward direction, and if an obstacle is detected in the forward direction, obtain obstacle information, wherein the obstacle information includes the position and outline of the obstacle;

[0014] The autonomous navigation unit is used to construct a safe transportation model, combine the safe transportation model with the obstacle information, obtain obstacle avoidance control instructions, and complete the autonomous navigation of the rescue material distribution machine.

[0015] In a third aspect, the present invention provides an autonomous navigation device for a rescue material distribution machine, comprising: an input device, an output device, a processor, and a memory, wherein the input device, output device, processor, and memory are interconnected, and the memory comprises program instructions, and the program instructions are used to execute the aforementioned autonomous navigation method for a rescue material distribution machine.

[0016] In a fourth aspect, the present invention provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, enables the processor to implement the aforementioned autonomous navigation method for a rescue material distribution machine.

[0017] The beneficial effects of the present invention are:

[0018] The autonomous navigation system of the present invention has a compact structure, stable performance, wide applicability and practical application capabilities; the safe transportation model constructed by the present invention, by determining the safe transportation formation distance and hazard avoidance function of the transport team, further lays the foundation for issuing control instructions for avoiding obstacles, and effectively improves the operating speed and accuracy of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a flow chart of an autonomous navigation method for a rescue material distribution machine of the present invention;

[0020] Figure 2 This is a schematic diagram of the structure of an autonomous navigation device for a rescue material distribution machine according to the present invention. DETAILED DESCRIPTION

[0021] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0022] Throughout the specification, references to "one embodiment," "an embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment of the present invention. Therefore, the phrases "in one embodiment," "in an embodiment," "an example," or "an example" appearing in various places throughout the specification do not necessarily all refer to the same embodiment or example. In addition, particular features, structures, or characteristics may be combined in one or more embodiments or examples in any suitable combination and / or subcombination. In addition, it should be understood by those of ordinary skill in the art that the figures provided herein are for illustrative purposes and that the figures are not necessarily drawn to scale.

[0023] See also Figure 1 , Figure 1 This is a flow chart of an autonomous navigation method for a rescue material distribution machine of the present invention, the method comprising the following steps:

[0024] S1. Plan the transport formation of the distribution machines according to the shape and quality of the relief supplies.

[0025] Emergency relief supplies include medical drugs, food, accommodation facilities, and rescue equipment. The quantity is huge, and the transportation of materials by distribution machines will greatly improve the transportation efficiency. In the transportation formation composed of multiple distribution machines, it is necessary to plan a reasonable formation according to the shape and quality of the relief supplies to ensure that the relief supplies will not fall and be damaged during transportation.

[0026] In one embodiment, the delivery machine transportation formation planned in step S1 satisfies the following formula:

[0027] ,

[0028] in, represents the horizontal coordinate of the i-th delivery machine, represents the ordinate of the i-th delivery machine, represents the heading angle of the i-th delivery machine relative to the world coordinate system, represents the linear speed of the i-th distribution machine, represents the angular velocity of the i-th delivery machine, Indicates the location of the relief supplies center. Indicates the number of delivery machines. represents the equilibrium condition, Indicates the horizontal coordinate of the center position of the rescue materials, represents the reaction force between the ith distribution machine and the relief supplies, Indicates the preset speed, It should be understood that since multiple delivery machines form a specific formation to transport relief supplies, during the process from starting to reaching the planned moving speed, the relief supplies and the delivery machines eventually converge to the planned moving speed and are in a balanced state. In the coordinate system constructed with the motion trajectory, the force perpendicular to the motion trajectory is also in a balanced state. The load of each delivery machine is relatively balanced during transportation, which further ensures the stability of the transportation process and effectively avoids damage to the relief supplies.

[0029] The transport formation determined according to the shape and quality of the rescue materials can adapt to the transportation of emergency rescue materials in most complex situations, thereby improving the applicability of the present invention.

[0030] S2. Construct a distribution machine formation control model, and control the distribution machines to maintain the transportation formation during transportation through the distribution machine formation control model.

[0031] In yet another embodiment, the delivery machine formation control model constructed in step S2 satisfies the following formula:

[0032] ,

[0033] in, Indicates The position and velocity matrix of each delivery machine in the plane coordinate system at each moment, express dimensional identity matrix, represents the Kronecker product, are random constants and are all greater than 0. represents the amount of time delay, Indicates The Kirchhoff matrix of the time-delay state communication topology, Indicates By controlling the distribution machines in the transport team, the formation of the team is ensured to remain unchanged during the transportation of relief materials, and the reliability of the present invention is further improved.

[0034] S3. Detect whether there is an obstacle in the forward direction. If an obstacle is detected in the forward direction, obtain obstacle information, where the obstacle information includes the position and outline of the obstacle.

[0035] In an optional embodiment, ultrasonic sensors and / or infrared sensors and / or lidar sensors and / or wireless sensor network technology are used to detect whether there are obstacles in the direction of travel, and the position and outline of the obstacles are obtained, which are reflected in the coordinate system constructed based on the motion trajectory of the delivery machine.

[0036] S4. Construct a safe transportation model, combine the safe transportation model with the obstacle information, obtain obstacle avoidance control instructions, and complete autonomous navigation of the rescue material distribution machine.

[0037] In an embodiment, the safe transportation model constructed in step S4 includes a safety range sub-model and a hazard avoidance sub-model, and the safety range sub-model satisfies the following formula: ,in, represents the horizontal coordinate variable with the center of the relief supplies as the origin of the coordinates, represents the ordinate variable with the center of the relief supplies as the origin of the coordinates, Indicates the minimum safe distance between the delivery machine and obstacles. represents the speed of the delivery machine relative to the obstacle, represents the speed of the delivery machine relative to the ground, Indicates the braking reaction time of the distribution machine. Represents the total mass of the distribution machines and relief supplies, Indicates the braking torque of the distribution machine, represents the safety factor, It should be understood that the safety range sub-model is the minimum safety distance to prevent all delivery machines from contacting obstacles. As long as there is an obstacle in the safety range, the delivery machine will be hindered by the obstacle.

[0038] In another embodiment, the hazard avoidance sub-model satisfies the following formula:

[0039] ,

[0040] in, represents the hazard avoidance function, Indicates the conflict area between the delivery machine route and obstacles. Indicates the conflict area between the delivery machine's safety range and obstacles. express and The product of represents the proportional factor of the hazard avoidance function, Indicates the minimum distance between the obstacle and the delivery machine. Indicates the location of the delivery machine, Indicates the location of the obstacle. Indicates the minimum distance between the target location and the delivery machine, Indicates the target location, represents the function adjustment factor, , Indicates the minimum safe distance between the delivery machine and obstacles. represents the speed of the delivery machine relative to the obstacle, represents the speed of the delivery machine relative to the ground, Indicates the braking reaction time of the distribution machine. Represents the total mass of the distribution machines and relief supplies, Indicates the braking torque of the distribution machine.

[0041] It should be understood that obstacles in the delivery environment are random, and the different states and distribution of obstacles on the delivery route will have different degrees of danger to the delivery machine. By adding function adjustment factors, different danger coefficients can be identified more accurately. For example, when the delivery machine approaches the target location, the danger level of the obstacles will be affected by the function adjustment factors. The impact of When the distance between the delivery machine and the obstacle is the most dangerous, It is not affected by the distance between the delivery machine and obstacles.

[0042] The safe transportation model constructed by the present invention further lays a foundation for issuing control instructions for avoiding obstacles by determining the safe transportation formation distance and hazard source avoidance function of the transportation team, thereby effectively improving the operating speed and accuracy of the present invention.

[0043] In another embodiment, in step S4, the obstacle avoidance control instructions are obtained by combining the safe transportation model and the obstacle information, including movement direction control instructions and movement speed control instructions. Each distribution machine is adjusted according to the obstacle avoidance control instructions to avoid obstacles and complete the rescue material distribution task.

[0044] Furthermore, the motion direction control instruction satisfies the following formula:

[0045] ,

[0046] in, represents the motion direction control instruction of the i-th distribution machine, represents the heading angle of the i-th delivery machine relative to the world coordinate system, represents the directional control coefficient of the i-th delivery machine, represents the target heading angle, Indicates the number of delivery machines. represents the number of partners of the i-th delivery machine, Represents the relationship between the i-th delivery machine and the The communication status of each delivery machine, Indicates The current heading angle of the delivery machine, represents the control gain for adjusting the motion direction of the i-th distribution machine, represents the expected ordinate position of the i-th delivery machine, Indicates The desired position ordinate of the delivery machine, represents the i-th delivery machine and the The planned longitudinal distance between the delivery machines.

[0047] In yet another embodiment, the motion speed control instruction satisfies the following formula:

[0048] ,

[0049] in, represents the motion speed control instruction of the i-th delivery machine, represents the linear speed of the i-th distribution machine, represents the speed control coefficient of the i-th delivery machine, represents the target moving speed, Represents the relationship between the i-th delivery machine and the The communication status of each delivery machine, represents the velocity time constant, Indicates the number of delivery machines. Indicates The current speed of the delivery machines, represents the control gain for adjusting the motion speed of the i-th distribution machine, represents the expected position abscissa of the i-th delivery machine, Indicates The expected position of the delivery machine is the horizontal coordinate, represents the i-th delivery machine and the The planned lateral distance between the delivery machines.

[0050] On the other hand, the present invention also provides an autonomous navigation system for a rescue material distribution machine, the various units included in the system can implement the various steps of the aforementioned method, including:

[0051] A formation planning unit is used to plan the transport formation of the distribution machines according to the shape and quality of the relief supplies;

[0052] A formation control unit, used to construct a distribution machine formation control model, and control the distribution machines to maintain the transportation formation during transportation through the distribution machine formation control model;

[0053] An obstacle detection unit is used to detect whether there is an obstacle in the forward direction, and if an obstacle is detected in the forward direction, obtain obstacle information, wherein the obstacle information includes the position and outline of the obstacle;

[0054] The autonomous navigation unit is used to construct a safe transportation model, combine the safe transportation model with the obstacle information, obtain obstacle avoidance control instructions, and complete the autonomous navigation of the rescue material distribution machine.

[0055] Thirdly, Figure 2 As shown, in order to efficiently execute the autonomous navigation method of a rescue material distribution machine provided by the present invention, this embodiment also provides an autonomous navigation device for a rescue material distribution machine, including:

[0056] The memory 10 is used to store computer programs; the processor 20 is used to execute the computer programs to implement the above-mentioned autonomous navigation method of the rescue material distribution machine.

[0057] Memory 10 , processor 20 , communication interface 31 and communication bus 32 . Memory 10 , processor 20 , communication interface 31 all communicate with each other via communication bus 32 .

[0058] In an embodiment, the memory 10 is used to store one or more programs, and the program may include a program code, and the program code includes computer operating instructions. In an embodiment of the present application, the memory 10 may store a program for implementing the following functions: planning the transport formation of the distribution machine according to the shape and quality of the rescue materials; constructing a distribution machine formation control model, and controlling the distribution machine to maintain the transport formation during transportation through the distribution machine formation control model; detecting whether there is an obstacle in the direction of travel, and if an obstacle is detected in the direction of travel, obtaining obstacle information, and the obstacle information includes the position and outline of the obstacle; constructing a safe transportation model, combining the safe transportation model and the obstacle information, obtaining obstacle avoidance control instructions, and completing autonomous navigation of the rescue material distribution machine.

[0059] In a possible implementation, the memory 10 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function, etc.; the data storage area may store data created during use.

[0060] In addition, the memory 10 may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory may also include an NVRAM. The memory stores an operating system and operating instructions, executable modules or data structures, or a subset thereof, or an extended set thereof, wherein the operating instructions may include various operating instructions for implementing various operations. The operating system may include various system programs for implementing various basic tasks and processing hardware-based tasks.

[0061] The processor 20 may be a central processing unit (CPU), an application specific integrated circuit, a digital signal processor, a field programmable gate array or other programmable logic device, a microprocessor or any conventional processor, etc. The processor 20 may call a program stored in the memory 10 .

[0062] The communication interface 31 may be an interface of a communication module, and is used to connect to other devices or systems.

[0063] Of course, it should be noted that Figure 2 The structure shown does not constitute a limitation on the autonomous navigation device of the rescue material distribution machine in this embodiment. In actual applications, the autonomous navigation device of the rescue material distribution machine may include Figure 2 More or fewer components than shown, or combinations of certain components.

[0064] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-mentioned autonomous navigation method for the rescue material distribution machine.

[0065] The storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0066] In summary, the present invention solves the problem of multiple transport machines quickly and intelligently identifying obstacles and effectively avoiding them during transportation while keeping the transportation formation unchanged. Therefore, the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0067] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is 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 scope of protection of the present invention.

Claims

1. A method for autonomous navigation of a rescue material distribution machine, characterized in that: The following steps are involved: Plan the transportation formation of distribution machines according to the shape and quality of relief supplies; Constructing a distribution machine formation control model, and controlling the distribution machines to maintain the transportation formation during transportation through the distribution machine formation control model; Detecting whether there is an obstacle in the forward direction, and if an obstacle is detected in the forward direction, obtaining obstacle information, wherein the obstacle information includes the position and outline of the obstacle; A safe transportation model is constructed, and obstacle avoidance control instructions are obtained by combining the safe transportation model with the obstacle information to complete autonomous navigation of the rescue material distribution machine.

2. The autonomous navigation method for a rescue material distribution machine according to claim 1, characterized in that: According to the shape and quality of the relief supplies, the transportation formation of the distribution machine is planned to meet the following formula: ， in, represents the horizontal coordinate of the i-th delivery machine, represents the ordinate of the i-th delivery machine, represents the heading angle of the i-th delivery machine relative to the world coordinate system, represents the linear speed of the i-th distribution machine, represents the angular velocity of the i-th delivery machine, Indicates the location of the relief supplies center. Indicates the number of delivery machines. represents the equilibrium condition, Indicates the horizontal coordinate of the center position of the rescue materials, represents the reaction force between the ith distribution machine and the relief supplies, Indicates the preset speed, denotes the equilibrium force, and the superscript · denotes the first-order time derivative.

3. The autonomous navigation method for a rescue material distribution machine according to claim 1, characterized in that: The distribution machine formation control model satisfies the following formula: ， in, Indicates The position and velocity matrix of each delivery machine in the plane coordinate system at each moment, express dimensional identity matrix, represents the Kronecker product, are random constants and are all greater than 0. represents the amount of time delay, Indicates The Kirchhoff matrix of the time-delay state communication topology, Indicates time delay, and the superscript · indicates the first-order time derivative.

4. The autonomous navigation method for a rescue material distribution machine according to claim 1, characterized in that: The safe transportation model includes a safety range sub-model and a hazard avoidance sub-model.

5. The autonomous navigation method for a rescue material distribution machine according to claim 4, characterized in that: The safety range sub-model satisfies the following formula: ， in, represents the horizontal coordinate variable with the center of the relief supplies as the origin of the coordinates, represents the ordinate variable with the center of the relief supplies as the origin of the coordinates, Indicates the minimum safe distance between the delivery machine and obstacles. represents the speed of the delivery machine relative to the obstacle, represents the speed of the delivery machine relative to the ground, Indicates the braking reaction time of the distribution machine. Represents the total mass of the distribution machines and relief supplies, Indicates the braking torque of the distribution machine, represents the safety factor, Indicates the width of the road.

6. The autonomous navigation method for a rescue material distribution machine according to claim 4, characterized in that: The hazard avoidance sub-model satisfies the following formula: ， in, represents the hazard avoidance function, Indicates the conflict area between the delivery machine route and obstacles. Indicates the conflict area between the delivery machine's safety range and obstacles. express and The product of represents the scaling factor of the hazard avoidance function, Indicates the minimum distance between the obstacle and the delivery machine. Indicates the location of the delivery machine, Indicates the location of the obstacle. Indicates the minimum distance between the target location and the delivery machine, Indicates the target location, represents the function adjustment factor, , Indicates the minimum safe distance between the delivery machine and obstacles. represents the speed of the delivery machine relative to the obstacle, represents the speed of the delivery machine relative to the ground, Indicates the braking reaction time of the distribution machine. Represents the total mass of the distribution machines and relief supplies, Indicates the braking torque of the distribution machine.

7. The autonomous navigation method for a rescue material distribution machine according to claim 1, characterized in that: The obstacle avoidance control instructions include movement direction control instructions and movement speed control instructions.

8. The autonomous navigation method for a rescue material distribution machine according to claim 7, characterized in that: The motion direction control instruction satisfies the following formula: ， in, represents the motion direction control instruction of the i-th distribution machine, represents the heading angle of the i-th delivery machine relative to the world coordinate system, represents the directional control coefficient of the i-th delivery machine, represents the target heading angle, Indicates the number of delivery machines. represents the number of partners of the i-th delivery machine, Represents the relationship between the i-th delivery machine and the The communication status of each delivery machine, Indicates The current heading angle of the delivery machine, represents the control gain for adjusting the motion direction of the i-th distribution machine, represents the expected ordinate position of the i-th delivery machine, Indicates The desired position ordinate of the delivery machine, represents the i-th delivery machine and the The planned longitudinal distance between the delivery machines.

9. The autonomous navigation method for a rescue material distribution machine according to claim 7, characterized in that: The motion speed control instruction satisfies the following formula: ， in, represents the motion speed control instruction of the i-th delivery machine, represents the linear speed of the i-th distribution machine, represents the speed control coefficient of the i-th delivery machine, represents the target moving speed, represents the i-th delivery machine No. The communication status of each delivery machine, represents the velocity time constant, Indicates the number of delivery machines. Indicates The current speed of the delivery machines, represents the control gain for adjusting the motion speed of the i-th distribution machine, represents the desired position abscissa of the i-th delivery machine, Indicates The desired position of the delivery machine is the horizontal coordinate, represents the i-th delivery machine and the The planned lateral distance between the delivery machines.

10. An autonomous navigation system for a rescue material distribution machine, characterized in that: include: A formation planning unit is used to plan the transport formation of the distribution machines according to the shape and quality of the relief supplies; A formation control unit, used to construct a distribution machine formation control model, and control the distribution machines to maintain the transportation formation during transportation through the distribution machine formation control model; An obstacle detection unit is used to detect whether there is an obstacle in the forward direction, and if an obstacle is detected in the forward direction, obtain obstacle information, wherein the obstacle information includes the position and outline of the obstacle; The autonomous navigation unit is used to construct a safe transportation model, combine the safe transportation model with the obstacle information, obtain obstacle avoidance control instructions, and complete the autonomous navigation of the rescue material distribution machine.

11. An autonomous navigation device for a rescue material distribution machine, characterized in that: include: An input device, an output device, a processor, and a memory, wherein the input device, the output device, the processor, and the memory are interconnected, and the memory includes program instructions, and the program instructions are used to execute the autonomous navigation method for a rescue material distribution machine as described in any one of claims 1-9.

12. A computer-readable storage medium, characterized in that: Executable instructions are stored thereon, which, when executed by a processor, enable the processor to implement an autonomous navigation method for a rescue material distribution machine as described in any one of claims 1-9.

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