An autonomous navigation method and system for a rescue supply distribution machine

Abstract

The present invention discloses an autonomous navigation method and system for rescue supply distribution machines, belonging to the technical field of emergency rescue logistics transportation. The method includes planning the transportation formation of the distribution machines according to the shape and mass of the rescue supplies; constructing a formation control model for the distribution machines, and controlling the distribution machines to maintain the transportation formation during transportation through the formation control model for the distribution machines; detecting whether there are obstacles in the forward direction, and if obstacles are detected in the forward direction, obtaining obstacle information, where the obstacle information includes the position and contour of the obstacles; constructing a safe transportation model, and combining the safe transportation model and the obstacle information to obtain an obstacle avoidance control instruction to complete the autonomous navigation of the rescue supply distribution machines. The present invention solves the problem that multiple transportation machines can quickly and intelligently identify obstacles and effectively avoid them during transportation while keeping the transportation formation unchanged by identifying obstacles and issuing control instructions.

Description

Technical Field

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

[0002] With the continuous improvement of the performance of agents, the potential application fields of multi-agent systems are becoming more and more extensive, and the complexity of tasks is also increasing. This makes multi-agents face many constraints when collaborating to complete tasks in a specific working environment, 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, agents inevitably have model uncertainties, external disturbances, and communication delays. Especially in the process of transporting emergency rescue materials, due to disasters, there are also situations where the same materials are transported by multiple transport machines, which means that multiple transport machines need to quickly and intelligently identify obstacles and effectively avoid them while maintaining the transport formation unchanged during the transportation process. This is an urgent problem to be solved at present. Summary of the Invention

[0003] To solve the above technical problems, the present invention provides a method and system for autonomous navigation of rescue material distribution machines, which realizes that multiple transport machines can quickly and intelligently identify obstacles and effectively avoid them while maintaining the transport formation unchanged during the transportation process.

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

[0005] A method for autonomous navigation of rescue material distribution machines includes the following steps:

[0006] Plan the transport formation of the distribution machine according to the shape and mass of the rescue material;

[0007] Construct a formation control model for the distribution machine, and through the formation control model for the distribution machine, control the distribution machine to maintain the transport formation during the transportation process;

[0008] Detect whether there are obstacles in the forward direction. If an obstacle is detected in the forward direction, obtain obstacle information, where the obstacle information includes the position and contour of the obstacle;

[0009] Construct a safe transportation model, combine the safe transportation model and the obstacle information, obtain an obstacle avoidance control instruction, and complete the autonomous navigation of the rescue material distribution machine.

[0010] In a second aspect, the present invention provides a system for autonomous navigation of rescue material distribution machines, including:

[0011] A formation planning unit for planning the transport formation of the distribution machine according to the shape and mass of the rescue material;

[0012] A formation control unit for constructing a formation control model of the delivery machine, and controlling the delivery machine to maintain the transportation formation during transportation through the formation control model of the delivery machine;

[0013] An obstacle detection unit for detecting whether there is an obstacle in the forward direction. If an obstacle is detected in the forward direction, obstacle information is obtained, and the obstacle information includes the position and contour of the obstacle;

[0014] An autonomous navigation unit for constructing a safe transportation model, combining the safe transportation model and the obstacle information to obtain an obstacle avoidance control instruction, and completing the autonomous navigation of the rescue material delivery machine.

[0015] In a third aspect, the present invention provides an autonomous navigation device for a rescue material delivery machine, including: an input device, an output device, a processor, and a memory. The input device, the output device, the processor, and the memory are interconnected. The memory includes program instructions for executing the foregoing autonomous navigation method for a rescue material delivery machine.

[0016] In a fourth aspect, the present invention provides a computer-readable storage medium, on which executable instructions are stored, and when the instructions are executed by a processor, the processor can implement the foregoing autonomous navigation method for a rescue material delivery machine.

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

[0018] The autonomous navigation system of the present invention has a compact structure and stable performance, and has wide applicability and practical application capabilities; 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 of the transportation team and the hazard avoidance function, effectively improving the running speed and accuracy of the present invention. Description of the Drawings

[0019] Figure 1 It is a flowchart of an autonomous navigation method for a rescue material delivery machine of the present invention;

[0020] Figure 2 It is a schematic structural diagram of an autonomous navigation device for a rescue material delivery machine of the present invention. Detailed Embodiments

[0021] The present invention will be further described below with reference to the drawings and embodiments.

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

[0023] Please refer to Figure 1 , Figure 1 which is a flowchart of an autonomous navigation method for a rescue supply distribution machine according to the present invention. The method includes the following steps:

[0024] S1. Plan the transportation formation of the distribution machine according to the shape and mass of the rescue supplies.

[0025] Emergency rescue supplies include medical drugs, food, accommodation facilities, and emergency rescue equipment, and the quantity is huge. Using distribution machines for material transportation 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 mass of the rescue supplies to ensure that the rescue supplies do not fall and get damaged during transportation.

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

[0027] ,

[0028] where represents the abscissa of the i-th distribution machine, represents the ordinate of the i-th distribution machine, represents the heading angle of the i-th distribution machine relative to the world coordinate system, represents the linear velocity of the i-th distribution machine, represents the angular velocity of the i-th distribution machine, represents the center position of the rescue supplies, represents the number of distribution machines, represents the balance condition, represents the abscissa of the center position of the rescue supplies, represents the reaction force generated by the i-th distribution machine and the rescue supplies, represents the preset speed, The symbol

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

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

[0031] In another embodiment, the formation control model of the distribution machines constructed in step S2 satisfies the following formula:

[0032] ,

[0033] where represents the position and velocity matrix of each distribution machine in the plane coordinate system at the th moment, represents the -dimensional identity matrix, represents the Kronecker product, is a random constant and is greater than 0, represents the number of time delays, represents the th Kirchhoff matrix of the time-delay state communication topology graph, represents the th time delay, and the superscript

[0034] S3. Detect whether there are obstacles in the forward direction. If it is detected that there are obstacles in the forward direction, obtain obstacle information, where the obstacle information includes the position and contour of the obstacle.

[0035] In an alternative embodiment, use ultrasonic sensors and / or infrared sensors and / or lidar sensors and / or wireless sensor network technology to detect whether there are obstacles in the forward direction, and obtain the position and contour of the obstacles, which are reflected in the coordinate system constructed based on the movement trajectory of the distribution machines.

[0036] S4. Construct a safe transportation model, combine the safe transportation model and the obstacle information to obtain an obstacle avoidance control instruction, and complete the autonomous navigation of the rescue supply delivery machine.

[0037] In the embodiment, the safe transportation model constructed in step S4 includes a safe range sub-model and a hazard avoidance sub-model. The safe range sub-model satisfies the following formula: , where represents the abscissa variable with the position of the rescue supply center as the coordinate origin, represents the ordinate variable with the position of the rescue supply center as the coordinate origin, represents the minimum safe distance between the delivery machine and the obstacle, represents the speed of the delivery machine relative to the obstacle, represents the speed of the delivery machine relative to the ground, represents the braking reaction time of the delivery machine, represents the total mass of the delivery machine and the rescue supplies, represents the braking torque of the delivery machine, represents the safety factor, represents the road width. It should be understood that the safe range sub-model is the minimum safe distance to prevent all delivery machines from contacting the obstacles. As long as there is an obstacle in the area of the safe 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] where represents the hazard avoidance function, represents the conflict area between the delivery machine route and the obstacle, represents the conflict area between the safe range of the delivery machine and the obstacle, represents the product of , represents the proportional factor of the hazard avoidance function, represents the minimum distance between the obstacle and the delivery machine, represents the position of the delivery machine, represents the position of the obstacle, represents the minimum distance between the target position and the delivery machine, represents the target position, represents the function adjustment factor, , represents the minimum safe distance between the delivery machine and the obstacle, Represents the speed of the delivery machine relative to the obstacle, Represents the speed of the delivery machine relative to the ground, Represents the braking reaction time of the delivery machine, Represents the total mass of the delivery machine and the relief supplies, Represents the braking torque of the delivery machine.

[0041] It should be understood that the obstacles in the delivery environment are random, and the different states and distributions of the obstacles during the delivery have different levels of danger to the delivery machine. By adding a function adjustment factor, different danger degree coefficients can be more accurately identified. For example, when the delivery machine is approaching the target position, the danger level generated by the obstacle is affected by the function adjustment factor . When, the danger level of the distance between the delivery machine and the obstacle is the highest, When, it is not affected by the distance between the delivery machine and the obstacle.

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

[0043] In another embodiment, the obstacle avoidance control instruction obtained by combining the safe transportation model and the obstacle information in step S4 includes a movement direction control instruction and a movement speed control instruction. Each delivery machine adjusts according to the obstacle avoidance control instruction to avoid the obstacle and complete the relief supply delivery task.

[0044] Further, the movement direction control instruction satisfies the following formula:

[0045] ,

[0046] where, Represents the movement direction control instruction of the i-th delivery machine, Represents the heading angle of the i-th delivery machine relative to the world coordinate system, Represents the direction control coefficient of the i-th delivery machine, Represents the target heading angle, Represents the number of delivery machines, Represents the number of partners of the i-th delivery machine, Represents the i-th delivery machine and the -th delivery machine's communication status, Represents the -th delivery machine's current heading angle, Represents the control gain for adjusting the movement direction of the i-th delivery machine, represents the ordinate of the expected position of the i-th delivery robot, represents the ordinate of the expected position of the i-th delivery robot and the longitudinal planned distance between the i-th delivery robot and the

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

[0048] ,

[0049] wherein, represents the motion speed control instruction of the i-th delivery robot, represents the linear speed of the i-th delivery robot, represents the speed control coefficient of the i-th delivery robot, represents the target motion speed, represents the communication state between the i-th delivery robot and the -th delivery robot, represents the speed time constant, represents the number of delivery robots, represents the current speed of the -th delivery robot, represents the abscissa of the expected position of the i-th delivery robot, represents the abscissa of the expected position of the -th delivery robot, and represents the lateral planned distance between the i-th delivery robot and the

[0050] On the other hand, the present invention further provides an autonomous navigation system for a rescue material delivery robot, and each unit included therein can implement each step of the foregoing method, including:

[0051] A formation planning unit for planning the transportation formation of the delivery robots according to the shape and quality of the rescue materials;

[0052] A formation control unit for constructing a formation control model of the delivery robots and controlling the delivery robots to maintain the transportation formation during transportation through the formation control model of the delivery robots;

[0053] An obstacle detection unit for detecting whether there are obstacles in the forward direction. If an obstacle is detected in the forward direction, obstacle information is obtained, and the obstacle information includes the position and contour of the obstacle;

[0054] An autonomous navigation unit is used to construct a safe transportation model, combine the safe transportation model and the obstacle information to obtain an obstacle avoidance control instruction, and complete the autonomous navigation of the rescue supply delivery machine.

[0055] In a third aspect, as Figure 2 shown, in order to efficiently execute an autonomous navigation method for a rescue supply delivery machine provided by the present invention, this embodiment further provides an autonomous navigation device for a rescue supply delivery machine, including:

[0056] A memory 10 for storing a computer program; a processor 20 for executing the computer program to implement the above-mentioned autonomous navigation method for a rescue supply delivery machine.

[0057] The memory 10, the processor 20, a communication interface 31 and a communication bus 32. The memory 10, the processor 20, and the communication interface 31 all complete mutual communication through the communication bus 32.

[0058] In the embodiment, the memory 10 is used to store one or more programs. The program may include program codes, and the program codes include computer operation instructions. In the embodiment of the present application, the memory 10 may store programs for implementing the following functions: planning the transportation formation of the delivery machine according to the shape and quality of the rescue supplies; constructing a formation control model for the delivery machine, and through the formation control model of the delivery machine, controlling the delivery machine to maintain the transportation formation during transportation; detecting whether there are obstacles in the forward direction, and if it is detected that there are obstacles in the forward direction, obtaining obstacle information, where the obstacle information includes the position and contour of the obstacle; constructing a safe transportation model, combining the safe transportation model and the obstacle information to obtain an obstacle avoidance control instruction, and completing the autonomous navigation of the rescue supply delivery machine.

[0059] In a possible implementation manner, the memory 10 may include a program storage area and a data storage area. Among them, the program storage area may store an operating system and application programs 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 part of the memory may also include NVRAM. The memory stores an operating system and operation instructions, executable modules or data structures, or subsets thereof, or extended sets thereof. Among them, the operation instructions may include various operation 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. The processor 20 may be a microprocessor or any conventional processor, etc. The processor 20 may call the program stored in the memory 10.

[0062] The communication interface 31 may be an interface of a communication module for connecting 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 relief supply distribution machine in this embodiment. In practical applications, the autonomous navigation device of the relief supply distribution machine may include more or fewer components than Figure 2 those shown, or combine certain components.

[0064] In a fourth aspect, the present invention also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned autonomous navigation method for a relief supply distribution machine are implemented.

[0065] The storage medium may include various media capable of storing program codes, such as a USB flash drive, a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disc.

[0066] In summary, the present invention solves the problem that multiple transport machines can quickly and intelligently identify obstacles and effectively avoid them during transportation while maintaining the transportation formation unchanged. Therefore, the present invention effectively overcomes various disadvantages in the prior art and has high industrial utilization value.

[0067] The specific embodiments described above further elaborate on the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope 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: According to the shape and quality of the relief supplies, the transportation formation of the distribution machines 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; 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: 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 A time delay.

3. 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.

4. The autonomous navigation method for a rescue material distribution machine according to claim 3, 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.

5. The autonomous navigation method for a rescue material distribution machine according to claim 3, 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.

6. 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.

7. The autonomous navigation method for a rescue material distribution machine according to claim 6, 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.

8. The autonomous navigation method for a rescue material distribution machine according to claim 6, 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.

9. An autonomous navigation system for a rescue material distribution machine, characterized in that: include: The formation planning unit is used to plan the transportation formation of the distribution machines according to the shape and quality of the relief supplies, satisfying 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; 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.

10. 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 1-8.

11. 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 1-8.

Images