Control method and device and warehousing system

Abstract

The embodiment of the invention provides a control method and device and a warehousing system, and relates to the field of intelligent warehousing, and the method comprises the steps: determining a target value in a current map under the condition that a first path in initial paths meets a preset condition; and generating a target path based on the target value and the starting point coordinate and the ending point coordinate of the first path, the curvature of the target path being greater than that of the first path. The target value used for generating the target path is determined by judging whether the first path exists in the initial path or not, the target path can be generated through the target value and the starting point coordinates and the end point coordinates of the first path to replace the first path, and the purposes of eliminating jamming on the first path, enabling the carrying equipment to run smoothly and efficiently and improving the carrying efficiency are achieved. And the overall operation efficiency of the warehousing system is further improved.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of intelligent warehousing technology, and more particularly to a control method, device and warehousing system. Background Art

[0002] In smart warehousing, when generating paths for handling equipment, the following scenarios may occur in actual scenarios: 1) paths that require the handling equipment to turn; 2) the handling robot switches from one path to another parallel path, etc. The handling equipment generally needs to slow down and turn before accelerating to start, which will cause the handling equipment to take a long time to turn, resulting in low execution efficiency of the handling equipment. Summary of the invention

[0003] The embodiments of the present disclosure provide a control method, device and storage system. The embodiments of the present disclosure disclose the following technical solutions:

[0004] A first aspect of an embodiment of the present disclosure provides a control method, which is applied to a management system, including: when there is a first path in the initial path that meets a preset condition, determining a target value of a target control point and the starting point coordinates or the ending point coordinates of the first path in a current map; generating a target path based on the target value and the starting point coordinates and the ending point coordinates of the first path, wherein the curvature of the target path is greater than the curvature of the first path.

[0005] In some embodiments, the preset conditions include at least one of the following: the angle between the first line segment and the target direction is greater than a first threshold and less than a second threshold, the first line segment is a line segment between a calibrated position of a starting point and a calibrated position of an end point in the first path; and there is a path switch in the first path.

[0006] In some embodiments, determining the target value in the current map includes: when the end point coordinates of the first path satisfy the curvature constraint, based on the boundary constraint, determining the target value according to the end point coordinates and / or the first parameter, the first parameter including at least one of the wheel spacing, the positioning mark width, and the safety margin.

[0007] In some embodiments, the curvature constraint includes at least one of the following: the change in the ordinate between the end point coordinates and the start point coordinates in the first path is greater than or equal to the change in the abscissa; the abscissa of the end point coordinates is greater than or equal to a first value, and the ordinate of the end point coordinates is greater than or equal to a second value; the boundary constraint includes a first boundary condition and a second boundary condition, the first boundary condition includes that the abscissa of the end point coordinates is greater than the abscissa of the first boundary point and less than the abscissa of the second boundary point, and the ordinate of the end point coordinates is greater than the ordinate of the first boundary point and less than the ordinate of the second boundary point; the second boundary condition includes that the abscissa of the end point coordinates is greater than the ordinate of the second boundary point, and the ordinate of the end point coordinates is greater than the ordinate of the second boundary point.

[0008] In some embodiments, determining the target value according to the endpoint coordinates based on the boundary constraint includes: when the endpoint coordinates satisfy a first boundary condition, determining a calculated value of the endpoint coordinates and a preset ratio as the target value.

[0009] In some embodiments, based on the boundary constraint, according to the end point coordinates and the first parameter, determining the target value includes: when the end point coordinates meet the second boundary condition, determining the second parameter based on the horizontal coordinate of the end point coordinates, the wheel spacing, the positioning mark width, and the safety margin; determining the target value based on the second parameter, the horizontal coordinate and the vertical coordinate of the end point coordinates.

[0010] In some embodiments, generating a target path based on the target value and the starting point coordinates and the ending point coordinates of the first path includes: determining a target control point based on the target value, the starting point coordinates of the first path and the ending point coordinates of the first path; generating a target path based on a preset curve form according to the target control point, the starting point coordinates and the ending point coordinates of the first path.

[0011] In some embodiments, the target control point includes a first target control point; based on the target value, the starting point coordinates of the first path and the end point coordinates of the first path, determining the target control point includes: determining the horizontal coordinate of the starting point coordinates of the first path as the horizontal coordinate of the first target control point, and determining the sum of the vertical coordinates of the starting point coordinates of the first path and the target value as the vertical coordinate of the first target control point; the target control point includes a second target control point; based on the target value, the starting point coordinates of the first path and the end point coordinates of the first path, determining the target control point includes: determining the horizontal coordinate of the end point coordinates of the first path as the horizontal coordinate of the second target control point, and determining the difference between the vertical coordinates of the end point coordinates of the first path and the target value as the vertical coordinate of the second target control point.

[0012] A second aspect of an embodiment of the present disclosure provides a control device, including: a determination module, used to determine a target value in a current map when there is a first path in the initial path that meets a preset condition; a planning module, used to generate a target path based on the target value and the starting point coordinates and the end point coordinates of the first path, wherein the curvature of the target path is greater than the curvature of the first path.

[0013] A third aspect of an embodiment of the present disclosure provides a warehousing system, comprising: at least one handling device, and a management system, wherein the management system is used to execute the method in any implementation manner in the first aspect of the present disclosure, the management system is communicatively connected with the handling device, the management system is configured to send a scheduling instruction to the handling device, the scheduling instruction is used to indicate a target path of the handling device; the handling device is configured to receive the scheduling instruction and move based on the target path of the scheduling instruction.

[0014] A fourth aspect of an embodiment of the present disclosure provides an electronic device, comprising: a processor and a memory, the memory being used to store computer executable instructions; and the processor being used to read instructions from the memory and execute the instructions to implement the method in any one of the implementation modes of the aforementioned first aspect.

[0015] A fifth aspect of an embodiment of the present disclosure provides a computer-readable storage medium, in which computer instructions are stored, and the computer instructions are configured to enable the computer to execute the method in any implementation manner in the aforementioned first aspect.

[0016] A sixth aspect of an embodiment of the present disclosure provides a computer program product, which includes a computer program stored on a computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the method in any one of the implementation methods of the first aspect above.

[0017] The control method, device and system provided by the embodiments of the present disclosure determine whether there is a first path that meets preset conditions on the initial path generated for the transport equipment through the management system, and determine the target value in the current map based on the first path, and generate a target path for the transport equipment according to the target value and the starting point coordinates and the end point coordinates of the first path to replace the first path, so as to eliminate the jam on the first path, so that the transport equipment can pass through the above-mentioned section smoothly and efficiently, thereby further improving the overall operation efficiency of the warehousing system. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of a storage system provided by an embodiment of the present disclosure is shown;

[0019] Figure 2 A flow chart of a control method proposed in an embodiment of the present disclosure;

[0020] Figure 3 A flow chart of a method for determining a target value proposed in an embodiment of the present disclosure;

[0021] Figure 4A The following is a schematic diagram of the scene;

[0022] Figure 4B The following is a schematic diagram of the scene;

[0023] Figure 4C A schematic diagram for calculating the distance between the control point and the end point;

[0024] Figure 4D It is a schematic diagram of the large Z arc;

[0025] Figure 4E It is a schematic diagram of the small Z arc;

[0026] Figure 5A schematic diagram of the structure of a control device 500 proposed in an embodiment of the present disclosure;

[0027] Figure 6 is a schematic structural diagram of an electronic device 600 for implementing the above control method according to an exemplary embodiment. DETAILED DESCRIPTION

[0028] Many specific details are described in the following description to facilitate a full understanding of the present disclosure. However, the present disclosure can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present disclosure, so the present disclosure is not limited by the specific implementation disclosed below.

[0029] The terms used in one or more embodiments of the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of the present disclosure. The singular forms of "a", "said" and "the" used in one or more embodiments of the present disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of the present disclosure refers to and includes any or all possible combinations of one or more associated listed items.

[0030] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present disclosure, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of the present disclosure, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0031] Before planning the path of the handling equipment, in order to facilitate the positioning of the handling equipment, a map can be constructed for the preset area, and the preset area can be divided into multiple cells according to a predetermined range, and a positioning mark can be set in the cell to realize the positioning of the handling equipment through the positioning mark. The positioning mark can be a QR code, a reflective sticker, etc., and the position of the positioning mark in the cell can be determined according to actual needs, such as setting the positioning mark at the center of the cell. After obtaining the starting point coordinates and the end point coordinates of the handling equipment, the management system will plan a path for the handling equipment according to the current map. The planned path is based on the cells at the starting point position and the cells at the end point position. Some cells are selected in the cells of the current map, and the positioning marks of the cells are connected to form a planned path. However, in actual scenarios, the following two scenarios may occur, resulting in the planned path being unsuitable for being sent to the handling equipment for execution.

[0032] The first scenario is that the positioning mark of the cell is not aligned, causing the transport equipment to get stuck or collide with other transport equipment during movement, such as Figure 4A As shown in the schematic diagram, in the actual scenario, the QR codes of the empty channel in the shelf area and the high-speed area are not aligned. When RMS plans the path for the handling equipment, an initial path will be planned for this scenario, but the initial path will cause the handling equipment to be stuck during the movement due to the change in the direction of travel. Therefore, it is necessary to plan an arc path for the handling equipment in this scenario so that the handling equipment can pass through the section smoothly and efficiently.

[0033] The second scenario is that the path planned for the handling equipment has a path switch, that is, switching from the current straight path to an adjacent straight path, such as Figure 4B As shown in the schematic diagram, in the actual scenario, the handling equipment (robot) needs to switch paths. When the current RMS plans a path for the handling equipment, it will plan a path with a right-angle turn so that the handling equipment can switch paths. However, the right-angle turn will cause the handling equipment to slow down and then accelerate, causing a jam in the process. For example, in a north-south straight path, the handling equipment needs to switch from the left path to the right path, or from the right path to the left path; for another example, in an east-west straight path, the handling equipment needs to switch from the south path to the north path, or from the north path to the south path. When planning a path for the handling equipment, a right-angle turn path will be planned. When the handling equipment makes a right-angle turn, it will reduce its speed to pass through the right-angle turn section, and then restore its original speed after passing. This causes the handling equipment to be inefficient and jammed when executing the planned path issued by the management system, reducing the overall operating efficiency.

[0034] In order to solve the above problems, the present disclosure provides a control method. The present disclosure also involves a control device, a warehousing system, a computing device, a computer program product, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.

[0035] The following describes the solutions of the embodiments of the present disclosure in combination with examples.

[0036] Figure 1 This is a schematic diagram of a warehousing system provided by an embodiment of the present disclosure, the warehousing system includes a management system 101 and at least one handling device 102. The management system may be a robot management system, such as RMS (Robot Management System).

[0037] The handling equipment 102 may be an intelligent storage equipment in a storage system, such as a picking and handling equipment, that is, a robot.

[0038] In some embodiments, the handling equipment may be a robot for handling boxes and / or goods, such as a RoboShuttle (RS) robot. The RS robot handles target goods and / or boxes from a target location on a fixed shelf to other locations, or handles target goods and / or boxes from other locations to a target location on a fixed shelf.

[0039] In some embodiments, the handling equipment may be a robot for carrying shelves and / or carriers, for example, a lurking robot such as a P robot. The P robot is used to carry mobile shelves (also referred to as portable shelves) and / or movable carriers. For example, the P robot may carry the mobile shelves to the picking area according to the handling tasks sent by the server, or carry the mobile shelves to a position below the fixed shelves or other positions.

[0040] In some embodiments, the handling equipment may be a four-way robot and / or a six-way robot, such as an X-series robot, which is a storage and retrieval robot that can move in four directions horizontally and / or in six directions horizontally and vertically along tracks within a three-dimensional shelf.

[0041] In some embodiments, the handling equipment may be a sorting robot, such as an S-series robot, for sorting cargo boxes / cargoes according to different types.

[0042] In some embodiments, the handling equipment may be a forklift robot, such as an F series robot; or a mobile handling robot, such as an M series robot.

[0043] In an embodiment of the present disclosure, the management system 101 and the handling equipment 102 in the warehousing system can communicate with each other, the management system can obtain the current status of the handling equipment, the management system 101 can control or manage the handling equipment 102, the management system can generate a path for the handling equipment 102, and send the generated path to the handling equipment, and the handling equipment travels along the generated path.

[0044] In an embodiment of the present disclosure, the management system is communicatively connected with the transport equipment, and the management system is configured to send a scheduling instruction to the transport equipment, the scheduling instruction is used to indicate a target path of the transport equipment; the transport equipment is configured to receive the scheduling instruction and move based on the target path of the scheduling instruction.

[0045] In an embodiment of the present disclosure, the management system can determine whether the initial path currently generated for the transport equipment meets the preset conditions, and re-plan the path for the transport equipment to replace the initial path if the preset conditions are met. The preset conditions may be a scenario where a path switch occurs or there is a misalignment of positioning marks.

[0046] In an embodiment of the present disclosure, the warehousing system may be provided with a positioning mark (e.g., a coded scene) or may not be provided with a positioning mark (e.g., a non-coded scene). Specifically, the management system may generate an initial path for the handling equipment based on different scenes, and further, based on the initial path satisfying preset conditions, re-plan the path for the handling equipment to replace part of the initial path.

[0047] Figure 2 This is a flow chart of a control method proposed in an embodiment of the present disclosure, which is applied to a management system in a warehousing system. Figure 2 As shown, the method comprises the following steps:

[0048] Step 201: When there is a first path in the initial path that meets a preset condition, a target value is determined in the current map.

[0049] In some embodiments, the preset conditions include at least one of the following: the angle between the first line segment and the target direction is greater than the first threshold and less than the second threshold, the first line segment is a line segment between the calibrated position of the starting point and the calibrated position of the end point in the first path; there is a path switch in the first path. In some embodiments, the initial path is the path planned by the management system for the handling equipment based on the current map, that is, according to the starting coordinates and the end coordinates (or called the starting and ending coordinates) of the handling equipment, in the current map, cells are selected to constitute the initial path so that the handling equipment can reach the end position from the starting position through the initial path. Each cell in the current map corresponds to a positioning mark, and the positioning mark can be a robot-recognizable mark such as a QR code or a reflective sticker, which is not limited in this disclosure. In actual scenarios, the positioning mark can be attached to the center position or other positions of the cell, which is used for the handling equipment to identify whether it has reached the correct position.

[0050] In some embodiments, the calibrated position is used to reflect the reference position of a certain point. Taking the case of a handling device positioning and navigating by positioning identification as an example, the calibrated position can be the position of the QR code of a certain cell, that is, the calibrated position of the starting point is the position of the QR code corresponding to the cell of the starting point, and the calibrated position of the end point is the position of the QR code corresponding to the cell of the end point.

[0051] In some embodiments, the first path may be a section of the path that satisfies a preset condition in the initial path. It is understandable that there may be at least one section of the first path that satisfies the preset condition in the initial path.

[0052] In some embodiments, the angle between the first line segment and the target direction is greater than the first threshold and less than the second threshold, which may be a situation where there is a misalignment of the positioning markers on the first path. In other words, if the positioning markers are all aligned in the actual scenario, then the initial paths generated by the management system for the handling equipment are all straight paths, and there is no situation where the angle between the first line segment and the target direction is greater than the first threshold and less than the second threshold, where the target direction is the forward direction from the current point to the next point in the initial path.

[0053] In some embodiments, the angle between the first line segment and the target direction is greater than the first threshold and less than the second threshold because the calibrated position of the starting point and the calibrated position of the end point in the first path are not on the same straight line, resulting in a first angle between the first line segment and the target direction, and the first angle is greater than the first threshold and less than the second threshold.

[0054] In some embodiments, the first threshold may be 0°, and the second threshold may be 45°. In different scenarios, due to the different positions of the positioning marker, the value of the first angle may also be different, but the range of the first angle is between the first threshold and the second threshold. The first threshold and the second threshold can be customized according to different scenarios, which is not limited in this disclosure.

[0055] In some embodiments, when the value of the first angle reaches 45°, it is a path switching scenario.

[0056] For example, for Figure 4A In the schematic diagram of the first scenario shown, when the QR code is not aligned, there is a first path in the initial path planned by RMS for the handling equipment, and the first angle corresponding to the first path is greater than the first threshold and less than the second threshold, it is necessary to re-plan the path for the handling equipment to replace the first path to avoid jamming of the handling equipment during operation, thereby reducing the operating efficiency.

[0057] In some embodiments,

[0058] In some embodiments, when there is a first path in the initial path that satisfies the preset conditions, determining the target value in the current map can be when the above-mentioned positioning mark is not aligned or the path is switched in the first path, and determining a target value, the target value is at least used to reflect the distance parameter value between the target control point and at least one point of the first path, and the at least one point of the first path can be the starting point of the first path, the midpoint of the first path, the turning point of the first path and / or the end point of the first path, etc., so that the arc path is planned by the target value, and the first path in the initial path is replaced by the re-planned arc path, so that the handling equipment can smoothly and efficiently pass through the road section of the above-mentioned first scenario or the second scenario. Among them, the target control point is a control point used to re-plan the path, and the number of target control points can be determined according to the preset curve form applied. It should be noted that the target value can be a path distance value, a straight-line distance, or a distance value calculated by weighting the path distance value and the straight-line distance value, etc., wherein the path distance value can be the distance between the control point and the target path, and the straight-line distance value can be the distance between the control point and the starting point coordinates or the end point coordinates.

[0059] In some embodiments, determining the target value in the current map may be determining the distance between the target control point and the starting point or end point of the first path in a scenario where a cell in the warehousing system is not provided with a positioning mark (eg, a codeless scenario).

[0060] In some embodiments, determining the target value in the current map can be a target value for determining the distance between the target control point and the starting point or end point of the first path. The target value can determine a turning point suitable for turning based on the starting point coordinates and the end point coordinates to avoid a zero curvature broken line path that causes a jam of the transport equipment.

[0061] In some embodiments, determining the target value in the current map may be a target value for determining the distance from the midpoint of the first path. The target value may be based on the midpoint coordinates of the first path to determine the turning point of the first path, thereby avoiding a zero curvature broken line path that would cause the transport equipment to jam.

[0062] In some embodiments, determining the target value in the current map can be based on at least one inflection point in the current map, calculating the distance value between each inflection point and the starting point coordinates and the end point coordinates, traversing the distance values, and selecting a qualified distance value as the target value.

[0063] In some embodiments, the target value in the current map may be determined by other determination methods, which are not limited by the present disclosure.

[0064] Step 202: Generate a target path based on the target value and the starting point coordinates and the end point coordinates of the first path.

[0065] In some embodiments, the curvature of the target path is greater than the curvature of the first path. The first path is a path that meets the preset conditions, that is, the first path may be a path that needs to change the route, that is, a right-angle turn path, and its first curvature is 0°, or the first path may be a broken line path where the positioning mark is not aligned or a path where there is a deviation in path tracking, and its second curvature is also 0°. The target path generated by the present disclosure can make its curvature greater than the first curvature in the scenario of the right-angle turn path, or its curvature greater than the second curvature in the scenario of the positioning mark not aligned.

[0066] In some embodiments, the target path is used to replace the first path to avoid jamming of the transport equipment on the first path, so that the transport equipment does not have to reduce speed when traveling on the target path and can pass through the section smoothly and efficiently.

[0067] In some embodiments, generating a target path based on the target value and the starting point coordinates and the ending point coordinates of the first path includes: determining a target control point based on the target value, the starting point coordinates of the first path and the ending point coordinates of the first path; generating a target path based on a preset curve form according to the target control point, the starting point coordinates and the ending point coordinates of the first path.

[0068] In some embodiments, the preset curve form may be a Bezier curve. The dimension of the Bezier curve may be first order, second order, third order, etc. In different embodiments, the form of the Bezier curve may be determined according to the form of the target path to be generated. Accordingly, different orders of Bezier curves require different numbers of target control points. For example, a first order Bezier curve does not require a target control point, a second order Bezier curve requires one target control point, and a third order Bezier curve requires two target control points.

[0069] In some embodiments, the target control point is used to represent the turning reference point for generating the target path, that is, to control the shape of the generated target path. The number of target control points can be one, two or more. Under different numbers of target control points, based on the starting point coordinates and the end point coordinates of the first path, the target path that may be generated is different, which is not limited by the present disclosure.

[0070] In some embodiments, there may be one target control point. When one target control point is determined, the target path generated is an arc path based on the starting point coordinates and the ending point coordinates of the first path and the determined target control point. In another embodiment, there may be two target control points. When two target control points are determined, the target path generated is an arc path based on the starting point coordinates and the ending point coordinates of the first path and the determined two target control points, and the shape control and smoothness of the arc are more flexible and precise than the arc path generated by one control point.

[0071] In some embodiments, the target control point includes a first target control point; based on the target value, the starting point coordinates of the first path and the end point coordinates of the first path, determining the target control point includes: determining the horizontal coordinate of the starting point coordinates of the first path as the horizontal coordinate of the first target control point, and determining the sum of the vertical coordinates of the starting point coordinates of the first path and the target value as the vertical coordinate of the first target control point; the target control point includes a second target control point; based on the target value, the starting point coordinates of the first path and the end point coordinates of the first path, determining the target control point includes: determining the horizontal coordinate of the end point coordinates of the first path as the horizontal coordinate of the second target control point, and determining the difference between the vertical coordinates of the end point coordinates of the first path and the target value as the vertical coordinate of the second target control point, and the target control point includes the first target control point and the second target control point.

[0072] In some embodiments, the target control point includes a first target control point and a second target control point. The first target control point is on the same straight line as the starting point of the first path, and the second target control point is on the same straight line as the end point of the first path. Therefore, the horizontal coordinate of the first target control point is the same as the horizontal coordinate of the starting point coordinate, the horizontal coordinate of the second target control point is the same as the horizontal coordinate of the end point coordinate, the distance between the first target control point and the starting point is the target value, and the distance between the second target control point and the end point is the target value.

[0073] For example, Figure 4D In the schematic diagram shown, the target value is 705.2, the starting coordinates of the first path are (0,0), and the end coordinates are (800,1600). Then the coordinates of the first target control point are (0,705.2), and the coordinates of the second target control point are (800,1600-705.2).

[0074] For example, Figure 4E As shown in the schematic diagram, the target value is 350, the starting point coordinates of the first path are (0,0), and the end point coordinates are (200,700). Then the coordinates of the first target control point are (0,350) and the coordinates of the second target control point are (200,350).

[0075] In some embodiments, the target control point can be determined according to a preset curve form, which can be a Bezier curve. The following takes the Bezier curve as an example for explanation. When the target control point is determined, a Bezier curve can be generated based on the start point coordinates and the end point coordinates according to the calculation formula of the Bezier curve.

[0076] In some embodiments, based on the Bezier curve, the target path is generated according to the target control point, the starting point coordinates and the end point coordinates of the first path, so that the curvature of the generated target path is greater than the curvature of the first path. It can be understood that the target path is a Z-shaped arc path, and the curvature change range between the previous point and the next point is small, so that the transport equipment can maintain the original speed when moving along the target path, and it is not necessary to reduce the speed and then accelerate after passing, so as to avoid jamming.

[0077] For example, the RMS system generates a Z-shaped arc path according to the first target control point, the second target control point, the starting point coordinates and the end point coordinates. The Z-shaped arc path can be as follows: Figure 4E The schematic diagram shown is a small Z arc of two cells (applicable to the scenario where the QR code is not aligned), or a large Z arc of three cells (applicable to the scenario where the QR code of the empty channel in the shelf area and the high-speed area is not aligned), or, as Figure 4D The schematic diagram shown is a large Z arc that walks four cells (suitable for the robot's regular switching path).

[0078] In some embodiments, based on the Bezier curve, the target path is generated according to the target control point, the starting point coordinates and the end point coordinates of the first path. The calculation formula based on the third-order Bezier curve can be used to bring the first target control point, the second target control point, the starting point coordinates and the end point coordinates into the calculation formula to obtain the Bezier curve. The calculation formula of the Bezier curve is as follows:

[0079] B(t)=(1-t) 3 p0+3t(1-t) 2 p1+3t 2 (1-t)p2+t 3 p3

[0080] Among them, B(t) is the trajectory expression of the third-order Bezier curve, p0 is the starting point coordinate, p3 is the end point coordinate, p1 and p2 are the target control points, and t is a parameter between 0 and 1, which can take any value, such as 0.5.

[0081] In the above embodiments, the type of transport equipment applicable to the method for generating a target path proposed in the present disclosure can be set by the staff in the management system. For example, the staff enters the adapted model in the interface input box of the management system. After the management system generates the target path, it will send the target path to the transport equipment of the adapted model to replace the first path; or there is no restriction on the model of the transport equipment. The management system can send the target path to any model of transport equipment. Whether the corresponding transport equipment can execute the target path is determined by the transport equipment itself, and the present disclosure does not limit this.

[0082] In the above embodiment, the specific implementation method of generating the target path based on the target value, the starting point coordinates and the end point coordinates of the first path can be applied in a scenario with a positioning mark (such as a coded scene) or a scenario without a positioning mark (such as a non-coded scene) in a warehousing system.

[0083] In summary, the control method proposed in the present invention can determine the target value based on the starting point coordinates and the end point coordinates when there is a first path that meets the preset conditions in the initial path, so that the management system can generate a target path from the starting point to the end point based on the preset curve form, so as to enable the transport equipment to pass through the section smoothly and efficiently, and avoid jamming when the transport equipment moves along the first path.

[0084] Figure 3 A flow chart of a method for determining a target value provided by the present disclosure, based on Figure 2 The embodiment shown, Figure 3 right Figure 2 Step 201 in is further described as follows: Figure 3 As shown, the following steps are included:

[0085] Step 301 : when the end point coordinates of the first path satisfy the curvature constraint, a target value is determined based on the boundary constraint, the end point coordinates and / or the first parameter.

[0086] In some embodiments, the first parameter includes at least one of a wheel spacing, a positioning mark width, and a safety margin.

[0087] In some embodiments, the wheel spacing is the spacing between the wheels on both sides of the handling equipment that are relatively set perpendicular to the direction of movement, which can be obtained based on the parameters of the handling equipment. Specifically, the wheel spacing is the spacing between the center points of the left and right wheels of the handling equipment; in some embodiments, the positioning mark width is the width of the positioning mark corresponding to each cell in the current map. It can be understood that when the positioning mark is a mark with equal length and width, the width of the positioning mark is the length or width of the mark; when the positioning mark is a mark with unequal length and width, the width of the positioning mark is the vertical value corresponding to the forward direction of the handling equipment at that point. For example, the width of the positioning mark can be obtained from the parameters of the positioning mark in the actual warehousing system. Specifically, the positioning mark width is the width of the QR code, that is, the distance value between the left and right boundary lines of the QR code in the forward direction of the handling equipment reaching the cell.

[0088] In some embodiments, the safety margin is a preset value, which can be set by a staff member according to actual conditions, or obtained by obtaining historical safety margin values ​​from the RMS system, which is not limited by the present disclosure.

[0089] For example, the wheel spacing can be represented by 2*w, where w represents half of the wheel spacing, the QR code width can be represented by 2*m, where m represents half of the QR code width, and the safety margin can be represented by s.

[0090] In some embodiments, the boundary constraint includes a first boundary condition and a second boundary condition, the first boundary condition is used to reflect the minimum range of the end point coordinates, and the second boundary condition is used to reflect the maximum boundary of the end point coordinates. The first boundary condition includes that the abscissa of the end point coordinates is greater than the abscissa of the first boundary point and less than the abscissa of the second boundary point, and the ordinate of the end point coordinates is greater than the ordinate of the first boundary point and less than the ordinate of the second boundary point; the second boundary condition includes that the abscissa of the end point coordinates is greater than the abscissa of the second boundary point, and the ordinate of the end point coordinates is greater than the ordinate of the second boundary point.

[0091] In some embodiments, the first boundary point is a minimum feasible endpoint size, and the second boundary point is a minimum endpoint size considering compression constraints.

[0092] In some embodiments, the horizontal coordinate of the first boundary point, the vertical coordinate of the first boundary point, the horizontal coordinate of the second boundary point, and the vertical coordinate of the second boundary point are preset coordinate values, which can be customized by the staff or obtained by calculation by the RMS system according to historical records or the size of the current map, and this disclosure is not limited to this.

[0093] For example, the first boundary point may be (50 mm, 600 mm), and the second boundary point may be (700 mm, 1400 mm).

[0094] In some embodiments, the method further includes determining whether the endpoint coordinates of the first path satisfy a curvature constraint.

[0095] In some embodiments, the curvature constraint includes at least one of the following: the vertical coordinate change between the end point coordinate and the starting point coordinate in the first path is greater than or equal to the horizontal coordinate change; the horizontal coordinate of the end point coordinate is greater than or equal to the first value, and the vertical coordinate of the end point coordinate is greater than or equal to the second value.

[0096] In some embodiments, the curvature constraint may include the above two constraints, or only include one of the constraints, which is not limited by the present disclosure.

[0097] In some embodiments, the vertical coordinate change between the end point coordinate and the starting point coordinate in the first path can be calculated by taking the difference between the vertical coordinate of the end point and the vertical coordinate of the starting point in the first path as the vertical coordinate change, and taking the difference between the horizontal coordinate of the end point and the horizontal coordinate of the starting point as the horizontal coordinate change. By constraining the vertical coordinate change to be greater than or equal to the horizontal coordinate change, slow speed caused by large curvature can be avoided.

[0098] For example, in order to avoid too slow speed due to large curvature, abs(Y1)≥abs(X1) is established, where abs represents the change, that is, the change of Y1 relative to Y0 is greater than or equal to the change of X1 relative to X0, X0=0, Y0=0.

[0099] In some embodiments, the abscissa of the end point coordinate is greater than or equal to a first value, and the ordinate of the end point coordinate is greater than or equal to a second value to prevent the speed from being too slow due to excessive curvature, wherein the first value and the second value are pre-set fixed values.

[0100] In some embodiments, the first value and the second value can be set by a staff member according to the attributes of the current map, or the first value and the second value can be calculated through a system calculation formula.

[0101] In some embodiments, the first value and the second value are obtained by system calculation. The initial model can be trained using a combination of historical numerical values ​​corresponding to the control method of the present invention to obtain a trained target model. Using the target model, the first value and the second value can be obtained after obtaining the starting point coordinates and the end point coordinates.

[0102] For example, the first value may be 800 and the second value may be 1600.

[0103] For example, in order to avoid a slow speed due to a large curvature, X1≥800mm, Y1≥1600mm is set, that is, the abscissa of the end point is greater than or equal to 800mm, and the ordinate of the end point is greater than or equal to 1600mm.

[0104] In some embodiments, determining whether the end point coordinates of the first path satisfy the curvature constraint can obtain whether the end point coordinates satisfy the curvature constraint or the end point coordinates do not satisfy the curvature constraint, wherein, when the end point coordinates do not satisfy the curvature constraint, the subsequent steps of determining the target value are not performed, and the target path is not generated, and the transport equipment can still move along the initial path, or the RMS system will re-plan the path for the transport equipment.

[0105] In some embodiments, when the end point coordinates satisfy the curvature constraint, a target value may be determined according to a subsequent process, and the target value is used to generate a target path to replace the first path in the initial path.

[0106] The following describes the process of determining the target value by taking the scenario where a positioning mark is set in the warehousing system (such as a code scenario) as an example:

[0107] In some embodiments, when the end point coordinates of the first path satisfy the curvature constraint, determining the target value based on the boundary constraint according to the end point coordinates and / or the first parameter can be to determine the target value according to the end point coordinates when the first boundary condition is met, or to determine the target value according to the end point coordinates and the first parameter when the second boundary condition is met.

[0108] In some embodiments, determining the target value according to the endpoint coordinates based on the boundary constraint includes: when the endpoint coordinates satisfy a first boundary condition, determining a calculated value of the endpoint coordinates and a preset ratio as the target value.

[0109] In some embodiments, when the horizontal coordinate of the end point coordinate is greater than the horizontal coordinate of the first boundary point and less than the horizontal coordinate of the second boundary point, and the vertical coordinate of the end point coordinate is greater than the vertical coordinate of the first boundary point and less than the vertical coordinate of the second boundary point, the calculated value of the end point coordinate and the preset ratio is used as the target value.

[0110] In some embodiments, the preset ratio may be a preset ratio, and the specific ratio is not limited in the present disclosure. The calculated value of the endpoint coordinate and the preset ratio may be obtained by weighted calculation according to the preset ratio, for example, the horizontal coordinate and the vertical coordinate of the endpoint coordinate are weighted calculated with the preset ratio to obtain the target value; or the preset ratio of the horizontal coordinate and the preset ratio of the vertical coordinate may be set respectively, and the calculated value may be the product of the horizontal and vertical coordinates and the corresponding preset ratios, for example, the preset ratio of the horizontal coordinate is 1, and the preset ratio of the vertical coordinate is one-half.

[0111] In some embodiments, the preset ratio can be set according to different scenarios or different types of handling equipment. For example, in a standard map scenario, the preset ratio can be one-half, and in a specific scenario, such as an exhibition scenario, the preset ratio can be one-third; when the type of handling equipment is a type for handling cargo boxes, the preset ratio can be one-third, and when the type of handling equipment is a type for handling shelves, the preset ratio can be one-half.

[0112] For example, L is the length of the QR code from the control point to the starting point, and two boundary sizes are set: boundary point 1 (50mm, 600mm), boundary point 2 (700mm, 1400mm); boundary point 1 is the minimum feasible end point size, and boundary point 2 is the minimum end point size considering the compression constraint. When the size of (X1, Y1) is larger than boundary point 1 and does not meet boundary point 2, that is, the current size is very small, the code will definitely be compressed, so there is no need to consider the compression constraint, L = Y1 / 2.

[0113] In some embodiments, based on the boundary constraint, according to the end point coordinates and the first parameter, determining the target value includes: when the end point coordinates meet the second boundary condition, determining the second parameter based on the horizontal coordinate of the end point coordinates, the wheel spacing, the positioning mark width, and the safety margin; determining the target value based on the second parameter, the horizontal coordinate and the vertical coordinate of the end point coordinates.

[0114] In some embodiments, when the ordinate of the end point is greater than the ordinate of the second boundary point and the abscissa of the end point is greater than the abscissa of the second boundary point, that is, the second boundary condition is met, the second parameter can be determined based on the end point coordinates and the first parameter, and the target value can be determined based on the second parameter and the end point coordinates.

[0115] In some embodiments, after the coordinates of the end point, the wheel spacing, and the width of the positioning mark are known, the tangent expression of the wheel trajectory of the handling equipment can be obtained based on the Bezier curve. The slope of the tangent expression is the slope of the line between the control point corresponding to the end point and the starting point. In order to ensure that the wheel trajectory does not press the positioning mark, the value of the ordinate of the tangent expression is constrained by a compression code. For example, the ordinate can be constrained to be less than the difference between half of the ordinate of the end point and half of the wheel trajectory, and then the corresponding inequality is obtained. According to the set value of the safety margin, the maximum value of the slope of the line between the control point corresponding to the end point and the starting point is obtained, and then based on the relationship between the control point and the end point coordinates, the distance value between the control point and the end point can be obtained.

[0116] In some embodiments, the relationship between the control point and the end point coordinates can be that the horizontal coordinates are the same, and the vertical coordinates differ by a target value.

[0117] In some embodiments, based on the endpoint coordinates and the first parameter, the calculation formula for determining the second parameter may be the following formula:

[0118]

[0119] Among them, k is the second parameter, m is half of the width of the QR code, s is the safety margin, w is half of the wheel spacing, X1 is the horizontal coordinate of the end point, and Y1 is the vertical coordinate of the end point.

[0120] In some embodiments, the target value is determined based on the second parameter and the end point coordinates, and can be based on the following formula:

[0121] L=-(kX1-Y1)

[0122] For example, Figure 4CAs shown in the schematic diagram, when the sizes of X1 and Y1 are both larger than the second boundary, the compression constraint needs to be considered: when t=0.5 in the calculation formula of the Bezier curve, line1 and line2 are tangents of the Bezier curve. It can be understood that line1 and line2 are parallel to the line connecting the starting point and the second control point. The slopes of line1 and line2 are k, and the calculation formula is as follows:

[0123]

[0124] The expression of line1 is:

[0125]

[0126] When x=m+s, then:

[0127]

[0128] Take the safety margin s = 30, then:

[0129]

[0130] Solving the above formula, we can get:

[0131]

[0132] Then by:

[0133] The distance L from the control point to the starting point can be obtained:

[0134] L=-(kX1-Y1)

[0135] Since the two control points in the third-order Bezier curve are symmetrical, that is, the distance from the first control point to the starting point is L, and the distance from the second control point to the end point is L, after calculating the distance L, the coordinates of the two control points can be obtained according to the coordinates of the starting point and the coordinates of the end point respectively.

[0136] For example, w=410*0.5, m=72*0.5, s=30, when (X1, Y1)=(200,700), the coordinates of the end point meet the boundary point one but not the boundary point two, and after calculation, we can get L=350; when (X1, Y1)=(800,1600), the coordinates of the end point meet the boundary point two, and after calculation, we can get L=705.2.

[0137] In some embodiments, for the uncoded scene, the warehousing system does not have a positioning mark. When the destination coordinates meet the first boundary condition, the target value is determined according to the destination coordinates; when the destination coordinates meet the second boundary condition, the target value is determined according to the destination coordinates, the wheel spacing, and the safety margin. The specific calculation process can be based on the relevant calculation process of the coded scene above (the value of the positioning mark width in the relevant calculation formula is zero), and the specific value of the target value can be obtained, which will not be repeated here.

[0138] After the above calculations, the target value can be determined by Figure 2 In step 202, the target control point is determined, and then based on the Bezier curve, the target path is generated according to the target control point and the starting point coordinates and the end point coordinates. The target path is used to replace the first path to avoid the transport equipment from being stuck on the first path, so as to achieve smooth and efficient passage through the above section.

[0139] In summary, the control method proposed in the present invention can determine the target value in the current map when there is a first path that meets the preset conditions on the initial path, and then generate a target path based on the target value and the starting point coordinates and the end point coordinates of the first path to replace the first path, thereby avoiding jamming of the transport equipment during movement and achieving efficient and smooth passage through the above-mentioned section.

[0140] The following is a specific implementation of a control method provided by the present disclosure.

[0141] 1. Arc types are divided into:

[0142] (1) Walking a small Z arc of two cells: Applicable to the scenario where the QR codes of the empty channel in the shelf area and the high-speed area are not aligned, such as Figure 4A Schematic diagram of the scene shown;

[0143] (2) Walking the large Z arc of three cells: Similar to the small Z arc of two cells, it is suitable for the scenarios where the QR codes of the empty channel in the shelf area and the high-speed area are not aligned;

[0144] (3) Walking a large Z arc of four cells: Applicable to the robot's regular switching path, such as Figure 4B Schematic diagram of the scene shown.

[0145] 2. Calculate the distance between the control point and the starting point of the arc:

[0146] like Figure 4C As shown in the schematic diagram, the starting point coordinates are (0,0), the end point coordinates are (X1, Y1), the length of the QR code from the control point to the starting point is L, the wheel spacing is 2*w, the QR code width is 2*m, and the safety margin is s.

[0147] According to the physical characteristics of the robot:

[0148] (1) To avoid slow speed due to large curvature, abs(Y1)≥abs(X1) is set;

[0149] To prevent excessive curvature: ensure that X1>=800mm, Y1>=1600mm;

[0150] (2) Set two boundary sizes: boundary point 1 (50mm*600mm); boundary point 2 (700*1400mm). Boundary point 1 is the minimum feasible endpoint size, and boundary point 2 is the minimum endpoint size considering the compression constraint.

[0151] 1) When the size of (X1, Y1) is larger than the boundary point 1 and does not meet the boundary point 2: (if the size is too small, the code will be compressed, and there is no need to consider the compression constraint): L = Y1 / 2;

[0152] 2) When the dimensions of (X1, Y1) are both larger than the boundary point 2, compression constraints need to be considered:

[0153] When t=0.5, the slope of line1 and line2 is k, which is calculated as follows:

[0154] The expression of line1 is:

[0155]

[0156] When x=m+s, then:

[0157]

[0158] Take the remainder s = 30, then:

[0159]

[0160] Solving the above formula, we can get:

[0161]

[0162] Then by:

[0163] The distance L from the control point to the starting point can be obtained:

[0164] L=-(kX1-Y1)

[0165] like Figure 4D The schematic diagram of the large Z arc is shown, w = 410*0.5, m = 72*0.5, s = 30mm; the starting point coordinates are (0,0), and the end point coordinates are (800,1600). Through the above calculation, the distance from the control point to the starting point can be obtained as L = 705.2.

[0166] like Figure 4EAs shown in the schematic diagram of the small Z arc, the starting point coordinates are (0,0) and the end point coordinates are (200,700). Through the above calculation, we can get the distance L from the control point to the starting point = 350.

[0167] In summary, the above control method can determine the distance from the control point to the starting coordinate based on the starting and ending coordinates in scenarios where the QR codes are not aligned or the paths are switched, and then determine the coordinates of the control point through the distance to generate a corresponding Z-shaped arc, so that the handling equipment will not be stuck when passing through the section, and can pass through efficiently and smoothly, further improving the overall operating efficiency of the warehousing system.

[0168] Figure 5 A schematic diagram of the structure of a control device 500 proposed in an embodiment of the present disclosure, which is applied to a management system, such as Figure 5 As shown, the device comprises:

[0169] The determination module 510 is used to determine the target value in the current map when there is a first path in the initial path that meets the preset condition.

[0170] The planning module 520 is used to generate a target path based on the target value and the starting point coordinates and the end point coordinates of the first path, and the curvature of the target path is greater than the curvature of the first path.

[0171] In some embodiments, the preset conditions include at least one of the following: the angle between the first line segment and the target direction is greater than a first threshold and less than a second threshold, the first line segment is a line segment between a calibrated position of a starting point and a calibrated position of an end point in the first path; and there is a path switch in the first path.

[0172] In some embodiments, the determination module is also used to determine the target value based on the boundary constraint, according to the end point coordinates and / or the first parameter when the end point coordinates of the first path satisfy the curvature constraint. The first parameter includes at least one of the wheel spacing, positioning mark width, and safety margin.

[0173] In some embodiments, the curvature constraint includes at least one of the following: the change in the ordinate between the end point coordinates and the start point coordinates in the first path is greater than or equal to the change in the abscissa; the abscissa of the end point coordinates is greater than or equal to a first value, and the ordinate of the end point coordinates is greater than or equal to a second value; the boundary constraint includes a first boundary condition and a second boundary condition, the first boundary condition includes that the abscissa of the end point coordinates is greater than the abscissa of the first boundary point and less than the abscissa of the second boundary point, and the ordinate of the end point coordinates is greater than the ordinate of the first boundary point and less than the ordinate of the second boundary point; the second boundary condition includes that the abscissa of the end point coordinates is greater than the ordinate of the second boundary point, and the ordinate of the end point coordinates is greater than the ordinate of the second boundary point.

[0174] In some embodiments, the determination module is further configured to determine a calculated value of the ratio of the end point coordinates to a preset value as a target value when the end point coordinates satisfy a first boundary condition.

[0175] In some embodiments, the determination module is also used to determine the second parameter based on the horizontal coordinate of the end point coordinate, the wheel spacing, the positioning mark width, and the safety margin when the end point coordinate meets the second boundary condition; and determine the target value based on the second parameter, the horizontal coordinate and the vertical coordinate of the end point coordinate.

[0176] In some embodiments, the planning module is also used to determine the target control point based on the target value, the starting point coordinates of the first path and the end point coordinates of the first path; based on a preset curve form, generate the target path according to the target control point, the starting point coordinates of the first path and the end point coordinates.

[0177] In some embodiments, the planning module is also used to determine the horizontal coordinate of the starting point coordinate of the first path as the horizontal coordinate of the first target control point, and determine the sum of the vertical coordinate of the starting point coordinate of the first path and the target value as the vertical coordinate of the first target control point; determine the horizontal coordinate of the end point coordinate of the first path as the horizontal coordinate of the second target control point, and determine the difference between the vertical coordinate of the end point coordinate of the first path and the target value as the vertical coordinate of the second target control point.

[0178] In the above embodiment, the control device determines whether there is a first path that meets the preset conditions in the initial path to determine the first path that needs to be replaced. In the current map, the target value is determined, and the target path is generated according to the target value and the starting point coordinates and the end point coordinates of the first path to replace the first path, thereby avoiding jamming of the transport equipment during movement, achieving efficient and smooth passage through the above-mentioned road section, and further improving the overall operating efficiency of the warehousing system.

[0179] Figure 6 6 is a schematic diagram of a structure of an electronic device 600 for implementing the above control method according to an exemplary embodiment. The components of the electronic device 600 include but are not limited to a memory 610 and a processor 620. The processor 620 is connected to the memory 610 via a bus 630, and the database 650 is used to store data.

[0180] The electronic device 600 also includes an access device 640, which enables the electronic device 600 to communicate via one or more networks 660. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 640 may include one or more of any type of network interface (e.g., a network interface card (NIC)) of wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a world-wide interoperability for microwave access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, a near field communication (NFC) interface, and the like.

[0181] In one embodiment of the present disclosure, the above components of the electronic device 600 and Figure 6 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Figure 6 The electronic device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of the present disclosure. Those skilled in the art may add or replace other components as needed.

[0182] The electronic device 600 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC). The electronic device 600 may also be a mobile or stationary server.

[0183] The processor 620 implements the steps of the control method when executing the computer instructions.

[0184] The above is a schematic scheme of an electronic device of this embodiment. It should be noted that the technical scheme of the electronic device and the technical scheme of the control method described above are of the same concept, and the details of the technical scheme of the electronic device not described in detail can be referred to the description of the technical scheme of the control method described above.

[0185] The embodiments of the present disclosure further provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute the control method described in the above embodiments of the present disclosure.

[0186] An embodiment of the present disclosure further provides a computer program product, including a computer program, which executes the control method described in the above embodiment of the present disclosure when a processor executes the computer program.

[0187] The above describes specific embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0188] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0189] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should know that the present disclosure is not limited by the described action sequence, because according to the present disclosure, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present disclosure.

[0190] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0191] The preferred embodiments of the present disclosure disclosed above are only used to help explain the present disclosure. The optional embodiments do not describe all the details in detail, nor do they limit the invention to only the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the present disclosure. The present disclosure selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present disclosure, so that those skilled in the art can well understand and use the present disclosure. The present disclosure is limited only by the claims and their full scope and equivalents.

Claims

1. A control method, characterized in that: Applied to management systems, including: In the case that there is a first path in the initial path that satisfies the preset condition, determining the target value in the current map; A target path is generated based on the target value and the starting point coordinates and the ending point coordinates of the first path, wherein the curvature of the target path is greater than the curvature of the first path.

2. The method according to claim 1, characterized in that: The preset condition includes at least one of the following: The angle between the first line segment and the target direction is greater than a first threshold and less than a second threshold, and the first line segment is a line segment between a calibrated position of a starting point and a calibrated position of an end point in the first path; There is a path switch in the first path.

3. The method according to claim 1, characterized in that Determining the target value in the current map includes: When the end point coordinates of the first path satisfy the curvature constraint, the target value is determined based on the boundary constraint according to the end point coordinates and / or a first parameter, wherein the first parameter includes at least one of the wheel spacing, the positioning mark width, and the safety margin.

4. The method according to claim 3, characterized in that The curvature constraint includes at least one of the following: The vertical coordinate change between the end point coordinate and the start point coordinate in the first path is greater than or equal to the horizontal coordinate change; The abscissa of the end point coordinate is greater than or equal to a first value, and the ordinate of the end point coordinate is greater than or equal to a second value; The boundary constraint includes a first boundary condition and a second boundary condition. The first boundary condition includes that the horizontal coordinate of the end point coordinate is greater than the horizontal coordinate of the first boundary point and less than the horizontal coordinate of the second boundary point, and the vertical coordinate of the end point coordinate is greater than the vertical coordinate of the first boundary point and less than the vertical coordinate of the second boundary point; the second boundary condition includes that the horizontal coordinate of the end point coordinate is greater than the horizontal coordinate of the second boundary point, and the vertical coordinate of the end point coordinate is greater than the vertical coordinate of the second boundary point.

5. The method according to claim 4, characterized in that Based on the boundary constraint and according to the end point coordinates, determining the target value includes: In the case where the end point coordinates satisfy the first boundary condition, a calculated value of the end point coordinates and a preset ratio is determined as the target value.

6. The method according to claim 4, characterized in that Based on the boundary constraint, according to the end point coordinates and the first parameter, determining the target value includes: When the end point coordinates satisfy the second boundary condition, determining the second parameter based on the abscissa of the end point coordinates, the wheel spacing, the positioning mark width, and the safety margin; The target value is determined based on the second parameter, the abscissa and the ordinate of the end point coordinates.

7. The method according to claim 1, characterized in that The generating of the target path based on the target value and the starting point coordinates and the ending point coordinates of the first path comprises: Determining a target control point based on the target value, the starting point coordinates of the first path, and the ending point coordinates of the first path; Based on a preset curve form, the target path is generated according to the target control point, the starting point coordinates and the end point coordinates of the first path.

8. The method according to claim 7, characterized in that The target control point includes a first target control point; and determining the target control point based on the target value, the starting point coordinates of the first path, and the end point coordinates of the first path includes: Determine the abscissa of the starting point coordinates of the first path as the abscissa of the first target control point, and determine the sum of the ordinate of the starting point coordinates of the first path and the target value as the ordinate of the first target control point; and / or, The target control point includes a second target control point; and determining the target control point based on the target value, the starting point coordinates of the first path, and the end point coordinates of the first path includes: The abscissa of the coordinates of the end point of the first path is determined as the abscissa of the second target control point, and the difference between the ordinate of the coordinates of the end point of the first path and the target value is determined as the ordinate of the second target control point.

9. A control device, characterized in that: include: A determination module, configured to determine a target value in a current map when there is a first path in the initial path that satisfies a preset condition; A planning module is used to generate a target path based on the target value and the starting point coordinates and the end point coordinates of the first path, wherein the curvature of the target path is smaller than the curvature of the first path.

10. A storage system, characterized in that: include: at least one handling device; A management system, the management system is used to execute the method according to any one of claims 1 to 8, the management system is communicatively connected with the handling device, and the management system is configured to send a scheduling instruction to the handling device, the scheduling instruction is used to indicate a target path of the handling device; The transport device is configured to receive the scheduling instruction and move based on a target path of the scheduling instruction.

11. An electronic device, comprising: A processor and a memory, wherein the memory is used to store computer executable instructions; The processor is configured to read the instruction from the memory and execute the instruction to implement the method according to any one of claims 1 to 8.

12. A computer-readable storage medium, wherein: The storage medium stores computer program instructions, and when a computer reads the instructions, the method according to any one of claims 1 to 8 is executed.

13. A computer program product comprising a computer program, wherein: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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