Mutually exclusive node pair judgment method, processor, storage medium and automatic transportation system

Abstract

The invention discloses a mutually exclusive node pair judgment method, a processor, a storage medium and an automatic transportation system, and the method comprises the steps: calculating a first coordinate and a second coordinate based on first related data after the first related data and second related data are received, and calculating a third coordinate and a fourth coordinate based on the second related data; determining that the first to-be-judged node and the second to-be-judged node form a mutually exclusive node pair under the condition of determining that the first corresponding relation exists; and under the condition of determining that the first corresponding relationship does not exist, judging whether the first to-be-judged node and the second to-be-judged node form a mutually exclusive node pair or not based on the first current node coordinate, the second current node coordinate, the first to-be-judged node coordinate and the second to-be-judged node coordinate, thereby realizing judgment on the mutually exclusive node pair in the node space resource. The multiple automatic transportation devices are used in the same area at the same time, the utilization rate of node space resources is increased, and then the carrying efficiency of the carrying system is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of path planning, and particularly to a method for judging mutually exclusive node pairs, a processor, a storage medium, and an automatic transportation system. Background Art

[0002] To ensure safety during the handling process, the handling system generally uses nodes in an exclusive manner, that is, the same node at the same moment can only be used by one automatic transportation device. Therefore, the handling efficiency of the handling system is restricted by the utilization rate of the node space resources. The higher the utilization rate of the node space resources, the higher the handling efficiency that the handling system can achieve.

[0003] In the related art, the handling system uses the area control method to divide the node space resources. The basis for the area division is the relative distance between nodes and the maximum handling size of the automatic transportation device. Only one automatic transportation device is allowed to use each area at the same time, resulting in a low utilization rate of the node space resources, and further leading to the problem of low handling efficiency of the handling system. Summary of the Invention

[0004] The mutually exclusive node pair judgment method, processor, storage medium, and automatic transportation system provided by the present invention are used to solve the problems of low utilization rate of node space resources and low handling efficiency of the handling system in the prior art.

[0005] In a first aspect, the present application provides a method for judging mutually exclusive node pairs, the method including: After receiving the first relevant data sent by the first automatic transportation device and the second relevant data sent by the second automatic transportation device, based on the first relevant data, calculate a first coordinate representing the size of the first dynamic vehicle and a second coordinate representing the size of the first dynamic detection vehicle, and based on the second relevant data, calculate a third coordinate representing the size of the second dynamic vehicle and a fourth coordinate representing the size of the second dynamic detection vehicle; When it is determined that there is a first corresponding relationship in a preset first mutually exclusive node pair corresponding relationship, determine that the first node to be judged and the second node to be judged form a mutually exclusive node pair, where the first corresponding relationship is the corresponding relationship among the first coordinate, the second coordinate, the third coordinate, the fourth coordinate, the action information of the first automatic transportation device, and the action information of the second automatic transportation device; When it is determined that there is no such first corresponding relationship in the first mutually exclusive node pair corresponding relationship, based on the first current node coordinate, the second current node coordinate, the first node coordinate to be judged, and the second node coordinate to be judged, judge whether the first node to be judged and the second node to be judged form a mutually exclusive node pair; Among them, the first automatic transportation device action information is obtained based on the first related data, the second automatic transportation device action information is obtained based on the second related data, the first current node is the node where the first automatic transportation device is located in the current driving path, the second current node is the current node where the second automatic transportation device is located in the current driving path, the first node to be judged is the next node of the first current node, and the second node to be judged is the next node of the second current node.

[0006] In a possible implementation manner, the first related data includes the first length, the first width, the first central coordinate, the first current node coordinate, and the first node to be judged coordinate of the first automatic transportation device; based on the first related data, calculating the first coordinate representing the first dynamic vehicle size includes: Calculating a first quotient value obtained by dividing the first length by a preset value, and calculating a second quotient value obtained by dividing the first width by the preset value, and calculating a first sum value of the sine value of the first included angle and the cosine value of the first included angle, and calculating a first difference value of the cosine value of the first included angle and the sine value of the first included angle, where the first included angle is determined based on the first central coordinate and the first node to be judged coordinate; Calculating a second difference value obtained by subtracting the abscissa offset from the first quotient value, and calculating a third difference value obtained by subtracting the ordinate offset from the second quotient value, and calculating a second sum value obtained by adding the abscissa offset to the first quotient value, and calculating a third sum value obtained by adding the ordinate offset to the second quotient value, where the abscissa offset and the ordinate offset are determined based on the first central coordinate and the geometric center coordinate; Calculating a first product obtained by multiplying the second difference value by the first sum value, and calculating a second product obtained by multiplying the third difference value by the first difference value, and calculating a third product obtained by multiplying the second sum value by the first sum value, and calculating a fourth product obtained by multiplying the third sum value by the first difference value; Calculating the first coordinate based on the first product, the second product, the third product, the fourth product, and the first central coordinate.

[0007] In a possible implementation manner, calculating the first coordinate based on the first product, the second product, the third product, the fourth product, and the first central coordinate includes: Use the sum of the abscissa of the first central coordinate and the first product as the abscissa of the first lower left corner, use the sum of the ordinate of the first central coordinate and the second product as the ordinate of the first lower left corner, use the sum of the abscissa of the first central coordinate and the third product as the abscissa of the first upper right corner, and use the sum of the ordinate of the first central coordinate and the fourth product as the ordinate of the first upper right corner; Use the abscissa of the first lower left corner, the ordinate of the first lower left corner, the abscissa of the first upper right corner, and the ordinate of the first upper right corner as the first coordinate.

[0008] In a possible implementation, the first related data further includes the second length and the second width of the first automatic transportation device. Based on the first related data, calculating the second coordinate representing the size of the first dynamic detection vehicle includes: Calculate the third quotient obtained by dividing the second length by the preset value, and calculate the fourth quotient obtained by dividing the second width by the preset value; Calculate the fourth difference obtained by subtracting the third quotient from the abscissa offset, calculate the fifth difference obtained by subtracting the fourth quotient from the ordinate offset, calculate the fourth sum obtained by adding the third quotient to the abscissa offset, and calculate the fifth sum obtained by adding the fourth quotient to the ordinate offset; Calculate the fifth product obtained by multiplying the fourth difference by the first sum, calculate the sixth product obtained by multiplying the fifth difference by the first difference, calculate the seventh product obtained by multiplying the fourth sum by the first sum, and calculate the eighth product obtained by multiplying the fifth sum by the first difference; Calculate the second coordinate based on the fifth product, the sixth product, the seventh product, the eighth product, and the first central coordinate.

[0009] In a possible implementation, calculating the second coordinate based on the fifth product, the sixth product, the seventh product, the eighth product, and the first central coordinate includes: Use the sum of the abscissa of the first central coordinate and the fifth product as the abscissa of the second lower left corner, use the sum of the ordinate of the first central coordinate and the sixth product as the ordinate of the second lower left corner, use the sum of the abscissa of the first central coordinate and the seventh product as the abscissa of the second upper right corner, and use the sum of the ordinate of the first central coordinate and the eighth product as the ordinate of the second upper right corner; Use the abscissa of the second lower left corner, the ordinate of the second lower left corner, the abscissa of the second upper right corner, and the ordinate of the second upper right corner as the second coordinate.

[0010] In a possible implementation, determining whether the first node to be determined and the second node to be determined form a mutually exclusive node pair based on the first current node coordinates, the second current node coordinates, the first node coordinates to be determined, and the second node coordinates to be determined includes: Determining a first movement path based on the first current node coordinates and the first node coordinates to be determined, and determining a second movement path based on the second current node coordinates and the second node coordinates to be determined; Calculating the shortest distance between the first movement path and the second movement path based on a preset distance algorithm; When the shortest distance is less than or equal to a first preset distance, determining that the first node to be determined and the second node to be determined form a mutually exclusive node pair; when the shortest distance is greater than or equal to a second preset distance, determining that the first node to be determined and the second node to be determined do not form a mutually exclusive node pair, where the first preset distance is less than the second preset distance.

[0011] In a possible implementation, when the shortest distance is greater than the first preset distance and the shortest path is less than the second preset distance, it further includes: Calculating a fifth coordinate representing the size of a third dynamic vehicle, a sixth coordinate representing the size of a third dynamic detection vehicle, a first vehicle body rotation circle, and a first detection rotation circle based on the first relevant data, and calculating a seventh coordinate representing the size of a fourth dynamic vehicle, an eighth coordinate representing the size of a fourth dynamic detection vehicle, a second vehicle body rotation circle, and a second detection rotation circle based on the second relevant data; When it is determined that there is a second correspondence in a preset second mutually exclusive node pair correspondence relationship, determining that the first node to be determined and the second node to be determined form a mutually exclusive node pair, where the second correspondence relationship is the correspondence relationship among the fifth coordinate, the sixth coordinate, the seventh coordinate, the eighth coordinate, the first automatic transportation device action information, and the second automatic transportation device action information; When it is determined that there is no such second correspondence in the second mutually exclusive node pair correspondence relationship, determining whether the first node to be determined and the second node to be determined form a mutually exclusive node pair based on the fifth coordinate, the sixth coordinate, the seventh coordinate, the eighth coordinate, the first vehicle body rotation circle, the first detection rotation circle, the second vehicle body rotation circle, and the second detection rotation circle.

[0012] In a possible implementation, calculating the fifth coordinate representing the size of a third dynamic vehicle based on the first relevant data includes: Calculate the sixth sum value of the abscissa of the first current node coordinate and the first product, and calculate the seventh sum value of the abscissa of the first node to be judged coordinate and the first product, and calculate the eighth sum value of the abscissa of the first current node coordinate and the third product, and calculate the ninth sum value of the abscissa of the first node to be judged coordinate and the third product; Calculate the tenth sum value of the ordinate of the first current node coordinate and the second product, and calculate the eleventh sum value of the abscissa of the first node to be judged coordinate and the second product, and calculate the twelfth sum value of the ordinate of the first current node coordinate and the fourth product, and calculate the thirteenth sum value of the ordinate of the first node to be judged coordinate and the fourth product; Take the minimum value of the sixth sum value, the seventh sum value, the eighth sum value and the ninth sum value as the third lower left abscissa, take the minimum value of the tenth sum value, the eleventh sum value, the twelfth sum value and the thirteenth sum value as the third lower left ordinate, take the maximum value of the sixth sum value, the seventh sum value, the eighth sum value and the ninth sum value as the third upper right abscissa, and take the maximum value of the tenth sum value, the eleventh sum value, the twelfth sum value and the thirteenth sum value as the third upper right ordinate; Take the third lower left abscissa, the third lower left ordinate, the third upper right abscissa and the third upper right ordinate as the fifth coordinate.

[0013] In a possible implementation manner, calculating the sixth coordinate representing the size of the third dynamic detection vehicle based on the first related data includes: Calculate the fourteenth sum value of the abscissa of the first current node coordinate and the fifth product, and calculate the fifteenth sum value of the abscissa of the first node to be judged coordinate and the fifth product, and calculate the sixteenth sum value of the abscissa of the first current node coordinate and the seventh product, and calculate the seventeenth sum value of the abscissa of the first node to be judged coordinate and the seventh product; Calculate the eighteenth sum value of the ordinate of the first current node coordinate and the sixth product, and calculate the nineteenth sum value of the ordinate of the first node to be judged coordinate and the sixth product, and calculate the twentieth sum value of the ordinate of the first current node coordinate and the eighth product, and calculate the twenty - first sum value of the ordinate of the first node to be judged coordinate and the eighth product; Take the minimum value of the fourteenth sum value, the fifteenth sum value, the sixteenth sum value, and the seventeenth sum value as the abscissa of the lower left corner of the fourth, take the minimum value of the eighteenth sum value, the nineteenth sum value, the twentieth sum value, and the twenty - first sum value as the ordinate of the lower left corner of the fourth, take the maximum value of the fourteenth sum value, the fifteenth sum value, the sixteenth sum value, and the seventeenth sum value as the abscissa of the upper right corner of the fourth, and take the maximum value of the eighteenth sum value, the nineteenth sum value, the twentieth sum value, and the twenty - first sum value as the ordinate of the upper right corner of the fourth; Take the abscissa of the lower left corner of the fourth, the ordinate of the lower left corner of the fourth, the abscissa of the upper right corner of the fourth, and the ordinate of the upper right corner of the fourth as the sixth coordinate.

[0014] In a possible implementation manner, calculating the first vehicle body rotation circle based on the first relevant data includes: Calculate the first square value of the third product, calculate the second square value of the fourth product, calculate the third square value of the first product, and calculate the fourth square value of the second product; After calculating the sum value of the first square value and the second square value, perform a square - root operation to obtain the first square - root value, and after calculating the sum value of the third square value and the fourth square value, perform a square - root operation to obtain the second square - root value; Take the maximum value of the first square - root value and the second square - root value as the radius of the first vehicle body rotation circle, and then take the circle with the first node - to - be - judged coordinate as the center and the radius of the first vehicle body rotation circle as the first vehicle body rotation circle.

[0015] In a possible implementation manner, calculating the first detection rotation circle based on the first relevant data includes: Calculate the fifth square value of the seventh product, calculate the sixth square value of the eighth product, calculate the seventh square value of the fifth product, and calculate the eighth square value of the sixth product; After calculating the sum value of the fifth square value and the sixth square value, perform a square - root operation to obtain the third square - root value, and after calculating the sum value of the seventh square value and the eighth square value, perform a square - root operation to obtain the fourth square - root value; Take the maximum value of the third square - root value and the fourth square - root value as the radius of the first detection rotation circle, and then take the circle with the first node - to - be - judged coordinate as the center and the radius of the first detection rotation circle as the first detection rotation circle.

[0016] In a possible implementation, determining whether the first node to be determined and the second node to be determined form a mutually exclusive node pair based on the fifth coordinate, the sixth coordinate, the seventh coordinate, the eighth coordinate, the first vehicle body rotation circle, the first detection rotation circle, the second vehicle body rotation circle, and the second detection rotation circle includes: When it is determined based on the rectangle-rectangle overlap algorithm that the fifth coordinate overlaps with the eighth coordinate, and / or it is determined that the sixth coordinate overlaps with the seventh coordinate, it is determined that the first node to be determined and the second node to be determined form a mutually exclusive node pair; When it is determined based on the rectangle-rectangle overlap algorithm that the fifth coordinate does not overlap with the eighth coordinate, and it is determined that the sixth coordinate does not overlap with the seventh coordinate, and it is determined based on the first vehicle body rotation circle and the first detection rotation circle that the first automated guided vehicle rotates, it is determined whether the first node to be determined and the second node to be determined form a mutually exclusive node pair based on the rectangle-circle overlap algorithm; When it is determined based on the rectangle-rectangle overlap algorithm that the fifth coordinate does not overlap with the eighth coordinate, and it is determined that the sixth coordinate does not overlap with the seventh coordinate, and it is determined based on the first vehicle body rotation circle and the first detection rotation circle that the first automated guided vehicle does not rotate, and it is determined based on the second vehicle body rotation circle and the second detection rotation circle that the second automated guided vehicle rotates, it is determined whether the first node to be determined and the second node to be determined form a mutually exclusive node pair based on the rectangle-circle overlap algorithm.

[0017] In a possible implementation, when it is determined based on the rectangle-rectangle overlap algorithm that the fifth coordinate does not overlap with the eighth coordinate, and it is determined that the sixth coordinate does not overlap with the seventh coordinate, and it is determined based on the first vehicle body rotation circle and the first detection rotation circle that the first automated guided vehicle rotates, determining whether the first node to be determined and the second node to be determined form a mutually exclusive node pair based on the rectangle-circle overlap algorithm includes: When it is determined based on the rectangle-circle overlap algorithm that the first vehicle body rotation circle overlaps with the eighth coordinate, and / or it is determined that the first detection rotation circle overlaps with the seventh coordinate, it is determined that the first node to be determined and the second node to be determined form a mutually exclusive node pair; When it is determined based on the rectangle-circle overlap algorithm that the first vehicle body rotation circle does not overlap with the eighth coordinate, and it is determined that the first detection rotation circle does not overlap with the seventh coordinate, and it is determined based on the second vehicle body rotation circle and the second detection rotation circle that the second automated guided vehicle does not rotate, it is determined that the first node to be determined and the second node to be determined do not form a mutually exclusive node pair; When it is determined based on the rectangle and circle overlapping algorithm that the first vehicle body rotation circle does not overlap with the eighth coordinate, and it is determined that the first detection rotation circle does not overlap with the seventh coordinate, and when it is determined that the second automatic transportation device rotates based on the second vehicle body rotation circle and the second detection rotation circle, determine whether the first node to be judged and the second node to be judged form a mutually exclusive node pair based on the rectangle and circle overlapping algorithm and the circle and circle overlapping algorithm.

[0018] In a possible implementation manner, when it is determined based on the rectangle and circle overlapping algorithm that the first vehicle body rotation circle does not overlap with the eighth coordinate, and it is determined that the first detection rotation circle does not overlap with the seventh coordinate, and when it is determined that the second automatic transportation device rotates based on the second vehicle body rotation circle and the second detection rotation circle, determining whether the first node to be judged and the second node to be judged form a mutually exclusive node pair based on the rectangle and circle overlapping algorithm and the circle and circle overlapping algorithm includes: When it is determined based on the circle and circle overlapping algorithm that the first vehicle body rotation circle overlaps with the second detection rotation circle, and / or when it is determined based on the rectangle and circle overlapping algorithm that the fifth coordinate overlaps with the second detection rotation circle, and / or when it is determined based on the circle and circle overlapping algorithm that the first detection rotation circle overlaps with the second vehicle body rotation circle, and / or when it is determined based on the rectangle and circle overlapping algorithm that the sixth coordinate overlaps with the second vehicle body rotation circle, determine that the first node to be judged and the second node to be judged form a mutually exclusive node pair; When it is determined based on the circle and circle overlapping algorithm that the first vehicle body rotation circle does not overlap with the second detection rotation circle, and it is determined based on the rectangle and circle overlapping algorithm that the fifth coordinate does not overlap with the second detection rotation circle, and it is determined based on the circle and circle overlapping algorithm that the first detection rotation circle does not overlap with the second vehicle body rotation circle, and it is determined based on the rectangle and circle overlapping algorithm that the sixth coordinate does not overlap with the second vehicle body rotation circle, determine that the first node to be judged and the second node to be judged do not form a mutually exclusive node pair.

[0019] In a possible implementation manner, when it is determined based on the rectangle and rectangle overlapping algorithm that the fifth coordinate does not overlap with the eighth coordinate, and it is determined that the sixth coordinate does not overlap with the seventh coordinate, and when it is determined that the first automatic transportation device does not rotate based on the first vehicle body rotation circle and the first detection rotation circle, and when it is determined that the second automatic transportation device rotates based on the second vehicle body rotation circle and the second detection rotation circle, determining whether the first node to be judged and the second node to be judged form a mutually exclusive node pair based on the rectangle and circle overlapping algorithm includes: When it is determined that the second vehicle body rotation circle overlaps with the sixth coordinate based on the rectangular same-circle overlapping algorithm, and / or when it is determined that the second detection rotation circle overlaps with the fifth coordinate based on the rectangular same-circle overlapping algorithm, it is determined that the first node to be judged and the second node to be judged form a mutually exclusive node pair; When it is determined that the second vehicle body rotation circle does not overlap with the sixth coordinate based on the rectangular same-circle overlapping algorithm, and it is determined that the second detection rotation circle does not overlap with the fifth coordinate based on the rectangular same-circle overlapping algorithm, it is determined that the first node to be judged and the second node to be judged do not form a mutually exclusive node pair.

[0020] In a second aspect, an embodiment of the present application further provides a processor, and the processor is configured to execute the method according to any one of the first aspects.

[0021] In a third aspect, an embodiment of the present application further provides a computer storage medium, and the computer storage medium stores a computer program, and the computer program is used to cause a computer to execute the mutually exclusive node pair judgment method provided in the first aspect of the embodiments of the present application.

[0022] In a fourth aspect, an embodiment of the present application further provides an automatic transportation system, including a computer program, and the computer program realizes the method according to the first aspect when executed by a processor.

[0023] The beneficial effects of the present invention are as follows: The mutually exclusive node pair judgment method, processor, storage medium, and automatic transportation system provided by the present application, after receiving the first relevant data sent by the first automatic transportation device and the second relevant data sent by the second automatic transportation device, based on the first relevant data, calculate the first coordinate representing the size of the first dynamic vehicle and the second coordinate representing the size of the first dynamic detection vehicle, and based on the second relevant data, calculate the third coordinate representing the size of the second dynamic vehicle and the fourth coordinate representing the size of the second dynamic detection vehicle; when it is determined that there is a first corresponding relationship in the preset first mutually exclusive node pair corresponding relationship, it is determined that the first node to be judged and the second node to be judged form a mutually exclusive node pair, where the first corresponding relationship is the corresponding relationship among the first coordinate, the second coordinate, the third coordinate, the fourth coordinate, the action information of the first automatic transportation device, and the action information of the second automatic transportation device; when it is determined that there is no first corresponding relationship in the first mutually exclusive node pair corresponding relationship, based on the first current node coordinate, the second current node coordinate, the first node to be judged coordinate, and the second node to be judged coordinate, it is judged whether the first node to be judged and the second node to be judged form a mutually exclusive node pair, so as to realize the judgment of the mutually exclusive node pair in the node space resource, enable multiple automatic transportation devices to be used simultaneously in the same area, improve the utilization rate of the node space resource, and further improve the handling efficiency of the handling system. Description of the Drawings

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0025] Figure 1 An application scenario of a method for judging mutually exclusive node pairs provided by an embodiment of the present application; Figure 2 A flowchart of a method for judging mutually exclusive node pairs provided by an embodiment of the present application; Figure 3 A flowchart of another method for judging mutually exclusive node pairs provided by an embodiment of the present application; Figure 4 A flowchart of another method for judging mutually exclusive node pairs provided by an embodiment of the present application; Figure 5 A flowchart of another method for judging mutually exclusive node pairs provided by an embodiment of the present application; Figure 6 A flowchart of another method for judging mutually exclusive node pairs provided by an embodiment of the present application; Figure 7 A flowchart of another method for judging mutually exclusive node pairs provided by an embodiment of the present application; Figure 8 A flowchart of another method for judging mutually exclusive node pairs provided by an embodiment of the present application; Figure 9 A flowchart of another method for judging mutually exclusive node pairs provided by an embodiment of the present application; Figure 10 A flowchart of another method for judging mutually exclusive node pairs provided by an embodiment of the present application; Figure 11 A flowchart of another method for judging mutually exclusive node pairs provided by an embodiment of the present application; Figure 12 A flowchart of another method for judging mutually exclusive node pairs provided by an embodiment of the present application. Detailed implementation manners

[0026] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0027] In the embodiments of the present disclosure, the term "and / or" describes the association relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0028] The application scenarios described in the embodiments of the present disclosure are to more clearly illustrate the technical solutions of the embodiments of the present disclosure, and do not constitute a limitation on the technical solutions provided by the embodiments of the present disclosure. Those of ordinary skill in the art can know that with the emergence of new application scenarios, the technical solutions provided by the embodiments of the present disclosure are equally applicable to similar technical problems. Among them, in the description of the present disclosure, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0029] To ensure safety during the handling process, the handling system generally uses nodes in an exclusive manner, that is, the same node at the same moment can only be used by one automated transportation device. Specifically, the automated transportation devices include AGVs (Automated Guided Vehicles) and robots, where the robots include humanoid robots with the ability of autonomous decision-making. In the embodiments of the present application, the technical solutions of the present application are explained by taking AGVs as an example. It should be understood that taking AGVs as an example in the present application is only for facilitating the understanding of the methods and principles of the present application. The automated transportation devices in actual applications can be represented as other devices that can implement the method for judging mutually exclusive node pairs of the present application. For example, installing the method for judging mutually exclusive node pairs provided by the present application in a humanoid robot and applying the humanoid robot to a factory without workers. Since the humanoid robot has a certain degree of intelligence and the ability of autonomous decision-making, it can judge whether the first node to be judged and the second node to be judged form a mutually exclusive node pair, thereby realizing the judgment of mutually exclusive node pairs in the node space resources, and further improving the utilization rate of the node space resources.

[0030] The handling system in the related art adopts a mechanism of "application + authorization + release" for node space resources. For example, when an AGV needs to use a node in its driving path, it sends an application message to the server of the handling system to apply for using the node. After the AGV receives the authorization message sent by the server to authorize the use of the node, it can use the node. Among them, during the process of the AGV using the node, the handling system closes the permission for other AGVs to apply for using the node. After the AGV finishes using the node, the handling system releases the permission for other AGVs to apply for using the node. It can be seen that the handling efficiency of the handling system is restricted by the utilization rate of the node space resources. The higher the utilization rate of the node space resources, the higher the handling efficiency that the handling system can achieve.

[0031] Specifically, the handling system uses the area control method to divide the node space resources. The area division is based on manual experience and is carried out according to the relative distance between nodes and the maximum handling size of the automatic transport equipment. Only one automatic transport equipment is allowed to use the same area at the same time, resulting in low utilization rate of the node space resources and further leading to the problem of low handling efficiency of the handling system.

[0032] Based on this, the embodiment of the present application provides a method for judging mutually exclusive node pairs. After receiving the first relevant data sent by the first automatic transport equipment and the second relevant data sent by the second automatic transport equipment, the first coordinate and the second coordinate are calculated based on the first relevant data, and the third coordinate and the fourth coordinate are calculated based on the second relevant data. When it is determined that there is a first corresponding relationship, it is determined that the first node to be judged and the second node to be judged form a mutually exclusive node pair. When it is determined that there is no first corresponding relationship, based on the first current node coordinate, the second current node coordinate, the first node to be judged coordinate, and the second node to be judged coordinate, it is judged whether the first node to be judged and the second node to be judged form a mutually exclusive node pair, so as to realize the judgment of mutually exclusive node pairs in the node space resources, enable multiple automatic transport equipment to be used in the same area at the same time, improve the utilization rate of the node space resources, and further improve the handling efficiency of the handling system.

[0033] For easy understanding, the technical terms involved in the embodiment of the present application are explained as follows: (1) AGV (Automated Guided Vehicle): An AGV is an automated transport equipment, usually used in factories or warehouses, and completes tasks such as material handling and transportation through a preset path.

[0034] (2) Mutually Exclusive Node Pairs: Mutually exclusive node pairs generally refer to two nodes that are mutually exclusive in a certain structure, that is, these two nodes cannot be in a certain state or operation at the same time. For example, in the handling system, when there is a risk of collision or braking stop in the node actions of two AGVs, the two affected nodes are called mutually exclusive node pairs. When the two nodes in the node actions of two AGVs form a mutually exclusive node pair, only one of the two nodes of the mutually exclusive node pair is allowed to be used by the AGV at the same time.

[0035] Next, the technical solutions in the embodiments of the present application will be described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments.

[0036] Figure 1An application scenario of a method for judging mutually exclusive node pairs provided by an embodiment of the present application is exemplarily shown. In this application scenario, there are a server 110 and at least two automatic guided vehicles AGV1 and AGV2.

[0037] In a possible application scenario, two AGVs execute node actions and send first related data and second related data to the server. When it is determined that there is a first correspondence, it is determined that the first node to be judged and the second node to be judged form a mutually exclusive node pair. When it is determined that there is no first correspondence, based on the first current node coordinates, the second current node coordinates, the first node coordinates to be judged, and the second node coordinates to be judged, it is judged whether the first node to be judged and the second node to be judged form a mutually exclusive node pair, so as to realize the judgment of mutually exclusive node pairs in the node spatial resources.

[0038] Among them, Figure 1 Information interaction can be carried out between the server 110 and AGV1 and AGV2 through a communication network. Among them, the communication method adopted by the communication network can be divided into a wireless communication method or a wired communication method.

[0039] Exemplarily, the server 110 can access the network through cellular mobile communication technology and communicate with AGV1 and AGV2. Among them, the cellular mobile communication technology, for example, includes the fifth-generation mobile communication (5th Generation Mobile Networks, 5G) technology.

[0040] Optionally, the server 110 can access the network through a short-range wireless communication method and communicate with AGV1 and AGV2. Among them, the short-range wireless communication method, for example, includes wireless fidelity (Wireless Fidelity, Wi-Fi) technology.

[0041] Moreover, in the description of the present application, only two AGVs and a single server 110 are described in detail. However, those skilled in the art should understand that the two AGVs and the server 110 shown are intended to represent the operations of two AGVs and the server 110 involved in the technical solution of the present application. It does not imply any limitations on the number, type, or location of the AGVs and the server 110. It should be noted that if additional modules are added to or individual modules are removed from the illustrated environment, the underlying concept of the exemplary embodiments of the present application will not be changed.

[0042] It should be noted that the method for judging mutually exclusive node pairs proposed in the present application is not only applicable to Figure 1 the application scenario shown, but also applicable to any device with the judgment of mutually exclusive node pairs.

[0043] Next, in combination with the above-described application scenarios, the method for judging mutually exclusive node pairs in an exemplary embodiment of the present application will be described with reference to the accompanying drawings. It should be noted that the above application scenarios are only shown for the convenience of understanding the method and principle of the present application, and the embodiments of the present application are not limited in this regard.

[0044] As Figure 2 shown, it is a schematic flowchart of a method for judging mutually exclusive node pairs provided by an embodiment of the present application, which may include the following steps: S201. After receiving the first relevant data sent by the first automatic transportation device and the second relevant data sent by the second automatic transportation device, based on the first relevant data, calculate the first coordinate representing the size of the first dynamic vehicle and the second coordinate representing the size of the first dynamic detection vehicle, and based on the second relevant data, calculate the third coordinate representing the size of the second dynamic vehicle and the fourth coordinate representing the size of the second dynamic detection vehicle; As an example, in the present application, the principle of the method for calculating the first coordinate and the second coordinate based on the first relevant data is similar to that of calculating the third coordinate and the fourth coordinate based on the second relevant data. Here, the calculation of the first coordinate and the second coordinate based on the first relevant data sent by the first AGV will be described in detail as an example.

[0045] The first relevant data includes the first length of the first AGV, the first width, the first center coordinate, the first current node coordinate, and the first node coordinate to be judged; Specifically, the first length

[0046] wherein, represents the base length of the first AGV with type number , represents the length of the first AGV with type number and load number k of material type, represents that the first AGV with type number has an empty load, represents that the material type of the load of the first AGV with type number is k.

[0047] The first width represents the width of the smallest rectangle of the first AGV considering the load state in the safe transportation state. The first width can be represented as:

[0048] Among them, characterizes the base width of the first AGV with type number . Characterizes the width of the first AGV with load number k material type and type number . Characterizes that the load of the first AGV with type number is empty. Characterizes that the material type of the load of the first AGV with type number is k.

[0049] The first center coordinate characterizes the rotation center coordinate when the first AGV performs a rotation action.

[0050] As Figure 3 shown, it is a schematic flowchart of another method for judging mutually exclusive node pairs provided by an embodiment of the present application. Based on the first relevant data, calculate the first coordinate characterizing the size of the first dynamic vehicle, including: S301. Calculate the first quotient value obtained by dividing the first length by a preset value, calculate the second quotient value obtained by dividing the first width by the preset value, calculate the first sum value of the sine value of the first included angle and the cosine value of the first included angle, and calculate the first difference value of the cosine value of the first included angle and the sine value of the first included angle; Exemplarily, the preset value can be 2, the first included angle is represented as , the first quotient value = , the second quotient value = , the first sum value = , the first difference value = , where the first included angle is determined based on the first center coordinate and the first node coordinate to be judged.

[0051] Specifically, during the movement of the AGV, it reaches a certain node along the leading edge of the node and reaches the next node along the trailing edge. The AGV prepares to move along the trailing edge at this node. When the angles of the trailing edge and the leading edge are different, the AGV rotates in place at this node. For example, taking the AGV moving from node A to node B and then from node B to node C as an example, if node B is taken as the current node, then the movement of the AGV from node A to node B is the leading edge of the current node, and the movement of the AGV from node B to node C is the trailing edge of the current node.

[0052] In a possible implementation manner, taking the action of a certain node of the AGV numbered i as as an example, the node movement of the AGV numbered i includes a five-tuple, where represents the currently located node, represents the currently located node 's leading edge. When When there is no preceding edge ; represents the angle between the moving vehicle head of the AGV along the preceding edge and the positive x-axis direction. When ; When there is no preceding edge ; represents the angle at which the preceding edge points to the current node ; represents the current node pointing to the angle of the succeeding edge.

[0053] S302. Calculate the second difference obtained by subtracting the first quotient value from the abscissa offset, and calculate the third difference obtained by subtracting the second quotient value from the ordinate offset, and calculate the second sum value obtained by adding the abscissa offset to the first quotient value, and calculate the third sum value obtained by adding the ordinate offset to the second quotient value; Exemplarily, the abscissa offset is expressed as , and the ordinate offset is expressed as , the second difference = , the third difference = , the second sum value = , the third sum value = , where the abscissa offset and the ordinate offset are determined based on the first center coordinate and the geometric center coordinate. The geometric center coordinate represents the center of the physical size of the AGV, and the geometric center coordinate of the first AGV is also included in the first relevant data sent.

[0054] Specifically, the abscissa offset is the offset of the x-axis coordinate of the geometric center coordinate of the first AGV relative to the x-axis coordinate of the first center coordinate , and the ordinate offset is the offset of the y-axis coordinate of the geometric center coordinate of the first AGV relative to the y-axis coordinate of the first center coordinate .

[0055] S303. Calculate the first product obtained by multiplying the second difference by the first sum value, and calculate the second product obtained by multiplying the third difference by the first difference, and calculate the third product obtained by multiplying the second sum value by the first sum value, and calculate the fourth product obtained by multiplying the third sum value by the first difference; Exemplarily, the first product = , the second product = , the third product = , the fourth product = .

[0056] S304. Calculate the first coordinate based on the first product, the second product, the third product, the fourth product, and the first center coordinate.

[0057] In a specific embodiment, the abscissa of the first center coordinate is used as the abscissa of the lower left corner of the first rectangle by adding the sum value of the first product, and the ordinate of the first center coordinate is used as the ordinate of the lower left corner of the first rectangle by adding the sum value of the second product. The abscissa of the first center coordinate is used as the abscissa of the upper right corner of the first rectangle by adding the sum value of the third product, and the ordinate of the first center coordinate is used as the ordinate of the upper right corner of the first rectangle by adding the sum value of the fourth product; Specifically, the abscissa of the lower left corner of the first rectangle = , the ordinate of the lower left corner of the first rectangle = , the abscissa of the upper right corner of the first rectangle = , the ordinate of the upper right corner of the first rectangle = .

[0058] Use the abscissa of the lower left corner of the first rectangle, the ordinate of the lower left corner of the first rectangle, the abscissa of the upper right corner of the first rectangle, and the ordinate of the upper right corner of the first rectangle as the first coordinate. The first coordinate includes the lower left corner coordinate and the upper right corner coordinate of the first rectangle.

[0059] Specifically, the lower left corner coordinate of the first rectangle is expressed as , and the upper right corner coordinate of the first rectangle is expressed as . Wherein, agv1 represents the coordinate of the first AGV, ld represents the lower left corner, ru represents the upper right corner, represents the angle between the AGV and the positive direction of the x-axis.

[0060]

[0061]

[0062] As another example, the first related data further includes the second length and the second width of the first AGV.

[0063] Specifically, the second length represents the length of the smallest rectangle considering the load and the forward detection distance of the first AGV in the safe transportation state. The second length can be expressed as:

[0064] Wherein, represents the length including the detection distance of the first AGV with the type number , represents the type number The length with detection distance of the first AGV with load number k and material type Characterize the type number as The load of the first AGV is empty Characterize the type number as The material type of the load of the first AGV is k

[0065] Second width Characterize the width of the smallest rectangle considering the load and the forward detection distance of the first AGV in the safe transportation state. The second width can be characterized as:

[0066] Wherein, Characterize the width with detection distance of the first AGV with type number The width with detection distance of the first AGV with load number k and material type with type number Characterize the type number as The width with detection distance of the first AGV with load number k and material type Characterize the type number as The load of the first AGV is empty Characterize the type number as The material type of the load of the first AGV is k

[0067] As Figure 4 shown, it is a flowchart of another method for judging mutually exclusive node pairs provided by an embodiment of the present application. Based on the first relevant data, calculate the second coordinates representing the size of the first dynamic detection vehicle, including: S401. Calculate the third quotient value obtained by dividing the second length by a preset value, and calculate the fourth quotient value obtained by dividing the second width by a preset value; Exemplarily, the preset value can be 2, and the third quotient value = , and the fourth quotient value = .

[0068] S402. Calculate the fourth difference obtained by subtracting the third quotient value from the abscissa offset, and calculate the fifth difference obtained by subtracting the fourth quotient value from the ordinate offset, and calculate the fourth sum value obtained by adding the abscissa offset to the third quotient value, and calculate the fifth sum value obtained by adding the ordinate offset to the fourth quotient value; Exemplarily, the abscissa offset is represented as , and the ordinate offset is represented as , the fourth difference = , the fifth difference = , the fourth sum value = , the fifth sum value = .

[0069] S403. Calculate the fifth product by multiplying the fourth difference by the first sum, calculate the sixth product by multiplying the fifth difference by the first difference, calculate the seventh product by multiplying the fourth sum by the first sum, and calculate the eighth product by multiplying the fifth sum by the first difference; Exemplarily, the fifth product = , the sixth product = , the seventh product = , the eighth product = .

[0070] S404. Calculate the second coordinate based on the fifth product, the sixth product, the seventh product, the eighth product, and the first center coordinate.

[0071] In a specific embodiment, the sum of the abscissa of the first center coordinate and the fifth product is used as the abscissa of the second lower left corner, and the sum of the ordinate of the first center coordinate and the sixth product is used as the ordinate of the second lower left corner. The sum of the abscissa of the first center coordinate and the seventh product is used as the abscissa of the second upper right corner, and the sum of the ordinate of the first center coordinate and the eighth product is used as the ordinate of the second upper right corner; Specifically, the abscissa of the second lower left corner = , the ordinate of the second lower left corner = , the abscissa of the second upper right corner = , the ordinate of the second upper right corner = .

[0072] The abscissa of the second lower left corner, the ordinate of the second lower left corner, the abscissa of the second upper right corner, and the ordinate of the second upper right corner are used as the second coordinate. The second coordinate includes the second lower left corner coordinate and the second upper right corner coordinate.

[0073] The second lower left corner coordinate is represented as , and the second upper right corner coordinate is represented as . Among them, det1 represents the coordinate of the first AGV with detection distance, ld represents the lower left corner, ru represents the upper right corner, represents the angle between the AGV and the positive x-axis direction.

[0074]

[0075]

[0076] As another example, the method for calculating the third coordinate and the fourth coordinate based on the second correlation data sent by the second AGV is similar in principle to the method for calculating the first coordinate and the second coordinate based on the first correlation data sent by the first AGV, and the repeated parts will not be elaborated here.

[0077] The third coordinate includes a third lower left coordinate and a third upper right coordinate. The fifth lower left coordinate is represented as , and the fifth upper right coordinate is represented as .

[0078]

[0079]

[0080] The fourth coordinate includes a fourth lower left coordinate and a fourth upper right coordinate. The sixth lower left coordinate is represented as , and the sixth upper right coordinate is represented as .

[0081]

[0082]

[0083] S202. When it is determined that there is a first corresponding relationship in the preset first mutually exclusive node pair corresponding relationship, it is determined that the first node to be judged and the second node to be judged form a mutually exclusive node pair, where the first corresponding relationship is the corresponding relationship of the first coordinate, the second coordinate, the third coordinate, the fourth coordinate, the first automatic transportation device action information, and the second automatic transportation device action information; In a specific embodiment, the first AGV action information and the second AGV action information are taken as examples for detailed description. Exemplarily, taking the first coordinate A1, the second coordinate B1, the third coordinate A2, the fourth coordinate B2, the first AGV action information C1, and the second AGV action information C2 as examples, the first coordinate A1 and the third coordinate A2 form a first sub-corresponding relationship, the second coordinate B1 and the fourth coordinate B2 form a second sub-corresponding relationship, the first AGV action information C1 and the second AGV action information C2 form a third sub-corresponding relationship, and the first sub-corresponding relationship, the second sub-corresponding relationship, and the third sub-corresponding relationship form a first corresponding relationship. When there is a first corresponding relationship in the preset first mutually exclusive node pair corresponding relationship, it is determined that the first node to be judged and the second node to be judged form a mutually exclusive node pair.

[0084] S203. When it is determined that there is no first corresponding relationship in the first mutually exclusive node pair corresponding relationship, based on the first current node coordinate, the second current node coordinate, the first node to be judged coordinate, and the second node to be judged coordinate, it is judged whether the first node to be judged and the second node to be judged form a mutually exclusive node pair; Exemplarily, the first current node coordinate is characterized as , the second current node coordinate is characterized as , the first node to be judged coordinate is characterized as , and the second node to be judged coordinate is characterized as 。

[0085] This application provides a method for judging mutually exclusive node pairs. After receiving the first relevant data sent by the first automatic transportation device and the second relevant data sent by the second automatic transportation device, this application calculates, based on the first relevant data, a first coordinate representing the size of the first dynamic vehicle and a second coordinate representing the size of the first dynamic detection vehicle, and calculates, based on the second relevant data, a third coordinate representing the size of the second dynamic vehicle and a fourth coordinate representing the size of the second dynamic detection vehicle; when it is determined that there is a first corresponding relationship in the preset corresponding relationship of the first mutually exclusive node pairs, it is determined that the first node to be judged and the second node to be judged form a mutually exclusive node pair, where the first corresponding relationship is the corresponding relationship among the first coordinate, the second coordinate, the third coordinate, the fourth coordinate, the action information of the first automatic transportation device, and the action information of the second automatic transportation device; when it is determined that there is no first corresponding relationship in the corresponding relationship of the first mutually exclusive node pairs, it is judged whether the first node to be judged and the second node to be judged form a mutually exclusive node pair based on the first current node coordinate, the second current node coordinate, the first node coordinate to be judged, and the second node coordinate to be judged, so as to realize the judgment of the mutually exclusive node pairs in the node space resources, enable multiple automatic transportation devices to be used simultaneously in the same area, improve the utilization rate of the node space resources, and further improve the handling efficiency of the handling system.

[0086] In a possible implementation manner, as Figure 5 shown, it is a schematic flowchart of another method for judging mutually exclusive node pairs provided by an embodiment of this application. S501: Determine a first movement path based on the first current node coordinate and the first node coordinate to be judged, and determine a second movement path based on the second current node coordinate and the second node coordinate to be judged; S502: Calculate the shortest distance between the first movement path and the second movement path based on a preset distance algorithm; S503: When the shortest distance is less than or equal to a first preset distance, determine that the first node to be judged and the second node to be judged form a mutually exclusive node pair; when the shortest distance is greater than or equal to a second preset distance, determine that the first node to be judged and the second node to be judged do not form a mutually exclusive node pair, where the first preset distance is less than the second preset distance.

[0087] In a specific embodiment, based on the first current node coordinate and the first node coordinate to be judged determine the first movement path, and based on the second current node coordinate and the second node coordinate to be judged determine the second movement path.

[0088] The shortest distance d between the first motion path and the second motion path is calculated based on a preset distance algorithm. The preset distance algorithm includes algorithms based on vector cross product, algorithms based on parametric equations, algorithms based on line segment endpoints, etc.

[0089] The first preset distance D1 represents the dynamic detection distance, and the second preset distance D2 represents the safety distance. The first preset distance D1 is less than the second preset distance D2. When the shortest distance d is less than or equal to the first preset distance D1, it is determined that the first node to be judged and the second node to be judged form a mutually exclusive node pair; when the shortest distance d is greater than or equal to the second preset distance D2, it is determined that the first node to be judged and the second node to be judged do not form a mutually exclusive node pair.

[0090] It should be noted that when the shortest distance d is less than or equal to the first preset distance D1 and it is determined that the first node to be judged and the second node to be judged form a mutually exclusive node pair, the corresponding relationship composed of the first coordinate, the second coordinate, the third coordinate, the fourth coordinate, the first AGV action information, and the second AGV action information of the two AGVs is stored in the corresponding relationship of the first mutually exclusive node pair, so as to update the corresponding relationship of the first mutually exclusive node pair, thereby improving the accuracy of the judgment of the mutually exclusive node pair, improving the utilization rate of the node space resources, and further improving the handling efficiency of the handling system.

[0091] In addition, in another possible implementation manner, when the shortest distance is greater than the first preset distance and the shortest path is less than the second preset distance, as Figure 6 shown, it is a flowchart of another method for judging mutually exclusive node pairs provided by an embodiment of the present application, and further includes: S601. Based on the first relevant data, calculate the fifth coordinate representing the size of the third dynamic vehicle, the sixth coordinate representing the size of the third dynamic detection vehicle, the first vehicle body rotation circle and the first detection rotation circle, and based on the second relevant data, calculate the seventh coordinate representing the size of the fourth dynamic vehicle, the eighth coordinate representing the size of the fourth dynamic detection vehicle, the second vehicle body rotation circle and the second detection rotation circle; As an example, in the present application, the method for calculating the fifth coordinate, the sixth coordinate, the first vehicle body rotation circle and the first detection rotation circle based on the first relevant data is similar to the principle of the method for calculating the seventh coordinate, the eighth coordinate, the second vehicle body rotation circle and the second detection rotation circle based on the second relevant data. Here, the method for calculating the fifth coordinate, the sixth coordinate, the first vehicle body rotation circle and the first detection rotation circle based on the first relevant data is taken as an example for detailed description.

[0092] As an example, as Figure 7 shown, it is a flowchart of another method for judging mutually exclusive node pairs provided by an embodiment of the present application. Based on the first relevant data, calculating the fifth coordinate representing the size of the third dynamic vehicle includes: S701. Calculate the sixth sum value of the abscissa of the first current node coordinate and the first product, calculate the seventh sum value of the abscissa of the first node to be judged coordinate and the first product, calculate the eighth sum value of the abscissa of the first current node coordinate and the third product, and calculate the ninth sum value of the abscissa of the first node to be judged coordinate and the third product; Exemplarily, the first current node coordinate is , and the first node to be judged coordinate is .

[0093] The sixth sum value = , the seventh sum value = , the eighth sum value = , and the ninth sum value = .

[0094] S702. Calculate the tenth sum value of the ordinate of the first current node coordinate and the second product, calculate the eleventh sum value of the abscissa of the first node to be judged coordinate and the second product, calculate the twelfth sum value of the ordinate of the first current node coordinate and the fourth product, and calculate the thirteenth sum value of the ordinate of the first node to be judged coordinate and the fourth product; Exemplarily, the first current node coordinate is , and the first node to be judged coordinate is .

[0095] The tenth sum value = , the eleventh sum value = , the twelfth sum value = , and the thirteenth sum value = .

[0096] S703. Take the minimum value of the sixth sum value, the seventh sum value, the eighth sum value, and the ninth sum value as the third lower left abscissa, take the minimum value of the tenth sum value, the eleventh sum value, the twelfth sum value, and the thirteenth sum value as the third lower left ordinate, take the maximum value of the sixth sum value, the seventh sum value, the eighth sum value, and the ninth sum value as the third upper right abscissa, and take the maximum value of the tenth sum value, the eleventh sum value, the twelfth sum value, and the thirteenth sum value as the third upper right ordinate; S704. Take the third lower left abscissa, the third lower left ordinate, the third upper right abscissa, and the third upper right ordinate as the fifth coordinate.

[0097] The fifth coordinate includes the third lower left coordinate and the third upper right coordinate. The third lower left coordinate includes the third lower left abscissa and the third lower left ordinate. The third upper right coordinate includes the third upper right abscissa and the third upper right ordinate. The third lower left coordinate is expressed as , and the third upper right coordinate is expressed as .

[0098] Specifically:

[0099]

[0100] As an example, as Figure 8 shown, it is a schematic flowchart of another method for judging mutually exclusive node pairs provided by an embodiment of the present application. Based on the first relevant data, calculating the sixth coordinate representing the size of the third dynamic detection vehicle includes: S801. Calculate the fourteenth sum value of the abscissa of the first current node coordinate and the fifth product, calculate the fifteenth sum value of the abscissa of the first node to be judged and the fifth product, calculate the sixteenth sum value of the abscissa of the first current node coordinate and the seventh product, and calculate the seventeenth sum value of the abscissa of the first node to be judged and the seventh product; Exemplarily, the first current node coordinate is , and the first node to be judged coordinate is .

[0101] The fourteenth sum value = , the fifteenth sum value = , the sixteenth sum value = , the seventeenth sum value = .

[0102] S802. Calculate the eighteenth sum value of the ordinate of the first current node coordinate and the sixth product, calculate the nineteenth sum value of the ordinate of the first node to be judged and the sixth product, calculate the twentieth sum value of the ordinate of the first current node coordinate and the eighth product, and calculate the twenty-first sum value of the ordinate of the first node to be judged and the eighth product; Exemplarily, the first current node coordinate is , and the first node to be judged coordinate is .

[0103] The eighteenth sum value = , the nineteenth sum value = , the twentieth sum value = , the twenty-first sum value = .

[0104] S803. Take the minimum value of the fourteenth sum value, the fifteenth sum value, the sixteenth sum value, and the seventeenth sum value as the fourth lower left abscissa, take the minimum value of the eighteenth sum value, the nineteenth sum value, the twentieth sum value, and the twenty-first sum value as the fourth lower left ordinate, take the maximum value of the fourteenth sum value, the fifteenth sum value, the sixteenth sum value, and the seventeenth sum value as the fourth upper right abscissa, and take the maximum value of the eighteenth sum value, the nineteenth sum value, the twentieth sum value, and the twenty-first sum value as the fourth upper right ordinate; S804. Use the abscissa of the fourth lower left corner, the ordinate of the fourth lower left corner, the abscissa of the fourth upper right corner, and the ordinate of the fourth upper right corner as the sixth coordinate.

[0105] The sixth coordinate includes the fourth lower left coordinate and the fourth upper right coordinate. The fourth lower left coordinate includes the abscissa of the fourth lower left corner and the ordinate of the fourth lower left corner. The fourth upper right coordinate includes the abscissa of the fourth upper right corner and the ordinate of the fourth upper right corner. The fourth lower left coordinate is expressed as , and the fourth upper right coordinate is expressed as .

[0106] Specifically:

[0107]

[0108] As an example, as Figure 9 shown, it is a schematic flowchart of another method for judging mutually exclusive node pairs provided by an embodiment of the present application. Based on the first relevant data, calculating the first vehicle body rotation circle includes: S901. Calculate the first square value of the third product, the second square value of the fourth product, the third square value of the first product, and the fourth square value of the second product; Exemplarily: The first square value = , the second square value = , the third square value = , the fourth square value = .

[0109] S902. After calculating the sum value of the first square value and the second square value, perform a square root operation to obtain the first square root value. After calculating the sum value of the third square value and the fourth square value, perform a square root operation to obtain the second square root value; Exemplarily, the first square root value is expressed as:

[0110] Exemplarily, the second square root value is expressed as:

[0111] S903. Use the maximum value of the first square value and the second square root value as the radius of the first vehicle body rotation circle, and use the circle with the first node to be judged coordinate as the center and the radius of the first vehicle body rotation circle as the first vehicle body rotation circle.

[0112] The radius of the first vehicle body rotation circle is expressed as . Specifically:

[0113] In a specific embodiment, taking the coordinates of the first node to be judged as the center and the radius of the first vehicle body rotation circle as the radius, a circle is used as the first vehicle body rotation circle. As an example, as shown in

[0114] Figure [to be filled], a flowchart of another method for judging mutually exclusive node pairs provided by an embodiment of the present application is shown. Based on the first relevant data, calculating the first detection rotation circle includes: Figure 10 As shown in S1001. Calculate the fifth square value of the seventh product, calculate the sixth square value of the eighth product, calculate the seventh square value of the fifth product, and calculate the eighth square value of the sixth product; Exemplarily: The fifth square value = , the sixth square value = , the seventh square value = , the eighth square value = .

[0115] S1002. After calculating the sum of the fifth square value and the sixth square value, perform a square root operation to obtain the third square root value, and after calculating the sum of the seventh square value and the eighth square value, perform a square root operation to obtain the fourth square root value; Exemplarily, the third square root is expressed as:

[0116] Exemplarily, the fourth square root is expressed as:

[0117] S1003. Take the maximum value of the third square root value and the fourth square root value as the radius of the first detection rotation circle, and then take the circle with the coordinates of the first node to be judged as the center and the radius of the first detection rotation circle as the first detection rotation circle.

[0118] The radius of the first detection rotation circle is expressed as . Specifically:

[0119] In a specific embodiment, taking the coordinates of the first node to be judged as the center and the radius of the first detection rotation circle as the radius, a circle is used as the first detection rotation circle. As another example, the method for calculating the seventh coordinate, the eighth coordinate, the second vehicle body rotation circle, and the second detection rotation circle based on the second relevant data is similar to the method for calculating the fifth coordinate, the sixth coordinate, the first vehicle body rotation circle, and the first detection rotation circle based on the first relevant data, and the repeated parts will not be elaborated here.

[0120]

[0121] ​The seventh coordinate includes a seventh lower left coordinate and a seventh upper right coordinate. The seventh lower left coordinate includes a seventh lower left abscissa and a seventh lower left ordinate. The seventh upper right coordinate includes a seventh upper right abscissa and a seventh upper right ordinate. The seventh lower left coordinate is expressed as , and the seventh upper right coordinate is expressed as .

[0122] Specifically:

[0123]

[0124] The eighth coordinate includes an eighth lower left coordinate and an eighth upper right coordinate. The eighth lower left coordinate includes an eighth lower left abscissa and an eighth lower left ordinate. The eighth upper right coordinate includes an eighth upper right abscissa and an eighth upper right ordinate. The eighth lower left coordinate is expressed as , and the eighth upper right coordinate is expressed as .

[0125] Specifically:

[0126]

[0127] The radius of the second vehicle body rotation circle is expressed as . Specifically:

[0128] A circle with the coordinates of the second node to be judged as the center , and with the radius of the second vehicle body rotation circle as the radius is used as the second vehicle body rotation circle.

[0129] The radius of the second detection rotation circle is expressed as . Specifically:

[0130] In a specific embodiment, a circle with the coordinates of the second node to be judged as the center and with the radius of the second detection rotation circle as the radius is used as the second detection rotation circle.

[0131] S602. When it is determined that there is a second corresponding relationship in the preset corresponding relationship of the second mutually exclusive node pairs, it is determined that the first node to be judged and the second node to be judged form a mutually exclusive node pair, where the second corresponding relationship is the corresponding relationship of the fifth coordinate, the sixth coordinate, the seventh coordinate, the eighth coordinate, the action information of the first automatic transportation device, and the action information of the second automatic transportation device; In a specific embodiment, the first AGV action information and the second AGV action information are taken as examples for detailed description. Exemplarily, taking the fifth coordinate A3, the sixth coordinate B3, the seventh coordinate A4, the eighth coordinate B4, the first AGV action information C1, and the second AGV action information C2 as examples, the fifth coordinate A3 and the seventh coordinate A4 form a fourth sub - corresponding relationship, the sixth coordinate B3 and the eighth coordinate B4 form a fifth sub - corresponding relationship, the first AGV action information C1 and the second AGV action information C2 form a sixth sub - corresponding relationship, and the fourth sub - corresponding relationship, the fifth sub - corresponding relationship, and the sixth sub - corresponding relationship form a second corresponding relationship. When there is a second corresponding relationship in the preset second mutually exclusive node pair corresponding relationship, it is determined that the first node to be judged and the second node to be judged form a mutually exclusive node pair.

[0132] S603. In the case where it is determined that there is no second corresponding relationship in the second mutually exclusive node pair corresponding relationship, based on the fifth coordinate, the sixth coordinate, the seventh coordinate, the eighth coordinate, the first vehicle body rotation circle, the first detection rotation circle, the second vehicle body rotation circle, and the second detection rotation circle, it is judged whether the first node to be judged and the second node to be judged form a mutually exclusive node pair.

[0133] In a specific embodiment, as Figure 11 shown, it is a flowchart of another method for judging a mutually exclusive node pair provided by an embodiment of the present application. In a specific embodiment, the first AGV and the second AGV are described in detail.

[0134] S1101. In the case where it is determined that the fifth coordinate overlaps with the eighth coordinate and / or the sixth coordinate overlaps with the seventh coordinate based on the rectangle - rectangle overlapping algorithm, it is determined that the first node to be judged and the second node to be judged form a mutually exclusive node pair; Exemplarily, the rectangle - rectangle overlapping algorithm includes algorithms such as the basic coordinate comparison algorithm, the reverse thinking algorithm, the separating axis theorem, the scan - line algorithm, the tic - tac - toe method, the vector method, the geometric method, the graphics method, etc. In the case where it is determined that the fifth coordinate overlaps with the eighth coordinate and / or the sixth coordinate overlaps with the seventh coordinate, it is determined that the node actions of the first AGV and the second AGV are mutually exclusive, so as to determine that the first node to be judged and the second node to be judged form a mutually exclusive node pair.

[0135] It should be noted that after it is determined that the first node to be judged and the second node to be judged form a mutually exclusive node pair, the corresponding relationships of the fifth coordinate, the sixth coordinate, the seventh coordinate, the eighth coordinate, the first AGV action information, and the second AGV action information of the two AGVs are stored into the second mutually exclusive node pair corresponding relationship, so as to realize the update of the second mutually exclusive node pair corresponding relationship, improve the accuracy of the judgment of the mutually exclusive node pair, improve the utilization rate of the node space resources, and further improve the handling efficiency of the handling system.

[0136] S1102. When it is determined, based on the rectangle-rectangle overlap algorithm, that the fifth coordinate does not overlap with the eighth coordinate, and the sixth coordinate does not overlap with the seventh coordinate, and it is determined, based on the first vehicle body rotation circle and the first detection rotation circle, that the first automatic transportation device rotates, determine whether the first node to be judged and the second node to be judged form a mutually exclusive node pair based on the rectangle-circle overlap algorithm; As an example, when it is determined, based on the rectangle-circle overlap algorithm, that the first vehicle body rotation circle overlaps with the eighth coordinate, and / or the first detection rotation circle overlaps with the seventh coordinate, determine that the first node to be judged and the second node to be judged form a mutually exclusive node pair; Exemplarily, the rectangle-circle overlap algorithm includes algorithms such as the closest point distance algorithm, the separating axis theorem, the closest point to the center algorithm, the direct comparison algorithm, the bounding box algorithm, the advanced geometry algorithm, and the Monte Carlo simulation. When it is determined that the first vehicle body rotation circle overlaps with the eighth coordinate, and / or the first detection rotation circle overlaps with the seventh coordinate, determine that the node actions of the first AGV and the second AGV are mutually exclusive, so as to determine that the first node to be judged and the second node to be judged form a mutually exclusive node pair.

[0137] It should be noted that after it is determined that the first node to be judged and the second node to be judged form a mutually exclusive node pair, store the corresponding relationships of the fifth coordinate, the sixth coordinate, the seventh coordinate, the eighth coordinate, the first AGV action information, and the second AGV action information of the two AGVs into the corresponding relationship of the second mutually exclusive node pair, so as to update the corresponding relationship of the second mutually exclusive node pair, improve the accuracy of the judgment of the mutually exclusive node pair, improve the utilization rate of the node space resources, and further improve the handling efficiency of the handling system.

[0138] As another example, when it is determined, based on the rectangle-circle overlap algorithm, that the first vehicle body rotation circle does not overlap with the eighth coordinate, and the first detection rotation circle does not overlap with the seventh coordinate, and it is determined, based on the second vehicle body rotation circle and the second detection rotation circle, that the second AGV does not rotate, determine that the first node to be judged and the second node to be judged do not form a mutually exclusive node pair; As another example, when it is determined, based on the rectangle-circle overlap algorithm, that the first vehicle body rotation circle does not overlap with the eighth coordinate, and the first detection rotation circle does not overlap with the seventh coordinate, and it is determined, based on the second vehicle body rotation circle and the second detection rotation circle, that the second AGV rotates, determine whether the first node to be judged and the second node to be judged form a mutually exclusive node pair based on the rectangle-circle overlap algorithm and the circle-circle overlap algorithm. Specifically: When it is determined that the first vehicle body rotation circle overlaps with the second detection rotation circle based on the circle - circle overlap algorithm, and / or when it is determined that the fifth coordinate overlaps with the second detection rotation circle based on the rectangle - circle overlap algorithm, and / or when it is determined that the first detection rotation circle overlaps with the second vehicle body rotation circle based on the circle - circle overlap algorithm, and / or when it is determined that the sixth coordinate overlaps with the second vehicle body rotation circle based on the rectangle - circle overlap algorithm, it is determined that the first node to be judged and the second node to be judged form a mutually exclusive node pair; When it is determined that the first vehicle body rotation circle does not overlap with the second detection rotation circle based on the circle - circle overlap algorithm, and it is determined that the fifth coordinate does not overlap with the second detection rotation circle based on the rectangle - circle overlap algorithm, and it is determined that the first detection rotation circle does not overlap with the second vehicle body rotation circle based on the circle - circle overlap algorithm, and it is determined that the sixth coordinate does not overlap with the second vehicle body rotation circle based on the rectangle - circle overlap algorithm, it is determined that the first node to be judged and the second node to be judged do not form a mutually exclusive node pair.

[0139] Exemplarily, the circle - circle overlap algorithm includes algorithms such as distance comparison method, squared - distance method, geometric property method, boundary check method, etc.

[0140] S1103. When it is determined that the fifth coordinate does not overlap with the eighth coordinate based on the rectangle - rectangle overlap algorithm, and it is determined that the sixth coordinate does not overlap with the seventh coordinate, and it is determined that the first automatic transportation device does not rotate based on the first vehicle body rotation circle and the first detection rotation circle, and it is determined that the second automatic transportation device rotates based on the second vehicle body rotation circle and the second detection rotation circle, it is determined whether the first node to be judged and the second node to be judged form a mutually exclusive node pair based on the rectangle - circle overlap algorithm.

[0141] As an example, when it is determined that the second vehicle body rotation circle overlaps with the sixth coordinate based on the rectangle - circle overlap algorithm, and / or when it is determined that the second detection rotation circle overlaps with the fifth coordinate based on the rectangle - circle overlap algorithm, it is determined that the first node to be judged and the second node to be judged form a mutually exclusive node pair; It should be noted that after it is determined that the first node to be judged and the second node to be judged form a mutually exclusive node pair, the corresponding relationships of the fifth coordinate, the sixth coordinate, the seventh coordinate, the eighth coordinate, the first AGV action information, and the second AGV action information of the two AGVs are stored into the corresponding relationship of the second mutually exclusive node pair, so as to update the corresponding relationship of the second mutually exclusive node pair, improve the accuracy of the judgment of the mutually exclusive node pair, improve the utilization rate of the node space resources, and further improve the handling efficiency of the handling system.

[0142] As another example, in the case where it is determined based on the rectangle and circle overlapping algorithm that the rotation circle of the second vehicle body does not overlap with the sixth coordinate, and it is determined based on the rectangle and circle overlapping algorithm that the second detection rotation circle does not overlap with the fifth coordinate, it is determined that the first node to be judged and the second node to be judged do not form a mutually exclusive node pair.

[0143] Further, in combination with the above content, for a better introduction of the embodiments of the present application, as Figure 12 shown, taking the first AGV and the second AGV as examples, a complete flow schematic diagram provided by the embodiments of the present application in the case where the shortest distance is greater than the first preset distance and the shortest path is less than the second preset distance is shown.

[0144] S1201. Calculate the seventh coordinate, the eighth coordinate, the rotation circle of the second vehicle body, and the second detection rotation circle based on the fifth coordinate, the sixth coordinate, the rotation circle of the first vehicle body, and the first detection rotation circle of the first related data, and calculate based on the second related data; S1202. Determine whether there is a second corresponding relationship in the preset corresponding relationship of the second mutually exclusive node pair. If so, execute S1203; otherwise, execute S1204; S1203. Determine that the first node to be judged and the second node to be judged form a mutually exclusive node pair; S1204. Determine based on the rectangle and rectangle overlapping algorithm that the fifth coordinate overlaps with the eighth coordinate, and / or determine that the sixth coordinate overlaps with the seventh coordinate. If there is an overlap, execute S1203; if there is no overlap, execute S1205; S1205. Determine whether the first AGV rotates based on the rotation circle of the first vehicle body and the first detection rotation circle. If so, execute S1206; otherwise, execute S1207; S1206. Determine based on the rectangle and circle overlapping algorithm that the rotation circle of the first vehicle body overlaps with the eighth coordinate, and / or determine that the first detection rotation circle overlaps with the seventh coordinate. If there is an overlap, execute S1203; if there is no overlap, execute S1208; S1207. Determine whether the second AGV rotates based on the rotation circle of the second vehicle body and the second detection rotation circle. If so, execute S1209; otherwise, execute S1210; S1208. Determine whether the second AGV rotates based on the rotation circle of the second vehicle body and the second detection rotation circle. If so, execute S1211; otherwise, execute S1210; S1209. Determine based on the rectangle and circle overlapping algorithm that the rotation circle of the second vehicle body overlaps with the sixth coordinate, and / or determine based on the rectangle and circle overlapping algorithm that the second detection rotation circle overlaps with the fifth coordinate. If there is an overlap, execute S1203; if there is no overlap, execute S1210; S1210. Determine that the first node to be judged and the second node to be judged do not form a mutually exclusive node pair; S1211. Based on the circle - same - circle overlap algorithm, determine that the first vehicle body rotation circle overlaps with the second detection rotation circle, and / or based on the rectangle - same - circle overlap algorithm, determine that the fifth coordinate overlaps with the second detection rotation circle, and / or based on the circle - same - circle overlap algorithm, determine that the first detection rotation circle overlaps with the second vehicle body rotation circle, and / or based on the rectangle - same - circle overlap algorithm, determine that the sixth coordinate overlaps with the second vehicle body rotation circle. If there is an overlap, execute S1203; otherwise, execute S1210.

[0145] Based on the same inventive concept, an embodiment of the present application further provides a processor. The principle of this processor is similar to that of the above - mentioned mutually exclusive node pair judgment method, and the repeated parts will not be elaborated. This processor is used to execute a mutually exclusive node pair judgment method discussed above.

[0146] The present application provides a mutually exclusive node pair judgment method and a processor. After receiving the first relevant data sent by the first automatic transportation device and the second relevant data sent by the second automatic transportation device, based on the first relevant data, calculate the first coordinate representing the size of the first dynamic vehicle and the second coordinate representing the size of the first dynamic detection vehicle, and based on the second relevant data, calculate the third coordinate representing the size of the second dynamic vehicle and the fourth coordinate representing the size of the second dynamic detection vehicle; when it is determined that there is a first corresponding relationship in the preset first mutually exclusive node pair corresponding relationship, determine that the first node to be judged and the second node to be judged form a mutually exclusive node pair, where the first corresponding relationship is the corresponding relationship among the first coordinate, the second coordinate, the third coordinate, the fourth coordinate, the action information of the first automatic transportation device, and the action information of the second automatic transportation device; when it is determined that there is no first corresponding relationship in the first mutually exclusive node pair corresponding relationship, based on the first current node coordinate, the second current node coordinate, the first node - to - be - judged coordinate, and the second node - to - be - judged coordinate, judge whether the first node to be judged and the second node to be judged form a mutually exclusive node pair, so as to realize the judgment of mutually exclusive node pairs in the node space resources, enable multiple automatic transportation devices to be used simultaneously in the same area, improve the utilization rate of the node space resources, and further improve the handling efficiency of the handling system.

[0147] Based on the same inventive concept, an embodiment of the present application further provides a storage medium. The principle of this storage medium is similar to that of the above - mentioned mutually exclusive node pair judgment method and processor, and the repeated parts will not be elaborated. This storage medium stores computer instructions. When these computer instructions run on a computer, the computer is made to execute a mutually exclusive node pair judgment method discussed above.

[0148] In some possible embodiments, various aspects of a method for judging mutually exclusive node pairs provided in this application can also be implemented in the form of a program product, which includes program code. When the program product runs on a device, the program code is used to cause the control device to execute the steps in a method for judging mutually exclusive node pairs according to various exemplary embodiments of this application described above in this specification.

[0149] Those skilled in the art should understand that the embodiments of this application can be provided as a method, a system, or a computer program product. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0150] Based on the same inventive concept, the embodiments of this application also provide an automatic transportation system, including a computer program. The principle of this automatic transportation system is similar to that of the above-mentioned method for judging mutually exclusive node pairs, processor, and storage medium, and the repeated parts will not be described again. When the computer program is executed by the processor, it is based on a method for judging mutually exclusive node pairs discussed above.

[0151] Specifically, an automatic transportation system provided in this application is an artificial intelligence cluster integrating a group of automatic transportation devices. The automatic transportation devices include but are not limited to AGVs, robots, etc.

[0152] Taking a robot as an example, for the application scenario of the method for judging mutually exclusive node pairs provided in this application, it can be installed on a specific industrial robot and is applicable to a factory without workers. Because the industrial robot is installed with the method for judging mutually exclusive node pairs, it can itself have a certain degree of intelligence, that is, it can judge whether a node mutual exclusion relationship is formed in the current space according to the method for judging mutually exclusive node pairs, thereby optimizing the resource utilization efficiency.

[0153] The method for judging mutually exclusive node pairs, processor, storage medium, and automatic transportation system provided by the present application, after receiving the first relevant data sent by the first automatic transportation device and the second relevant data sent by the second automatic transportation device, based on the first relevant data, calculate the first coordinate representing the size of the first dynamic vehicle and the second coordinate representing the size of the first dynamic detection vehicle, and based on the second relevant data, calculate the third coordinate representing the size of the second dynamic vehicle and the fourth coordinate representing the size of the second dynamic detection vehicle; in the preset corresponding relationship of the first mutually exclusive node pairs, when it is determined that there is a first corresponding relationship, determine that the first node to be judged and the second node to be judged form a mutually exclusive node pair, where the first corresponding relationship is the corresponding relationship among the first coordinate, the second coordinate, the third coordinate, the fourth coordinate, the action information of the first automatic transportation device, and the action information of the second automatic transportation device; in the corresponding relationship of the first mutually exclusive node pairs, when it is determined that there is no first corresponding relationship, based on the first current node coordinate, the second current node coordinate, the first node coordinate to be judged, and the second node coordinate to be judged, judge whether the first node to be judged and the second node to be judged form a mutually exclusive node pair, so as to realize the judgment of mutually exclusive node pairs in the node space resources, enable multiple automatic transportation devices to be used simultaneously in the same area, improve the utilization rate of the node space resources, and further improve the handling efficiency of the handling system.

[0154] The present application is described above with reference to the block diagrams and / or flowcharts showing methods, apparatuses (systems) and / or computer program products according to embodiments of the present application. It should be understood that one block of the block diagrams and / or flowcharts and combinations of blocks in the block diagrams and / or flowcharts can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, and / or other programmable data processing devices to generate a machine, so that the instructions executed by the computer processor and / or other programmable data processing devices create a method for implementing the functions / actions specified in the blocks of the block diagrams and / or flowcharts.

[0155] Accordingly, the present application can also be implemented by hardware and / or software (including firmware, resident software, microcode, etc.). Further, the present application can take the form of a computer program product on a computer-usable or computer-readable storage medium, which has computer-usable or computer-readable program code implemented in the medium for use by or in connection with an instruction execution system. In the context of the present application, the computer-usable or computer-readable medium can be any medium that can contain, store, communicate, transmit, or convey a program for use by or in connection with an instruction execution system, apparatus, or device.

[0156] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A mutually exclusive node pair determination method, characterized in that: The method comprises: After receiving the first relevant data sent by the first automatic transport device and the second relevant data sent by the second automatic transport device, based on the first relevant data, calculate the first coordinate representing the size of the first dynamic vehicle and the second coordinate representing the size of the first dynamic detection vehicle, and based on the second relevant data, calculate the third coordinate representing the size of the second dynamic vehicle and the fourth coordinate representing the size of the second dynamic detection vehicle; In the preset first mutually exclusive node pair correspondence relationship, when it is determined that the first corresponding relationship exists, it is determined that the first node to be determined and the second node to be determined constitute a mutually exclusive node pair, wherein the first corresponding relationship is a correspondence relationship among the first coordinate, the second coordinate, the third coordinate, the fourth coordinate, the first automatic transport equipment action information, and the second automatic transport equipment action information; In the first mutually exclusive node pair correspondence relationship, if it is determined that the first corresponding relationship does not exist, judging whether the first to-be-judged node and the second to-be-judged node constitute a mutually exclusive node pair based on the first current node coordinates, the second current node coordinates, the first to-be-judged node coordinates and the second to-be-judged node coordinates; Among them, the first automatic transport equipment action information is obtained based on the first relevant data, the second automatic transport equipment action information is obtained based on the second relevant data, the first current node is the node where the first automatic transport equipment is located in the current driving path, the second current node is the current node where the second automatic transport equipment is located in the current driving path, the first node to be determined is the next node of the first current node, and the second node to be determined is the next node of the second current node.

2. The method according to claim 1, characterized in that The first relevant data includes a first length, a first width, a first center coordinate, a first current node coordinate, and a first to-be-determined node coordinate of the first automatic transport device; and the first coordinate representing the size of the first dynamic vehicle is calculated based on the first relevant data, including: Calculating a first quotient of the first length divided by a preset value, calculating a second quotient of the first width divided by the preset value, calculating a first sum of a sine value of a first angle and a cosine value of the first angle, and calculating a first difference between the cosine value of the first angle and the sine value of the first angle, wherein the first angle is determined based on the first center coordinates and the first to-be-determined node coordinates; Calculating a second difference between the horizontal coordinate offset and the first quotient, and calculating a third difference between the vertical coordinate offset and the second quotient, and calculating a second sum of the horizontal coordinate offset and the first quotient, and calculating a third sum of the vertical coordinate offset and the second quotient, wherein the horizontal coordinate offset and the vertical coordinate offset are determined based on the first center coordinate and the geometric center coordinate; Calculating a first product of the second difference value multiplied by the first sum value, and calculating a second product of the third difference value multiplied by the first difference value, and calculating a third product of the second sum value multiplied by the first sum value, and calculating a fourth product of the third sum value multiplied by the first difference value; The first coordinate is calculated based on the first product, the second product, the third product, the fourth product, and the first center coordinate.

3. The method according to claim 2, characterized in that The calculating the first coordinate based on the first product, the second product, the third product, the fourth product and the first center coordinate comprises: Using the sum of the abscissa of the first center coordinate and the first product as the first lower left corner abscissa, using the sum of the ordinate of the first center coordinate and the second product as the first lower left corner ordinate, using the sum of the abscissa of the first center coordinate and the third product as the first upper right corner abscissa, and using the sum of the ordinate of the first center coordinate and the fourth product as the first upper right corner ordinate; The first lower left corner horizontal coordinate, the first lower left corner vertical coordinate, the first upper right corner horizontal coordinate and the first upper right corner vertical coordinate are used as the first coordinates.

4. The method according to claim 2, characterized in that The first relevant data also includes a second length and a second width of the first automatic transport device. The calculating of the second coordinate representing the size of the first dynamic probe vehicle based on the first relevant data includes: Calculating a third quotient of the second length divided by the preset value, and calculating a fourth quotient of the second width divided by the preset value; Calculating a fourth difference between the horizontal coordinate offset and the third quotient, calculating a fifth difference between the vertical coordinate offset and the fourth quotient, calculating a fourth sum of the horizontal coordinate offset and the third quotient, and calculating a fifth sum of the vertical coordinate offset and the fourth quotient; calculating a fifth product of the fourth difference value multiplied by the first sum value, calculating a sixth product of the fifth difference value multiplied by the first difference value, calculating a seventh product of the fourth sum value multiplied by the first sum value, and calculating an eighth product of the fifth sum value multiplied by the first difference value; The second coordinate is calculated based on the fifth product, the sixth product, the seventh product, the eighth product, and the first center coordinate.

5. The method according to claim 4, characterized in that The calculating the second coordinate based on the fifth product, the sixth product, the seventh product, the eighth product and the first center coordinate comprises: Using the sum of the abscissa of the first center coordinate and the fifth product as the second lower left corner abscissa, using the sum of the ordinate of the first center coordinate and the sixth product as the second lower left corner ordinate, using the sum of the abscissa of the first center coordinate and the seventh product as the second upper right corner abscissa, and using the sum of the ordinate of the first center coordinate and the eighth product as the second upper right corner ordinate; The second lower left corner horizontal coordinate, the second lower left corner vertical coordinate, the second upper right corner horizontal coordinate and the second upper right corner vertical coordinate are used as the second coordinates.

6. The method according to claim 4, characterized in that The determining, based on the first current node coordinates, the second current node coordinates, the first to-be-determined node coordinates and the second to-be-determined node coordinates, whether the first to-be-determined node and the second to-be-determined node form a mutually exclusive node pair includes: Determine a first motion path based on the first current node coordinates and the first to-be-determined node coordinates, and determine a second motion path based on the second current node coordinates and the second to-be-determined node coordinates; Calculate the shortest distance between the first motion path and the second motion path based on a preset distance algorithm; When the shortest distance is less than or equal to a first preset distance, it is determined that the first node to be judged and the second node to be judged constitute a mutually exclusive node pair; when the shortest distance is greater than or equal to a second preset distance, it is determined that the first node to be judged and the second node to be judged do not constitute a mutually exclusive node pair, wherein the first preset distance is less than the second preset distance.

7. The method according to claim 6, characterized in that In the case where the shortest distance is greater than the first preset distance and the shortest distance is less than the second preset distance, the method further includes: Based on the first related data, a fifth coordinate representing the third dynamic vehicle size, a sixth coordinate representing the third dynamic detection vehicle size, a first vehicle body rotation circle, and a first detection rotation circle are calculated; and based on the second related data, a seventh coordinate representing the fourth dynamic vehicle size, an eighth coordinate representing the fourth dynamic detection vehicle size, a second vehicle body rotation circle, and a second detection rotation circle are calculated; In the preset second mutually exclusive node pair correspondence relationship, when it is determined that the second correspondence relationship exists, it is determined that the first node to be determined and the second node to be determined constitute a mutually exclusive node pair, wherein the second correspondence relationship is a correspondence relationship between the fifth coordinate, the sixth coordinate, the seventh coordinate, the eighth coordinate, the first automatic transport equipment action information, and the second automatic transport equipment action information; In the correspondence relationship of the second mutually exclusive node pair, when it is determined that the second corresponding relationship does not exist, based on the fifth coordinate, the sixth coordinate, the seventh coordinate, the eighth coordinate, the first vehicle body rotation circle, the first detection rotation circle, the second vehicle body rotation circle and the second detection rotation circle, it is determined whether the first node to be judged and the second node to be judged constitute a mutually exclusive node pair.

8. The method according to claim 7, characterized in that The calculating, based on the first related data, a fifth coordinate representing a third dynamic vehicle size comprises: Calculating a sixth sum of the abscissa of the first current node coordinates and the first product, calculating a seventh sum of the abscissa of the first to-be-determined node coordinates and the first product, calculating an eighth sum of the abscissa of the first current node coordinates and the third product, and calculating a ninth sum of the abscissa of the first to-be-determined node coordinates and the third product; Calculating the tenth sum of the ordinate of the first current node coordinate and the second product, and calculating the eleventh sum of the abscissa of the first node coordinate to be determined and the second product, and calculating the twelfth sum of the ordinate of the first current node coordinate and the fourth product, and calculating the thirteenth sum of the ordinate of the first node coordinate to be determined and the fourth product; The minimum value of the sixth sum, the seventh sum, the eighth sum and the ninth sum is used as the third lower left corner abscissa, the minimum value of the tenth sum, the eleventh sum, the twelfth sum and the thirteenth sum is used as the third lower left corner ordinate, the maximum value of the sixth sum, the seventh sum, the eighth sum and the ninth sum is used as the third upper right corner abscissa, and the maximum value of the tenth sum, the eleventh sum, the twelfth sum and the thirteenth sum is used as the third upper right corner ordinate; The third lower left corner horizontal coordinate, the third lower left corner vertical coordinate, the third upper right corner horizontal coordinate and the third upper right corner vertical coordinate are used as the fifth coordinate.

9. The method according to claim 7, characterized in that The step of calculating a sixth coordinate representing a size of the third dynamic detection vehicle based on the first related data includes: Calculating a fourteenth sum of the abscissa of the first current node coordinates and the fifth product, calculating a fifteenth sum of the abscissa of the first to-be-determined node coordinates and the fifth product, calculating a sixteenth sum of the abscissa of the first current node coordinates and the seventh product, and calculating a seventeenth sum of the abscissa of the first to-be-determined node coordinates and the seventh product; Calculating the eighteenth sum of the ordinate of the first current node coordinate and the sixth product, and calculating the nineteenth sum of the ordinate of the first node coordinate to be determined and the sixth product, and calculating the twentieth sum of the ordinate of the first current node coordinate and the eighth product, and calculating the twenty-first sum of the ordinate of the first node coordinate to be determined and the eighth product; The minimum value of the fourteenth sum, the fifteenth sum, the sixteenth sum and the seventeenth sum is used as the fourth lower left corner abscissa, the minimum value of the eighteenth sum, the nineteenth sum, the twentieth sum and the twenty-first sum is used as the fourth lower left corner ordinate, the maximum value of the fourteenth sum, the fifteenth sum, the sixteenth sum and the seventeenth sum is used as the fourth upper right corner abscissa, and the maximum value of the eighteenth sum, the nineteenth sum, the twentieth sum and the twenty-first sum is used as the fourth upper right corner ordinate; The fourth lower left corner horizontal coordinate, the fourth lower left corner vertical coordinate, the fourth upper right corner horizontal coordinate and the fourth upper right corner vertical coordinate are used as the sixth coordinate.

10. The method according to claim 8, characterized in that The calculating a first vehicle body rotation circle based on the first related data includes: Calculating a first square value of the third product, and calculating a second square value of the fourth product, and calculating a third square value of the first product, and calculating a fourth square value of the second product; After calculating the sum of the first square value and the second square value, performing square root processing to obtain a first square root value; and after calculating the sum of the third square value and the fourth square value, performing square root processing to obtain a second square root value; After taking the maximum value of the first square root value and the second square root value as the radius of the first vehicle body rotation circle, a circle with the first to-be-determined node coordinate as the center and the first vehicle body rotation circle radius as the radius is taken as the first vehicle body rotation circle.

11. The method according to claim 9, characterized in that The step of calculating a first detection rotation circle based on the first correlation data comprises: Calculating a fifth square value of the seventh product, and calculating a sixth square value of the eighth product, and calculating a seventh square value of the fifth product, and calculating an eighth square value of the sixth product; After calculating the sum of the fifth square value and the sixth square value, performing square root processing to obtain a third square root value, and after calculating the sum of the seventh square value and the eighth square value, performing square root processing to obtain a fourth square root value; After taking the maximum value of the third square root value and the fourth square root value as the radius of the first detection rotating circle, a circle with the first to-be-determined node coordinates as the center and the first detection rotating circle radius as the radius is taken as the first detection rotating circle.

12. The method according to claim 7, characterized in that The determining whether the first node to be determined and the second node to be determined constitute a mutually exclusive node pair based on the fifth coordinate, the sixth coordinate, the seventh coordinate, the eighth coordinate, the first vehicle body rotation circle, the first detection rotation circle, the second vehicle body rotation circle, and the second detection rotation circle comprises: In a case where it is determined based on a rectangle-to-rectangle overlap algorithm that the fifth coordinate overlaps with the eighth coordinate, and / or it is determined that the sixth coordinate overlaps with the seventh coordinate, determining that the first node to be determined and the second node to be determined constitute a mutually exclusive node pair; In the case where it is determined based on the rectangle-to-rectangle overlap algorithm that the fifth coordinate does not overlap with the eighth coordinate, and it is determined that the sixth coordinate does not overlap with the seventh coordinate, and the first automatic transport device is rotated based on the first vehicle body rotation circle and the first detection rotation circle, whether the first node to be determined and the second node to be determined constitute a mutually exclusive node pair is determined based on the rectangle-to-circle overlap algorithm; When it is determined based on the rectangle-rectangle overlap algorithm that the fifth coordinate does not overlap with the eighth coordinate, and that the sixth coordinate does not overlap with the seventh coordinate, and when it is determined based on the first vehicle body rotation circle and the first detection rotation circle that the first automatic transport equipment does not rotate, and when it is determined based on the second vehicle body rotation circle and the second detection rotation circle that the second automatic transport equipment rotates, it is determined based on the rectangle-circle overlap algorithm whether the first node to be determined and the second node to be determined constitute a mutually exclusive node pair.

13. The method according to claim 12, characterized in that The method of determining whether the first node to be determined and the second node to be determined constitute a mutually exclusive node pair based on the rectangle-circle overlap algorithm, when it is determined based on the rectangle-circle overlap algorithm that the fifth coordinate does not overlap with the eighth coordinate, and when it is determined based on the rectangle-circle overlap algorithm that the sixth coordinate does not overlap with the seventh coordinate, and when it is determined based on the first vehicle body rotation circle and the first detection rotation circle that the first automatic transport device rotates, based on the rectangle-circle overlap algorithm, comprises: In the case where it is determined based on the rectangular same-circle overlap algorithm that the first vehicle body rotation circle overlaps with the eighth coordinate, and / or it is determined that the first detected rotation circle overlaps with the seventh coordinate, determining that the first to-be-determined node and the second to-be-determined node constitute a mutually exclusive node pair; In the case where it is determined based on the rectangular same-circle overlap algorithm that the first vehicle body rotation circle does not overlap with the eighth coordinate, and it is determined that the first detection rotation circle does not overlap with the seventh coordinate, and it is determined based on the second vehicle body rotation circle and the second detection rotation circle that the second automatic transport equipment does not rotate, it is determined that the first node to be determined and the second node to be determined do not constitute a mutually exclusive node pair; When it is determined based on the rectangular circle overlap algorithm that the first vehicle body rotation circle does not overlap with the eighth coordinate, and it is determined that the first detected rotation circle does not overlap with the seventh coordinate, and when the rotation of the second automatic transport equipment is determined based on the second vehicle body rotation circle and the second detected rotation circle, it is determined based on the rectangular circle overlap algorithm and the circle circle overlap algorithm whether the first node to be judged and the second node to be judged constitute a mutually exclusive node pair.

14. The method according to claim 13, characterized in that The method determines whether the first node to be determined and the second node to be determined constitute a mutually exclusive node pair based on the rectangular same-circle overlap algorithm and the circle same-circle overlap algorithm, when it is determined based on the rectangular same-circle overlap algorithm that the first vehicle body rotation circle does not overlap with the eighth coordinate, and when it is determined based on the rectangular same-circle overlap algorithm that the first detection rotation circle does not overlap with the seventh coordinate, and when it is determined based on the second vehicle body rotation circle and the second detection rotation circle that the second automatic transport equipment rotates. The method includes: In the case where it is determined based on the circle overlap algorithm that the first vehicle body rotation circle overlaps with the second detected rotation circle, and / or it is determined based on the rectangle overlap algorithm that the fifth coordinate overlaps with the second detected rotation circle, and / or it is determined based on the circle overlap algorithm that the first detected rotation circle overlaps with the second vehicle body rotation circle, and / or it is determined based on the rectangle overlap algorithm that the sixth coordinate overlaps with the second vehicle body rotation circle, it is determined that the first node to be determined and the second node to be determined constitute a mutually exclusive node pair; When it is determined based on the circle overlap algorithm that the first vehicle body rotation circle does not overlap with the second detected rotation circle, and based on the rectangle overlap algorithm that the fifth coordinate does not overlap with the second detected rotation circle, and based on the circle overlap algorithm that the first detected rotation circle does not overlap with the second vehicle body rotation circle, and based on the rectangle overlap algorithm that the sixth coordinate does not overlap with the second vehicle body rotation circle, it is determined that the first node to be judged and the second node to be judged do not constitute a mutually exclusive node pair.

15. The method according to claim 12, characterized in that In the case where it is determined based on the rectangle-to-rectangle overlap algorithm that the fifth coordinate does not overlap with the eighth coordinate, and that the sixth coordinate does not overlap with the seventh coordinate, and that the first automatic transport device does not rotate based on the first vehicle body rotation circle and the first detection rotation circle, and that the second automatic transport device rotates based on the second vehicle body rotation circle and the second detection rotation circle, determining whether the first node to be determined and the second node to be determined constitute a mutually exclusive node pair based on the rectangle-to-circle overlap algorithm includes: In the case where it is determined based on the rectangular same-circle overlap algorithm that the second vehicle body rotating circle overlaps with the sixth coordinate, and / or in the case where it is determined based on the rectangular same-circle overlap algorithm that the second detected rotating circle overlaps with the fifth coordinate, determining that the first node to be determined and the second node to be determined constitute a mutually exclusive node pair; When it is determined based on the rectangular circle overlap algorithm that the second vehicle body rotation circle does not overlap with the sixth coordinate, and when it is determined based on the rectangular circle overlap algorithm that the second detected rotation circle does not overlap with the fifth coordinate, it is determined that the first node to be judged and the second node to be judged do not constitute a mutually exclusive node pair.

16. A processor, characterized in that: The processor is configured to execute the method according to any one of claims 1 to 15.

17. A computer storage medium, characterized in that: The computer storage medium stores a computer program for executing the method according to any one of claims 1-15.

18. An automatic transport system, characterized in that: The method comprises a computer program, characterized in that when the computer program is executed by a processor, the computer program implements the method according to any one of claims 1 to 15.

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