Anti-collision control method, device and system, electronic equipment and storage medium

Abstract

The invention provides an anti-collision control method, device and system, electronic equipment and a storage medium, the method is applied to automatic transportation equipment, the automatic transportation equipment comprises a track component and two moving components, and the track component comprises a linear track module and an arc track module connected with the linear track module. The method comprises the steps that the two moving parts are controlled to move towards the arc track module along the linear track module; in response to prediction result information indicating that the two moving parts have a collision risk when turning along the arc track module, obtaining a safety distance range corresponding to the two moving parts; and at least adjusting the speed of one of the two moving parts according to the safe distance range so as to control the distance between the two moving parts within the safe distance range. In this way, safe operation of the moving part can be guaranteed, and the damage risk of equipment and objects is reduced.

Description

Technical Field

[0001] One or more embodiments of the present disclosure relate to the field of automatic transportation technology, and in particular, to an anti-collision control method, device, system, electronic device, and storage medium. Background Art

[0002] Automatic transportation equipment is widely used in industrial production, and the moving parts of the automatic transportation equipment are used to transport items efficiently and continuously.

[0003] Since there is usually a certain distance between two moving parts, the two moving parts will not collide when moving along the straight conveyor part included in the automatic transportation equipment. However, when the automatic transportation equipment includes an arc conveyor part, since the moving parts will deflect in angle when passing through the arc conveyor part (which can also be briefly described as turning in the text of the present disclosure), it may cause two moving parts that originally maintained a certain distance in the straight conveyor part to collide in the arc conveyor part. If a relatively wide distance is maintained between the two moving parts, although the collision between the two moving parts in the arc conveyor part is avoided, the conveying efficiency of the automatic transportation equipment will be greatly reduced. Summary of the Invention

[0004] To solve the technical problem of avoiding collisions between two moving parts during turning while maintaining the conveying efficiency of the automatic transportation equipment, the present disclosure provides an anti-collision control method, which is applied to an automatic transportation equipment, the automatic transportation equipment includes a track component and two moving parts, the track component includes a straight track module and an arc track module connected to the straight track module, and the method includes:

[0005] Controlling the two moving parts to move along the straight track module towards the arc track module;

[0006] In response to prediction result information indicating a collision risk when the two moving parts turn along the arc track module, obtaining a safe distance range corresponding to the two moving parts;

[0007] According to the safe distance range, at least adjusting the speed of one of the two moving parts to control the distance between the two moving parts within the safe distance range.

[0008] The present disclosure also provides an anti-collision control device, which is applied to an automatic transportation equipment, the automatic transportation equipment includes a track component and two moving parts, the track component includes a straight track module and an arc track module connected to the straight track module, and the device includes:

[0009] A control unit for controlling the two moving components to move along the linear track module towards the arc track module;

[0010] An acquisition unit for acquiring a safety distance range corresponding to the two moving components in response to prediction result information indicating a collision risk when the two moving components turn along the arc track module;

[0011] An adjustment unit for adjusting at least the speed of one of the two moving components according to the safety distance range so as to control the distance between the two moving components within the safety distance range.

[0012] The present disclosure also provides a self - transporting system, which includes an automatic transporting device and an operating device, wherein:

[0013] The automatic transporting device includes a track component, two moving components, a motion measurement module and a control module;

[0014] The track component includes a linear track module and an arc track module connected to the linear track module;

[0015] The control module is used for controlling the two moving components to move along the linear track module towards the arc track module;

[0016] The motion measurement module is used for acquiring a safety distance range corresponding to the two moving components in response to prediction result information indicating a collision risk when the two moving components turn along the arc track module, and sending the acquired safety distance range to the control module;

[0017] The control module is used for adjusting at least the speed of one of the two moving components according to the safety distance range so as to control the distance between the two moving components within the safety distance range;

[0018] The operating device is distributed along the track component and is used for item handover with the two moving components, and the item handover includes at least one of item loading and item unloading.

[0019] The present disclosure also provides an electronic device, which includes a communication interface, a processor, a memory and a bus, and the communication interface, the processor and the memory are interconnected with each other through the bus;

[0020] Machine - readable instructions are stored in the memory, and the processor executes the above - mentioned method by calling the machine - readable instructions.

[0021] The present disclosure also provides a machine-readable storage medium storing machine-readable instructions which, when called and executed by a processor, implement the above method.

[0022] In the above manner, the technical solution of the present disclosure controls two moving components to move along a linear track module towards an arc track module, and when it is predicted that there is a collision risk when the two moving components turn along the arc track module, at least the speed of one moving component is adjusted according to the obtained safe distance range so as to control the distance between the two moving components within the safe distance range. After adopting the technical solution of the present disclosure, when it is predicted that there is a collision risk when the two moving components turn along the arc track module, the distance between the two moving components can be controlled in advance, which can avoid the collision risk when the two moving components turn along the arc track module, ensure the safe operation of the moving components, and reduce the risk of damage to equipment and items. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, 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 recorded in the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0024] Figure 1 is a schematic diagram of a collision between adjacent moving components;

[0025] Figure 2 is a flowchart of an anti-collision control method applied to an automatic transportation device shown in an exemplary embodiment;

[0026] Figure 3 is a schematic diagram of a situation of selecting a safe distance range shown in an exemplary embodiment;

[0027] Figure 4 is a schematic diagram of another situation of selecting a safe distance range shown in an exemplary embodiment;

[0028] Figure 5 is a schematic diagram of dynamically adjusting the distance between two moving components shown in an exemplary embodiment;

[0029] Figure 6 is a schematic diagram of a situation of adjusting the distance between two moving components shown in an exemplary embodiment;

[0030] Figure 7 is a schematic diagram of another situation of adjusting the distance between two moving components shown in an exemplary embodiment;

[0031] Figure 8 is a schematic diagram showing the movement of two moving parts in an exemplary embodiment;

[0032] Figure 9 is a schematic diagram for predicting the movement trajectories of two moving parts in an exemplary embodiment;

[0033] Figure 10 is a hardware structure diagram of an electronic device in an exemplary embodiment;

[0034] Figure 11 is a block diagram of an anti-collision control device in an exemplary embodiment. Detailed implementation manners

[0035] In order to enable those skilled in the art to better understand the technical solutions in the present disclosure, the following will clearly and completely describe the technical solutions in the embodiments of the present disclosure with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present disclosure.

[0036] It should be noted that: in other embodiments, the steps of the corresponding methods are not necessarily executed in the order shown and described in the present disclosure. In some other embodiments, the steps included in the method may be more or less than those described in the present disclosure. In addition, a single step described in the present disclosure may be decomposed into multiple steps for description in other embodiments; and multiple steps described in the present disclosure may also be combined into a single step for description in other embodiments.

[0037] Automated transportation equipment is widely used in industrial production, and the moving parts of the automated transportation equipment are used to transport items efficiently and continuously.

[0038] Since there is usually a certain distance between two moving parts, the two moving parts will not collide when moving along the straight conveyor part included in the automated transportation equipment. However, when the automated transportation equipment includes an arc conveyor part, since the moving parts will deflect at an angle when passing through the arc conveyor part (which can also be briefly described as turning a corner in the text of the present disclosure), it may cause the two moving parts that originally maintained a certain distance in the straight conveyor part to collide in the arc conveyor part. If a relatively wide distance is maintained between the two moving parts, although the collision between the two moving parts in the arc conveyor part is avoided, the conveying efficiency of the automated transportation equipment will be greatly reduced.

[0039] For example, please refer to Figure 1 , Figure 1It is a schematic diagram of a collision between adjacent moving parts. As Figure 1 shown, the automatic transportation device includes a track component, which may include a straight track module and an arc track module. Suppose the two moving parts are moving part A and moving part B respectively. Generally, for safety reasons, there will be a distance d between the reference points (such as the geometric center points) specified at the same positions of moving part A and moving part B. The existence of this distance d enables moving part A and moving part B to avoid collision when moving on the straight track module. However, when moving part A and moving part B enter the arc track module, due to different degrees of deflection of the movement angles of adjacent moving part A and moving part B, or, it can be understood that the central axes of moving part A and moving part B change from parallel to intersecting. Even if moving part A and moving part B still maintain the original distance d on the straight track module in the arc track module, moving part A and moving part B may still collide.

[0040] In view of this, the present disclosure aims to propose a technical solution for adjusting the distance between two moving parts to avoid collision.

[0041] This technical solution first controls the two moving parts to move along the straight track module towards the arc track module; further, in response to the prediction result information indicating that there is a collision risk when the two moving parts turn on the arc track module, obtains the safety distance range corresponding to the two moving parts; finally, according to the safety distance range, at least adjusts the speed of one of the two moving parts to control the distance between the two moving parts within the safety distance range.

[0042] In the above manner, the technical solution of the present disclosure can control the distance between the two moving parts in advance when it is predicted that there is a collision risk when the two moving parts turn on the arc track module, can avoid the collision risk when the two moving parts turn on the arc track module, can ensure the safe operation of the moving parts, and reduce the damage risk of equipment and items.

[0043] The following describes the present disclosure through specific embodiments in combination with specific application scenarios.

[0044] Please refer to Figure 2 , Figure 2 which is a flowchart of an anti-collision control method applied to an automatic transportation device shown in an exemplary embodiment. Among them, the automatic transportation device may include a track component and two moving parts, and the track component includes a straight track module and an arc track module connected to the straight track module. The method may perform the following steps:

[0045] Step 202: Control the two moving parts to move along the straight track module towards the arc track module.

[0046] The track component and the moving component included in the automatic transportation device of the present disclosure may have a magnetic coupling relationship, so as to drive the moving component to move along the track component. Specifically, the track component is provided with an exciting component (which can be understood as a component composed of coils, such as armature windings), and a variable magnetic field is generated after the exciting component is energized. The moving component included in the automatic transportation device is provided with a magnetic component (which can be understood as a component with a magnetic field, such as a permanent magnet, a magnet, etc.), which is used to interact with the variable magnetic field generated by the energization of the exciting component to generate an electromagnetic force acting on the moving component, so as to drive the moving component to move along the track component. The control module included in the automatic transportation device adjusts the magnetic field strength and direction of the track component by controlling the magnitude and direction of the current flowing to the exciting component, so as to realize the regulation of the motion physical quantities such as the speed and acceleration of the moving component.

[0047] It should be noted that the track component included in the automatic transportation device of the present disclosure may include at least one track module. When there are multiple track modules, the multiple track modules can be spliced pairwise, so that the track component can extend along the moving direction of the moving component. The shape of the track module can be straight or arc-shaped, that is, the track module is divided into a straight track module and an arc track module. The shape of the track component along the moving direction is determined by the straight track module and / or the arc track module. The shape of the track component along the moving direction may be a closed shape (such as a circle, a runway shape, a square circle, etc.) or an open shape (such as a straight shape, a C shape, an S shape, a U shape, etc.). The present disclosure does not limit the shape formed by the track component extending along the moving direction of the moving component. The present disclosure only discusses the case where the moving component moves from the straight track module to the arc track module.

[0048] During the process of the moving component moving along the track component, the motion measurement module of the automatic transportation device can measure the motion state of the moving component in real time, so as to obtain the motion measurement data of the moving component. Specifically, the motion state of the moving component may include the moving position of the moving component, the moving speed of the moving component, the acceleration of the moving component, etc. Correspondingly, the motion measurement data of the moving component may include the moving position information of the moving component, the moving speed information of the moving component, and the acceleration information of the moving component, etc.

[0049] Among them, the motion acquisition module can be a contact-type motion acquisition module or a non-contact motion acquisition module. For the motion acquisition module, acquisition can be performed by one or a combination of light, electricity, and magnetism. According to the actual required contact method and acquisition method, the specific device types included in the motion acquisition module can be determined. For example, the motion acquisition module can include an image sensor, which acquires and analyzes the motion image data of the automatic transportation device through the image sensor to determine the motion condition of the automatic transportation device. Another example is that the motion acquisition module can include an encoder, which measures the motion condition of the automatic transportation device, etc.

[0050] The control module of the automatic transportation device can be configured with motion control parameters corresponding to the moving parts. The motion control parameters are used to control the moving parts to reach the expected motion state. In other words, the motion control parameters are used to indicate the change trend of the motion state of the moving parts. Based on the configured motion control parameters, the control module of the automatic transportation device controls the two moving parts to move along the linear track module towards the arc track module. The values of the motion control parameters configured for each moving part can be the same or different.

[0051] The motion control parameters can include first motion parameter information for directly controlling the motion state of the moving parts. The first motion parameter information is used to indicate the expected value of the motion state of the moving parts. According to the first motion parameter information, the motion state of the corresponding moving parts can be controlled to reach the corresponding motion expected value. For example, the motion control parameters can include expected moving speed information and expected acceleration information. According to the expected moving speed information and expected acceleration information, the moving speed of the corresponding moving parts is controlled to reach the speed expected value and the acceleration of the moving parts is controlled to reach the acceleration expected value.

[0052] The motion control parameters can include second motion parameter information for indirectly controlling the motion state of the moving parts. The second motion parameter information is used to indicate the boundary values of the motion state of the moving parts. For example, the second motion parameter information can include maximum speed information, minimum speed information, maximum acceleration information, minimum acceleration information, minimum distance information between adjacent moving parts, and maximum distance information between adjacent moving parts. Combining the foregoing motion measurement data, the first motion parameter information can be dynamically calculated under the condition of conforming to the second motion parameter information, thereby controlling the motion state of the corresponding moving parts. For example, according to the second motion parameter information and motion measurement data of the moving parts, the first motion parameter information such as expected moving speed information, expected acceleration information, and expected moving position information can be calculated, so as to control the moving position, moving speed, and acceleration of the corresponding moving parts to reach the corresponding expected values according to the first motion parameter information.

[0053] It can be understood that the first motion parameter information and the second motion parameter information can also be used in combination, and the present disclosure does not make specific limitations thereon.

[0054] It can also be understood that if the control module of the automatic transportation device is the execution subject of the method of the present disclosure, the motion control parameters can be obtained by retrieving the data stored in the internal storage area; if the hardware other than the automatic transportation device is the execution subject of the method of the present disclosure (such as the collision control device described below), the motion control parameters stored in the internal storage of the control module of the automatic transportation device are retrieved and obtained.

[0055] In a specific implementation, assume that there are two moving parts, namely moving part A and B. When there is an adjacent relationship between moving part A and B, and moving part A and B are respectively configured with motion control parameters, moving part A and B can be controlled to move along the track part through the motion control parameters. By measuring the motion states of moving part A and B in real time, the motion measurement data of moving part A and the motion measurement data of moving part B can be obtained.

[0056] It can be understood that in actual applications, the number of moving parts passing through the arc track module can be more, that is, the number of moving parts passing through the arc track module is at least two, and when the number of moving parts is three or more, there can be different two moving parts with an adjacent relationship. For example, when the number of moving parts is three and they are moving part A, moving part B, and moving part C in sequence, there is an adjacent relationship between moving part A and moving part B, and there is an adjacent relationship between moving part B and moving part C.

[0057] Step 204: In response to the prediction result information indicating that there is a collision risk when the two moving parts turn along the arc track module, obtain the safety distance range corresponding to the two moving parts.

[0058] The motion states of each moving part on the linear track module can be determined through the motion measurement data of each moving part, and the expected motion states that each moving part expects to reach can be determined through the motion control parameters of each moving part. Therefore, based on the motion measurement data and motion control parameters of the moving parts, it can be predicted whether there is a collision risk when each moving part turns along the arc track module.

[0059] In a specific implementation, since the moving part is used to transport items, the moving part may include a moving body and an item placing sub-part. The moving body is used to be magnetically coupled with the moving part and move under force, and the item placing sub-part is used to load or release items. Based on this, the collision risk that exists when adjacent moving parts turn along the arc track module may specifically be a collision between at least two of the moving body, the item placing sub-part, and the loaded items.

[0060] For example, when two moving components turn along an arc track module, collisions may occur between the moving bodies of the two moving components, between the storage sub-components of the two moving components, between the items of the two moving components, between the storage sub-component of one moving component and the item of the other moving component, between the body of one moving component and the storage sub-component of the other moving component, etc. The present disclosure does not make specific limitations on this.

[0061] According to one or more situations where collisions may occur when two moving components turn along an arc track module, a safety distance range between different moving components can be determined in advance. Among them, the safety distance range can represent the distance range where no collision will occur between two moving components, and there is a corresponding relationship between the safety distance range and the identification information of the two moving components. When it is predicted that there is a collision risk when two moving components turn along the arc track module, according to the motion measurement data of the two moving components, the identification information of the two moving components can be determined, so as to obtain the corresponding safety distance range for subsequent distance adjustment between the two moving components.

[0062] Step 206: According to the safety distance range, at least adjust the speed of one of the two moving components to control the distance between the two moving components within the safety distance range. Specifically, there are various ways to adjust the speeds of the two moving components. For example, adjust the speed of one of the two moving components, or adjust the speed of each of the two moving components, so as to control the distance between the two moving components within the safety distance range.

[0063] When the distance between two moving components at the arc track module falls within the safety distance range, it can be determined that no collision will occur when the two moving components turn along the arc track module.

[0064] Among them, the distance between the two moving components can be the straight-line distance between the reference points of the two moving components, or the distance between the two moving components can be the length along the track module between the reference points of the two moving components. When at the straight track module, the distance between the two moving components is the straight-line length between the reference points of the two moving components; when at the arc track module, the distance between the two moving components is the arc length between the reference points of the two moving components. The specific distance type can be determined according to the position measurement method. If it is an image measurement method, the straight-line distance or the length along the track module can be obtained through calculation. If it is an optoelectromagnetic method, the length along the track module is obtained when deployed along the track module.

[0065] In one of the illustrated embodiments, the safety distance range is determined based on experimental tests, or the safety distance range is calculated based on the minimum distance information between the two moving components, the size information of each of the two moving components, and the size information of the arc track module.

[0066] The safety distance range is determined by the following two methods:

[0067] The first method: determination by experiment.

[0068] When the safety distance range is determined through experimental tests, physical simulations of the actual operation scenario are carried out for experimental tests. For example, in each experiment, after controlling the distance between the two moving components on the linear track module with different distance values, the two moving components are controlled to move uniformly towards the arc track module to record whether a collision occurs when the two moving components turn along the arc track module at different distances. Through multiple experiments and data analysis of the experimental tests, a more accurate safety distance range can be obtained.

[0069] For example, during the experimental test, assume there are two adjacent moving components, namely moving component A and moving component B. According to the actual operation scenario, moving component A and moving component B may each include a storage sub-component, and moving component A and moving component B may be loaded with items. Moving component A and moving component B move uniformly at the same speed on the linear track module, and moving component A will enter the arc track module later than moving component B. First, control the initial distance between moving component A and moving component B to be a relatively large value d0, and ensure that when moving component A and moving component B move through the bend at this initial distance, they do not collide. In each test, gradually reduce the distance between moving component A and moving component B and observe whether a collision occurs, record the distance between moving component A and moving component B when a collision occurs, and statistically record the distances to obtain the safety distance range between moving component A and moving component B.

[0070] When the safety distance range is determined through calculation, based on the size information of each of the two moving components and the size information of the arc track module, a simulation model can be constructed through a software program for movement. By controlling the simulation models corresponding to the two moving components to move uniformly towards the simulation model corresponding to the arc track module at a certain distance on the simulation model corresponding to the linear track module, to record whether a collision occurs when the models corresponding to the two moving components turn along the model corresponding to the arc track module at different distances.

[0071] It should be noted that in the above process, the minimum distance information between two moving parts needs to be considered. The minimum distance information is used to indicate the minimum distance between the corresponding moving part and the adjacent moving part. The minimum distance information can prevent the moving parts from colliding with adjacent moving parts during emergency braking, and is generally not less than the minimum measurement accuracy of the motion measurement module. The lower boundary threshold of the safety distance range needs to be greater than the minimum distance information.

[0072] Second, determined by geometric calculation.

[0073] Based on the dimensional information of the two moving parts and the dimensional information of the arc track module, geometric calculations can be performed to determine the possible collision positions of the two moving parts when turning along the arc track module and the distance between the two moving parts at the time of collision, thereby forming the collision risk distance range corresponding to the two moving parts. Then, based on the relationship between the minimum distance information and the collision risk distance range, the safety distance range can be obtained.

[0074] For example, please refer to Figure 3 , Figure 3 is a schematic diagram showing a case of selecting a safety distance range shown in an exemplary embodiment. As Figure 3 shown, the minimum distance information existing between the two moving parts is assumed to be dmin, and the collision risk distance range is assumed to be [Dmin, Dmax]. Since the minimum distance information dmin is not less than the lower boundary threshold Dmin of the collision risk distance range, restricted by the minimum distance information dmin, the selection interval for selecting the safety distance range is the first interval (Dmax, +∞).

[0075] For example, please refer to Figure 4 , Figure 4 is a schematic diagram showing another case of selecting a safety distance range shown in an exemplary embodiment. As Figure 4 shown, the minimum distance information existing between the two moving parts is assumed to be dmin, and the collision risk distance range is [Dmin, Dmax]. Since the minimum distance information dmin is less than the lower boundary threshold Dmin of the collision risk distance range, then restricted by the minimum distance information dmin, the selection interval for selecting the safety distance range includes the first interval (dmin, Dmin) and the second interval (Dmax, +∞), and the safety distance range can be selected from these two intervals. Among them, the first safety distance range can be selected from the first interval, and the lower boundary threshold of the first safety distance range is greater than the upper boundary threshold Dmax of the collision risk distance range; the second safety distance range can be selected from the second interval, the lower boundary threshold of the second safety distance range is not less than the minimum distance information, and the upper boundary threshold of the second safety distance range is less than the lower boundary threshold of the collision risk distance range.

[0076] It can be understood that the collision risk distance range may have an upper boundary threshold and a lower boundary threshold. According to the actual situation (such as the specific structure of the moving part, the volume of the article, etc.), the upper boundary threshold and the lower boundary threshold of the collision risk distance range may be the same or different.

[0077] It can be understood that in some cases, although the upper boundary threshold and the lower boundary threshold of the collision risk distance range are different, due to the accuracy limitation of the detection instrument, the numerical difference between the lower boundary threshold and the upper boundary threshold cannot be measured, or the measurement accuracy of the motion measurement module cannot meet the numerical difference between the lower boundary threshold and the upper boundary threshold. Then, this situation can be regarded as the lower boundary threshold of the collision risk distance range being equal to the upper boundary threshold of the collision risk distance range.

[0078] Among them, the size information of each moving part may include: the size information of the moving part parallel to the moving direction and the size information of the moving part perpendicular to the moving direction. The size information of the moving part along the direction parallel to the moving direction may further include: the length information of the designated reference point of the moving part extending to the outer contour edge of the moving part in the direction parallel to the moving direction, the length information of the designated reference point of the moving part extending to the outer contour edge of the moving part in the direction perpendicular to the moving direction, and the length information of the designated reference point of the moving part extending to the center of the arc track module in the direction perpendicular to the moving direction. In addition, according to whether the moving part carries an object, the outer contour of the moving part may be determined by the larger of the moving body of the moving part, the object placing sub-component, and the article. The size information of the arc track module may include: the center position information of the arc track module, the outer diameter information of the arc track module, and the inner diameter information of the arc track module.

[0079] In an illustrated embodiment, adjusting at least the speed of one of the two moving parts to control the distance between the two moving parts within the safe distance range includes at least one of the following: if the distance between the two moving parts does not fall within the safe distance range, when the two moving parts are in the linear track module, at least adjust the speed of one of the two moving parts to adjust the distance between the two moving parts to within the safe distance range; if the distance between the two moving parts falls within the safe distance range, when the two moving parts are in the linear track module or the arc track module, at least adjust the speed of one of the two moving parts to control the distance between the two moving parts to change dynamically within the safe distance range.

[0080] For example, there are two moving parts A and B moving along a linear track module, and moving part A will enter the arc track module later than moving part B. Based on the motion measurement data of moving parts A and B, the distance between moving parts A and B is determined. If the distance d between moving parts A and B is less than the lower boundary threshold of the safe distance range, the speed of at least one of moving parts A and B can be adjusted to increase the distance between moving parts A and B, so that the distance between moving parts A and B increases from d to d2, and d2 falls within the safe distance range. This can ensure that the distance between moving parts A and B falls within the safe distance range and they will not collide.

[0081] For example, when the distance between two moving parts A and B falls within the safe distance range, the distance between moving parts A and B may not need to be adjusted. However, if the speeds of moving parts A and B are different, and / or the motion control parameters of moving parts A and B are different, the distance between moving parts A and B will change subsequently, and there is still a risk of collision when moving parts A and B turn. Therefore, during the process of moving parts A and B moving from the linear track module to the arc track module and passing through the arc track module, the speed of at least moving part A or moving part B needs to be adjusted to control the distance between moving parts A and B to change dynamically within the safe distance range.

[0082] Thus, through the way of distance adjustment and / or dynamic control, it is ensured that when moving parts A and B pass through the arc track module, the distance between moving parts A and B is always within the safe distance range, which can improve the flexibility of the moving parts and the transportation efficiency.

[0083] In an illustrated embodiment, after at least adjusting the speed of one of the two moving parts to adjust the distance between the two moving parts to within the safe distance range, the method further includes: if the speeds of the two moving parts are the same, controlling the two moving parts to move with the same motion control parameters so that the two moving parts pass through the arc track module at a constant distance.

[0084] Specifically, when the distance between moving parts A and B when they are on the linear track module is outside the safe distance range, the distance between moving parts A and B is adjusted to within the safe distance range.

[0085] After that, if the moving parts A and B move at the same speed, the moving parts A and B are controlled to move by the same motion control parameters. The magnitudes and change conditions of the speeds of the moving parts A and B are the same, which can keep the distance between the moving parts A and B unchanged, and can make the moving parts A and B pass through the arc track module at a constant distance. Therefore, controlling the movement of the moving parts A and B according to the same motion control parameters can reduce the calculation cost.

[0086] In an illustrated embodiment, adjusting the speed of at least one of the two moving parts to control the distance between the two moving parts to vary dynamically within the safe distance range includes: when it is determined according to the motion measurement data of the two moving parts that the change in the distance between the two moving parts reaches a distance change threshold, adjusting the speed of at least one of the two moving parts to prevent the distance between the two moving parts from changing to the boundary threshold of the safe distance range; wherein, the distance change threshold is less than the difference between the upper boundary threshold and the lower boundary threshold of the safe distance range; determining the cornering motion prediction trajectory of the motion positions of the two moving parts changing with time according to the motion control parameters and motion measurement data of the two moving parts, and according to the cornering motion prediction trajectory, adjusting the speed of at least one of the two moving parts before the distance between the two moving parts reaches the boundary threshold of the safe distance range, so that the distance between the two moving parts is controlled within the safe distance range.

[0087] Specifically, after adjusting the distance between adjacent moving parts to within the safe distance range, it is also necessary to monitor the subsequent movement of the adjacent moving parts. When the distance between the adjacent moving parts is about to deviate from the safe distance range, dynamically control the speeds of the adjacent moving parts to ensure that the distance between the adjacent moving parts always remains within the safe distance range.

[0088] For this, two methods are proposed in this embodiment.

[0089] Method 1: Speed adjustment based on the distance change threshold. Real-time monitor the motion measurement data (such as position, speed, acceleration, etc.) of the two moving parts, and calculate the change amount of the distance between the two moving parts. When the change amount of the distance (including the distance increasing or decreasing) reaches the distance change threshold, trigger the speed adjustment of the two moving parts. By reducing or increasing the speed of at least one of the two moving parts, prevent the distance between the two moving parts from approaching the boundary of the safe distance range further.

[0090] Among them, the distance change threshold is less than the total width of the safe distance range (that is, the difference between the upper boundary threshold and the lower boundary threshold of the safe distance range).

[0091] It should be noted that when calculating the distance change between two moving parts A and B, the distance reference value before the change can be the distance value between the moving parts A and B when the distance between the moving parts A and B is first controlled within the safe distance range, or the distance value between the moving parts A and B when the distance between the moving parts A and B is already within the safe distance range. The distance change amount between the moving parts A and B refers to the change amount between the distance value between the moving parts A and B at a certain moment after the distance between the moving parts A and B is controlled within the safe distance range and the distance reference value.

[0092] For example, there are two moving parts A and B moving along a linear track module, and the moving part A will enter the arc track module later than the moving part B. If the distance between the moving parts A and B does not fall within the safe distance range, the distance between the moving parts A and B moving along the linear track module is controlled within the safe distance range. After the distance between the moving parts A and B is controlled within the safe distance range, if it is determined that the distance change between the moving parts A and B reaches the distance change threshold according to the motion measurement data (such as position data) of the moving parts A and B and the distance reference value before the distance change between the moving parts A and B, it means that the distance between the moving parts A and B is already close to the boundary value of the safe distance range. At this time, it is necessary to adjust the speed of at least one of the moving parts A and B to prevent the distance between the moving parts A and B from reaching the boundary value of the safe distance range. Among them, the distance change threshold is less than the difference between the upper boundary threshold and the lower boundary threshold of the safe distance range.

[0093] Method 2: Early intervention based on the predicted trajectory. Real-time monitor the motion measurement data (such as position, speed, acceleration, etc.) of adjacent moving parts, and combine the motion control parameters of the two moving parts to predict the turning motion prediction trajectory (i.e., the motion path when the two moving parts turn) of the motion positions of the two moving parts changing with time.

[0094] When it is predicted that the distance between the two moving parts is about to exceed the safe distance range (before the distance between the two moving parts reaches the boundary threshold of the safe distance range), trigger the speed adjustment of the two moving parts. By reducing or increasing the speed of at least one of the two moving parts, prevent the distance between the two moving parts from approaching the boundary of the safe distance range further.

[0095] Among them, Method 2 makes distance prediction and speed adjustment for the two moving parts based on the turning motion prediction trajectory, and this method can avoid emergency braking and achieve smooth control.

[0096] For example, there are two moving parts, namely moving part A and moving part B, which are moving along a linear track module. Moving part A will enter the arc track module later than moving part B. If it is detected that the distance between moving part A and moving part B does not fall within the safe distance range, the distance between moving part A and moving part B moving along the linear track module will be controlled within the safe distance range. If, based on the motion measurement data and motion control parameters of moving part A and moving part B, the predicted trajectory of the cornering motion of moving part A and moving part B when moving to the arc track module is predicted. According to the predicted trajectory of the cornering motion of moving part A and moving part B when moving to the arc track module, the speed of at least one of moving part A and moving part B can be adjusted before the distance between moving part A and moving part B reaches the upper and lower boundary thresholds of the safe distance range, so as to maintain the distance between moving part A and moving part B within the safe distance range all the time and avoid the risk of collision.

[0097] In this embodiment, when it is detected that the distance change between the two moving parts after the distance adjustment reaches the distance change threshold, it means that the distance between the two moving parts is already near the upper and lower boundary values of the safe distance range. Or, when it is determined according to the predicted trajectory of the cornering motion of the moving parts that the distance between the two moving parts reaches the upper and lower boundary thresholds of the safe distance range, the adjustment of the distance between the two moving parts can be intervened in advance, so as to avoid the distance between the two moving parts not falling within the safe distance range, thus avoiding the risk of collision in the arc track module and ensuring the safety of the transportation process. In the case where these two schemes are not significantly mutually exclusive, either one can be selected, or both can be used at the same time.

[0098] Regarding the case of using both schemes at the same time, please refer to Figure 5 , Figure 5 is a schematic diagram showing a dynamic adjustment of the distance between two moving parts shown in an exemplary embodiment. As Figure 5As shown, the safety distance range between the moving parts A and B is [Smin, Smax]. After the automatic transportation device controls the distance between the two moving parts A and B within the safety distance range, due to the different motion control parameters of the two moving parts A and B, the distance between the two moving parts A and B will change. At time t1, the distance between the two moving parts A and B approaches the lower boundary threshold Smin of the safety distance range. At this time, the speeds of the two moving parts A and B are adjusted to prevent the distance between the two moving parts A and B from reaching the boundary value of the safety distance range. At the adjusted time t2, the distance change between the two moving parts A and B reaches the distance change threshold (the distance change threshold is less than the difference between the upper boundary threshold Smax and the lower boundary threshold Smin of the safety distance range), or according to the predicted trajectory of the cornering motion when the two moving parts A and B move to the arc track module, it is predicted that the distance between the two moving parts A and B at time t2 approaches the upper boundary threshold Smax of the safety distance range. Then, the speed of at least one of the two moving parts A and B is adjusted to keep the distance between the two moving parts A and B within the safety distance range all the time and avoid the risk of collision.

[0099] In an illustrated embodiment, before adjusting the speed of at least one of the two moving parts according to the safety distance range, the method further includes: selecting one of the two moving parts as an adjustment object and selecting the other moving part as a reference object, wherein the adjustment object is used to adjust the relative speed according to the reference object.

[0100] For example, there are two moving parts, namely moving part A and moving part B, which are moving along a straight track module. Moving part A will enter the arc track module later than moving part B. Among these two moving parts A and B, moving part A is selected as the adjustment object and the other moving part B is selected as the reference object. Moving part A is used to adjust the relative speed according to the reference object moving part B, and the speed of moving part B is not adjusted.

[0101] In this embodiment, adjusting only the speed of one moving part can simplify the control logic and also minimize the loss of the moving part.

[0102] In an illustrated embodiment, according to the safety distance range, at least adjusting the speed of one of the two moving parts to control the distance between the two moving parts within the safety distance range includes at least one of the following: If the distance between the reference object and the adjustment object does not fall within the safety distance range, when the reference object and the adjustment object are on the linear track module, referring to the speed of the reference object, relatively adjusting the speed of the adjustment object to adjust the distance between the reference object and the adjustment object to within the safety distance range; If the distance between the reference object and the adjustment object falls within the safety distance range, when the reference object and the adjustment object are on the linear track module or the arc track module, referring to the speed of the reference object, relatively adjusting the speed of the adjustment object to control the distance between the reference object and the adjustment object to vary dynamically within the safety distance range.

[0103] For example, there are two moving parts A and B moving along a linear track module, and moving part A will enter the arc track module later than moving part B. Determine the distance between moving parts A and B through the motion measurement data of moving parts A and B. If the distance between moving parts A and B does not fall within the safety distance range, among moving parts A and B, select moving part A as the adjustment object and select the other moving part B as the reference object. Moving part A is used to relatively adjust the speed according to the reference object moving part B, so that the distance between moving parts A and B falls within the safety distance range, thereby ensuring that moving parts A and B will not collide.

[0104] For example, if the distance between two moving parts A and B falls within the safety distance range, the distance between moving parts A and B may not be adjusted. However, if the speeds of moving parts A and B are different, and / or the motion control parameters of moving parts A and B are different, the distance between moving parts A and B will change subsequently, and there is still a risk of collision when moving parts A and B turn. Therefore, during the process of moving parts A and B moving from the linear track module to the arc track module and passing through the arc track module, select moving part A as the adjustment object and select the other moving part B as the reference object. Moving part A is used to relatively adjust the speed according to the reference object moving part B, so as to control the distance between moving parts A and B to vary dynamically within the safety distance range.

[0105] Please refer to Figure 6 , Figure 6 which is a schematic diagram showing the adjustment of the distance between two moving parts shown in an exemplary embodiment. As Figure 6As shown, the moving part A moves at a constant speed V2, and the moving part B moves at a constant speed V1, and the speed V2 is greater than the speed V1. Among the moving parts A and B, the moving part A can be selected as the adjustment object and the other moving part B can be selected as the reference object. According to the speed condition of the moving part B, control the moving part A to perform a movement of first decelerating and then accelerating (there may also be a uniform motion between deceleration and acceleration) relative to the moving part B, so that the distance between the moving part A and B increases from d1 to d2, and d2 falls within the safe distance range. After that, under the action of the motion control parameters, the moving part A continues to move at a constant speed V2. Since the speed V2 is greater than the speed V1, the distance between the moving part A and B will continue to decrease. When it decreases to the lower boundary threshold of the safe distance range, the adjustment is triggered again, thereby increasing the distance between the moving part A and B.

[0106] Please refer to Figure 7 , Figure 7 is a schematic diagram showing another situation of distance adjustment between two moving parts shown in an exemplary embodiment. As Figure 7 shown, the moving part A moves at a constant speed V2, and the moving part B moves at a constant speed V1. Since their speeds are different, the current distance d3 between the moving part A and B is about to deviate from the safe distance range, and the distance between the moving part A and B needs to be adjusted. Among the moving parts A and B, the moving part A can be selected as the adjustment object and the other moving part B can be selected as the reference object. According to the speed condition of the moving part B, control the moving part A to perform a movement of first accelerating and then decelerating (there may also be a uniform motion between acceleration and deceleration) relative to the moving part B, so that the distance between the moving part A and B decreases from d3 to d4, and d4 falls within the safe distance range. Or, among the moving parts A and B, the moving part B can be selected as the adjustment object and the other moving part A can be selected as the reference object. According to the speed condition of the moving part A, control the moving part B to perform a movement of first decelerating and then accelerating (there may also be a uniform motion between deceleration and acceleration) relative to the moving part A, so that the distance between the moving part A and B decreases from d3 to d4, and d4 falls within the safe distance range. After completing the distance adjustment, the moving part A continues to move at a constant speed V2 under the action of the motion control parameters, and the moving part B continues to move at a constant speed V1 under the action of the motion control parameters. If the speed V1 is greater than the speed V2, the distance between the moving part A and B will gradually increase. When it increases to the upper boundary threshold of the safe distance range, the adjustment is triggered again, thereby reducing the distance between the moving part A and B. If the speed V1 is less than the speed V2, the distance between the moving part A and B will gradually decrease. When it decreases to the lower boundary threshold of the safe distance range, the adjustment is triggered again, thereby increasing the distance between the moving part A and B.

[0107] Thus, by selecting the reference object and the adjustment object, and by means of distance adjustment and / or dynamic control, it is ensured that when the moving parts A and B pass through the arc track module, the distance between the moving parts A and B is always within the safe distance range.

[0108] In an illustrated embodiment, selecting one of the two moving parts as the adjustment object and selecting the other moving part as the reference object includes: among the two moving parts, selecting the moving part in the front as the adjustment object and selecting the moving part in the back as the reference object according to the moving direction; according to the safe distance range, at least adjusting the speed of one of the two moving parts to control the distance between the two moving parts within the safe distance range, including at least one of the following: if the distance between the reference object and the adjustment object is greater than the upper boundary threshold of the safe distance range, then when the reference object and the adjustment object are in the linear track module, at least adjusting the adjustment object to decelerate relative to the reference object to adjust the distance between the two moving parts to within the safe distance range; if the distance between the reference object and the adjustment object is less than the lower boundary threshold of the safe distance range, then when the reference object and the adjustment object are in the linear track module, at least adjusting the adjustment object to accelerate relative to the reference object to adjust the distance between the two moving parts to within the safe distance range; if the distance between the two moving parts falls within the safe distance range, then when the two moving parts are in the linear track module or the arc track module, referring to the speed condition of the reference object, relatively adjusting the speed of the moving part of the adjustment object to control the distance between the two moving parts to change dynamically within the safe distance range.

[0109] For example, there are two moving parts A and B moving along the linear track module, and the moving part A will enter the arc track module later than the moving part B. The distance between the moving parts A and B is determined through the motion measurement data of the moving parts A and B.

[0110] If the distance between the moving parts A and B is greater than the upper boundary threshold of the safe distance range, then when the moving parts A and B are in the linear track module, at least adjusting the moving part B to decelerate relative to the moving part A to adjust the distance between the moving parts A and B to within the safe distance range. Among them, the speed adjustment method of the moving part B can be to decelerate continuously, or to decelerate first and then accelerate, or to decelerate first, then move at a constant speed, and finally accelerate.

[0111] If the distance between the moving parts A and B is less than the lower boundary threshold of the safe distance range, when the moving parts A and B are in the linear track module, at least adjust the moving part B to accelerate relative to the moving part A to adjust the distance between the moving parts A and B within the safe distance range. Among them, the speed adjustment method of the moving part B can be continuous acceleration, or acceleration first and then deceleration, or acceleration first, then uniform speed, and finally deceleration.

[0112] If the distance between the moving parts A and B falls within the safe distance range, when the moving parts A and B are in the linear track module or the arc track module, refer to the speed of the moving part A and relatively adjust the speed of the moving part B to maintain the dynamic change of the distance between the moving parts A and B within the safe distance range.

[0113] Among them, during the process of the adjustment object accelerating or decelerating relative to the reference object, if there is no uniform motion between acceleration and deceleration, the operation steps can be reduced and the motion control difficulty can be reduced. If there is a period of uniform motion between acceleration and deceleration, the power loss can be reduced and energy can be saved. The present disclosure does not limit the specific process of adjusting the speed of the adjustment object.

[0114] In an illustrated embodiment, selecting one of the two moving parts as the adjustment object and selecting the other moving part as the reference object includes: among the two moving parts, selecting the rear moving part as the adjustment object and the front moving part as the reference object according to the moving direction; according to the safe distance range, at least adjusting the speed of one of the two moving parts to control the distance between the two moving parts within the safe distance range includes at least one of the following: if the distance between the reference object and the adjustment object is greater than the upper boundary threshold of the safe distance range, when the reference object and the adjustment object are in the linear track module, at least adjust the adjustment object to accelerate relative to the reference object to adjust the distance between the two moving parts within the safe distance range; if the distance between the reference object and the adjustment object is less than the lower boundary threshold of the safe distance range, when the reference object and the adjustment object are in the linear track module, at least adjust the adjustment object to decelerate relative to the reference object to adjust the distance between the two moving parts within the safe distance range; if the distance between the two moving parts falls within the safe distance range, when the two moving parts are in the linear track module or the arc track module, refer to the speed of the reference object and relatively adjust the speed of the adjustment object to control the dynamic change of the distance between the two moving parts within the safe distance range.

[0115] For example, there are two moving parts A and B moving along a linear track module, and moving part A will enter the arc track module later than moving part B. The distance between moving parts A and B is determined based on the motion measurement data of moving parts A and B.

[0116] If the distance between moving parts A and B is greater than the upper boundary threshold of the safe distance range, when moving parts A and B are on the linear track module, at least adjust moving part A to accelerate relative to moving part B to adjust the distance between moving parts A and B within the safe distance range. Among them, the speed adjustment method of moving part A can be to keep accelerating, or to accelerate first and then decelerate, or to accelerate first, then move at a constant speed, and finally decelerate.

[0117] If the distance between moving parts A and B is less than the lower boundary threshold of the safe distance range, when moving parts A and B are on the linear track module, at least adjust moving part A to decelerate relative to moving part B to adjust the distance between moving parts A and B within the safe distance range. Among them, the speed adjustment method of moving part A can be to keep decelerating, or to decelerate first and then accelerate, or to decelerate first, then move at a constant speed, and finally accelerate.

[0118] If the distance between moving parts A and B falls within the safe distance range, when moving parts A and B are on the linear track module or the arc track module, refer to the speed of moving part B and relatively adjust the speed of moving part A to maintain the distance between moving parts A and B within the safe distance range and change dynamically.

[0119] In an illustrated embodiment, the referring to the speed of the reference object and relatively adjusting the speed of the adjustment object to adjust the distance between the reference object and the adjustment object within the safe distance range includes: referring to the speed of the reference object and controlling the adjustment object to change speed and move at a constant speed relative to the reference object so that when the distance between the reference object and the adjustment object is adjusted within the safe distance range, the speed of the adjustment object is the same as the speed of the reference object.

[0120] For example, as Figure 6 shown, there are two moving parts A and B moving along a linear track module, and moving part A will enter the arc track module later than moving part B. The distance d1 between moving parts A and B is not within the safe distance range.

[0121] In this embodiment, both the moving parts A and B move at a constant speed V1. Among the moving parts A and B, the moving part B can be selected as the adjustment object and the other moving part A can be selected as the reference object. According to the speed condition of the moving part A, the moving part B is controlled to move with a first acceleration and then deceleration relative to the moving part A (there may also be a constant-speed movement between the acceleration and deceleration), so that the distance between the moving parts A and B increases from d1 to d2, and d2 falls within the safe distance range. Then, the speed of the moving part B is adjusted to be the same as that of the moving part A. At this time, the speeds and accelerations of the moving parts A and B are the same, both the moving parts A and B move at a constant speed V1, the moving part B moves at a constant speed relative to the moving part A, and the distance between the moving parts A and B will not change subsequently.

[0122] For example, as Figure 6 shown, the moving part A moves at a constant speed V2, and the moving part B moves at a constant speed V1, and their speeds are different. Among the moving parts A and B, the moving part A can be selected as the adjustment object and the other moving part B can be selected as the reference object. According to the speed condition of the moving part B, the moving part A is controlled to move with a first deceleration and then acceleration relative to the moving part B (there may also be a constant-speed movement between the deceleration and acceleration), so that the distance between the moving parts A and B increases from d1 to d2, and d2 falls within the safe distance range. Then, the speed of the moving part A is adjusted to be the same as that of the moving part B. At this time, the speeds and accelerations of the moving parts A and B are the same, both the moving parts A and B move at a constant speed V1, the moving part A moves at a constant speed relative to the moving part B, and the distance between the moving parts A and B will not change subsequently.

[0123] In one of the illustrated embodiments, before obtaining the safe distance range corresponding to the two moving parts in response to the prediction result information indicating a collision risk when the two moving parts turn along the arc track module, at least any one of the following steps is further included: predicting whether there is a collision risk when the two moving parts turn along the arc track module according to the motion control parameters and motion measurement data of the two moving parts to obtain the prediction result information; receiving the prediction result information, which is predicted according to the motion control parameters and motion measurement data of the two moving parts and is used to indicate whether there is a collision risk when the two moving parts turn along the arc track module.

[0124] For example, the prediction entity can be an automatic transportation device. The automatic transportation device predicts whether there is a collision risk when the two moving parts A and B turn along the arc track module by combining the motion control parameters of the moving parts A and B with the motion measurement data collected in real time, and then obtains the prediction result information.

[0125] For example, the prediction entity may also be a collision control device. The collision control device predicts whether there is a collision risk when two moving parts A and B turn along the arc track module by collecting the motion measurement data of the two moving parts A and B in real time and retrieving the motion control parameters stored in the control module of the automatic transportation device, and then obtains the prediction result information. The automatic transportation device receives the prediction result information sent by the collision control device and determines whether there is a collision risk when the two moving parts turn along the arc track module.

[0126] In an illustrated embodiment, before responding to the prediction result information indicating that there is a collision risk when the two moving parts turn along the arc track module, the method further includes: obtaining a collision risk distance range between the two moving parts according to the motion measurement data of the two moving parts; wherein, the collision risk distance range is determined by experimental testing, or the collision risk distance range is calculated according to the size information of the two moving parts and the size information of the arc track module; obtaining the minimum distance information between the two moving parts according to the motion control parameters of the two moving parts; comparing the collision risk distance range with the minimum distance information, and determining that the minimum distance information is not greater than the upper boundary threshold of the collision risk distance range.

[0127] Among them, the motion control parameters of the moving part may include the minimum distance information, and the minimum distance information is used to indicate the minimum distance between the corresponding moving part and the adjacent moving part (that is, the indication parameters of the future motion of the moving part, such as the maximum speed, the minimum speed, the maximum acceleration, the minimum acceleration, the minimum distance between the moving parts, the maximum distance between the moving parts, etc.), so as to obtain the minimum distance information between the two moving parts. The minimum distance information belongs to one of the motion control parameters, indicating that there should be at least the distance indicated by the minimum distance information between adjacent moving parts. The minimum distance information can prevent the moving part from colliding with the adjacent moving part when braking emergently, and is usually not less than the minimum measurement accuracy of the motion measurement module.

[0128] It can be understood that considering that a smaller distance can be adopted when adjacent moving parts are on the straight track module, so that the multiple moving parts are more compact and the moving efficiency is improved, there may be various relationships between the minimum distance information and the collision risk distance range.

[0129] If the minimum distance information is greater than the upper boundary threshold of the collision risk distance range, and under the limitation of the minimum distance information, the distance between adjacent moving parts is always not less than the value indicated by the minimum distance information, then the distance between adjacent moving parts is outside the collision risk distance range. Therefore, there is no collision risk when the two moving parts turn along the arc track module, and collision prediction can be omitted, thus reducing the data operation volume. If the minimum distance information is not greater than the upper boundary threshold of the collision risk distance range, subsequent collision risk prediction is required.

[0130] Among them, the collision risk distance range can be determined through experiments or geometric calculations. Specifically, according to the size information of the two moving parts and the size information of the arc track module, geometric calculations can be performed to obtain the possible collision positions of the two moving parts when turning along the arc track module, and the distance between the two moving parts when a collision occurs, thereby forming the collision risk distance range corresponding to the two moving parts.

[0131] In an illustrated embodiment, before the prediction result information indicating that there is a collision risk when the two moving parts turn along the arc track module, the method further includes: obtaining distance prediction information between the two moving parts when the two moving parts turn along the arc track module according to the motion control parameters and motion measurement data of the two moving parts; if there is distance prediction information in the distance prediction information between the two moving parts that falls within the collision risk distance range, it is determined that there is a collision risk when the two moving parts turn along the arc track module.

[0132] For example, in an automatic transportation device, moving parts A and B move along a linear track module, and moving part A enters the arc track module later than moving part B. The automatic transportation device determines that moving part A moves at a constant speed V1 and moving part B moves at a constant speed V2, and V1 > V2 by combining the motion measurement data of moving parts A and B collected in real time with the motion control parameters of moving parts A and B. The current distance between the two moving parts on the linear track module is d. Through calculation, it can be predicted that since the speed V1 of moving part A is greater than the speed V2 of moving part B, moving part A will gradually approach moving part B, and when moving part B enters the arc track module, the distance between the two will decrease to d1. If d1 falls within the collision risk distance range [Dmin, Dmax], it is predicted that there will be a collision risk when moving parts A and B turn, otherwise, it is predicted that there will be no collision risk when moving parts A and B turn.

[0133] Among them, there are various prediction methods. For example, the finite element analysis or the discrete element method can be used to simulate the motion state of the moving part pair, and then the possible collision situation can be predicted through iterative calculation. For example, the motion trajectory of the moving part can be mapped to the time-space coordinate system, and the collision risk can be judged by analyzing the trajectory curve, etc.

[0134] In one of the illustrated embodiments, obtaining the distance prediction information between the two moving parts when the two moving parts turn along the arc track module according to the motion control parameters and motion measurement data of the two moving parts includes: obtaining the turning motion prediction trajectories of the two moving parts changing with time at their motion positions when the two moving parts turn along the arc track module according to the motion control parameters and motion measurement data of the two moving parts; calculating the distance prediction information between the two moving parts according to the turning motion prediction trajectories of the two moving parts changing with time at their motion positions.

[0135] According to the motion measurement data of each moving part, the speed information and position information of each moving part can be determined in real time. Combining the motion control parameters of each moving part, the motion type that the moving part is expected to perform can be determined, so that the motion prediction trajectories of the motion positions of each moving part changing with time can be generated. The motion prediction trajectories indicate the change of the motion positions with time during the process of each moving part moving from the straight track module to the arc track module and moving out of the arc track module.

[0136] For example, moving parts A and B move along a linear track module, and moving part A enters the arc track module later than moving part B. The automatic transportation device collects the motion measurement data of moving parts A and B in real time through a motion measurement module. According to the motion measurement data of moving parts A and B, it can be known that the current moving speed of moving part A is V1 and the current position is P1, and the current moving speed of moving part B is V2 and the current position is P2. According to the motion control parameters of moving part A, it is expected that moving part A will perform a uniform linear motion at a constant speed of V1 on the linear track module, and perform a uniform arc motion with a linear speed of V1 after entering the arc track module. According to the motion control parameters of moving part B, under the limitation of the maximum speed information Vmax, moving part B performs a variable-speed linear motion on the linear track module and a variable-speed arc motion on the arc track module. Among them, the variable-speed motion of moving part B can at least include at least two of acceleration motion, deceleration motion, and uniform motion. According to the current speed information, position information, and expected motion types of moving parts A and B, a motion prediction trajectory of the motion position changing with time can be generated. Among them, the motion prediction trajectory of moving part A is an inclined straight line with a slope of the moving speed V1, and the motion prediction trajectory of moving part B is a curve, and the slope along the curve is the moving speed of moving part B at the corresponding moment.

[0137] Since the length of the linear track module along the moving direction is known, the arc length of the arc track module along the moving direction is known, and the splicing position of adjacent track modules is known. After obtaining the motion prediction trajectories of the two moving parts, according to the position information of the two moving parts, the distances from the two moving parts to the first end of the splicing of the arc track module and the linear track module can be determined, and the distances from the two moving parts to the second end of the splicing of the arc track module and other track modules can be determined. According to the distances from the two moving parts to the first end and the second end of the arc track module respectively, the corresponding cornering motion prediction trajectories can be obtained.

[0138] Alternatively, after obtaining the motion prediction trajectories of the two moving parts, by combining the position information, speed information of the two moving parts, and the motion control parameters of the two moving parts, the times when the two moving parts enter and exit the arc track module can be determined, and thus, according to the times when the two moving parts enter and exit the arc track module respectively, the corresponding cornering motion prediction trajectories can be obtained.

[0139] Please refer to Figure 8 , Figure 8 which is a schematic diagram showing the motion conditions of two moving parts shown in an exemplary embodiment.

[0140] Such as Figure 8As shown, the automatic transportation device includes a track component and two moving components. The track component consists of a linear track module and an arc track module connected to the linear track module. Assume that when the two moving components A and B move along the linear track module, the distance between the designated reference points (such as the geometric center points) at the same positions of each is d. The moving components A and B move along the linear track module towards the arc track module. The distance from the current position of the moving component B to the first end where the arc track module is spliced with the linear track module is S1, and the distance from the current position of the moving component A to the second end where the arc track module is spliced with other track modules is S2.

[0141] Please refer to Figure 9 , Figure 9 which is a schematic diagram showing the predicted movement trajectories of two moving components in an exemplary embodiment.

[0142] As Figure 9 shown, before the two moving components A and B enter the arc track module, based on the movement measurement data and movement control parameters of the two moving components A and B, the predicted cornering movement trajectories of the two moving components A and B when moving to the arc track module can be predicted. S1 can represent the distance from the current position of the moving component B to the first end where the arc track module is spliced with the linear track module. When the moving component B moves a distance of S1, it can be considered that the moving component B, which is in the front in the moving direction of the two moving components A and B, enters the arc track. S2 can represent the distance from the current position of the moving component A to the second end where the arc track module is spliced with other track modules. When the moving component A moves a distance of S2, it can be considered that the moving component A, which is in the rear in the moving direction of the two moving components A and B, leaves the arc track module. Therefore, according to the area formed by the dotted line corresponding to the S1 position on the S-axis ordinate and the dotted line corresponding to the S2 position on the S-axis ordinate, the predicted cornering movement trajectories of the adjacent moving components A and B can be obtained. The predicted cornering movement trajectories of the adjacent moving components A and B can be used to predict the distance situation between the adjacent moving components A and B when they move to the arc track module. Specifically, within the area formed by the dotted line corresponding to the S1 position on the S-axis ordinate and the dotted line corresponding to the S2 position on the S-axis ordinate, the distance prediction information between the two moving components A and B is equal to the difference between the position prediction information corresponding to each of the two moving components A and B at the same moment. If the minimum value d1 of the distance prediction information between the moving components A and B falls within the collision risk distance range [Dmin, Dmax], it is predicted that there is a collision risk when the moving components A and B turn.

[0143] In an illustrated embodiment, obtaining distance prediction information between the two moving components when the two moving components turn along the arc track module according to the motion control parameters and motion measurement data of the two moving components includes: when it is determined according to the motion control parameters and motion measurement data that the two moving components perform uniform motion with the same speed, measuring the distance between the two moving components, and using the measured distance between the two moving components as the distance prediction information between the two moving components when the two moving components turn along the arc track module; when it is determined according to the motion control parameters and motion measurement data that the two moving components do not perform uniform motion with the same speed, obtaining, according to the motion control parameters and motion measurement data, a turning motion prediction trajectory of the motion positions of the two moving components changing with time when the two moving components turn along the arc track module; and calculating the distance prediction information between the two moving components when the two moving components turn along the arc track module according to the turning motion prediction trajectory of the motion positions of the two moving components changing with time.

[0144] For example, two moving components A and B move along a linear track module, and moving component A enters the arc track module later than moving component B. After obtaining the motion control parameters and motion measurement data of moving components A and B, it is determined that both moving components A and B move at a uniform speed of V1, and the distance between moving components A and B is d. Based on this, it is predicted that after moving components A and B enter the arc track module, the relative positions between moving components A and B will not change, their speeds are the same, and the distance d remains unchanged, without the need to calculate the specific turning motion prediction trajectory, saving calculation costs.

[0145] If moving component A moves at a uniform speed of V1 and moving component B moves at a uniform speed of V2, and V1 > V2. The current distance between the two moving components is d. Through calculation, the automatic transport device finds that since the speed V1 of moving component A is greater than the speed V2 of moving component B, moving component A will gradually approach moving component B, and it is necessary to calculate the turning motion prediction trajectories of the respective motion positions of moving components A and B changing with time when they turn along the arc track module. According to the turning motion prediction trajectories, the distance between moving components A and B when they turn along the arc track module can be obtained, and when the distance between them falls within the collision risk distance range, it is predicted that there will be a collision risk when moving components A and B turn along the arc track module.

[0146] In one of the illustrated embodiments, selecting one moving part as the adjustment object and selecting another moving part as the reference object includes at least one of the following: selecting, according to the load state data of the two moving parts, a moving part that meets the load condition from the two moving parts as the reference object and selecting the other moving part as the adjustment object, where the load condition is satisfied when the load state data of the moving part indicates that it is loaded or loaded with a specified item; selecting, according to the motion measurement data of the two moving parts, a moving part that meets the order condition from the two moving parts as the reference object and selecting the other moving part as the adjustment object, where the order condition is satisfied when the moving parts are in a specified order according to the moving direction.

[0147] When selecting a moving part that meets the load condition from two moving parts as the reference object according to the load state data of the moving parts, the load state data of the moving parts is used to indicate whether the corresponding moving part is unloaded and the category of the loaded item. It can be understood that the load state data of the moving parts can be obtained through a weight sensor installed on the moving parts, an image sensor installed in the external environment, or other means. According to the load state data, the automatic transportation device can determine which moving parts are suitable as reference objects. The load condition can be set according to the actual situation.

[0148] For example, if among two moving parts, there is a moving part loaded with high-value items or fragile items while the other moving parts are loaded with ordinary-value items or non-fragile items, then the moving part loaded with high-value items or fragile items is not suitable for speed adjustment, otherwise the probability of damage to the loaded items will increase sharply. Therefore, the load condition can be set as the moving part loaded with high-value items or fragile items. Thus, the moving part loaded with high-value items or fragile items can be used as the reference object to adjust the speed of other moving parts.

[0149] For another example, if among two moving parts, there is a moving part loaded with items while the other moving parts are not loaded with items, then the moving part loaded with items is not suitable for speed adjustment, otherwise the probability of damage to the loaded items will increase sharply. Therefore, the load condition can be set as the moving part loaded with items. Thus, the moving part loaded with items can be used as the reference object to adjust the speed of other moving parts.

[0150] When selecting a moving part that meets the order condition from two moving parts as the reference object according to the motion measurement data of the two moving parts, the order condition can be set according to the actual situation.

[0151] For example, assume that there are two moving parts moving along a linear track module. Based on the motion measurement data of the two moving parts, the positional order (i.e., sequence) of the two moving parts in the moving direction can be determined. Then, a reference object is determined according to the sequence of the moving parts in the moving direction and the sequence condition. Among them, the sequence condition can be set to be valid when it is the first sequence, the middle sequence, or the last sequence, so that the moving part in the first sequence, the middle sequence, or the last sequence is selected as the reference object. The present disclosure does not limit this.

[0152] The sequence condition refers to the criterion for selecting a reference object based on the positional order of the moving parts in the moving direction. By real-time monitoring the positions of the moving parts, the relative positional relationship between them can be determined, and based on this, it can be decided which moving part should be used as the reference object. This strategy helps to ensure the smooth operation of the automatic transportation equipment and reduce the chain reaction caused by speed adjustment.

[0153] Corresponding to the embodiment of the anti-collision control method described above, the present disclosure also provides an embodiment of an anti-collision control device.

[0154] Please refer to Figure 10 , Figure 10 which is a hardware structure diagram of an electronic device shown in an exemplary embodiment. At the hardware level, the device includes a processor 1002, an internal bus 1004, a network interface 1006, a memory 1008, and a non-volatile memory 1010. Of course, other required hardware may also be included. One or more embodiments of the present disclosure can be implemented in a software manner. For example, the processor 1002 reads the corresponding computer program from the non-volatile memory 1010 into the memory 1008 and then runs it. Of course, in addition to the software implementation manner, one or more embodiments of the present disclosure do not exclude other implementation manners, such as a logic device or a combination of software and hardware. That is to say, the execution subject of the following processing flow is not limited to each logic unit, and can also be hardware or a logic device.

[0155] Please refer to Figure 11 , Figure 11 which is a block diagram of an anti-collision control device shown in an exemplary embodiment. The anti-collision control device 1100 can be applied to an electronic device as shown in Figure 10 to implement the technical solution of the present disclosure. The automatic transportation equipment includes a track component and two moving parts. The track component includes a linear track module and an arc track module connected to the linear track module. The device includes:

[0156] A control unit 1102, configured to control the two moving parts to move along the linear track module towards the arc track module;

[0157] An acquisition unit 1104, configured to acquire a safety distance range corresponding to the two moving parts in response to prediction result information indicating a collision risk when the two moving parts turn along the arc track module;

[0158] An adjustment unit 1106, configured to at least adjust the speed of one of the two moving parts according to the safety distance range, so as to control the distance between the two moving parts within the safety distance range.

[0159] In some embodiments, the safety distance range is determined according to experimental tests, or the safety distance range is calculated and determined according to the minimum distance information between the two moving parts, the respective size information of the two moving parts, and the size information of the arc track module.

[0160] In some embodiments, the adjustment unit includes at least one of the following:

[0161] A first adjustment unit, configured to, if the distance between the two moving parts does not fall within the safety distance range, at least adjust the speed of one of the two moving parts when the two moving parts are on the linear track module, so as to adjust the distance between the two moving parts to within the safety distance range;

[0162] A second adjustment unit, configured to, if the distance between the two moving parts falls within the safety distance range, at least adjust the speed of one of the two moving parts when the two moving parts are on the linear track module or the arc track module, so as to control the distance between the two moving parts to change dynamically within the safety distance range. In some embodiments, the device further includes:

[0163] A second control unit, configured to, if the speeds of the two moving parts are the same, control the movement of the two moving parts through the same movement control parameters, so that the two moving parts pass through the arc track module at a constant distance. In some embodiments, the second adjustment unit includes:

[0164] A first adjustment subunit, configured to, when it is determined according to the movement measurement data of the two moving parts that the distance change between the two moving parts reaches a distance change threshold, adjust the speed of at least one of the two moving parts to prevent the distance change between the two moving parts from reaching the boundary threshold of the safety distance range; wherein, the distance change threshold is less than the difference between the upper boundary threshold and the lower boundary threshold of the safety distance range;

[0165] A second adjustment subunit, configured to determine a cornering motion prediction trajectory of the movement positions of the two moving components changing with time according to the motion control parameters and motion measurement data of the two moving components, and according to the cornering motion prediction trajectory, before the distance between the two moving components reaches the boundary threshold of the safe distance range, adjust the speed of at least one of the two moving components so that the distance between the two moving components is controlled within the safe distance range.

[0166] In some embodiments, the apparatus further includes:

[0167] A selection unit, configured to select one of the two moving components as an adjustment object and select the other moving component as a reference object, wherein the adjustment object is used to adjust the relative speed according to the reference object.

[0168] In some embodiments, the adjustment unit includes:

[0169] A third adjustment subunit, configured to if the distance between the reference object and the adjustment object does not fall within the safe distance range, when the reference object and the adjustment object are on the linear track module, with reference to the speed condition of the reference object, relatively adjust the speed of the adjustment object to adjust the distance between the reference object and the adjustment object to within the safe distance range;

[0170] A fourth adjustment subunit, configured to if the distance between the reference object and the adjustment object falls within the safe distance range, when the reference object and the adjustment object are on the linear track module or the arc track module, with reference to the speed condition of the reference object, relatively adjust the speed of the adjustment object to control the distance between the reference object and the adjustment object to change dynamically within the safe distance range.

[0171] In some embodiments, the selection unit includes:

[0172] A first selection subunit, configured to select the moving component in the front as the adjustment object and select the moving component in the back as the reference object among the two moving components according to the moving direction;

[0173] The adjustment unit includes at least one of the following units:

[0174] A fifth adjustment subunit, configured to if the distance between the reference object and the adjustment object is greater than the upper boundary threshold of the safe distance range, when the reference object and the adjustment object are on the linear track module, at least adjust the adjustment object to decelerate relative to the reference object to adjust the distance between the two moving components to within the safe distance range;

[0175] A sixth adjustment subunit, configured to, if the distance between the reference object and the adjustment object is less than the lower boundary threshold of the safe distance range, when the reference object and the adjustment object are on the linear track module, at least adjust the adjustment object to accelerate relative to the reference object, so as to adjust the distance between the two moving parts to within the safe distance range;

[0176] A seventh adjustment subunit, configured to, if the distance between the two moving parts falls within the safe distance range, when the two moving parts are on the linear track module or the arc track module, with reference to the speed condition of the reference object, relatively adjust the speed of the moving part of the adjustment object, so as to control the distance between the two moving parts to vary dynamically within the safe distance range.

[0177] In some embodiments, the selection unit includes:

[0178] A second selection subunit, configured to select the rear moving part as the adjustment object and the front moving part as the reference object according to the moving direction among the two moving parts;

[0179] The adjustment unit includes at least one of the following units:

[0180] An eighth adjustment subunit, configured to, if the distance between the reference object and the adjustment object is greater than the upper boundary threshold of the safe distance range, when the reference object and the adjustment object are on the linear track module, at least adjust the adjustment object to accelerate relative to the reference object, so as to adjust the distance between the two moving parts to within the safe distance range;

[0181] A ninth adjustment subunit, configured to, if the distance between the reference object and the adjustment object is less than the lower boundary threshold of the safe distance range, when the reference object and the adjustment object are on the linear track module, at least adjust the adjustment object to decelerate relative to the reference object, so as to adjust the distance between the two moving parts to within the safe distance range;

[0182] A tenth adjustment subunit, configured to, if the distance between the two moving parts falls within the safe distance range, when the two moving parts are on the linear track module or the arc track module, with reference to the speed condition of the reference object, relatively adjust the speed of the adjustment object, so as to control the distance between the two moving parts to vary dynamically within the safe distance range.

[0183] In some embodiments, the third adjustment subunit is specifically configured to:

[0184] According to the speed condition of the reference object, control the adjustment object to change speed and move at a constant speed relative to the reference object, so that when the distance between the reference object and the adjustment object is adjusted to within the safe distance range, the speed condition of the adjustment object is the same as that of the reference object.

[0185] In some embodiments, the device further includes at least one of the following units:

[0186] A prediction unit, configured to predict whether there is a collision risk when the two moving components turn along the arc track module according to the motion control parameters and motion measurement data of the two moving components, and obtain prediction result information;

[0187] A receiving unit, configured to receive the prediction result information, which is predicted according to the motion control parameters and motion measurement data of the two moving components, and the prediction result information is used to indicate whether there is a collision risk when the two moving components turn along the arc track module.

[0188] In some embodiments, the device further includes:

[0189] A second acquisition unit, configured to acquire a collision risk distance range between the two moving components according to the motion measurement data of the two moving components; wherein, the collision risk distance range is determined by experimental testing, or the collision risk distance range is calculated according to the size information of the two moving components and the size information of the arc track module;

[0190] A third acquisition unit, configured to acquire minimum distance information between the two moving components according to the motion control parameters of the two moving components;

[0191] A comparison unit, configured to compare the collision risk distance range with the minimum distance information, and determine that the minimum distance information is not greater than the upper boundary threshold of the collision risk distance range.

[0192] In some embodiments, the device further includes:

[0193] A fourth acquisition unit, configured to acquire distance prediction information between the two moving components when the two moving components turn along the arc track module according to the motion control parameters and motion measurement data of the two moving components;

[0194] A determination unit, configured to determine that there is a collision risk when the two moving components turn along the arc track module if there is distance prediction information in the distance prediction information between the two moving components that falls within the collision risk distance range.

[0195] In some embodiments, the fourth acquisition unit includes:

[0196] An acquisition subunit, configured to obtain a cornering motion prediction trajectory of the two moving components changing with time according to the motion control parameters and motion measurement data of the two moving components when the two moving components turn along the arc track module;

[0197] A calculation subunit, configured to calculate distance prediction information between the two moving components according to the cornering motion prediction trajectory of the two moving components changing with time.

[0198] In some embodiments, the fourth acquisition unit includes:

[0199] A measurement subunit, configured to measure the distance between the two moving components when it is determined according to the motion control parameters and motion measurement data that the two moving components perform uniform motion with the same speed, and use the measured distance between the two moving components as the distance prediction information between the two moving components when the two moving components turn along the arc track module;

[0200] A second acquisition subunit, configured to obtain a cornering motion prediction trajectory of the two moving components changing with time according to the motion control parameters and motion measurement data when it is determined according to the motion control parameters and motion measurement data that the two moving components do not perform uniform motion with the same speed;

[0201] A second calculation subunit, configured to calculate distance prediction information between the two moving components when the two moving components turn along the arc track module according to the cornering motion prediction trajectory of the two moving components changing with time.

[0202] In some embodiments, the selection unit includes at least one of the following units:

[0203] A third selection subunit, configured to select a moving component meeting the loading condition as a reference object from the two moving components according to the loading state data of the two moving components, and select the other moving component as an adjustment object, where the loading condition is established when the loading state data of the moving component indicates being loaded or loading a specified item;

[0204] A fourth selection subunit, configured to select a moving component meeting the order condition as a reference object from the two moving components according to the motion measurement data of the two moving components, and select the other moving component as an adjustment object, where the order condition is established when the moving components are in a specified order according to the moving direction.

[0205] For the implementation processes of the functions and roles of each unit in the above device, please refer to the implementation processes of the corresponding steps in the above method for details, which will not be elaborated here.

[0206] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to the partial descriptions of the method embodiments. The device embodiments described above are only illustrative. The units described as separated components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of the present disclosure. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0207] Corresponding to the embodiments of the above anti-collision control method, the present disclosure also provides an embodiment of a self-transporting system. The self-transporting system includes an automatic transportation device and an operating device, where:

[0208] The automatic transportation device includes a track component, two moving components, a motion measurement module, and a control module;

[0209] The track component includes a linear track module and an arc track module connected to the linear track module;

[0210] The control module is used to control the two moving components to move along the linear track module towards the arc track module;

[0211] The motion measurement module is used to obtain the safety distance range corresponding to the two moving components in response to the prediction result information indicating that there is a collision risk when the two moving components turn along the arc track module, and send the obtained safety distance range to the control module;

[0212] The control module is used to adjust the speed of at least one of the two moving components according to the safety distance range to control the distance between the two moving components within the safety distance range;

[0213] The operating device is distributed along the track component and is used for item handover with the two moving components, and the item handover includes at least one of item loading and item unloading.

[0214] For the implementation processes of the functions and roles of the devices included in the above system, please refer to the implementation processes of the corresponding steps in the above method for details, which will not be elaborated here.

[0215] The systems, devices, modules, or units illustrated in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer, and the specific form of the computer can be a personal computer, laptop computer, cellular phone, camera phone, smart phone, personal digital assistant, media player, navigation device, email transceiver, game console, tablet computer, wearable device, or a combination of any several of these devices.

[0216] In a typical configuration, a computer includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0217] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM), and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.

[0218] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can store information by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory, or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassette tapes, magnetic disk storage, quantum memory, graphene-based storage media, or other magnetic storage devices, or any other non-transmission media that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.

[0219] The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this disclosure are all information and data that have been authorized by the user or fully authorized by all parties. Moreover, the collection, use, and processing of relevant data need to comply with the relevant laws, regulations, and standards of the relevant countries and regions, and corresponding operation entrances are provided for users to choose to authorize or refuse.

[0220] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, commodity or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, commodity or device comprising said element.

[0221] The specific embodiments of the present disclosure have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve the desired result. Additionally, the processes depicted in the figures do not necessarily require the particular order or sequential order shown to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0222] The terms used in one or more embodiments of the present disclosure are for the purpose of describing specific embodiments only and are not intended to limit one or more embodiments of the present disclosure. The singular forms "a", "the" and "said" used in one or more embodiments of the present disclosure and the appended claims are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0223] It should be understood that although the terms first, second, third, etc. may be used in one or more embodiments of the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of one or more embodiments of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "upon" or "in response to determining".

[0224] The above are only the preferred embodiments of one or more embodiments of the present disclosure and are not intended to limit one or more embodiments of the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of one or more embodiments of the present disclosure shall be included within the scope of protection of one or more embodiments of the present disclosure.

Claims

1. A collision avoidance control method, characterized in that, The method is applied to an automatic transportation device, which includes a track component and two moving components. The track component includes a linear track module and an arc track module connected to the linear track module. The method includes: Controlling the two moving components to move along the linear track module towards the arc track module; In response to prediction result information indicating a collision risk when the two moving components turn along the arc track module, obtaining the safety distance range corresponding to the two moving components; According to the safety distance range, at least adjusting the speed of one of the two moving components to control the distance between the two moving components within the safety distance range.

2. The method according to claim 1, characterized in that, The safety distance range is determined based on experimental tests, or the safety distance range is calculated based on the minimum distance information between the two moving components, the respective size information of the two moving components, and the size information of the arc track module.

3. The method according to claim 1, wherein The at least adjusting the speed of one of the two moving components to control the distance between the two moving components within the safety distance range includes at least one of the following: If the distance between the two moving components does not fall within the safety distance range, when the two moving components are on the linear track module, at least adjusting the speed of one of the two moving components to adjust the distance between the two moving components to within the safety distance range; If the distance between the two moving components falls within the safety distance range, when the two moving components are on the linear track module or the arc track module, at least adjusting the speed of one of the two moving components to control the distance between the two moving components to vary dynamically within the safety distance range.

4. The method according to claim 3, wherein After the at least adjusting the speed of one of the two moving components to adjust the distance between the two moving components to within the safety distance range, the method further includes: If the speeds of the two moving components are the same, controlling the two moving components to move by the same motion control parameters so that the two moving components pass through the arc track module at a constant distance.

5. The method according to claim 3, characterized in that, The at least adjusting the speed of one of the two moving components to control the distance between the two moving components to vary dynamically within the safety distance range includes: When it is determined according to the motion measurement data of the two moving components that the distance change between the two moving components reaches a distance change threshold, adjusting the speed of at least one of the two moving components to prevent the distance change between the two moving components from reaching the boundary threshold of the safety distance range; wherein, the distance change threshold is less than the difference between the upper boundary threshold and the lower boundary threshold of the safety distance range. Based on the motion control parameters and motion measurement data of the two moving components, determine the cornering motion prediction trajectory of the motion positions of the two moving components changing with time. And according to the cornering motion prediction trajectory, before the distance between the two moving components reaches the boundary threshold of the safe distance range, adjust the speed of at least one of the two moving components so that the distance between the two moving components is controlled within the safe distance range.

6. The method according to claim 1, characterized in that Before at least adjusting the speed of one of the two moving components according to the safe distance range, the method further includes: Among the two moving components, select one moving component as the adjustment object and select the other moving component as the reference object, wherein the adjustment object is used to adjust the relative speed according to the reference object.

7. The method according to claim 6, wherein At least adjusting the speed of one of the two moving components according to the safe distance range to control the distance between the two moving components within the safe distance range includes at least one of the following: If the distance between the reference object and the adjustment object does not fall within the safe distance range, when the reference object and the adjustment object are on the linear track module, refer to the speed condition of the reference object and relatively adjust the speed of the adjustment object to adjust the distance between the reference object and the adjustment object to within the safe distance range; If the distance between the reference object and the adjustment object falls within the safe distance range, when the reference object and the adjustment object are on the linear track module or the arc track module, refer to the speed condition of the reference object and relatively adjust the speed of the adjustment object to control the distance between the reference object and the adjustment object to change dynamically within the safe distance range.

8. The method according to claim 6, wherein Selecting one moving component as the adjustment object and selecting the other moving component as the reference object among the two moving components includes: Among the two moving components, select the moving component in the front as the adjustment object and select the moving component in the back as the reference object according to the moving direction; At least adjusting the speed of one of the two moving components according to the safe distance range to control the distance between the two moving components within the safe distance range includes at least one of the following: If the distance between the reference object and the adjustment object is greater than the upper boundary threshold of the safe distance range, when the reference object and the adjustment object are on the linear track module, at least adjust the adjustment object to decelerate relative to the reference object to adjust the distance between the two moving components to within the safe distance range; If the distance between the reference object and the adjustment object is less than the lower boundary threshold of the safe distance range, when the reference object and the adjustment object are on the linear track module, at least adjust the adjustment object to accelerate relative to the reference object to adjust the distance between the two moving components to within the safe distance range; If the distance between the two moving components falls within the safe distance range, when the two moving components are on the linear track module or the arc track module, the speed of the moving component of the relative adjustment object is adjusted with reference to the speed of the reference object, so as to control the distance between the two moving components to change dynamically within the safe distance range.

9. The method according to claim 6, characterized in that, Selecting one of the two moving components as the adjustment object and selecting the other moving component as the reference object includes: Among the two moving components, according to the moving direction, select the rear moving component as the adjustment object and select the front moving component as the reference object; According to the safe distance range, at least adjust the speed of one of the two moving components to control the distance between the two moving components within the safe distance range, including at least one of the following: If the distance between the reference object and the adjustment object is greater than the upper boundary threshold of the safe distance range, when the reference object and the adjustment object are on the linear track module, at least adjust the adjustment object to accelerate relative to the reference object, so as to adjust the distance between the two moving components to within the safe distance range; If the distance between the reference object and the adjustment object is less than the lower boundary threshold of the safe distance range, when the reference object and the adjustment object are on the linear track module, at least adjust the adjustment object to decelerate relative to the reference object, so as to adjust the distance between the two moving components to within the safe distance range; If the distance between the two moving components falls within the safe distance range, when the two moving components are on the linear track module or the arc track module, the speed of the adjustment object is adjusted relatively with reference to the speed of the reference object, so as to control the distance between the two moving components to change dynamically within the safe distance range.

10. The method according to claim 7, wherein Adjusting the speed of the adjustment object relatively with reference to the speed of the reference object to adjust the distance between the reference object and the adjustment object to within the safe distance range includes: With reference to the speed of the reference object, control the adjustment object to change speed and move at a constant speed relative to the reference object, so that when the distance between the reference object and the adjustment object is adjusted to within the safe distance range, the speed of the adjustment object is the same as that of the reference object.

11. The method according to claim 1, characterized in that, Before obtaining the safe distance range corresponding to the two moving components in response to the prediction result information indicating that there is a collision risk when the two moving components turn along the arc track module, at least any one of the following steps is further included: According to the motion control parameters and motion measurement data of the two moving components, predict whether there is a collision risk when the two moving components turn along the arc track module, and obtain the prediction result information; Receive the predicted result information, which is predicted based on the motion control parameters and motion measurement data of the two moving parts, and is used to indicate whether there is a collision risk when the two moving parts turn along the arc track module.

12. The method according to claim 1, wherein Before responding to the predicted result information indicating that there is a collision risk when the two moving parts turn along the arc track module, the method further includes: According to the motion measurement data of the two moving parts, obtain the collision risk distance range between the two moving parts; wherein, the collision risk distance range is determined by experimental tests, or the collision risk distance range is calculated according to the size information of the two moving parts and the size information of the arc track module; According to the motion control parameters of the two moving parts, obtain the minimum distance information between the two moving parts; Compare the collision risk distance range with the minimum distance information, and determine that the minimum distance information is not greater than the upper boundary threshold of the collision risk distance range.

13. The method according to claim 12, wherein Before responding to the predicted result information indicating that there is a collision risk when the two moving parts turn along the arc track module, the method further includes: According to the motion control parameters and motion measurement data of the two moving parts, obtain the distance prediction information between the two moving parts when the two moving parts turn along the arc track module; If there is distance prediction information in the distance prediction information between the two moving parts that falls within the collision risk distance range, determine that there is a collision risk when the two moving parts turn along the arc track module.

14. The method according to claim 13, characterized in that, The obtaining of the distance prediction information between the two moving parts when the two moving parts turn along the arc track module according to the motion control parameters and motion measurement data of the two moving parts includes: According to the motion control parameters and motion measurement data of the two moving parts, obtain the turning motion prediction trajectory of the motion positions of the two moving parts changing with time when the two moving parts turn along the arc track module; Calculate the distance prediction information between the two moving parts according to the turning motion prediction trajectory of the motion positions of the two moving parts changing with time.

15. The method according to claim 13, wherein The obtaining of the distance prediction information between the two moving parts when the two moving parts turn along the arc track module according to the motion control parameters and motion measurement data of the two moving parts includes: When it is determined according to the motion control parameters and motion measurement data that the two moving parts are moving at a constant speed with the same speed, measure the distance between the two moving parts, and use the measured distance between the two moving parts as the distance prediction information between the two moving parts when the two moving parts turn along the arc track module; When it is determined that the two moving components do not perform uniform motion with the same speed according to the motion control parameters and the motion measurement data, according to the motion control parameters and the motion measurement data, obtain the cornering motion prediction trajectories of the two moving components when the two moving components turn along the arc track module, where the motion positions of the two moving components change with time; According to the cornering motion prediction trajectories of the two moving components where the motion positions change with time, calculate the distance prediction information between the two moving components when the two moving components turn along the arc track module.

16. The method according to claim 6, wherein The selection of one moving component as the adjustment object and the selection of another moving component as the reference object include at least one of the following: According to the load state data of the two moving components, select the moving component that meets the loading condition from the two moving components as the reference object and select the other moving component as the adjustment object, where the loading condition is established when the load state data of the moving component indicates that it is loaded or loaded with a specified item; According to the motion measurement data of the two moving components, select the moving component that meets the order condition from the two moving components as the reference object and select the other moving component as the adjustment object, where the order condition is established when the moving components are in a specified order according to the moving direction.

17. An anti-collision control device, characterized in that, The device is applied to an automatic transportation device, the automatic transportation device includes a track component and two moving components, the track component includes a linear track module and an arc track module connected to the linear track module, and the device includes: A control unit for controlling the two moving components to move along the linear track module towards the arc track module; An acquisition unit for obtaining the corresponding safety distance range of the two moving components in response to the prediction result information indicating that there is a collision risk when the two moving components turn along the arc track module; An adjustment unit for adjusting at least the speed of one of the two moving components according to the safety distance range to control the distance between the two moving components within the safety distance range.

18. A self-feed transportation system, characterized in that, The self-transporting system includes an automatic transportation device and an operating device, where: The automatic transportation device includes a track component, two moving components, a motion measurement module, and a control module; The track component includes a linear track module and an arc track module connected to the linear track module; The control module is used to control the two moving components to move along the linear track module towards the arc track module; The motion measurement module is used to obtain the corresponding safety distance range of the two moving components in response to the prediction result information indicating that there is a collision risk when the two moving components turn along the arc track module, and send the obtained safety distance range to the control module; The control module is used to adjust at least the speed of one of the two moving components according to the safety distance range to control the distance between the two moving components within the safety distance range; The operating device is distributed along the track component and is used for item transfer with the two moving components, and the item transfer includes at least one of item loading and item unloading.

19. An electronic device, characterized in that, It includes a communication interface, a processor, a memory, and a bus, and the communication interface, the processor, and the memory are interconnected with each other through the bus; Machine-readable instructions are stored in the memory, and the processor executes the method according to any one of claims 1 to 16 by calling the machine-readable instructions.

20. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores machine-readable instructions, and when the machine-readable instructions are called and executed by a processor, the method according to any one of claims 1 to 16 is implemented.

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