Collision control method, device and system, electronic equipment and storage medium

Abstract

The invention provides a 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 a plurality of moving components, and the track component comprises a linear track module and an arc track module connected with the linear track module. The plurality of moving parts move towards the arc track module along the linear track module, and the method comprises the following steps: when the plurality of moving parts move along the linear track module, acquiring motion control parameters and motion measurement data of the plurality of moving parts; and according to the motion control parameters and the motion measurement data of the plurality of moving parts, predicting whether adjacent moving parts in the plurality of moving parts have a collision risk when turning along the arc track module. Therefore, whether the collision risk exists in the turning process of the moving part or not is predicted in advance, risk prompting is carried out in time, follow-up possible collision can be avoided, and the safety of the automatic transportation equipment is improved.

Description

Technical Field

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

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

[0003] When the moving parts move along the linear conveying part included in the automatic transportation equipment, there is usually a certain distance between multiple moving parts, so as to avoid collisions between multiple moving parts in the linear conveying part. However, when the automatic transportation equipment includes an arc conveying part, since multiple moving parts will deflect in angle when passing through the arc conveying part (which can also be briefly described as turning in the text of the present disclosure), it may cause adjacent moving parts that originally maintained a certain distance in the linear conveying part to collide in the arc conveying part. This not only affects the operation efficiency of the automatic transportation equipment, but also may cause damage to the equipment and items. Summary of the Invention

[0004] To solve the technical problem that moving parts may collide when turning in the related art, the present disclosure provides a collision control method. The method is applied to an automatic transportation equipment, which includes a track component and a plurality of moving parts. The track component includes a linear track module and an arc track module connected to the linear track module. The plurality of moving parts move along the linear track module towards the arc track module. The method includes:

[0005] When the plurality of moving parts move along the linear track module, obtain the motion control parameters and motion measurement data of the plurality of moving parts;

[0006] According to the motion control parameters and motion measurement data of the plurality of moving parts, predict whether there is a collision risk when adjacent moving parts among the plurality of moving parts turn along the arc track module.

[0007] The present disclosure also provides a collision control apparatus, which is connected to the automatic transportation equipment. The automatic transportation equipment includes a track component and a plurality of moving parts. The track component includes a linear track module and an arc track module connected to the linear track module. The plurality of moving parts move along the linear track module towards the arc track module. The apparatus includes:

[0008] An obtaining unit, configured to obtain the motion control parameters and motion measurement data of the plurality of moving parts when the plurality of moving parts move along the linear track module;

[0009] A prediction unit, configured to predict whether there is a collision risk when adjacent moving components among the plurality of moving components turn along the arc track module according to the motion control parameters and motion measurement data of the plurality of moving components.

[0010] The present disclosure further provides a self-transporting system, which includes an automatic transportation device and an operating device, wherein:

[0011] The automatic transportation device includes a track component, a plurality of moving components, a motion measurement module, and a control module;

[0012] The track component includes a linear track module and an arc track module connected to the linear track module;

[0013] The plurality of moving components are configured to move along the linear track module towards the arc track module;

[0014] The motion measurement module is configured to collect motion measurement data of the plurality of moving components when the plurality of moving components move along the track component, and send the collected motion measurement data to the control module;

[0015] The control module is configured to predict whether there is a collision risk when adjacent moving components among the plurality of moving components turn along the arc track module according to the motion control parameters and motion measurement data of the plurality of moving components;

[0016] The operating device is distributed along the track component and is configured to perform item handover with the plurality of moving components, and the item handover includes at least one of item loading and item unloading.

[0017] The present disclosure further provides an electronic device, including a communication interface, a processor, a memory, and a bus, and the communication interface, the processor, and the memory are interconnected through the bus;

[0018] Machine-readable instructions are stored in the memory, and the processor executes the above method by invoking the machine-readable instructions.

[0019] The present disclosure further provides a machine-readable storage medium, which stores machine-readable instructions, and the machine-readable instructions, when called and executed by a processor, implement the above method.

[0020] In the above manner, when several moving components move along the linear track module, the automatic transportation device will collect the motion control parameters and motion measurement data of the several moving components, so as to predict whether there is a collision risk when adjacent moving components among the several moving components turn along the arc track module according to their respective motion control parameters and motion measurement data when located on the linear track module. After adopting the technical solution of the present disclosure, through the motion control parameters and motion measurement data of several moving components, it is possible to predict whether there is a collision risk when the moving components turn, so that the collision risk existing when several moving components turn can be obtained in advance, the risk warning ability of the automatic transportation device can be improved, and the damage risk of the device and articles can be reduced. Description of the Drawings

[0021] 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, without creative efforts, other drawings can also be obtained according to these drawings.

[0022] Figure 1 is a schematic diagram of a collision between adjacent moving components;

[0023] Figure 2 is a flowchart of a collision control method applied to an automatic transportation device shown in an exemplary embodiment;

[0024] Figure 3 is a schematic diagram of the motion of adjacent moving components shown in an exemplary embodiment;

[0025] Figure 4 is a schematic diagram of the predicted motion trajectory of adjacent moving components shown in an exemplary embodiment;

[0026] Figure 5 is a schematic diagram of a situation of selecting a safe distance range shown in an exemplary embodiment;

[0027] Figure 6 is a schematic diagram of another situation of selecting a safe distance range shown in an exemplary embodiment;

[0028] Figure 7 is a schematic diagram of dynamically adjusting the distance between two moving components shown in an exemplary embodiment;

[0029] Figure 8 is a hardware structure diagram of an electronic device shown in an exemplary embodiment;

[0030] Figure 9It is a block diagram of a collision control device shown in an exemplary embodiment. Detailed implementation manners

[0031] In order to enable those skilled in the art to better understand the technical solutions in this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this disclosure. Obviously, the described embodiments are only a part of the embodiments of this disclosure, rather than all the embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this disclosure.

[0032] 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 this disclosure. In some other embodiments, the steps included in the method may be more or less than those described in this disclosure. In addition, a single step described in this disclosure may be decomposed into multiple steps for description in other embodiments; and multiple steps described in this disclosure may also be combined into a single step for description in other embodiments.

[0033] Automated transportation equipment is widely used in industrial production. The moving parts of the automated transportation equipment can be used to transport items efficiently and continuously. When the moving parts move along the linear conveying part included in the automated transportation equipment, there is usually a certain distance between multiple moving parts, so as to avoid collisions between multiple moving parts on the linear conveying part. However, when the automated transportation equipment includes an arc conveying part, since multiple moving parts will deflect in angle when passing through the arc conveying part (which can also be briefly described as turning in this disclosure text), it may cause adjacent moving parts that originally maintained a certain distance on the linear conveying part to collide on the arc conveying part. This not only affects the operation efficiency of the automated transportation equipment, but also may cause damage to the equipment and items.

[0034] For example, please refer to Figure 1 , Figure 1 is a schematic diagram of a collision between adjacent moving parts. As Figure 1As shown, the automatic transportation device includes track components, which may include straight track modules and arc track modules. Assume that among several moving components, there are two moving components with an adjacent relationship (i.e., adjacent moving components), which are moving component A and moving component B respectively. Generally, the adjacent moving components A and B can determine the distance d between them according to the designated reference points (such as geometric center points) at the same positions of each of them. The existence of this distance d enables the adjacent moving components to avoid collisions when moving on the straight track module. However, when the adjacent moving components A and B enter the arc track module, the movement angles of the adjacent moving components A and B deflect to varying degrees. Or, it can be understood that the central axes of the adjacent moving component A and the moving component B change from parallel to intersecting. Even if the adjacent moving components A and B still maintain the original distance d on the straight track module in the arc track module, the moving components A and B may still collide.

[0035] In view of this, the present disclosure aims to propose a technical solution for collision control of moving components, which can at least obtain in advance the collision risks existing when several moving components turn, improve the risk warning ability of the automatic transportation device, and reduce the damage risks of the device and items.

[0036] When several moving components move along the straight track module, the motion control parameters and motion measurement data of the several moving components are obtained, so as to predict whether there is a collision risk when the adjacent moving components among the several moving components turn along the arc track module according to the respective motion control parameters and motion measurement data of the several moving components when they are on the straight track module.

[0037] In the above manner, the technical solution of the present disclosure can predict whether there is a collision risk when the moving components turn through the motion control parameters and motion measurement data of the several moving components, so as to obtain in advance the collision risks existing when the several moving components turn, improve the risk warning ability of the automatic transportation device, and reduce the damage risks of the device and items.

[0038] The following describes the present disclosure through specific embodiments in combination with specific application scenarios.

[0039] Please refer to Figure 2 , Figure 2 which is a flowchart of a collision control method applied to an automatic transportation device shown in an exemplary embodiment. Among them, the automatic transportation device may include track components and several moving components. The track components include a straight track module and an arc track module connected to the straight track module. The several moving components move along the straight track module towards the arc track module. The method may perform the following steps:

[0040] Step 202: When the plurality of moving components move along the linear track module, obtain the motion control parameters and motion measurement data of the plurality of moving components.

[0041] The track components and the moving components included in the automatic transportation device of the present disclosure may have a magnetic coupling relationship, so as to drive the moving components to move along the track components. Specifically, the track components are provided with exciting components (which can be understood as components composed of coils, such as armature windings). After the exciting components are energized, a variable magnetic field is generated. The moving components included in the automatic transportation device are provided with magnetic components (which can be understood as components with a magnetic field, such as permanent magnets, magnets, etc.), which are used to interact with the variable magnetic field generated by the energization of the exciting components to generate an electromagnetic force acting on the moving components, so as to drive the moving components to move along the track components. The control module included in the automatic transportation device adjusts the magnetic field strength and direction of the track components by controlling the magnitude and direction of the current flowing to the exciting components, so as to realize the regulation of motion physical quantities such as the speed and acceleration of the moving components.

[0042] It should be noted that the track components 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 components can extend along the moving direction of the moving components. The shape of the track module can be linear or arc-shaped, that is, the track module is divided into a linear track module and an arc track module. The shape of the track components along the moving direction is determined by the linear track module and / or the arc track module. The shape of the track components along the moving direction may be a closed shape (such as circular, oval, square circular, etc.) or an open shape (such as linear, C-shaped, S-shaped, U-shaped, etc.). The present disclosure does not limit the shape formed by the track components extending along the moving direction of the moving components. The present disclosure only discusses the case where the moving components move from the linear track module to the arc track module.

[0043] During the process of the moving components moving along the track components, the motion measurement module of the automatic transportation device can measure the motion state of the moving components in real time, so as to obtain the motion measurement data of the moving components. Specifically, the motion state of the moving components may include the moving position of the moving components, the moving speed of the moving components, the acceleration of the moving components, etc. Correspondingly, the motion measurement data of the moving components may include the moving position information of the moving components, the moving speed information of the moving components, and the acceleration information of the moving components, etc.

[0044] Among them, the motion acquisition module can be a contact type motion acquisition module or a non-contact type motion acquisition module. For the motion acquisition module, it can be acquired 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 the motion image data of the automatic transportation device through the image sensor and analyzes it 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.

[0045] 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. The values of the motion control parameters configured for each moving part can be the same or different.

[0046] 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.

[0047] 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 aforementioned motion measurement data, the first motion parameter information can be dynamically calculated under the condition of conforming to the second motion parameter information, so as to control 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, 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.

[0048] 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 on this.

[0049] 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 can be obtained by retrieving.

[0050] In a specific implementation, assume that there are two adjacent moving parts, namely moving part A and moving part B. Moving part A and moving part B are respectively configured with motion control parameters. The motion control parameters can be used to control moving part A and moving part B to move along the track part. By measuring the motion states of moving part A and moving part B in real time, the motion measurement data of moving part A and the motion measurement data of moving part B can be obtained.

[0051] It can be understood that in practical 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 pairs of adjacent moving parts. 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.

[0052] Step 204: Predict whether there is a collision risk when adjacent moving parts among the several moving parts turn along the arc track module according to the motion control parameters and motion measurement data of the several moving parts.

[0053] The motion state of each moving part in the linear track module can be determined through the motion measurement data of each moving part, and the expected motion state of each moving part can be determined through the motion control parameters of each moving part. Therefore, according to 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.

[0054] In a specific implementation, since the moving part is used to transport items, the moving part may include a moving body and an item placement sub-part. The moving body is used to be magnetically coupled with the moving part and move under force, and the item placement 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 placement sub-part, and the loaded items.

[0055] For example, when adjacent moving components turn along the arc track module, collisions may occur between the moving bodies of adjacent moving components, between the storage sub-components of adjacent moving components, between the items of adjacent moving components, between the storage sub-component of one moving component and the item of another moving component, between the body of one moving component and the storage sub-component of another moving component, etc. The present disclosure does not make specific limitations on this.

[0056] According to one or more situations where collisions may occur when adjacent moving components turn along the arc track module, different collision risk distance ranges between adjacent moving components can be determined in advance. Among them, the collision risk distance range can represent the distance range in which collisions will occur between adjacent moving components, and there is a corresponding relationship between the collision risk distance range and the identification information of the adjacent moving components. When predicting whether there is a collision risk when adjacent moving components among several moving components turn along the arc track module, according to the motion measurement data of the several moving components, the identification information of the moving components with an adjacent relationship among the several moving components can be determined, so as to obtain the corresponding collision risk distance range, and the collision risk can be predicted by predicting the distance between adjacent moving components when they are on the arc track module.

[0057] It can be understood that the collision risk distance range can have an upper boundary threshold and a lower boundary threshold. According to the actual situation (such as the specific structure of the moving component, the volume of the item, etc.), the upper boundary threshold and the lower boundary threshold of the collision risk distance range can be the same or different.

[0058] 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.

[0059] When the distance between adjacent moving components when they are on the arc track module is not less than the lower boundary threshold and not greater than the upper boundary threshold, that is, when it falls within the collision risk distance range, it can be determined that a collision will occur when the adjacent moving components turn along the arc track module.

[0060] Among them, the distance between adjacent moving parts can be the straight-line distance between the reference points of the adjacent moving parts, or the distance between adjacent moving parts can be the length along the track module between the reference points of the adjacent moving parts. In the case of a straight track module, the distance between adjacent moving parts is the straight-line length between the reference points of the adjacent moving parts. In the case of an arc track module, the distance between adjacent moving parts is the arc length between the reference points of the adjacent moving parts. 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 optical, electromagnetic method, the length along the track module is obtained when deployed along the track module.

[0061] In one of the illustrated embodiments, the collision risk distance range can be determined by experimental testing, or the collision risk distance range can be calculated based on the size information of the adjacent moving parts and the size information of the arc track module.

[0062] When the collision risk distance range is determined by experimental testing, the actual operation scenario is simulated physically for experimental testing. For example, in each experiment, after controlling the distance between adjacent moving parts at different distance values on the straight track module, the adjacent moving parts are controlled to move uniformly towards the arc track module to record whether a collision occurs when the adjacent moving parts turn along the arc track module at different distances. Through multiple experiments and analysis of the experimental test data, a more accurate collision risk distance range can be obtained.

[0063] For example, during the experimental testing process, assume there are two adjacent moving parts, namely moving part A and moving part B. According to the actual operation scenario, moving part A and moving part B can each include a storage sub-component, and moving part A and moving part B can be loaded with items. Moving part A and moving part B move uniformly at the same speed on the straight track module, and moving part A will enter the arc track module later than moving part B. First, control the initial distance between moving part A and moving part B to be the value d0, and ensure that moving part A and moving part B do not collide when moving through the curve at this initial distance. Each time the test is carried out, gradually reduce the distance between moving part A and moving part B, and observe whether a collision occurs. Record the distance between moving part A and moving part B when a collision occurs, and statistically record the distances to obtain the collision risk distance range of moving part A and moving part B.

[0064] When the collision risk distance range is determined by calculation, based on the size information of each moving part in the adjacent moving parts 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 adjacent moving parts to move uniformly towards the simulation model corresponding to the arc track module at a certain distance along the simulation model corresponding to the linear track module, it is possible to record whether a collision occurs when the models corresponding to the adjacent moving parts pass through the bend along the model corresponding to the arc track module at different distances.

[0065] Alternatively, based on the size information of each moving part in the adjacent moving parts and the size information of the arc track module, geometric calculations can be performed to determine the possible collision positions when the adjacent moving parts pass through the bend along the arc track module, as well as the distance between the adjacent moving parts when a collision occurs, thereby forming the collision risk distance range corresponding to the adjacent moving parts.

[0066] 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 parallel to the moving direction may further include: the length information of the specified 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 specified 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 specified 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 can be determined by the larger one of the moving body, the object-carrying subpart, and the item of the moving part. 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.

[0067] The shape of the outer contour of each moving part may be a regular geometric shape or an irregular geometric shape. For the outer contour of the moving part being a regular geometric shape, there may be only one collision position when the adjacent moving parts pass through the arc track module. For the outer contour of the moving part being an irregular geometric shape, there may be one or more collision positions when the adjacent moving parts pass through the arc track module. Thus, based on the size information of each moving part and the size information of the arc track module, the distance value corresponding to the collision when the adjacent moving parts are in the arc track module can be obtained, and then based on the distance value corresponding to the collision between the adjacent moving parts, the collision risk distance range corresponding to the adjacent moving parts can be obtained.

[0068] It can be understood that when adjacent moving components move towards the arc track module, it is possible that when the subsequent moving component has not entered the arc track module, due to the deflection of the preceding moving component entering the arc track module, a collision occurs between the subsequent moving component and the preceding moving component; or it is possible that after the subsequent moving component enters the arc track module, both the preceding moving component and the subsequent moving component deflect, resulting in a collision between the two. Regarding whether both moving components are in the arc track module when a collision occurs between adjacent moving components, the present disclosure does not limit this.

[0069] It can also be understood that considering the installation error of the moving component, the measurement error of various dimensional information, and the minimum measurement unit of the motion measurement module, the boundary threshold of the obtained collision risk distance range can be optimized. For example, according to the installation error of the moving component and the measurement error of various dimensional information, the upper boundary threshold of the collision risk distance range can be increased, and / or the lower boundary threshold of the collision risk distance range can be decreased, so that the optimized collision risk distance range better matches the actual operation scenario.

[0070] In an illustrated embodiment, before predicting whether there is a collision risk when adjacent moving components among the plurality of moving components turn along the arc track module according to the motion control parameters and motion measurement data of the plurality of moving components, the method further includes: obtaining a collision risk distance range between adjacent moving components among the plurality of moving components according to the motion measurement data of the plurality of moving components; wherein, the collision risk distance range is determined by experimental testing, or the collision risk distance range is calculated according to the dimensional information of the adjacent moving components and the dimensional information of the arc track module; obtaining the minimum distance information between adjacent moving components among the plurality of moving components according to the motion control parameters of the plurality of moving components; 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.

[0071] From the relevant description, it can be known that the motion control parameters of the moving component can include minimum distance information, and the minimum distance information is used to indicate the minimum distance between the corresponding moving component and the adjacent moving component. The minimum distance information can prevent a collision between the moving component and the adjacent moving component during emergency braking, and is usually not less than the minimum measurement accuracy of the motion measurement module.

[0072] It can be understood that considering that a smaller distance can be adopted when adjacent moving components are in the linear track module, so that the plurality of moving components 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.

[0073] 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 adjacent moving parts among several moving parts turn along the arc track module, and collision prediction can be omitted, thereby 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 prediction is performed.

[0074] Thus, after obtaining the collision risk distance range, by comparing the collision risk distance range with the minimum distance information, the timing for performing collision prediction can be determined, thereby reducing the data operation volume.

[0075] In an illustrated embodiment, predicting whether there is a collision risk when adjacent moving parts among the several moving parts turn along the arc track module according to the motion control parameters and motion measurement data of the several moving parts includes: obtaining, according to the motion control parameters and motion measurement data of the several moving parts, distance prediction information between adjacent moving parts among the several moving parts when the several moving parts turn along the arc track module; and if there is distance prediction information falling within the collision risk distance range in the distance prediction information between adjacent moving parts among the several moving parts, determining that there is a collision risk when adjacent moving parts among the several moving parts turn along the arc track module.

[0076] For example, in an automatic transportation device, assume that there are two adjacent moving parts, namely moving part A and moving part B. Moving part A and moving part B move along a straight track module, and moving part A enters the arc track module later than moving part B. The automatic transportation device determines, by combining the motion measurement data of moving part A and moving part B collected in real time with the motion control parameters of moving part A and moving part B, that moving part A moves at a constant speed V1 and moving part B moves at a constant speed V2, and V1 > V2. The current distance between the two moving parts on the straight 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 part A and moving part B turn, otherwise, it is predicted that there will be no collision risk when moving part A and moving part B turn.

[0077] 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 pairs, and then the possible collision situations can be predicted through iterative calculations. For example, the motion trajectories of the moving parts can be mapped to the time-space coordinate system, and the collision risk can be judged by analyzing the trajectory curves, etc.

[0078] In one of the illustrated embodiments, obtaining the distance prediction information between adjacent moving parts among the plurality of moving parts when the plurality of moving parts turn along the arc track module according to the motion control parameters and motion measurement data of the plurality of moving parts includes: obtaining the turning motion prediction trajectories of the positions of the adjacent moving parts among the plurality of moving parts changing with time when the plurality of moving parts turn along the arc track module according to the motion control parameters and motion measurement data of the plurality of moving parts; calculating the distance prediction information between the adjacent moving parts according to the turning motion prediction trajectories of the positions of the adjacent moving parts among the plurality of moving parts changing with time.

[0079] 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 positions of each moving part changing with time can be generated. The motion prediction trajectories indicate the change of the motion positions with time when each moving part moves from the linear track module to the arc track module and moves out of the arc track module.

[0080] For example, assume there are two moving parts with an adjacent relationship, namely moving part A and B. Moving parts A and B move along a linear track module, and moving part A will enter 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 uniform linear motion at a constant speed V1 on the linear track module and perform uniform arc motion with a linear speed 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 variable-speed linear motion on the linear track module and 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 accelerating motion, decelerating 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.

[0081] 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 adjacent moving parts, according to the position information of the adjacent moving parts, the distances from the adjacent 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 adjacent 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 adjacent 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.

[0082] Alternatively, after obtaining the motion prediction trajectories of adjacent moving parts, by combining the position information, speed information, and motion control parameters of the adjacent moving parts, the times when the adjacent moving parts enter and exit the arc track module can be determined. Thus, according to the times when the adjacent moving parts enter and exit the arc track module respectively, the corresponding cornering motion prediction trajectories can be obtained.

[0083] Please refer to Figure 3 , Figure 3 which is a schematic diagram showing the motion conditions of adjacent moving parts shown in an exemplary embodiment.

[0084] Such as Figure 3As shown, the automatic transportation device includes a track component and a number of moving components. The track component is composed of a linear track module and an arc track module connected to the linear track module. Suppose among the number of moving components, there are two adjacent moving components, namely moving component A and B. When the adjacent 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 of them is d. The moving components A and B move from 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.

[0085] Please refer to Figure 4 , Figure 4 which is a schematic diagram of the predicted movement trajectories of adjacent moving components shown in an exemplary embodiment.

[0086] As Figure 4 shown, before the adjacent moving components A and B enter the arc track module, based on the movement measurement data and movement control parameters of the adjacent moving components A and B, the predicted cornering movement trajectories of the adjacent 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 adjacent 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 back in the moving direction of the adjacent 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 adjacent moving components A and B is equal to the difference between the position prediction information corresponding to each of the adjacent 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.

[0087] In an illustrated embodiment, obtaining distance prediction information between adjacent moving components among the plurality of moving components when the plurality of moving components turn along the arc track module according to the motion control parameters and motion measurement data of the plurality of moving components includes: when it is determined according to the motion control parameters and motion measurement data of the plurality of moving components that the plurality of moving components perform uniform motion at the same speed, determining the distance between adjacent moving components among the plurality of moving components according to the motion measurement data, and using the obtained distance between adjacent moving components among the plurality of moving components as the distance prediction information between the adjacent moving components; when it is determined according to the motion control parameters and motion measurement data of the plurality of moving components that the plurality of moving components do not perform uniform motion at the same speed, obtaining, according to the motion control parameters and motion measurement data, a turning motion prediction trajectory of the motion positions of adjacent moving components among the plurality of moving components changing with time when the plurality of moving components turn along the arc track module, and calculating the distance prediction information between the adjacent moving components according to the turning motion prediction trajectory of the motion positions of adjacent moving components among the plurality of moving components changing with time.

[0088] For example, assume that there are two adjacent moving components, namely moving component A and moving component B. Moving component A and moving component 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 component A and moving component B, it is determined that both moving component A and moving component B move at a constant speed of V1, and the distance between moving component A and moving component B is d. Based on this, it is predicted that after moving component A and moving component B enter the arc track module, the relative positions of moving component A and moving component 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 the calculation cost.

[0089] If moving component A moves at a constant speed of V1 and moving component B moves at a constant speed of V2, and V1 > V2. The current distance between the two moving components is d. Through calculation, the automatic transportation 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 component A and moving component B changing with time when they turn along the arc track module. According to the turning motion prediction trajectories, the distance between moving component A and moving component 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 component A and moving component B turn along the arc track module.

[0090] In one illustrated embodiment, after predicting whether there is a collision risk when adjacent moving components among the plurality of moving components turn along the arc track module, the method further includes: if it is predicted that there is a collision risk when adjacent moving components among the plurality of moving components turn along the arc track module, controlling the distance between the adjacent moving components among the plurality of moving components within a safe distance range, where the safe distance range is outside the collision risk distance range, and the safe distance range is determined according to the minimum distance information and the collision risk distance range.

[0091] Among them, the safe distance range refers to the distance range that ensures that adjacent moving components do not collide when moving along the arc track module. The safe distance range is outside the collision risk distance range and needs to meet the requirements of the minimum distance information. The acquisition process of the collision risk distance range can be referred to the relevant part of the description and will not be elaborated here.

[0092] It should be noted that since the collision risk distance range and the minimum distance information can be obtained in advance, the safe distance range determined based on the collision risk distance range and the minimum distance information can be set in advance and directly obtained after determining that there is a collision risk for adjacent moving components in the arc track module, or, after determining that there is a collision risk for adjacent moving components in the arc track module, the safe distance range is determined again according to the minimum distance information and the collision risk distance range. Regarding the acquisition timing of the safe distance range, the present disclosure does not limit this.

[0093] After obtaining the safe distance range, according to the relationship between the distance between adjacent moving components and the safe distance range, the corresponding distance control method for the adjacent moving components is determined. Among them, the distance control method may specifically include maintaining the current distance or adjusting the distance; adjusting the distance may further include at least one of increasing the distance and decreasing the distance.

[0094] Thus, in the process of adjacent moving components entering the arc track module from the straight track module and then turning along the arc track module, by controlling the distance between adjacent moving components within the safe distance range, collisions between adjacent moving components when turning along the arc track module are avoided.

[0095] In one of the illustrated embodiments, controlling the distance between adjacent moving components among the plurality of moving components within the safe distance range includes at least one of the following: If the minimum distance information falls within the collision risk distance range, controlling the distance between adjacent moving components among the plurality of moving components within a first safe distance range, where the lower boundary threshold of the first safe distance range is greater than the upper boundary threshold of the collision risk distance range; If the minimum distance information is less than the lower boundary threshold of the collision risk distance range, controlling the distance between adjacent moving components among the plurality of moving components within a first safe distance range or a second safe distance range, where the lower boundary threshold of the second safe distance range is not less than the minimum distance information, and the upper boundary threshold of the second safe distance range is less than the lower boundary threshold of the collision risk distance range.

[0096] For example, refer to Figure 5 , Figure 5 which is a schematic diagram showing a case of selecting a safe distance range in an exemplary embodiment. As Figure 5 shown, assume that the minimum distance information existing between adjacent moving components is dmin, and the collision risk distance range is [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 safe distance range is the first interval (Dmax, +∞). Thus, the lower boundary threshold of the first safe distance range selected from the first interval is greater than the upper boundary threshold Dmax of the collision risk distance range.

[0097] For example, refer to Figure 6 , Figure 6 which is a schematic diagram showing another case of selecting a safe distance range in an exemplary embodiment. As Figure 6 shown, assume that the minimum distance information existing between adjacent moving components is 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 safe distance range includes the first interval (dmin, Dmin) and the second interval (Dmax, +∞), and the safe distance range can be selected from these two intervals. Among them, the first safe distance range can be selected from the first interval, and the lower boundary threshold of the first safe distance range is greater than the upper boundary threshold Dmax of the collision risk distance range; the second safe distance range can be selected from the second interval, the lower boundary threshold of the second safe distance range is not less than the minimum distance information, and the upper boundary threshold of the second safe distance range is less than the lower boundary threshold of the collision risk distance range.

[0098] In one of the illustrated embodiments, controlling the distance between adjacent moving components among the plurality of moving components within a safe distance range includes at least one of the following: adjusting the speeds of at least some of the plurality of moving components to control the distance between the adjacent moving components within the safe distance range; selecting a reference component and non-reference components among the plurality of moving components, and adjusting the speeds of the non-reference components relative to the reference component according to the safe distance range so that the distance between the adjacent moving components is controlled within the safe distance range; grouping the plurality of moving components, and adjusting the speeds of at least some of the moving components according to the safe distance range and the grouping situation so that the distance between the adjacent moving components among the plurality of moving components is controlled within the safe distance range.

[0099] Specifically, there are various ways to control the distance between adjacent moving components among a plurality of moving components.

[0100] For example, the first way of distance control: adjusting the speed of one of the adjacent moving components, or adjusting the speeds of two of the adjacent moving components, so as to control the distance between the adjacent moving components among the plurality of moving components within the safe distance range.

[0101] Another example, the second way of distance control: one of the plurality of moving components can be selected as a reference component, and the speeds of the remaining non-reference moving components (the number is one or more) are adjusted to control the distance between the adjacent moving components among the plurality of moving components within the safe distance range.

[0102] The second way of distance control takes the reference component as a fixed reference (constant speed), and other non-reference components only need to adjust their speeds according to the relative relationship with the reference component, so there is no need to globally coordinate all the moving components, thus reducing the complexity of the collaborative control of the moving components.

[0103] For another example, the third distance control method: Group a number of moving parts, with each group containing one or more pairs of adjacent moving parts. When adjusting the distance between the moving parts, by adjusting the speed of at least one moving part within each group, the distance between adjacent moving parts within the group is controlled within the safe distance range, and the moving parts within the group move at the same speed and with consistent speed changes. Then, each group is regarded as a whole, and the speed of at least one group of moving parts is adjusted so that the distance between adjacent groups is controlled within the safe distance range and the distance between adjacent moving parts within the group is controlled within the safe distance range; alternatively, the speed of at least one moving part within each group can be adjusted so that the distance between adjacent groups is controlled within the safe distance range, and then the speed of at least one moving part within the group is adjusted so that the distance between adjacent moving parts within the group is controlled within the safe distance range and the distance between adjacent groups is controlled within the safe distance range.

[0104] In the embodiments of the present disclosure, when there are a large number of moving parts, directly controlling the distance between each moving part may lead to a sharp increase in the complexity of calculation and management. By grouping these moving parts, the complex overall coordination problem can be decomposed into several smaller sub-problems, thereby simplifying the control logic and algorithm design of the system.

[0105] It can be understood that the above three distance control methods can also be used in combination when there is no obvious conflict. For example, when grouping a number of moving parts, one group can be selected as a reference. When the distance between adjacent moving parts within the reference group is controlled within the safe distance range, the speed of at least one moving part of other non-reference groups is adjusted, so that the distance between adjacent groups is controlled within the safe distance range.

[0106] It can be understood that adjusting the speed of the moving parts may include controlling the moving parts to perform accelerated motion and / or decelerated motion. Further, adjusting the speed of the moving parts may also include controlling the moving parts to perform uniform motion. If uniform motion is not included, the operation steps can be reduced and the motion control difficulty can be lowered. If a period of uniform motion is included, the power loss can be reduced and energy can be saved. The specific process of variable-speed motion is not limited in the present disclosure.

[0107] In one of the illustrated embodiments, selecting a reference component from the plurality of moving components includes at least one of the following: selecting, according to the load state data of the plurality of moving components, a moving component that meets the load condition from the plurality of moving components as the reference component, where the load condition is satisfied when the load state data of the moving component indicates that it is loaded or loaded with a specified item; selecting, according to the motion measurement data of the plurality of moving components, a moving component that meets the order condition from the plurality of moving components as the reference component, where the order condition is satisfied when the moving component is in a specified order according to the moving direction.

[0108] When selecting, according to the load state data of the plurality of moving components, a moving component that meets the load condition from the plurality of moving components as the reference component, the load state data of the moving component is used to indicate whether the corresponding moving component is unloaded and the category of the loaded item. It can be understood that the load state data of the moving component can be obtained through a weight sensor installed on the moving component, 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 components are suitable as reference components. The load condition can be set according to the actual situation.

[0109] For example, if there are some moving components among the plurality of moving components that are loaded with high-value items or fragile items while the remaining moving components are loaded with ordinary-value items or non-fragile items, then the moving components loaded with high-value items or fragile items are not suitable for speed adjustment, otherwise the damage probability of the loaded items will increase sharply. Therefore, the load condition can be set as the moving components loaded with high-value items or fragile items. Thus, the moving components loaded with high-value items or fragile items can be used as reference components to adjust the speeds of other moving components.

[0110] Another example, if there are some moving components among the plurality of moving components that are loaded with items while the remaining moving components are not loaded with items, then the moving components loaded with items are not suitable for speed adjustment, otherwise the damage probability of the loaded items will increase sharply. Therefore, the load condition can be set as the moving components loaded with items. Thus, the moving components loaded with items can be used as reference components to adjust the speeds of other moving components.

[0111] When selecting, according to the motion measurement data of the plurality of moving components, a moving component that meets the order condition from the plurality of moving components as the reference component, the order condition can be set according to the actual situation.

[0112] For example, assume that there are several moving parts moving along a linear track module. According to the motion measurement data of the several moving parts, the position order (i.e., sequence) of the several moving parts in the moving direction can be determined. Then, a reference part is determined based on the sequence of the moving parts in the moving direction and a 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 parts in the first sequence, the middle sequence, or the last sequence are selected as the reference part, and the present disclosure does not limit this.

[0113] The sequence condition refers to the standard for selecting a reference part based on the position order of the moving parts in the moving direction. By monitoring the positions of the moving parts in real time, the relative position relationship between them can be determined, and based on this, it can be decided which moving part should be used as the reference part. This strategy helps to ensure the smooth operation of the automatic transportation equipment and reduce the chain reaction caused by speed adjustment.

[0114] In an illustrated embodiment, controlling the distance between adjacent moving parts among the several moving parts within a safe distance range includes at least one of the following: when the adjacent moving parts are located on the linear track module, adjusting the distance between the adjacent moving parts to within the safe distance range; controlling the distance between the adjacent moving parts to vary dynamically within the safe distance range.

[0115] Specifically, when the distance between adjacent moving parts located on the linear track module is outside the safe distance range, the distance between the adjacent moving parts is adjusted to within the safe distance range.

[0116] After that, if the adjacent moving parts move at the same speed, the adjacent moving parts are controlled to move by the same motion control parameters. The speed magnitudes and speed change conditions of the adjacent moving parts are the same, which can keep the distance between the adjacent moving parts unchanged and enable the adjacent moving parts to pass through the arc track module at the unchanged distance. Thus, controlling the adjacent moving parts to move by the same motion control parameters can reduce the calculation cost.

[0117] If the adjacent moving parts move at different speeds, and / or the motion control parameters of the adjacent moving parts are different, it will cause the distance between the adjacent moving parts to change. There is still a risk of collision when the adjacent moving parts turn. Therefore, during the process of the adjacent moving parts moving from the linear track module to the arc track module and passing through the arc track module, the distance between the adjacent moving parts is controlled to vary dynamically within the safe distance range.

[0118] When the distance between adjacent moving components within the linear track module is within the safe distance range, the distance between the adjacent moving components does not need to be adjusted. However, if the moving speeds of the adjacent moving components are different and / or the motion control parameters of the adjacent moving components are different, resulting in a change in the distance between the adjacent moving components, there is still a risk of collision when the adjacent moving components turn. Therefore, during the process of the adjacent moving components moving from the linear track module to the arc track module and passing through the arc track module, the distance between the adjacent moving components is controlled to change dynamically within the safe distance range. Thus, by means of distance adjustment and / or dynamic control, it is ensured that when the adjacent moving components pass through the arc track module, the distance between the adjacent moving components is within the safe distance range, which can improve the flexibility of the moving components and enhance the transportation efficiency.

[0119] For example, there are two adjacent moving components, namely moving component A and moving component B. Moving component A and moving component B move along the linear track module, and moving component A enters the arc track module later than moving component B. After the automatic transportation equipment detects a risk of collision when moving component A and moving component B turn along the arc track module, the current distance between the adjacent moving components is determined through the motion measurement data of the adjacent moving components. If the distance d between moving component A and moving component B is less than the lower boundary threshold of the safe distance range, the speed of at least one of moving component A and moving component B can be adjusted to increase the distance between moving component A and moving component B. When the distance between moving component A and moving component B increases from d to d2 and d2 falls within the safe distance range, it can be ensured that the distance between moving component A and moving component B falls within the safe distance range when they enter the arc track module, and the two will not collide. Suppose after the distance between moving component A and moving component B is adjusted, the speed magnitudes and speed changes of moving component A and moving component B remain the same, then the distance between moving component A and moving component B remains unchanged, and the distance between moving component A and moving component B remains within the safe distance range, enabling moving component A and moving component B to pass through the arc track module at a constant distance.

[0120] For example, there are two adjacent moving parts, namely moving part A and B. Moving parts A and B move along a linear track module, and moving part A will enter the arc track module later than moving part B. After predicting the risk of collision when moving parts A and B turn along the arc track module, if it is determined according to the motion measurement data that the distance between moving parts A and B falls within the collision risk distance range [Dmin, Dmax], the distance between moving parts A and B moving along the linear track module will be adjusted within the safe distance range. If the speeds and / or speed changes of moving parts A and B are inconsistent after the distance between moving parts A and B is adjusted, the distance between moving parts A and B will change, and it is necessary to control the distance between moving parts A and B within the safe distance range dynamically on the linear track module and / or the arc track module.

[0121] In an illustrated embodiment, controlling the distance between the adjacent moving parts to vary dynamically within the safe distance range includes at least one of the following: when it is determined according to the motion measurement data of the adjacent moving parts that the change in the distance between the adjacent moving parts reaches a distance change threshold, adjusting the speeds of the adjacent moving parts to prevent the distance between the adjacent 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 a cornering motion prediction trajectory of the motion positions of the adjacent moving parts changing with time according to the motion control parameters and motion measurement data of the adjacent moving parts, and adjusting the speeds of the adjacent moving parts according to the cornering motion prediction trajectory before the distance between the adjacent moving parts reaches the boundary threshold of the safe distance range, so that the distance between the adjacent moving parts is controlled within the safe distance range.

[0122] Specifically, after adjusting the distance between the adjacent moving parts to within the safe distance range, it is also necessary to monitor the subsequent motion 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.

[0123] For this, two methods are proposed in this embodiment.

[0124] Method 1: Speed adjustment based on a distance change threshold. Real-time monitor the motion measurement data (such as position, speed, acceleration, etc.) of the adjacent moving parts, and calculate the change in the distance between the adjacent moving parts. When the change in distance (including an increase or decrease in distance) reaches the distance change threshold, trigger a speed adjustment of the adjacent moving parts. By reducing or increasing the speed of at least one of the adjacent moving parts, prevent the distance between the adjacent moving parts from approaching the boundary of the safe distance range further.

[0125] Among them, the distance change threshold is less than the total width of the safe distance range (i.e., the difference between the upper boundary threshold and the lower boundary threshold of the safe distance range). It should be noted that when calculating the distance change between adjacent moving parts A and B, the distance reference value before the change can be the distance value between moving parts A and B when the distance between moving parts A and B is first controlled within the safe distance range, or it can be the distance value between moving parts A and B when the distance between moving parts A and B is already within the safe distance range. The distance change amount between moving parts A and B refers to the change amount between the distance value between moving parts A and B at a certain moment after the distance between moving parts A and B is controlled within the safe distance range and the distance reference value.

[0126] For example, there are two adjacent moving parts, namely moving parts A and B, which are moving along a linear track module. Moving part A will enter the arc track module later than moving part B. When it is detected that the distance between moving parts A and B falls within the collision risk distance range [Dmin, Dmax], the distance between moving parts A and B moving along the linear track module is controlled within the safe distance range. After the distance between adjacent moving parts A and B is controlled within the safe distance range, if it is determined that the distance change between moving parts A and B reaches the distance change threshold according to the motion measurement data (such as position data) of moving parts A and B and the distance reference value before the distance change between moving parts A and B, it means that the distance between 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 moving parts A and B to prevent the distance between moving parts A and B from reaching the boundary value of the safe distance range.

[0127] 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 adjacent moving parts to predict the turning motion prediction trajectory (i.e., the motion path when adjacent moving parts turn) of the motion position of adjacent moving parts changing with time.

[0128] When it is predicted that the distance between adjacent moving parts is about to exceed the safe distance range (before the distance between adjacent moving parts reaches the boundary threshold of the safe distance range), trigger the speed adjustment of adjacent moving parts. By reducing or increasing the speed of at least one of the adjacent moving parts, prevent the distance between adjacent moving parts from approaching the boundary of the safe distance range further.

[0129] Among them, Method 2 makes distance prediction and speed adjustment for adjacent moving parts based on the turning motion prediction trajectory. This method can avoid emergency braking and achieve smooth control.

[0130] For example, there are two adjacent 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. When it is detected that the distance between moving part A and moving part B falls within the collision risk distance range [Dmin, Dmax], the distance between moving part A and moving part B moving along the linear track module is 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 turning motion trajectories of adjacent moving parts A and B when moving to the arc track module are predicted. According to the predicted turning motion trajectories of adjacent moving parts A and B when moving to the arc track module, the speed of at least one of the adjacent moving parts A and B can be adjusted before the distance between adjacent moving parts A and B reaches the upper and lower boundary thresholds of the safe distance range, so as to keep the distance between adjacent moving parts A and B always within the safe distance range and avoid the risk of collision.

[0131] In this embodiment, when it is detected that the distance change between adjacent moving parts after distance adjustment reaches the distance change threshold, it indicates that the distance between the moving parts is near the upper and lower boundary values of the safe distance range. Or, when it is determined according to the predicted turning motion trajectories of the moving parts that the distance between adjacent moving parts reaches the upper and lower boundary thresholds of the safe distance range, intervention can be carried out in advance to adjust the distance between adjacent moving parts, so as to avoid the distance between adjacent moving parts falling within the collision risk distance range, thereby avoiding the risk of collision in the arc track module and ensuring the safety of the transportation process. In the case where the two schemes are not significantly mutually exclusive, either one can be selected, or both can be used at the same time. For the case of using both schemes at the same time, please refer to Figure 7 , Figure 7 is a schematic diagram showing a dynamic adjustment of the distance between two moving parts shown in an exemplary embodiment. As Figure 7As 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 adjacent moving parts A and B within the safety distance range, due to the different motion control parameters of the adjacent moving parts A and B, the distance between the adjacent moving parts A and B will change. At time t1, the distance between the adjacent moving parts A and B approaches the lower boundary threshold Smin of the safety distance range. At this time, the speeds of the moving parts A and B are adjusted to prevent the distance between the moving parts A and B from reaching the boundary value of the safety distance range. At the adjusted time t2, the change in the distance between the adjacent 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 A and B move to the arc track module, it is predicted that the distance between the adjacent 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 adjacent moving parts A and B is adjusted to keep the distance between the adjacent moving parts A and B within the safety distance range all the time and avoid the risk of collision.

[0132] In an illustrated embodiment, when the adjacent moving parts are located in the linear track module, adjusting the distance between the adjacent moving parts to within the safety distance range includes at least one of the following: when the adjacent moving parts are located in the linear track module, reducing the distance between the adjacent moving parts to within the safety distance range; when the adjacent moving parts are located in the linear track module, increasing the distance between the adjacent moving parts to within the safety distance range.

[0133] Specifically, when the adjacent moving parts are located in the linear track module, the situation of adjusting the distance between the adjacent moving parts to within the safety distance range is determined according to the numerical relationship between the minimum distance information existing between the adjacent moving parts and the collision risk distance range between the adjacent moving parts.

[0134] Case 1: The minimum distance information is less than the lower boundary threshold of the collision risk distance range. For this case, since the distance between the adjacent moving parts cannot be less than the minimum distance information, and to avoid collision between the adjacent moving parts, it is necessary to control the distance between the adjacent moving parts within a range greater than the upper boundary threshold of the collision risk distance range. Therefore, for Case 1, when the adjacent moving parts are located in the linear track module, the distance between the adjacent moving parts can be increased to within the safety distance range.

[0135] For example, the minimum distance information between adjacent moving parts A and B is dmin, and the collision risk distance range is [Dmin, Dmax]. If the minimum distance information dmin falls within the collision risk distance range, then the selection interval for selecting the safe distance range includes the second interval (Dmax, +∞), and the safe distance range is selected within the second interval. At this time, if there is a collision risk between adjacent moving parts A and B, it is necessary to increase the distance between adjacent moving parts A and B located on the linear track module to within the safe distance range. Specifically, one moving part can be selected as the reference moving part, and the motion control parameters of the other moving part can be adjusted to make it perform variable-speed motion to increase the distance between adjacent moving parts A and B; or the motion control parameters of several moving parts can be adjusted to make them all perform variable-speed motion to increase the distance between adjacent moving parts A and B.

[0136] Case 2: The minimum distance information is less than the lower boundary threshold of the collision risk distance range. For this case, since the distance between adjacent moving parts cannot be less than the minimum distance information and to avoid collisions between adjacent moving parts, the distance between adjacent moving parts can be controlled within a range greater than the minimum distance information and less than the lower boundary threshold of the collision risk distance range, or the distance between adjacent moving parts can be controlled within a range greater than the upper boundary threshold of the collision risk distance range. Therefore, for Case 1, when adjacent moving parts are located on the linear track module, the distance between adjacent moving parts can be either reduced to within the safe distance range or increased to within the safe distance range.

[0137] For example, the minimum distance information between adjacent moving parts A and B is dmin, and the collision risk distance range is [Dmin, Dmax]. If the minimum distance information dmin is less than the lower boundary threshold Dmin of the collision risk distance range, then the selection interval for selecting the safe distance range includes the first interval (dmin, Dmin) and the second interval (Dmax, +∞), and the safe distance range can be selected within these two intervals. At this time, if there is a collision risk between adjacent moving parts A and B, the distance between adjacent moving parts A and B located on the linear track module can be either increased to within the safe distance range or decreased to within the safe distance range. Specifically, one moving part can be selected as the reference moving part, and the motion control parameters of the other moving part can be adjusted to make it perform variable-speed motion to increase or decrease the distance between adjacent moving parts A and B; or the motion control parameters of several moving parts can be adjusted to make them all perform variable-speed motion to increase or decrease the distance between adjacent moving parts A and B.

[0138] Among them, among several moving parts, other non-reference parts except the reference part are adjusted with the same acceleration, without calculating personalized acceleration values for each moving part, reducing the complexity of the algorithm and control; or, among several moving parts, the acceleration of the moving parts far from the reference part is greater than that of the moving parts close to the reference part. In this way, for the moving parts far from the reference part with a large distance adjustment requirement, giving a higher acceleration can help them reach the required new position faster, thereby reducing the overall adjustment time and improving the transportation efficiency.

[0139] Corresponding to the embodiments of the above collision control method, the present disclosure also provides an embodiment of a collision control device.

[0140] Please refer to Figure 8 , Figure 8 is a hardware structure diagram of an electronic device shown in an exemplary embodiment. At the hardware level, the device includes a processor 802, an internal bus 804, a network interface 806, a memory 808, and a non-volatile memory 810. 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 802 reads the corresponding computer program from the non-volatile memory 810 into the memory 808 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 logic devices or a combination of software and hardware, etc. 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.

[0141] Please refer to Figure 9 , Figure 9 is a block diagram of a collision control device shown in an exemplary embodiment. The collision control device 900 can be applied to an electronic device as shown in Figure 8 to implement the technical solution of the present disclosure. The device is connected to an automatic transportation device, and the automatic transportation device includes a track component and several moving parts. The track component includes a linear track module and an arc track module connected to the linear track module. The several moving parts move along the linear track module towards the arc track module. The device includes:

[0142] An acquisition unit 902, configured to acquire motion control parameters and motion measurement data of the several moving parts when the several moving parts move along the linear track module;

[0143] A prediction unit 904, configured to predict whether there is a collision risk when adjacent moving parts among the several moving parts turn along the arc track module according to the motion control parameters and motion measurement data of the several moving parts.

[0144] In some embodiments, the device further includes:

[0145] A first acquisition unit, configured to acquire a collision risk distance range between adjacent moving components among the plurality of moving components according to the motion measurement data of the plurality of moving components; 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 adjacent moving components and the size information of the arc track module;

[0146] A second acquisition unit, configured to acquire minimum distance information between adjacent moving components among the plurality of moving components according to the motion control parameters of the plurality of moving components;

[0147] A comparison unit, configured to compare the collision risk distance range and 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.

[0148] In some embodiments, the prediction unit includes:

[0149] A third acquisition unit, configured to acquire distance prediction information between adjacent moving components among the plurality of moving components when the plurality of moving components turn along the arc track module according to the motion control parameters and motion measurement data of the plurality of moving components;

[0150] A determination unit, configured to determine that there is a collision risk when adjacent moving components among the plurality of moving components turn along the arc track module if there is distance prediction information falling within the collision risk distance range in the distance prediction information between adjacent moving components among the plurality of moving components.

[0151] In some embodiments, the third acquisition unit includes:

[0152] An acquisition subunit, configured to acquire a turning motion prediction trajectory of the motion positions of adjacent moving components among the plurality of moving components changing with time when the plurality of moving components turn along the arc track module according to the motion control parameters and motion measurement data of the plurality of moving components;

[0153] A calculation subunit, further configured to calculate the distance prediction information between the adjacent moving components according to the turning motion prediction trajectory of the motion positions of adjacent moving components among the plurality of moving components changing with time.

[0154] In some embodiments, the third acquisition unit includes:

[0155] A determining subunit, configured to determine the distance between adjacent moving components among the plurality of moving components according to the motion measurement data when it is determined that the plurality of moving components perform uniform motion with the same speed based on the motion control parameters and motion measurement data of the plurality of moving components, and use the obtained distance between adjacent moving components among the plurality of moving components as the distance prediction information between the adjacent moving components;

[0156] A calculating subunit, configured to obtain, according to the motion control parameters and motion measurement data, a cornering motion prediction trajectory of the motion positions of adjacent moving components among the plurality of moving components changing with time when it is determined that the plurality of moving components do not perform uniform motion with the same speed based on the motion control parameters and motion measurement data of the plurality of moving components, and calculate the distance prediction information between the adjacent moving components according to the cornering motion prediction trajectory of the motion positions of adjacent moving components among the plurality of moving components changing with time when the plurality of moving components turn along the arc track module.

[0157] In some embodiments, the device further includes:

[0158] A control unit, configured to, if it is predicted that there is a collision risk when adjacent moving components among the plurality of moving components turn along the arc track module, control the distance between the adjacent moving components among the plurality of moving components within a safe distance range, where the safe distance range is outside the collision risk distance range and the safe distance range is determined according to the minimum distance information and the collision risk distance range.

[0159] In some embodiments, the control unit includes at least one of the following:

[0160] A first control unit, configured to, if the minimum distance information falls within the collision risk distance range, control the distance between adjacent moving components among the plurality of moving components within a first safe distance range, where the lower boundary threshold of the first safe distance range is greater than the upper boundary threshold of the collision risk distance range;

[0161] A second control unit, configured to, if the minimum distance information is less than the lower boundary threshold of the collision risk distance range, control the distance between adjacent moving components among the plurality of moving components within the first safe distance range or the second safe distance range, where the lower boundary threshold of the second safe distance range is not less than the minimum distance information and the upper boundary threshold of the second safe distance range is less than the lower boundary threshold of the collision risk distance range.

[0162] In some embodiments, the control unit includes at least one of the following:

[0163] The first adjustment unit is configured to adjust the speeds of at least some of the plurality of moving components so as to control the distance between adjacent moving components within the safe distance range;

[0164] The second adjustment unit is configured to select a reference component and non-reference components from the plurality of moving components, and adjust the speed of the non-reference components relative to the reference component according to the safe distance range, so as to control the distance between adjacent moving components within the safe distance range;

[0165] The third adjustment unit is configured to group the plurality of moving components, and adjust the speeds of at least some of the moving components according to the safe distance range and the grouping situation, so as to control the distance between adjacent moving components among the plurality of moving components within the safe distance range.

[0166] In some embodiments, selecting a reference component from the plurality of moving components includes at least one of the following:

[0167] Selecting, from the plurality of moving components, a moving component that meets the load-carrying condition as the reference component according to the load-carrying state data of the plurality of moving components, where the load-carrying condition is satisfied when the load-carrying state data of the moving component indicates that it is loaded or loaded with a specified item;

[0168] Selecting, from the plurality of moving components, a moving component that meets the order condition as the reference component according to the motion measurement data of the plurality of moving components, where the order condition is satisfied when the moving component is in a specified order in the moving direction.

[0169] In some embodiments, the control unit includes at least one of the following:

[0170] The fourth adjustment unit is configured to adjust the distance between adjacent moving components to within the safe distance range when the adjacent moving components are located on the linear track module;

[0171] The third control unit is configured to control the distance between adjacent moving components to vary dynamically within the safe distance range.

[0172] In some embodiments, the device further includes:

[0173] The fifth control unit is configured to, if the adjacent moving components move at the same speed, control the adjacent moving components to move by the same motion control parameters, so as to keep the distance between the adjacent moving components unchanged, and enable the adjacent moving components to pass through the arc track module at the unchanged distance.

[0174] In some embodiments, the third control unit includes at least one of the following:

[0175] The first adjustment subunit is configured to adjust the speeds of the adjacent moving components when it is determined, based on the motion measurement data of the adjacent moving components, that the distance change between the adjacent moving components reaches a distance change threshold, so as to prevent the distance change between the adjacent moving components from reaching 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.

[0176] The second adjustment subunit is configured to determine a cornering motion prediction trajectory of the motion positions of the adjacent moving components changing with time according to the motion control parameters and the motion measurement data of the adjacent moving components, and adjust the speeds of the adjacent moving components according to the cornering motion prediction trajectory before the distance between the adjacent moving components reaches the boundary threshold of the safe distance range, so as to control the distance between the adjacent moving components within the safe distance range.

[0177] In some embodiments, the fourth adjustment unit includes at least one of the following:

[0178] A reduction unit is configured to reduce the distance between the adjacent moving components to within the safe distance range when the adjacent moving components are located on the linear track module.

[0179] An increase unit is configured to increase the distance between the adjacent moving components to within the safe distance range when the adjacent moving components are located on the linear track module.

[0180] For the specific 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.

[0181] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can refer to the partial descriptions of the method embodiments. The device embodiments described above are only illustrative. The units described as separate 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 present disclosure solution. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0182] Corresponding to the embodiments of the above 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, wherein:

[0183] The automatic transportation device includes a track component, a plurality of moving components, a motion measurement module, and a control module.

[0184] The track component includes a linear track module and an arc track module connected to the linear track module;

[0185] The plurality of moving components are configured to move along the linear track module towards the arc track module;

[0186] The motion measurement module is configured to obtain motion measurement data of the plurality of moving components when the plurality of moving components move along the track component, and send the obtained motion measurement data to the control module;

[0187] The control module is configured to predict whether there is a collision risk between adjacent moving components among the plurality of moving components when turning along the arc track module according to the motion control parameters and motion measurement data of the plurality of moving components;

[0188] The operating devices are distributed along the track component and are configured to perform item handover with the plurality of moving components, and the item handover includes at least one of item loading and item unloading.

[0189] For the specific 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, which will not be elaborated here.

[0190] The system, device, module or unit illustrated in the above embodiments can be specifically implemented by a computer chip or entity, or by a product with certain functions. A typical implementation device is a computer, and the specific form of the computer can be a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email transceiver device, a game console, a tablet computer, a wearable device, or a combination of any several of these devices.

[0191] In a typical configuration, a computer includes one or more processors (CPUs), an input / output interface, a network interface, and a memory.

[0192] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM), and / or non-volatile memory in the form of, for example, read-only memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

[0193] A computer-readable medium includes both 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, disk storage, quantum memory, graphene-based storage media, or other magnetic storage devices, or any other non-transitory media that can store information accessible by a computing device. As defined herein, a computer-readable medium does not include transitory computer-readable media, such as modulated data signals and carrier waves.

[0194] 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 reject.

[0195] It should also be noted that the term "comprising," "including," or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, commodity, or device that includes 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 "including one..." does not exclude the existence of additional identical elements in the process, method, commodity, or device that includes the said element.

[0196] The above describes specific embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the acts 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.

[0197] The terms used in one or more embodiments of the present disclosure are for the purpose of describing particular 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.

[0198] 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 "while" or "in response to determining".

[0199] The above description is only a preferred embodiment of one or more embodiments of the present disclosure and is not intended to limit one or more embodiments of the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle 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 control method, characterized in that, The method is applied to an automatic transportation device, which includes a track component and a plurality of moving components. The track component includes a linear track module and an arc track module connected to the linear track module. The plurality of moving components move along the linear track module towards the arc track module. The method includes: When the plurality of moving components move along the linear track module, obtain the motion control parameters and motion measurement data of the plurality of moving components; According to the motion control parameters and motion measurement data of the plurality of moving components, predict whether there is a collision risk when adjacent moving components among the plurality of moving components turn along the arc track module.

2. The method according to claim 1, wherein Before predicting whether there is a collision risk when adjacent moving components among the plurality of moving components turn along the arc track module according to the motion control parameters and motion measurement data of the plurality of moving components, the method further includes: According to the motion measurement data of the plurality of moving components, obtain the collision risk distance range between adjacent moving components among the plurality of moving components; 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 adjacent moving components and the size information of the arc track module; According to the motion control parameters of the plurality of moving components, obtain the minimum distance information between adjacent moving components among the plurality of moving components; 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.

3. The method according to claim 2, wherein Predicting whether there is a collision risk when adjacent moving components among the plurality of moving components turn along the arc track module according to the motion control parameters and motion measurement data of the plurality of moving components includes: According to the motion control parameters and motion measurement data of the plurality of moving components, obtain the distance prediction information between adjacent moving components among the plurality of moving components when the plurality of moving components turn along the arc track module; If there is distance prediction information that falls within the collision risk distance range in the distance prediction information between adjacent moving components among the plurality of moving components, determine that there is a collision risk when adjacent moving components among the plurality of moving components turn along the arc track module.

4. The method according to claim 3, wherein Obtaining the distance prediction information between adjacent moving components among the plurality of moving components when the plurality of moving components turn along the arc track module according to the motion control parameters and motion measurement data of the plurality of moving components includes: According to the motion control parameters and motion measurement data of the plurality of moving components, obtain the turning motion prediction trajectory of the motion positions of adjacent moving components among the plurality of moving components changing with time when the plurality of moving components turn along the arc track module; According to the turning motion prediction trajectory of the motion positions of adjacent moving components among the plurality of moving components changing with time, calculate the distance prediction information between the adjacent moving components.

5. The method according to claim 3, wherein Obtaining distance prediction information between adjacent moving components among the plurality of moving components when the plurality of moving components turn along the arc track module according to the motion control parameters and motion measurement data of the plurality of moving components, includes: When it is determined according to the motion control parameters and motion measurement data of the plurality of moving components that the plurality of moving components perform uniform motion with the same speed, determining the distance between adjacent moving components among the plurality of moving components according to the motion measurement data, and using the obtained distance between adjacent moving components among the plurality of moving components as the distance prediction information between the adjacent moving components; When it is determined according to the motion control parameters and motion measurement data of the plurality of moving components that the plurality of 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 adjacent moving components among the plurality of moving components changing with time when the plurality of moving components turn along the arc track module, and calculating the distance prediction information between the adjacent moving components according to the turning motion prediction trajectory of the motion positions of adjacent moving components among the plurality of moving components changing with time.

6. The method according to claim 2, characterized in that After predicting whether there is a collision risk between adjacent moving components among the plurality of moving components when turning along the arc track module, the method further includes: If it is predicted that there is a collision risk between adjacent moving components among the plurality of moving components when turning along the arc track module, controlling the distance between adjacent moving components among the plurality of moving components within a safe distance range, the safe distance range is outside the collision risk distance range, and the safe distance range is determined according to the minimum distance information and the collision risk distance range.

7. The method according to claim 6, characterized in that, Controlling the distance between adjacent moving components among the plurality of moving components within the safe distance range includes at least one of the following: If the minimum distance information falls within the collision risk distance range, controlling the distance between adjacent moving components among the plurality of moving components within a first safe distance range, the lower boundary threshold of the first safe distance range is greater than the upper boundary threshold of the collision risk distance range; If the minimum distance information is less than the lower boundary threshold of the collision risk distance range, controlling the distance between adjacent moving components among the plurality of moving components within a first safe distance range or a second safe distance range, the lower boundary threshold of the second safe distance range is not less than the minimum distance information, and the upper boundary threshold of the second safe distance range is less than the lower boundary threshold of the collision risk distance range.

8. The method according to claim 6, wherein Controlling the distance between adjacent moving components among the plurality of moving components within the safe distance range includes at least one of the following: Adjusting the speeds of at least some of the plurality of moving components to control the distance between the adjacent moving components within the safe distance range; Select a reference component and non-reference components from the several moving components, and adjust the speed of the non-reference components relative to the reference component according to the safety distance range, so that the distance between adjacent moving components is controlled within the safety distance range; Group the several moving components, and adjust the speed of at least some of the moving components according to the safety distance range and the grouping situation, so that the distance between adjacent moving components among the several moving components is controlled within the safety distance range.

9. The method according to claim 8, characterized in that, The selecting a reference component from the several moving components includes at least one of the following: Select, from the several moving components, a moving component that meets the loading condition as the reference component according to the load state data of the several moving components, where the loading condition is satisfied when the load state data of the moving component indicates that it is loaded or loaded with a specified item; Select, from the several moving components, a moving component that meets the order condition as the reference component according to the motion measurement data of the several moving components, where the order condition is satisfied when the moving component is in a specified order according to the moving direction.

10. The method according to claim 6, wherein The controlling the distance between adjacent moving components among the several moving components within the safety distance range includes at least one of the following: When the adjacent moving components are located on the linear track module, adjust the distance between the adjacent moving components to within the safety distance range; Control the distance between adjacent moving components to vary dynamically within the safety distance range.

11. The method according to claim 10, characterized in that, After adjusting the distance between adjacent moving components to within the safety distance range, the method further includes: If the adjacent moving components move at the same speed, control the adjacent moving components to move by the same motion control parameters, so that the distance between the adjacent moving components remains unchanged, and the adjacent moving components pass through the arc track module at the unchanged distance.

12. The method according to claim 10, characterized in that, The controlling the distance between adjacent moving components to vary dynamically within the safety distance range includes at least one of the following: When it is determined, according to the motion measurement data of the adjacent moving components, that the distance change between the adjacent moving components reaches the distance change threshold, adjust the speed of the adjacent moving components to prevent the distance between the adjacent moving components from changing to the boundary threshold of the safety distance range; where the distance change threshold is less than the difference between the upper boundary threshold and the lower boundary threshold of the safety distance range; Determine the cornering motion prediction trajectory of the moving positions of the adjacent moving components changing with time according to the motion control parameters and motion measurement data of the adjacent moving components, and adjust the speed of the adjacent moving components according to the cornering motion prediction trajectory before the distance between the adjacent moving components reaches the boundary threshold of the safety distance range, so that the distance between the adjacent moving components is controlled within the safety distance range.

13. The method according to claim 10, wherein The adjusting the distance between adjacent moving components to within the safety distance range when the adjacent moving components are located on the linear track module includes at least one of the following: When the adjacent moving parts are located in the linear track module, reduce the distance between the adjacent moving parts to within the safe distance range; When the adjacent moving parts are located in the linear track module, increase the distance between the adjacent moving parts to within the safe distance range.

14. A collision control device, characterized in that, The device is connected to an automatic transportation device, the automatic transportation device includes track components and a plurality of moving parts, the track components include a linear track module and an arc track module connected to the linear track module, and the plurality of moving parts move along the linear track module towards the arc track module. The device includes: An acquisition unit for acquiring the motion control parameters and motion measurement data of the plurality of moving parts when the plurality of moving parts move along the linear track module; A prediction unit for predicting whether there is a collision risk when adjacent moving parts among the plurality of moving parts turn along the arc track module according to the motion control parameters and motion measurement data of the plurality of moving parts.

15. A self-feeding transportation system, characterized in that, The self-transporting system includes an automatic transportation device and an operating device, wherein: The automatic transportation device includes track components, a plurality of moving parts, a motion measurement module and a control module; The track components include a linear track module and an arc track module connected to the linear track module; The plurality of moving parts are used to move along the linear track module towards the arc track module; The motion measurement module is used to acquire the motion measurement data of the plurality of moving parts when the plurality of moving parts move along the track components, and send the acquired motion measurement data to the control module; The control module is used to predict whether there is a collision risk when adjacent moving parts among the plurality of moving parts turn along the arc track module according to the motion control parameters and motion measurement data of the plurality of moving parts; The operating device is distributed along the track components and is used for item handover with the plurality of moving parts, and the item handover includes at least one of item loading and item unloading.

16. 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 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 13 by calling the machine-readable instructions.

17. 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 the processor, the method according to any one of claims 1 to 13 is implemented.

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