Carrier control method, device and equipment and storage medium

Abstract

The embodiment of the invention discloses a control method, device and equipment of a carrying vehicle and a storage medium, and belongs to the technical field of carrying vehicles, the carrying vehicle is used for carrying materials exceeding a vehicle body, and the method comprises the steps that a first radar assembly is called to obtain first radar data; based on the first radar data, obstacle detection is conducted on materials on the carrier, and a material deflection result and a first detection result are obtained; calling a second radar component to obtain second radar data; performing obstacle detection on the carrier based on the second radar data to obtain a second detection result; and controlling the moving state of the carrier based on the material deflection result, the first detection result and the second detection result. According to the invention, different obstacle detection is correspondingly carried out for the materials and the carrying vehicle, the accuracy of the obstacle detection result is improved, the accuracy of movement control for the carrying vehicle is further improved, and the materials and the carrying vehicle are regarded as independent individuals, so that the movement of the carrying vehicle is more flexible.

Description

Technical Field

[0001] The present application relates to the technical field of transport vehicles, and in particular to a control method, device, equipment and storage medium for a transport vehicle. Background Art

[0002] An Automated Guided Vehicle (AGV) is an industrial vehicle that automatically drives along a set route or pulls a cargo cart to a designated location.

[0003] In related technologies, materials are transported by automated guided vehicles, and the automated guided vehicles and materials are regarded as a transporting entity. Furthermore, during the movement of the automated guided vehicle, the transporting entity is used as a reference to detect whether there are obstacles around the vehicle as a whole, and the transporting entity is decelerated or braked in time when there are obstacles.

[0004] However, in the above-mentioned related technologies, if there is a part of the material that exceeds the AGV, the AGV and the material are still regarded as a transport entity. The excessive volume of the transport entity will make the AGV inflexible. Summary of the Invention

[0005] The embodiments of the present application provide a control method, device, equipment, and storage medium for a transport vehicle, which makes the transport vehicle more flexible in movement. The technical solution is as follows: In one aspect, an embodiment of the present application provides a control and detection method for a transport vehicle, the method comprising: Calling the first radar component to obtain first radar data; Performing obstacle detection on the material on the transport vehicle based on the first radar data to obtain a material deflection result and a first detection result; wherein the material deflection result is used to indicate whether the material has been deflected on the transport vehicle, and the first detection result is used to indicate obstacle detection results before and after the moving path of the material; Calling the second radar component to obtain second radar data; Performing obstacle detection on the transport vehicle based on the second radar data to obtain a second detection result; wherein the second detection result is used to indicate obstacle detection results before and after the moving path of the transport vehicle; The moving state of the transport vehicle is controlled based on the material deflection result, the first detection result, and the second detection result.

[0006] On the other hand, an embodiment of the present application provides a control device for a transport vehicle, the device comprising: A first acquisition module, configured to call a first radar component to acquire first radar data; a first detection module configured to perform obstacle detection on the material on the transport vehicle based on the first radar data, and obtain a material deflection result and a first detection result; wherein the material deflection result indicates whether the material has deflected on the transport vehicle, and the first detection result indicates obstacle detection results before and after the material's moving path; A second acquisition module, configured to call a second radar component to acquire second radar data; a second detection module, configured to perform obstacle detection on the transport vehicle based on the second radar data to obtain a second detection result; wherein the second detection result is used to indicate obstacle detection results before and after the moving path of the transport vehicle; A transport control module is used to control the movement state of the transport vehicle based on the material deflection result, the first detection result and the second detection result.

[0007] On the other hand, an embodiment of the present application provides a computer device, which includes a processor and a memory, wherein a computer program is stored in the memory, and the computer program is loaded and executed by the processor to implement the above-mentioned control method of the transport vehicle.

[0008] On the other hand, an embodiment of the present application provides a non-transitory computer-readable storage medium having a computer program stored thereon, which implements the above-mentioned method for controlling the transport vehicle when the computer program is executed by a processor.

[0009] On the other hand, an embodiment of the present application provides a computer program product, which, when executed, enables a computer device to execute the above-mentioned method for controlling a transport vehicle.

[0010] Compared with the prior art, the technical solution provided by the embodiments of the present application can bring the following beneficial effects: (1) Obstacle detection is performed on the materials on the transport vehicle using the first radar data, and on the transport vehicle using the second radar data. Different obstacle detection methods are used for the materials and the transport vehicle, which improves the accuracy of the obstacle detection results and thus improves the accuracy of the movement control of the transport vehicle. (2) Moreover, considering the materials and the transport vehicle as independent entities instead of the materials and the transport vehicle as a whole is conducive to performing different movement controls on the materials and the transport vehicle respectively, making the movement of the transport vehicle more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 is a schematic diagram of a transport vehicle control system provided by one embodiment of the present application; Figure 2 A schematic diagram of a transport vehicle is shown as an example; Figure 3 A schematic diagram showing an exemplary installation method of a laser radar; Figure 4 This is a flow chart of a method for controlling a transport vehicle provided by one embodiment of the present application; Figure 5 A schematic diagram of a first laser radar and its scanning range is exemplarily shown; Figure 6 A schematic diagram of a second laser radar and its scanning range is exemplarily shown; Figure 7 The schematic diagram of controlling the transport vehicle when the material and the transport vehicle are considered as a whole is shown as an example; Figure 8 The schematic diagram of controlling the transport vehicle when the material and the transport vehicle are not considered as a whole is exemplified; Figure 9 A schematic diagram showing an exemplary control method for a transport vehicle is shown; Figure 10 is a block diagram of a control device for a transport vehicle provided by one embodiment of the present application; Figure 11 This is a block diagram of a control device for a transport vehicle provided in another embodiment of the present application. DETAILED DESCRIPTION

[0012] Please refer to Figure 1 , which shows a schematic diagram of a transport vehicle control system provided by an embodiment of the present application. The transport vehicle control system may include: a transport vehicle 10, a laser radar 20 and a computer device 30.

[0013] The transport vehicle 10 is a small vehicle used to transport materials. In the embodiment of the present application, the transport vehicle 10 is used to transport materials that extend beyond the vehicle body. For example, the material is a cylindrical single crystal silicon ingot with a length of 8 meters, while the maximum length of the vehicle body of the transport vehicle 10 is much less than 8 meters (such as 5 meters, 4 meters, 3 meters, etc.). For example, Figure 2 As shown, in the embodiment of the present application, the transport vehicle 10 for transporting materials 20 is composed of an AGV 11 and a material support frame 12 .

[0014] The laser radar 20 is used to detect the distance to the obstacle. Optionally, the laser radar 20 is set on the transport vehicle 10. In the embodiment of the present application, the laser radar 20 includes two first laser radars and four second laser radars. For example, Figure 3As shown in the figure, the AGV 11 is equipped with six laser radars. Two first laser radars 31 are respectively arranged on different sides of the top of the AGV 11, two second laser radars 32 are arranged at the top diagonal positions of the AGV 11, and another two second laser radars 32 are arranged at the bottom diagonal positions of the AGV 11. In addition, the top (top view), front (front view) and back of the AGV 11 are shown in the figure. Figure 3 It should be noted that, in the embodiment of the present application, the second laser radars 32 are diagonally opposite to each other.

[0015] The computer device 30 is used to control the movement of the transport vehicle 10. Exemplarily, the computer device 30 can be an electronic device such as a mobile phone, tablet computer, wearable device, backend server, server cluster, or PC (Personal Computer), though this embodiment of the present application is not limited thereto. In this embodiment of the present application, the computer device 30 acquires radar data via the laser radar 20 and, based on this radar data, performs obstacle detection on the transport vehicle 10 and the materials on the transport vehicle 10. The computer device 30 then controls the movement of the transport vehicle 10 based on the detection results. For example, if an obstacle is close to the materials or the transport vehicle 10, the computer device 30 controls the transport vehicle 10 to brake; if the obstacle is far from the materials or the transport vehicle, the computer device controls the transport vehicle 10 to decelerate; and if the obstacle is sufficiently far from the materials and the transport vehicle, the computer device controls the transport vehicle 10 to maintain its current movement. Alternatively, the computer device 30 can be a standalone device or can be installed on the transport vehicle 10, for example, as an onboard terminal of the transport vehicle 10.

[0016] Optionally, the computer device 30 acquires radar data through a network.

[0017] Please refer to Figure 4 , which shows a flow chart of a method for controlling a transport vehicle provided by an embodiment of the present application. Figure 1 The computer device 30 in the transport vehicle control system shown. The method may include the following steps (401-405): Step 401: Call a first radar component to obtain first radar data.

[0018] The first radar assembly is used to detect obstacle distances for materials on the transport vehicle. In an embodiment of the present application, when controlling the movement of the transport vehicle, the computer device calls the first radar assembly to obtain first radar data. The first radar data includes distance data obtained by scanning by the first radar assembly. Optionally, the computer device calls the first lidar in the first radar assembly to scan to obtain the first radar data. That is, the computer device calls the first radar assembly to emit laser light. When the laser light contacts an obstacle to form a light spot, the computer device obtains the first radar data based on the distance between the light spot and the first lidar.

[0019] Optionally, the first radar assembly may include one or more laser radars. In the embodiment of the present application, the first radar assembly includes two first laser radars. Optionally, the first laser radar is located on the top side of the transport vehicle, and different first laser radars are located on different sides, wherein the top of the transport vehicle refers to the top of the AGV, such as Figure 3 shown.

[0020] Optionally, the laser emission surface / scanning surface formed by the laser emitted by the first laser radar is perpendicular to the top plane of the transport vehicle and parallel to the moving direction of the transport vehicle. The top of the transport vehicle refers to the top of the AGV, for example, Figure 5 As shown, a first laser radar 31 (one of which is not shown) is respectively provided on the two side surfaces of the top of the AGV 11, and the first laser radar 31 scans upward, and the laser emission surface 51 formed by the emitted laser is perpendicular to the top plane of the AGV 11 and parallel to the moving direction 52 of the transport vehicle. For example, based on the moving direction of the transport vehicle, the scanning range of the first laser radar is 0~180 degrees and 0~6 meters. Of course, in actual applications, the scanning range of the first laser radar can be flexibly set and adjusted, and the embodiments of the present application do not limit this. It should be noted that the scanning range of the first laser radar is greater than the maximum length of the material, and the scanning range of the first laser radar is above the top of the transport vehicle.

[0021] It should be noted that the above description of the first laser radar is merely exemplary and explanatory. In actual applications, the number and location of the first laser radars can be flexibly set and adjusted according to actual conditions. For example, a track is installed on the top of the transport vehicle along the direction of movement. When acquiring the first radar data, the first laser radar can move along the track to emit lasers at different positions to obtain the first radar data. While maintaining the scanning range of the first laser radar, a first laser radar with a lower measurement range can also obtain sufficient first radar data, which helps reduce the configuration cost of the transport vehicle for the first laser radar.

[0022] Optionally, the first radar data includes an altitude parameter and a first distance parameter. For example, after the first laser radar emits a laser for scanning, the laser encounters an obstacle to form a light spot (i.e., a scanning point). Based on the straight-line distance between the light spot and the first laser radar, data to be processed is obtained, and the computer device then acquires the data to be processed. Subsequently, based on the straight-line distance between the light spot and the first laser radar and the emission angle of the laser corresponding to the light spot, the computer device acquires the vertical distance between the light spot and the horizontal plane where the first laser radar is located, as well as the distance between the light spot and the vertical plane where the first laser radar is located. The horizontal plane is parallel to the ground, and the vertical plane is perpendicular to the horizontal plane and the direction of movement of the transport vehicle. The vertical distance between the light spot and the horizontal plane where the first laser radar is located is the altitude parameter, and the distance between the light spot and the vertical plane where the first laser radar is located is the first distance parameter.

[0023] Optionally, in order to improve the accuracy of the transport vehicle control, Figure 5 A visual detection device is provided between the two laser emitting surfaces 51 to detect whether there is an obstacle between the two laser emitting surfaces 51. For example, the visual detection device can be a video camera, a camera, a scanner, etc., which is not limited in the present embodiment.

[0024] Step 402 : performing obstacle detection on the material on the transport vehicle based on the first radar data to obtain a material deflection result and a first detection result.

[0025] In an embodiment of the present application, after acquiring the first radar data, the computer device performs obstacle detection on the material on the transport vehicle based on the first radar data, obtaining a material deflection result and a first detection result. The material deflection result indicates whether the material has shifted on the transport vehicle, and the first detection result indicates obstacle detection results before and after the material's movement path. Optionally, the obstacle detection result includes whether an obstacle exists and the distance between the obstacle and the material.

[0026] It should be noted that when the material is not deflected, the moving direction of the material and the transport vehicle are roughly parallel, that is, the angle between the moving direction of the material and the transport vehicle is about 0°.

[0027] Step 403: Call the second radar component to obtain second radar data.

[0028] The second radar assembly is used to detect obstacle distances for the transport vehicle. In an embodiment of the present application, when controlling the movement of the transport vehicle, the computer device invokes the second radar assembly to obtain second radar data. The second radar data includes distance data obtained by scanning with the second radar assembly. Optionally, the computer device invokes a second lidar in the second radar assembly to scan and obtain the second radar data. Specifically, the computer device invokes the second radar assembly to emit laser light. When the laser light contacts an obstacle, forming a light spot, the computer device obtains the second radar data based on the distance between the light spot and the second lidar.

[0029] Optionally, the computer device may obtain the first radar data and the second radar data simultaneously, or may obtain the first radar data first and then the second radar data, or may obtain the second radar data first and then the first radar data. This embodiment of the present application does not limit this.

[0030] Optionally, the second radar assembly may include one or more laser radars. In the embodiment of the present application, the second radar assembly includes four second laser radars. Optionally, two second laser radars are located on the top of the transport vehicle, and the other two second laser radars are located at the bottom of the transport vehicle, and the positions of the second laser radars are diagonal to each other, wherein the top of the transport vehicle refers to the top of the AGV, such as Figure 3 shown.

[0031] Optionally, the laser emission surface formed by the laser emitted by the second laser radar is parallel to the top plane of the transport vehicle, that is, parallel to the ground. The top of the transport vehicle refers to the top of the AGV, for example, Figure 6 As shown, two second laser radars 32 (one not shown) are installed at the top diagonal positions of the AGV 11, and two second laser radars 32 (one not shown) are installed at the bottom diagonal positions. Each second laser radar 32 is diagonally opposite each other, and the laser emission plane 61 formed by the lasers emitted by the second laser radars 32 is parallel to the top plane of the transport vehicle or the ground. For example, based on the edge of the transport vehicle, the scanning range of the second laser radar is 0-270 degrees and 0-40 meters. Of course, in actual applications, the scanning range of the second laser radar can be flexibly set and adjusted, and this embodiment of the application does not limit this.

[0032] It should be noted that the above introduction to the second laser radar is only exemplary and explanatory. In actual applications, the number and position of the second laser radar can be flexibly set and adjusted according to actual conditions.

[0033] Optionally, the second radar data includes a second distance parameter. For example, after the second laser radar emits a laser for scanning, the laser encounters an obstacle, forming a light spot (i.e., a scanning point). Based on the straight-line distance between the light spot and the second laser radar, data to be processed is obtained, and the computer device then acquires the data to be processed. Subsequently, the computer device, based on the straight-line distance between the light spot and the second laser radar and the emission angle of the laser corresponding to the light spot, acquires the vertical distance between the light spot and the target plane where the second laser radar is located. The target plane is perpendicular to the ground and perpendicular to the direction of movement of the transporter. The vertical distance between the light spot and the target plane where the second laser radar is located is the second distance parameter.

[0034] Optionally, due to the scanning range of the second laser radar (such as Figure 6 (shown) includes a relatively long distance to the side of the truck. To reduce the subsequent computational effort for the second radar data, the computer divides the target plane into a first and a second area based on the truck's projection. The first area refers to the truck's projection on the target plane, and the second area refers to the rest of the target plane. The computer then removes the light spot projected in the second area based on the light spot's projection on the target plane, retaining the light spot projected in the first area, thereby obtaining the second radar data. The second distance parameter included in this second radar data is derived based on the light spot projected in the first area.

[0035] Step 404 : Perform obstacle detection on the transport vehicle based on the second radar data to obtain a second detection result.

[0036] In an embodiment of the present application, after acquiring the second radar data, the computer device performs obstacle detection on the transport vehicle based on the second radar data to obtain a second detection result. The second detection result indicates obstacle detection results before and after the transport vehicle's moving path. Optionally, the obstacle detection result includes whether an obstacle exists and the distance between the obstacle and the transport vehicle.

[0037] Alternatively, as Figure 6 As shown, since the scanning range of the second radar assembly includes the side of the transport truck, the second detection result can also be used to indicate the obstacle detection result on the side of the transport truck.

[0038] Step 405 : Control the movement state of the transport vehicle based on the material deflection result, the first detection result, and the second detection result.

[0039] In an embodiment of the present application, after obtaining the above-mentioned material deflection result, the above-mentioned first detection result and the above-mentioned second detection result, the computer device controls the movement state of the transport vehicle based on the material deflection result, the first detection result and the second detection result.

[0040] Optionally, the computer device determines whether the material on the transport vehicle is deflected based on the material deflection result, determines whether there is an obstacle to the material based on the first detection result, determines whether there is an obstacle to the transport vehicle based on the second detection result, and then determines whether to adjust the moving state of the transport vehicle.

[0041] In summary, in the technical solution provided by the embodiment of the present application, obstacle detection is performed on the materials on the transport vehicle through the first radar data, and obstacle detection is performed on the transport vehicle through the second radar data. Different obstacle detections are performed for the materials and the transport vehicle, which improves the accuracy of the obstacle detection results, and thus improves the accuracy of the movement control of the transport vehicle. Moreover, the materials and the transport vehicle are regarded as independent individuals, rather than as a whole, which is conducive to different movement control for the materials and the transport vehicle, making the movement of the transport vehicle more flexible. For example, Figure 7 and Figure 8 As shown, in Figure 7 In the example, the transport vehicle 71 and the material 72 are considered as a whole. When an obstacle 73 is detected, the transport vehicle 71 needs to stop moving. Figure 8 In the example, the transport vehicle 71 and the material 72 are considered as independent entities. When the obstacle 73 is detected, the transport vehicle can continue to move until the obstacle 73 moves under the material 72 and before the transport vehicle 71. At this time, the transport vehicle 71 is controlled to stop moving. Figure 7 , Figure 8 The movement of the middle transport vehicle 71 is more flexible.

[0042] In addition, the first laser component includes two first laser radars located on different sides of the top of the transport truck. The data collected by multiple first laser radars improves the accuracy of the first radar data. The laser emission surface formed by the laser emitted by the first laser radar is perpendicular to the top plane of the transport truck and parallel to the moving direction of the transport truck, which is convenient for obtaining obstacles corresponding to the material at a height, which is beneficial to improving the accuracy of obstacle detection for the material; the second laser component includes second laser radars located at different corners of the transport truck, and each second laser radar is diagonal to each other. For a certain plane, even if the data collected by a second laser radar is distorted due to the transport truck itself, the distorted data can be supplemented by the data collected by another second laser radar located at the diagonal corner of the plane, thereby improving the accuracy of the second radar data and helping to improve the accuracy of obstacle detection for the transport truck.

[0043] The following is a detailed introduction to the method of obtaining the first detection result.

[0044] In an exemplary embodiment, the above step 402 includes the following steps: 1. Based on the material parameter file, obtain the material height and the length of the material extending beyond the vehicle body.

[0045] In an embodiment of the present application, when performing obstacle detection on a material, a computer device obtains a material parameter file and, based on the material parameter file, determines the material's height and the length by which the material extends beyond the vehicle body. The material parameter file indicates the material's parameters. Optionally, the material parameter file includes the material's height and the length by which the material extends beyond the vehicle body. For example, if the material is a single crystal silicon ingot, the material's height (diameter) may be 280 mm.

[0046] Optionally, the material parameter file is pre-stored in the computer device. In one possible embodiment, the user manually sets the material parameters based on the material and the transport vehicle, thereby generating a material parameter file, and the computer device stores the material parameter file. In another possible embodiment, after the material is placed on the transport vehicle, an image acquisition device is used to obtain an image of the transport vehicle loaded with the material, and then the computer device performs image processing on the image of the transport vehicle loaded with the material to obtain the material's own parameters and generate a material parameter file. Exemplarily, the image acquisition device can be a camera, a video camera, a scanner, etc., which is not limited in the embodiments of the present application.

[0047] 2. Filter the first radar data based on the height of the material to obtain filtered first radar data.

[0048] In an embodiment of the present application, after obtaining the height of the above-mentioned material, the computer device filters the first radar data based on the height of the material to obtain the filtered first radar data.

[0049] In an exemplary embodiment, after obtaining the height of the material, the computer device determines a height threshold based on the height of the material. The height threshold is used to determine whether there are obstacles to the material at a certain height. Optionally, the height threshold is greater than or equal to the maximum height of the material placed on a transport vehicle. In one possible embodiment, the material corresponds to a height. After obtaining the parameter file of the material, the computer device obtains the height of the material from the parameter file of the material, and uses the height as the maximum height of the material, and determines the height threshold based on the sum of the maximum height of the material and the maximum height of the transport vehicle. In another possible embodiment, the material corresponds to multiple heights. After obtaining the parameter file of the material, the computer device obtains multiple heights corresponding to the material from the parameter file of the material, and uses the largest value among the multiple heights as the maximum height of the material, and then determines the height threshold based on the sum of the maximum height of the material and the maximum height of the transport vehicle.

[0050] In an exemplary embodiment, after obtaining the aforementioned height threshold, the computer device filters the height parameters contained in the first radar data based on the height threshold, removing height parameters greater than the height threshold to obtain filtered first radar data. The height parameter indicates the vertical distance between the light spot formed by the laser emitted by the first radar assembly and the horizontal plane (parallel to the ground) where the first radar assembly resides. Each height parameter corresponds to a first distance parameter. In this case, if the height parameters corresponding to the first distance parameters in the filtered first radar data are all less than or equal to the height threshold, the location of the light spot is below the height threshold, and the obstacle detected by the light spot is at a height that may affect the normal movement of materials.

[0051] One thing that needs to be explained is that if the first laser radar is set up like Figure 5 As shown, the first radar data does not include obstacle data below the maximum height of the transport vehicle, and the first radar data can be filtered based on the above method; if the first laser radar is set at other height positions, the first radar data may include obstacle data below the maximum height of the transport vehicle. After filtering the first radar data based on the above method, the computer device determines the height threshold value based on the maximum height of the transport vehicle, and then continues to filter the first radar data based on the height threshold value, removes height parameters less than the height threshold value, and obtains the final filtered first radar data.

[0052] 3. Determine a first threshold based on the length of the material extending beyond the vehicle body.

[0053] In an embodiment of the present application, after obtaining the length of the material extending beyond the vehicle body, the computer device determines a first threshold based on the length of the material extending beyond the vehicle body. Optionally, the computer device determines the first threshold based on the installation position of the first laser radar on the transporter and the length of the material extending beyond the vehicle body. For example, if the first laser radar is installed in the middle of the long side of the transporter, the computer device determines the first threshold as the sum of half the long side of the transporter and the length of the material extending beyond the vehicle body.

[0054] In one possible embodiment, only one end of the material protrudes beyond the vehicle body. In this case, the length of the material protruding beyond the vehicle body is a single value, and the computer device determines the first threshold based on this single value. In another possible embodiment, both ends of the material protrude beyond the vehicle body. In other words, the length of the material protruding beyond the vehicle body has two corresponding values. The computer device determines the first threshold based on the longest value.

[0055] 4. When a first distance parameter less than or equal to a first threshold value exists in the filtered first radar data, a material deflection result is generated to indicate that the material has deflected on the transport vehicle.

[0056] In an embodiment of the present application, after obtaining the aforementioned first threshold, the computer device performs material deflection detection on the filtered first radar data based on the first threshold. If a first distance parameter less than or equal to the first threshold exists in the filtered first radar data, the computer device generates a material deflection result indicating that the material has deflected on the transport vehicle. Conversely, if the first distance parameter less than or equal to the first threshold does not exist in the filtered first radar data, the computer device generates a material deflection result indicating that the material has not deflected on the transport vehicle. The first distance parameter indicates the vertical distance between the light spot formed by the laser emitted by the first radar assembly and the vertical plane (perpendicular to the ground) in which the first radar assembly is located.

[0057] Optionally, when there is a first distance parameter less than or equal to a first threshold in the filtered first radar data, the computer device determines that the obstacle detected by the laser emitted by the first laser radar includes the material itself, and further determines that the material is deflected on the transport vehicle and generates a corresponding material deflection result; conversely, when there is no first distance parameter less than or equal to the first threshold in the filtered first radar data, the computer device determines that the obstacle detected by the laser emitted by the first laser radar does not include the material itself, and further determines that the material is not deflected on the transport vehicle and generates a corresponding material deflection result.

[0058] 5. When a first distance parameter greater than a first threshold value exists in the filtered first radar data, generate a first detection result based on the first distance parameter greater than the first threshold value.

[0059] In an embodiment of the present application, after obtaining the above-mentioned first threshold, the computer device performs obstacle detection on the filtered first radar data based on the first threshold. When there is a first distance parameter greater than the first threshold in the filtered first radar data, a first detection result is generated based on the first distance parameter greater than the first threshold. At this time, the first detection result includes the first distance parameter greater than the first threshold, that is, the first detection result is used to indicate the distance between the obstacle and the material before and after the moving path of the material; conversely, when there is no first distance parameter greater than the first threshold in the filtered first radar data, a first detection result is generated to indicate that there is no obstacle before and after the moving path of the material.

[0060] Optionally, when there is a first distance parameter greater than a first threshold in the filtered first radar data, the computer device determines that the laser emitted by the first laser radar detects an obstacle and the obstacle is not the material itself, and further determines that there is an obstacle in front of and / or behind the moving path of the material, and generates a first detection result based on the first distance parameter greater than the first threshold; conversely, when there is no first distance parameter greater than the first threshold in the filtered first radar data, it is determined that the laser emitted by the first laser radar does not detect an obstacle outside the material, and further determines that there is no obstacle in front of and behind the moving path of the material and generates a corresponding first detection result.

[0061] To sum up, in the technical solution provided in the embodiment of the present application, the first radar data is filtered according to the height of the material, and then the material deflection detection and obstacle detection are performed based on the filtered first radar data, which reduces the first radar data that needs to be processed, and thus reduces the amount of calculation during obstacle detection, which is conducive to more rapid acquisition of material deflection results and first detection results, and is conducive to improving the control efficiency of the transport vehicle; moreover, the first distance parameter is distinguished by the first threshold value. When the first distance parameter is less than or equal to the first threshold value, it is determined that the detected obstacle is the material itself, that is, the material is deflected. When the first distance parameter is greater than the first threshold value, it is determined that the detected obstacle is not the material itself, that is, there are obstacles before and after the material moving path, which effectively distinguishes the type of the detected obstacle, thereby improving the accuracy of the overall obstacle detection for the material.

[0062] In addition, the height threshold is determined by the height of the material, and height parameters greater than the height threshold are removed from the first radar data. That is, the height parameters corresponding to the first distance parameters in the filtered first radar data do not exceed the first distance parameters of the height threshold. While reducing the amount of calculation during obstacle detection, the interference of excessively high data on obstacle detection is eliminated, thereby improving the accuracy of obstacle detection.

[0063] The following describes in detail how to obtain the second detection result.

[0064] In an exemplary embodiment, the above step 404 includes the following steps: 1. Get the parameter file of the transporter.

[0065] The parameter file of the transport vehicle is used to indicate the parameters of the transport vehicle itself. In the embodiment of the present application, when the transport vehicle is performing obstacle detection, the computer device obtains the parameter file of the transport vehicle. Optionally, the parameter file of the transport vehicle is pre-stored in the computer device.

[0066] In a possible implementation, the user manually sets the parameters of the transport vehicle based on the transport vehicle, thereby generating a parameter file of the transport vehicle, and the computer device stores the parameter file of the transport vehicle.

[0067] In another possible embodiment, an image acquisition device captures an image of a transport truck, and a computer device then processes the image of the transport truck to obtain the transport truck's parameters and generate a transport truck parameter file. For example, the transport truck parameter file includes a standard distance parameter, which indicates the distance between the light spot formed on the transport truck by the laser emitted by the second radar assembly and the second radar assembly. It should be noted that since the scanning range of the second radar assembly includes the material support rack in the transport truck, the standard distance parameter can be understood as the distance between the light spot formed on the material support rack by the laser emitted by the second radar assembly and the second radar assembly. After capturing the transport truck image, the computer device simulates the light spot formed on the material support rack by the laser emitted by the second radar assembly based on the position of the second laser radar in the transport truck image, and then obtains the distance between the light spot and the second laser radar to obtain the standard distance parameter.

[0068] 2. Filter the second distance parameter included in the second radar data based on the parameter file of the transport vehicle to obtain filtered second radar data.

[0069] In this embodiment of the present application, after obtaining the transport vehicle parameter file, the computer device filters the second distance parameter included in the second radar data based on the transport vehicle parameter file to obtain filtered second radar data. The second distance parameter indicates the distance between the light spot formed by the laser emitted by the second radar assembly and the second radar assembly.

[0070] In an exemplary embodiment, after obtaining the transporter's parameter file, the computer device retrieves a standard distance parameter from the transporter's parameter file. The standard distance parameter indicates the distance between the second radar assembly and the spot of laser light emitted by the second radar assembly, which is formed on the transporter. The computer device then filters the second distance parameters contained in the second radar data, removing any second distance parameters that are identical to the standard distance parameter, to obtain filtered second radar data.

[0071] 3. Generate a second detection result based on the second distance parameter included in the filtered second radar data.

[0072] In an embodiment of the present application, after obtaining the filtered second radar data, the computer device generates a second detection result based on the second distance parameter included in the filtered second radar data, wherein the second detection result includes the second distance parameter included in the filtered second radar data.

[0073] To sum up, in the technical solution provided in the embodiment of the present application, the second radar data is filtered through the parameter file of the transport vehicle, and then obstacle detection is performed on the transport vehicle based on the filtered second radar data, which reduces the second radar data that needs to be processed, thereby reducing the amount of calculation during obstacle detection, which is conducive to obtaining the second detection result faster, thereby improving the control efficiency of the transport vehicle.

[0074] In addition, the standard distance parameter is used to indicate the distance between the light spot formed on the transport vehicle by the laser emitted by the second radar component and the second radar component. By removing the second distance parameters that are identical to the standard distance parameters in the second radar data, filtered second radar data is obtained. While reducing the amount of calculation during obstacle detection, it also eliminates the interference of the material support rack in the transport vehicle on obstacle detection, which is beneficial to improving the accuracy of obstacle detection.

[0075] The following is a detailed introduction to the control method of the mobile state.

[0076] In an exemplary embodiment, the above step 405 includes the following steps: 1. When it is determined based on the material deflection result that the material has deflected on the transport vehicle, the transport vehicle is controlled to stop moving.

[0077] In an embodiment of the present application, after obtaining the above-mentioned material deflection results, the computer device controls the movement state of the transport vehicle based on the material deflection results. When it is determined that the material is deflected on the transport vehicle based on the material deflection results, the transport vehicle is controlled to stop moving.

[0078] Optionally, when it is determined based on the material deflection result that the material has not deflected on the transport vehicle, the computer device controls the transport vehicle to maintain the current moving state.

[0079] 2. When it is determined based on the material deflection result that the material has not deflected, the movement state of the transport vehicle is controlled based on the first detection result and the second detection result.

[0080] Optionally, after obtaining the first detection result and the second detection result, the computer device controls the movement state of the transport vehicle based on the first detection result and the second detection result.

[0081] In an embodiment of the present application, when it is determined based on the material deflection result that the material has not deflected, the computer device controls the movement state of the transport vehicle based on the first detection result and the second detection result.

[0082] Optionally, the transport vehicle's movement state includes a braking state. In an exemplary embodiment, if the first distance parameter included in the first detection result is less than (or equal to) a second threshold, the computer device controls the transport vehicle to switch to a braking state. If the second distance parameter included in the second detection result is less than (or equal to) a third threshold, the computer device controls the transport vehicle to switch to a braking state. The braking state refers to the transport vehicle switching from moving to parked.

[0083] Optionally, the transport vehicle's movement state includes a deceleration state. In an exemplary embodiment, if the first distance parameter included in the first detection result is greater than a second threshold and less than (or equal to) a fourth threshold, the computer device controls the transport vehicle to switch to the deceleration state. If the second distance parameter included in the second detection result is greater than a third threshold and less than (or equal to) a fifth threshold, the computer device controls the transport vehicle to switch to the deceleration state. The deceleration state refers to a decrease in the transport vehicle's movement speed.

[0084] In an exemplary embodiment, if the first distance parameter included in the first detection result is greater than a fourth threshold, the computer device controls the transport vehicle to maintain its current movement state; if the second distance parameter included in the second detection result is greater than a fifth threshold, the computer device controls the transport vehicle to maintain its current movement state. The current movement state can be any movement state and is not limited in this embodiment of the application.

[0085] Optionally, the moving state of the transport vehicle further includes a normal moving state. Exemplarily, the normal moving state may be that the transport vehicle moves at a constant speed, or that the transport vehicle first accelerates and then moves at a constant speed.

[0086] Optionally, the second threshold, the third threshold, the fourth threshold, and the fifth threshold can be any numerical value, and each threshold can be flexibly set and adjusted according to actual conditions, which is not limited in the embodiments of the present application. It should be noted that the second threshold is greater than the above-mentioned first threshold. Exemplarily, the computer device can determine the second threshold and the third threshold based on the current moving speed of the transport vehicle. For example, the computer device calculates and determines the braking distance of the transport vehicle based on the current moving speed of the transport vehicle and the current load of the transport vehicle, and then determines the second threshold and the third threshold. At this time, in order to ensure the transportation safety of the transport vehicle, the second threshold and the third threshold are both greater than the braking distance.

[0087] For example, Figure 9As shown, for material 72, the moving direction includes a material deflection zone, a braking zone 91, a deceleration zone 92, and an observation zone 93. For transport vehicle 71, the moving direction includes a braking zone 94, a deceleration zone 95, and an observation zone 96. If the first distance parameter corresponding to the obstacle detected by the first radar data is less than or equal to a first threshold, the obstacle is determined to be located in the material deflection zone. In this case, the material deflection result indicates that the material has deflected on the transport vehicle. The computer device then controls transport vehicle 71 to stop moving based on the material deflection result. If the first distance parameter is determined to be greater than the first threshold and less than or equal to the second threshold based on the first detection result, the obstacle is determined to be located in braking zone 91 for material 72. The computer device then controls transport vehicle 71 to stop moving. If the first distance parameter is determined to be greater than the second threshold and less than or equal to the fourth threshold based on the first detection result, the obstacle is determined to be located in deceleration zone 92 for material 72. The computer device then controls transport vehicle 71 to decelerate. If the first distance parameter is determined to be greater than the fourth threshold based on the first detection result, the obstacle is determined to be located in observation zone 93 for material 72. The computer device then controls transport vehicle 71 to move normally. When it is determined based on the second detection result that the second distance parameter is less than or equal to the third threshold value, it is determined that the obstacle is located in the braking area 94 of the transport vehicle 71, and the computer device controls the transport vehicle 71 to stop moving; when it is determined based on the second detection result that the second distance parameter is greater than the third threshold value and less than or equal to the fifth threshold value, it is determined that the obstacle is located in the deceleration area 95 of the transport vehicle 71, and the computer device controls the transport vehicle 71 to decelerate and move; when it is determined based on the second detection result that the second distance parameter is greater than the fifth threshold value, it is determined that the obstacle is located in the observation area 96 of the transport vehicle 71, and the computer device controls the transport vehicle 71 to move normally.

[0088] Optionally, the moving state of the transport vehicle includes an accelerated state. For example, if the first detection result determines that there is an obstacle behind the material's moving path, the computer device controls the transport vehicle to switch to an accelerated state to avoid collision between the obstacle and the material. If the second detection result determines that there is an obstacle behind the transport vehicle's moving path, the computer device controls the transport vehicle to accelerate to avoid collision between the obstacle and the transport vehicle.

[0089] To sum up, in the technical solution provided in the embodiment of the present application, whether deflection occurs on the material transport vehicle is determined by the material deflection result, and then the transport vehicle is controlled to stop moving when the material is deflected, which is beneficial to improving the safety of the transport vehicle during movement and reducing collisions caused by material deflection; moreover, timely response to the deflection of the material is facilitated to quickly adjust the deflection of the material, which is beneficial to the normal docking of the subsequent robotic arm when grabbing the material.

[0090] In addition, the materials and the transport vehicle are distinguished, and the situation of the obstacle relative to the materials is determined by the first detection result, and then the movement state of the transport vehicle is controlled. The situation of the obstacle relative to the transport vehicle is determined by the second detection result, and then the movement state of the transport vehicle is controlled. While improving the safety of the transport vehicle during movement, the movement of the transport vehicle is made more flexible.

[0091] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0092] Please refer to Figure 10 , which shows a block diagram of a transport vehicle control device provided by one embodiment of the present application. This device has the function of implementing the above-mentioned transport vehicle control method. This function can be implemented by hardware or by hardware executing corresponding software. This device can be the above-mentioned computer device or can be installed in a computer device. This device can include: a first acquisition module 1010, a first detection module 1020, a second acquisition module 1030, a second detection module 1040, and a transport control module 1050.

[0093] The first acquisition module 1010 is configured to call a first radar component to acquire first radar data.

[0094] The first detection module 1020 is used to perform obstacle detection on the material on the transport vehicle based on the first radar data to obtain a material deflection result and a first detection result; wherein the material deflection result is used to indicate whether the position of the material on the transport vehicle has been deflected, and the first detection result is used to indicate the obstacle detection result before and after the moving path of the material.

[0095] The second acquisition module 1030 is configured to call the second radar component to acquire second radar data.

[0096] The second detection module 1040 is configured to perform obstacle detection on the transport vehicle based on the second radar data to obtain a second detection result; wherein the second detection result is used to indicate obstacle detection results before and after the moving path of the transport vehicle.

[0097] The transport control module 1050 is configured to control the movement state of the transport vehicle based on the material deflection result, the first detection result, and the second detection result.

[0098] In an exemplary embodiment, as Figure 11 As shown, the first detection module 1020 includes: a file acquisition unit 1021, a data screening unit 1022, a threshold determination unit 1023, a deflection detection unit 104 and a result acquisition unit 1025.

[0099] The file acquisition unit 1021 is configured to acquire the height of the material and the length of the material exceeding the vehicle body based on the parameter file of the material.

[0100] The data screening unit 1022 is configured to screen the first radar data based on the height of the material to obtain screened first radar data.

[0101] The threshold determination unit 1023 is configured to determine a first threshold based on a length of the material exceeding the vehicle body.

[0102] The deflection detection unit 1024 is used to generate a material deflection result indicating that the material has been deflected on the transport vehicle when there is a first distance parameter less than or equal to the first threshold in the filtered first radar data; wherein the first distance parameter is used to indicate the vertical distance between the light spot formed by the laser emitted by the first radar component and the vertical plane where the first radar component is located.

[0103] The result acquisition unit 1025 is configured to generate the first detection result based on the first distance parameter greater than the first threshold value when there is a first distance parameter greater than the first threshold value in the filtered first radar data.

[0104] In an exemplary embodiment, the data screening unit 1022 is configured to: determining a height threshold based on the height of the material; The altitude parameters included in the first radar data are filtered based on the altitude threshold, and altitude parameters greater than the altitude threshold are removed to obtain the filtered first radar data; wherein the altitude parameter is used to indicate the vertical distance between a light spot formed by the laser emitted by the first radar component and a horizontal plane where the first radar component is located, and one altitude parameter corresponds to one first distance parameter.

[0105] In an exemplary embodiment, as Figure 11 As shown, the second detection module 1040 includes: a parameter acquisition unit 1041, a parameter screening unit 1042 and a data detection unit 1043.

[0106] The parameter acquisition unit 1041 is used to acquire the parameter file of the transport vehicle.

[0107] A parameter screening unit 1042 is configured to screen a second distance parameter included in the second radar data based on a parameter file of the transport vehicle to obtain screened second radar data; wherein the second distance parameter is used to indicate a distance between a light spot formed by a laser emitted by the second radar component and the second radar component.

[0108] The data detection unit 1043 is configured to generate the second detection result based on the second distance parameter included in the filtered second radar data.

[0109] In an exemplary embodiment, the parameter screening unit 1042 is configured to: Obtaining a standard distance parameter from a parameter file of the transport vehicle; wherein the standard distance parameter is used to indicate the distance between a light spot formed on the transport vehicle by the laser emitted by the second radar assembly and the second radar assembly; The second distance parameters included in the second radar data are screened, and second distance parameters that are the same as the standard distance parameters are removed to obtain the screened second radar data.

[0110] In an exemplary embodiment, as Figure 11 As shown, the transport control module 1050 includes a deflection control unit 1051 and a result control unit 1052 .

[0111] The deflection control unit 1051 is configured to control the transport vehicle to stop moving when it is determined based on the material deflection result that the material has deflected on the transport vehicle.

[0112] The result control unit 1052 is configured to control the movement state of the transport vehicle based on the first detection result and the second detection result when it is determined based on the material deflection result that the material has not been deflected.

[0113] In an exemplary embodiment, the result control unit 1052 is configured to: When the first distance parameter included in the first detection result is less than the second threshold value, or the second distance parameter included in the second detection result is less than the third threshold value, controlling the transport vehicle to switch to a braking state; When the first distance parameter included in the first detection result is greater than the second threshold and less than the fourth threshold, or when the second distance parameter included in the second detection result is greater than the third threshold and less than the fifth threshold, controlling the transport vehicle to switch to a deceleration state; When the first distance parameter included in the first detection result is greater than the fourth threshold, or when the second distance parameter included in the second detection result is greater than the fifth threshold, the transport vehicle is controlled to maintain the current moving state.

[0114] In an exemplary embodiment, the first radar assembly includes two first laser radars; the first laser radars are located on the top side of the transport vehicle, and different first laser radars are located on different sides; the laser emission surface formed by the laser emitted by the first laser radar is perpendicular to the top plane of the transport vehicle and parallel to the moving direction of the transport vehicle; the second radar assembly includes four second laser radars; two of the second laser radars are located on the top of the transport vehicle, and the other two second laser radars are located at the bottom of the transport vehicle, and the positions of each second laser radar are diagonal to each other; the laser emission surface formed by the laser emitted by the second laser radar is parallel to the top plane of the transport vehicle.

[0115] To sum up, in the technical solution provided in the embodiment of the present application, obstacle detection is performed on the materials on the transport vehicle through the first radar data, and obstacle detection is performed on the transport vehicle through the second radar data. Different obstacle detections are performed for the materials and the transport vehicle, which improves the accuracy of the obstacle detection results and thereby improves the accuracy of the movement control of the transport vehicle. Moreover, the materials and the transport vehicle are regarded as independent individuals, and the materials and the transport vehicle are not regarded as a whole, which is conducive to different movement controls for the materials and the transport vehicle respectively, making the movement of the transport vehicle more flexible.

[0116] In an exemplary embodiment, a computer device is further provided. The computer device includes a processor and a memory. A computer program is stored in the memory. The computer program is loaded and executed by the processor to implement the above-mentioned method for controlling the transport vehicle.

[0117] In an exemplary embodiment, a non-transitory computer-readable storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the control method of the transport vehicle is implemented.

[0118] In an exemplary embodiment, a computer program product is further provided. When the computer program product is executed, a computer device executes the above-mentioned method for controlling a transport vehicle.

[0119] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it accordingly, and they are not intended to limit the scope of protection of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the invention.

[0120] It should be understood that the "multiple" mentioned in this article refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent three situations: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship. In addition, the step numbers described in this article only illustrate a possible execution sequence between the steps. In some other embodiments, the above steps may not be executed in the order of the numbers, such as two steps with different numbers are executed at the same time, or two steps with different numbers are executed in the opposite order to the diagram. The embodiments of the present application do not limit this.

[0121] The above description is merely an exemplary embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for controlling a transport vehicle, characterized in that: The transport vehicle is used to transport materials that extend beyond the vehicle body, and the method includes: Calling the first radar component to obtain first radar data; Performing obstacle detection on the material on the transport vehicle based on the first radar data to obtain a material deflection result and a first detection result; wherein the material deflection result is used to indicate whether the material has been deflected on the transport vehicle, and the first detection result is used to indicate obstacle detection results before and after the moving path of the material; Calling the second radar component to obtain second radar data; Performing obstacle detection on the transport vehicle based on the second radar data to obtain a second detection result; wherein the second detection result is used to indicate obstacle detection results before and after the moving path of the transport vehicle; The moving state of the transport vehicle is controlled based on the material deflection result, the first detection result, and the second detection result.

2. The method according to claim 1, characterized in that The performing obstacle detection on the material on the transport vehicle based on the first radar data to obtain a material deflection result and a first detection result includes: Based on the parameter file of the material, obtain the height of the material and the length of the material exceeding the vehicle body; filtering the first radar data based on the height of the material to obtain filtered first radar data; determining a first threshold based on a length of the material exceeding the vehicle body; generating a material deflection result indicating that the material has been deflected on the transport vehicle when a first distance parameter less than or equal to the first threshold value exists in the filtered first radar data; wherein the first distance parameter indicates a vertical distance between a light spot formed by the laser emitted by the first radar assembly and a vertical plane on which the first radar assembly is located; When a first distance parameter greater than the first threshold value exists in the filtered first radar data, the first detection result is generated based on the first distance parameter greater than the first threshold value.

3. The method according to claim 2, characterized in that The filtering of the first radar data based on the height of the material to obtain filtered first radar data includes: determining a height threshold based on the height of the material; The altitude parameters included in the first radar data are filtered based on the altitude threshold, and altitude parameters greater than the altitude threshold are removed to obtain the filtered first radar data; wherein the altitude parameter is used to indicate the vertical distance between a light spot formed by the laser emitted by the first radar component and a horizontal plane where the first radar component is located, and one altitude parameter corresponds to one first distance parameter.

4. The method according to claim 1, wherein The performing obstacle detection on the transport vehicle based on the second radar data to obtain a second detection result includes: Obtaining a parameter file of the transport vehicle; filtering a second distance parameter included in the second radar data based on the parameter file of the transport vehicle to obtain filtered second radar data; wherein the second distance parameter is used to indicate a distance between a light spot formed by the laser emitted by the second radar assembly and the second radar assembly; The second detection result is generated based on the second distance parameter included in the filtered second radar data.

5. The method according to claim 4, characterized in that The filtering of the second distance parameter included in the second radar data based on the parameter file of the transport vehicle to obtain the filtered second radar data includes: Obtaining a standard distance parameter from a parameter file of the transport vehicle; wherein the standard distance parameter is used to indicate the distance between a light spot formed on the transport vehicle by the laser emitted by the second radar assembly and the second radar assembly; The second distance parameters included in the second radar data are screened, and second distance parameters that are the same as the standard distance parameters are removed to obtain the screened second radar data.

6. The method according to claim 1, wherein The controlling the moving state of the transport vehicle based on the material deflection result, the first detection result, and the second detection result includes: When it is determined based on the material deflection result that the material is deflected on the transport vehicle, controlling the transport vehicle to stop moving; In a case where it is determined based on the material deflection result that the material has not been deflected, the moving state of the transport vehicle is controlled based on the first detection result and the second detection result.

7. The method according to claim 6, characterized in that The controlling the moving state of the transport vehicle based on the first detection result and the second detection result includes: When the first distance parameter included in the first detection result is less than the second threshold value, or the second distance parameter included in the second detection result is less than the third threshold value, controlling the transport vehicle to switch to a braking state; When the first distance parameter included in the first detection result is greater than the second threshold and less than the fourth threshold, or when the second distance parameter included in the second detection result is greater than the third threshold and less than the fifth threshold, controlling the transport vehicle to switch to a deceleration state; When the first distance parameter included in the first detection result is greater than the fourth threshold, or when the second distance parameter included in the second detection result is greater than the fifth threshold, the transport vehicle is controlled to maintain the current moving state.

8. The method according to any one of claims 1 to 7, characterized in that The first radar assembly includes two first laser radars; the first laser radars are located on the top side of the transport vehicle, and different first laser radars are located on different sides; the laser emission plane formed by the laser emitted by the first laser radar is perpendicular to the top plane of the transport vehicle and parallel to the moving direction of the transport vehicle; The second radar assembly includes four second laser radars; two of the second laser radars are located on the top of the transport vehicle, and the other two are located at the bottom of the transport vehicle, and the positions of the second laser radars are diagonal to each other; the laser emission surface formed by the laser emitted by the second laser radar is parallel to the top plane of the transport vehicle.

9. A control device for a transport vehicle, characterized in that: The device comprises: A first acquisition module, configured to call a first radar component to acquire first radar data; a first detection module configured to perform obstacle detection on the material on the transport vehicle based on the first radar data, and obtain a material deflection result and a first detection result; wherein the material deflection result indicates whether the material has deflected on the transport vehicle, and the first detection result indicates obstacle detection results before and after the material's moving path; A second acquisition module, configured to call a second radar component to acquire second radar data; a second detection module, configured to perform obstacle detection on the transport vehicle based on the second radar data to obtain a second detection result; wherein the second detection result is used to indicate obstacle detection results before and after the moving path of the transport vehicle; A transport control module is used to control the movement state of the transport vehicle based on the material deflection result, the first detection result and the second detection result.

10. A computer device, characterized in that: The computer device includes a processor and a memory, wherein a computer program is stored in the memory, and the computer program is loaded and executed by the processor to implement the method according to any one of claims 1 to 8.

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