A method and system for controlling the movement of an unmanned mobile target vehicle

Abstract

The present application relates to the technical field of robot control, in particular to a kind of unmanned mobile target vehicle travel control method and system, comprising the following steps: obtaining path segment information determination acceleration and direction deviation generation uniform instruction sequence execution record and archive control path state completion mark.In the present application, by introducing path length and setting value comparison determination acceleration condition, the angle relationship of current position and path direction is combined to identify motion deviation state, and the unified control instruction is constructed by integrating speed and direction adjustment requirements, which can realize dynamic adaptive scheduling at path segment level, and through execution state record and time mark tracking actual operation process, ensure that each path segment execution condition is real-time controllable, control process has serialization, refinement and closed-loop feedback capability, improve the response speed, running stability and target achievement efficiency of path execution, and have stronger autonomous adaptation and execution guarantee capability when facing environmental uncertainty and path diversity.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, and in particular to a method and system for controlling the movement of an unmanned mobile target vehicle. Background Technology

[0002] The field of robot control technology mainly involves methods and systems for the automated manipulation of mechanical devices with motion capabilities, including path planning, positioning and navigation, motion coordination, environmental perception, and obstacle avoidance control. It typically relies on sensor information acquisition, control strategy formulation, and actuator driving to collaboratively achieve the overall control objective. Its methodological characteristic lies in the dynamic instruction scheduling and feedback adjustment of the robot's execution units through a program control system to achieve autonomous or semi-autonomous operation control. Among these, the unmanned mobile target vehicle movement control method refers to a control method that manually manipulates the target vehicle to complete the movement process by pre-setting a fixed path or using remote control equipment. It typically relies on directional wheel sets set in the mechanical structure design to achieve trajectory movement, and determines the direction and speed of movement through manual observation. Some methods use timed relay control or basic photoelectric sensing devices for position detection and simple obstacle avoidance. Its movement control process is usually based on a linear drive mode for unidirectional propulsion and lacks dynamic path adjustment and real-time response capabilities.

[0003] Current unmanned mobile target vehicles rely primarily on manually preset paths or remote control for movement control. They lack autonomous judgment capabilities during path execution and depend on directional wheel sets and linear propulsion for control, which cannot achieve dynamic adjustment and multi-angle adaptation. Furthermore, the control system often uses timed relays or photoelectric sensors for position identification, which cannot provide continuous and real-time feedback. In addition, the adjustment of speed and direction lacks coordinated judgment standards and is adjusted only by manual observation, resulting in sluggish response, low operating efficiency, and poor execution accuracy during movement, making it difficult to meet the automated operation requirements of complex terrain or changing environments. Summary of the Invention

[0004] To address the technical problems existing in the prior art, this invention provides a method for controlling the movement of an unmanned mobile target vehicle, comprising the following steps:

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a method for controlling the movement of an unmanned mobile target vehicle, comprising the following steps:

[0006] S1: Obtain the path segment length data and path number of the unmanned mobile target vehicle, compare the path segment length with the set path acceleration trigger baseline value, determine whether the acceleration conditions are met, and generate a path segment acceleration condition identifier set.

[0007] S2: Obtain the current position coordinates of the unmanned mobile target vehicle, calculate the angle between the current position and the preset direction of the path, determine the offset of the angle, record the path number and corresponding category, and generate the path start direction recognition result.

[0008] S3: Based on the path segment acceleration condition identifier set and the path starting direction identification result, construct speed adjustment instructions and direction adjustment instructions respectively, merge the two instructions into a unified instruction string, establish an index according to the path segment number, and generate an instruction list corresponding to the path number.

[0009] S4: Based on the instruction information in the instruction list corresponding to the path number, execute each instruction operation in the order of the path segment number, record the instruction execution status flag and write it into the time index after each execution to generate a path control execution record;

[0010] S5: Based on the path control execution record, determine whether the current path segment has completed all action requirements. If all marked states have been executed, archive the path number to the database and generate a record of unmanned mobile target vehicle movement control completion.

[0011] As a further aspect of the present invention, the determination of whether the acceleration condition is met specifically involves marking the path segment length as having the acceleration condition if it is greater than the path acceleration triggering baseline value, and otherwise marking it as not having the acceleration condition.

[0012] As a further aspect of the present invention, the offset determination is specifically as follows: if the included angle ∈ (5°, 45°), it is determined to be right offset; if the included angle ∈ [–45°, –5°), it is determined to be left offset; and if the included angle ∈ [–5°, 5°], it is determined to be unoffset.

[0013] As a further embodiment of the present invention, the path segment acceleration condition identifier set includes a path number index, a path segment classification identifier, and a path segment corresponding acceleration flag; the path starting direction identification result includes a path number index, a direction deviation classification, and a deviation determination result; the path number corresponding instruction list includes a path number index, speed adjustment information, direction adjustment information, and a unified instruction string; the path control execution record includes a path segment number index, instruction execution status, and execution time marker; and the unmanned mobile target vehicle travel control completion record includes a path number index, control record archiving information, and a task completion flag.

[0014] As a further aspect of the present invention, the step of obtaining the path segment acceleration condition identifier set is as follows:

[0015] S111: Obtain the path length data and path number of the unmanned mobile target vehicle, and perform a numerical comparison operation between each set of path length data and the path acceleration trigger benchmark value, in conjunction with the set path acceleration trigger benchmark value, to determine whether the acceleration conditions are met, and generate a path segment acceleration status judgment result set.

[0016] S112: Based on the path segment acceleration status determination result set, extract all path numbers that are determined to have acceleration conditions, aggregate them to form a number set, and filter out path numbers that do not have acceleration conditions to generate a path number set that has acceleration conditions.

[0017] S113: Based on the set of path numbers that meet the acceleration conditions, all path numbers that meet the conditions are recombined into a unified identifier set, and the structure is merged according to the path number order to generate a path segment acceleration condition identifier set.

[0018] As a further aspect of the present invention, the step of obtaining the path starting direction identification result is as follows:

[0019] S211: Obtain the current position coordinates of the unmanned mobile target vehicle, and read the starting coordinates and target coordinates of the path segment corresponding to the path number. Calculate the preset direction vector of the path based on the coordinate relationship between the two points, and combine the current position with the previous position to form the actual travel direction vector. Calculate the angle between the two vectors and establish a set of offset angle values ​​for the current position.

[0020] S212: Based on the current position offset angle value set, perform offset status judgment on each angle value. If the angle value is between (5°, 45°], it is marked as right offset; if it is between [-45°, -5°], it is marked as left offset; if it is between [-5°, 5°], it is marked as no offset. Aggregate each set of angle values ​​with the corresponding path number and offset classification to generate a path direction offset classification table.

[0021] S213: Based on the path direction offset classification table, extract the direction recognition classification corresponding to each path number, construct the correspondence structure between path number and recognition result, output the direction status classification data of all path segments in sequence, and generate the path starting direction recognition result.

[0022] As a further aspect of the present invention, the step of obtaining the instruction list corresponding to the path number is as follows:

[0023] S311: Based on the path segment acceleration condition identifier set and the path number and corresponding status information in the path starting direction identification result, extract the acceleration identifier and direction offset information respectively, and perform corresponding aggregation operations according to the path number as the index. Set the speed control parameter group and the direction control parameter group, generate independent acceleration status mapping values ​​and direction status mapping values ​​for the path number respectively, and construct the path number control parameter set.

[0024] S312: Based on the path number control parameter set, determine the acceleration level command content according to the acceleration state mapping value, determine the direction adjustment command content according to the direction state mapping value, and perform format encoding and position splicing on the two types of instruction fields to construct an instruction data frame with complete control semantics, and combine them according to the path number to generate a path number control instruction group.

[0025] S313: Based on the path number index in the path number control instruction group, construct the instruction structure entry corresponding to the path number, and sequentially integrate each path number entry into a unified index structure to form a mapping table with the path number as the key and the control instruction string as the value. Output the path segment execution control configuration in a unified format and generate the instruction list corresponding to the path number.

[0026] As a further aspect of the present invention, the path control execution record acquisition step is as follows:

[0027] S411: Based on the control instructions in the instruction list corresponding to the path number, extract the acceleration level and direction angle corresponding to each instruction in the order of the path segment number, trigger the hardware execution interface in sequence to complete the acceleration and deflection actions, record the feedback status and return timestamp after the execution of each path number, and generate a path instruction execution feedback data group.

[0028] S412: Execute the feedback data group according to the path instruction, perform status judgment according to the status corresponding to each path number, write the feedback and path number into the path index table one by one, format the timestamp and convert it into a standard time string and bind it synchronously with the number to generate a path execution status mark sequence.

[0029] S413: Based on the path execution status mark sequence, extract the path number as an index, write the status mark and timestamp into the path control record log in sequence, and organize the path number, status result and time identifier of each record using a unified structure format to generate a path control execution record.

[0030] As a further aspect of the present invention, the step of obtaining the record of the unmanned mobile target vehicle's movement control is as follows:

[0031] S511: Based on the path number and corresponding status flag in the path control execution record, sequentially retrieve all execution result items of each path segment, count the flag value and compare it with the preset completion flag status item by item, determine the action completion status of the path segment, filter and record the path numbers that meet the determination conditions, and generate a path segment action completion number set.

[0032] S512: Based on the path segment action completion number set, perform archiving preparation operation on each path number, extract the execution record entry corresponding to each number, construct the archiving data unit, organize it into a unified structure form, compress and integrate it in the order of number, and write it into the database cache area to generate the path segment data structure set to be archived.

[0033] S513: Based on the data structure set of the path segments to be archived, perform a database write operation on the number of each path segment in the structure set, and archive the sequence number and timestamp to generate a record of the unmanned mobile target vehicle's movement control completion.

[0034] An unmanned mobile target vehicle travel control system includes:

[0035] The path acceleration identification module is used to execute S1: obtain the path segment length data and path number of the unmanned mobile target vehicle, compare the path segment length with the set path acceleration trigger benchmark value, determine whether the acceleration conditions are met, and generate a path segment acceleration condition identifier set.

[0036] The orientation error determination module is used to execute S2: obtain the current position coordinates of the unmanned mobile target vehicle, calculate the angle between the current position and the preset direction of the path, determine the offset of the angle, record the path number and corresponding classification, and generate the path starting direction recognition result.

[0037] The control command generation module is used to execute S3: based on the path segment acceleration condition identifier set and the path starting direction identification result, construct speed adjustment command and direction adjustment command respectively, merge the two commands into a unified command string, establish an index according to the path segment number, and generate a command list corresponding to the path number;

[0038] The execution status recording module is used to execute S4: based on the instruction information in the instruction list corresponding to the path number, execute each instruction operation in the order of the path segment number, record the instruction execution status flag and write it into the time index after each execution, and generate a path control execution record;

[0039] The control flow archiving module is used to execute S5: based on the path control execution record, determine whether the current path segment has completed all action requirements. If all marked states have been executed, archive the path number to the database to generate a record of unmanned mobile target vehicle movement control completion.

[0040] Compared with the prior art, the advantages and positive effects of the present invention are as follows:

[0041] In this invention, acceleration conditions are determined by comparing the path length with a set value, and motion offset is identified by combining the angle between the current position and the path direction. A unified control command is constructed by integrating speed and direction adjustment requirements, which enables dynamic adaptive scheduling at the path segment level. The actual operation process is tracked by recording the execution status and time stamping, ensuring that the execution status of each path segment is controllable in real time. The control process has serialization, refinement and closed-loop feedback capabilities, which improves the response speed, operational stability and target achievement efficiency of path execution. It has stronger autonomous adaptation and execution guarantee capabilities when facing environmental uncertainties and path diversity. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a schematic diagram of the steps of the present invention;

[0044] Figure 2 This is a flowchart of the process for obtaining the path segment acceleration condition identifier set in this invention;

[0045] Figure 3 This is a flowchart of the process for obtaining the path starting direction identification result in this invention;

[0046] Figure 4 This is a flowchart for obtaining the instruction list corresponding to the path number in this invention;

[0047] Figure 5 This is a flowchart of the path control execution record acquisition process of the present invention;

[0048] Figure 6 This is a flowchart illustrating the process of recording and acquiring the movement control data of the unmanned mobile target vehicle according to the present invention.

[0049] Figure 7 This is a system module diagram of the present invention. Detailed Implementation

[0050] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0051] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0052] In the embodiments of this invention, the terms "image" and "picture" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning. Similarly, the terms "of," "corresponding (relevant)," and "corresponding" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning.

[0053] In this embodiment of the invention, sometimes a subscript such as W1 may be written in a non-subscript form such as W1. When the difference is not emphasized, the meaning they express is the same.

[0054] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0055] Please see Figure 1 This invention provides a method for controlling the movement of an unmanned mobile target vehicle, comprising the following steps:

[0056] S1: Obtain the path segment length data and path number of the unmanned mobile target vehicle. Combine the set path acceleration trigger benchmark value, perform a numerical comparison between the path segment length and the path acceleration trigger benchmark value. If the path segment length is greater than the path acceleration trigger benchmark value, mark it as having acceleration conditions; otherwise, mark it as not having acceleration conditions. Integrate the marked path numbers to generate a path segment acceleration condition identifier set.

[0057] S2: Obtain the current coordinates of the unmanned mobile target vehicle, calculate the angle between the current position and the preset direction of the path, and determine the offset of the angle. If the angle ∈ (5°, 45°], it is determined as "right offset". If the angle ∈ [–45°, –5°], it is determined as "left offset". If the angle ∈ [–5°, 5°], it is determined as "no offset". Record the path number and corresponding classification, and generate the path starting direction recognition result.

[0058] S3: Based on the path number and corresponding judgment information in the path segment acceleration condition identifier set and the path starting direction identification result, construct speed adjustment instructions and direction adjustment instructions respectively, merge the two instructions into a unified instruction string, establish an index according to the path segment number, and generate a list of instructions corresponding to the path number.

[0059] S4: Based on the instruction information in the instruction list corresponding to the path number, execute each instruction operation in the order of the path segment number, record the instruction execution status flag and write it into the time index after each execution, and generate a path control execution record;

[0060] S5: Based on the path control execution record, determine whether the current path segment has completed all action requirements. If all marked states have been executed, archive the path number to the database and generate a record of unmanned mobile target vehicle movement control completion.

[0061] The path segment acceleration condition identifier set includes the path number index, path segment classification identifier, and path segment corresponding acceleration flag. The path starting direction identification result includes the path number index, direction deviation classification, and deviation judgment result. The path number corresponding instruction list includes the path number index, speed adjustment information, direction adjustment information, and unified instruction string. The path control execution record includes the path segment number index, instruction execution status, and execution time marker. The unmanned mobile target vehicle travel control completion record includes the path number index, control record archiving information, and task completion flag.

[0062] Please see Figure 2 The specific steps of S1 are as follows:

[0063] S111: Obtain the path length data and path number of the unmanned mobile target vehicle, and perform a numerical comparison operation between each set of path length data and the path acceleration trigger benchmark value, in conjunction with the set path acceleration trigger benchmark value, to determine whether the acceleration conditions are met, and generate a path segment acceleration status judgment result set.

[0064] When acquiring the length data and path number of the unmanned mobile target vehicle's travel path segment, it is necessary to collect the spatial length information of each path segment from the path planning system or control command set. For example, path segment numbers A1, A2, and A3 correspond to travel lengths of 12.3 meters, 8.6 meters, and 15.9 meters, respectively. This type of data is collected in real time through a laser ranging module or GNSS positioning system, with a sampling frequency set to 1Hz and the reference time being the system's departure time. The path number information and length data form a binary data pair in the control unit and are stored in the dynamic path database. When calling the path acceleration trigger reference value, it is necessary to reference the pre-set system parameters. The path acceleration trigger reference value can be set according to the site structure and the acceleration capability of the unmanned target vehicle. The set value is 10 meters, which is derived from the shortest physical distance required for the unmanned target vehicle to start acceleration in a continuous path segment during field testing. As shown in Table 1, the path segment length data will be compared with the baseline value one by one. The corresponding operation is to check if the path segment length is greater than 10 meters. If the path segment length meets the condition, it is marked as 1; otherwise, it is marked as 0. Taking path segment A1 as an example, 12.3 meters > 10 meters, so it is marked as 1; A2 is 8.6 meters < 10 meters, so it is marked as 0; and A3 is 15.9 meters > 10 meters, so it is marked as 1. The marking results of all path segments are aggregated into a vector [1, 0, 1] according to the number. This vector corresponds one-to-one with the path number to form a path segment judgment matrix. In this process, a length comparison function needs to be set. The input parameters are the path segment length and the baseline value of 10 meters. The output is a Boolean value through logical judgment. The output result is converted into an integer value by the path marker for use in state representation. Finally, the path number and the judgment result are integrated to generate a path segment acceleration state judgment result set.

[0065] Table 1 Examples of Path Segment Length and Decision Markers

[0066]

[0067] As shown in Table 1, path segments A1 and A3 meet the acceleration conditions, while A2 does not. This table reflects the comparison process and judgment logic between the path segment length and the set benchmark value. This result provides a data basis for subsequent acceleration path selection.

[0068] S112: Based on the path segment acceleration status determination result set, extract all path numbers that are determined to have acceleration conditions, aggregate them to form a number set, and filter out path numbers that do not have acceleration conditions to generate a set of path numbers that have acceleration conditions.

[0069] Based on the path segment acceleration status determination result set, the path numbers marked as 1 need to be extracted one by one. This extraction process is implemented using a data filter. By traversing each path marker value, when its corresponding value is 1, the path number is extracted and added to a new set. Taking the data in Table 1 as an example, the determination result vector [1, 0, 1] corresponds to the path numbers [A1, A2, A3]. The filtering operation retains A1 and A3 and removes A2, resulting in the initial valid number sequence [A1, A3]. This sequence is then checked for duplicate numbers by the duplicate number detection module. If a path segment number appears repeatedly, such as A1, A1, A3, then the uniqueness determination program needs to perform deduplication, retaining only one item, A1. At the same time, according to the path number sorting logic, the numbers are sorted in ascending order to ensure the stability and controllability of the subsequent identifier set. The sorting rule adopts the lexicographical order strategy, thus obtaining the sorted number sequence [A1, A3]. Finally, this set of data is output as the path number set with acceleration conditions.

[0070] S113: Based on the set of path numbers that meet the acceleration conditions, recombine all path numbers that meet the conditions into a unified identifier set, and perform structural merging according to the path number order to generate a path segment acceleration condition identifier set.

[0071] Based on the set of path numbers that meet the acceleration conditions, a unified format conversion operation is required. This process involves converting the number sequence into a structured identifier set. First, the number sequence [A1, A3] is called to sequentially retrieve the metadata structure of the corresponding number in the original path set, and remap its path segment information to the identifier structure. Each path number is combined with its corresponding acceleration status value 1 to form a key-value pair format, generating a mapping set {A1:1, A3:1}. Then, this mapping set is structured and encoded according to a preset format, such as using JSON format to construct key-value pair strings. The path identifier combiner is then called to write all path key-value pairs into the identifier list, and an identifier set terminator is added to the end of the set to distinguish path segment data from ordinary data content. The final output structure is [A1:1, A3:1, #]. This structure represents the path segment that currently meets the acceleration conditions and its identifier status. After the output content is uniformly encoded, it is written into the accelerated path segment storage unit to generate a path segment acceleration condition identifier set.

[0072] Please see Figure 3 The specific steps of S2 are as follows:

[0073] S211: Obtain the current position coordinates of the unmanned mobile target vehicle, and read the starting coordinates and target coordinates of the path segment corresponding to the path number. Calculate the preset direction vector of the path based on the coordinate relationship between the two points, and combine the current position with the previous position to form the actual travel direction vector. Calculate the angle between the two vectors and establish a set of offset angle values ​​for the current position.

[0074] The process of obtaining the current coordinates of an unmanned mobile target vehicle requires acquiring the vehicle's current coordinates using a high-frequency GPS positioning module mounted on the vehicle. These coordinates are represented in geographic latitude and longitude or local planar coordinates, denoted as point P. , At the same time, it calls the starting coordinates of the path segment corresponding to the path number. ( , ) and target coordinates ( , The path preset direction vector is derived from the vector. This indicates that the actual direction vector of travel originates from the previous sampling point. ( , ) and current position P ( , ) constitute vector P, the angle θ between the two vectors is obtained by the formula for the dot product between direction vectors. The angle range is limited to -180° to +180°. The data sampling interval is set to 1 second. In continuous motion, the previous sampling point is set to (118.56, 36.78), the current position is (118.57, 36.80), the path start point is (118.50, 36.70), and the end point is (118.60, 36.90). Then, the preset path direction vector can be calculated as (0.10, 0.20), the travel direction vector is (0.01, 0.02), and the angle calculation formula is:

[0075] ;

[0076] Substitute the two vectors above:

[0077] ;

[0078] ;

[0079] ;

[0080] ;

[0081] This indicates that the target vehicle's current direction is basically consistent with the preset path direction. This calculated value is recorded as the basis for offset judgment, providing basic data for subsequent classification, and finally generating a set of offset angle values ​​for the current position.

[0082] S212: Based on the current position offset angle value set, perform offset status judgment for each angle value. If the angle value is between (5°, 45°], it is marked as right offset; if it is between [–45°, –5°], it is marked as left offset; if it is between [–5°, 5°], it is marked as no offset. Aggregate each set of angle values ​​with the corresponding path number and offset category to generate a path direction offset classification table.

[0083] Based on the current position offset angle value set, a classification judgment operation is performed on each angle value θ. The judgment criterion is based on the offset threshold, and the offset threshold range is set as follows: if θ∈(5°, 45°], it is judged as right deviation; if θ∈[–45°, –5°], it is judged as left deviation; if θ∈[–5°, 5°], it is judged as no deviation. This threshold setting refers to the stable direction range of the target vehicle's deviation trend in multiple field road navigation tests, which is representative and reproducible. In the specific implementation, for each angle... The values ​​are segmented and judged according to the set range. If the included angle is +12°, it is judged as right deviation; if it is -22°, it is marked as left deviation; if it is +3°, it is judged as no deviation. The judgment result is bound with the path number to form an offset record data structure, which is stored in dictionary format as {path number A1: right deviation, path number A2: left deviation, path number A3: no deviation}. The record operation is stored in the offset result cache in the order of timestamp to support the subsequent identification and calculation of the path segment direction, and finally generate a path direction offset classification table.

[0084] S213: Based on the path direction offset classification table, extract the direction recognition classification corresponding to each path number, construct the correspondence structure between path number and recognition result, output the direction status classification data of all path segments in order, and generate the path start direction recognition result.

[0085] Based on the path direction offset classification table, each record needs to undergo structural parsing. The path number and its corresponding offset classification label are then structurally reorganized. A unified format is used to encode the path number; for example, A1 is converted to the integer code 001, A2 to 002, and A3 to 003. The corresponding classification labels, right offset, left offset, and no offset, are represented by predefined symbols R, L, and N. Finally, the path direction recognition set structure is aggregated in key-value pairs, such as {001: R, 002: L, 003: N}. After encoding, the set formatting module is called to output the path number and its corresponding direction status in numerical order. At the same time, the organized recognition set is written into the direction recognition data module. The unified structure is a two-dimensional matrix with timestamps and path segment position indices to ensure that the output data can be used for subsequent path dynamic offset correction operations. Finally, the path starting direction recognition result is generated.

[0086] Please see Figure 4The specific steps of S3 are as follows:

[0087] S311: Based on the path segment acceleration condition identifier set and the path number and corresponding status information in the path starting direction identification result, extract the acceleration identifier and direction offset information respectively, and perform corresponding aggregation operations according to the path number as the index. Set the speed control parameter group and the direction control parameter group, generate independent acceleration status mapping value and direction status mapping value for the path number respectively, and construct the path number control parameter set.

[0088] Based on the path segment acceleration condition identifier set and the path number and its corresponding status information in the path starting direction identification result, firstly, the acceleration judgment label corresponding to each path number is extracted from the path segment acceleration condition identifier set. The judgment label is 1 or 0 to indicate whether the acceleration condition is met. At the same time, the direction identification type corresponding to each path number is extracted from the path starting direction identification result. The direction type includes three string identifiers: left skew, right skew, or no skew. For the same number, the path number aggregation operation is performed, and the acceleration judgment and direction identification results are combined into structural units and formed matching entries. For example, if path A1 has an acceleration identifier of 1 and a right skew direction, then the corresponding parameter item for this path is {A1: [1, right skew]}, and path A2 has 0. For left skew, the structure is {A2: [0, left skew]}. In the aggregation operation, a dictionary structure is needed to implement a fast index for the path number, and the data is constructed by traversal. On this basis, control parameter values ​​need to be set for acceleration state and direction state respectively. In acceleration state, 1 corresponds to acceleration level 3, and 0 corresponds to 1. In direction state, right skew corresponds to angle control of +15 degrees, left skew corresponds to -15 degrees, and no skew corresponds to 0 degrees control angle. The control parameters are recorded using numerical fields. The conversion process is defined in the parameter mapping table. See Table 2 for details of the mapping table settings. Through this parameter mapping, the logical labels are standardized into control command parsable parameters. Finally, each path number is constructed to correspond to a set of control parameter structure items, forming a path number control parameter set.

[0089] Table 2 Control Parameter Mapping Table

[0090]

[0091] As shown in Table 2, the control parameter values ​​corresponding to each state are standardized and used as the key numerical source for the subsequent construction of the path control instruction field.

[0092] S312: Based on the path number control parameter set, determine the acceleration level command content according to the acceleration status mapping value, determine the direction adjustment command content according to the direction status mapping value, and perform format encoding and position splicing on the two types of command fields to construct an instruction data frame with complete control semantics. Combine them according to the path number to generate a path number control instruction group.

[0093] Based on the path number control parameter set, the control parameter items for each path number are parsed. First, the acceleration level value and direction angle value are extracted from the set and mapped sequentially to instruction fragments. The acceleration command format is set as SPD:x, where x is the acceleration level value, and the direction command format is DIR:y, where y is the angle control value. The two command fields are concatenated using the separator | and combined into a complete instruction string. For example, for path number A1, whose control parameters are acceleration level 3 and direction angle +15 degrees, the generated instruction field is SPD:3|DIR:+15. During the construction of the instruction string, string concatenation and field encoding processes need to be performed. Each control instruction in the field is stored in a fixed format to avoid parsing errors. At the same time, a uniform data length alignment field needs to be set to maintain the standardization of control commands. After all instructions are constructed, an initial index table is built according to the path number, forming a set structure of path number and corresponding instruction string. After the construction is completed, the output is aggregated to form a path number control instruction group.

[0094] S313: Based on the path number index in the path number control instruction group, construct the instruction structure entry corresponding to the path number, and sequentially integrate each path number entry into a unified index structure to form a mapping table with the path number as the key and the control instruction string as the value. Output the path segment execution control configuration in a unified format and generate the instruction list corresponding to the path number.

[0095] Based on the path number index and instruction content in the path number control instruction group, a structured storage operation is performed. First, an instruction list data framework is established, using the path number field as the index key and the corresponding control instruction string as the value field. A key-value pair structure is used to uniformly construct the path control list items. Simultaneously, structure regularization and field sorting operations are performed to ensure that the path numbers are arranged in ascending order. For example, path numbers A1, A2, and A3 correspond to control instructions SPD: 3|DIR: +15, SPD: 1|DIR: -15, and SPD: 1|DIR: 0, forming a key-value pair set {A1: SPD: 3|DIR: +15, A2: SPD: 1|DIR: -15, A3: SPD: 1|DIR: 0}. In the storage structure, the length of each item is fixed to within 32 characters, and the characters are converted to UTF-8 format and stored in the path control configuration table. Finally, all structure items are integrated into a unified control structure set and output to the control system interface module to generate the instruction list corresponding to the path number.

[0096] Please see Figure 5 The specific steps of S4 are as follows:

[0097] S411: Based on the control instructions in the instruction list corresponding to the path number, extract the acceleration level and direction angle corresponding to each instruction in the order of the path segment number, trigger the hardware execution interface in sequence to complete the acceleration and deflection actions, record the feedback status and return timestamp after the execution of each path number, and generate a path instruction execution feedback data group.

[0098] Based on the control information in the instruction list corresponding to the path number, the control instruction string bound to each path segment number is first extracted. This string contains two control fields: a speed control field and a direction control field, corresponding to the structure prefixes "SPD:" and "DIR:" respectively. Before execution, the parser splits the instruction string into independent instruction values ​​and maps them to the control parameter register of the instruction execution module. The speed control value is used to set the vehicle drive power output level, and the direction control value is used to set the steering motor deflection angle, with a setting range of ±30 degrees. During execution, the path segment numbers are arranged in ascending order, and the execution module action is triggered starting from the path segment with the smallest number. For example, the instruction corresponding to number A1 is SPD: 3|DIR: +15, then the system drive module sets the voltage output level to level 3, corresponding to a voltage of 7.2V. The direction module executes the rudder angle rotation to the +15 degree position. After the action is completed, the feedback module monitors the feedback values ​​from the current speed sensor and angle encoder and determines whether the set target value has been reached. If the error is less than 2%, the return status code is 1, indicating successful execution. If the error is exceeded, the return status code is 0, indicating failure. At the same time, the feedback timestamp is recorded with millisecond precision and saved in UNIX timestamp format. After executing one path segment instruction, the control execution of the next path segment number is immediately performed. All feedback status codes and timestamps are bound to the path number to form a feedback record, and finally, a path instruction execution feedback data group is generated.

[0099] S412: Execute feedback data group according to path instructions, perform status judgment according to the status corresponding to each path number, write the feedback and path number into the path index table one by one, format the timestamp and convert it into a standard time string and bind it synchronously with the number to generate a path execution status mark sequence.

[0100] After executing the feedback data group based on the path instruction, a judgment operation needs to be performed on the status value field of each record. A feedback status code value of 1 indicates that the current path segment instruction was successfully completed, marked as "E", and a status code value of 0 indicates that the instruction did not meet the set standard, marked as "F". The judgment operation uses a branch logic judge that takes the status value as input and outputs the corresponding identifier. After the judgment is completed, the path number needs to be bound to the identifier as an index field to generate a marked data item. Simultaneously, the original feedback timestamp is called to format the time field, retaining the timestamp precision to milliseconds, and converting it to a standard format. The string is like "2024-12-03-15:08:45.781". Then, the path number, status identifier, and format time are combined to generate an execution status record structure. For example, if the path segment A2 fails to execute, its structure is {A2, F, 2024-12-03-15:08:45.781}. This structure item is used for subsequent log recording operations and execution backtracking. After each structure record is built, it is appended to the status list array. The elements in the list are arranged in order of path number and output and cached in the status cache area, finally generating a path execution status mark sequence.

[0101] S413: Based on the path execution status marker sequence, extract the path number as the index, write the status marker and timestamp sequentially into the path control record log, and organize the path number, status result and time identifier of each record using a unified structure format to generate a path control execution record;

[0102] Based on the path execution status marker sequence, a log table structure with the path number as the index field needs to be established. The path number, status marker, and formatted timestamp from each path segment record are written as field items into the log data frame. The log record format is uniformly set to {number, execution status, execution time}. During the writing process, the uniqueness of the number must be ensured and sorted in ascending order. A dynamic data table structure is used to append rows to the log table. The append strategy is as follows: if the path number already exists, a new time item is appended after it to form a time sequence; if it does not exist, a new table item is created. For example, if path number A3 is executed successfully and the time is "2024-12-03-15:12:17.402", then the inserted item is {A3, E, 2024-12-03-15:12:17.402}. To unify the data access and output format, this structure is named by column and stored in a compressed manner. After the log table is formed, it is encapsulated into a standard output data block and saved to the path control log module storage area, finally generating the path control execution record.

[0103] Please see Figure 6 The specific steps of S5 are as follows:

[0104] S511: Based on the path number and corresponding status flag in the path control execution record, retrieve all execution result items of each path segment in sequence, count the flag values ​​and compare them item by item with the preset completion flag status "E". If all operation status flags associated with the path segment are "E", then the path segment is determined to be in the action completion state. Path numbers that meet the determination condition are filtered and recorded to generate a path segment action completion number set.

[0105] Based on the path number, status flag, and timestamp fields in the path control execution record, it is necessary to read the record content one by one and perform a path segment integrity judgment operation. First, extract all status flag items corresponding to the path number, and perform a count of the number of flag items and a comparison of the values. The standard is set as follows: when all status flag values ​​are "E", it means that the path segment has completed all actions; otherwise, it is incomplete. The count operation uses a counter structure. For example, if the path number is A1, and the number of bound records is 3, with corresponding statuses of E, E, E, then the cumulative counter value is 3, which meets the total number of bound tasks for the path segment. Therefore, A1 is judged to be in a completed state. If the state corresponding to A2 is E, F, E, then it is determined to be incomplete because there is an incomplete item F. In the actual processing, it is necessary to set a minimum threshold for the number of action items in a path segment. For example, each path segment should contain more than 2 action execution records to prevent misjudgment of a single record. This threshold is set through platform scheduling parameters, with a value range of 2 to 10. After testing, it was set to 3. After the judgment is completed, all path segment numbers that meet the conditions are extracted and written into a cache list. The list is in the form of an array structure, such as [A1, A3, A5]. After being sorted in ascending order of number, it is output to a temporary result buffer, and finally a set of path segment action completion numbers is generated.

[0106] S512: Based on the path segment action completion number set, perform the archiving preparation operation for each path number, extract the execution record entry corresponding to each number, construct the archiving data unit, organize it into a unified structure form, compress and integrate it in the order of number, and write it into the database cache area to generate the path segment data structure set to be archived.

[0107] After determining the action completion number set for each path segment, iterate through each path segment number and retrieve all execution status record entries corresponding to that number in the path control execution record. Construct an archive structure unit. The archive unit contains the fields: path number, completion confirmation flag, total number of action records, and latest execution timestamp. The confirmation flag is set to "C". The total number of records is filled in with the statistical results. The timestamp is the maximum value and converted to a standard time format. For example, the timestamp sequence corresponding to path segment A1 is 1701589401, 1701589409, 1701589412, and the maximum value is 170158. 9412 is converted to "2024-12-03-10:56:52", and the combined structure item {A1, C, 3, 2024-12-03-10:56:52} is constructed. After the construction is completed, a data compression strategy is used to package it into a unified structure set to be archived. The data structure is serialized in JSON format and cached in the database interface temporary cache pool. After all path segment structure items are constructed, number sorting and structure verification are performed. The verification logic is field integrity verification and time field validity verification. After the result passes, it is output to the archiving entry interface, and finally the path segment data structure set to be archived is generated.

[0108] S513: Based on the data structure set of path segments to be archived, perform database write operations on the number of each path segment in the structure set, and archive the sequence number and timestamp to generate a record of unmanned mobile target vehicle movement control completion.

[0109] Based on the data structure set of path segments to be archived, each path segment structure is parsed and passed to the database archiving module for archiving. The database archiving operation is set to write to the table named "control_log_archive", and the fields are mapped to the path number field, archiving status field, record quantity field, and archiving time field, respectively. During archiving, a system archiving number is bound to each data structure, with the numbering rule being "AR" plus a 7-digit incrementing sequence number, such as AR0000451. The archiving timestamp is uniformly generated using the current system time conversion format, for example, if the system time is "2024-12-03-11: If the timestamp is "01:04", then the system will write the timestamp. During the archiving process, the system will receive the execution status code returned by the database. A status code of 0 indicates successful writing, and -1 indicates abnormal failure. The system will record the set of all successfully written path segment numbers and corresponding archive numbers, with a structure like {A1: AR0000451, A3: AR0000452}, and write them to the archiving completion list log table. The log table is a two-dimensional table with each record on a separate row. The log is saved for 72 hours. The record overview is packaged and exported to generate an overview table of operation confirmation items and archive record items, and finally, an unmanned mobile target vehicle movement control completion record is generated.

[0110] Please see Figure 7 An unmanned mobile target vehicle travel control system includes:

[0111] The path acceleration identification module is used to execute S1: obtain the path segment length data and path number of the unmanned mobile target vehicle, compare the path segment length with the set path acceleration trigger benchmark value, determine whether the acceleration conditions are met, and generate a path segment acceleration condition identifier set.

[0112] The orientation error determination module is used to execute S2: obtain the current position coordinates of the unmanned mobile target vehicle, calculate the angle between the current position and the preset direction of the path, determine the offset of the angle, record the path number and corresponding classification, and generate the path starting direction recognition result.

[0113] The control command generation module is used to execute S3: Based on the path segment acceleration condition identifier set and the path start direction identification result, it constructs speed adjustment commands and direction adjustment commands respectively, merges the two commands into a unified command string, establishes an index according to the path segment number, and generates a command list corresponding to the path number.

[0114] The execution status recording module is used to execute S4: based on the instruction information in the instruction list corresponding to the path number, it executes each instruction operation in the order of the path segment number, records the instruction execution status flag and writes it into the time index after each execution, and generates a path control execution record;

[0115] The control flow archiving module is used to execute S5: based on the path control execution record, it determines whether the current path segment has completed all action requirements. If all marked states have been executed, it archives the path number to the database to generate a record of unmanned mobile target vehicle movement control completion.

[0116] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for controlling the movement of an unmanned mobile target vehicle, characterized in that, Includes the following steps: S1: Obtain the path segment length data and path number of the unmanned mobile target vehicle, compare the path segment length with the set path acceleration trigger baseline value, determine whether the acceleration conditions are met, and generate a path segment acceleration condition identifier set. S2: Obtain the current position coordinates of the unmanned mobile target vehicle, calculate the angle between the current position and the preset direction of the path, determine the offset of the angle, record the path number and corresponding category, and generate the path start direction recognition result. S3: Based on the path segment acceleration condition identifier set and the path starting direction identification result, construct speed adjustment instructions and direction adjustment instructions respectively, merge the two instructions into a unified instruction string, establish an index according to the path segment number, and generate an instruction list corresponding to the path number. S4: Based on the instruction information in the instruction list corresponding to the path number, execute each instruction operation in the order of the path segment number, record the instruction execution status flag and write it into the time index after each execution to generate a path control execution record; S5: Based on the path control execution record, determine whether the current path segment has completed all action requirements. If all marked states have been completed, archive the path number to the database to generate a record of unmanned mobile target vehicle movement control completion. The steps for obtaining the path segment acceleration condition identifier set are as follows: S111: Obtain the path length data and path number of the unmanned mobile target vehicle, and perform a numerical comparison operation between each set of path length data and the path acceleration trigger benchmark value, in conjunction with the set path acceleration trigger benchmark value, to determine whether the acceleration conditions are met, and generate a path segment acceleration status judgment result set. S112: Based on the path segment acceleration status determination result set, extract all path numbers that are determined to have acceleration conditions, aggregate them to form a number set, and filter out path numbers that do not have acceleration conditions to generate a path number set that has acceleration conditions. S113: Based on the set of path numbers that meet the acceleration conditions, all path numbers that meet the conditions are recombined into a unified identifier set, and the structure is merged according to the path number order to generate a path segment acceleration condition identifier set.

2. The unmanned mobile target vehicle movement control method according to claim 1, characterized in that: Specifically, determining whether the acceleration condition is met involves marking the path segment length as having the acceleration condition if it is greater than the path acceleration trigger baseline value, otherwise marking it as not having the acceleration condition.

3. The unmanned mobile target vehicle movement control method according to claim 1, characterized in that: The offset determination is as follows: if the included angle ∈ (5°, 45°), it is determined to be right offset; if the included angle ∈ [–45°, –5°), it is determined to be left offset; and if the included angle ∈ [–5°, 5°], it is determined to be unoffset.

4. The unmanned mobile target vehicle movement control method according to claim 1, characterized in that: The path segment acceleration condition identifier set includes a path number index, a path segment classification identifier, and a path segment corresponding acceleration flag. The path starting direction identification result includes a path number index, a direction deviation classification, and a deviation judgment result. The path number corresponding instruction list includes a path number index, speed adjustment information, direction adjustment information, and a unified instruction string. The path control execution record includes a path segment number index, instruction execution status, and execution time marker. The unmanned mobile target vehicle travel control completion record includes a path number index, control record archiving information, and a task completion flag.

5. The unmanned mobile target vehicle movement control method according to claim 1, characterized in that, The steps for obtaining the path starting direction identification result are as follows: S211: Obtain the current position coordinates of the unmanned mobile target vehicle, and read the starting coordinates and target coordinates of the path segment corresponding to the path number. Calculate the preset direction vector of the path based on the coordinate relationship between the two points, and combine the current position with the previous position to form the actual travel direction vector. Calculate the angle between the two vectors and establish a set of offset angle values ​​for the current position. S212: Based on the current position offset angle value set, perform offset status judgment on each angle value. If the angle value is between (5°, 45°], it is marked as right offset; if it is between [-45°, -5°], it is marked as left offset; if it is between [-5°, 5°], it is marked as no offset. Aggregate each set of angle values ​​with the corresponding path number and offset classification to generate a path direction offset classification table. S213: Based on the path direction offset classification table, extract the direction recognition classification corresponding to each path number, construct the correspondence structure between path number and recognition result, output the direction status classification data of all path segments in sequence, and generate the path starting direction recognition result.

6. The method for controlling the movement of an unmanned mobile target vehicle according to claim 1, characterized in that, The steps for obtaining the instruction list corresponding to the path number are as follows: S311: Based on the path segment acceleration condition identifier set and the path number and corresponding status information in the path starting direction identification result, extract the acceleration identifier and direction offset information respectively, and perform corresponding aggregation operations according to the path number as the index. Set the speed control parameter group and the direction control parameter group, generate independent acceleration status mapping values ​​and direction status mapping values ​​for the path number respectively, and construct the path number control parameter set. S312: Based on the path number control parameter set, determine the acceleration level command content according to the acceleration state mapping value, determine the direction adjustment command content according to the direction state mapping value, and perform format encoding and position splicing on the two types of instruction fields to construct an instruction data frame with complete control semantics, and combine them according to the path number to generate a path number control instruction group. S313: Based on the path number index in the path number control instruction group, construct the instruction structure entry corresponding to the path number, and sequentially integrate each path number entry into a unified index structure to form a mapping table with the path number as the key and the control instruction string as the value. Output the path segment execution control configuration in a unified format and generate the instruction list corresponding to the path number.

7. The method for controlling the movement of an unmanned mobile target vehicle according to claim 1, characterized in that, The steps for obtaining the path control execution record are as follows: S411: Based on the control instructions in the instruction list corresponding to the path number, extract the acceleration level and direction angle corresponding to each instruction in the order of the path segment number, trigger the hardware execution interface in sequence to complete the acceleration and deflection actions, record the feedback status and return timestamp after the execution of each path number, and generate a path instruction execution feedback data group. S412: Execute the feedback data group according to the path instruction, perform status judgment according to the status corresponding to each path number, write the feedback and path number into the path index table one by one, format the timestamp and convert it into a standard time string and bind it synchronously with the number to generate a path execution status mark sequence. S413: Based on the path execution status mark sequence, extract the path number as an index, write the status mark and timestamp into the path control record log in sequence, and organize the path number, status result and time identifier of each record using a unified structure format to generate a path control execution record.

8. The method for controlling the movement of an unmanned mobile target vehicle according to claim 1, characterized in that, The steps for obtaining the record of the unmanned mobile target vehicle's movement control completion are as follows: S511: Based on the path number and corresponding status flag in the path control execution record, sequentially retrieve all execution result items of each path segment, count the flag value and compare it with the preset completion flag status item by item, determine the action completion status of the path segment, filter and record the path numbers that meet the determination conditions, and generate a path segment action completion number set. S512: Based on the path segment action completion number set, perform archiving preparation operation on each path number, extract the execution record entry corresponding to each number, construct the archiving data unit, organize it into a unified structure form, compress and integrate it in the order of number, and write it into the database cache area to generate the path segment data structure set to be archived. S513: Based on the data structure set of the path segments to be archived, perform a database write operation on the number of each path segment in the structure set, and archive the sequence number and timestamp to generate a record of the unmanned mobile target vehicle's movement control completion.

9. A motion control system for an unmanned mobile target vehicle, characterized in that, The system is used to implement the unmanned mobile target vehicle travel control method according to any one of claims 1-8, and the system includes: The path acceleration identification module is used to execute S1: obtain the path segment length data and path number of the unmanned mobile target vehicle, compare the path segment length with the set path acceleration trigger benchmark value, determine whether the acceleration conditions are met, and generate a path segment acceleration condition identifier set. The orientation error determination module is used to execute S2: obtain the current position coordinates of the unmanned mobile target vehicle, calculate the angle between the current position and the preset direction of the path, determine the offset of the angle, record the path number and corresponding classification, and generate the path starting direction recognition result. The control command generation module is used to execute S3: based on the path segment acceleration condition identifier set and the path starting direction identification result, construct speed adjustment command and direction adjustment command respectively, merge the two commands into a unified command string, establish an index according to the path segment number, and generate a command list corresponding to the path number; The execution status recording module is used to execute S4: based on the instruction information in the instruction list corresponding to the path number, execute each instruction operation in the order of the path segment number, record the instruction execution status flag and write it into the time index after each execution, and generate a path control execution record; The control flow archiving module is used to execute S5: based on the path control execution record, determine whether the current path segment has completed all action requirements. If all marked states have been executed, archive the path number to the database to generate a record of unmanned mobile target vehicle movement control completion.

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