A four-way shuttle vehicle laser ranging obstacle avoidance method and system thereof

Abstract

The application discloses a kind of four-way shuttle vehicle laser ranging obstacle avoidance method and system, wherein, method contains following steps: install one laser ranging sensor on the four faces of four-way shuttle vehicle respectively, for detecting the real-time distance with obstacle;Based on the running direction of four-way shuttle vehicle, the real-time distance detection of obstacle is carried out using laser ranging sensor in corresponding direction;According to the current speed of four-way shuttle vehicle, deceleration real-time calculation shuttle vehicle deceleration distance;Based on shuttle vehicle deceleration distance, the safety distance kept after parking with obstacle, calculate the total distance of four-way shuttle vehicle start avoiding obstacle;Real-time comparison detection data of laser ranging sensor in corresponding direction and the total distance of start avoiding obstacle, when the detection data of laser ranging sensor is less than the total distance of start avoiding obstacle, then start avoiding obstacle, let shuttle vehicle deceleration parking.The application uses laser ranging obstacle avoidance, control flexible, conventional deceleration parking, debugging simple.

Description

Technical Field

[0001] This invention relates to the field of warehousing and logistics equipment technology, and in particular to a four-way shuttle vehicle laser ranging and obstacle avoidance system. Background Technology

[0002] Currently, most four-way shuttle obstacle avoidance systems on the market rely on diffuse reflection photoelectric technology. The system uses diffuse reflection photoelectric feedback signals to control the four-way shuttle to stop in an emergency. However, the wheels slip significantly during emergency stops, and it is common for the shuttle to overshoot or undershoot the designated position when restarting. This requires manual intervention to recover, which affects overall efficiency and increases manual operation costs. Summary of the Invention

[0003] According to an embodiment of the present invention, a laser ranging obstacle avoidance method for a four-way shuttle is provided, comprising the following steps: A laser rangefinder is installed on each of the four sides of the four-way shuttle to detect the real-time distance to obstacles; Based on the running direction of the four-way shuttle, laser rangefinders in the corresponding directions are used to detect the real-time distance to obstacles. The deceleration distance of the shuttle is calculated in real time based on the current speed and deceleration of the four-way shuttle. Based on the shuttle's deceleration distance and the safe distance maintained between the shuttle and the obstacle after stopping, calculate the total distance at which the four-way shuttle begins obstacle avoidance. The system compares the detection data of the laser rangefinder in the corresponding direction with the total distance at which obstacle avoidance begins. When the detection data of the laser rangefinder is less than the total distance at which obstacle avoidance begins, obstacle avoidance is initiated, causing the shuttle to slow down and stop.

[0004] Furthermore, the formula for calculating the deceleration distance S of the shuttle is: S = (V² - U²) / (2a), where V represents the final velocity of the shuttle, U represents the current velocity of the shuttle, and a represents the deceleration of the shuttle.

[0005] Furthermore, the total distance S2 for the four-way shuttle to begin obstacle avoidance is equal to S + S1, where S represents the shuttle's deceleration distance and S1 represents the safe distance between the shuttle and the obstacle after it stops.

[0006] Furthermore, the safe distance between the shuttle and obstacles after the shuttle stops is set to 0.3~0.5m.

[0007] Furthermore, it also includes the following steps: If the obstacle moves, and the detection data from the laser rangefinder is greater than the safe distance maintained between the shuttle and the obstacle after it stops, the four-way shuttle will start running and follow the obstacle until it reaches the target location, at which point it will stop following the obstacle.

[0008] According to a second aspect of the present invention, a four-way shuttle laser ranging obstacle avoidance system is provided, comprising: a four-way shuttle and four laser ranging sensors, wherein the four laser ranging sensors are respectively disposed on four surfaces of the four-way shuttle; The four-way shuttle and four laser rangefinders perform the following obstacle avoidance steps: Based on the running direction of the four-way shuttle, laser rangefinders in the corresponding directions are used to detect the real-time distance to obstacles. The deceleration distance of the shuttle is calculated in real time based on the current speed and deceleration of the four-way shuttle. Based on the shuttle's deceleration distance and the safe distance maintained between the shuttle and the obstacle after stopping, calculate the total distance at which the four-way shuttle begins obstacle avoidance. The system compares the detection data of the laser rangefinder in the corresponding direction with the total distance at which obstacle avoidance begins. When the detection data of the laser rangefinder is less than the total distance at which obstacle avoidance begins, obstacle avoidance is initiated, causing the shuttle to slow down and stop.

[0009] Furthermore, the formula for calculating the deceleration distance S of the shuttle is: S = (V² - U²) / (2a), where V represents the final velocity of the shuttle, U represents the current velocity of the shuttle, and a represents the deceleration of the shuttle.

[0010] Furthermore, the total distance S2 for the four-way shuttle to begin obstacle avoidance is equal to S + S1, where S represents the shuttle's deceleration distance and S1 represents the safe distance between the shuttle and the obstacle after it stops.

[0011] Furthermore, the safe distance between the shuttle and obstacles after the shuttle stops is set to 0.3~0.5m.

[0012] Furthermore, the four-way shuttle and four laser rangefinders also perform the following obstacle avoidance steps: If the obstacle moves, and the detection data from the laser rangefinder is greater than the safe distance maintained between the shuttle and the obstacle after it stops, the four-way shuttle will start running and follow the obstacle until it reaches the target location, at which point it will stop following the obstacle.

[0013] A laser ranging and obstacle avoidance method and system for a four-way shuttle vehicle according to an embodiment of the present invention has the following beneficial effects: 1. This invention provides a novel obstacle avoidance method for shuttle vehicles, which uses laser rangefinding for obstacle avoidance, offering flexible control, conventional deceleration for stopping, and simple debugging.

[0014] 2. This invention automatically calculates the deceleration position based on the speed of the shuttle.

[0015] 3. This invention enables automatic stopping when an obstacle is encountered, and automatic restarting upon obstacle removal, without human intervention. This reduces manual maintenance time and improves shuttle efficiency.

[0016] It should be understood that both the foregoing general description and the following detailed description are exemplary and intended to provide further illustration of the claimed technology. Attached Figure Description

[0017] Figure 1 This is a flowchart of a laser ranging and obstacle avoidance method for a four-way shuttle vehicle according to an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram showing the obstacle avoidance distances of a shuttle at high, medium, and low speeds in a four-way shuttle laser ranging obstacle avoidance method according to an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of a shuttle following an obstacle in a four-way shuttle laser ranging obstacle avoidance method according to an embodiment of the present invention.

[0020] Figure 4 This is a structural diagram of a four-way shuttle vehicle laser ranging and obstacle avoidance system according to an embodiment of the present invention. Detailed Implementation

[0021] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, further illustrating the present invention.

[0022] First, combine Figures 1-4 This invention describes a laser ranging obstacle avoidance method for a four-way shuttle vehicle according to an embodiment of the present invention. This method is used for obstacle avoidance in four-way shuttle vehicles and has a wide range of applications.

[0023] like Figures 1-4 As shown, a four-way shuttle laser ranging obstacle avoidance method according to the first aspect of the present invention includes the following steps: like Figure 1 , 4 As shown, in S1, a laser rangefinder is installed on each of the four faces of the four-way shuttle to detect the real-time distance to obstacles. It should be noted that because the four-way shuttle can move in all four directions, laser rangefinders (i.e., LM01, LM02, LM03, and LM04) are installed in all four directions.

[0024] like Figure 1 , 4 As shown, in S2, based on the running direction of the four-way shuttle, a laser rangefinder sensor in the corresponding direction is used to detect the real-time distance to obstacles.

[0025] like Figures 1-2As shown in Figure 4, in S3, the deceleration distance of the four-way shuttle is calculated in real time based on the current speed and deceleration of the shuttle. It should be noted that the formula for calculating the deceleration distance S of the shuttle is: S = (V2 - U2) / (2a), where V represents the final speed of the shuttle (it needs to decelerate to a stop, V = 0), U represents the current speed of the shuttle (through servo feedback), and a represents the deceleration of the shuttle (the deceleration of the shuttle is set to a fixed value based on the mechanical performance).

[0026] like Figures 1-2 As shown in Figure 4, in S4, based on the shuttle's deceleration distance and the safe distance maintained between the shuttle and the obstacle after stopping, the total distance at which the four-way shuttle begins obstacle avoidance (i.e., there should be no obstacle within this distance) is calculated. It should be noted that the total distance S2 for the four-way shuttle to begin obstacle avoidance is S + S1, where S represents the shuttle's deceleration distance and S1 represents the safe distance maintained between the shuttle and the obstacle after stopping. The safe distance maintained between the shuttle and the obstacle after stopping is set to 0.3~0.5m.

[0027] like Figures 1-2 As shown in Figure 4, in S5, the detection data of the laser rangefinder in the corresponding direction is compared with the total distance to start obstacle avoidance in real time. When the detection data of the laser rangefinder is less than the total distance to start obstacle avoidance, obstacle avoidance is initiated, and the shuttle car slows down and stops.

[0028] Furthermore, such as Figure 3 As shown, a four-way shuttle laser ranging obstacle avoidance method according to the first aspect of the present invention further includes the following steps: if the obstacle moves, and the detection data of the laser ranging sensor is greater than the safe distance maintained between the shuttle and the obstacle after the shuttle stops, the four-way shuttle starts running and follows the obstacle until the four-way shuttle reaches the target position, at which point it stops following the obstacle. For example, as... Figure 3 As shown, the shuttle car is avoiding obstacle A and has stopped at stop position A. When the obstacle moves to position B, the shuttle car will follow the obstacle to stop position B, thus automatically resuming the shuttle car's operation.

[0029] As described above, the four-way shuttle laser ranging obstacle avoidance method according to an embodiment of the present invention has the following beneficial effects: 1. This invention provides a novel obstacle avoidance method for shuttle vehicles, which uses laser rangefinding for obstacle avoidance, offering flexible control, conventional deceleration for stopping, and simple debugging.

[0030] 2. This invention automatically calculates the deceleration position based on the speed of the shuttle.

[0031] 3. This invention enables automatic stopping when an obstacle is encountered, and automatic restarting upon obstacle removal, without human intervention. This reduces manual maintenance time and improves shuttle efficiency.

[0032] The above combined with the appendix Figures 1-4 A four-way shuttle laser ranging obstacle avoidance method according to an embodiment of the present invention is described. Furthermore, the present invention can also be applied to a four-way shuttle laser ranging obstacle avoidance system.

[0033] like Figures 1-4 As shown, according to a second aspect of the present invention, a four-way shuttle laser ranging obstacle avoidance system is provided, comprising: a four-way shuttle and four laser ranging sensors (i.e., LM01, LM02, LM03, LM04), the four laser ranging sensors being respectively disposed on the four faces of the four-way shuttle.

[0034] Specifically, such as Figure 4 As shown, the four-way shuttle and four laser rangefinders perform the following obstacle avoidance steps: Based on the four-way shuttle's operating direction, laser rangefinders in the corresponding directions are used to detect the real-time distance to obstacles.

[0035] The deceleration distance of the shuttle is calculated in real time based on its current speed and deceleration. It should be noted that the formula for calculating the deceleration distance S of the shuttle is: S=(V2-U2) / (2a), where V represents the final speed of the shuttle (it needs to decelerate to a stop, V=0), U represents the current speed of the shuttle (via servo feedback), and a represents the deceleration of the shuttle (the deceleration of the shuttle is set to a fixed value based on the mechanical performance).

[0036] Based on the shuttle's deceleration distance and the safe distance maintained between the shuttle and the obstacle after stopping, calculate the total distance at which the four-way shuttle begins obstacle avoidance (i.e., there should be no obstacle within this distance). It should be noted that the total distance S2 for the four-way shuttle to begin obstacle avoidance is S + S1, where S represents the shuttle's deceleration distance and S1 represents the safe distance maintained between the shuttle and the obstacle after stopping. The safe distance maintained between the shuttle and the obstacle after stopping is set to 0.3~0.5m.

[0037] The system compares the detection data of the laser rangefinder in the corresponding direction with the total distance at which obstacle avoidance begins. When the detection data of the laser rangefinder is less than the total distance at which obstacle avoidance begins, obstacle avoidance is initiated, causing the shuttle to slow down and stop.

[0038] Furthermore, in this embodiment, the four-way shuttle and four laser ranging sensors also perform the following obstacle avoidance steps: If the obstacle moves, and the detection data from the laser ranging sensors exceeds the safe distance maintained between the shuttle and the obstacle after it stops, the four-way shuttle starts running and follows the obstacle until it reaches the target location, at which point it stops following the obstacle. For example, ... Figure 3As shown, the shuttle car is avoiding obstacle A and has stopped at stop position A. When the obstacle moves to position B, the shuttle car will follow the obstacle to stop position B, thus automatically resuming the shuttle car's operation.

[0039] Above, refer to Figures 1-4 A four-way shuttle laser ranging and obstacle avoidance system according to an embodiment of the present invention is described, which has the following beneficial effects: 1. This invention provides a novel obstacle avoidance method for shuttle vehicles, which uses laser rangefinding for obstacle avoidance, offering flexible control, conventional deceleration for stopping, and simple debugging.

[0040] 2. This invention automatically calculates the deceleration position based on the speed of the shuttle.

[0041] 3. This invention enables automatic stopping when an obstacle is encountered, and automatic restarting upon obstacle removal, without human intervention. This reduces manual maintenance time and improves shuttle efficiency.

[0042] It should be noted that, in this specification, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0043] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A laser ranging and obstacle avoidance method for a four-way shuttle vehicle, characterized in that, It includes the following steps: A laser rangefinder is installed on each of the four sides of the four-way shuttle to detect the real-time distance to obstacles; Based on the running direction of the four-way shuttle, laser rangefinders in the corresponding directions are used to detect the real-time distance to obstacles. The deceleration distance of the shuttle is calculated in real time based on the current speed and deceleration of the four-way shuttle. Based on the shuttle's deceleration distance and the safe distance maintained between the shuttle and the obstacle after stopping, calculate the total distance at which the four-way shuttle begins obstacle avoidance. The system compares the detection data of the laser rangefinder in the corresponding direction with the total distance at which obstacle avoidance begins. When the detection data of the laser rangefinder is less than the total distance at which obstacle avoidance begins, obstacle avoidance is initiated, causing the shuttle to slow down and stop.

2. The four-way shuttle vehicle laser ranging and obstacle avoidance method as described in claim 1, characterized in that, The formula for calculating the deceleration distance S of the shuttle is: S = (V 2 -U 2 ) / (2a), where V represents the final velocity of the shuttle, U represents the current velocity of the shuttle, and a represents the deceleration of the shuttle.

3. The four-way shuttle vehicle laser ranging and obstacle avoidance method as described in claim 1, characterized in that, The total distance S2 for the four-way shuttle to begin obstacle avoidance is S + S1, where S represents the shuttle's deceleration distance and S1 represents the safe distance between the shuttle and the obstacle after it stops.

4. The four-way shuttle laser ranging obstacle avoidance method as described in claim 1 or 3, characterized in that, The safe distance between the shuttle and obstacles after the shuttle stops is set to 0.3~0.5m.

5. The four-way shuttle vehicle laser ranging and obstacle avoidance method as described in claim 1, characterized in that, It also includes the following steps: If the obstacle moves, and the detection data from the laser rangefinder is greater than the safe distance maintained between the shuttle and the obstacle after it stops, the four-way shuttle will start running and follow the obstacle until it reaches the target location, at which point it will stop following the obstacle.

6. A laser ranging and obstacle avoidance system for a four-way shuttle vehicle, characterized in that, It includes: a four-way shuttle and four laser rangefinders, the four laser rangefinders being respectively installed on the four sides of the four-way shuttle; The four-way shuttle and four laser rangefinders perform the following obstacle avoidance steps: Based on the running direction of the four-way shuttle, laser rangefinders in the corresponding directions are used to detect the real-time distance to obstacles. The deceleration distance of the shuttle is calculated in real time based on the current speed and deceleration of the four-way shuttle. Based on the shuttle's deceleration distance and the safe distance maintained between the shuttle and the obstacle after stopping, calculate the total distance at which the four-way shuttle begins obstacle avoidance. The system compares the detection data of the laser rangefinder in the corresponding direction with the total distance at which obstacle avoidance begins. When the detection data of the laser rangefinder is less than the total distance at which obstacle avoidance begins, obstacle avoidance is initiated, causing the shuttle to slow down and stop.

7. The four-way shuttle laser ranging and obstacle avoidance system as described in claim 6, characterized in that, The formula for calculating the deceleration distance S of the shuttle is: S = (V 2 -U 2 ) / (2a), where V represents the final velocity of the shuttle, U represents the current velocity of the shuttle, and a represents the deceleration of the shuttle.

8. The four-way shuttle laser ranging and obstacle avoidance system as described in claim 6, characterized in that, The total distance S2 for the four-way shuttle to begin obstacle avoidance is S + S1, where S represents the shuttle's deceleration distance and S1 represents the safe distance between the shuttle and the obstacle after it stops.

9. The four-way shuttle laser ranging and obstacle avoidance system as described in claim 6 or 8, characterized in that, The safe distance between the shuttle and obstacles after the shuttle stops is set to 0.3~0.5m.

10. The four-way shuttle laser ranging and obstacle avoidance system as described in claim 6, characterized in that, The four-way shuttle and the four laser rangefinders also perform the following obstacle avoidance steps: If the obstacle moves, and the detection data from the laser rangefinder is greater than the safe distance maintained between the shuttle and the obstacle after it stops, the four-way shuttle will start running and follow the obstacle until it reaches the target location, at which point it will stop following the obstacle.

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