Unmanned transport vehicle and method and system for controlling the same

Abstract

An unmanned transport vehicle (101) relating to the field of technology of smart devices is disclosed. The unmanned transport vehicle (101) comprises: a first receiver (1011) configured to receive a first signal of a first frequency transmitted by a first transmitter (1021) worn on a movable object or a fixed object; and a controller (1013) configured to control the driving of the unmanned transport vehicle (101) depending on whether the first receiver (1011) receives the first signal. To control the driving of the unmanned transport vehicle (101), the unmanned transport vehicle (101) can determine whether the unmanned transport vehicle (101) is within a safe driving range for a protected object (102) depending on whether the first receiver (1011) receives the signal, thereby preventing the unmanned transport vehicle (101) from colliding with the protected object (102), such as a person or device, while driving. A method and system for controlling the unmanned transport vehicle (101) are further disclosed.

Description

Technology Field

[0001] Cross-reference regarding related applications

[0002] This application is based on and claims priority to Chinese patent application No. 202010436900.6 filed on May 21, 2020, the entirety of which is incorporated into this application.

[0003] Technology field

[0004] The present disclosure relates to the technical field of intelligent devices, and in particular to unmanned transport vehicles and methods and systems for controlling unmanned transport vehicles. Background Technology

[0005] Because Automated Guided Vehicles (AGVs) are highly automated and intelligent, they are widely applied in various application scenarios such as warehouses, manufacturing, logistics, and hazardous work environments.

[0006] Workers or other devices may enter the work area of ​​an unmanned transport vehicle. While in operation, the unmanned transport vehicle may collide with these workers or other devices, resulting in casualties or damage to the devices. Therefore, preventing collisions between unmanned transport vehicles and people or other devices during operation has become an urgent task.

[0007] According to some embodiments of the present invention, an unmanned transport vehicle is provided, comprising: a first receiver configured to receive a first signal of a first frequency transmitted by a first transmitter mounted on a movable object or a fixed object; and a controller configured to control the operation of the unmanned transport vehicle depending on whether the first receiver receives the first signal.

[0008] In some embodiments, the controller is configured to: control the unmanned transport vehicle to stop or decelerate when the first receiver receives the first signal; or control the unmanned transport vehicle to operate normally when the first receiver does not receive the first signal.

[0009] In some embodiments, the controller is configured to: determine the distance between a first transmitter transmitting a first signal and an unmanned transport vehicle according to the strength of the first signal received while the first receiver receives a first signal; determine the acceleration for the unmanned transport vehicle to decelerate according to the distance between the first transmitter transmitting the first signal and the unmanned transport vehicle; and control the unmanned transport vehicle to decelerate according to the acceleration.

[0010] In some embodiments, the unmanned transport vehicle further comprises: a second receiver configured to receive a second signal of a second frequency transmitted by a second transmitter mounted on a movable object or a fixed object; wherein the first frequency is greater than the second frequency, and the controller is further configured to control the operation of the unmanned transport vehicle according to whether the second receiver receives the second signal while the first receiver does not receive the first signal.

[0011] In some embodiments, the controller is configured to control the unmanned transport vehicle to operate normally when the second receiver receives the second signal while the first receiver has not received the first signal.

[0012] In some embodiments, the controller is configured to control the unmanned transport vehicle to operate normally when the first receiver does not receive the first signal and the second receiver receives a second signal transmitted by the second transmitter or forwarded by another unmanned transport vehicle.

[0013] According to other embodiments of the present disclosure, a method for controlling an unmanned transport vehicle is provided, comprising: turning on a first receiver mounted on the unmanned transport vehicle—the first receiver is configured to receive a first signal of a first frequency transmitted by a first transmitter mounted on a movable object or a fixed object—; and controlling the operation of the unmanned transport vehicle depending on whether the first receiver receives the first signal.

[0014] In some embodiments, controlling the operation of an unmanned transport vehicle includes: controlling the unmanned transport vehicle to stop or decelerate when the first receiver receives a first signal; or controlling the unmanned transport vehicle to operate normally when the first receiver does not receive a first signal.

[0015] In some embodiments, controlling an unmanned transport vehicle to decelerate comprises: determining the distance between a first transmitter transmitting a first signal and the unmanned transport vehicle according to the intensity of the first signal received while a first receiver receives a first signal; determining the acceleration for the unmanned transport vehicle to decelerate according to the distance between the first transmitter transmitting the first signal and the unmanned transport vehicle; and controlling the unmanned transport vehicle to decelerate according to the acceleration.

[0016] In some embodiments, the method further comprises: turning on a second receiver mounted on an unmanned transport vehicle—the second receiver is configured to receive a second signal of a second frequency transmitted by a second transmitter mounted on a movable object or a stationary object—wherein the first frequency is greater than the second frequency; and controlling the operation of the unmanned transport vehicle comprises: controlling the operation of the unmanned transport vehicle depending on whether the second receiver receives the second signal while the first receiver does not receive the first signal.

[0017] In some embodiments, controlling the operation of an unmanned transport vehicle includes: controlling the unmanned transport vehicle to operate normally when a second receiver receives a second signal while a first receiver has not received a first signal.

[0018] In some embodiments, controlling the operation of an unmanned transport vehicle includes: controlling the unmanned transport vehicle to operate normally when a second receiver receives a second signal transmitted by a second transmitter or forwarded by another unmanned transport vehicle while the first receiver has not received a first signal.

[0019] According to additional embodiments of the present disclosure, a non-transient computer-readable storage medium is provided that stores a computer program for implementing a method for controlling an unmanned transport vehicle according to any one of the embodiments when executed by a processor.

[0020] According to further embodiments of the present disclosure, a system for controlling an unmanned transport vehicle is provided, comprising: a first transmitter mounted on a movable object or a fixed object—the first transmitter is configured to transmit a first signal of a first frequency—; and one or more unmanned transport vehicles according to any one of the embodiments.

[0021] In some embodiments, the system further comprises: a second transmitter mounted on a movable object or a fixed object—the second transmitter is configured to transmit a second signal of a second frequency—and the first frequency is greater than the second frequency. Brief explanation of the drawing

[0022] The following is a brief description of the accompanying drawings, which are necessary for describing embodiments or related technologies. The present disclosure will be more clearly understood from the following detailed description, which proceeds with reference to the accompanying drawings. In the following description, the drawings are merely some embodiments of the present disclosure, and it is obvious that other drawings can be derived by those skilled in the art without creative effort. FIG. 1 illustrates a schematic diagram of a system for controlling an unmanned transport vehicle according to some embodiments of the present disclosure. FIG. 2 illustrates a schematic diagram of an unmanned transport vehicle according to some embodiments of the present disclosure. FIG. 3 illustrates a flowchart of a method for controlling an unmanned transport vehicle according to some embodiments of the present disclosure. Specific details for implementing the invention

[0023] Hereinafter, technical solutions in the embodiments of the present disclosure are clearly and completely explained in conjunction with the drawings of the embodiments of the present disclosure.

[0024] Embodiments of the present disclosure provide a solution for preventing an unmanned transport vehicle from colliding with objects such as people or devices while the unmanned transport vehicle is in operation.

[0025] In embodiments of the present disclosure, an unmanned transport vehicle is equipped with a signal receiver, and a protected movable object or a fixed object is equipped with a signal transmitter. To control the operation of the unmanned transport vehicle, the unmanned transport vehicle can determine whether the unmanned transport vehicle is within a safe operating range with respect to the protected object based on whether the receiver receives a signal, thereby preventing the unmanned transport vehicle from colliding with the protected object, such as people or devices, while operating.

[0026] FIG. 1 illustrates a schematic diagram of a system for controlling an unmanned transport vehicle according to some embodiments of the present disclosure.

[0027] As illustrated in FIG. 1, a system (100) for controlling an unmanned transport vehicle of this embodiment comprises one or more unmanned transport vehicles (101) equipped with signal receivers and a signal transmitter mounted on a protected object (102), such as a movable object or a fixed object. The signal transmitter comprises, for example, a first transmitter (1021). When the unmanned transport vehicle enters the signal coverage of the first transmitter (1021), this indicates that the unmanned transport vehicle is close to the protected object equipped with the first transmitter (1021) and is within a dangerous operating range. The signal transmitter further comprises, for example, a second transmitter (1022). When the unmanned transport vehicle just enters the signal coverage of the second transmitter (1022), this indicates that the unmanned transport vehicle is far from the protected object equipped with the second transmitter (1022) and is currently within a safe operating range. A signal receiver used in combination with the first transmitter (1021) is referred to as the first receiver (1011). A signal receiver used in combination with the second transmitter (1022) is referred to as the second receiver (1012).

[0028] The first transmitter (1021) may be a signal transmitter mounted on a protected object, such as a movable object or a fixed object, for example, and the first transmitter (1021) is configured to transmit a first signal of a first frequency. For example, the first transmitter (1021) may be mounted on a movable object, such as people or other movable devices, or may be mounted on a fixed object, such as fixed equipment. The first signal is a periodic signal transmitted by the first transmitter (1021), and the data content of the first signal is, for example, ID (identity) identification information of the first transmitter. The transmission antenna of the first transmitter may use, for example, an omni-directional antenna to protect the object on which the first transmitter is mounted 360 degrees.

[0029] When the first frequency is set, the safety braking distance of the unmanned transport vehicle is taken into account such that the transmission distance of the first signal is greater than or equal to the safety braking distance of the unmanned transport vehicle. In some embodiments, the first frequency is set such that the transmission distance of the first signal is slightly greater than the safety braking distance of the unmanned transport vehicle. Assuming the safety braking distance of the unmanned transport vehicle is 5 meters, the first frequency for transmission is set in such a manner that the first signal can reach 5.2 meters in order to ensure sufficient response time for the unmanned transport vehicle.

[0030] An unmanned transport vehicle (101) is configured to receive a first signal transmitted by a first transmitter (1021) through a first receiver (1011) and to control the operation of the unmanned transport vehicle depending on whether the first receiver (1011) receives the first signal. For example, the unmanned transport vehicle (101) is configured to control the unmanned transport vehicle (101) to stop or decelerate when the first receiver (1011) receives the first signal—which indicates that the unmanned transport vehicle (101) is close to a protected object equipped with the first transmitter (1021) and is in a dangerous operating range—and to control the unmanned transport vehicle (101) to operate normally when the first receiver does not receive the first signal—which indicates that the unmanned transport vehicle is far from a protected object equipped with the first transmitter (1021) and is currently within a safe operating range.

[0031] In some embodiments, a method for controlling an unmanned transport vehicle (101) to decelerate comprises: first, determining the distance between a first transmitter (1021) transmitting the first signal and the unmanned transport vehicle (101) according to the strength of the received first signal, while a first receiver receives a first signal; then, determining the acceleration for the unmanned transport vehicle (101) to decelerate according to the distance between the first transmitter (1021) transmitting the first signal and the unmanned transport vehicle (101); and then, controlling the unmanned transport vehicle (101) to decelerate according to the determined acceleration.

[0032] Determining the distance between the first transmitter (1021) transmitting the first signal and the unmanned transport vehicle (101) according to the strength of the received first signal includes, for example: calculating the distance (e.g., denoted as S) between the first transmitter (1021) (i.e., a movable or fixed object on which the first transmitter is mounted) and the unmanned transport vehicle (101) using a Received Signal Strength Indication (RSSI) method. For example, the acceleration for the unmanned transport vehicle to decelerate can be determined using the following equation:

[0033]

[0034] a represents the acceleration for the unmanned transport vehicle to decelerate (this may also be referred to as the minimum acceleration, i.e., the unmanned transport vehicle is allowed to decelerate with an acceleration greater than or equal to a), V is the current speed of the unmanned transport vehicle, S is the distance calculated based on the intensity of the first signal received, and S1 represents a preset safety constant for the tolerance, for example, set to S1 = 0.5m.

[0035] In some embodiments, for example, by setting a certain distance interval to correspond to a single determined acceleration value, the unmanned transport vehicle can be decelerated with that acceleration and the unmanned transport vehicle can be controlled to stop until a certain distance is reached. For example, when the distance between the unmanned transport vehicle and the protected object falls within a distance interval [8, 15), the acceleration value for the unmanned transport vehicle to decelerate in correspondence with the distance interval is It is set as; when the distance between the unmanned transport vehicle and the protected object is in the distance interval [2,8), the acceleration value for the unmanned transport vehicle to decelerate in response to the distance interval is It is set as; when the distance between the unmanned transport vehicle and the protected object is in the distance interval [0,2), the unmanned transport vehicle is controlled to stop. When the distance between the unmanned transport vehicle and the protected object is greater than or equal to 15, the acceleration value for the unmanned transport vehicle to decelerate corresponding to the distance interval is It is set as such, meaning the unmanned transport vehicle is controlled to operate normally at a constant speed.

[0036] The second transmitter (1022) may be a second transmitter mounted on, for example, a movable object or a fixed object, and the second transmitter (1022) is configured to transmit a second signal of a second frequency. The second signal is a periodic signal transmitted by the second transmitter (1022), and the data content of the second signal is, for example, ID (identity) identification information of the second transmitter. For example, the second transmitter (1022) may be mounted on a movable object such as people or other movable devices, or may be mounted on a fixed object such as fixed equipment.

[0037] The first frequency is greater than the second frequency; that is, since the second signal uses a frequency smaller than the first signal, the transmission distance of the second signal may be greater. In a system for controlling an unmanned transport vehicle, the transmission distance of the first signal is related to a set danger distance, and

[0038] When the unmanned transport vehicle receives the first signal, this indicates that the distance between the protected object and the unmanned transport vehicle is dangerous, and the unmanned transport vehicle needs to be controlled to decelerate or stop. The transmission distance of the second signal is related to the set safety distance, and when the unmanned transport vehicle receives the second signal, this indicates that the distance between the protected object and the unmanned transport vehicle is safe, and the unmanned transport vehicle can be controlled to operate normally. The first signal (short transmission distance) is used to detect the dangerous distance for the operation of the unmanned transport vehicle, and the second signal (long transmission distance) is used to detect the safety distance for the operation of the unmanned transport vehicle; by using the first signal and the second signal in combination, the reliability of the entire system for the safety control of the unmanned transport vehicle can be improved to prevent the unmanned transport vehicle from colliding with a protected object, such as people or devices.

[0039] The unmanned transport vehicle (101) receives a second signal of a second frequency transmitted by a second transmitter (1022) through a second receiver (1012). The operation of the unmanned transport vehicle (101) is controlled depending on whether the second receiver (1012) receives the second signal while the first receiver (1011) does not receive the first signal. For example, if the second receiver (1012) receives the second signal while the first receiver (1011) does not receive the first signal, this indicates that the unmanned transport vehicle is far from the protected object equipped with the second transmitter (1022) and is currently within a safe operating range, and the unmanned transport vehicle (101) can be controlled to operate normally.

[0040] Receiving the second signal by the second receiver (1012) includes: the second receiver (1012) receiving the second signal directly transmitted by the second transmitter (1022). When the distance between the unmanned transport vehicle (101) and the protected object (102) equipped with the second transmitter (1022) exceeds the maximum distance that can be transmitted by the second signal, the second receiver (1012) of the unmanned transport vehicle (101) may also determine that the unmanned transport vehicle is within a safe operating range by receiving the second signal forwarded by another unmanned transport vehicle (101), and if the unmanned transport vehicle (101) can receive the second signal forwarded by another unmanned transport vehicle (101), this indicates that the unmanned transport vehicle (101) is far from the protected object equipped with the second transmitter (1022) and is currently within a safe operating range, and the unmanned transport vehicle (101) can be controlled to operate normally. Since the unmanned transport vehicle can receive the second signal transmitted directly by the second transmitter as well as the second signal forwarded by other unmanned transport vehicles, the second signal can cover as many unmanned transport vehicles as possible. When the unmanned transport vehicle receives the second signal, this indicates that the unmanned transport vehicle is far from the protected object equipped with the second transmitter and is currently within a safe operating range, and the unmanned transport vehicle can be controlled to operate normally, thereby ensuring that the unmanned transport vehicle is prevented from colliding with the protected object, such as people or devices.

[0041] In some embodiments, each object of protection may be equipped with a plurality of first transmitters or a plurality of second transmitters. Within a certain distance range, any transmitter (first transmitter or second transmitter) of each movable object or fixed object may independently transmit a signal to any receiver (first receiver or second receiver) of any unmanned transport vehicle, and the receiver of each unmanned transport vehicle may receive a signal transmitted by any transmitter mounted on the movable object or fixed object, thereby improving the reliability of the entire system in relation to the safety control of the unmanned transport vehicle.

[0042] In some embodiments, a sensing circuit is added to the first transmitter, and its output port is connected to the enable port of the second transmitter. That is, if the first transmitter is unable to transmit the first signal, the second signal cannot be transmitted either. This prevents a situation in which the unmanned transport vehicle is controlled to operate normally due to a misjudgment of the unmanned transport vehicle caused by a failure of the first transmitter, which prevents the unmanned transport vehicle from colliding with other objects and ensures the safe operation of the unmanned transport vehicle.

[0043] FIG. 2 illustrates a schematic diagram of an unmanned transport vehicle according to some embodiments of the present disclosure. Unmanned transport vehicles (101) of some exemplary embodiments will be described below in relation to FIG. 2.

[0044] As illustrated in FIG. 2, the unmanned transport vehicle (101) of this embodiment includes a signal receiver. The signal receiver may include, for example, a first receiver (1011) and a controller (1013), and may also include a second receiver (1012), and the two receivers may receive signals of different frequencies (or different transmission distances). The first receiver (1011) may be configured as one or more, or the second receiver (1012) may be configured as one or more. Within a certain distance range, any first receiver (1011) may receive a signal transmitted by a first transmitter, and any second receiver (1012) may receive a signal transmitted by a second transmitter, and providing one or more signal receivers improves the reliability of the entire system in relation to the safety control of the unmanned transport vehicle.

[0045] A first receiver (1011) is configured to receive a first signal of a first frequency transmitted by a first transmitter (e.g., a first transmitter (1021) shown in FIG. 1) mounted on a movable object or a fixed object. A controller (1013) is configured to control the operation of an unmanned transport vehicle (101) depending on whether the first receiver (1011) receives the first signal.

[0046] In some embodiments, the controller (1013) is configured to: control the unmanned transport vehicle (101) to stop or decelerate when the first receiver (1011) receives the first signal; and control the unmanned transport vehicle (101) to operate normally when the first receiver (1011) does not receive the first signal.

[0047] Controlling the unmanned transport vehicle (101) to decelerate includes: when the first receiver (1011) receives the first signal, first, determining the distance between the first transmitter transmitting the first signal and the unmanned transport vehicle (101) according to the intensity of the received first signal by referring to the aforementioned method for determining the distance between the first transmitter and the unmanned transport vehicle, for example; then, determining the acceleration for the unmanned transport vehicle (101) to decelerate according to the distance between the first transmitter transmitting the first signal and the unmanned transport vehicle (101) by referring to the aforementioned method for determining the acceleration for the unmanned transport vehicle to decelerate, for example; and next, controlling the unmanned transport vehicle (101) to decelerate according to the acceleration.

[0048] In some embodiments, the second receiver (1012) is configured to receive a second signal of a second frequency transmitted by a second transmitter (e.g., the second transmitter (1022) shown in FIG. 1) mounted on a movable object or a fixed object, and the first frequency is greater than the second frequency. The first signal (short transmission distance) is used to detect a dangerous distance for the operation of the unmanned transport vehicle, and the second signal (long transmission distance) is used to detect a safe distance for the operation of the unmanned transport vehicle, and by using the first signal and the second signal in combination, the reliability of the entire system for the safety control of the unmanned transport vehicle can be improved and ensured that the unmanned transport vehicle does not collide with protected objects such as people or devices.

[0049] In some embodiments, after the second receiver (1012) of any unmanned transport vehicle (101) receives a second signal transmitted by the second transmitter (1022), the unmanned transport vehicle (101) may forward the second signal received by its second receiver (1012) to other unmanned transport vehicles, for example, through broadcasting.

[0050] At this time, the controller (1013) is configured to control the operation of the unmanned transport vehicle (101) depending on whether the second receiver (1012) receives the second signal while the first receiver (1011) does not receive the first signal. In some embodiments, the controller (1013) is configured to control the unmanned transport vehicle (101) to operate normally when the second receiver (1012) receives the second signal while the first receiver (1011) does not receive the first signal. The second receiver (1012) receiving the second signal includes: a second receiver (1012) receiving the second signal transmitted by the second transmitter while the first receiver (1011) does not receive the first signal, or a second receiver (1012) receiving the second signal forwarded by another unmanned transport vehicle (101).

[0051] FIG. 3 illustrates a flowchart of a method for controlling an unmanned transport vehicle according to some embodiments of the present disclosure.

[0052] As illustrated in FIG. 3, the method for this embodiment includes steps (301) to (304).

[0053] In step (301), a first receiver mounted on an unmanned transport vehicle is turned on, and the first receiver is configured to receive a first signal of a first frequency transmitted by a first transmitter mounted on a movable object or a fixed object.

[0054] For example, a first receiver mounted on each unmanned transport vehicle can be turned on by controlling console commands of all unmanned transport vehicles by operators. There may be multiple first receivers so that any first receiver of each unmanned transport vehicle can receive a first signal transmitted by a first transmitter, thereby improving the reliability of the entire system in relation to the safety control of the unmanned transport vehicles and ensuring the reliability of the entire system.

[0055] In step (302), the operation of the unmanned transport vehicle is controlled depending on whether the first receiver receives the first signal.

[0056] Controlling the operation of an unmanned transport vehicle includes: controlling the unmanned transport vehicle to stop or decelerate when the first receiver receives the first signal; and controlling the unmanned transport vehicle to operate normally when the first receiver does not receive the first signal.

[0057] Controlling an unmanned transport vehicle to decelerate comprises:, with the first receiver receiving the first signal, first determining the distance between the first transmitter transmitting the first signal and the unmanned transport vehicle according to the intensity of the received first signal by referring to the aforementioned method for determining the distance between the first transmitter and the unmanned transport vehicle, for example; then determining the acceleration for the unmanned transport vehicle to decelerate according to the distance between the first transmitter transmitting the first signal and the unmanned transport vehicle by referring to the aforementioned method for determining the acceleration for the unmanned transport vehicle to decelerate, for example; and next, controlling the unmanned transport vehicle to decelerate according to the acceleration.

[0058] In some embodiments, where the second receiver is mounted on an unmanned transport vehicle, the method further includes steps (303) and (304).

[0059] There may be multiple second receivers so that any second receiver of each unmanned transport vehicle can receive a second signal transmitted by a second transmitter, thereby improving the reliability of the entire system in relation to the safety control of the unmanned transport vehicle and ensuring the reliability of the entire system.

[0060] In step (303), a second receiver mounted on an unmanned transport vehicle is turned on. The second receiver is configured to receive a second signal of a second frequency transmitted by a second transmitter mounted on a movable object or a stationary object, and the first frequency is greater than the second frequency.

[0061] In step (304), the operation of the unmanned transport vehicle is controlled depending on whether the second receiver receives the second signal while the first receiver does not receive the first signal.

[0062] Controlling the operation of an unmanned transport vehicle includes: controlling the unmanned transport vehicle to operate normally when a second receiver receives a second signal while a first receiver has not received a first signal. The second receiver receiving the second signal includes: a second receiver receiving a second signal transmitted by a second transmitter, or a second receiver receiving a second signal forwarded by another unmanned transport vehicle.

[0063] In the above embodiment, the unmanned transport vehicle includes a first receiver, and the operation of the unmanned transport vehicle can be controlled according to a first signal received by the first receiver, and the transmission distance of the first signal is related to a set danger distance, and when the unmanned transport vehicle receives the first signal, the distance between the protected object and the unmanned transport vehicle is dangerous, and the unmanned transport vehicle needs to be controlled to decelerate or stop so that the unmanned transport vehicle can drive safely, and safe driving can be realized at a relatively low cost by a group of a signal receiver and a signal transmitter. Otherwise, the unmanned transport vehicle includes a first receiver and a second receiver, and the operation of the unmanned transport vehicle is controlled according to a first signal and a second signal received by the first receiver and the second receiver, respectively; the first signal (short transmission distance) is used to detect a dangerous distance for the operation of the unmanned transport vehicle, and the second signal (long transmission distance) is used to detect a safe distance for the operation of the unmanned transport vehicle; by using the first signal and the second signal in combination, the reliability of the entire system for the safety control of the unmanned transport vehicle can be improved, and it is ensured that the unmanned transport vehicle does not collide with protected objects such as people or devices. Furthermore, in order for any first receiver or any second receiver of each unmanned transport vehicle to receive a signal transmitted by a corresponding first transmitter or second transmitter, there may be multiple first receivers mounted on the unmanned transport vehicle, or multiple second receivers mounted on the unmanned transport vehicle, thereby improving the reliability of the entire system in relation to the safety control of the unmanned transport vehicle.

[0064] It should be understood by those skilled in the art that embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an all-hardware embodiment, an all-software embodiment, or an embodiment combining aspects of software and hardware. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer non-transient readable storage media (including, but not limited to, disk memories, CD-ROMs, optical memories, etc.) having computer program code implemented therein.

[0065] The present disclosure is described with reference to flowcharts and / or block diagrams of a method, device (system), and computer program product according to embodiments of the present disclosure. It should be understood that each flow and / or block of the flowcharts and / or block diagrams, and combinations of flows and / or blocks of the flowcharts and / or block diagrams, may be implemented by computer program instructions. Such computer program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that instructions executed by the processor of the computer or other programmable data processing device create means for implementing a function specified in one or more flows of the flowcharts and / or one or more blocks of the block diagrams.

[0066] These computer program instructions may also be stored in computer-readable memory capable of guiding a computer or other programmable data processing device to operate in a specific manner, so as to produce a manufactured article comprising instruction means that the instructions stored in computer-readable memory implement functions specified in one or more flows of flowcharts and / or one or more blocks of blockcharts.

[0067] These computer program instructions can also be loaded into a computer or other programmable data processing device so that a series of operational steps are performed on the computer or other programmable device to create a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing functions specified in one or more flows of flowcharts and / or one or more blocks of blockcharts.

[0068] The above description is merely a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and any modifications, equivalents, improvements, etc. made within the spirit and scope of the present disclosure shall be included within the scope of protection of the present disclosure.

Claims

Claim 1 As an automated guided vehicle, a first receiver configured to receive a first signal of a first frequency transmitted by a first transmitter mounted on a movable object or a fixed object—the first signal is used to detect a danger distance for the operation of the automated guided vehicle—; a second receiver configured to receive a second signal of a second frequency transmitted by a second transmitter mounted on the movable object or the fixed object—the transmission distance of the second signal is greater than the transmission distance of the first signal, and the second signal is used to detect a safety distance for the operation of the automated guided vehicle—; An unmanned transport vehicle comprising a controller configured to control the operation of the unmanned transport vehicle according to whether the first receiver receives the first signal in order to prevent the unmanned transport vehicle from colliding with the movable object or the fixed object equipped with the first transmitter, wherein the controller is further configured to control the operation of the unmanned transport vehicle according to whether the second receiver receives the second signal while the first receiver does not receive the first signal. Claim 2 An unmanned transport vehicle according to claim 1, wherein the controller is configured to: control the unmanned transport vehicle to stop or decelerate when the first receiver receives the first signal; or control the unmanned transport vehicle to operate normally when the first receiver does not receive the first signal. Claim 3 In paragraph 2, the controller is configured to: determine the distance between the first transmitter transmitting the first signal and the unmanned transport vehicle according to the strength of the received first signal when the first receiver receives the first signal; determine the acceleration for the unmanned transport vehicle to decelerate according to the distance between the first transmitter transmitting the first signal and the unmanned transport vehicle; and control the unmanned transport vehicle to decelerate according to the acceleration. Claim 4 In claim 1, the controller is configured to control the unmanned transport vehicle to operate normally when the second receiver receives the second signal while the first receiver does not receive the first signal. Claim 5 In paragraph 4, the controller is configured to control the unmanned transport vehicle to operate normally when the first receiver does not receive the first signal and the second receiver receives a second signal transmitted by the second transmitter or forwarded by another unmanned transport vehicle. Claim 6 A method for controlling an unmanned transport vehicle, comprising the steps of: turning on a first receiver mounted on the unmanned transport vehicle—the first receiver is configured to receive a first signal of a first frequency transmitted by a first transmitter mounted on a movable object or a fixed object, and the first signal is used to detect a danger distance for the operation of the unmanned transport vehicle—; and turning on a second receiver mounted on the unmanned transport vehicle—the second receiver is configured to receive a second signal of a second frequency transmitted by a second transmitter mounted on the movable object or the fixed object, the transmission distance of the second signal is greater than the transmission distance of the first signal, and the second signal is used to detect a safety distance for the operation of the unmanned transport vehicle—; A method comprising the step of controlling the operation of the unmanned transport vehicle according to whether the first receiver receives the first signal, and controlling the operation of the unmanned transport vehicle according to whether the second receiver receives the second signal while the first receiver does not receive the first signal, in order to prevent the unmanned transport vehicle from colliding with the movable object or the fixed object equipped with the first transmitter. Claim 7 In claim 6, the step of controlling the operation of the unmanned transport vehicle comprises: a step of controlling the unmanned transport vehicle to stop or decelerate while the first receiver receives the first signal; or a step of controlling the unmanned transport vehicle to operate normally while the first receiver does not receive the first signal. Claim 8 In claim 7, the step of controlling the unmanned transport vehicle to decelerate comprises: determining the distance between the first transmitter transmitting the first signal and the unmanned transport vehicle according to the intensity of the received first signal while the first receiver receives the first signal; determining the acceleration for the unmanned transport vehicle to decelerate according to the distance between the first transmitter transmitting the first signal and the unmanned transport vehicle; and controlling the unmanned transport vehicle to decelerate according to the acceleration. Claim 9 In claim 6, the step of controlling the operation of the unmanned transport vehicle comprises: a step of controlling the unmanned transport vehicle to operate normally when the second receiver receives the second signal while the first receiver does not receive the first signal. Claim 10 In claim 9, the step of controlling the operation of the unmanned transport vehicle comprises: a step of controlling the unmanned transport vehicle to operate normally when the first receiver does not receive the first signal and the second receiver receives a second signal transmitted by the second transmitter or forwarded by another unmanned transport vehicle. Claim 11 A non-transient computer-readable storage medium storing a computer program that implements a method for controlling an unmanned transport vehicle according to any one of claims 6 through 10 when executed by a processor. Claim 12 A system for controlling an unmanned transport vehicle, comprising: a first transmitter mounted on a movable object or a fixed object, wherein the first transmitter is configured to transmit a first signal of a first frequency; a second transmitter mounted on the movable object or the fixed object, wherein the second transmitter is configured to transmit a second signal of a second frequency, and the transmission distance of the second signal is greater than the transmission distance of the first signal; and one or more unmanned transport vehicles according to any one of claims 1 to 5. Claim 13 delete Claim 14 delete Claim 15 delete

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