CN114485627B - Navigation method and device of rail trolley, rail trolley and storage medium - Google Patents
Navigation method and device of rail trolley, rail trolley and storage medium Download PDFInfo
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- CN114485627B CN114485627B CN202011149175.0A CN202011149175A CN114485627B CN 114485627 B CN114485627 B CN 114485627B CN 202011149175 A CN202011149175 A CN 202011149175A CN 114485627 B CN114485627 B CN 114485627B
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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Abstract
The embodiment of the invention discloses a navigation method and device of a trolley with a rail, the trolley with the rail and a storage medium. The method comprises the following steps: obtaining a standard motion trail corresponding to the trolley with the rail; determining a target movement direction of the trolley with the track according to the first current position and the first target position of the trolley with the track on the standard movement track; and determining the navigation distance of the trolley on the target motion track according to the target motion track corresponding to the target motion direction, the first current position and the first target position, and controlling the trolley to move along the track based on the navigation distance and the target motion direction. According to the embodiment of the invention, the standard motion track is generated based on the forward motion track and the reverse motion track, and the navigation distance on the target motion track is determined based on the current position and the target position on the standard motion track, so that the problem that the navigation distances in different motion directions are inconsistent in the prior art is solved, and the accuracy of the positioning position of the trolley is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of industrial navigation, in particular to a navigation method and device of a trolley with a rail, the trolley with the rail and a storage medium.
Background
The rail trolley (Rail Guide Vehicle, RGV) is a mobile robot that travels along a rail, and is driven by an ac or dc servomotor through gears on the trolley that engage racks mounted on the rail. In the process of the track trolley travelling on the track, the track trolley is usually required to be navigated based on stations on two sides of the track, so that the track trolley accurately stops at the track position corresponding to the stations.
When the travelling directions of the rail trolleys are different, the included angles between the gears of the rail trolleys and the racks on the rails are different, and the problem that the navigation distance between the station A and the station B is inconsistent in the process that the rail trolleys move from the station A to the station B or from the station B to the station A exists is solved, so that the positioning position of the rail trolleys is inaccurate.
Disclosure of Invention
The embodiment of the invention provides a navigation method and device of a trolley with a rail, the trolley with the rail and a storage medium, so as to improve the accuracy of the positioning position of the trolley with the rail.
In a first aspect, an embodiment of the present invention provides a method for navigating a trolley, where the method includes:
obtaining a standard motion trail corresponding to the trolley with the rail; the standard movement track is generated based on a forward movement track of the trolley along the forward direction of the track and a reverse movement track of the trolley along the reverse direction of the track;
determining a target movement direction of the trolley with the track according to the first current position and the first target position of the trolley with the track on the standard movement track;
and determining the navigation distance of the trolley on the target motion track according to the target motion track corresponding to the target motion direction, the first current position and the first target position, and controlling the trolley to move along the track based on the navigation distance and the target motion direction.
Further, the determining the target movement direction of the trolley according to the first current position and the first target position of the trolley on the standard movement track includes:
and determining a movement sequence of the trolley with rails based on the first current position and the first target position, and determining a target movement direction of the trolley with rails according to the movement sequence, wherein the target movement direction comprises a positive direction and a reverse direction.
Further, the determining the navigation distance of the trolley on the target motion track according to the target motion track corresponding to the target motion direction, the first current position and the first target position includes:
determining a second current position and a second target position corresponding to the first current position and the first target position on the target motion track according to the mapping relation between the standard motion track and the target motion track, the first current position and the first target position;
and determining the navigation distance of the trolley on the target motion track according to the second current position and the second target position.
Further, the controlling the movement of the trolley along the track based on the navigation distance and the target movement direction includes:
acquiring the movement distance of the trolley along the target movement direction of the track, and controlling the trolley to stop moving if the movement distance is equal to the navigation distance; and if the movement distance is smaller than the navigation distance, continuing to control the track trolley to move along the track.
Further, before the standard movement track corresponding to the trolley is obtained, the method further comprises the following steps:
generating a forward movement track of the trolley from the starting point position to the end point position in the process of controlling the trolley to move from the starting point position to the end point position along the forward direction of the track;
and in the process of controlling the track trolley to move from the end position to the start position along the reverse direction of the track, generating a reverse movement track of the track trolley from the end position to the start position.
Further, before the standard movement track corresponding to the trolley is obtained, the method further comprises the following steps:
in the process of controlling the trolley to move along the track, acquiring the position coordinates of the obstacle on at least one side of the track, and storing the position coordinates of the obstacle;
correspondingly, when controlling the track trolley to move along the track based on the navigation distance and the target movement direction, the track trolley further comprises: and controlling the trolley to execute obstacle avoidance operation according to the stored position coordinates of the obstacle.
The advantage of this arrangement is that the safety of the trolley during movement can be improved.
In a second aspect, an embodiment of the present invention further provides a navigation device for a trolley, including:
the standard motion trail acquisition module is used for acquiring a standard motion trail corresponding to the trolley; the standard movement track is generated based on a forward movement track of the trolley along the forward direction of the track and a reverse movement track of the trolley along the reverse direction of the track;
the target movement direction determining module is used for determining the target movement direction of the trolley with the rail according to the first current position and the first target position of the trolley with the rail on the standard movement track;
and the navigation distance determining module is used for determining the navigation distance of the trolley on the target motion track according to the target motion track corresponding to the target motion direction, the first current position and the first target position, and controlling the trolley to move along the track based on the navigation distance and the target motion direction.
In a third aspect, an embodiment of the present invention further provides a rail car, including: track acquisition equipment, walking equipment and a controller;
the track acquisition equipment is used for acquiring a forward motion track of the trolley with the track moving along the forward direction of the track and a reverse motion track of the trolley with the track moving along the reverse direction of the track;
the travelling equipment is used for being meshed with the racks on the track so as to enable the trolley to move along the track;
the controller includes one or more processors and a memory for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement any of the above-described methods of navigating a rail car.
In a fourth aspect, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are used to perform a method of navigating a rail car as any one of the above-mentioned.
According to the embodiment of the invention, the standard motion track is generated based on the forward motion track and the reverse motion track, and the navigation distance of the trolley with the track on the target motion track is determined based on the current position and the target position on the standard motion track, so that the problem that the navigation distances in different motion directions are inconsistent in the prior art is solved, and the accuracy of the positioning position of the trolley with the track is improved.
Drawings
Fig. 1 is a flowchart of a navigation method of a trolley with track according to an embodiment of the present invention.
Fig. 2 is a schematic view of an engagement angle between a trolley and a rail according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a motion trajectory according to a first embodiment of the present invention.
Fig. 4 is a flowchart of a navigation method of a trolley with track provided in the second embodiment of the present invention.
Fig. 5 is a schematic diagram of a track map according to a second embodiment of the present invention.
Fig. 6 is a schematic diagram of a navigation device of a trolley with rails according to a third embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a trolley with rails according to a fourth embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a flowchart of a method for navigating a rail car according to an embodiment of the present invention, where the method may be performed by a navigation device of the rail car, the device may be implemented in software and/or hardware, and the device may be configured in the rail car. The method specifically comprises the following steps:
s110, acquiring a standard movement track corresponding to the trolley.
Wherein, illustratively, the rail car is engaged with the rack of the track via a gear. Fig. 2 is a schematic view of an engagement angle between a trolley and a rail according to an embodiment of the present invention. The lateral rectangles in fig. 2 represent racks of the track, and the two inclined rectangles represent gears on the rail trolley when the rail trolley moves in the forward direction and the reverse direction of the racks, respectively. When the rail trolley moves along the forward direction of the track, the angle between the gear and the rack is alpha, and when the rail trolley moves along the reverse direction of the track, the angle between the gear and the rack is beta. Especially when the track comprises a nonlinear track, when the trolley moves on the nonlinear track, the difference between angles between the corresponding gears and racks in different movement directions is larger, so that the error of the navigation distance of the trolley is further increased.
In this embodiment, the standard motion trajectory is generated based on a forward motion trajectory of the tracked vehicle moving in the forward direction of the track and a reverse motion trajectory of the tracked vehicle moving in the reverse direction of the track. Specifically, if the track path in the track design diagram is directly used as the standard movement track, a certain error may exist between the track path in the design diagram and the actual track path, and the accuracy of the navigation distance determined based on the track path in the design diagram may be reduced.
In one embodiment, optionally, the method further comprises: generating a forward movement track of the trolley from the starting point position to the end point position in the process of controlling the trolley to move from the starting point position to the end point position along the forward direction of the track; and in the process of controlling the track trolley to move from the end position to the start position along the reverse direction of the track, generating a reverse movement track of the track trolley from the end position to the start position. Specifically, by arranging a track acquisition device on the track trolley, a forward motion track and a reverse motion track generated by the track acquisition device are acquired, and the track acquisition device can be an inertial measurement unit (Inertial Measurement Unit, IMU) and an odometer.
S120, determining the target movement direction of the trolley according to the first current position and the first target position of the trolley on the standard movement track.
Note that, since the standard motion trajectory is a motion trajectory generated based on a positive motion trajectory and a negative motion trajectory, the standard motion trajectory is not a motion trajectory that actually exists. The first current position and the first target position on the standard motion trajectory mentioned in the present embodiment are positions planned in advance on the standard motion trajectory based on the real current position and the real target position. Specifically, since the real current position and the real target position are known real positions, a correspondence between the real positions and virtual positions on the standard motion trajectories is established. When the real current position of the trolley is obtained, a first current position of the trolley corresponding to the real current position on the standard movement track is obtained according to the corresponding relation, and when the user inputs the real target position, the first target position corresponding to the real target position on the standard movement track can be obtained according to the corresponding relation.
In one embodiment, optionally, determining the target movement direction of the tracked trolley according to the first current position and the first target position of the tracked trolley on the standard movement track includes: and determining a movement sequence of the trolley with the rail based on the first current position and the first target position, and determining a target movement direction of the trolley with the rail based on the movement sequence, wherein the target movement direction comprises a forward direction and a reverse direction. The movement sequence of the trolley is from a to B, the first current position is B, and the movement sequence of the trolley is from B to a. For example, if the trolley moves in the forward direction of the track, passing a first and then passing B, then the target movement direction is the forward direction when the movement sequence is from a to B, and the target movement direction is the reverse direction when the movement sequence is from B to a.
And S130, determining the navigation distance of the trolley on the target motion track according to the target motion track corresponding to the target motion direction, the first current position and the first target position, and controlling the trolley to move along the track based on the navigation distance and the target motion direction.
Specifically, when the target movement direction is the forward direction, the target movement track is the forward movement track, and when the target movement direction is the reverse direction, the target movement track is the reverse movement track.
In one embodiment, optionally, according to a mapping relationship between the standard motion trail and the target motion trail, the first current position and the first target position, determining a second current position and a second target position on the target motion trail, which correspond to the first current position and the first target position respectively; and determining the navigation distance of the trolley on the target motion track according to the second current position and the second target position.
Fig. 3 is a schematic diagram of a motion trajectory according to a first embodiment of the present invention. The thick solid line in fig. 3 represents a standard motion trajectory, the thin solid line represents a forward motion trajectory, and the thin broken line represents a reverse motion trajectory. O represents the starting point position of the track, a ', b ' and c ' represent real working points preset on two sides of the track respectively, a, b and c represent working point positions planned on a standard motion track based on the real working points respectively, a1, b1 and c1 represent corresponding positions of a, b and c on a forward motion track respectively, and a2, b2 and c2 represent corresponding positions of a, b and c on a reverse motion track respectively. For example, assuming that the first current position is a and the first target position is b, the target movement direction is a positive direction, the target movement track is a positive movement track, and the navigation distance between the second current position a1 and the second target position b1 corresponding to the first current position and the first target position on the positive movement track is obtained.
According to the technical scheme, the standard motion track is generated based on the forward motion track and the reverse motion track, and the navigation distance of the trolley with the track on the target motion track is determined based on the current position and the target position on the standard motion track, so that the problem that the navigation distances in different motion directions are inconsistent in the prior art is solved, and the accuracy of the positioning position of the trolley with the track is improved.
Example two
Fig. 4 is a flowchart of a navigation method of a trolley with track provided in the second embodiment of the present invention, and the technical solution of this embodiment is further refinement based on the foregoing embodiment. Optionally, before the standard motion track corresponding to the trolley is obtained, the method further includes: in the process of controlling the trolley to move along the track, acquiring the position coordinates of the obstacle on at least one side of the track, and storing the position coordinates of the obstacle; correspondingly, when controlling the track trolley to move along the track based on the navigation distance and the target movement direction, the track trolley further comprises: and controlling the trolley to execute obstacle avoidance operation according to the stored position coordinates of the obstacle.
The specific implementation steps of the embodiment include:
s210, in the process of controlling the trolley to move along the track, acquiring the position coordinates of the obstacle on at least one side of the track, and storing the position coordinates of the obstacle.
Specifically, in the process of controlling the trolley to move along the forward direction of the track, the position coordinates of the obstacle on one side of the track are obtained, and in the process of controlling the trolley to move along the reverse direction of the track, the position coordinates of the obstacle on the other side of the track are obtained. Illustratively, an obstacle avoidance sensor is arranged on the trolley with the rail, and position coordinates of an obstacle on at least one side of the rail acquired by the obstacle avoidance sensor are acquired.
The method comprises the steps of storing position coordinates of an obstacle, and specifically, generating an orbit map based on a standard motion track, a forward motion track, a reverse motion track and the position coordinates of the obstacle. Fig. 5 is a schematic diagram of a track map according to a second embodiment of the present invention. The rectangle in fig. 5 represents an obstacle, the thick solid line represents a standard motion trajectory, the thin solid line represents a forward motion trajectory, and the thin broken line represents a reverse motion trajectory.
S220, acquiring a standard movement track corresponding to the trolley.
S230, determining the target movement direction of the trolley according to the first current position and the first target position of the trolley on the standard movement track.
S240, determining the navigation distance of the track trolley on the target motion track according to the target motion track corresponding to the target motion direction, the first current position and the first target position.
S250, controlling the trolley to move along the track based on the navigation distance and the target movement direction, and controlling the trolley to execute obstacle avoidance operation according to the stored position coordinates of the obstacle.
On the basis of the above embodiment, optionally, controlling the tracked trolley to move along the track based on the navigation distance and the target movement direction includes: acquiring the movement distance of the trolley along the track in the target movement direction, and controlling the trolley to stop moving if the movement distance is equal to the navigation distance; and if the movement distance is smaller than the navigation distance, continuing to control the tracked trolley to move along the track. In one embodiment, a distance sensor may be provided on the tracked trolley to collect the distance of movement of the tracked trolley, and the distance sensor may be an odometer, for example. In another embodiment, optionally, a circle absolute value encoder is arranged on the gear of the trolley, and the movement distance of the trolley is calculated by reading the circle value on the circle absolute value encoder and the circumference of the gear.
Specifically, the current position coordinate of the trolley with the rail on the target motion track is obtained, whether the distance between the trolley with the rail and the obstacle is smaller than a preset distance threshold value is determined based on the current position coordinate and the position coordinate of the obstacle, and if so, the trolley with the rail is controlled to execute obstacle avoidance operation. Specifically, when an object exceeding the volume of the rail car is loaded on the rail car, the object may collide with the obstacle when the rail car passes the obstacle. The obstacle avoidance operation may be, for example, adjusting an angle of an object on the trolley, or sending an alarm prompt message.
According to the technical scheme, the position coordinates of the obstacle on at least one side of the track are obtained in the process of generating the positive movement track and the negative movement track, and when the tracked trolley is controlled to move along the track based on the navigation distance and the target movement direction, the tracked trolley is controlled to execute obstacle avoidance operation according to the stored position coordinates of the obstacle, so that the problem that the tracked trolley collides with the obstacle around the track in the movement process is solved, the positioning accuracy is improved, and meanwhile, the safety in the movement process of the tracked trolley is improved.
Example III
Fig. 6 is a schematic diagram of a navigation device of a trolley with rails according to a third embodiment of the present invention. The embodiment can be suitable for the condition of carrying out navigation positioning on the trolley with rails, the device can be realized in a software and/or hardware mode, and the device can be configured on the trolley with rails. The navigation device of the trolley comprises: a standard motion trajectory acquisition module 310, a target motion direction determination module 320, and a navigation distance determination module 330.
The standard motion trail acquisition module 310 is configured to acquire a standard motion trail corresponding to the trolley; the standard movement track is generated based on a forward movement track of the trolley along the forward direction of the track and a reverse movement track of the trolley along the reverse direction of the track;
the target movement direction determining module 320 is configured to determine a target movement direction of the tracked trolley according to the first current position and the first target position of the tracked trolley on the standard movement track;
the navigation distance determining module 330 is configured to determine a navigation distance of the trolley on the target motion track according to the target motion track corresponding to the target motion direction, the first current position and the first target position, and control the trolley to move along the track based on the navigation distance and the target motion direction.
According to the technical scheme, the standard motion track is generated based on the forward motion track and the reverse motion track, and the navigation distance of the trolley with the track on the target motion track is determined based on the current position and the target position on the standard motion track, so that the problem that the navigation distances in different motion directions are inconsistent in the prior art is solved, and the accuracy of the positioning position of the trolley with the track is improved.
Based on the above technical solution, optionally, the target motion direction determining module 320 is specifically configured to:
and determining a movement sequence of the trolley with the rail based on the first current position and the first target position, and determining a target movement direction of the trolley with the rail based on the movement sequence, wherein the target movement direction comprises a forward direction and a reverse direction.
Based on the above technical solution, optionally, the navigation distance determining module 330 includes:
the navigation distance determining unit is used for determining a second current position and a second target position corresponding to the first current position and the first target position on the target motion track according to the mapping relation between the standard motion track and the target motion track, the first current position and the first target position; and determining the navigation distance of the trolley on the target motion track according to the second current position and the second target position.
Based on the above technical solution, optionally, the navigation distance determining module 330 includes:
the track trolley moving unit is used for acquiring the moving distance of the track trolley along the target moving direction of the track, and controlling the track trolley to stop moving if the moving distance is equal to the navigation distance; and if the movement distance is smaller than the navigation distance, continuing to control the tracked trolley to move along the track.
On the basis of the above technical solution, optionally, the apparatus further includes:
the forward motion track generation module is used for generating a forward motion track from a starting point position to an end point position of the trolley in the process of controlling the trolley to move from the starting point position to the end point position along the forward direction of the track before the standard motion track corresponding to the trolley is acquired;
the reverse motion track generation module is used for generating a reverse motion track from the end position to the start position of the trolley in the process of controlling the trolley to move from the end position to the start position along the reverse direction of the track before the standard motion track corresponding to the trolley is acquired.
On the basis of the above technical solution, optionally, the apparatus further includes:
the obstacle position coordinate storage module is used for acquiring the position coordinates of the obstacle at least at one side of the track and storing the position coordinates of the obstacle in the process of controlling the track trolley to move along the track before acquiring the standard movement track corresponding to the track trolley;
the navigation distance determining module 330 includes an obstacle avoidance operation executing unit for controlling the trolley to execute an obstacle avoidance operation according to the stored position coordinates of the obstacle when controlling the trolley to move along the track based on the navigation distance and the target movement direction.
The navigation device of the rail trolley provided by the embodiment of the invention can be used for executing the navigation method of the rail trolley provided by the embodiment of the invention, and has the corresponding functions and beneficial effects of the execution method.
It should be noted that, in the above embodiment of the navigation device of the trolley, each unit and module included are only divided according to the functional logic, but not limited to the above division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
Example IV
Fig. 7 is a schematic structural diagram of a rail car according to a fourth embodiment of the present invention, which provides services for implementing the method for navigating the rail car according to the above embodiment of the present invention, and may be configured with the device for navigating the rail car according to the above embodiment.
The trolley comprises a track acquisition device 41, a walking device 42 and a controller (not shown in fig. 7); wherein, the track acquisition device 41 is used for acquiring a forward motion track of the trolley along the forward direction of the track and a reverse motion track of the trolley along the reverse direction of the track; a traveling device 42 for engaging with the rack on the track to move the trolley along the track; the controller includes one or more processors and a memory for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method for navigating a rail car of the above-described embodiments of the present invention.
In one embodiment, optionally, walking device 42 includes a driven wheel rotation shaft 421, a driven wheel 422, a drive wheel 423, and a drive wheel rotation shaft 424.
Specifically, the memory is used as a computer readable storage medium, and may be further used to store a software program, a computer executable program, and modules, such as program instructions/modules (for example, the standard motion trajectory acquisition module 310, the target motion direction determination module 320, and the navigation distance determination module 330) corresponding to the navigation method of the trolley in the embodiment of the present invention. The processor executes various functional applications and data processing of the trolley by running software programs, instructions and modules stored in the memory, namely, the method for navigating the trolley is realized.
The memory may mainly include a memory program area and a memory data area, wherein the memory program area may store an operating system, at least one application program required for a function; the storage data area may store data created according to the use of the terminal, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, the memory may further include memory remotely located with respect to the processor, the remote memory being connectable to the rail car via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
In one embodiment, the tracked trolley optionally further comprises obstacle avoidance sensors 43 for acquiring position coordinates of obstacles on at least one side of the track.
In one embodiment, the tracked trolley optionally further comprises a tracked trolley body 44 and a drive device 45, in particular the drive device 45 comprises a motor. In one embodiment, the tracked trolley optionally further comprises a multi-turn absolute value encoder 46 for acquiring the distance of movement of the tracked trolley.
By means of the rail trolley, the problem that navigation distances in different movement directions are inconsistent in the prior art is solved, and the accuracy of the positioning position of the rail trolley is improved.
Example five
A fifth embodiment of the present invention also provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are for performing a method of navigating a rail car, the method comprising:
obtaining a standard motion trail corresponding to the trolley with the rail; the standard movement track is generated based on a forward movement track of the trolley along the forward direction of the track and a reverse movement track of the trolley along the reverse direction of the track;
determining a target movement direction of the trolley with the track according to a first current position and a first target position of the trolley with the track on the standard movement track;
and determining the navigation distance of the trolley on the target motion track according to the target motion track corresponding to the target motion direction, the first current position and the first target position, and controlling the trolley to move along the track based on the navigation distance and the target motion direction.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Of course, the storage medium containing the computer executable instructions provided in the embodiments of the present invention is not limited to the above method operations, and may also perform the related operations in the method for navigating a trolley according to any of the embodiments of the present invention.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (10)
1. A method of navigating a trolley comprising:
obtaining a standard motion trail corresponding to the trolley with the rail; the standard movement track is generated based on a forward movement track of the trolley along the forward direction of the track and a reverse movement track of the trolley along the reverse direction of the track;
determining a target movement direction of the trolley with the track according to the first current position and the first target position of the trolley with the track on the standard movement track;
determining a navigation distance of the trolley on the target motion track according to the target motion track corresponding to the target motion direction, the first current position and the first target position, and controlling the trolley to move along the track based on the navigation distance and the target motion direction; the target motion direction comprises a forward direction and a reverse direction, and the target motion rail comprises a forward motion track and a reverse motion track.
2. The method of claim 1, wherein determining the target movement direction of the tracked trolley based on the first current position and the first target position of the tracked trolley on the standard movement path comprises:
and determining the movement sequence of the trolley based on the first current position and the first target position, and determining the target movement direction of the trolley according to the movement sequence.
3. The method of claim 1, wherein the determining the navigation distance of the tracked trolley on the target motion trajectory according to the target motion trajectory corresponding to the target motion direction, the first current position, and the first target position comprises:
determining a second current position and a second target position corresponding to the first current position and the first target position on the target motion track according to the mapping relation between the standard motion track and the target motion track, the first current position and the first target position;
and determining the navigation distance of the trolley on the target motion track according to the second current position and the second target position.
4. The method of claim 1, wherein the controlling the movement of the tracked trolley along the track based on the navigation distance and the target movement direction comprises:
acquiring the movement distance of the trolley along the target movement direction of the track, and controlling the trolley to stop moving if the movement distance is equal to the navigation distance; and if the movement distance is smaller than the navigation distance, continuing to control the track trolley to move along the track.
5. The method of claim 1, wherein prior to acquiring the standard motion profile corresponding to the tracked trolley, the method further comprises:
generating a forward movement track of the trolley from the starting point position to the end point position in the process of controlling the trolley to move from the starting point position to the end point position along the forward direction of the track;
and in the process of controlling the track trolley to move from the end position to the start position along the reverse direction of the track, generating a reverse movement track of the track trolley from the end position to the start position.
6. The method of claim 5, wherein prior to acquiring the standard motion profile corresponding to the tracked trolley, the method further comprises:
in the process of controlling the trolley to move along the track, acquiring the position coordinates of the obstacle on at least one side of the track, and storing the position coordinates of the obstacle;
correspondingly, when controlling the track trolley to move along the track based on the navigation distance and the target movement direction, the track trolley further comprises: and controlling the trolley to execute obstacle avoidance operation according to the stored position coordinates of the obstacle.
7. A navigation device for a rail car, comprising:
the standard motion trail acquisition module is used for acquiring a standard motion trail corresponding to the trolley; the standard movement track is generated based on a forward movement track of the trolley along the forward direction of the track and a reverse movement track of the trolley along the reverse direction of the track;
the target movement direction determining module is used for determining the target movement direction of the trolley with the rail according to the first current position and the first target position of the trolley with the rail on the standard movement track;
the navigation distance determining module is used for determining the navigation distance of the trolley on the target motion track according to the target motion track corresponding to the target motion direction, the first current position and the first target position, and controlling the trolley to move along the track based on the navigation distance and the target motion direction; the target motion direction comprises a forward direction and a reverse direction, and the target motion rail comprises a forward motion track and a reverse motion track.
8. A tracked trolley, the tracked trolley comprising: track acquisition equipment, walking equipment and a controller;
the track acquisition equipment is used for acquiring a forward motion track of the trolley with the track moving along the forward direction of the track and a reverse motion track of the trolley with the track moving along the reverse direction of the track;
the travelling equipment is used for being meshed with the racks on the track so as to enable the trolley to move along the track;
the controller comprising one or more processors and a memory for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method of navigating a trolley as claimed in any one of claims 1-6.
9. The tracked cart defined in claim 8, further comprising obstacle avoidance sensors for acquiring position coordinates of an obstacle on at least one side of the track.
10. A storage medium containing computer executable instructions which, when executed by a computer processor, are for performing the method of navigating a trolley as claimed in any one of claims 1 to 6.
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