CN-116610116-B - Collision fault determining method and device, electronic equipment and storage medium

CN116610116BCN 116610116 BCN116610116 BCN 116610116BCN-116610116-B

Abstract

The invention discloses a method and a device for determining collision faults, electronic equipment and a storage medium. The method comprises the steps of obtaining vehicle information of a target transport vehicle and barrier information of the target transport vehicle, determining whether a collision fault determination mode of the target transport vehicle and the barrier is a first determination mode or not based on the barrier information, determining whether the target transport vehicle and the barrier have collision faults based on the position information of the target transport vehicle and the position information of the barrier if the collision fault determination mode of the target transport vehicle and the barrier is the first determination mode, and determining whether the target transport vehicle and the barrier have collision faults based on the position information and the level information of the target transport vehicle and the position information and the level information of the barrier if the collision fault determination mode of the target transport vehicle and the barrier is not the first determination mode. Whether the transport vehicle collides with the obstacle or not can be determined according to the vehicle information and the obstacle information, the probability of misjudgment can be reduced, and the cargo transport efficiency is improved.

Inventors

CHENG JINZHI
YANG WEI
ZHU ZHAOHUI

Assignees

上海快仓智能科技有限公司

Dates

Publication Date: 20260512
Application Date: 20230427

Claims (7)

1. A method of determining a collision fault, comprising: Acquiring vehicle information of a target transport vehicle and barrier information of the target transport vehicle, wherein the vehicle information comprises position information and level information of the target transport vehicle, the barrier information comprises type information, position information and level information of barriers, the position information of the target transport vehicle comprises first position projection of the target transport vehicle, the level information of the target transport vehicle comprises first layer numbers of the target transport vehicle, first shape information and first size information of the target transport vehicle corresponding to the first layer numbers, the position information of the barriers comprises second position projection of the barriers, and the level information of the barriers comprises second layer numbers of the barriers, second shape information and second size information of the barriers corresponding to the second layer numbers; Determining whether the obstacle is a transport vehicle based on the type information; If the obstacle is a transport vehicle, determining that a collision fault determination mode of the target transport vehicle and the obstacle is a first determination mode, and determining whether the target transport vehicle and the obstacle have collision faults or not based on the position information of the target transport vehicle and the position information of the obstacle; if the obstacle is not a transport vehicle, determining that the collision fault determination mode of the target transport vehicle and the obstacle is not a first determination mode, and determining a maximum height value of the target transport vehicle based on the first layer number and the first size information; if the maximum height value is smaller than the pass-through height threshold value, determining whether the first position projection and the second position projection overlap; And if the first position projection and the second position projection are not overlapped, determining that the target transport vehicle and the obstacle cannot collide.
2. The method of claim 1, wherein the determining whether the target transporter and the obstacle are in collision failure based on the location information of the target transporter and the location information of the obstacle comprises: Determining whether there is an overlap of the first position projection and the second position projection; If the first position projection and the second position projection overlap, determining that collision faults occur between the target transport vehicle and the obstacle; And if the first position projection and the second position projection are not overlapped, determining that the target transport vehicle and the obstacle cannot collide.
3. The method of claim 1, wherein the step of determining the position of the substrate comprises, If the maximum height value is greater than or equal to the allowed height threshold, determining whether the target transport vehicle and the obstacle have collision faults based on the first position projection, the first layer progression, the first shape information, the first size information, the second position projection, the second layer progression, the second shape information and the second size information; The determining whether the target transporter and the obstacle have a collision failure based on the first position projection, the first layer progression, the first shape information, the first size information, the second position projection, the second layer progression, the second shape information, and the second size information, includes: Determining the passing size of the barrier based on the second layer number, the second shape information and the second size information, wherein the barrier is a shelf, and the passing size is the passing shape of the shelf and the length information of each side of the passing shape; determining a height level information set of the target transport vehicle based on the first position projection, the first layer number, the first shape information and the first size information, wherein the height level information set comprises each height level of the target transport vehicle, a third position projection corresponding to each height level and third size information; And determining whether the target transport vehicle and the obstacle have collision faults or not based on the passing-through size, the second position projection, the height levels, the third position projection and the third size information, wherein when the projections of the target transport vehicle and the goods shelf on the height levels are not overlapped, the target transport vehicle and the goods shelf are determined not to collide.
4. The method of claim 1, wherein the step of determining the position of the substrate comprises, If the first position projection and the second position projection overlap, determining a supporting position of the barrier based on the second size information, and determining whether the first position projection and the supporting position overlap or not; If the first position projection and the supporting position overlap, determining that collision faults occur between the target transport vehicle and the obstacle; And if the first position projection and the supporting position are not overlapped, determining that the target transport vehicle and the obstacle cannot collide.
5. A collision failure determination apparatus, characterized by comprising: The system comprises a parameter acquisition module, a control module and a control module, wherein the parameter acquisition module is used for acquiring vehicle information of a target transport vehicle and barrier information of the target transport vehicle, the vehicle information comprises position information and hierarchy information of the target transport vehicle, the barrier information comprises type information, position information and hierarchy information of barriers, the position information of the target transport vehicle comprises first position projection of the target transport vehicle, the hierarchy information of the target transport vehicle comprises first hierarchy number of the target transport vehicle, first shape information and first size information of the target transport vehicle corresponding to the first hierarchy number, the position information of the barriers comprises second position projection of the barriers, and the hierarchy information of the barriers comprises second hierarchy number of the barriers, second shape information and second size information of the barriers corresponding to the second hierarchy number; The information determining module is used for determining whether the obstacle is a transport vehicle or not based on the type information, if the obstacle is the transport vehicle, determining that the collision fault determining mode of the target transport vehicle and the obstacle is a first determining mode, and if the obstacle is not the transport vehicle, determining that the collision fault determining mode of the target transport vehicle and the obstacle is not the first determining mode; the first detection module is used for determining whether the collision fault occurs between the target transport vehicle and the obstacle or not based on the position information of the target transport vehicle and the position information of the obstacle if the collision fault determination mode of the target transport vehicle and the obstacle is the first determination mode; the system comprises a first detection module, a second detection module, a first detection module and a second detection module, wherein the first detection module is used for determining whether a collision fault occurs between a target transport vehicle and an obstacle based on position information of the target transport vehicle and the position information of the obstacle if the collision fault determination mode of the target transport vehicle and the obstacle is not a first determination mode, determining the maximum height value of the target transport vehicle based on the first layer number and the first size information if the collision fault determination mode of the target transport vehicle and the obstacle is not the first determination mode, determining the allowed height threshold of the obstacle based on the second layer number and the second size information, determining whether the maximum height value is smaller than the allowed height threshold, determining whether the first position projection and the second position projection overlap if the maximum height value is smaller than the allowed height threshold, and determining that the target transport vehicle and the obstacle cannot collide with each other if the first position projection and the second position projection do not overlap.
6. An electronic device, the electronic device comprising: And a memory communicatively coupled to the at least one processor; Wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of determining a collision fault of any one of claims 1 to 4.
7. A computer readable storage medium storing computer instructions for causing a processor to implement the method of determining a collision fault of any one of claims 1 to 4 when executed.

Description

Collision fault determining method and device, electronic equipment and storage medium Technical Field The invention relates to the technical field of automatic guided vehicles (Automated Guided Vehicle, AGV) control, in particular to a method and a device for determining collision faults, electronic equipment and a storage medium. Background With the rise of intelligent factories and unmanned warehouses, automated guided vehicles are widely used, for example, to carry goods using automated guided vehicles, to acquire information on shelves and goods in warehouses and factories using automated guided vehicles, and the like. Therefore, collision detection of automated guided vehicles is a concern. At present, the collision fault detection method of the automatic guided vehicle is to determine the relative relation between the maximum size of the automatic guided vehicle on a plane, the maximum size of the automatic guided vehicle on a space and the size of a goods shelf supporting layer, and further determine whether the automatic guided vehicle collides with the goods shelf. However, the shape of the shelf support layer and the shape of the automatic guided vehicle are not necessarily regular cuboids, and if the automatic guided vehicle and the shelf are determined to have collision faults at the maximum size, the problems of collision fault misjudgment and the like may be caused, the cargo handling efficiency is affected, and the cargo handling resources are wasted. Disclosure of Invention The invention provides a method and a device for determining collision faults, electronic equipment and a storage medium, which can reduce the probability of misjudgment and improve the cargo transportation efficiency. According to an aspect of the present invention, there is provided a method of determining a collision failure, the method comprising: Acquiring vehicle information of a target transport vehicle and barrier information of the target transport vehicle, wherein the vehicle information comprises position information and hierarchy information of the target transport vehicle, and the barrier information comprises position information and hierarchy information of the barrier; determining whether a collision failure determination mode of the target transport vehicle and the obstacle is a first determination mode based on the obstacle information; if the collision fault determining mode of the target transport vehicle and the obstacle is the first determining mode, determining whether the collision fault occurs between the target transport vehicle and the obstacle or not based on the position information of the target transport vehicle and the position information of the obstacle; if the collision fault determination mode of the target transport vehicle and the obstacle is not the first determination mode, determining whether the collision fault occurs on the target transport vehicle and the obstacle based on the position information and the hierarchy information of the target transport vehicle and the position information and the hierarchy information of the obstacle. Optionally, the position information of the target transport vehicle comprises a first position projection of the target transport vehicle, the level information of the target transport vehicle comprises a first layer number of the target transport vehicle, first shape information and first size information of the target transport vehicle corresponding to the first layer number, the position information of the obstacle comprises a second position projection of the obstacle, and the level information of the obstacle comprises a second layer number of the obstacle, second shape information and second size information of the obstacle corresponding to the second layer number. Optionally, the obstacle information further includes type information of the obstacle. Optionally, determining whether the collision fault determination mode of the target transport vehicle and the obstacle is the first determination mode based on the obstacle information includes determining whether the obstacle is a transport vehicle based on the type information, determining that the collision fault determination mode of the target transport vehicle and the obstacle is the first determination mode if the obstacle is a transport vehicle, and determining that the collision fault determination mode of the target transport vehicle and the obstacle is not the first determination mode if the obstacle is not a transport vehicle. Optionally, determining whether the target transport vehicle and the obstacle have collision faults based on the position information of the target transport vehicle and the position information of the obstacle includes determining whether the first position projection and the second position projection overlap, determining that the target transport vehicle and the obstacle have collision faults if the first position projection and the second position projecti