CN112183851A - Driving and parking method, device, equipment and storage medium - Google Patents

Abstract

Translated fromChinese

本发明实施例提供一种行驶和停靠方法、装置、设备和存储介质，该方法包括：在操作位侧边的行车道上行驶；当检测到行驶至停靠位置在行车道中对应的车道变换位置时，从行车道变换至与行车道相邻的停车道并行驶至停靠位置停驶；当检测到启动指令时，从停靠位置开始行驶并在行驶的过程中变换至行车道行驶。采用本发明，可以使得通行的车道与停驶的车道相互分离，避免需要停驶的可移动设备停驶在需要通行的可移动设备的前面，从而避免需要停驶的可移动设备挡住需要通行的可移动设备。故而，可以提高可移动设备的通行效率。

Embodiments of the present invention provide a driving and parking method, device, device, and storage medium. The method includes: driving on a traffic lane on the side of an operating position; when it is detected that driving to a lane change position corresponding to the parking position in the traffic lane, Change from the driving lane to the parking lane adjacent to the driving lane and drive to the parking position to stop; when a start command is detected, start driving from the parking position and change to the driving lane during driving. By adopting the present invention, the passing lanes and the stopped lanes can be separated from each other, so that the movable equipment that needs to be stopped is prevented from being parked in front of the movable equipment that needs to pass, and the movable equipment that needs to be parked can be prevented from blocking the movable equipment that needs to pass. removable device. Therefore, the traffic efficiency of the movable equipment can be improved.

Description

Driving and parking method, device, equipment and storage medium

Technical Field

The invention relates to the technical field of logistics, in particular to a driving and parking method, a driving and parking device, driving and parking equipment and a storage medium.

Background

The movable device will pass through the channel at the side of the operation position, and the channel can be a one-way channel or a two-way channel. If the passage is a one-way passage, the passing movable equipment can run in the middle of the passage, and if the passage is a two-way passage, the passing movable equipment can run from two ends of the two-way passage to the opposite direction.

When any mobile device travels to a parked position, it will be parked in the parked position in the passageway. Therefore, the stopped mobile equipment blocks the passing mobile equipment, and for the one-way passage, the passing mobile equipment needs to be shifted to one side of the passage to be avoided.

In practical application, if the number of the stopped mobile devices is large, the situations needing to be avoided are large, and the traffic efficiency of the mobile devices is inevitably reduced in the process of avoiding each time. For two-way access, congestion problems can arise when a stopped mobile device blocks a passing mobile device. This causes a problem of a decrease in the efficiency of passage of the mobile equipment.

Disclosure of Invention

The invention provides a driving and stopping method, a driving and stopping device, equipment and a storage medium, which are used for improving the passing efficiency of movable equipment.

In a first aspect, the present invention provides a method of driving and parking, the method comprising:

driving on a traffic lane beside the operation position;

when the vehicle is detected to run to a corresponding lane change position of a stop position in the lane, the vehicle is changed from the lane to a stop lane adjacent to the lane and runs to the stop position to stop;

when a start command is detected, starting driving from the stop position and changing to the lane driving during driving.

Optionally, the traffic lane is a one-way traffic lane or a two-way traffic lane.

Optionally, the changing from the traffic lane to a parking lane adjacent to the traffic lane and traveling to the parking position for parking includes:

and changing the lane to a parking lane adjacent to the lane, driving to a target planning parking space corresponding to the parking position, and stopping, wherein the length of the target planning parking space is determined based on the working operation range of the staff.

Optionally, the number of planned parking spaces set in the parking lane is determined based on the length of the planned parking spaces and the total length of all operation positions corresponding to the parking lane.

Optionally, the operation position is a shelf, and the shelf comprises a single-side shelf or a double-side shelf;

when the operation position is a single-side shelf, the goods storing and taking side of the single-side shelf is adjacent to the parking way;

when the operation position is a double-side shelf, the goods access side on one side of the double-side shelf is adjacent to the parking lane, and the goods access side on the other side of the double-side shelf is adjacent to the traffic lane.

In a second aspect, the present invention provides a running and parking apparatus comprising:

the driving module is used for driving on a driving lane at the side of the operation position;

the parking module is used for changing the lane to a parking road adjacent to the lane and driving to the parking position to park when detecting that the vehicle is driven to the corresponding lane changing position of the parking position in the lane;

and the lane changing module is used for starting driving from the stop position and changing to the lane driving in the driving process when a starting instruction is detected.

Optionally, the traffic lane is a one-way traffic lane or a two-way traffic lane.

Optionally, the stop module is configured to:

and changing the lane to a parking lane adjacent to the lane, driving to a target planning parking space corresponding to the parking position, and stopping, wherein the length of the target planning parking space is determined based on the working operation range of the staff.

Optionally, the number of planned parking spaces set in the parking lane is determined based on the length of the planned parking spaces and the total length of all operation positions corresponding to the parking lane.

Optionally, the operation position is a shelf, and the shelf comprises a single-side shelf or a double-side shelf;

when the operation position is a single-side shelf, the goods storing and taking side of the single-side shelf is adjacent to the parking way;

when the operation position is a double-side shelf, the goods access side on one side of the double-side shelf is adjacent to the parking lane, and the goods access side on the other side of the double-side shelf is adjacent to the traffic lane.

In a third aspect, the present invention provides a mobile device comprising a processor and a memory, wherein the memory has stored thereon executable code, which when executed by the processor, causes the processor to implement at least the driving and parking method of the first aspect.

In a fourth aspect, the present invention provides a non-transitory machine-readable storage medium having stored thereon executable code which, when executed by a processor of a mobile device, causes the processor to implement at least the driving and parking method of the first aspect.

By adopting the invention, the passing lane and the stopped lane can be separated from each other, and the movable equipment needing to be stopped is prevented from stopping in front of the movable equipment needing to pass, so that the movable equipment needing to be stopped blocks the movable equipment needing to pass. Therefore, the passing efficiency of the movable equipment can be improved.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the present invention will be briefly introduced below, and it is apparent that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on the drawings without inventive labor.

FIG. 1 is a flow chart illustrating a method of driving and parking according to the present invention;

FIG. 2 is a schematic diagram of the arrangement positions of a traffic lane and a parking lane according to the present invention;

fig. 3 is a schematic diagram illustrating a configuration for planning a parking space according to the present invention;

FIG. 4 is a schematic view of a traffic lane and a parking lane between a single-sided rack and a double-sided rack according to the present invention;

FIG. 5 is a schematic view of a travel and parking apparatus according to the present invention;

fig. 6 is a schematic structural diagram of a mobile device provided in the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two.

The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.

In addition, the sequence of steps in each method embodiment described below is only an example and is not strictly limited.

Fig. 1 is a flowchart of a driving and parking method according to an embodiment of the present invention, which may be applied to a mobile device. As shown in fig. 1, the method comprises the steps of:

101. and driving on a traffic lane beside the operation position.

102. When the driving to the corresponding lane change position of the stop position in the traffic lane is detected, the vehicle is changed to a stop lane adjacent to the traffic lane from the traffic lane and drives to the stop position to stop.

103. When a start command is detected, the vehicle starts to travel from a parking position and changes to lane travel during travel.

The operating station may be a shelf, a table, a distribution table, or the like. The lane may be set beside the operation position, or between two adjacent operation positions if there are several parallel operation positions.

In practical applications, the mobile device may be driven on a roadway. Assuming that the mobile device needs to be parked at a first position of the operating site, the mobile device needs to be parked on the ground near the first position, the position on the ground corresponding to the first position being referred to as the parked position.

The parking position may be set on a parking lane distinguished from a traffic lane. It is understood that, as shown in fig. 2, assuming that there are two rows of operation positions arranged in parallel, two or more lanes may be provided in the space between the two rows of operation positions. Taking two lanes as an example, a traffic lane and a parking lane may be provided. The traffic lane is a lane for passing the movable equipment, and the parking lane is a lane for stopping the movable equipment.

By adopting the design, the passing lane and the stopped lane can be separated from each other, the movable equipment needing to be stopped is prevented from stopping in front of the movable equipment needing to pass, and the movable equipment needing to be stopped is prevented from blocking the movable equipment needing to pass.

In an embodiment of the invention, the movable equipment may perform a lane change operation while traveling to a lane change position in the traffic lane near the stop position, so that the movable equipment can change from the traffic lane to a stop lane adjacent to the traffic lane. After the mobile device is changed from the traffic lane to a parking lane adjacent to the traffic lane, it may be stopped to wait for a worker at the parking position.

It will be appreciated that after the worker has completed the work content, the worker may select an option indicating that the operation has been completed through a human-machine interface in the mobile device, so that the mobile device may receive a start instruction based on which the mobile device may start traveling from a stop position and change to a lane traveling during traveling.

Alternatively, the traffic lane may be a one-way traffic lane or a two-way traffic lane.

Alternatively, the process of changing from a traffic lane to a parking lane adjacent to the traffic lane to a parking position to stop may be implemented as: and changing the lane to a parking lane adjacent to the lane to drive to a target planning parking space corresponding to the parking position, wherein the length of the target planning parking space is determined based on the working operation range of the staff.

In the application scenario of picking, the worker may be a picking worker, and the work operation range may be a picking operation range.

In practical applications, a plurality of planned parking spaces may be planned in the parking lane, and if any mobile device needs to be stopped in the parking lane, the mobile device needs to be stopped in one planned parking space. In this way, the movable equipment can be prevented from stopping at any position of the parking road randomly.

Taking the picking scene as an example, it is assumed that each picking person has a respective picking operation range. As shown in fig. 3, the circles drawn by the two dotted lines in fig. 3 are respectively the picking operation ranges of the two picking personnel, that is, the first picking personnel performs picking operation in the first picking operation range, the second picking personnel performs picking operation in the second picking operation range, and the two picking operation ranges need to cover all positions of the shelves. The parking space is planned corresponding to the first picking operation range setting P1 and the parking space is planned corresponding to the second picking operation range setting P2. If the mobile device needs to stop into the first picking operating range of the first picker and wait for picking, the mobile device may move to the P1 planning parking space.

Optionally, the number of planned parking spaces set in the parking lane is determined based on the length of the planned parking spaces and the total length of all the operation positions corresponding to the parking lane.

In practical applications, in order to enable the planned parking spaces set in the parking lane to cover all the operation positions, the number of the planned parking spaces set in the parking lane may be determined based on the length of the planned parking spaces and the total length of all the operation positions corresponding to the parking lane.

Using the shelf as an example, assuming that the length of a planned parking space is 1 meter, the number of shelves arranged beside a parking lane is 5, the length of each shelf is 1 meter, and then the total length of all shelves is 5 meters, and then 5 parking spaces can be arranged in the parking lane. In this way, the total length of 5 parking spaces can cover all shelves.

Optionally, the operation position is a shelf, and the shelf comprises a single-side shelf or a double-side shelf; when the operation position is a single-side goods shelf, the goods storing and taking side of the single-side goods shelf is adjacent to the parking way; when the operation position is the two-side goods shelf, the goods access side of one side of the two-side goods shelf is adjacent to the parking way, and the goods access side of the other side of the two-side goods shelf is adjacent to the traffic lane.

As shown in fig. 4, the shelf 1 is a single-sided shelf, and theshelf 2 is a double-sided shelf. For the unilateral goods shelf, only one side is the goods access side, can be used for accessing goods. Therefore, for the one-sided rack, a parking lane may be provided on the side adjacent to the goods storage and retrieval side. For the double-side goods shelf, goods can be stored and taken from two sides of the double-side goods shelf, a parking road can be optionally arranged at the position adjacent to one side, and the other side is adjacent to a traffic lane. It should be noted that, for all the double-sided shelves, assuming that the left and right sides thereof can be used for storing and taking goods, if a parking lane is selected to be set at a position adjacent to the left side of any one of the double-sided shelves, the parking lane can be set at a position adjacent to the left side of all the double-sided shelves, which is convenient for unified management. If a parking lane is selected to be provided adjacent to the right side of any of the double-sided racks, a parking lane may be provided adjacent to the left side of all the double-sided racks.

For the side of the double-side shelf adjacent to the traffic lane, if the goods on the side are to be accessed, the picking personnel can avoid the movable equipment on the traffic lane to access the goods. Although the order picker may cross the traffic lane, the order picker responds faster than the mobile device, and the order picker can flexibly avoid the mobile device traveling on the traffic lane.

By adopting the method provided by the embodiment of the invention, the passing lane and the stopped lane can be separated from each other, the movable equipment needing to be stopped is prevented from stopping in front of the movable equipment needing to pass, and the movable equipment needing to be stopped is prevented from blocking the movable equipment needing to pass. Therefore, the passing efficiency of the movable equipment can be improved.

The running and parking apparatus according to one or more embodiments of the present invention will be described in detail below. Those skilled in the art will appreciate that these travel and docking means can be constructed using commercially available hardware components configured by the steps taught by the present solution.

Fig. 5 is a schematic structural diagram of a driving and parking apparatus according to an embodiment of the present invention, as shown in fig. 5, the apparatus includes:

a driving module 51 for driving on a traffic lane at a side of the operation site;

a stopping module 52, configured to change from the lane to a stopping lane adjacent to the lane and stop driving to the stopping position when detecting that driving to the corresponding lane change position of the stopping position in the lane;

and the lane changing module 53 is used for starting driving from the stop position and changing to the lane driving in the driving process when a starting instruction is detected.

Optionally, the traffic lane is a one-way traffic lane or a two-way traffic lane.

Optionally, the stop module 52 is configured to:

and changing the lane to a parking lane adjacent to the lane, driving to a target planning parking space corresponding to the parking position, and stopping, wherein the length of the target planning parking space is determined based on the working operation range of the staff.

Optionally, the number of planned parking spaces set in the parking lane is determined based on the length of the planned parking spaces and the total length of all operation positions corresponding to the parking lane.

Optionally, the operation position is a shelf, and the shelf comprises a single-side shelf or a double-side shelf;

when the operation position is a single-side shelf, the goods storing and taking side of the single-side shelf is adjacent to the parking way;

when the operation position is a double-side shelf, the goods access side on one side of the double-side shelf is adjacent to the parking lane, and the goods access side on the other side of the double-side shelf is adjacent to the traffic lane.

The device shown in fig. 5 can execute the driving and parking method provided in the foregoing embodiments shown in fig. 1 to 4, and the detailed execution process and technical effect are described in the foregoing embodiments and will not be described again here.

In one possible design, the structure of the above-described traveling and parking apparatus shown in fig. 5 may be implemented as a movable device, which may include, as shown in fig. 6: aprocessor 91, and amemory 92. Wherein saidmemory 92 has stored thereon executable code which, when executed by saidprocessor 91, makes saidprocessor 91 at least capable of implementing the driving and parking method as provided in the previous embodiments illustrated in fig. 1 to 4.

Optionally, the removable device may further include acommunication interface 93 for communicating with other devices.

In addition, an embodiment of the present invention provides a non-transitory machine-readable storage medium having stored thereon executable code, which when executed by a processor of a mobile device, causes the processor to implement at least the driving and parking method as provided in the aforementioned embodiments of fig. 1 to 4.

The above-described apparatus embodiments are merely illustrative, wherein the units described as separate components may or may not be physically separate. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by adding a necessary general hardware platform, and of course, can also be implemented by a combination of hardware and software. With this understanding in mind, the above-described aspects and portions of the present technology which contribute substantially or in part to the prior art may be embodied in the form of a computer program product, which may be embodied on one or more computer-usable storage media having computer-usable program code embodied therein, including without limitation disk storage, CD-ROM, optical storage, and the like.

The driving and parking method provided by the embodiment of the present invention may be executed by a certain program/software, the program/software may be provided by a network side, the removable device mentioned in the foregoing embodiment may download the program/software into a local non-volatile storage medium, and when it needs to execute the driving and parking method, the program/software is read into a memory by a CPU, and then the CPU executes the program/software to implement the driving and parking method provided in the foregoing embodiment, and the execution process may refer to the schematic in fig. 1 to fig. 4.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

Translated fromChinese

1.一种行驶和停靠方法，其特征在于，应用于可移动设备，包括：1. a driving and parking method, is characterized in that, is applied to movable equipment, comprises:在操作位侧边的行车道上行驶；Drive on the traffic lane beside the operating position;当检测到行驶至停靠位置在所述行车道中对应的车道变换位置时，从所述行车道变换至与所述行车道相邻的停车道并行驶至所述停靠位置停驶；When it is detected that driving to a lane change position corresponding to the parking position in the driving lane, change from the driving lane to a parking lane adjacent to the driving lane and drive to the parking position to stop;当检测到启动指令时，从所述停靠位置开始行驶并在行驶的过程中变换至所述行车道行驶。When a start command is detected, the vehicle starts driving from the parking position and changes to the driving lane during driving.2.根据权利要求1所述的方法，其特征在于，所述行车道为单向行车道或者双向行车道。2 . The method according to claim 1 , wherein the traffic lane is a one-way traffic lane or a two-way traffic lane. 3 .3.根据权利要求1所述的方法，其特征在于，所述从所述行车道变换至与所述行车道相邻的停车道并行驶至所述停靠位置停驶，包括：3 . The method according to claim 1 , wherein the changing from the driving lane to a parking lane adjacent to the driving lane and driving to the parking position for stopping comprises: 3 .从所述行车道变换至与所述行车道相邻的停车道行驶至所述停靠位置对应的目标规划停车位中停驶，所述目标规划停车位的长度是基于工作人员的工作操作范围确定的。Change from the driving lane to the parking lane adjacent to the driving lane to stop in the target planned parking space corresponding to the parking position, and the length of the target planned parking space is determined based on the work operation range of the staff of.4.根据权利要求3所述的方法，其特征在于，所述停车道中设置的规划停车位的数量是基于所述规划停车位的长度以及所述停车道对应的所有操作位的总长度确定的。4 . The method according to claim 3 , wherein the number of planned parking spaces set in the parking lane is determined based on the length of the planned parking space and the total length of all operating spaces corresponding to the parking lane. 5 . .5.根据权利要求1所述的方法，其特征在于，所述操作位为货架，所述货架包括单侧货架或者双侧货架；5. The method according to claim 1, wherein the operating position is a shelf, and the shelf comprises a single-sided shelf or a double-sided shelf;当所述操作位为单侧货架时，所述单侧货架的货物存取侧与所述停车道相邻；When the operating position is a single-side rack, the cargo access side of the single-side rack is adjacent to the parking lane;当所述操作位为双侧货架时，所述双侧货架的一侧的货物存取侧与所述停车道相邻，所述双侧货架的另一侧的货物存取侧与所述行车道相邻。When the operating position is a double-sided rack, the cargo access side of one side of the double-sided rack is adjacent to the parking lane, and the cargo access side of the other side of the double-sided rack is adjacent to the traveling vehicle Road adjacent.6.一种行驶和停靠装置，其特征在于，包括：6. A driving and parking device, characterized in that, comprising:行驶模块，用于在操作位侧边的行车道上行驶；Driving module, used for driving on the traffic lane beside the operating position;停驶模块，用于当检测到行驶至停靠位置在所述行车道中对应的车道变换位置时，从所述行车道变换至与所述行车道相邻的停车道并行驶至所述停靠位置停驶；The parking module is configured to change from the driving lane to a parking lane adjacent to the driving lane and drive to the parking position to stop when it is detected that driving to a lane change position corresponding to the parking position in the driving lane drive;变道模块，用于当检测到启动指令时，从所述停靠位置开始行驶并在行驶的过程中变换至所述行车道行驶。The lane changing module is configured to start driving from the parking position and change to the driving lane during driving when a start instruction is detected.7.根据权利要求6所述的装置，其特征在于，所述行车道为单向行车道或者双向行车道。7. The device according to claim 6, wherein the traffic lane is a one-way traffic lane or a two-way traffic lane.8.根据权利要求6所述的装置，其特征在于，所述停驶模块，用于：8. The device according to claim 6, wherein the parking module is used for:从所述行车道变换至与所述行车道相邻的停车道行驶至所述停靠位置对应的目标规划停车位中停驶，所述目标规划停车位的长度是基于工作人员的工作操作范围确定的。Change from the driving lane to the parking lane adjacent to the driving lane to stop in the target planned parking space corresponding to the parking position, and the length of the target planned parking space is determined based on the work operation range of the staff of.9.一种可移动设备，其特征在于，包括：存储器、处理器；其中，所述存储器上存储有可执行代码，当所述可执行代码被所述处理器执行时，使所述处理器执行如权利要求1-5中任一项所述的行驶和停靠方法。9. A removable device, comprising: a memory and a processor; wherein, executable code is stored on the memory, and when the executable code is executed by the processor, the processor A driving and parking method as claimed in any one of claims 1-5 is performed.10.一种非暂时性机器可读存储介质，其特征在于，所述非暂时性机器可读存储介质上存储有可执行代码，当所述可执行代码被可移动设备的处理器执行时，使所述处理器执行如权利要求1-5中任一项所述的行驶和停靠方法。10. A non-transitory machine-readable storage medium, wherein executable codes are stored on the non-transitory machine-readable storage medium, and when the executable codes are executed by a processor of a removable device, The processor is caused to perform the driving and parking method of any of claims 1-5.

Images