CN108132667A - A kind of AGV navigation state machines - Google Patents
A kind of AGV navigation state machines Download PDFInfo
- Publication number
- CN108132667A CN108132667A CN201711163726.7A CN201711163726A CN108132667A CN 108132667 A CN108132667 A CN 108132667A CN 201711163726 A CN201711163726 A CN 201711163726A CN 108132667 A CN108132667 A CN 108132667A
- Authority
- CN
- China
- Prior art keywords
- agv
- state
- task
- perform
- navigation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 206010048669 Terminal state Diseases 0.000 claims description 13
- 230000014759 maintenance of location Effects 0.000 claims description 8
- 238000011065 in-situ storage Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000009183 running Effects 0.000 abstract description 2
- 230000009466 transformation Effects 0.000 abstract description 2
- 230000005012 migration Effects 0.000 description 2
- 238000013508 migration Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Navigation (AREA)
Abstract
The present invention relates to a kind of AGV navigation state machines, are related to the technical field of navigation and positioning of AGV.The present invention provides a kind of AGV navigation transport condition machine.System, which changes AGV automatic runnings, is divided into several states, each state will perform the behavior planned in advance.By the fixed scan period, AGV can constantly inquire the state of oneself and the transformation condition of state, and perform and the corresponding order of current state.In the beginning in each period, AGV can obtain next period oneself state, and perform corresponding order, and terminate this period according to this period operating status according to itself current operating conditions and a variety of external Rule of judgment.In next period, a upper period can be judged that obtained state becomes this next state by AGV, so as to which completion status switches.
Description
Technical field
The present invention relates to the technical field of navigation and positioning of AGV, and in particular to a kind of AGV navigation state machines.
Background technology
AGV (automated guided vehicle) is widely used in boat as a kind of full automatic industrial logistics' settlement scheme
The every field such as sky, space flight, education, medical treatment, industry, logistics.And AGV often possesses more single function at present, it is impossible to shape
The function of a certain module is deleted into single optimization or addition.
Invention content
(1) technical problems to be solved
The technical problem to be solved by the present invention is to：How to simplify the complexity of AGV navigation travelings, enhance AGV navigation rows
The scalability and robustness sailed and the multi-platform migration of realization.
(2) technical solution
In order to solve the above technical problem, the present invention provides a kind of AGV navigation state machines, the AGV navigation state machines
AGV operating statuses comprising six types, the definition of each state are：
Manual mode：AGV allows operating personnel directly to be operated by hand held controller in this state；
Idle state：AGV stops carrying out order that is standby, and waiting for host computer in situ in this state；
Transport condition：AGV will be travelled in this state according to the path that host computer is sent；
Terminal state：AGV arrives at terminal, indicates that AGV is this time travelled and terminates；
Execution status of task：The task that AGV will perform host computer transmission in this state；
Task completion status：AGV indicates that this tasks carrying is completed in this state；
Preferably, the branch mode of each AGV operating statuses is in the AGV navigation state machines：
A manual control commands are carried out in each AGV operating statuses effectively to judge, if order is effective, AGV
Manual mode, i.e. hand held controller operation mode will be switched to, perform the order of hand held controller, if from except manual mode with
Outer one of state switches to manual mode, then state before can also seamlesslying switch back to；
AGV is in idle condition in the case of non-received path message, once host computer has Path Tasks to issue, AGV
Transport condition is jumped to, the AGV being in idle condition performs standby command, i.e., motionless in situ, but is protected always with host computer
Hold communication；
AGV in transport condition will perform traveling order, and all kinds of driving algorithms will be called in this state, and AGV passes through
Sensor obtains extraneous routing information, judges AGV positions, if arriving at the last one path point, AGV will jump to terminal state；
Otherwise continue transport condition；
AGV in terminal state will perform standby command, this state is kept for certain time, will jump to task later
Execution state；
AGV in execution status of task will perform task order, and task will be jumped to after the completion of tasks carrying and completes shape
State；
AGV in task completion status will perform standby command, this state is kept for certain time, will jump to sky later
Not busy state, to obtain new routing information.
Preferably, AGV is in the retention time of terminal state less than the retention time in task completion status.
Preferably, the retention time that AGV is in terminal state is 2.5 seconds.
Preferably, the retention time that AGV is in task completion status is 3 seconds.
(3) advantageous effect
The present invention provides a kind of AGV navigation transport condition machine.System, which changes AGV automatic runnings, is divided into several states, each
A state will perform the behavior planned in advance.By the fixed scan period, AGV can constantly inquire the state of oneself
And the transformation condition of state, and perform and the corresponding order of current state.In the beginning in each period, AGV can be according to certainly
Body current operating conditions and a variety of external Rule of judgment obtain next period oneself state, and hold according to this period operating status
The corresponding order of row, and terminate this period.In next period, a upper period can be judged that obtained state becomes by AGV
This next state, so as to which completion status switches.This invention simplifies the complexities of AGV navigation travelings, it is proposed that clearly state is drawn
Point；The scalability and robustness of AGV navigation travelings are enhanced, improves the optimization potentiality of system；It can realize multi-platform
Migration, there is stronger Digital Logic.
Specific embodiment
To make the purpose of the present invention, content and advantage clearer, with reference to embodiment, to the specific reality of the present invention
The mode of applying is described in further detail.
AGV operating statuses are divided into following 6 type by the AGV navigation state machines of the present invention：
Manual mode：AGV allows operating personnel directly to be operated by hand held controller in this state, for meeting an urgent need
And some unconventional use states；
Idle state：AGV stops carrying out order that is standby, and waiting for host computer in situ in this state；
Transport condition：AGV will be travelled in this state according to the path that host computer is sent；
Terminal state：AGV arrives at terminal, indicates that AGV is this time travelled and terminates；
Execution status of task：AGV will perform the task of host computer transmission in this state；
Task completion status：AGV indicates that this tasks carrying is completed in this state.
AGV went to perform the corresponding command of current state, and according to current state and all kinds of by the fixed scan period
Rule of judgment carries out comprehensive descision and obtains next period driving states, and repetitive operation will be performed after starting in next period.
The branch mode of each AGV operating statuses is：It is effective that a manual control commands can be carried out in each state
Judgement.If order is effective, AGV will switch to manual mode, i.e. hand held controller operation mode, perform hand held controller
Order, this state is applied to emergent and non routine operation.If switch to manual mode in remaining a certain state, then
State (remaining i.e. described a certain state) before can seamlesslying switch back to.
AGV is in idle condition in the case of non-received path message, once host computer has Path Tasks to issue, AGV
Transport condition can be jumped to.The AGV being in idle condition performs standby command, i.e., motionless in situ, but with host computer always
Keep communication.
AGV in transport condition will perform traveling order, and all kinds of driving algorithms (being determined according to driving path) will
It is called in this state.AGV obtains extraneous routing information by sensor, AGV positions is judged, if arriving at the last one path
Point, AGV will jump to terminal state；Otherwise continue transport condition.
AGV in terminal state will perform similarly to the standby command of idle state.This state can only keep 2.5
Second, execution status of task will be jumped to later.Main function is this time travelled for mark AGV to be terminated, and ensure to inform host computer.
AGV in execution status of task will perform task order, with reference to the specific function that this AGV need to have, such as
It rises crotch, start on-vehicle machines people etc..Task completion status will be jumped to after the completion of tasks carrying.
AGV in task completion status will perform the standby command for being similar to idle state.This state can only keep 3
Second, idle state will be jumped to later, in order to obtain new routing information.Main function for mark AGV, hold by this subtask
Row is completed, and ensures to inform host computer.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformation can also be made, these are improved and deformation
Also it should be regarded as protection scope of the present invention.
Claims (5)
1. a kind of AGV navigation state machines, which is characterized in that the AGV navigation state machines include the AGV operation shapes of six types
State, the definition of each state are：
Manual mode：AGV allows operating personnel directly to be operated by hand held controller in this state；
Idle state：AGV stops carrying out order that is standby, and waiting for host computer in situ in this state；
Transport condition：AGV will be travelled in this state according to the path that host computer is sent；
Terminal state：AGV arrives at terminal, indicates that AGV is this time travelled and terminates；
Execution status of task：The task that AGV will perform host computer transmission in this state；
Task completion status：AGV indicates that this tasks carrying is completed in this state.
2. AGV navigation state machines as described in claim 1, which is characterized in that each AGV fortune in the AGV navigation state machines
The branch mode of row state is：
A manual control commands are carried out in each AGV operating statuses effectively to judge, if order is effective, AGV will be cut
Manual mode, i.e. hand held controller operation mode are shifted to, performs the order of hand held controller, if from addition to manual mode
One of state switches to manual mode, then state before can also seamlesslying switch back to；
AGV is in idle condition in the case of non-received path message, once host computer has Path Tasks to issue, AGV is jumped
Transport condition is gone to, the AGV being in idle condition performs standby command, i.e., motionless in situ, but is always maintained at leading to host computer
Letter；
AGV in transport condition will perform traveling order, and all kinds of driving algorithms will be called in this state, and AGV passes through sensing
Device obtains extraneous routing information, judges AGV positions, if arriving at the last one path point, AGV will jump to terminal state；Otherwise
Continue transport condition；
AGV in terminal state will perform standby command, this state is kept for certain time, will jump to tasks carrying later
State；
AGV in execution status of task will perform task order, and task completion status will be jumped to after the completion of tasks carrying；
AGV in task completion status will perform standby command, this state is kept for certain time, will jump to idle shape later
State, to obtain new routing information.
3. AGV navigation state machines as described in claim 1, which is characterized in that the retention time that AGV is in terminal state is less than
Retention time in task completion status.
4. AGV navigation state machines as described in claim 1, which is characterized in that the retention time that AGV is in terminal state is
2.5 the second.
5. AGV navigation state machines according to any one of claims 1 to 4, which is characterized in that AGV is in task and completes shape
The retention time of state is 3 seconds.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711163726.7A CN108132667B (en) | 2017-11-21 | 2017-11-21 | AGV navigation state machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711163726.7A CN108132667B (en) | 2017-11-21 | 2017-11-21 | AGV navigation state machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108132667A true CN108132667A (en) | 2018-06-08 |
| CN108132667B CN108132667B (en) | 2020-08-25 |
Family
ID=62389644
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711163726.7A Active CN108132667B (en) | 2017-11-21 | 2017-11-21 | AGV navigation state machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108132667B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110659113A (en) * | 2018-06-29 | 2020-01-07 | 北京京东尚科信息技术有限公司 | Task communication method and device |
| CN111391849A (en) * | 2020-03-11 | 2020-07-10 | 三一机器人科技有限公司 | Vehicle control method, device, vehicle and readable storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002075350A1 (en) * | 2001-03-20 | 2002-09-26 | Danaher Motion Särö AB | Method and device for determining an angular position of a reflector |
| CN202586115U (en) * | 2012-04-11 | 2012-12-05 | 中国农业大学 | Thermal image temperature measuring and fault location inspection robot system |
| CN104573193A (en) * | 2014-12-18 | 2015-04-29 | 北京控制工程研究所 | Rapid designing method for GNC (Guidance, Navigation and Control) system of spacecraft |
| US20160266579A1 (en) * | 2015-03-12 | 2016-09-15 | Nightingale Intelligent Systems | Automated drone systems |
| CN106681322A (en) * | 2016-12-21 | 2017-05-17 | 华东师范大学 | Ground autonomous mobile robot safety navigation method based on formal description |
| CN107102565A (en) * | 2017-06-03 | 2017-08-29 | 复旦大学 | Unmanned plane clustered software assemblage on-orbit system |
-
2017
- 2017-11-21 CN CN201711163726.7A patent/CN108132667B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002075350A1 (en) * | 2001-03-20 | 2002-09-26 | Danaher Motion Särö AB | Method and device for determining an angular position of a reflector |
| CN202586115U (en) * | 2012-04-11 | 2012-12-05 | 中国农业大学 | Thermal image temperature measuring and fault location inspection robot system |
| CN104573193A (en) * | 2014-12-18 | 2015-04-29 | 北京控制工程研究所 | Rapid designing method for GNC (Guidance, Navigation and Control) system of spacecraft |
| US20160266579A1 (en) * | 2015-03-12 | 2016-09-15 | Nightingale Intelligent Systems | Automated drone systems |
| CN106681322A (en) * | 2016-12-21 | 2017-05-17 | 华东师范大学 | Ground autonomous mobile robot safety navigation method based on formal description |
| CN107102565A (en) * | 2017-06-03 | 2017-08-29 | 复旦大学 | Unmanned plane clustered software assemblage on-orbit system |
Non-Patent Citations (2)
| Title |
|---|
| FOK,KY等: "AN AUTOMATIC NAVIGATION SYSTEM FOR VISION GUIDED VEHICLES USING A DOUBLE HEURISTIC AND A FINITE STATE MACHINE", 《IEEE REANSACTIONS ON ROBOTICS AND AUTOMATION》 * |
| 白晓平，等: "基于有限状态机的农机导航多任务调度研究", 《农机化研究》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110659113A (en) * | 2018-06-29 | 2020-01-07 | 北京京东尚科信息技术有限公司 | Task communication method and device |
| CN111391849A (en) * | 2020-03-11 | 2020-07-10 | 三一机器人科技有限公司 | Vehicle control method, device, vehicle and readable storage medium |
| CN111391849B (en) * | 2020-03-11 | 2021-10-29 | 三一机器人科技有限公司 | Vehicle control method, device, vehicle and readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108132667B (en) | 2020-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107179773B (en) | A kind of the evacuation dispatch control method and system of AGV | |
| CN107272698B (en) | A kind of dispatch control method and system applied to more AGV cooperating operations | |
| US20200233435A1 (en) | Roadmap Annotation for Deadlock-Free Multi-Agent Navigation | |
| KR102290055B1 (en) | Apparatus for controlling group driving and method thereof | |
| CN107848541B (en) | Driving assistance device, driving assistance system, driving assistance method, and autonomous vehicle | |
| CN111880540B (en) | AGV traffic control method, system, device and storage medium | |
| CN111283667B (en) | Robot control method and device and electronic equipment | |
| CN108132667A (en) | A kind of AGV navigation state machines | |
| CN108897282B (en) | Multitask modular robot, scheduling management method and device and storage medium thereof | |
| JP6665056B2 (en) | Work support device, work support method, and program | |
| CN109878511A (en) | Processing method, vehicle and the server of vehicle driving model switching | |
| CN113568417B (en) | Switching method and device of robot navigation map and computer readable medium | |
| US20170113343A1 (en) | Robot system including plurality of controllers connected via network | |
| JPWO2010001466A1 (en) | Elevator destination floor display device | |
| US6442436B1 (en) | Multi-tasking system, recording medium in which program thereof is recorded, and processing device | |
| WO2018077032A1 (en) | Task switching method and related device | |
| US20230132881A1 (en) | Methods, apparatus, storage mediums, and electronic devices for imformation exchange | |
| JP2019219733A (en) | Autonomous mobile body and control program for the same | |
| CN109813329A (en) | Automobile navigation method, device and terminal | |
| CN114330830A (en) | Operation method for cooperatively transporting same goods by multiple AGV and storage medium | |
| CN110856933B (en) | Control device, robot system, and control method | |
| JP4993208B2 (en) | Industrial controller equipment | |
| CN113741297A (en) | Task processing method, device and system for multiple robots and robot | |
| JP2018005799A (en) | Autonomous adjusting operation body | |
| CN116700298B (en) | Path planning method, system, equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |