CN112162557A - Remote control system and method for automated guided vehicle - Google Patents
Remote control system and method for automated guided vehicle Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000004891 communication Methods 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 230000008859 change Effects 0.000 claims description 21
- 230000005856 abnormality Effects 0.000 claims description 7
- 238000012790 confirmation Methods 0.000 abstract 1
- 230000008569 process Effects 0.000 description 10
- 230000001133 acceleration Effects 0.000 description 8
- 238000007689 inspection Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 238000013479 data entry Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0022—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the communication link
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0027—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
Abstract
The invention discloses a remote control system and a remote control method for an unmanned transport vehicle. The remote control system of the automated guided vehicle includes: the remote control system comprises a remote control end, a main control end and a plurality of unmanned carrying vehicles, wherein the remote control end is in communication connection with the main control end through a wireless internet, the main control end is in communication connection with the unmanned carrying vehicles through a local area network, and the remote control end sends a control command to the main control end, wherein the control command comprises identification information of the unmanned carrying vehicles; the master control end receives the control instruction, confirms the control instruction according to a preset detection strategy, determines a target unmanned transport vehicle according to the identification information, and sends the control instruction to the corresponding target unmanned transport vehicle; and the target unmanned transport vehicle performs corresponding motion adjustment according to the control instruction. The remote control end sends an instruction, the main control end carries out identification and confirmation, and the instruction is sent to the target unmanned carrier, so that parameter adjustment and motion control of the unmanned carrier are directly and remotely carried out.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a remote control system and method for an unmanned transport vehicle.
Background
The existing AGV trolleys, unmanned carrying vehicles such as unmanned forklifts and the like generally directly configure and modify parameters on the vehicles, and the requirements of users for remote control cannot be met. The unmanned transport vehicle generally identifies and compares preset environment information to autonomously determine a route, and a common remote control can only simply execute actions such as starting, pausing and stopping, and other motion controls are easy to cause disorder of the unmanned transport vehicle.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a remote control system and a remote control method for an unmanned transport vehicle, and aims to solve the technical problem of how to adjust parameters and control motion of the unmanned transport vehicle through a remote intelligent terminal.
To achieve the above object, the present invention provides a remote control system of an automated guided vehicle, including: the automatic guided vehicle comprises a remote control end, a main control end and a plurality of automatic guided vehicles, wherein the remote control end is in communication connection with the main control end through a wireless internet, the main control end is in communication connection with the automatic guided vehicles through a local area network,
the remote control end is used for sending a control instruction to the main control end, and the control instruction comprises identification information of the unmanned transport vehicle;
the master control end is used for receiving the control instruction, confirming the control instruction according to a preset detection strategy, determining a target unmanned transport vehicle according to the identification information, and sending the control instruction to the corresponding target unmanned transport vehicle;
and the target unmanned transport vehicle is used for carrying out corresponding motion adjustment according to the control instruction.
Optionally, the automated guided vehicle is provided with a laser module, a sensor module, and a positioning module;
the target unmanned transport vehicle is further used for constructing an environment map according to the laser module, planning a path according to the sensor module and the positioning module to obtain planned path information, and sending the environment map and the planned path information to the master control terminal;
the master control terminal is further used for establishing a target map according to the environment map acquired by the target unmanned transport vehicle, adjusting a path according to the planned path information corresponding to the target unmanned transport vehicle to obtain target planned path information, and sending the target map and the target planned path information to the remote control terminal;
the remote control terminal is further used for displaying the current state of the target unmanned transport vehicle according to the target map and the target planning path information;
and the remote control end is also used for sending a control instruction to the master control end according to the displayed current state.
Optionally, the control instruction comprises a mode change instruction;
the master control terminal is further used for confirming a corresponding target mode according to the mode change instruction, determining a target unmanned transport vehicle according to the identification information, and sending the mode change instruction to the corresponding target unmanned transport vehicle when the target mode is a preset execution mode corresponding to the target unmanned transport vehicle;
the target unmanned transport vehicle is further used for carrying out corresponding mode change according to the mode change instruction and driving according to a preset target route corresponding to the target mode.
Optionally, the control instruction comprises a path re-planning instruction;
the master control terminal is further used for confirming a corresponding updated path according to the path re-planning instruction, determining a target unmanned transport vehicle according to the identification information, and sending the path re-planning instruction to the corresponding target unmanned transport vehicle when the updated path does not conflict with the target planned path information;
and the target unmanned transport vehicle is also used for carrying out corresponding path adjustment according to the updated path and driving according to the adjusted planned path.
Optionally, the control instruction comprises a movement instruction;
the main control terminal is further configured to determine a corresponding moving direction and a corresponding moving distance according to the moving instruction, determine a target automated guided vehicle according to the identification information, and send the moving instruction to the corresponding target automated guided vehicle when there is no conflict between the moving direction and the moving distance and the target planned path information;
the target automated guided vehicle is further configured to travel according to the moving direction and the moving distance.
Optionally, the control instruction comprises a speed adjustment instruction;
the main control terminal is further used for confirming a corresponding target speed according to the speed adjusting instruction, determining a target unmanned transport vehicle according to the identification information, and sending the speed adjusting instruction to the corresponding target unmanned transport vehicle when the target speed does not conflict with the target planned path information;
the target automated guided vehicle is further used for driving according to the target speed.
Optionally, the remote control end is further configured to obtain, by the master control end, state information corresponding to the automated guided vehicle, and when it is detected that the state information is abnormal, generate an emergency braking instruction to a corresponding target automated guided vehicle;
the target unmanned transport vehicle is further used for driving according to a preset homing route at a preset speed when receiving the emergency braking instruction, and stopping moving when reaching a homing area.
Optionally, the remote control end is further configured to monitor a current movement path of the target automated guided vehicle according to the target map and the target planned path information, and perform early warning according to a deviation degree when the current movement path deviates from a preset precision;
the remote control end is further used for sending a path adjusting instruction to the corresponding target unmanned transport vehicle when the deviation degree reaches a preset degree;
and the target unmanned transport vehicle is also used for carrying out planning path adjustment according to the path adjustment instruction when receiving the path adjustment instruction, and driving according to the adjusted planning path.
In order to achieve the above object, the present invention also provides a remote control method for an automated guided vehicle, which is applied to a remote control system for an automated guided vehicle, the remote control system comprising: the automatic guided vehicle comprises a remote control end, a main control end and a plurality of automatic guided vehicles, wherein the remote control end is in communication connection with the main control end through a wireless internet, and the main control end is in communication connection with the automatic guided vehicles through a local area network;
the remote control method of the automated guided vehicle includes:
the remote control end sends a control instruction to the main control end, wherein the control instruction comprises identification information of the unmanned transport vehicle;
the master control end receives the control instruction, confirms the control instruction according to a preset detection strategy, determines a target unmanned transport vehicle according to the identification information, and sends the control instruction to the corresponding target unmanned transport vehicle;
and the target unmanned transport vehicle carries out corresponding motion adjustment according to the control instruction.
Optionally, the automated guided vehicle is provided with a laser module, a sensor module, and a positioning module;
before the remote control end sends a control instruction to the master control end, the method further includes:
the target unmanned transport vehicle builds an environment map according to the laser module, performs path planning according to the sensor module and the positioning module to obtain planned path information, and sends the environment map and the planned path information to the master control terminal;
the master control terminal establishes a target map according to an environment map acquired by the target unmanned transport vehicle, performs path adjustment according to planned path information corresponding to the target unmanned transport vehicle to obtain target planned path information, and sends the target map and the target planned path information to the remote control terminal;
and the remote control terminal displays the current state of the target unmanned transport vehicle according to the target map and the target planning path information.
The remote control end sends a control instruction to the master control end, and the remote control end comprises:
and the remote control end sends a control instruction to the master control end according to the displayed current state.
The invention sends a control instruction to a main control end through a remote control end, wherein the control instruction comprises identification information of the unmanned transport vehicle; the master control end receives the control instruction, confirms the control instruction according to a preset detection strategy, determines a target unmanned transport vehicle according to the identification information, and sends the control instruction to the corresponding target unmanned transport vehicle; and the target unmanned transport vehicle performs corresponding motion adjustment according to the control instruction. Through the mode, the remote control end sends the instruction, the master control end identifies and confirms the instruction and sends the instruction to the target unmanned transport vehicle, and the target unmanned transport vehicle carries out corresponding adjustment according to the instruction, so that parameter adjustment and motion control of the unmanned transport vehicle are directly carried out through the remote control end.
Drawings
FIG. 1 is a block diagram of a first embodiment of a remote control system for an automated guided vehicle according to the present invention;
FIG. 2 is a block diagram of the remote control system of the automated guided vehicle of the present invention in a second embodiment;
FIG. 3 is a schematic flow chart illustrating a remote control method for an automated guided vehicle according to a first embodiment of the present invention;
fig. 4 is a flowchart illustrating a remote control method for an automated guided vehicle according to a second embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a block diagram illustrating a first embodiment of a remote control system for an automated guided vehicle according to the present invention.
In this embodiment, the remote control system for an automated guided vehicle includes: the remote control system comprises a remote control end 10, a main control end 20 and a plurality of automated guided vehicles 30, wherein the remote control end 10 is in communication connection with the main control end 20 through a wireless internet, and the main control end 20 is in communication connection with the automated guided vehicles 30 through a local area network.
The remote control terminal 10 is configured to send a control instruction to the master control terminal, where the control instruction includes identification information of the automated guided vehicle.
It will be appreciated that the automated guided vehicle is also commonly referred to as an AGV. The present invention relates to a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, and having safety protection and various transfer functions. The remote control terminal 10 provided in this embodiment may be installed on a mobile phone, a computer, and a server, or may be installed on other processing devices, which is not limited in this embodiment. The main control terminal 20 of the present embodiment may be installed on a computer or a server in a site where the automated guided vehicle is located, or may be installed on a processor of one of the automated guided vehicles, which is not limited in this embodiment. The main control terminal 20 is provided with a wireless communication module.
It should be noted that the control instruction may include: the mode change command, the path re-planning command, the movement command, the speed adjustment command, and other commands may include an abnormality adjustment command. Each unmanned transport vehicle 30 in the site has corresponding identification information, and can be determined according to a unique identification code corresponding to a processor of each unmanned transport vehicle, or can be subjected to data entry in advance, so that each unmanned transport vehicle is distinguished and identification information is entered. When the remote control terminal 10 sends a control command to the main control terminal 20, it is necessary to confirm the automated guided vehicle corresponding to the command, and therefore, the control command includes identification information, which may be one identification information or a plurality of identification information. For example, in the process of displaying the operation of the automated guided vehicle, the user finds that the speed of the automated guided vehicle in an area is too low, and at this time, the corresponding acceleration control command can be sent through the remote control terminal, so that the selected n automated guided vehicles receive the acceleration command at the same time, and relevant adjustment is performed according to the acceleration command.
The main control terminal 20 is configured to receive the control instruction, confirm the control instruction according to a preset detection strategy, determine the target automated guided vehicle 30 according to the identification information, and send the control instruction to the corresponding target automated guided vehicle 30.
It can be understood that, because the control command sent by the remote control terminal 10 may have a mismatch, for example, the target automated guided vehicle has a maximum speed limit, and at this time, an acceleration request is sent to the target automated guided vehicle through the remote control terminal, which is prone to an accident, the master control terminal confirms the control command, sends a response message indicating that the command has failed to be sent to the remote control terminal when the command does not meet the preset specification, and sends the control command to the corresponding target automated guided vehicle when the command meets the preset specification.
It should be noted that, the determining of the control command according to the preset detection strategy may include predicting the adjusted route according to a preset route prediction model, detecting whether the adjusted route conflicts with the driving routes corresponding to other automated guided vehicles, or determining the control command according to a preset normative speed or a preset threshold speed.
And the target automated guided vehicle 30 is configured to perform corresponding motion adjustment according to the control instruction.
It will be appreciated that the target automated guided vehicle is one of a number of automated guided vehicles or a plurality thereof, corresponding to the identification information. The corresponding motion adjustments may include speed adjustments, travel path adjustments, direction of movement adjustments, and the like. And the controller or the processor arranged on the target unmanned transport vehicle analyzes the received control command and drives according to the adjusted speed, the adjusted mode or the adjusted planned route.
Specifically, in order to more comprehensively control the automated guided vehicle, the status of the automated guided vehicle is monitored, and corresponding control is performed when an abnormality occurs, and the remote control terminal 10 is further configured to obtain status information corresponding to the automated guided vehicle 30 through the master control terminal 20, and when an abnormality occurs in the status information, an emergency braking instruction is generated to a corresponding target automated guided vehicle 30; the target automated guided vehicle 30 is further configured to travel according to a preset parking route at a preset speed when receiving the emergency braking instruction, and stop moving when reaching a parking area.
It can be understood that, in the present embodiment, the field is divided into different areas in advance according to the field information, and the areas may include a charging area, a standby area, a homing area, a patrol area, a driving area, and the like. Different routes with marks are planned in advance according to the site information, and the routes can include preset homing routes, preset charging routes and the like, and the routes do not influence the normal operation of other unmanned vehicles. When the situation that the electric quantity of the target unmanned transport vehicle is insufficient is monitored, a charging instruction can be sent to the target unmanned transport vehicle so as to control the target unmanned transport vehicle to move to a charging area according to a preset charging route, wait for charging operation of workers, or autonomously queue for charging. When the target unmanned transport vehicle is monitored to be in fault, a homing instruction is sent to the target unmanned transport vehicle to control the target unmanned transport vehicle to move to a homing area according to a preset homing route, a worker waits for detection and fault removal, and the worker relieves the fault state.
In the embodiment, a control instruction is sent to a main control end through a remote control end, and the control instruction comprises identification information of the unmanned transport vehicle; the master control end receives the control instruction, confirms the control instruction according to a preset detection strategy, determines a target unmanned transport vehicle according to the identification information, and sends the control instruction to the corresponding target unmanned transport vehicle; and the target unmanned transport vehicle performs corresponding motion adjustment according to the control instruction. Through the mode, the remote control end sends the instruction, the master control end identifies and confirms the instruction and sends the instruction to the target unmanned transport vehicle, and the target unmanned transport vehicle carries out corresponding adjustment according to the instruction, so that parameter adjustment and motion control of the unmanned transport vehicle are directly carried out through the remote control end.
Referring to fig. 2, fig. 2 is a block diagram illustrating a remote control system of an automated guided vehicle according to a second embodiment of the present invention.
Based on the first embodiment, in the present embodiment, the automated guided vehicle 30 is provided with the laser module 40, the sensor module 50, and the positioning module 60.
The target automated guided vehicle 30 is further configured to construct an environment map according to the laser module 40, perform path planning according to the sensor module 50 and the positioning module 60 to obtain planned path information, and send the environment map and the planned path information to the master control terminal 20.
It is understood that the step of constructing the environment map according to the laser module 40 may include starting a remote control mode of the target automated guided vehicle, controlling the target automated guided vehicle to move in the corresponding field through the remote control mode, and acquiring the map data in the corresponding field according to the laser radar, and processing the map data to obtain the environment map. The method also comprises the steps of arranging a reflector in the field, opening the autonomous navigation function and the laser module of the target unmanned transport vehicle, and constructing an environment map according to the collected data.
It should be noted that the step of performing the path planning according to the sensor module 50 and the positioning module 60 may include calibrating the target automated guided vehicle according to the data collected by the positioning module and the environment map to obtain the driving route of the target automated guided vehicle when the target automated guided vehicle is at a predetermined starting point and ending point, fusing the data collected by the speed sensor with the driving route to obtain the driving overall process corresponding to the target automated guided vehicle, analyzing the driving process, manually changing to obtain the planned path information, or collecting multiple sets of driving data to analyze, and taking the intermediate data as the planned path information.
The main control terminal 20 is further configured to establish a target map according to the environment map collected by the target automated guided vehicle 30, perform path adjustment according to the planned path information corresponding to the target automated guided vehicle 30 to obtain target planned path information, and send the target map and the target planned path information to the remote control terminal 10.
It can be understood that after the plurality of automated guided vehicles plan respective paths, the corresponding planned path information is sent to the master control end, the master control end performs fusion analysis on the planned path information of all the automated guided vehicles, and the situation that different automated guided vehicles run to the same position at the same time and collide is prevented.
The remote control terminal 10 is further configured to display a current state of the target automated guided vehicle 30 according to the target map and the target planned path information.
It can be understood that the remote control end is provided with a display interface, and the driving state of the target unmanned transport vehicle is displayed in the two-dimensional map according to the target map and the target planning path.
The remote control terminal 10 is further configured to send a control instruction to the master control terminal according to the displayed current state.
It can be understood that the remote control terminal displays the current state of the automated guided vehicle, so that a user can make a decision according to the current state and send a control instruction to the main control terminal.
Further, in order to monitor and control the driving route of the automated guided vehicle and realize more comprehensive motion control, the remote control terminal 10 is further configured to monitor the current motion path of the target automated guided vehicle 30 according to the target map and the target planned path information, and perform early warning according to a deviation degree when the current motion path deviates from a preset precision; the remote control terminal 10 is further configured to send a path adjustment instruction to the corresponding target automated guided vehicle 30 when the deviation degree reaches a preset degree; the target automated guided vehicle 30 is further configured to, when receiving the path adjustment instruction, perform a planned path adjustment according to the path adjustment instruction, and drive according to the adjusted planned path.
It can be understood that the current movement path of the automated guided vehicle can be obtained according to the positioning device, the sensor module and the laser module on the automated guided vehicle, the current movement path is compared with the target planned path information, the deviation degree is divided according to the deviation size, when the deviation degree reaches a preset degree, a path adjusting instruction is sent, for example, the deviation degree is small deviation, large deviation and serious deviation, the preset deviation degree is large deviation, and when the deviation degree reaches a large deviation level, the path adjusting instruction is sent. The deviation degree can be set according to the running paths of other automated guided vehicles except the current automated guided vehicle, and the running paths of other automated guided vehicles and the deviation degrees of other automated guided vehicles are considered, so that the automated guided vehicles are separated from each other by a certain distance when passing nearby in the same time period.
According to the remote control system, the reasonable driving path is planned by constructing the environment map in the field in advance, the path is displayed, reasonable parameters are provided for remote control, the remote control end monitors the target unmanned carrier according to the map and the driving path, and parameter adjustment and motion control can be directly performed on the unmanned carrier by sending a corresponding control instruction through the remote control end.
Referring to fig. 1, in one embodiment, the control instruction includes a mode change instruction.
The main control terminal 20 is further configured to determine a corresponding target mode according to the mode change instruction, determine the target automated guided vehicle 30 according to the identification information, and send the mode change instruction to the corresponding target automated guided vehicle 30 when the target mode is a preset execution mode corresponding to the target automated guided vehicle 30.
It is understood that the modes are set in advance for several target automated guided vehicles, and the modes may include a transportation mode, a charging mode, a patrol mode, and a standby mode. The modes that each automated guided vehicle can execute are not the same, for example, only the automated guided vehicle equipped with the environment detection sensor is equipped with the patrol mode, and the environment detection sensor is as follows: camera, smoke sensor and temperature sensor etc.. And detecting whether the target mode is a preset execution mode corresponding to the target automated guided vehicle, and if the preset execution mode of the target automated guided vehicle contains the target mode, sending a mode change instruction to the target automated guided vehicle.
The target automated guided vehicle 30 is further configured to perform corresponding mode change according to the mode change instruction, and drive according to a preset target route corresponding to the target mode.
It can be understood that different routes with identifications can be planned according to the field information in advance, for example, the target mode is an inspection mode, an inspection route is planned according to the path information and the field information in advance, the inspection route can be planned according to the route, important equipment in the field can be inspected according to the traveling of the route, the inspection route does not influence the normal operation of other unmanned vehicles, and when the target unmanned vehicle is controlled to be changed into the inspection mode, the target unmanned vehicle travels according to the preset inspection route.
According to the method, the mode changing instruction is sent to the main control end through the remote control end, the main control end sends the mode changing instruction to the target unmanned transport vehicle after confirming the mode changing instruction, and the target unmanned transport vehicle carries out corresponding adjustment according to the mode changing instruction, so that mode adjustment of the unmanned transport vehicle is directly carried out through the remote control end.
Referring to fig. 1, in an embodiment, the control instruction includes a path re-planning instruction.
The main control terminal 20 is further configured to determine a corresponding updated path according to the path re-planning instruction, determine a target automated guided vehicle 30 according to the identification information, and send the path re-planning instruction to the corresponding target automated guided vehicle 30 when there is no conflict between the updated path and the target planned path information.
It can be understood that the user sends the path re-planning instruction through the remote control terminal, and may select a small segment of map information as a necessary path of the target automated guided vehicle, at this time, the main control terminal analyzes according to the instruction and the target planned path, and sends the instruction to the target automated guided vehicle if the changed driving path corresponding to the target automated guided vehicle does not conflict with the driving paths of other automated guided vehicles, and the main control terminal may also plan and confirm the path according to the instruction.
The target automated guided vehicle 30 is further configured to perform corresponding path adjustment according to the updated path, and to drive according to the adjusted planned path.
It can be understood that the target automated guided vehicle always travels along the route planned in advance in the target planned route information, and when a route re-planning instruction is received, the route is adjusted according to the updated route, and the updated route is stored and then always travels along the updated route.
In the embodiment, the path re-planning instruction is sent to the main control end through the remote control end, the main control end sends the path re-planning instruction to the target unmanned transport vehicle after confirming the path re-planning instruction, and the target unmanned transport vehicle performs corresponding adjustment according to the path re-planning instruction, so that the unmanned transport vehicle is directly adjusted in the movement path through the remote control end.
Referring to fig. 1, in one embodiment, the control instructions include movement instructions.
The main control terminal 20 is further configured to determine a corresponding moving direction and a corresponding moving distance according to the moving instruction, determine the target automated guided vehicle 30 according to the identification information, and send the moving instruction to the corresponding target automated guided vehicle 30 when there is no conflict between the moving direction and the moving distance and the target planned path information.
It will be appreciated that the target automated guided vehicle is manually controlled by a remote control, for example, by entering "drive left 10 meters". And the main control end predicts the running route of the target unmanned transport vehicle according to the command, detects whether the command conflicts with the motion paths of other unmanned transport vehicles or not, and sends the moving command to the target unmanned transport vehicle when no conflict exists.
The target automated guided vehicle 30 is further configured to travel according to the moving direction and the moving distance.
According to the embodiment, the remote control end sends the moving instruction to the main control end, the main control end sends the moving instruction to the target unmanned transport vehicle after confirming the moving instruction, and the target unmanned transport vehicle carries out corresponding adjustment according to the moving instruction, so that the unmanned transport vehicle can be directly adjusted in the moving direction and distance through the remote control end.
Referring to fig. 1, in one embodiment, the control instructions include speed adjustment instructions.
The main control terminal 20 is further configured to determine a corresponding target speed according to the speed adjustment instruction, determine a target automated guided vehicle 30 according to the identification information, and send the speed adjustment instruction to the corresponding target automated guided vehicle 30 when there is no conflict between the target speed and the target planned path information.
It can be understood that the speed of the target automated guided vehicle is adjusted through the remote control end, at least one automated guided vehicle can be selected as the target automated guided vehicle, the main control end predicts the running route of the target automated guided vehicle according to the command, detects whether the running route conflicts with the running routes of other automated guided vehicles, and sends the speed adjusting command to the target automated guided vehicle when no conflict exists.
The target automated guided vehicle 30 is also configured to travel according to the target speed.
In the embodiment, the speed adjusting instruction is sent to the master control end through the remote control end, the master control end sends the speed adjusting instruction to the target unmanned transport vehicle after confirming the speed adjusting instruction, and the target unmanned transport vehicle carries out corresponding adjustment according to the speed adjusting instruction, so that the unmanned transport vehicle is directly adjusted in movement speed through the remote control end.
An embodiment of the present invention provides a remote control method for an automated guided vehicle, and referring to fig. 3, fig. 3 is a flowchart illustrating a first embodiment of the remote control method for an automated guided vehicle according to the present invention.
In this embodiment, the remote control method for an automated guided vehicle is applied to a remote control system for an automated guided vehicle, and the remote control system for an automated guided vehicle includes: the automatic guided vehicle comprises a remote control end, a main control end and a plurality of automatic guided vehicles, wherein the remote control end is in communication connection with the main control end through a wireless internet, and the main control end is in communication connection with the automatic guided vehicles through a local area network;
the remote control method of the automated guided vehicle includes:
step S10: and the remote control end sends a control instruction to the master control end, and the control instruction comprises identification information of the unmanned transport vehicle.
It will be appreciated that the automated guided vehicle is also commonly referred to as an AGV. The present invention relates to a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, and having safety protection and various transfer functions. The remote control end provided in this embodiment may be installed on a mobile phone, a computer, and a server, or may be installed on other processing devices, which is not limited in this embodiment. The main control terminal provided in this embodiment may be installed on a computer or a server in a site where the automated guided vehicle is located, or may be installed on a processor on one of the automated guided vehicles, which is not limited in this embodiment. The master control end is provided with a wireless communication module.
It should be noted that the control instruction may include: the mode change command, the path re-planning command, the movement command, the speed adjustment command, and other commands may include an abnormality adjustment command. Each unmanned transport vehicle in the field has corresponding identification information, the identification information can be determined according to the unique identification code corresponding to the processor of each unmanned transport vehicle, and data entry can also be performed on each unmanned transport vehicle in advance to distinguish each unmanned transport vehicle and enter the identification information. When the remote control end sends a control instruction to the master control end, the unmanned transport vehicle corresponding to the instruction needs to be confirmed, so that the control instruction comprises identification information, which can be one identification information or a plurality of identification information. For example, in the process of displaying the operation of the automated guided vehicle, the user finds that the speed of the automated guided vehicle in an area is too low, and at this time, the corresponding acceleration control command can be sent through the remote control terminal, so that the selected n automated guided vehicles receive the acceleration command at the same time, and relevant adjustment is performed according to the acceleration command.
Step S20: the master control end receives the control instruction, confirms the control instruction according to a preset detection strategy, determines a target unmanned transport vehicle according to the identification information, and sends the control instruction to the corresponding target unmanned transport vehicle.
It can be understood that, because the control command sent by the remote control end may have a mismatch condition, for example, the target automated guided vehicle has a maximum speed limit, and at this time, an acceleration request is sent to the target automated guided vehicle through the remote control end, which is prone to an accident, the main control end confirms the control command, sends a response message indicating that the command sending fails to the remote control end when the command does not meet the preset specification, and sends the control command to the corresponding target automated guided vehicle when the command meets the preset specification.
It should be noted that, the determining of the control command according to the preset detection strategy may include predicting the adjusted route according to a preset route prediction model, detecting whether the adjusted route conflicts with the driving routes corresponding to other automated guided vehicles, or determining the control command according to a preset normative speed or a preset threshold speed.
Step S30: and the target unmanned transport vehicle carries out corresponding motion adjustment according to the control instruction.
It will be appreciated that the target automated guided vehicle is one of a number of automated guided vehicles or a plurality thereof, corresponding to the identification information. The corresponding motion adjustments may include speed adjustments, travel path adjustments, direction of movement adjustments, and the like. And the controller or the processor arranged on the target unmanned transport vehicle analyzes the received control command and drives according to the adjusted speed, the adjusted mode or the adjusted planned route.
Specifically, in order to more comprehensively control the automated guided vehicle, the state of the automated guided vehicle is monitored, and corresponding control is performed when an abnormality occurs, and the remote control end is further configured to obtain state information corresponding to the automated guided vehicle through the master control end, and when an abnormality occurs in the state information, an emergency braking instruction is generated to a corresponding target automated guided vehicle; the target unmanned transport vehicle is further used for driving according to a preset homing route at a preset speed when receiving the emergency braking instruction, and stopping moving when reaching a homing area.
It can be understood that, in the present embodiment, the field is divided into different areas in advance according to the field information, and the areas may include a charging area, a standby area, a homing area, a patrol area, a driving area, and the like. Different routes with marks are planned in advance according to the site information, and the routes can include preset homing routes, preset charging routes and the like, and the routes do not influence the normal operation of other unmanned vehicles. When the situation that the electric quantity of the target unmanned transport vehicle is insufficient is monitored, a charging instruction can be sent to the target unmanned transport vehicle so as to control the target unmanned transport vehicle to move to a charging area according to a preset charging route, wait for charging operation of workers, or autonomously queue for charging. When the target unmanned transport vehicle is monitored to be in fault, a homing instruction is sent to the target unmanned transport vehicle to control the target unmanned transport vehicle to move to a homing area according to a preset homing route, a worker waits for detection and fault removal, and the worker relieves the fault state.
In the embodiment, a control instruction is sent to a main control end through a remote control end, and the control instruction comprises identification information of the unmanned transport vehicle; the master control end receives the control instruction, confirms the control instruction according to a preset detection strategy, determines a target unmanned transport vehicle according to the identification information, and sends the control instruction to the corresponding target unmanned transport vehicle; and the target unmanned transport vehicle performs corresponding motion adjustment according to the control instruction. Through the mode, the remote control end sends the instruction, the master control end identifies and confirms the instruction and sends the instruction to the target unmanned transport vehicle, and the target unmanned transport vehicle carries out corresponding adjustment according to the instruction, so that parameter adjustment and motion control of the unmanned transport vehicle are directly carried out through the remote control end.
Referring to fig. 4, fig. 4 is a flowchart illustrating a remote control method for an automated guided vehicle according to a second embodiment of the present invention.
Based on the first embodiment, the automated guided vehicle is provided with the laser module, the sensor module and the positioning module, and the remote control method of the automated guided vehicle of this embodiment further includes, before the step S10:
step S101: the target unmanned transport vehicle builds an environment map according to the laser module, performs path planning according to the sensor module and the positioning module to obtain planned path information, and sends the environment map and the planned path information to the master control terminal.
It can be understood that the step of constructing the environment map according to the laser module may include starting a remote control mode of the target automated guided vehicle, controlling the target automated guided vehicle to move in a corresponding field through the remote control mode, collecting map data in the corresponding field according to the laser radar, and processing the map data to obtain the environment map. The method also comprises the steps of arranging a reflector in the field, opening the autonomous navigation function and the laser module of the target unmanned transport vehicle, and constructing an environment map according to the collected data.
It should be noted that the step of performing path planning according to the sensor module and the positioning module may include calibrating, when the target automated guided vehicle is at a specified start point and end point, according to data acquired by the positioning module and an environment map to obtain a traveling route of the target automated guided vehicle, fusing data acquired by the speed sensor and the traveling route to obtain a whole traveling process corresponding to the target automated guided vehicle, analyzing the traveling process, manually changing to obtain planned path information, or acquiring multiple sets of traveling data to analyze, and taking intermediate data as the planned path information.
Step S102: the main control terminal establishes a target map according to the environment map collected by the target unmanned transport vehicle, performs path adjustment according to the planned path information corresponding to the target unmanned transport vehicle to obtain target planned path information, and sends the target map and the target planned path information to the remote control terminal.
It can be understood that after the plurality of automated guided vehicles plan respective paths, the corresponding planned path information is sent to the master control end, the master control end performs fusion analysis on the planned path information of all the automated guided vehicles, and the situation that different automated guided vehicles run to the same position at the same time and collide is prevented.
Step S103: and the remote control terminal displays the current state of the target unmanned transport vehicle according to the target map and the target planning path information.
It can be understood that the remote control end is provided with a display interface, and the driving state of the target unmanned transport vehicle is displayed in the two-dimensional map according to the target map and the target planning path.
Correspondingly, the remote control end sends a control instruction to the master control end, including: and the remote control end sends a control instruction to the master control end according to the displayed current state.
It can be understood that the remote control terminal displays the current state of the automated guided vehicle, so that a user can make a decision according to the current state and send a control instruction to the main control terminal.
Further, in order to monitor and control the driving route of the automated guided vehicle, and to realize more comprehensive motion control, after the step 30, the method further includes: monitoring the current movement path of the target unmanned transport vehicle according to the target map and the target planning path information, and performing early warning according to the deviation degree when the current movement path deviates from the preset precision; the remote control end is further used for sending a path adjusting instruction to the corresponding target unmanned transport vehicle when the deviation degree reaches a preset degree; and the target unmanned transport vehicle is also used for carrying out planning path adjustment according to the path adjustment instruction when receiving the path adjustment instruction, and driving according to the adjusted planning path.
It can be understood that the current movement path of the automated guided vehicle can be obtained according to the positioning device, the sensor module and the laser module on the automated guided vehicle, the current movement path is compared with the target planned path information, the deviation degree is divided according to the deviation size, when the deviation degree reaches a preset degree, a path adjusting instruction is sent, for example, the deviation degree is small deviation, large deviation and serious deviation, the preset deviation degree is large deviation, and when the deviation degree reaches a large deviation level, the path adjusting instruction is sent. The deviation degree can be set according to the running paths of other automated guided vehicles except the current automated guided vehicle, and the running paths of other automated guided vehicles and the deviation degrees of other automated guided vehicles are considered, so that the automated guided vehicles are separated from each other by a certain distance when passing nearby in the same time period.
According to the remote control system, the reasonable driving path is planned by constructing the environment map in the field in advance, the path is displayed, reasonable parameters are provided for remote control, the remote control end monitors the target unmanned carrier according to the map and the driving path, and parameter adjustment and motion control can be directly performed on the unmanned carrier by sending a corresponding control instruction through the remote control end.
In one embodiment, the control instructions include mode change instructions;
the step S20 includes:
the master control terminal confirms a corresponding target mode according to the mode changing instruction, determines a target unmanned transport vehicle according to the identification information, and sends the mode changing instruction to the corresponding target unmanned transport vehicle when the target mode is a preset execution mode corresponding to the target unmanned transport vehicle;
accordingly, the step S30 includes:
and the target unmanned transport vehicle carries out corresponding mode change according to the mode change instruction and runs according to a preset target route corresponding to the target mode.
In one embodiment, the control instructions include path re-planning instructions;
the step S20 includes:
the master control terminal confirms a corresponding updating path according to the path re-planning instruction, determines a target unmanned transport vehicle according to the identification information, and sends the path re-planning instruction to the corresponding target unmanned transport vehicle when the updating path does not conflict with the target planning path information;
accordingly, the step S30 includes:
and the target unmanned transport vehicle carries out corresponding path adjustment according to the updated path and runs according to the adjusted planned path.
In an embodiment, the control instructions comprise movement instructions;
the step S20 includes:
the main control terminal confirms the corresponding moving direction and moving distance according to the moving instruction, determines a target unmanned transport vehicle according to the identification information, and sends the moving instruction to the corresponding target unmanned transport vehicle when the moving direction and the moving distance do not conflict with the target planning path information;
accordingly, the step S30 includes:
the target automated guided vehicle travels according to the moving direction and the moving distance.
In one embodiment, the control instructions include speed adjustment instructions;
the step S20 includes:
the main control terminal is further used for confirming a corresponding target speed according to the speed adjusting instruction, determining a target unmanned transport vehicle according to the identification information, and sending the speed adjusting instruction to the corresponding target unmanned transport vehicle when the target speed does not conflict with the target planned path information;
accordingly, the step S30 includes:
the target automated guided vehicle is further used for driving according to the target speed.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A remote control system of an automated guided vehicle, comprising: the automatic guided vehicle comprises a remote control end, a main control end and a plurality of automatic guided vehicles, wherein the remote control end is in communication connection with the main control end through a wireless internet, the main control end is in communication connection with the automatic guided vehicles through a local area network,
the remote control end is used for sending a control instruction to the main control end, and the control instruction comprises identification information of the unmanned transport vehicle;
the master control end is used for receiving the control instruction, confirming the control instruction according to a preset detection strategy, determining a target unmanned transport vehicle according to the identification information, and sending the control instruction to the corresponding target unmanned transport vehicle;
and the target unmanned transport vehicle is used for carrying out corresponding motion adjustment according to the control instruction.
2. The automated guided vehicle remote control system of claim 1, wherein the automated guided vehicle is provided with a laser module, a sensor module, and a positioning module;
the target unmanned transport vehicle is further used for constructing an environment map according to the laser module, planning a path according to the sensor module and the positioning module to obtain planned path information, and sending the environment map and the planned path information to the master control terminal;
the master control terminal is further used for establishing a target map according to the environment map acquired by the target unmanned transport vehicle, adjusting a path according to the planned path information corresponding to the target unmanned transport vehicle to obtain target planned path information, and sending the target map and the target planned path information to the remote control terminal;
the remote control terminal is further used for displaying the current state of the target unmanned transport vehicle according to the target map and the target planning path information;
and the remote control end is also used for sending a control instruction to the master control end according to the displayed current state.
3. The remote control system of the automated guided vehicle of claim 1, wherein the control command comprises a mode change command;
the master control terminal is further used for confirming a corresponding target mode according to the mode change instruction, determining a target unmanned transport vehicle according to the identification information, and sending the mode change instruction to the corresponding target unmanned transport vehicle when the target mode is a preset execution mode corresponding to the target unmanned transport vehicle;
the target unmanned transport vehicle is further used for carrying out corresponding mode change according to the mode change instruction and driving according to a preset target route corresponding to the target mode.
4. The remote control system of the automated guided vehicle of claim 2, wherein the control instructions include path re-planning instructions;
the master control terminal is further used for confirming a corresponding updated path according to the path re-planning instruction, determining a target unmanned transport vehicle according to the identification information, and sending the path re-planning instruction to the corresponding target unmanned transport vehicle when the updated path does not conflict with the target planned path information;
and the target unmanned transport vehicle is also used for carrying out corresponding path adjustment according to the updated path and driving according to the adjusted planned path.
5. The remote control system of the automated guided vehicle of claim 2, wherein the control command comprises a movement command;
the main control terminal is further configured to determine a corresponding moving direction and a corresponding moving distance according to the moving instruction, determine a target automated guided vehicle according to the identification information, and send the moving instruction to the corresponding target automated guided vehicle when there is no conflict between the moving direction and the moving distance and the target planned path information;
the target automated guided vehicle is further configured to travel according to the moving direction and the moving distance.
6. The remote control system of the automated guided vehicle of claim 2, wherein the control command comprises a speed adjustment command;
the main control terminal is further used for confirming a corresponding target speed according to the speed adjusting instruction, determining a target unmanned transport vehicle according to the identification information, and sending the speed adjusting instruction to the corresponding target unmanned transport vehicle when the target speed does not conflict with the target planned path information;
the target automated guided vehicle is further used for driving according to the target speed.
7. The remote control system of the automated guided vehicle of claim 1, wherein the remote control unit is further configured to obtain status information corresponding to the automated guided vehicle through the master control unit, and when an abnormality is detected in the status information, generate an emergency braking command to a corresponding target automated guided vehicle;
the target unmanned transport vehicle is further used for driving according to a preset homing route at a preset speed when receiving the emergency braking instruction, and stopping moving when reaching a homing area.
8. The remote control system of the automated guided vehicle of claim 2, wherein the remote control terminal is further configured to monitor a current movement path of the target automated guided vehicle according to the target map and the target planned path information, and to perform an early warning according to a deviation degree when the current movement path deviates from a preset accuracy;
the remote control end is further used for sending a path adjusting instruction to the corresponding target unmanned transport vehicle when the deviation degree reaches a preset degree;
and the target unmanned transport vehicle is also used for carrying out planning path adjustment according to the path adjustment instruction when receiving the path adjustment instruction, and driving according to the adjusted planning path.
9. A remote control method for an automated guided vehicle, which is applied to a remote control system for an automated guided vehicle, the remote control system for an automated guided vehicle comprising: the automatic guided vehicle comprises a remote control end, a main control end and a plurality of automatic guided vehicles, wherein the remote control end is in communication connection with the main control end through a wireless internet, and the main control end is in communication connection with the automatic guided vehicles through a local area network;
the remote control method of the automated guided vehicle includes:
the remote control end sends a control instruction to the main control end, wherein the control instruction comprises identification information of the unmanned transport vehicle;
the master control end receives the control instruction, confirms the control instruction according to a preset detection strategy, determines a target unmanned transport vehicle according to the identification information, and sends the control instruction to the corresponding target unmanned transport vehicle;
and the target unmanned transport vehicle carries out corresponding motion adjustment according to the control instruction.
10. The remote control method of the automated guided vehicle according to claim 9, wherein the automated guided vehicle is provided with a laser module, a sensor module, and a positioning module;
before the remote control end sends a control instruction to the master control end, the method further includes:
the target unmanned transport vehicle builds an environment map according to the laser module, performs path planning according to the sensor module and the positioning module to obtain planned path information, and sends the environment map and the planned path information to the master control terminal;
the master control terminal establishes a target map according to an environment map acquired by the target unmanned transport vehicle, performs path adjustment according to planned path information corresponding to the target unmanned transport vehicle to obtain target planned path information, and sends the target map and the target planned path information to the remote control terminal;
the remote control end displays the current state of the target unmanned transport vehicle according to the target map and the target planning path information;
the remote control end sends a control instruction to the master control end, and the remote control end comprises:
and the remote control end sends a control instruction to the master control end according to the displayed current state.
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