CN106950972B - Automatic Guided Vehicle (AGV) and route correction method thereof - Google Patents

Automatic Guided Vehicle (AGV) and route correction method thereof Download PDF

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CN106950972B
CN106950972B CN201710340103.6A CN201710340103A CN106950972B CN 106950972 B CN106950972 B CN 106950972B CN 201710340103 A CN201710340103 A CN 201710340103A CN 106950972 B CN106950972 B CN 106950972B
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agv
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CN106950972A (en
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黄维泉
朱绍林
赵平
廖宗德
曹欣
成伟
陈章军
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Shanghai Enfon Robot Co ltd
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    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas

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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention relates to the field of automatic handling, and discloses an Automatic Guided Vehicle (AGV) and a route correction method thereof. The method comprises the following steps: acquiring an image obtained by shooting by an image sensor of the transport vehicle AGV; if the route guide mark in the image is determined not to be at the preset position; determining control information required by the transport vehicle AGV to run from the current state to the target state according to the vertical distance value, the horizontal distance value required to run when the transport vehicle AGV reaches the target state, the speed value required to be kept when the transport vehicle AGV center point runs and the position relation among the drive groups of the transport vehicle AGV; and operating the transport vehicle AGV according to the control information until the transport vehicle AGV reaches the target state. According to the invention, the AGV can be operated to the target state under the control of the control information, so that the deviation correction of the AGV is realized, the carrying efficiency of the AGV is improved, and the AGV can smoothly return to the target state.

Description

Automatic Guided Vehicle (AGV) and route correction method thereof
Technical Field
The invention relates to the field of automatic transportation, in particular to an Automatic Guided Vehicle (AGV) and a route correction method thereof.
Background
In the fields of existing full-automatic parking garages, full-automatic logistics carrying and the like, an Automated Guided Vehicle (AGV) is commonly used, the AGV can accurately, efficiently and flexibly complete carrying tasks, and the AGV needs to run below carriers (a goods shelf, a tray and the like). The existing AGV guiding modes mainly comprise: electromagnetic induction guidance, laser guidance, visual guidance, and the like.
Generally, the electromagnetic induction guidance is to bury an antenna along a predetermined route on the ground, to generate an electromagnetic field around a wire when a high-frequency current flows through the antenna, and to provide an electromagnetic inductor in the AGV car to run on the buried antenna along the predetermined route.
The laser guide is a laser positioning mark which is provided with a high-reflectivity reflecting plate on a wall or a pillar along a running path, an AGV car is provided with a laser scanner, the AGV emits a laser beam by virtue of the laser scanner, then receives the laser beam reflected by the surrounding positioning marks, and an on-board computer calculates the current position and the moving direction of the vehicle to realize the automatic carrying function.
The visual guidance is that a camera and a sensor are arranged on the AGV trolley, and an image database of the surrounding environment of the path to be traveled by the AGV is arranged in an on-board computer. In the running process of the AGV, the camera dynamically acquires image information of the surrounding environment of the vehicle and compares the image information with the image database, so that the current position is determined and a decision is made on the next step of running.
The inventor discovers that in the process of realizing the invention, in the fields of the existing very hot full-automatic parking garage, express goods to people sorting, automobile production line and the like, the AGV needs to run under a carrier (a goods shelf, a tray and the like), and the AGV guided by electromagnetic induction is easily interfered by metal substances around a loop, is difficult to construct and is difficult to maintain; laser beams emitted by a laser scanning head of the AGV guided by laser are easy to be shielded, peripheral positioning reflecting plates cannot be well identified, and laser ranging needs to irradiate the peripheral reflecting plates, so that the condition cannot be met in many environments; when the route of the AGV car with the visual navigation deviates in the running process of the environment, the posture of the car body is adjusted according to the deviation type, and the car body is adjusted to a state that the original position is not deviated, so that the transportation time is prolonged.
In view of this, in the fields of full-automatic parking garage, express goods to people sorting, automobile production line and some fields that often need to change navigation paths, when selecting a visual guidance AGV car, how to adjust the deviation-correcting posture during the running process of the AGV car to realize smooth deviation correction is a concern of those skilled in the art.
Disclosure of Invention
The invention aims to provide an AGV (automatic guided vehicle) and a route correcting method thereof, so that the AGV can timely correct the deviation and then returns to a target route when the route is deflected in the transportation process.
In order to solve the technical problem, an embodiment of the present invention provides an AGV route deviation rectifying method for an automated guided vehicle, including the following steps:
acquiring an image obtained by shooting by an image sensor of the AGV, wherein the position shot by the image sensor is right below the center position of the bottom of the AGV;
if the route guidance mark in the image is determined not to be at the preset position, determining a vertical distance value between the center point of the AGV and a straight line where the preset position is located according to the position of the route guidance mark in the image;
determining control information required by the AGV to run from the current state to the target state according to the vertical distance value, a horizontal distance value required to run when the AGV reaches the target state, a speed value required to be kept when the AGV runs at the center point and a position relation among all driving groups of the AGV, wherein the route guidance mark is positioned at the preset position in an image obtained by shooting through the image sensor in the target state;
and operating the AGV according to the control information until the AGV reaches the target state.
An embodiment of the present invention further provides an automated guided vehicle AGV, including: the device comprises a plurality of driving groups, an image sensor and a processor, wherein each driving group comprises a steering wheel component and an encoder, at least two driving groups comprise a walking wheel component, the steering wheel component comprises a steering wheel, a steering wheel driving motor and a steering wheel motor controller, the walking wheel component comprises a walking wheel, a walking wheel driving motor and a walking wheel motor controller, and the encoder is used for recording the walking displacement value and the steering angle value of the driving groups;
the image sensor shoots and obtains an image right below the center of the bottom of the AGV;
the processor acquires an image obtained by shooting of the image sensor;
if the processor determines that the route guidance mark in the image is not at the preset position, determining a vertical distance value between the center point of the AGV and a straight line where the preset position is located according to the position of the route guidance mark in the image;
the processor determines control information required by the AGV to run from the current state to the target state according to the vertical distance value, the horizontal distance value required to run when the AGV reaches the target state, the speed value required to be kept when the AGV runs at the central point and the position relation among the driving groups of the AGV, wherein the route guide mark is positioned at the preset position in an image obtained by shooting through the image sensor in the target state;
and the processor drives each driving group according to the control information until the AGV reaches the target state.
Compared with the prior art, the method and the device have the advantages that the image obtained through the image sensor shooting is analyzed, the vertical distance between the center point of the AGV and the straight line where the preset position is located is determined through the shot image, the control information required by the AGV to run from the current state to the target state can be determined according to the vertical distance, the horizontal distance value required to run when the AGV reaches the target state, the AGV running speed value and the position relation among all driving assemblies of the AGV, the AGV can run to the target state under the control of the control information, the deviation rectification of the AGV is achieved, the carrying efficiency of the AGV is improved, and the AGV can smoothly return to the target state.
In addition, in the method for correcting the route of the AGV, determining the control information required by the AGV to run from the current state to the target state according to the vertical distance value, the horizontal distance value required to run to reach the target state, the speed value required to be maintained by running the AGV center point, and the position relationship among the driving groups of the AGV includes:
determining the coordinates of each driving group of the AGV under the current state according to the coordinates of the central point of the AGV and the position relationship among the driving groups of the AGV;
determining the coordinates of each driving group of the AGV in the target state according to the vertical distance value, the horizontal distance value and the coordinates of each driving group of the AGV in the current state;
and determining the control information according to the speed value required to be maintained during the operation of the central point of the AGV, the vertical distance value and the horizontal distance value, wherein the control information comprises the operation speed value required by each driving group of the AGV and the rotation angle value required by each driving group.
In the embodiment, the running speed value of each driving group and the rotation angle value required by each driving group are determined, so that the overall speed of the AGV trolley can be kept consistent, and the driving groups can cooperatively run to a target state.
In addition, in the method for correcting the route of the AGV, the relationship among the drive groups of the AGV includes: each drive group of AGV constitutes rectangle, the length of side of every limit of rectangle and the contained angle of rectangular diagonal and at least one limit.
In addition, in the route deviation rectifying method for the AGV, the horizontal distance value required to run to reach the target state is obtained by pre-configuration. In the embodiment, the horizontal distance value required to operate to reach the target state is set, so that the determination process of the control information is simplified, and the deviation rectification efficiency can be further improved.
In addition, in the AGV route deviation rectifying method, the horizontal distance value required to run to reach the target state is at least larger than the length of the AGV body. In the embodiment, the distance value of the selected target state is at least greater than the length of the AGV body, so that the smooth deviation correction of the AGV is ensured, and the smoothness of the deviation correction process is ensured.
Drawings
FIG. 1 is a flowchart of an AGV route deviation correcting method with an automatic navigation device according to a first embodiment of the present invention;
FIG. 2 is a flowchart of an AGV route deviation rectifying method with an automatic navigation device according to a second embodiment of the present invention;
FIG. 3 is a graph of route skew in a specific implementation of a second embodiment of the present invention;
FIG. 4a is a diagram of a specific offset type in a second embodiment of the present invention;
FIG. 4b is a diagram of a specific offset type in a second embodiment of the present invention;
FIG. 5 is a schematic diagram of an AGV with an automatic navigation device according to a third embodiment of the present invention;
fig. 6 is a schematic block diagram of a processor according to a fourth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solutions claimed in the claims of the present application can be implemented without these technical details and with various changes and modifications based on the following embodiments.
The first embodiment of the invention relates to an AGV route deviation rectifying method, which is applied to an AGV. The specific flow is shown in figure 1.
Step 101: acquiring an image obtained by shooting by an image sensor of the AGV, wherein the shooting position of the image sensor is right below the center position of the bottom of the AGV;
step 102: if the route guidance mark in the shot image is determined not to be at the preset position, determining a vertical distance value between the center point of the AGV and a straight line where the preset position is located according to the position of the route guidance mark in the image;
step 103: determining control information required by the AGV to run from the current state to the target state according to the vertical distance value, the horizontal distance value required to run when the AGV reaches the target state, the speed value required to be kept when the AGV center point runs and the position relation among all driving groups of the AGV, wherein the route guide mark in the image obtained by shooting by the image sensor is positioned at a preset position when the AGV is in the target state;
step 104: and running the AGV according to the control information until the AGV reaches the target state.
In one implementation, the image sensor is located in the center of the bottom of the AGV, and the center of the capture area is located directly below the center of the bottom of the AGV.
In one specific implementation, the image sensor can shoot the position right below the center of the bottom of the AGV in real time, and can shoot the position right below the center of the bottom of the AGV according to a preset period. Preferably, the predetermined period is not longer than a period required for the AGV to completely escape from the guidance mark.
Compared with the prior art, the first embodiment of the invention is that when a transport vehicle has a route deviation in a driving route, the deviation amount of the AGV in a deviation state is determined by analyzing the image shot by the image sensor, the deviation amount comprises the vertical distance between the center point of the AGV and a straight line where a preset position is located and the horizontal distance required to run when the target state is reached, and the AGV smoothly runs to the target state under the action of the control information according to the deviation amount determined by the vertical distance and the horizontal distance and the control information of the target state to be reached. Compared with the deviation rectifying method in the prior art, the deviation rectifying method improves the carrying efficiency of the AGV and ensures that the AGV can smoothly return to the target state.
Specifically, the guidance mark in this embodiment may be a color bar, a two-dimensional code, or a function control code. The ribbon can be used in cooperation with the function control code, the function control code is arranged at a point where turning or movement direction change is needed, and the ribbon has the advantages of easiness in implementation, simplicity in maintenance, low cost and the like. Meanwhile, it should be noted that the selection of the guide mark is only an example, and is not limited to a color bar, a two-dimensional code or a functional identification code, and the invention is within the protection scope of the present invention as long as the visual sensor can determine the traveling route and determine whether the deviation occurs in the traveling process according to the guide mark. Ribbon and two-dimensional code are more easily changed in the concrete implementation, and the cost is lower.
For example, in the case where the index mark is a two-dimensional code, the visual sensor reads the offset amount, and the readable angular deviation ranges from 0 ° to 360 °; the readable deviation range in the AGV path running direction is-45 mm (millimeters) to +45mm (beyond the range is not readable); the readable deviation range in the vertical direction of the AGV travel path is-70 mm to +70mm (beyond the range unreadable).
A second embodiment of the present invention relates to an AGV path deviation correcting method. The second embodiment is substantially the same as the first embodiment, and mainly differs therefrom in that: with respect to the first embodiment, in the second embodiment of the present invention, a process of determining control information required for the AGV to operate from the current state to the target state is specifically described. The specific flow is shown in fig. 2.
Step 201: acquiring an image obtained by shooting by an image sensor of the AGV, wherein the shooting position of the image sensor is right below the center position of the bottom of the AGV;
step 202: if the route guidance mark in the image is determined not to be at the preset position, determining a vertical distance value between the center point of the AGV and a straight line where the preset position is located according to the position of the route guidance mark in the image;
step 203: determining the coordinate of each driving group of the AGV under the current state according to the coordinate of the central point of the AGV and the position relationship among the driving groups of the AGV;
step 204: determining the coordinates of each driving group of the AGV in the target state according to the vertical distance value, the horizontal distance value and the coordinates of each driving group of the AGV in the current state;
step 205: determining control information according to a speed value, a vertical distance value and a horizontal distance value which need to be maintained when the central point of the AGV runs, wherein the control information comprises a running speed value required by each driving group of the AGV and a rotation angle value required by each driving group;
step 206: and running the AGV according to the control information until the AGV reaches the target state.
In a specific implementation based on the first or second embodiment, the relationship between the driving groups of the AGV in the AGV route deviation rectifying method includes: each driving group of the AGV forms a rectangle, and the side length of each side of the rectangle and the included angle between the diagonal line of the rectangle and at least one side are included. In addition, the horizontal distance value of the AGV required to reach the target state is obtained through pre-configuration. The horizontal distance value of travel required to reach the target state is at least greater than the length of the AGV body.
In a specific embodiment, as shown in fig. 3, when the AGV runs along a route using color bars as guidance marks, if the route deviation shown in fig. 3 occurs, referring to the description of the first and second embodiments, if the amount of the angle deviation is θ according to the analysis result of the image captured by the image sensor, the vertical distance value of the AGV is h; when the four wheel position of the AGV is determined, the AGV is uniquely identified, as shown by the A, B, C, D four points in FIG. 3, where the A, B, C, D four points represent the position of the four wheels of the AGV, respectively, and A, B, C, D forms a defined rectangle. As shown in fig. 3, the center point Z of the AGV is used as a reference point, the point Z is used as a coordinate origin, a straight line where Z is located and parallel to the color bar is used as an X-axis, the running direction of the AGV along the guidance sign is a positive direction of the X-axis, a direction perpendicular to the X-axis is used as a Y-axis, and a direction perpendicular to the X-axis is a positive direction of the Y-axis. Fig. 3 is only a diagram showing a coordinate representation, and is not limited to the definition of the coordinate system shown in fig. 3, but may be any coordinate system established with the pointing direction parallel to the index markers as the X axis, and the following calculation of the coordinates of each point and the offset angle of each point may be referred to. The horizontal distance value between the current state and the target state of the AGV is obtained by pre-configuration, specifically, m is used herein to represent the horizontal distance value between the center point of the current state and the center point of the target state (m is at least greater than the length of the AGV), and the speed of the center point Z of the AGV is kept to be V.
Taking the offset state in fig. 3 as an example, in a specific implementation, the guiding mark in the image captured by the image sensor in real time is not at the preset position, and the guiding mark is not located at the center of the captured image, and a vertical distance from the center point of the image to the straight line of the guiding mark in the image is taken as a vertical offset of the AGV during the route running, where the vertical distance is obtained by multiplying the vertical distance by a preset coefficient. The distance shown as h in FIG. 3 is the vertical distance value that determines the center point of the AGV from the line where the preset position is located for the position of the route guide in the image. The preset coefficient is the ratio of the actual shooting area to the size of the shot image.
If the coordinate of the Z point is expressed as (X)Z，YZ) Fig. 3 shows coordinates, where Z is the origin, and the coordinates of Z are (0, 0) since A, B, C, D forms a rectangle, and the side lengths of AB and BC are known, so that A, B, C, D coordinates of four points can be calculated. AC andthe angle before AB can be expressed as expression 1:
φ＝arcsin(AB/AC) (1)
the coordinate (X) of point a in the rectangular coordinate systemA，YA) Can be expressed as expression 2 and expression 3:
Figure BDA0001295012450000091
Figure BDA0001295012450000092
x in expression 2ADenotes the abscissa, X, of the point AZOn the abscissa of the point Z, θ represents the amount of angular deviation of the AGV in fig. 3 (when the AGV is set to deviate downward, θ is negative, and when it deviates upward, θ is positive).
Y in expression 3ADenotes the ordinate, Y, of point AZIs the ordinate of the point Z and,
Figure BDA0001295012450000095
the angle of the point a in the rectangle defined by the AGV is shown, and θ shows the amount of angular deviation of the AGV in fig. 3 (when the AGV is set to deviate downward, θ is negative, and when the AGV deviates upward, θ is positive).
The route is corrected to be in the target state, as shown in FIG. 3, Z1 is the center point of the target state, and the coordinate is expressed as (X)Z+m，YZH) obtaining coordinates of A, B, C, D four points after rectification according to the target state, wherein A1 is the A coordinates (X) after rectificationA1，YA1) Expressed by expression 4 and expression 5:
Figure BDA0001295012450000093
Figure BDA0001295012450000094
XZis the abscissa of the Z point, XA1Is the abscissa of point A1, YA1On the ordinate of point a 1.
The target state of AGV route deviation correction is shown in fig. 3, and the speed of AGV center point Z is kept at V, so the time to reach the target state is expressed by expression 6:
Figure BDA0001295012450000101
when the time for the AGV to reach the target state is delta t, the point A reaches the point A1 at the delta t time, and the speed V of the point A is measured in the deviation rectifying processAExpressed by expression 7:
Figure BDA0001295012450000102
x in expression 7A、YA、XA1、YA1Δ t is expressed in the above expressions 2 to 6.
If there is direction deviation, the deviation value of the direction should be calculated, the rotation angle value α of AAExpressed by expression 8:
αA＝arc tan[(YA1-YA)/(XA1-XA)]+θ (8)
x in expression 8A、YA、XA1、YA1As shown in expressions 2 to 5 above, θ represents the amount of angular deviation of the AGV in fig. 3 (if θ is negative when the AGV is deflected downward, this expression still applies).
Similarly, an angle value of B, C, D can be inferred, and the angle value of B is
Figure BDA0001295012450000103
The angle value of C is:
Figure BDA0001295012450000104
the angle value of D is
Figure BDA0001295012450000105
The calculation step can be similar to the above calculation step to calculate B, C, D walking speed and deflection angle respectivelyAnd will not be described in detail.
In one particular embodiment, the AGV moves through the ribbon path shown in FIG. 3 without regard to the deviation in the X direction, which may range from-45 mm (millimeters) to +45mm (unreadable in excess); the angular deviation ranges from-45 to +45 (beyond which the range is unreadable). For the sake of example, the deviation range is based on the recognition range of the vision sensor.
In the first or second embodiment, the deviation of the AGV may be an angle deviation when the direction is not deviated; when the angle is not deviated, the direction is deviated. The control algorithm is the same as the above, and if there is no angular deviation in the direction in fig. 4a, the same reasoning is performed when h is 0; if the angle is not deviated, the direction is deviated in fig. 4b, and the same reasoning process is performed as above a.
The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the steps contain the same logical relationship, which is within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
A third embodiment of the present invention relates to an AGV, as shown in fig. 5, including: an image sensor 501, a processor 502 and a drive group 503. The AGV comprises: the system comprises a plurality of driving groups, an image sensor and a processor, wherein each driving group comprises a steering wheel component and an encoder, at least two driving groups comprise a walking wheel component, the steering wheel component comprises a steering wheel, a steering wheel driving motor and a steering wheel motor controller, the walking wheel component comprises a walking wheel, a walking wheel driving motor and a walking wheel motor controller, and the encoder is used for recording the walking displacement value and the steering angle value of the driving groups;
an image sensor shoots and obtains an image right below the center of the bottom of the AGV;
wherein the processor has stored therein a program for executing the steps of:
the processor acquires an image obtained by shooting of the image sensor;
if the processor determines that the route guidance mark in the image is not at the preset position, determining a vertical distance value between the center point of the AGV and a straight line where the preset position is located according to the position of the route guidance mark in the image;
the processor determines control information required by the AGV to run from the current state to the target state according to the vertical distance value, the horizontal distance value required to run when the AGV reaches the target state, the speed value required to be kept when the AGV center point runs and the position relation among the driving groups of the AGV, wherein the route guidance mark is positioned at the preset position in an image obtained by shooting through the image sensor in the target state;
and the processor drives each driving group according to the control information until the AGV reaches a target state.
It should be understood that this embodiment is a system example corresponding to the first embodiment, and may be implemented in cooperation with the first embodiment. The related technical details mentioned in the first embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the first embodiment.
In particular, in the third embodiment, the processor, the image sensor and the drive group are connected in a bus manner, the bus may include any number of interconnected buses and bridges, the buses linking together various circuits including one or more processors represented by the processor and a plurality of drive groups represented by the drive group. The bus may also link various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface between the bus and the image sensor. The image sensor may be one element or a plurality of elements for acquiring a captured image. The processor is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions.
A fourth embodiment of the present invention relates to an AGV, and the fourth embodiment is substantially the same as the third embodiment, and is mainly different from the third embodiment in that: in a fourth embodiment of the present invention, a processor mainly includes: an acquisition module 601, an operation module 602, and a sending module 603.
The acquisition module 601: the system comprises a central processing unit, a driving unit and a driving unit, wherein the central processing unit is used for acquiring coordinates of AGV central points and position relations among driving units of the AGV, determining the coordinates of each driving unit of the AGV in the current state, and determining the coordinates of each driving unit of the AGV in the target state according to a vertical distance value, a horizontal distance value and the coordinates of each driving unit of the AGV in the current state;
the operation module 602: the control information comprises a running speed value required by each driving group of the AGV and a rotation angle value required by each driving group;
the sending module 603: for sending control information to each drive group until the AGV reaches the target state.
Since the second embodiment corresponds to the present embodiment, the present embodiment can be implemented in cooperation with the second embodiment. The related technical details mentioned in the second embodiment are still valid in this embodiment, and the technical effects that can be achieved in the second embodiment can also be achieved in this embodiment, and are not described herein again in order to reduce the repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the second embodiment.
In one specific embodiment, the four wheels of the AGV are each drive wheels, including 4 drive sets, and in a preferred embodiment, the four wheels of the AGV include a steering wheel assembly, and two wheels in a diagonal may share a common wheel assembly.
It should be noted that each module referred to in this embodiment is a logical module, and in practical applications, one logical unit may be one physical unit, may be a part of one physical unit, and may be implemented by a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, elements that are not so closely related to solving the technical problems proposed by the present invention are not introduced in the present embodiment, but this does not indicate that other elements are not present in the present embodiment.
Those skilled in the art can understand that all or part of the steps in the method of the foregoing embodiments may be implemented by a program to instruct related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.

Claims (8)

1. An AGV route correction method for an unmanned transport vehicle is characterized by comprising the following steps:
acquiring an image obtained by shooting by an image sensor of the AGV, wherein the position shot by the image sensor is right below the center position of the bottom of the AGV;
if the route guidance mark in the image is determined not to be at the preset position, determining a vertical distance value between the center point of the AGV and a straight line where the preset position is located according to the position of the route guidance mark in the image;
determining the coordinates of each driving group of the AGV under the current state according to the coordinates of the central point of the AGV and the position relationship among the driving groups of the AGV;
determining the coordinates of each driving group of the AGV in the target state according to the vertical distance value, the horizontal distance value required to run to reach the target state and the coordinates of each driving group of the AGV in the current state;
determining control information required by the AGV to run from the current state to the target state according to the speed value required to be maintained when the AGV center point runs, the vertical distance value and the horizontal distance value, wherein the control information comprises a running speed value required by each driving group of the AGV and a rotation angle value required by each driving group; wherein the route guidance sign is located at the preset position in the image obtained by the image sensor in the target state;
and operating the AGV according to the control information until the AGV reaches the target state.
2. The AGV path deviation rectifying method according to claim 1, wherein each driving group of the AGV forms a rectangle; the positional relationship among the drive groups of the AGV includes: the side length of each side of the rectangle and the included angle between the diagonal line of the rectangle and at least one side are provided.
3. The AGV route deviation rectifying method according to any one of claims 1 or 2, wherein the horizontal distance value required to travel to reach the target state is pre-configured.
4. The AGV path deviation rectifying method of claim 3, wherein said horizontal distance value required to travel to reach the target state is at least greater than the length of the AGV body.
5. An Automated Guided Vehicle (AGV) comprising:
the device comprises a plurality of driving groups, an image sensor and a processor, wherein each driving group comprises a steering wheel assembly and an encoder, at least two driving groups comprise a walking wheel assembly, the steering wheel assembly comprises a steering wheel, a steering wheel driving motor and a steering wheel motor controller, the walking wheel assembly comprises a walking wheel, a walking wheel driving motor and a walking wheel motor controller, and the encoder is used for recording the walking displacement value and the steering angle value of the driving groups;
the image sensor shoots and obtains an image right below the center of the bottom of the AGV;
the processor acquires an image obtained by shooting of the image sensor;
if the processor determines that the route guidance mark in the image is not at the preset position, determining a vertical distance value between the center point of the AGV and a straight line where the preset position is located according to the position of the route guidance mark in the image;
determining the coordinates of each driving group of the AGV under the current state according to the coordinates of the central point of the AGV and the position relationship among the driving groups of the AGV;
determining the coordinates of each driving group of the AGV in the target state according to the vertical distance value, the horizontal distance value required to run to reach the target state and the coordinates of each driving group of the AGV in the current state;
determining control information required by the AGV to run from the current state to the target state according to the speed value required to be maintained when the AGV center point runs, the vertical distance value and the horizontal distance value, wherein the control information comprises a running speed value required by each driving group of the AGV and a rotation angle value required by each driving group; wherein the route guidance sign is located at the preset position in the image obtained by the image sensor in the target state;
and the processor drives each driving group according to the control information until the AGV reaches the target state.
6. The AGV of claim 5, wherein each drive group of said AGV comprises a rectangular shape; the positional relationship among the drive groups of the AGV includes: the side length of each side of the rectangle and the included angle between the diagonal line of the rectangle and at least one side are provided.
7. AGV according to any of claims 5 or 6, wherein said horizontal distance values required to travel to reach the target state are pre-configured.
8. The AGV of claim 7 wherein said horizontal distance traveled to reach a target condition is at least greater than the length of the AGV body.
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