CN108873833A

CN108873833A - A kind of control method for movement and automated guided vehicle of automated guided vehicle

Info

Publication number: CN108873833A
Application number: CN201810590288.0A
Authority: CN
Inventors: 彭发明; 朱忠; 徐刚
Original assignee: GUANGZHOU YONEGY LOGISTICS AUTOMATION TECHNOLOGY Co Ltd
Current assignee: GUANGZHOU YONEGY LOGISTICS AUTOMATION TECHNOLOGY Co Ltd
Priority date: 2018-06-08
Filing date: 2018-06-08
Publication date: 2018-11-23
Anticipated expiration: 2038-06-08
Also published as: CN108873833B

Abstract

A kind of control method for movement and automated guided vehicle of automated guided vehicle, including：Automated guided vehicle receives move vehicle signal；Move vehicle signal includes the current location of target vehicle, and move vehicle signal is for requesting automated guided vehicle to reach current location locating for target vehicle and mobile target vehicle according to target requirement；Automated guided vehicle determines the current location of automated guided vehicle, and using the current location of automated guided vehicle as the current location of starting point and target vehicle as terminal, the determining mobile route to match with target requirement；Automated guided vehicle is moved to the current location of target vehicle according to mobile route, and executes moving operation to target vehicle.Implement the embodiment of the present invention, can reduce the mobile error rate and human cost for target carriage.

Description

Movement control method of automatic guided transport vehicle and automatic guided transport vehicle

Technical Field

The invention relates to the technical field of automatic guided vehicles, in particular to a movement control method of an automatic guided vehicle and the automatic guided vehicle.

Background

At present, it is generally necessary for automobile manufacturers to move automobiles to different areas according to different requirements after the automobiles are manufactured. For example: when the quality of the automobile is detected, the automobile needs to be moved to a quality detection area, and when the automobiles which are subjected to the quality detection are subjected to centralized boxing, the automobile needs to be moved from the quality detection area to a delivery area and the like. In practical application, the movement of the automobile is mainly completed by operating the trailer by an operator, but the error rate of manual operation is high, and the labor cost of an enterprise is increased.

Disclosure of Invention

The embodiment of the invention discloses a movement control method of an automatic guided transport vehicle and the automatic guided transport vehicle, which can reduce the movement error rate and labor cost of a target vehicle.

The embodiment of the invention discloses a movement control method of an automatic guided vehicle in a first aspect, which comprises the following steps:

the automated guided vehicle receiving a moving vehicle signal; the moving vehicle signal comprises the current position of a target vehicle, and the moving vehicle signal is used for requesting the automatic guided vehicle to reach the current position of the target vehicle according to target requirements and moving the target vehicle;

the automatic guided vehicle determines the current position of the automatic guided vehicle, and determines a moving route matched with the target requirement by taking the current position of the automatic guided vehicle as a starting point and the current position of the target vehicle as an end point;

and the automatic guiding transport vehicle moves to the current position of the target vehicle according to the moving route and performs moving operation on the target vehicle.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, after the automated guided vehicle receives the moving vehicle signal and before the automated guided vehicle determines the current position of the automated guided vehicle, the method further includes:

the automatic guided vehicle detects whether the automatic guided vehicle is in an idle state;

if the automatic guided vehicle is in the idle state, the automatic guided vehicle executes the determination of the current position of the automatic guided vehicle;

before the automated guided vehicle moves to the current location of the target vehicle according to the movement route, the method further comprises:

the automatic guided vehicle detects whether a target automatic guided vehicle in a moving state exists on the moving route;

if not, the automatic guided vehicle executes the movement to the current position of the target vehicle according to the movement route;

if so, the automated guided vehicle determines that the current state of the automated guided vehicle is a waiting state until it is detected that there is no target automated guided vehicle in the moving state on the moving route, and performs the moving to the current position of the target vehicle according to the moving route.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, before the automated guided vehicle determines the current position of the automated guided vehicle after detecting that the automated guided vehicle is in the idle state, the method further includes:

the automated guided vehicle determining whether the moving vehicle signal is received and responded to by other automated guided vehicles, the automated guided vehicle performing the determining of the current location of the automated guided vehicle if not received or not responded to by the other automated guided vehicles;

the method further comprises the following steps:

if the automatic guided vehicle is not in an idle state, the automatic guided vehicle judges whether the automatic guided vehicle in the idle state exists in a preset range;

and if the automatic guided vehicle in the idle state exists, the automatic guided vehicle sends the moving vehicle signal to the automatic guided vehicle which is closest to the automatic guided vehicle and in the idle state, so as to trigger the automatic guided vehicle in the idle state to move to the target vehicle and perform moving operation on the target vehicle.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, the moving vehicle signal further includes information of a target location to which the target vehicle needs to move, where the target location is in a target area, and the automated guided vehicle performs a moving operation on the target vehicle, including:

the automatic guided vehicle detects whether the target position is in an occupied state;

if not, the automated guided vehicle moves the target vehicle to the target location;

and if the vehicle is in the occupied state, the automatic guided vehicle determines the current optimal idle position of the target area and moves the target vehicle to the current optimal idle position.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, after the automated guided vehicle performs the moving operation on the target vehicle, the method further includes:

when the automatic guided transport vehicle finishes the moving operation of the target vehicle, the automatic guided transport vehicle determines the current position of the automatic guided transport vehicle and determines a return route according to the current position and the initial position of the automatic guided transport vehicle;

and the automatic guided vehicle returns to the position of the starting position according to the return route.

A second aspect of the embodiments of the present invention discloses an automated guided vehicle, including:

a receiving unit for receiving a moving vehicle signal; the moving vehicle signal comprises the current position of a target vehicle, and the moving vehicle signal is used for requesting the automatic guided vehicle to reach the current position of the target vehicle according to target requirements and moving the target vehicle;

a first determination unit for determining a current position of the automated guided vehicle;

a second determination unit configured to determine a movement route matching the target demand, with a current position of the automated guided vehicle as a start point and a current position of the target vehicle as an end point;

a first movement control unit for moving to a current position of the target vehicle according to the movement route;

and the movement execution unit is used for executing movement operation by the target vehicle.

As an alternative implementation, in the second aspect of the embodiment of the present invention, the automated guided vehicle further includes:

a first detecting unit, configured to detect whether the automated guided vehicle is in an idle state after the receiving unit receives the moving vehicle signal and before the first determining unit determines the current position of the automated guided vehicle, and trigger the first determining unit to perform the determining of the current position of the automated guided vehicle after the automated guided vehicle is detected to be in the idle state;

a second detection unit configured to detect whether there is a target automated guided vehicle in a moving state on the movement route before the first movement control unit moves to the current position of the target vehicle according to the movement route;

the first movement control unit is specifically configured to move to the current position of the target vehicle according to the movement route after the second detection unit detects that the target automated guided vehicle in the movement state does not exist on the movement route;

a third determination unit configured to determine that the current state of the automated guided vehicle is a waiting state until it is detected that there is no target automated guided vehicle in the moving state on the moving route after the second detection unit detects that there is a target automated guided vehicle in the moving state on the moving route;

a second movement control unit configured to move to the current position of the target vehicle according to the movement route after the second detection unit detects that the target automated guided vehicle in the movement state exists on the movement route, and after the third determination unit determines that the current state of the automated guided vehicle is a waiting state until it is detected that the target automated guided vehicle in the movement state does not exist on the movement route.

a judging unit, configured to judge whether the moving vehicle signal is received and responded by another automated guided vehicle after the first detecting unit detects that the automated guided vehicle is in the idle state and before the first determining unit determines the current position of the automated guided vehicle;

the first determining unit is specifically configured to determine the current position of the automated guided vehicle after the first detecting unit detects that the automated guided vehicle is in the idle state and after the determining unit determines that the moving vehicle signal is not received by or responded to by the other automated guided vehicles;

the judging unit is further configured to judge whether the automated guided vehicle in the idle state exists within a preset range after the first detecting unit detects that the automated guided vehicle is not in the idle state;

and the sending unit is used for sending the moving vehicle signal to the automatic guided vehicle which is closest to the automatic guided vehicle and is in the idle state after the first detection unit detects that the automatic guided vehicle is not in the idle state and the judgment unit judges that the automatic guided vehicle in the idle state exists in the preset range, so as to trigger the automatic guided vehicle in the idle state to move to the target vehicle and execute moving operation on the target vehicle.

As an optional implementation manner, in a second aspect of the embodiments of the present invention, the moving vehicle signal further includes information of a target position to which the target vehicle needs to move, where the target position is in a target area, and the moving performing unit includes:

the detection subunit is used for detecting whether the target position is in an occupied state;

a movement execution subunit configured to move the target vehicle to the target position after the detection subunit detects that the target position is not in the occupied state;

the movement execution subunit is further configured to determine a current optimal idle position of the target area and move the target vehicle to the current optimal idle position after the detection subunit detects that the target position is in the occupied state.

the fourth determining unit is used for determining the current position of the automatic guided vehicle when the moving executing unit finishes the moving operation of the target vehicle;

the second determining unit is further used for determining a return route according to the current position and the initial position of the automatic guided vehicle;

and the returning unit is used for returning to the position of the starting position according to the returning route.

The third aspect of the embodiment of the invention discloses an automatic guided vehicle, which comprises:

a memory storing executable program code;

a processor coupled with the memory;

the processor calls the executable program code stored in the memory to execute the movement control method of the automated guided vehicle disclosed in the first aspect of the embodiment of the present invention.

A fourth aspect of the embodiments of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program causes a computer to execute the movement control method for an automated guided vehicle disclosed in the first aspect of the embodiments of the present invention.

A fifth aspect of an embodiment of the present invention discloses a computer program product, which, when running on a computer, causes the computer to execute the movement control method of an automated guided vehicle disclosed in the first aspect.

Compared with the prior art, the embodiment of the invention has the following beneficial effects:

in an embodiment of the present invention, the automated guided vehicle may receive a moving vehicle signal, wherein the moving vehicle signal includes a current location of the target vehicle, wherein the moving vehicle signal is used to request the automated guided vehicle to reach the current location of the target vehicle according to a target requirement (e.g., using a shortest time) and move the target vehicle; after receiving the moving vehicle signal, the automated guided vehicle may further determine a current position of the automated guided vehicle, determine a moving route (for example, a route with the shortest time use) matching the target requirement according to the current position of the target vehicle and the current position of the automated guided vehicle, where a starting point of the moving route is the current position of the automated guided vehicle, a terminal point of the moving route is the current position of the target vehicle, move to the current position of the target vehicle according to the moving route, and perform a moving operation on the target vehicle. In summary, by implementing the embodiment of the invention, the moving error rate and the labor cost for the target vehicle can be reduced.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic flow chart of a movement control method of an automated guided vehicle according to an embodiment of the present invention;

fig. 2 is a schematic flow chart illustrating another method for controlling the movement of an automated guided vehicle according to an embodiment of the present invention;

fig. 3 is a schematic flow chart of another method for controlling the movement of an automated guided vehicle according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of an automated guided vehicle according to an embodiment of the present invention;

FIG. 5 is a schematic structural view of another automated guided vehicle according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of another automated guided vehicle according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of another automated guided vehicle according to an embodiment of the present invention.

Detailed Description

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

It is to be noted that the terms "comprises" and "comprising" and any variations thereof in the embodiments and drawings of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

The embodiment of the invention discloses a movement control method of an automatic guided transport vehicle and the automatic guided transport vehicle, which can reduce the movement error rate and labor cost of a target vehicle. The following are detailed below.

Example one

Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a movement control method of an automated guided vehicle according to an embodiment of the present invention. The movement control method of the automated guided vehicle as shown in fig. 1 may include the steps of:

101. the automatic guided vehicle receives a moving vehicle signal; the moving vehicle signal includes a current location of the target vehicle, and the moving vehicle signal is used for requesting the automated guided vehicle to reach the current location where the target vehicle is located and move the target vehicle according to the target requirement.

In the embodiment of the present invention, an Automated Guided Vehicle (AGV) is a transport Vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide route and has safety protection and various transfer functions.

In an embodiment of the present invention, the moving vehicle signal is used to request the automated guided vehicle to arrive at the current location (e.g., quality control area) where the target vehicle is located and move the target vehicle according to the target requirement (e.g., moving the target vehicle from the quality control area to the delivery area). Therefore, the embodiment of the invention can reduce the labor cost and further improve the efficiency of moving the vehicle by automatically guiding the dispatching of the transport vehicle.

In the embodiment of the present invention, optionally, the target demand may include not only the destination location to which the target vehicle needs to move, but also a maximum time length or a latest time point required to move from the current location of the target vehicle to the destination location, or a maximum time length or a latest time point required to move the automated guided vehicle from the current location of the automated guided vehicle to the current location of the target vehicle, or a maximum time length or a latest time point required to move the automated guided vehicle from the current location of the automated guided vehicle to the destination location to which the target vehicle needs to move, that is, the target demand may be understood as a time-of-use demand or a distance demand. Further optionally, the target requirement may further include a movement priority of the target vehicle, the movement priority being used for indicating a degree of urgency of movement for the target vehicle, wherein the higher the movement priority, the greater the degree of urgency of movement for the target vehicle. It can be seen that the content included in the target requirement can be used for the automated guided vehicle to select a moving sequence and/or a moving route for the target vehicle, so as to achieve reasonable scheduling of the automated guided vehicle.

In the embodiment of the present invention, as an optional implementation manner, the moving vehicle signal may be triggered by an operation peg set in the current position (i.e. parking space) of the target vehicle or the current space corresponding to the current position of the target vehicle when the relevant operator stops the target vehicle to a certain position (i.e. the current position of the target vehicle), that is: one parking space can correspond to one operation pile, or a group of parking spaces correspond to one operation pile, and the operation pile is provided with a button, a physical key or a touch panel for relevant operators to trigger a mobile vehicle signal, and when the operation pile detects that the relevant operators trigger the operation pile, the mobile vehicle signal can be generated according to the corresponding operation parameters and sent to the automatic guided vehicle. For example, when a plurality of parking spaces correspond to one operation pile and only one button or physical key is arranged on the operation pile, the operation pile may determine the current position of the target vehicle according to the number of times of pressing the button or physical key by the relevant operator, for example, when the number of times of pressing is 3, the current position of the target vehicle may be parking space 3.

In the embodiment of the present invention, as another optional implementation manner, the moving vehicle signal may be triggered by a reservation APP corresponding to a relevant operator stopping the target vehicle to a current position, where the reservation APP is used to detect a vehicle movement request triggered by the relevant operator, generate a moving vehicle signal according to the vehicle movement request, and send the generated moving vehicle signal to the automated guided vehicle.

In the embodiment of the present invention, as another optional implementation manner, the moving vehicle signal may also be issued by a scheduling system for scheduling an automated guided vehicle, and the embodiment of the present invention is not limited.

In the embodiment of the invention, after the moving vehicle signal is received in step 101, step 102 is triggered to execute corresponding operation.

102. The automated guided vehicle determines a current position of the automated guided vehicle, and determines a movement route matching the target demand with the current position of the automated guided vehicle as a starting point and the current position of the target vehicle as an ending point.

In the embodiment of the invention, if the target requirement is the shortest time-consuming requirement, the automatic guided transport vehicle takes the current position of the automatic guided transport vehicle as a starting point and takes the current position of the target vehicle as an end point to determine the moving route matched with the target requirement as the shortest time-consuming moving route; if the target requirement is the shortest distance requirement, the automatic guided vehicle takes the current position of the automatic guided vehicle as a starting point and takes the current position of the target vehicle as an end point to determine a moving route matched with the target requirement as the shortest distance moving route. Therefore, the embodiment of the invention can facilitate the automatic guided vehicle to automatically run by determining the moving route, reduce the labor cost and improve the ordering of the process of dispatching the automatic guided vehicle to the target vehicle.

In the embodiment of the invention, after the operation of determining the current position of the automated guided vehicle in step 102, step 103 is triggered to execute the corresponding operation.

103. The automatic guided vehicle moves to the current position of the target vehicle according to the movement route and performs a movement operation on the target vehicle.

In the embodiment of the present invention, the automatic guided vehicle may be any one of an electromagnetic induction guided AGV, a laser guided AGV, an optical guided AGV, and a visual guided AGV, and the embodiment of the present invention is not limited. In addition, the automated guided vehicle may move to the current position of the target vehicle according to the movement route by using at least one of an ultrasonic detection technology, an inertial navigation technology, an image recognition technology, and a coordinate detection technology, which is not limited in the embodiment of the present invention. Therefore, the embodiment of the invention can reduce the labor cost and the labor moving error rate aiming at the target vehicle, thereby improving the efficiency of moving the vehicle.

In an embodiment of the present invention, the moving operation is to automatically guide the transportation vehicle to move the target vehicle from the current position to the target position (for example, to move the target vehicle from the quality inspection area to the delivery area).

In the embodiment of the invention, taking an automobile production workshop as an example, an automatic guided transport vehicle is positioned in a space of a quality inspection area, when a vehicle in a No. 3 parking space of the quality inspection area needs to be moved to a delivery area, a dispatching center 13:30 sends a moving vehicle signal to the automatic guided transport vehicle, wherein the moving vehicle signal comprises the parking space 3 of the quality inspection area and is used for requesting the automatic guided transport vehicle to move a vehicle parked in the parking space 3 of the quality inspection area to the delivery area at the latest 13: 50; after receiving the moving vehicle signal, the automatic guided vehicle determines all moving routes which can reach the quality inspection area parking space 3 before 13:50 in all the routes from the current position of the automatic guided transportation position to the quality inspection area parking space 3, selects one of the moving routes which is the most free or shortest in distance or shortest in consumed time, moves to the quality inspection area parking space 3 along the one of the moving routes, and moves the vehicle of the quality inspection area parking space 3 to a certain parking position of a delivery area.

As an alternative embodiment, before determining the current position of the automated guided vehicle in step 102, and after receiving the moving vehicle signal in step 101, the method may further comprise the steps of:

the automatic guided transporting vehicle determines the number of tasks to be completed of the automatic guided transporting vehicle, and determines the waiting time according to the number of the tasks to be completed; the waiting time is the total time required by the automatic guided vehicle to complete the task to be completed;

the automated guided vehicle transmits the waiting time period to the control center, and performs the operation of determining the current position of the automated guided vehicle in step 102 at the end of the waiting time period.

It can be seen that, when the optional embodiment is implemented, after the moving vehicle signal is sent to the automated guided vehicle, the person in the control center can obtain the waiting time length fed back by the automated guided vehicle (i.e. the time length for completing the task that the automated guided vehicle has to complete before receiving the moving vehicle signal), which is helpful for effectively allocating the task of the moving vehicle to the automated guided vehicle and improving the efficiency of the moving vehicle.

In another alternative embodiment, after the step 101 is performed and before the step 102 is performed, the method for controlling the movement of the automated guided vehicle may further include the operations of:

the automatic guided vehicle judges whether other unexecuted moving tasks exist;

if no other unexecuted moving tasks exist, analyzing the moving vehicle signal to obtain a target requirement (also called moving requirement) for a target vehicle, determining all moving routes of the automatic guided vehicle, road conditions and distances of each moving route according to the current position of the automatic guided vehicle and the current position of the target vehicle, and judging whether the target requirement is met according to the road conditions and distances of each moving route, current parameters (such as residual electric quantity) and working parameters (such as average power consumption, maximum moving speed, minimum moving speed, obstacle avoidance response speed and the like) of the automatic guided vehicle, if so, triggering the execution step 102, and if not, directly ignoring the received moving vehicle signal;

if other unexecuted moving tasks exist, the automatic guided vehicle ranks the execution priority of each other unexecuted moving task and the target execution priority of the moving vehicle signal, and judges whether the automatic guided vehicle can meet the target requirement after executing other unexecuted moving tasks with high execution priority (the execution priority is higher than the target execution priority), if so, the automatic guided vehicle finishes the other unexecuted moving tasks with high execution priority, and after the other unexecuted moving tasks with high execution priority are executed, the execution step 102 is triggered, and if not, the received moving vehicle signal can be directly ignored.

Therefore, after the moving vehicle signal is received, whether the target requirement included in the moving vehicle signal can be met or not can be judged, if the target requirement cannot be met, redundant operation does not need to be executed, and therefore reliability of the automatic guided vehicle for executing the task can be improved.

As still another alternative embodiment, after the automated guided vehicle moves to the current position of the target vehicle according to the movement route and before the moving operation is performed on the target vehicle, the automated guided vehicle may further perform the following operations:

whether a target vehicle exists at the current position of the target vehicle is scanned through a scanning device (such as a camera), if so, the target vehicle is triggered to execute moving operation, and if not, an error prompt is fed back to a dispatching center, wherein the error prompt is used for indicating that a moving vehicle signal received by an automatic guided vehicle is wrong; or,

reading the electronic tag through an RFID reader to obtain a reading result, judging whether the electronic tag is the same as a target electronic tag obtained in advance or not when the reading result comprises the electronic tag, and triggering the target vehicle to execute moving operation if the electronic tag is the same as the target electronic tag; and if the reading result does not comprise the electronic tag or the electronic tag included in the reading result is different from the target electronic tag, feeding back an error prompt to the dispatching center, wherein the error prompt is used for indicating that the moving vehicle signal received by the automatic guided vehicle is wrong.

Therefore, the alternative embodiment can improve the reliability of the automatic guided vehicle for performing the moving operation on the target vehicle and reduce the misoperation of the automatic guided vehicle.

Therefore, the implementation of the method described in fig. 1 can reduce the labor cost and the error rate of manually moving the vehicle, and improve the order of the process of dispatching the automated guided vehicle to the target vehicle, thereby improving the order of the whole process of moving the vehicle to improve the efficiency of moving the vehicle; in addition, the reliability of the automatic guided vehicle for performing the moving operation on the target vehicle can be improved, and the misoperation of the automatic guided vehicle can be reduced.

Example two

Referring to fig. 2, fig. 2 is a schematic flow chart illustrating another method for controlling movement of an automated guided vehicle according to an embodiment of the present invention. The movement control method of the automated guided vehicle as shown in fig. 2 may include the steps of:

in the embodiment of the present invention, the movement control method of the automated guided vehicle includes step 201, step 203, and step 206, and for the description of step 201, step 203, and step 206, please refer to the detailed description of step 101 to step 103 in the first embodiment, which is not repeated herein.

202. The automated guided vehicle detects whether the automated guided vehicle is in an idle state, and if so, step 203 is performed, and if not, step 202 is performed.

In the embodiment of the present invention, before detecting whether the automated guided vehicle is in the idle state in step 202, the automated guided vehicle may determine the current remaining power amount, determine the required power consumption amount of the moving target vehicle according to the current position of the target vehicle corresponding to the moving vehicle signal and the destination position that the target vehicle needs to reach and that the moving vehicle signal further includes, and then determine whether the required power consumption amount is less than the current remaining power amount, if so, execute the operation of detecting whether the automated guided vehicle is in the idle state in step 202. Therefore, the situation that the electric quantity of the automatic guided vehicle is exhausted in the vehicle conveying process can be avoided, and the task completion degree of the automatic guided vehicle for executing the vehicle conveying task is improved.

204. The automated guided vehicle detects whether there is a target automated guided vehicle in a moving state on the moving route, and if so, performs step 205, and if not, performs step 206.

205. The automated guided vehicle determines that the current state of the automated guided vehicle is a waiting state until it is detected that there is no target automated guided vehicle in a moving state on the moving route.

In the embodiment of the invention, the energy used by the automatic guided vehicle can be electric energy, the automatic guided vehicle can detect whether the current residual electric quantity is lower than a preset threshold value or not when the carrying task is completed each time, and if the residual electric quantity is lower than the preset threshold value, the automatic guided vehicle feeds back an electric quantity shortage signal to the control center so as to avoid receiving a moving vehicle signal when the electric quantity is insufficient.

As an alternative embodiment, if it is detected that the automated guided vehicle is not in an idle state, the automated guided vehicle may perform the following operations:

determining the task number of the current tasks to be completed, and judging whether the task number reaches a preset threshold value;

if the preset threshold value is reached, feeding back rejection information to the control center to prompt the control center to send a moving vehicle signal to at least one of the other automatic guided vehicles except the automatic guided vehicle;

if not, step 203 is executed after the current task to be completed is completed.

Therefore, by implementing the optional implementation manner, it can be ensured that the number of the tasks to be completed currently of each automated guided vehicle does not exceed a preset threshold (for example, 9), and when the number of the tasks to be completed currently of the automated guided vehicle reaches 9, the received new tasks (for example, a moving vehicle signal) are fed back to the control center to prompt the control center to redistribute the new tasks to other automated guided vehicles, so that the efficiency of the moving vehicle can be improved.

As another alternative embodiment, if it is detected that the target automated guided vehicle in a moving state exists on the moving route, the automated guided vehicle may perform the following operations:

acquiring the current position of the automatic guided transport vehicle, and replanning the moving route according to the current position of the automatic guided transport vehicle and the current position of the target vehicle to obtain a target moving route;

the automated guided vehicle moves to a current position of a target vehicle according to a movement route and performs a movement operation on the target vehicle, including:

and the automatic guiding transport vehicle moves to the current position of the target vehicle according to the target moving route and performs moving operation on the target vehicle.

Therefore, the alternative embodiment can be implemented to shorten the time for the automatic guided vehicle to reach the current position of the target vehicle, so that the efficiency of moving the vehicle is improved.

Therefore, the implementation of the method described in fig. 2 can reduce the labor cost and the error rate of manually moving the vehicle, and improve the order of the process of dispatching the automated guided vehicle to the target vehicle, thereby improving the order of the whole process of moving the vehicle and improving the efficiency of moving the vehicle; in addition, the efficiency of the moving vehicle can be improved by shortening the time length for the automatic guided vehicle to reach the current position of the target vehicle and prompting the control center to redistribute the task of the moving vehicle; in addition, the reliability of the automatic guided vehicle for executing the moving operation on the target vehicle can be improved, and the misoperation of the automatic guided vehicle can be reduced; in addition, the situation that the electric quantity of the automatic guided vehicle is exhausted in the process of transporting the vehicle can be avoided, and the task completion degree of the automatic guided vehicle for executing the task of transporting the vehicle is improved.

EXAMPLE III

Referring to fig. 3, fig. 3 is a schematic flow chart illustrating another method for controlling movement of an automated guided vehicle according to an embodiment of the present invention. The movement control method of the automated guided vehicle as shown in fig. 3 may include the steps of:

in the embodiment of the present invention, the movement control method of the automated guided vehicle includes step 301, step 302, step 304, step 307, step 308, and step 309, for the description of step 301, step 302, step 304, step 307, step 308, and step 309, please refer to the detailed description of step 201 to step 206 in embodiment two, which is not repeated herein.

303. The automated guided vehicle determines whether the moving vehicle signal is received and responded by other automated guided vehicles, if so, the process is ended, and if not, step 304 is executed.

In the embodiment of the invention, the automated guided vehicle can judge whether the moving vehicle signal is received and responded by other automated guided vehicles through interaction with other automated guided vehicles, so as to ensure that the moving vehicle signal is received and responded by only one automated guided vehicle. In addition, if the automated guided vehicle fails after receiving and responding to the moving vehicle signal, the automated guided vehicle may feed back the failure signal to the control center, so that the control center retransmits the moving vehicle signal to the other automated guided vehicle. Therefore, the embodiment of the invention can reduce the occurrence probability of the situation that a plurality of automatic guided vehicles receive and respond to the signals of the moving vehicles, thereby improving the working efficiency of the automatic guided vehicles.

In the embodiment of the present invention, optionally, if it is detected in step 304 that the automated guided vehicle is not in an idle state, the automated guided vehicle may send a feedback signal indicating that the automated guided vehicle is not in an idle state to the control center, so that the control center obtains the carrying conditions of other automated guided vehicles, selects a certain automated guided vehicle according to the carrying conditions of other automated guided vehicles, and sends a moving vehicle signal to the certain automated guided vehicle, so as to trigger the certain automated guided vehicle to move to a target vehicle and perform a moving operation on the target vehicle, and then performs step 307 to detect whether there is an operation of the target automated guided vehicle in a moving state on the moving route; the carrying conditions of other automatic guided vehicles comprise the time length required by the other automatic guided vehicles to complete the current task to be completed and the current positions of the other automatic guided vehicles. Therefore, the vehicle moving tasks can be reasonably distributed to the automatic guide transport vehicle through the dispatching of the control center, and the carrying efficiency of the vehicle is improved.

305. The automated guided vehicle judges whether an automated guided vehicle in an idle state exists within a preset range, if so, step 306 is executed, and if not, step 305 is executed.

In the embodiment of the invention, the automatic guided vehicle (for example, the automatic guided vehicle is in the quality inspection area) can judge whether the automatic guided vehicle in the idle state exists in the preset range (for example, the quality inspection area).

306. And the automatic guided vehicle sends a moving vehicle signal to the automatic guided vehicle which is closest to the automatic guided vehicle and in an idle state so as to trigger the automatic guided vehicle in the idle state to move to the target vehicle and perform moving operation on the target vehicle.

In the embodiment of the present invention, the automated guided vehicle may send the moving vehicle signal to the automated guided vehicle that is closest to the automated guided vehicle and is in the idle state, or may send the moving vehicle signal to the automated guided vehicle that is closest to the target vehicle and is in the idle state.

310. When the automatic guided vehicle finishes the moving operation of the target vehicle, the automatic guided vehicle determines the current position of the automatic guided vehicle, and determines a return route according to the current position and the initial position of the automatic guided vehicle.

311. The automated guided vehicle returns to the original position according to the return route.

As an optional implementation manner, after the automated guided vehicle returns to the initial position, the completion of the current carrying task is recorded, and details of the current task are uploaded to the server; the details of the task comprise a moving route which is determined by taking the current position of the automatic guided vehicle as a starting point and taking the current position of the target vehicle as a terminal point and is matched with the target requirement. Therefore, the embodiment of the invention can improve the working order of the automatic guided transport vehicle.

For example, when the automated guided vehicle receives a moving vehicle signal for moving a certain vehicle in the quality inspection area, the automated guided vehicle may determine whether the moving vehicle signal is received by other automated guided vehicles and corresponds to the moving vehicle signal, if not, detect whether a task to be completed of the automated guided vehicle reaches a threshold, and if not, start detecting a current position of the automated guided vehicle and a position of the certain vehicle and formulating a route with the shortest route or the shortest consumed time. After the route is formulated, the automatic guided vehicle can run according to the route, and if other automatic guided vehicles are encountered in the running process, in order to avoid collision, the automatic guided vehicle can wait for other automatic guided vehicles to run after passing through the automatic guided vehicle until reaching the position of a certain vehicle. Furthermore, the automated guided vehicle can move a vehicle to a position to be moved, and automatically return to the initial position after completing the task.

As another alternative embodiment, in the movement control method of the automated guided vehicle, the automated guided vehicle may perform a movement operation on the target vehicle, and the method may include the steps of:

if the vehicle is not in the occupied state, the automatic guided vehicle moves the target vehicle to the target position;

Therefore, the implementation of the alternative embodiment can be adjusted correspondingly according to actual conditions so as to ensure the moving efficiency of the vehicle.

Therefore, the implementation of the method described in fig. 3 can reduce the labor cost and the error rate of manually moving the vehicle, and improve the order of the process of dispatching the automated guided vehicle to the target vehicle, thereby improving the order of the whole process of moving the vehicle and improving the efficiency of moving the vehicle; in addition, the efficiency of the moving vehicle can be improved by shortening the time length for the automatic guided vehicle to reach the current position of the target vehicle and prompting the control center to redistribute the task of the moving vehicle; in addition, the device can be correspondingly adjusted according to the actual situation so as to ensure the moving efficiency of the vehicle; in addition, the reliability of the automatic guided vehicle for executing the moving operation on the target vehicle can be improved, and the misoperation of the automatic guided vehicle can be reduced; in addition, the situation that the electric quantity of the automatic guided vehicle is exhausted in the process of transporting the vehicle can be avoided, and the task completion degree of the automatic guided vehicle for executing the task of transporting the vehicle is improved.

Example four

Referring to fig. 4, fig. 4 is a schematic structural diagram of an automated guided vehicle according to an embodiment of the present invention. As shown in fig. 4, the automated guided vehicle may include: a receiving unit 401, a first determining unit 402, a second determining unit 403, a first movement control unit 404, and a movement performing unit 405, wherein,

a receiving unit 401 for receiving a moving vehicle signal; the moving vehicle signal includes a current location of the target vehicle, and the moving vehicle signal is used for requesting the automated guided vehicle to reach the current location where the target vehicle is located and move the target vehicle according to the target requirement.

In an embodiment of the present invention, the moving vehicle signal is used to request the automated guided vehicle to arrive at the current location (e.g., quality control area) where the target vehicle is located and move the target vehicle according to the target requirement (e.g., moving the target vehicle from the quality control area to the delivery area). Therefore, the receiving unit 401 can reduce the labor cost by automatically guiding the dispatching of the transporting vehicles, thereby improving the efficiency of moving the vehicles.

In the embodiment of the present invention, after the receiving unit 401 receives the moving vehicle signal, the first determining unit 402 is triggered to start.

A first determination unit 402 for determining a current position of the automated guided vehicle.

In the embodiment of the present invention, after the first determination unit 402 determines the current position of the automated guided vehicle, the second determination unit 403 is triggered to start.

A second determination unit 403, configured to determine a moving route matching the target demand, with the current position of the automated guided vehicle as a starting point and the current position of the target vehicle as an ending point.

In this embodiment of the present invention, the target requirement may include a shortest time-consuming requirement or a shortest distance requirement, and if the target requirement is the shortest time-consuming requirement, the second determining unit 403 determines, using the current position of the automatic guided vehicle as a starting point and the current position of the target vehicle as a terminal point, that the moving route matched with the target requirement is the shortest time-consuming moving route; if the target requirement is the shortest distance requirement, the second determining unit 403 determines, using the current position of the automated guided vehicle as a starting point and the current position of the target vehicle as an end point, a moving route matching the target requirement as the shortest distance moving route, which is not limited in the embodiment of the present invention. Therefore, the second determination unit 403 can facilitate the automated guided vehicle to automatically travel by determining the movement route, reduce labor cost, and improve the order of the process of dispatching the automated guided vehicle to the target vehicle.

In the embodiment of the present invention, after the second determining unit 403 determines the moving route matching with the target requirement, the first movement control unit 404 is triggered to start.

A first movement control unit 404 for moving to the current position of the target vehicle according to the movement route.

In the embodiment of the present invention, the automatic guided vehicle may be any one of an electromagnetic induction guided AGV, a laser guided AGV, an optical guided AGV, and a visual guided AGV, and the embodiment of the present invention is not limited. In addition, the first movement control unit 404 may move to the current position of the target vehicle according to the movement route by using at least one of an ultrasonic detection technology, an inertial navigation technology, an image recognition technology, and a coordinate detection technology, which is not limited in the embodiment of the present invention. Therefore, the first movement control unit 404 can reduce the labor cost and the labor movement error rate for the target vehicle, thereby improving the efficiency of moving the vehicle.

In the embodiment of the present invention, after the first movement control unit 404 moves to the current position of the target vehicle according to the movement route, the movement execution unit 405 is triggered to start.

And a movement execution unit 405 for executing a movement operation by the target vehicle.

In the embodiment of the present invention, the moving operation is that the moving execution unit 405 moves the target vehicle from the current position to the target position (for example, moves the target vehicle from the quality inspection area to the delivery area).

As an alternative embodiment, before the first determination unit 402 determines the current position of the automated guided vehicle, and after the reception unit 401 receives the moving vehicle signal, the reception unit 401 may be further configured to:

determining the number of tasks to be completed of the automatic guided vehicle, and determining the waiting time according to the number of the tasks to be completed; the waiting time is the total time required by the automatic guided vehicle to complete the task to be completed;

the waiting time period is transmitted to the control center, and the first determination unit 402 is triggered to perform an operation of determining the current position of the automated guided vehicle at the end of the waiting time period.

Therefore, by implementing the alternative embodiment, the person in the control center can obtain the waiting time length fed back by the automated guided vehicle (i.e. the time length for completing the task that the automated guided vehicle has to complete before receiving the moving vehicle signal) after sending the moving vehicle signal to the automated guided vehicle, which is helpful for effectively allocating the task of the moving vehicle to the automated guided vehicle and improving the moving efficiency of the vehicle.

In another alternative embodiment, the receiving unit 401, before the first determining unit 402 determines the current position of the automated guided vehicle and after the receiving unit 401 receives the moving vehicle signal, may be further configured to:

judging whether other unexecuted moving tasks exist or not;

if no other unexecuted moving tasks exist, analyzing the moving vehicle signal to obtain a target requirement (also called a moving requirement) for the target vehicle, determining all moving routes of the automatic guided vehicle, road conditions and distances of each moving route according to the current position of the automatic guided vehicle and the current position of the target vehicle, and judging whether the target requirement is met according to the road conditions and distances of each moving route, current parameters (such as residual electricity) and working parameters (such as average power consumption, maximum moving speed, minimum moving speed, obstacle avoidance response speed and the like) of the automatic guided vehicle, if so, triggering the first determining unit 402 to execute the operation of determining the current position of the automatic guided vehicle, and if not, directly ignoring the received moving vehicle signal;

if there are other unexecuted mobile tasks, the execution priority of each other unexecuted mobile task and the target execution priority of the mobile vehicle signal are sorted, and it is determined whether the automatic guided vehicle can satisfy the above-mentioned target requirement after executing other unexecuted mobile tasks having a high execution priority (the execution priority is higher than the target execution priority), if so, the other unexecuted mobile tasks having a high execution priority are executed, and after the other unexecuted mobile tasks having a high execution priority are executed, the first determination unit 402 is triggered to perform the operation of determining the current position of the automatic guided vehicle, and if not, the received mobile vehicle signal can be directly ignored.

As a further alternative, after the first movement control unit 404 moves to the current position of the target vehicle according to the movement route and before the movement execution unit 405 performs the movement operation on the target vehicle, the first movement control unit 404 may be further configured to perform the following operations:

It can be seen that the implementation of the automated guided vehicle depicted in fig. 4 can reduce the labor cost and the error rate of manually moving the vehicle, and improve the ordering of the process of dispatching the automated guided vehicle to the target vehicle, thereby improving the ordering of the whole process of moving the vehicle to improve the efficiency of moving the vehicle; in addition, the reliability of the automatic guided vehicle for performing the moving operation on the target vehicle can be improved, and the misoperation of the automatic guided vehicle can be reduced.

EXAMPLE five

Referring to fig. 5, fig. 5 is a schematic structural diagram of another automated guided vehicle according to an embodiment of the present invention. The automated guided vehicle shown in fig. 5 is optimized from the automated guided vehicle shown in fig. 4. Compared to the automated guided vehicle shown in fig. 4, the automated guided vehicle shown in fig. 5 may further include: a first detection unit 406, a second detection unit 407, a third determination unit 408, a second movement control unit 409, a judgment unit 410, and a transmission unit 411, wherein,

a first detecting unit 406, configured to detect whether the automated guided vehicle is in an idle state after the receiving unit 401 receives the moving vehicle signal and before the first determining unit 402 determines the current position of the automated guided vehicle, and trigger the first determining unit 402 to perform an operation of determining the current position of the automated guided vehicle after detecting that the automated guided vehicle is in the idle state.

In this embodiment of the present invention, before the first detecting unit 406 detects whether the automated guided vehicle is in the idle state, the first detecting unit 406 may further determine the current remaining power amount, determine the required power consumption amount of the moving target vehicle according to the current position of the target vehicle corresponding to the moving vehicle signal and the destination position that the target vehicle needs to reach and that the moving vehicle signal further includes, and then determine whether the required power consumption amount is smaller than the current remaining power amount, if so, perform an operation of detecting whether the automated guided vehicle is in the idle state. Therefore, the situation that the electric quantity of the automatic guided vehicle is exhausted in the vehicle conveying process can be avoided, and the task completion degree of the automatic guided vehicle for executing the vehicle conveying task is improved.

In this embodiment of the present invention, optionally, if the first detecting unit 406 detects that the automated guided vehicle is not in an idle state, the first detecting unit 406 may send a feedback signal indicating that the automated guided vehicle is not in the idle state to the control center, so that the control center obtains the carrying conditions of other automated guided vehicles, selects a certain automated guided vehicle according to the carrying conditions of other automated guided vehicles, and sends a moving vehicle signal to the certain automated guided vehicle, so as to trigger the certain automated guided vehicle to move to a target vehicle and perform a moving operation on the target vehicle, and then trigger the second detecting unit 407 to detect whether there is an operation of the target automated guided vehicle in a moving state on a moving route; the carrying conditions of other automatic guided vehicles comprise the time length required by the other automatic guided vehicles to complete the current task to be completed and the current positions of the other automatic guided vehicles. Therefore, the vehicle moving tasks can be reasonably distributed to the automatic guide transport vehicle through the dispatching of the control center, and the carrying efficiency of the vehicle is improved.

A second detecting unit 407 for detecting whether there is a target automated guided vehicle in a moving state on the moving route before the first movement control unit 404 moves to the current position of the target vehicle according to the moving route.

The first movement control unit 404 is specifically configured to move to the current position of the target vehicle according to the movement route after the second detection unit 407 detects that there is no target automated guided vehicle in the movement state on the movement route.

A third determining unit 408 configured to determine that the current state of the automated guided vehicle is a waiting state until it is detected that there is no target automated guided vehicle in the moving state on the moving route after the second detecting unit 407 detects that there is a target automated guided vehicle in the moving state on the moving route.

A second movement control unit 409 for moving to the current position of the target vehicle according to the movement route after the second detection unit 407 detects that the target automated guided vehicle in the movement state exists on the movement route, and after the third determination unit 408 determines that the current state of the automated guided vehicle is the waiting state until it is detected that the target automated guided vehicle in the movement state does not exist on the movement route.

A judging unit 410 for judging whether the moving vehicle signal is received by and responded to by other automated guided vehicles after the first detecting unit 406 detects that the automated guided vehicle is in an idle state and before the first determining unit 402 determines the current position of the automated guided vehicle.

In the embodiment of the present invention, the determining unit 410 may determine whether the moving vehicle signal is received and responded by other automated guided vehicles by interacting with other automated guided vehicles, so as to ensure that the moving vehicle signal is received and responded by only one automated guided vehicle. In addition, if a fault occurs after receiving and responding to the moving vehicle signal, the determination unit 410 may feed back a fault signal to the control center so that the control center retransmits the moving vehicle signal to other automated guided vehicles. Therefore, the determination unit 410 can reduce the occurrence probability of the case where a plurality of automated guided vehicles receive and respond to the moving vehicle signal, thereby improving the work efficiency of the automated guided vehicles.

The first determining unit 402 is specifically configured to determine the current position of the automated guided vehicle after the first detecting unit 406 detects that the automated guided vehicle is in the idle state, and after the determining unit 410 determines that the moving vehicle signal is not received by or responded to by other automated guided vehicles.

The determining unit 410 is further configured to determine whether there is an automated guided vehicle in an idle state within a preset range after the first detecting unit 406 detects that the automated guided vehicle is not in the idle state.

In the embodiment of the present invention, the determining unit 410 may determine whether there is a self-guided vehicle in an idle state in a preset range (e.g., a quality inspection area).

A sending unit 411, configured to send a moving vehicle signal to the automated guided vehicle that is closest to the automated guided vehicle and in the idle state after the first detecting unit 406 detects that the automated guided vehicle is not in the idle state and after the determining unit 410 determines that the automated guided vehicle in the idle state exists within the preset range, so as to trigger the automated guided vehicle in the idle state to move to the target vehicle and perform a moving operation on the target vehicle.

In this embodiment of the present invention, the sending unit 411 may send the moving vehicle signal to the automated guided vehicle that is closest to the automated guided vehicle and is in the idle state, or may send the moving vehicle signal to the automated guided vehicle that is closest to the target vehicle and is in the idle state, which is not limited in this embodiment of the present invention.

As an alternative embodiment, if the first detection unit 406 detects that the automated guided vehicle is not in an idle state, the first detection unit 406 may be further configured to:

if the current task to be completed is not reached, the first determination unit 402 is triggered to execute the operation of determining the current position of the automated guided vehicle after the completion of the current task to be completed.

As another alternative, if the second detection unit 407 detects that there is a target automated guided vehicle in a moving state on the moving route, the second detection unit 407 may be further configured to:

the manner of executing the moving operation by the first moving control unit 404 may specifically be:

the automated guided vehicle moves to the current position of the target vehicle according to the target movement route and triggers the movement execution unit 405 to execute the movement operation on the target vehicle.

It can be seen that the implementation of the automated guided vehicle depicted in fig. 5 can reduce the labor cost and the error rate of manually moving the vehicle, and improve the order of the process of dispatching the automated guided vehicle to the target vehicle, thereby improving the order of the whole process of moving the vehicle to improve the efficiency of moving the vehicle; in addition, the efficiency of the moving vehicle can be improved by shortening the time length for the automatic guided vehicle to reach the current position of the target vehicle and prompting the control center to redistribute the task of the moving vehicle; in addition, the reliability of the automatic guided vehicle for executing the moving operation on the target vehicle can be improved, and the misoperation of the automatic guided vehicle can be reduced; in addition, the situation that the electric quantity of the automatic guided vehicle is exhausted in the process of transporting the vehicle can be avoided, and the task completion degree of the automatic guided vehicle for executing the task of transporting the vehicle is improved.

EXAMPLE six

Referring to fig. 6, fig. 6 is a schematic structural diagram of another automated guided vehicle according to an embodiment of the present invention. The automated guided vehicle shown in fig. 6 is optimized from the automated guided vehicle shown in fig. 5. Compared to the automated guided vehicle shown in fig. 5, the movement performing unit 405 in the automated guided vehicle shown in fig. 6 includes: a detection sub-unit 4051 and a movement execution sub-unit 4052, wherein,

the detecting sub-unit 4051 is configured to detect whether the target position is in an occupied state.

A movement execution sub-unit 4052 configured to move the target vehicle to the target position after the detection sub-unit 4051 detects that the target position is not in the occupied state.

The moving execution sub-unit 4052 is further configured to, after the detection sub-unit 4051 detects that the target location is in the occupied state, determine a current optimal idle location of the target area, and move the target vehicle to the current optimal idle location.

Therefore, the embodiment of the invention can be correspondingly adjusted according to the actual situation so as to ensure the moving efficiency of the vehicle.

The automated guided vehicle shown in fig. 6 may further include: a fourth determination unit 412, and a return unit 413, wherein,

a fourth determination unit 412 for determining the current location of the automated guided vehicle when the movement execution unit 405 completes the movement operation of the target vehicle.

In the embodiment of the present invention, after the fourth determining unit 412 determines the current location of the automated guided vehicle, the second determining unit 403 is triggered to execute the operation of determining the return route according to the current location and the initial location of the automated guided vehicle.

The second determining unit 403 is further configured to determine a return route according to the current location and the starting location of the automated guided vehicle.

In the embodiment of the present invention, after the second determining unit 403 determines the return route according to the current location and the starting location of the automated guided vehicle, the return unit 413 is triggered to start.

A returning unit 413, configured to return to the location of the start according to the returning route.

As an optional implementation manner, after returning to the initial position, the returning unit 413 records that the transportation task is completed, and uploads details of the task to the server; the details of the task comprise a moving route which is determined by taking the current position of the automatic guided vehicle as a starting point and taking the current position of the target vehicle as a terminal point and is matched with the target requirement. Therefore, the return unit 413 can improve the operational order of the automated guided vehicle.

It can be seen that the implementation of the automated guided vehicle described in fig. 6 can reduce the labor cost and the error rate of manually moving the vehicle, and improve the order of the process of dispatching the automated guided vehicle to the target vehicle, thereby improving the order of the whole process of moving the vehicle to improve the efficiency of moving the vehicle; in addition, the efficiency of the moving vehicle can be improved by shortening the time length for the automatic guided vehicle to reach the current position of the target vehicle and prompting the control center to redistribute the task of the moving vehicle; in addition, the device can be correspondingly adjusted according to the actual situation so as to ensure the moving efficiency of the vehicle; in addition, the reliability of the automatic guided vehicle for executing the moving operation on the target vehicle can be improved, and the misoperation of the automatic guided vehicle can be reduced; in addition, the situation that the electric quantity of the automatic guided vehicle is exhausted in the process of transporting the vehicle can be avoided, and the task completion degree of the automatic guided vehicle for executing the task of transporting the vehicle is improved.

EXAMPLE seven

Referring to fig. 7, fig. 7 is a schematic structural diagram of another automated guided vehicle according to an embodiment of the present invention. As shown in fig. 7, the automated guided vehicle may include:

a memory 701 in which executable program code is stored;

a processor 702 coupled to the memory 701;

the processor 702 calls the executable program code stored in the memory 701 to execute the movement control method of the automated guided vehicle of any one of fig. 1 to 3.

An embodiment of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program causes a computer to execute a movement control method of an automated guided vehicle according to any one of fig. 1 to 3.

It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by instructions associated with a program, which may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), compact disc-Read-Only Memory (CD-ROM), or other Memory, magnetic disk, magnetic tape, or magnetic tape, Or any other medium which can be used to carry or store data and which can be read by a computer.

The above embodiments are only used for illustrating the technical solutions of the present application and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art; the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. A movement control method of an automated guided vehicle, the method comprising:

2. The method of claim 1, wherein after the automated guided vehicle receives the moving vehicle signal and before the automated guided vehicle determines the current position of the automated guided vehicle, the method further comprises:

3. The method of claim 2, wherein after detecting that the automated guided vehicle is in the idle state, the method further comprises, before the automated guided vehicle determines the current location of the automated guided vehicle:

the method further comprises the following steps:

4. The method of claim 1, wherein the moving vehicle signal further includes information of a target location to which the target vehicle needs to move, the target location being in a target area, the automated guided vehicle performing a moving operation on the target vehicle including:

5. The method of any one of claims 1 to 4, wherein after the automated guided vehicle performs a moving operation on the target vehicle, the method further comprises:

6. An automated guided vehicle, comprising:

7. The automated guided vehicle of claim 6, further comprising:

8. The automated guided vehicle of claim 7, further comprising:

9. The automated guided vehicle of claim 6, wherein the moving vehicle signal further comprises information of a target location to which the target vehicle needs to move, the target location being in a target area, the movement execution unit comprising:

10. The automated guided vehicle of any of claims 6-9, further comprising: