CN109213149A - A kind of automated guided vehicle and its control method, device and storage medium - Google Patents
A kind of automated guided vehicle and its control method, device and storage medium Download PDFInfo
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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
- G05D1/0253—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 extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/161—Detection; Localisation; Normalisation
- G06V40/166—Detection; Localisation; Normalisation using acquisition arrangements
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/172—Classification, e.g. identification
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/26—Speech to text systems
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
- G10L2015/223—Execution procedure of a spoken command
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Abstract
The present invention provides a kind of automated guided vehicle and its control method, device and storage medium, which comprises acquires voice messaging by audio frequency apparatus；Identify the corresponding command information of the voice messaging；The automated guided vehicle is controlled according to the described instruction information of identification.Scheme provided by the invention can be realized the voice control of automated guided vehicle, substitutes traditional button operation, controls convenient for operator.
Description
Technical field
The present invention relates to control field more particularly to a kind of automated guided vehicle and its control methods, device and storage
Medium.
Background technique
With the development of current automatic industrial, AGV (Automated Guided Vehicle, automated guided vehicle)
Trolley becomes the important link of automatic industrial, under conditions of unmanned, by electromagnetic induction along corresponding electromagnetism
Track transports cargo, greatly reduces the consumption of human resources during transporting.However current AGV trolley is only to transport
Be when cargo it is unmanned, when loading and unloading, require additional manpower and go to be configured manually, cause delivery
Two sides are asynchronous with receiving, and after AGV trolley arrives at the destination point, if nobody carries out next step operation manually, can stand not
It is dynamic, and AGV is manipulated by key at present, it is cumbersome.
Summary of the invention
It is a primary object of the present invention to overcome the defect of the above-mentioned prior art, provide a kind of automated guided vehicle and its
Control method, device and storage medium to solve AGV are in the prior art manipulated by key, and cumbersome asks
Topic.
One aspect of the present invention provides a kind of automated guided vehicle control method, comprising: acquires language by audio frequency apparatus
Message breath；Identify the corresponding command information of the voice messaging；The homing guidance is controlled according to the described instruction information of identification
Transport vehicle.
Optionally, the corresponding command information of the voice messaging is identified, comprising: voice knowledge is carried out to the voice messaging
Not, to identify the corresponding text information of the voice messaging；The text information and preset command information that will identify that
Semantic matches are carried out, with the corresponding command information of the determination voice messaging.
Optionally, the corresponding command information of the voice messaging is identified, comprising: voice knowledge is carried out to the voice messaging
Not, to identify the corresponding text information of the voice messaging；Inquire the text in preset command information and identified
The identical command information of information, with the corresponding command information of the determination voice messaging.
Optionally, the automated guided vehicle is controlled according to the described instruction information of identification, comprising: according to described instruction
The corresponding control instruction of delivering, so that the automated guided vehicle is accordingly taken action according to the control instruction.
Optionally, the method also includes: target person is identified by picture pick-up device, when identifying the target person
When, issue corresponding operation prompt.
Optionally, target person is identified by picture pick-up device, comprising: acquire current camera shooting in real time by the picture pick-up device
Personnel's image in region；Personnel's image is compared with the target person image prestored, with the determination target person
Whether in current imaging area.
Optionally, corresponding operation prompt is issued, comprising: prompt target person to complete in next step by sending sound and light signal
Operation.
Optionally, the method also includes: acquire the image information of current imaging area in real time by picture pick-up device；It will adopt
The described image information of collection is sent to controlling terminal, real-time to carry out for the controlling terminal to the automated guided vehicle
Monitoring.
Another aspect of the present invention provides a kind of automated guided vehicle control device, comprising: voice collecting unit is used for
Voice messaging is acquired by audio frequency apparatus；Voice recognition unit, for identification corresponding command information of the voice messaging；Control
Unit, for controlling the automated guided vehicle according to the described instruction information of identification.
Optionally, the voice recognition unit identifies the corresponding command information of the voice messaging, comprising: to institute's predicate
Message breath carries out speech recognition, to identify the corresponding text information of the voice messaging；The text information that will identify that
Semantic matches are carried out with preset command information, with the corresponding command information of the determination voice messaging.
Optionally, the voice recognition unit identifies the corresponding command information of the voice messaging, comprising: to institute's predicate
Message breath carries out speech recognition, to identify the corresponding text information of the voice messaging；Inquire in preset command information with
The identical command information of the text information identified, with the corresponding command information of the determination voice messaging.
Optionally, described control unit, it is described certainly according to the described instruction information control of voice recognition unit identification
Dynamic guide transport lorry, comprising: according to the corresponding control instruction of described instruction delivering, so that the automated guided vehicle root
It is accordingly taken action according to the control instruction.
Optionally, described device further include: personal identification unit, for identifying target person by picture pick-up device；Operation
Prompt unit, for when the personal identification unit identifies the target person, issuing corresponding operation prompt.
Optionally, the personal identification unit, identifies target person by picture pick-up device, comprising: is set by the camera shooting
The standby personnel's image for acquiring current imaging area in real time；Personnel's image is compared with the target person image prestored,
With the determination target person whether in current imaging area.
Optionally, the operation indicating unit issues corresponding operation prompt, comprising: by sending sound and light signal prompt
Target person is completed to operate in next step.
Optionally, described device further include: image acquisition units, for acquiring current imaging region in real time by picture pick-up device
The image information in domain；Transmission unit, for the described image information of acquisition to be sent to controlling terminal, with whole for the control
End monitors the automated guided vehicle in real time.
Another aspect of the invention provides a kind of storage medium, is stored thereon with computer program, and described program is processed
The step of device realizes aforementioned any the method when executing.
Further aspect of the present invention provides a kind of automated guided vehicle, including processor, memory and is stored in
The computer program that can be run on a processor on reservoir, the processor realize aforementioned any side when executing described program
The step of method.
Further aspect of the present invention provides a kind of automated guided vehicle, including aforementioned any homing guidance transport
Truck control device.
According to the technique and scheme of the present invention, the voice control for realizing automated guided vehicle, instead of traditional key
Operation simplifies control operation, controls convenient for operator, and operator only needs to fix the cargo of transport,
To start carry out task by trolley by voice control, reduce the waste of additional effort, the study and adaptation saved is not
With the time of the operating guidance of AGV trolley；And when AGV reaches the destination, the personnel of receiving can be searched out by face recognition,
By controlled by sound and light prompt operator complete cargo unloading, both avoided operator's moment waits monitoring period waste,
It can ensure that operator can timely complete unloading for cargo and take when cargo arrives at again, and be set out by voice control by its return
Point carries out the preparation of next task.Resource is effectively utilized in the present invention, avoids time waste and money during transporting
Source waste, has simplified the operation difficulty of operator, provides advantageous guarantee for the intelligence and simplification of automatic industrial.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes a part of the invention, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the method schematic diagram of an embodiment of automated guided vehicle control method provided by the invention；
Fig. 2 is the method schematic diagram of another embodiment of automated guided vehicle control method provided by the invention；
Fig. 3 is the method schematic diagram of the another embodiment of automated guided vehicle control method provided by the invention；
Fig. 4 is the structural schematic diagram of an embodiment of automated guided vehicle control device provided by the invention；
Fig. 5 is the structural schematic diagram of another embodiment of automated guided vehicle control device provided by the invention；
Fig. 6 is the structural schematic diagram of the another embodiment of automated guided vehicle control device provided by the invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the specific embodiment of the invention and
Technical solution of the present invention is clearly and completely described in corresponding attached drawing.Obviously, described embodiment is only the present invention one
Section Example, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
Fig. 1 is the method schematic diagram of an embodiment of automated guided vehicle control method provided by the invention.Such as Fig. 1 institute
Show, according to one embodiment of present invention, the automated guided vehicle control method includes at least step S110, step S120
With step S130.
Step S110 acquires voice messaging by audio frequency apparatus.
Specifically, method of the invention can be implemented in the master control borad of AGV.Master control borad is the core control part of AGV, tool
Body is the control panel based on ARM chip, for example, the voice messaging outside the audio frequency apparatus acquisition of master control borad periphery access, and pass
Transport to master control borad.
Step S120 identifies the corresponding command information of the voice messaging.
In a specific embodiment, speech recognition is carried out to the voice messaging, to identify the voice messaging
Corresponding text information；The text information and preset command information that will identify that carry out semantic matches, described in determination
The corresponding command information of voice messaging.Specifically, collected voice messaging is converted into identifiable audio signal, for example,
Collected voice signal is analog signal, and analog signal is converted to the digital sound that master control borad can identify by hardware circuit
Frequency signal carries out discriminance analysis to the digital audio and video signals, and to identify corresponding text information, the text that will identify that is believed
Breath carries out semantic matches with preset command information, that is, searches the semanteme in preset command information with the text information identified
The same or similar command information is determined as the corresponding command information of the collected voice messaging.
In another embodiment specific implementation mode, speech recognition is carried out to the voice messaging, to identify the voice letter
Cease corresponding text information；Command information identical with the text information identified in preset command information is inquired, with
Determine the corresponding command information of the voice messaging.Specifically, collected voice messaging identifiable audio is converted to believe
Number, for example, collected voice signal is analog signal, analog signal, which is converted to master control borad by hardware circuit, to be identified
Digital audio and video signals, discriminance analysis is carried out to the digital audio and video signals, to identify corresponding text information, inquiry is default
Command information in command information identical with the text information identified, that is to say, that set specific instruction vocabulary, it is right
The identification of voice messaging is only capable of the specific instruction vocabulary in identification voice messaging, can reduce caused by fuzzy word is anticipated and accidentally grasp
Make.
Step S130 controls the automated guided vehicle according to the described instruction information of identification.
Specifically, according to the corresponding control instruction of described instruction delivering so that the automated guided vehicle according to
The control instruction is accordingly taken action.That is, issuing corresponding control instruction according to the command information, make the AGV root
It is taken action automatically according to the control instruction to destination.
Fig. 2 is the method schematic diagram of another embodiment of automated guided vehicle control method provided by the invention.Such as Fig. 2
Shown, based on the above embodiment, the automated guided vehicle control method further includes step S140.
Step S140 identifies target person by picture pick-up device, when identifying the target person, issues corresponding behaviour
It prompts.
Specifically, it when the automated guided vehicle arrives at the destination, is acquired in real time by the picture pick-up device current
Personnel's image of imaging area；Personnel's image is compared with the target person image prestored, with the determination target
Whether personnel are in current imaging area.For example, prestoring the human face photo of target person, current imaging area is acquired by camera
Personnel human face photo after, by face recognition algorithms, by the face of collected human face photo and the target person prestored
Whether photo is compared, determine target person in current imaging area.For example, by comparing the specific pixel on two photos
Point information, it can be determined that the similarity of two photos, to further be judged according to similarity size and identify face.
When identifying the target person, corresponding operation prompt is issued.It specifically, can be by sending sound and light signal
Target person is prompted to complete to operate in next step.For example, AGV be mainly used for transport material, therefore, when identifying target person
When, prompt target person to carry out unloading or the supplement material of material after encountering AGV trolley.
Fig. 3 is the method schematic diagram of the another embodiment of automated guided vehicle control method provided by the invention.Such as Fig. 3
It is shown, it is based on any of the above-described embodiment, the automated guided vehicle control method further includes step S150 and step S160.
Step S150 acquires the image information of current imaging area by picture pick-up device in real time.
Specifically, by picture pick-up device (such as camera) acquisition in real time when (camera is worked as the imaging area of preceding camera
Before the scene regions range that can take) image information.
The described image information of acquisition is sent to controlling terminal by step S160, to be used for the controlling terminal to described
Automated guided vehicle is monitored in real time.
Specifically, AGV master control borad and controlling terminal first can pass the described image information of acquisition without direct communication
It is handed on server, controlling terminal (such as computer, mobile device) obtains described image information by access server.Together
When, the information that server can also save AGV and controlling terminal uploads plays the role of backup.
Fig. 4 is the structural schematic diagram of an embodiment of automated guided vehicle control device provided by the invention.Such as Fig. 4 institute
Show, the automated guided vehicle control device 100 includes: that voice collecting unit 110, voice recognition unit 120 and control are single
Member 130.
Voice collecting unit 110 is used to acquire voice messaging by audio frequency apparatus；The institute for identification of voice recognition unit 120
State the corresponding command information of voice messaging；Control unit 130 is used to lead automatically according to the control of the described instruction information of identification is described
Draw transport vehicle.
Voice collecting unit 110 acquires voice messaging by audio frequency apparatus.Specifically, method of the invention can be in AGV
Master control borad implement.Master control borad is the core control part of AGV, the specially control panel based on ARM chip, for example, master control borad
Voice messaging outside the audio frequency apparatus acquisition of periphery access, and it is transmitted to master control borad.
Voice recognition unit 120 identifies the corresponding command information of the voice messaging.In a specific embodiment, right
The voice messaging carries out speech recognition, to identify the corresponding text information of the voice messaging；The text that will identify that
Word information and preset command information carry out semantic matches, with the corresponding command information of the determination voice messaging.Specifically, will
Collected voice messaging is converted to identifiable audio signal, for example, collected voice signal is analog signal, will simulate
Signal is converted to the digital audio and video signals that master control borad can identify by hardware circuit, identifies to the digital audio and video signals
Analysis, to identify corresponding text information, the text information that will identify that and preset command information carry out semantic matches, i.e.,
The same or similar command information of semanteme in preset command information with the text information identified is searched, is determined as collecting
The corresponding command information of the voice messaging.
In another embodiment specific implementation mode, speech recognition is carried out to the voice messaging, to identify the voice letter
Cease corresponding text information；Command information identical with the text information identified in preset command information is inquired, with
Determine the corresponding command information of the voice messaging.Specifically, collected voice messaging identifiable audio is converted to believe
Number, for example, collected voice signal is analog signal, analog signal, which is converted to master control borad by hardware circuit, to be identified
Digital audio and video signals, discriminance analysis is carried out to the digital audio and video signals, to identify corresponding text information, inquiry is default
Command information in command information identical with the text information identified, that is to say, that set specific instruction vocabulary, it is right
The identification of voice messaging is only capable of the specific instruction vocabulary in identification voice messaging, can reduce caused by fuzzy word is anticipated and accidentally grasp
Make.
Control unit 130 controls the homing guidance according to the described instruction information that the voice recognition unit identifies and transports
Vehicle.Specifically, according to the corresponding control instruction of described instruction delivering, so that the automated guided vehicle is according to the control
System instruction is accordingly taken action.That is, issuing corresponding control instruction according to the command information, make the AGV according to
Control instruction is taken action automatically to destination.
Fig. 5 is the structural schematic diagram of another embodiment of automated guided vehicle control device provided by the invention.Such as Fig. 5
Shown, the automated guided vehicle control device 100 further includes personal identification unit 140 and operation indicating unit 150.
Personal identification unit 140 is used to identify target person by picture pick-up device；Operation indicating unit 150 is used for when described
When personal identification unit identifies the target person, corresponding operation prompt is issued.
Specifically, when the automated guided vehicle arrives at the destination, personal identification unit 140 is set by the camera shooting
The standby personnel's image for acquiring current imaging area in real time；Personnel's image is compared with the target person image prestored,
With the determination target person whether in current imaging area.For example, prestoring the human face photo of target person, adopted by camera
After the human face photo for collecting the personnel of current imaging area, by face recognition algorithms, by collected human face photo with prestore
Whether the human face photo of target person is compared, determine target person in current imaging area.For example, by comparing two photographs
The specific pixel point information of on piece, it can be determined that the similarity of two photos, thus further simultaneously according to the judgement of similarity size
Identify face.
When identifying the target person, operation indicating unit 150 issues corresponding operation prompt.It specifically, can be with
Target person is prompted to complete to operate in next step by sending sound and light signal.For example, AGV's is mainly used for transport material, therefore,
When identifying target person, target person is prompted to carry out unloading or the supplement material of material after encountering AGV trolley.
Fig. 6 is the structural schematic diagram of the another embodiment of automated guided vehicle control device provided by the invention.Such as Fig. 6
Shown, the automated guided vehicle control device 100 further includes image acquisition units 160 and transmission unit 170.
Image acquisition units 160 are used to acquire the image information of current imaging area in real time by picture pick-up device；It sends single
Member 170 is for being sent to controlling terminal for the described image information of acquisition, to be used for the controlling terminal to the homing guidance
Transport vehicle is monitored in real time.
Specifically, by picture pick-up device (such as camera), taking the photograph for preceding camera is worked as in acquisition to image acquisition units 160 in real time
As the image information of region (camera is currently able to the scene regions range taken).AGV master control borad and controlling terminal can be with
Without direct communication, the described image information that transmission unit 170 acquires is transferred on server, controlling terminal (such as calculate
Machine, mobile device) pass through access server acquisition described image information.Meanwhile server can also save on AGV and controlling terminal
The information of biography, plays the role of backup.
The present invention also provides a kind of storage mediums for corresponding to the automated guided vehicle control method, are stored thereon with
Computer program, the step of aforementioned any the method is realized when described program is executed by processor.
The present invention also provides a kind of automated guided vehicles for corresponding to the automated guided vehicle control method, including
The computer program that processor, memory and storage can be run on a processor on a memory, the processor execute institute
The step of realizing aforementioned any the method when stating program.
The present invention also provides a kind of automated guided vehicles for corresponding to the automated guided vehicle control device, including
Aforementioned any automated guided vehicle control device.
Accordingly, scheme provided by the invention realizes the voice control of automated guided vehicle, instead of traditional key
Operation simplifies control operation, controls convenient for operator, and operator only needs to fix the cargo of transport,
To start carry out task by trolley by voice control, reduce the waste of additional effort, the study and adaptation saved is not
With the time of the operating guidance of AGV trolley；And when AGV reaches the destination, the personnel of receiving can be searched out by face recognition,
By controlled by sound and light prompt operator complete cargo unloading, both avoided operator's moment waits monitoring period waste,
It can ensure that operator can timely complete unloading for cargo and take when cargo arrives at again, and be set out by voice control by its return
Point carries out the preparation of next task.Resource is effectively utilized in the present invention, avoids time waste and money during transporting
Source waste, has simplified the operation difficulty of operator, provides advantageous guarantee for the intelligence and simplification of automatic industrial.
Function described herein can be implemented in hardware, the software executed by processor, firmware or any combination thereof.
If implemented in the software executed by processor, computer can be stored in using function as one or more instructions or codes
It is transmitted on readable media or via computer-readable media.Other examples and embodiment are wanted in the present invention and appended right
It asks in the scope and spirit of book.For example, due to the property of software, function described above can be used by processor,
Hardware, firmware, hardwired or the software implementation for appointing the combination of whichever to execute in these.In addition, each functional unit can integrate
In one processing unit, it is also possible to each unit to physically exist alone, can also be integrated in two or more units
In one unit.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, and fill as control
The component set may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above description is only an embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should be included within scope of the presently claimed invention.
Claims (19)
1. a kind of automated guided vehicle control method characterized by comprising
Voice messaging is acquired by audio frequency apparatus；
Identify the corresponding command information of the voice messaging；
The automated guided vehicle is controlled according to the described instruction information of identification.
2. the method according to claim 1, wherein identifying the corresponding command information of the voice messaging, comprising:
Speech recognition is carried out to the voice messaging, to identify the corresponding text information of the voice messaging；
The text information and preset command information that will identify that carry out semantic matches, corresponding with the determination voice messaging
Command information.
3. method according to claim 1 or 2, which is characterized in that identify the corresponding command information of the voice messaging, wrap
It includes:
Speech recognition is carried out to the voice messaging, to identify the corresponding text information of the voice messaging；
Command information identical with the text information identified in preset command information is inquired, with the determination voice letter
Cease corresponding command information.
4. method according to claim 1-3, which is characterized in that control institute according to the described instruction information of identification
State automated guided vehicle, comprising:
According to the corresponding control instruction of described instruction delivering, so that the automated guided vehicle is according to the control instruction
Accordingly taken action.
5. method according to claim 1-4, which is characterized in that further include:
Target person is identified by picture pick-up device, when identifying the target person, issues corresponding operation prompt.
6. according to the method described in claim 5, it is characterized in that, identifying target person by picture pick-up device, comprising:
Acquire personnel's image of current imaging area in real time by the picture pick-up device；
Personnel's image is compared with the target person image prestored, with the determination target person whether when proactive
As region.
7. method according to claim 5 or 6, which is characterized in that issue corresponding operation prompt, comprising: pass through transmission
Sound and light signal prompts target person to complete to operate in next step.
8. method according to claim 1-7, which is characterized in that further include:
Acquire the image information of current imaging area in real time by picture pick-up device；
The described image information of acquisition is sent to controlling terminal, to be used for the controlling terminal to the automated guided vehicle
It is monitored in real time.
9. a kind of automated guided vehicle control device characterized by comprising
Voice collecting unit, for acquiring voice messaging by audio frequency apparatus；
Voice recognition unit, for identification corresponding command information of the voice messaging；
Control unit, for controlling the automated guided vehicle according to the described instruction information of identification.
10. device according to claim 9, which is characterized in that the voice recognition unit identifies the voice messaging pair
The command information answered, comprising:
Speech recognition is carried out to the voice messaging, to identify the corresponding text information of the voice messaging；
The text information and preset command information that will identify that carry out semantic matches, corresponding with the determination voice messaging
Command information.
11. device according to claim 9 or 10, which is characterized in that the voice recognition unit identifies the voice letter
Cease corresponding command information, comprising:
Speech recognition is carried out to the voice messaging, to identify the corresponding text information of the voice messaging；
Command information identical with the text information identified in preset command information is inquired, with the determination voice letter
Cease corresponding command information.
12. according to the described in any item devices of claim 9-11, which is characterized in that described control unit, according to the voice
The described instruction information of recognition unit identification controls the automated guided vehicle, comprising:
According to the corresponding control instruction of described instruction delivering, so that the automated guided vehicle is according to the control instruction
Accordingly taken action.
13. according to the described in any item devices of claim 9-12, which is characterized in that further include:
Personal identification unit, for identifying target person by picture pick-up device；
Operation indicating unit is mentioned for when the personal identification unit identifies the target person, issuing corresponding operation
Show.
14. device according to claim 13, which is characterized in that the personal identification unit is identified by picture pick-up device
Target person, comprising:
Acquire personnel's image of current imaging area in real time by the picture pick-up device；
Personnel's image is compared with the target person image prestored, with the determination target person whether when proactive
As region.
15. device described in 3 or 14 according to claim 1, which is characterized in that the operation indicating unit issues corresponding behaviour
It prompts, comprising: prompt target person to complete to operate in next step by sending sound and light signal.
16. according to the described in any item devices of claim 9-15, which is characterized in that further include:
Image acquisition units, for acquiring the image information of current imaging area in real time by picture pick-up device；
Transmission unit, for the described image information of acquisition to be sent to controlling terminal, to be used for the controlling terminal to described
Automated guided vehicle is monitored in real time.
17. a kind of storage medium, which is characterized in that it is stored thereon with computer program, it is real when described program is executed by processor
The step of existing claim 1-8 any the method.
18. a kind of automated guided vehicle, which is characterized in that on a memory can be including processor, memory and storage
The computer program run on processor, the processor realize any the method for claim 1-8 when executing described program
The step of.
19. a kind of automated guided vehicle, which is characterized in that including the homing guidance transport as described in claim 9-16 is any
Truck control device.
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| CN201810885600.9A CN109213149B (en) | 2018-08-06 | 2018-08-06 | Automatic guided transport vehicle and control method, device and storage medium thereof |
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