CN109213149B - Automatic guided transport vehicle and control method, device and storage medium thereof - Google Patents
Automatic guided transport vehicle and control method, device and storage medium thereof Download PDFInfo
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- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The invention provides an automatic guided vehicle, a control method, a device and a storage medium thereof, wherein the method comprises the following steps: collecting voice information through audio equipment; identifying instruction information corresponding to the voice information; and controlling the automatic guided vehicle according to the identified instruction information. The scheme provided by the invention can realize voice control of the automatic guided transport vehicle, replaces the traditional key operation and is convenient for an operator to control.
Description
Technical Field
The invention relates to the field of control, in particular to an automatic guided vehicle, a control method and a control device thereof, and a storage medium.
Background
With the development of the current automation industry, an AGV (Automated Guided Vehicle) trolley becomes an important link of the automation industry, and under the unmanned condition, goods are conveyed along corresponding electromagnetic rails through electromagnetic induction, so that the consumption of manpower resources in the conveying process is greatly reduced. However, the current AGV trolley is unmanned only when transporting goods, and when loading and unloading, the AGV trolley needs extra manpower to manually set up, so that two sides of delivering and receiving are asynchronous, and after the AGV trolley arrives at a destination point, if the AGV trolley is manually operated on next step, the AGV trolley can stand still, and the AGV trolley is controlled through keys at present, so that the operation is complex.
Disclosure of Invention
The invention mainly aims to overcome the defects of the prior art and provides an automatic guided transport vehicle, a control method and a control device thereof and a storage medium, so as to solve the problem that the AGV in the prior art is operated through keys and is complex to operate.
The invention provides a control method of an automatic guided vehicle, which comprises the following steps: collecting voice information through audio equipment; identifying instruction information corresponding to the voice information; and controlling the automatic guided vehicle according to the identified instruction information.
Optionally, recognizing instruction information corresponding to the voice information includes: carrying out voice recognition on the voice information to recognize character information corresponding to the voice information; and performing semantic matching on the recognized character information and preset instruction information to determine the instruction information corresponding to the voice information.
Optionally, recognizing instruction information corresponding to the voice information includes: carrying out voice recognition on the voice information to recognize character information corresponding to the voice information; and inquiring the instruction information which is the same as the recognized character information in the preset instruction information to determine the instruction information corresponding to the voice information.
Optionally, controlling the automated guided vehicle according to the identified instruction information includes: and sending a corresponding control instruction according to the instruction information so that the automatic guided vehicle performs corresponding action according to the control instruction.
Optionally, the method further comprises: and identifying the target personnel through the camera equipment, and sending out a corresponding operation prompt when the target personnel are identified.
Optionally, identifying the target person by an imaging device includes: acquiring a personnel image of a current shooting area in real time through the shooting equipment; and comparing the personnel image with a pre-stored target personnel image to determine whether the target personnel is in the current shooting area.
Optionally, issuing a corresponding operation prompt includes: and prompting the target personnel to complete the next operation by sending acousto-optic signals.
Optionally, the method further comprises: acquiring image information of a current shooting area in real time through shooting equipment; and sending the acquired image information to a control terminal so that the control terminal can monitor the automatic guided vehicle in real time.
Another aspect of the present invention provides an automated guided vehicle control apparatus, including: the voice acquisition unit is used for acquiring voice information through audio equipment; the voice recognition unit is used for recognizing instruction information corresponding to the voice information; and the control unit is used for controlling the automatic guided vehicle according to the identified instruction information.
Optionally, the recognizing, by the speech recognition unit, instruction information corresponding to the speech information includes: carrying out voice recognition on the voice information to recognize character information corresponding to the voice information; and performing semantic matching on the recognized character information and preset instruction information to determine the instruction information corresponding to the voice information.
Optionally, the recognizing, by the speech recognition unit, instruction information corresponding to the speech information includes: carrying out voice recognition on the voice information to recognize character information corresponding to the voice information; and inquiring the instruction information which is the same as the recognized character information in the preset instruction information to determine the instruction information corresponding to the voice information.
Optionally, the controlling unit, which controls the automated guided vehicle according to the instruction information recognized by the voice recognition unit, includes: and sending a corresponding control instruction according to the instruction information so that the automatic guided vehicle performs corresponding action according to the control instruction.
Optionally, the apparatus further comprises: the personnel identification unit is used for identifying the target personnel through the camera equipment; and the operation prompting unit is used for sending out a corresponding operation prompt when the target person is identified by the person identification unit.
Optionally, the person identification unit, which identifies the target person through the image pickup apparatus, includes: acquiring a personnel image of a current shooting area in real time through the shooting equipment; and comparing the personnel image with a pre-stored target personnel image to determine whether the target personnel is in the current shooting area.
Optionally, the sending out the corresponding operation prompt by the operation prompt unit includes: and prompting the target personnel to complete the next operation by sending acousto-optic signals.
Optionally, the apparatus further comprises: the image acquisition unit is used for acquiring image information of a current shooting area in real time through the shooting equipment; and the sending unit is used for sending the acquired image information to a control terminal so that the control terminal can monitor the automatic guided vehicle in real time.
A further aspect of the invention provides a storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of any of the methods described above.
In a further aspect, the present invention provides an automated guided vehicle comprising a processor, a memory, and a computer program stored on the memory and operable on the processor, the processor implementing the steps of any of the methods described above when executing the program.
In a further aspect, the invention provides an automated guided vehicle comprising any of the above automated guided vehicle control apparatus.
According to the technical scheme, the voice control of the automatic guided transporting vehicle is realized, the traditional key operation is replaced, the control operation is simplified, the control is convenient for an operator to control, the operator can start the task of the vehicle through the voice control only by fixing the transported goods, the waste of extra labor is reduced, and the time for learning and adapting to operation guidelines of different AGV vehicles is saved; when the AGV arrives at the destination, the AGV can find a goods receiving person through facial recognition, and prompts an operator to finish unloading of the goods through acousto-optic control, so that the waste of waiting and monitoring time of the operator is avoided, the operator can finish unloading of the goods timely when the goods arrive, and the operator returns to the departure point through voice control to prepare the next task. The invention effectively utilizes resources, avoids time waste and resource waste in the conveying process, simplifies the operation difficulty of operators and provides favorable guarantee for intellectualization and simplification of the automation industry.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a method diagram illustrating an embodiment of an automated guided vehicle control method provided by the present invention;
FIG. 2 is a method diagram of another embodiment of an automated guided vehicle control method provided by the present invention;
FIG. 3 is a method diagram of yet another embodiment of an automated guided vehicle control method provided by the present invention;
FIG. 4 is a schematic structural diagram of an embodiment of an automated guided vehicle control apparatus provided in the present invention;
FIG. 5 is a schematic structural diagram of another embodiment of an automated guided vehicle control apparatus provided in accordance with the present invention;
fig. 6 is a schematic structural diagram of another embodiment of the automated guided vehicle control apparatus provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. 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 should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a schematic method diagram of an embodiment of an automated guided vehicle control method according to the present invention. As shown in fig. 1, the automated guided vehicle control method according to an embodiment of the present invention includes at least step S110, step S120, and step S130.
Step S110, voice information is collected through audio equipment.
Specifically, the method of the present invention may be implemented on a master control board of an AGV. The main control board is the core control part of AGV, specifically is the control panel based on the ARM chip, for example, the audio equipment of main control board peripheral access gathers outside speech information to transmit to the main control board.
And step S120, identifying instruction information corresponding to the voice information.
In a specific embodiment, performing voice recognition on the voice information to recognize text information corresponding to the voice information; and performing semantic matching on the recognized character information and preset instruction information to determine the instruction information corresponding to the voice information. Specifically, the collected voice information is converted into a recognizable audio signal, for example, the collected voice signal is an analog signal, the analog signal is converted into a digital audio signal that can be recognized by the main control board through a hardware circuit, the digital audio signal is recognized and analyzed to recognize corresponding text information, the recognized text information is semantically matched with preset instruction information, that is, instruction information in the preset instruction information, which has the same or similar semantics as the recognized text information, is searched, and the instruction information corresponding to the collected voice information is determined.
In another specific embodiment, performing voice recognition on the voice information to recognize text information corresponding to the voice information; and inquiring the instruction information which is the same as the recognized character information in the preset instruction information to determine the instruction information corresponding to the voice information. Specifically, the collected voice information is converted into a recognizable audio signal, for example, the collected voice signal is an analog signal, the analog signal is converted into a digital audio signal which can be recognized by the main control board through a hardware circuit, the digital audio signal is recognized and analyzed to recognize corresponding text information, and the same instruction information as the recognized text information in the preset instruction information is inquired, that is, a specific instruction vocabulary is set, and only the specific instruction vocabulary in the voice information can be recognized in the recognition of the voice information, so that misoperation caused by fuzzy word meaning can be reduced.
And S130, controlling the automatic guided vehicle according to the identified instruction information.
Specifically, a corresponding control instruction is sent according to the instruction information, so that the automatic guided vehicle performs corresponding action according to the control instruction. That is, a corresponding control instruction is issued according to the instruction information, so that the AGV automatically acts to the destination according to the control instruction.
Fig. 2 is a schematic method diagram of another embodiment of the automated guided vehicle control method provided by the present invention. As shown in fig. 2, based on the above embodiment, the automated guided vehicle control method further includes step S140.
And step S140, identifying the target person through the camera equipment, and sending out a corresponding operation prompt when the target person is identified.
Specifically, when the automatic guided vehicle arrives at a destination, acquiring a personnel image of a current shooting area in real time through the shooting equipment; and comparing the personnel image with a pre-stored target personnel image to determine whether the target personnel is in the current shooting area. For example, a face photo of the target person is pre-stored, after the face photo of the person in the current shooting area is collected through the camera, the collected face photo is compared with the pre-stored face photo of the target person through a face recognition algorithm, and whether the target person is in the current shooting area is determined. For example, the similarity of the two photos can be judged by comparing the information of the specific pixel points on the two photos, so that the human face is further judged and recognized according to the size of the similarity.
And when the target person is identified, sending out a corresponding operation prompt. Specifically, the target person can be prompted to complete the next operation by sending an acousto-optic signal. For example, the primary purpose of an AGV is to transport material, and thus, when a target person is identified, the target person is prompted to unload or replenish the material after encountering the AGV cart.
Fig. 3 is a method diagram of another embodiment of the automated guided vehicle control method provided by the present invention. As shown in fig. 3, the method for controlling an automated guided vehicle according to any of the above embodiments further includes step S150 and step S160.
And S150, acquiring image information of the current shooting area in real time through the shooting equipment.
Specifically, image information of a current camera shooting area (a range of a scene area which can be shot by the camera currently) is collected in real time through a camera shooting device (such as a camera).
And step S160, sending the acquired image information to a control terminal so that the control terminal can monitor the automatic guided vehicle in real time.
Specifically, the AGV main control board and the control terminal may not directly communicate with each other, the acquired image information is transmitted to the server, and the control terminal (e.g., a computer or a mobile device) obtains the image information by accessing the server. Meanwhile, the server can also store the information uploaded by the AGV and the control terminal, and the backup function is achieved.
Fig. 4 is a schematic structural diagram of an embodiment of the automated guided vehicle control apparatus provided in the present invention. As shown in fig. 4, the automated guided vehicle control apparatus 100 includes: a voice acquisition unit 110, a voice recognition unit 120 and a control unit 130.
The voice collecting unit 110 is used for collecting voice information through an audio device; the voice recognition unit 120 is configured to recognize instruction information corresponding to the voice information; the control unit 130 is configured to control the automated guided vehicle according to the identified instruction information.
The voice collecting unit 110 collects voice information through an audio device. Specifically, the method of the present invention may be implemented on a master control board of an AGV. The main control board is the core control part of AGV, specifically is the control panel based on the ARM chip, for example, the audio equipment of main control board peripheral access gathers outside speech information to transmit to the main control board.
The voice recognition unit 120 recognizes instruction information corresponding to the voice information. In a specific embodiment, performing voice recognition on the voice information to recognize text information corresponding to the voice information; and performing semantic matching on the recognized character information and preset instruction information to determine the instruction information corresponding to the voice information. Specifically, the collected voice information is converted into a recognizable audio signal, for example, the collected voice signal is an analog signal, the analog signal is converted into a digital audio signal that can be recognized by the main control board through a hardware circuit, the digital audio signal is recognized and analyzed to recognize corresponding text information, the recognized text information is semantically matched with preset instruction information, that is, instruction information in the preset instruction information, which has the same or similar semantics as the recognized text information, is searched, and the instruction information corresponding to the collected voice information is determined.
In another specific embodiment, performing voice recognition on the voice information to recognize text information corresponding to the voice information; and inquiring the instruction information which is the same as the recognized character information in the preset instruction information to determine the instruction information corresponding to the voice information. Specifically, the collected voice information is converted into a recognizable audio signal, for example, the collected voice signal is an analog signal, the analog signal is converted into a digital audio signal which can be recognized by the main control board through a hardware circuit, the digital audio signal is recognized and analyzed to recognize corresponding text information, and the same instruction information as the recognized text information in the preset instruction information is inquired, that is, a specific instruction vocabulary is set, and only the specific instruction vocabulary in the voice information can be recognized in the recognition of the voice information, so that misoperation caused by fuzzy word meaning can be reduced.
The control unit 130 controls the automated guided vehicle according to the instruction information recognized by the voice recognition unit. Specifically, a corresponding control instruction is sent according to the instruction information, so that the automatic guided vehicle performs corresponding action according to the control instruction. That is, a corresponding control instruction is issued according to the instruction information, so that the AGV automatically acts to the destination according to the control instruction.
Fig. 5 is a schematic structural diagram of another embodiment of the automated guided vehicle control apparatus provided in the present invention. As shown in fig. 5, the automated guided vehicle control apparatus 100 further includes a person recognition unit 140 and an operation prompt unit 150.
The person identification unit 140 is used for identifying the target person through the image pickup device; the operation prompt unit 150 is configured to send a corresponding operation prompt when the person identification unit identifies the target person.
Specifically, when the automated guided vehicle arrives at a destination, the person identification unit 140 acquires a person image of a current image pickup area in real time through the image pickup device; and comparing the personnel image with a pre-stored target personnel image to determine whether the target personnel is in the current shooting area. For example, a face photo of the target person is pre-stored, after the face photo of the person in the current shooting area is collected through the camera, the collected face photo is compared with the pre-stored face photo of the target person through a face recognition algorithm, and whether the target person is in the current shooting area is determined. For example, the similarity of the two photos can be judged by comparing the information of the specific pixel points on the two photos, so that the human face is further judged and recognized according to the size of the similarity.
When the target person is identified, the operation prompt unit 150 issues a corresponding operation prompt. Specifically, the target person can be prompted to complete the next operation by sending an acousto-optic signal. For example, the primary purpose of an AGV is to transport material, and thus, when a target person is identified, the target person is prompted to unload or replenish the material after encountering the AGV cart.
Fig. 6 is a schematic structural diagram of another embodiment of the automated guided vehicle control apparatus provided in the present invention. As shown in fig. 6, the automated guided vehicle control apparatus 100 further includes an image capturing unit 160 and a transmitting unit 170.
The image acquisition unit 160 is configured to acquire image information of a current shooting area in real time through the shooting device; the sending unit 170 is configured to send the acquired image information to a control terminal, so that the control terminal monitors the automated guided vehicle in real time.
Specifically, the image acquisition unit 160 acquires image information of a current camera shooting area (a range of a subject area that can be currently shot by the camera) in real time by a camera device (e.g., a camera). The AGV main control board and the control terminal may not directly communicate with each other, the image information collected by the sending unit 170 is transmitted to the server, and the control terminal (e.g., a computer, a mobile device) obtains the image information by accessing the server. Meanwhile, the server can also store the information uploaded by the AGV and the control terminal, and the backup function is achieved.
The invention also provides a storage medium corresponding to the automated guided vehicle control method, on which a computer program is stored, which program, when executed by a processor, carries out the steps of any of the methods described above.
The invention also provides an automated guided vehicle corresponding to the automated guided vehicle control method, which comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the steps of any one of the methods when executing the program.
The invention also provides an automatic guided vehicle corresponding to the automatic guided vehicle control device, which comprises the automatic guided vehicle control device.
Therefore, the scheme provided by the invention realizes the voice control of the automatic guided transport vehicle, replaces the traditional key operation, simplifies the control operation, is convenient for an operator to control, can enable the vehicle to start to perform tasks through the voice control only by fixing the transported goods, reduces the waste of extra labor, and saves the time for learning and adapting to operation guidelines of different AGV vehicles; when the AGV arrives at the destination, the AGV can find a goods receiving person through facial recognition, and prompts an operator to finish unloading of the goods through acousto-optic control, so that the waste of waiting and monitoring time of the operator is avoided, the operator can finish unloading of the goods timely when the goods arrive, and the operator returns to the departure point through voice control to prepare the next task. The invention effectively utilizes resources, avoids time waste and resource waste in the conveying process, simplifies the operation difficulty of operators and provides favorable guarantee for intellectualization and simplification of the automation industry.
The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the invention and the following claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or a combination of any of these. In addition, each functional unit may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and the parts serving as the control device may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (23)
1. An automated guided vehicle control method, comprising:
collecting voice information through audio equipment;
identifying instruction information corresponding to the voice information;
controlling the automatic guided vehicle according to the identified instruction information;
further comprising:
identifying a target person through camera equipment, wherein the target person is a goods receiver, and sending a corresponding operation prompt when the target person is identified;
identifying a target person by an imaging device, comprising:
acquiring a personnel image of a current shooting area in real time through the shooting equipment;
and comparing the personnel image with a pre-stored target personnel image to determine whether the target personnel is in the current shooting area.
2. The method of claim 1, wherein identifying the instruction information corresponding to the voice information comprises:
carrying out voice recognition on the voice information to recognize character information corresponding to the voice information;
and performing semantic matching on the recognized character information and preset instruction information to determine the instruction information corresponding to the voice information.
3. The method according to claim 1 or 2, wherein identifying the instruction information corresponding to the voice information comprises:
carrying out voice recognition on the voice information to recognize character information corresponding to the voice information;
and inquiring the instruction information which is the same as the recognized character information in the preset instruction information to determine the instruction information corresponding to the voice information.
4. The method of any of claims 1-2, wherein controlling the automated guided vehicle based on the identified instructional information comprises:
and sending a corresponding control instruction according to the instruction information so that the automatic guided vehicle performs corresponding action according to the control instruction.
5. The method of claim 3, wherein controlling the automated guided vehicle in accordance with the identified instructional information comprises:
and sending a corresponding control instruction according to the instruction information so that the automatic guided vehicle performs corresponding action according to the control instruction.
6. The method of claim 1, wherein issuing the respective operation prompt comprises: and prompting the target personnel to complete the next operation by sending acousto-optic signals.
7. The method according to any one of claims 1-2, further comprising:
acquiring image information of a current shooting area in real time through shooting equipment;
and sending the acquired image information to a control terminal so that the control terminal can monitor the automatic guided vehicle in real time.
8. The method of claim 3, further comprising:
acquiring image information of a current shooting area in real time through shooting equipment;
and sending the acquired image information to a control terminal so that the control terminal can monitor the automatic guided vehicle in real time.
9. The method of claim 4, further comprising:
acquiring image information of a current shooting area in real time through shooting equipment;
and sending the acquired image information to a control terminal so that the control terminal can monitor the automatic guided vehicle in real time.
10. The method of any of claims 5-6, further comprising:
acquiring image information of a current shooting area in real time through shooting equipment;
and sending the acquired image information to a control terminal so that the control terminal can monitor the automatic guided vehicle in real time.
11. An automated guided vehicle control apparatus, comprising:
the voice acquisition unit is used for acquiring voice information through audio equipment;
the voice recognition unit is used for recognizing instruction information corresponding to the voice information;
the control unit is used for controlling the automatic guided vehicle according to the identified instruction information;
further comprising:
the personnel identification unit is used for identifying target personnel through the camera equipment, and the target personnel are goods receiving personnel;
the operation prompting unit is used for sending out a corresponding operation prompt when the target person is identified by the person identification unit;
the personnel identification unit identifies the target personnel through the camera equipment, and comprises:
acquiring a personnel image of a current shooting area in real time through the shooting equipment;
and comparing the personnel image with a pre-stored target personnel image to determine whether the target personnel is in the current shooting area.
12. The apparatus according to claim 11, wherein the speech recognition unit recognizes instruction information corresponding to the speech information, and includes:
carrying out voice recognition on the voice information to recognize character information corresponding to the voice information;
and performing semantic matching on the recognized character information and preset instruction information to determine the instruction information corresponding to the voice information.
13. The apparatus according to claim 11 or 12, wherein the speech recognition unit recognizes instruction information corresponding to the speech information, and includes:
carrying out voice recognition on the voice information to recognize character information corresponding to the voice information;
and inquiring the instruction information which is the same as the recognized character information in the preset instruction information to determine the instruction information corresponding to the voice information.
14. The apparatus according to any one of claims 11 to 12, wherein the control unit controls the automated guided vehicle according to the instruction information recognized by the voice recognition unit, including:
and sending a corresponding control instruction according to the instruction information so that the automatic guided vehicle performs corresponding action according to the control instruction.
15. The apparatus according to claim 13, wherein the control unit controls the automated guided vehicle according to the instruction information recognized by the voice recognition unit, including:
and sending a corresponding control instruction according to the instruction information so that the automatic guided vehicle performs corresponding action according to the control instruction.
16. The apparatus according to claim 11, wherein the operation prompting unit issues the corresponding operation prompt, and includes: and prompting the target personnel to complete the next operation by sending acousto-optic signals.
17. The apparatus of any one of claims 11-12, further comprising:
the image acquisition unit is used for acquiring image information of a current shooting area in real time through the shooting equipment;
and the sending unit is used for sending the acquired image information to a control terminal so that the control terminal can monitor the automatic guided vehicle in real time.
18. The apparatus of claim 13, further comprising:
the image acquisition unit is used for acquiring image information of a current shooting area in real time through the shooting equipment;
and the sending unit is used for sending the acquired image information to a control terminal so that the control terminal can monitor the automatic guided vehicle in real time.
19. The apparatus of claim 14, further comprising:
the image acquisition unit is used for acquiring image information of a current shooting area in real time through the shooting equipment;
and the sending unit is used for sending the acquired image information to a control terminal so that the control terminal can monitor the automatic guided vehicle in real time.
20. The apparatus of any one of claims 15-16, further comprising:
the image acquisition unit is used for acquiring image information of a current shooting area in real time through the shooting equipment;
and the sending unit is used for sending the acquired image information to a control terminal so that the control terminal can monitor the automatic guided vehicle in real time.
21. A storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 10.
22. An automated guided vehicle comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any of claims 1-10 when executing the program.
23. An automated guided vehicle comprising an automated guided vehicle control apparatus according to any one of claims 11 to 20.
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| CN111283679A (en) * | 2020-01-19 | 2020-06-16 | 路邦科技授权有限公司 | Multi-connected voice control automatic guide transportation system and control method thereof |
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