CN109240313A - Barrier-avoiding method, the apparatus and system of unmanned fork truck - Google Patents
Barrier-avoiding method, the apparatus and system of unmanned fork truck Download PDFInfo
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- CN109240313A CN109240313A CN201811415498.2A CN201811415498A CN109240313A CN 109240313 A CN109240313 A CN 109240313A CN 201811415498 A CN201811415498 A CN 201811415498A CN 109240313 A CN109240313 A CN 109240313A
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- 230000004888 barrier function Effects 0.000 claims abstract description 115
- 230000001133 acceleration Effects 0.000 claims abstract description 37
- 238000012360 testing method Methods 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 5
- 238000013507 mapping Methods 0.000 claims description 5
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- 238000004891 communication Methods 0.000 description 3
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- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
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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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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Abstract
The embodiment of the invention discloses barrier-avoiding method, the apparatus and systems of a kind of unmanned fork truck.It include: the avoidance distance and stopping distance for obtaining unmanned fork truck；Obtain the position of the barrier；When the unmanned fork truck reaches the position of the avoidance distance, controls the unmanned fork truck and reduced speed now with the first predetermined acceleration, start to stop with the second predetermined acceleration when being decelerated to the position of the stopping distance；Judge whether to detect the barrier in set period of time after a stoppage, corresponding avoidance means are taken according to the position of the barrier and testing result.In the embodiment of the present invention, when having barrier in front of unmanned fork truck, unmanned fork truck is controlled to slow down and stop to the position of stopping distance, after setting time of stopping, whether detection barrier is moved, corresponding avoidance means are taken with the position of barrier according to testing result, improve the safety and operational efficiency of unmanned fork truck.
Description
Technical field
The present embodiments relate to Intelligent logistics technical field more particularly to a kind of barrier-avoiding method of unmanned fork truck,
Apparatus and system.
Background technique
With the extensive use of automated guided vehicle (Automated Guided Vehicle, AGV), unmanned fork
Che Douhui installs avoidance equipment, to protect unmanned fork truck to knock barrier down.
The prior art, when avoidance equipment detects barrier, unmanned fork truck slows down in certain obstacle-avoidance area
It after parking, closes avoidance equipment and target point is then arrived at lower speed, there are certain safety however, closing avoidance equipment
Hidden danger, and AGV will affect operational efficiency with lower speed traveling.
Summary of the invention
The embodiment of the present invention provides barrier-avoiding method, the apparatus and system of a kind of unmanned fork truck, to realize avoidance, improves
The safety and operational efficiency of unmanned fork truck.
In a first aspect, the embodiment of the invention provides a kind of barrier-avoiding methods of unmanned fork truck, this method comprises:
The avoidance distance and stopping distance of unmanned fork truck are obtained, the avoidance distance is that the unmanned fork truck is opened
When beginning to slow down at a distance from barrier, when the stopping distance starts to stop for the unmanned fork truck and between barrier
Distance；The avoidance distance is greater than stopping distance；
Obtain the position of the barrier；
When the unmanned fork truck reaches the position of the avoidance distance, the unmanned fork truck is controlled with first
Predetermined acceleration reduces speed now, and starts to stop with the second predetermined acceleration when being decelerated to the position of the stopping distance；Wherein,
Absolute value of the absolute value of first predetermined acceleration less than the second predetermined acceleration；
Judge whether to detect the barrier in set period of time after a stoppage, according to the position of the barrier and inspection
It surveys result and takes corresponding avoidance means.
Further, before the avoidance distance and stopping distance for obtaining unmanned fork truck, further includes:
When detecting has barrier in front of unmanned fork truck, the current operation ginseng of the unmanned fork truck is obtained
Number, the operating parameter include first speed of service；
Correspondingly, obtaining the avoidance distance and stopping distance of unmanned fork truck, comprising:
Avoidance distance and stopping distance are determined according to the operating parameter, and before continuing according to first speed of service
Row.
Further, the corresponding avoidance distance of first speed of service and stopping distance are searched in setting mapping table.
Further, if the barrier is not detected in set period of time after a stoppage, according to the barrier
Position and testing result take corresponding avoidance means, comprising:
The unmanned fork truck is controlled to travel according to first speed of service to target point.
Further, the position of the barrier is obtained, comprising:
The unmanned fork truck is positioned, according to positioning result and the unmanned fork truck and barrier away from
Position from the determination barrier, the position of the barrier be located at target point front or be located at unmanned fork truck and
Between target point.
Further, if detecting the barrier in set period of time after a stoppage and the barrier is located at target point
Front, then corresponding avoidance means are taken according to the position of the barrier and testing result, comprising:
It controls the unmanned fork truck to run according to second speed of service to target point, second speed of service is less than
First speed of service.
Further, if detecting the barrier in set period of time after a stoppage and the barrier is driven positioned at nobody
It sails between fork truck and target point, then corresponding avoidance means is taken according to the position of the barrier and testing result, comprising:
Be updated and obtain new driving path to the stopping distance, updated stopping distance be less than former parking away from
From；
It controls the unmanned fork truck and adjusts route between former stopping distance and updated stopping distance, according to described
New driving path is travelled to target point.
Second aspect, the embodiment of the invention also provides a kind of obstacle avoidance apparatus of unmanned fork truck, which includes:
Avoidance distance obtains module, and for obtaining the avoidance distance and stopping distance of unmanned fork truck, described is described
When unmanned fork truck reduces speed now at a distance from barrier, when the stopping distance is that the unmanned fork truck starts parking
The distance between barrier；
Obstacle Position obtains module, for obtaining the position of the barrier；
Park control module, when for reaching the position of the avoidance distance when the unmanned fork truck, described in control
Unmanned fork truck is reduced speed now with the first predetermined acceleration, is preset and is added with second when being decelerated to the position of the stopping distance
Speed starts to stop；Wherein, absolute value of the absolute value of the first predetermined acceleration less than the second predetermined acceleration；
Avoidance means obtain module, detect the barrier, root for judging whether in set period of time after a stoppage
Corresponding avoidance means are taken according to the position and testing result of the barrier.
Further, further includes:
Operating parameter obtains module, for when detecting has barrier in front of unmanned fork truck, obtain it is described nobody
The current operating parameter of fork truck is driven, the operating parameter includes first speed of service；
Avoidance distance obtains module, is also used to: avoidance distance and stopping distance are determined according to the operating parameter, and according to
First speed of service continues to move ahead.
Further, if the barrier is not detected in set period of time after a stoppage, avoidance means obtain module,
It is also used to:
The unmanned fork truck is controlled to travel according to first speed of service to target point.
The third aspect, the embodiment of the invention also provides a kind of obstacle avoidance systems of unmanned fork truck, comprising: unmanned
Fork truck and control centre；
The unmanned fork truck includes: that obstacle detecting apparatus, positioning device, vehicle control apparatus and wireless communication are set
It is standby；
Whether the obstacle detecting apparatus has barrier in front of unmanned fork truck for detecting；The positioning device is used
It is positioned in unmanned fork truck, the vehicle control apparatus is used to control the driving status of unmanned fork truck, traveling
State includes plus/minus speed, parking and turns to；Unmanned fork truck is established by the wireless telecom equipment and the control centre
Connection；
The control centre sends control signal to the vehicle control apparatus, to control the traveling shape of unmanned fork truck
State.
The barrier-avoiding method of unmanned fork truck provided in an embodiment of the present invention, obtain first the avoidance of unmanned fork truck away from
From and stopping distance, then obtain barrier position, when unmanned fork truck reach avoidance distance position when, control nobody
It drives fork truck to reduce speed now with the first predetermined acceleration, be started when being decelerated to the position of stopping distance with the second predetermined acceleration
Parking, finally judges whether to detect barrier in set period of time, after a stoppage according to the position of barrier and testing result
Take corresponding avoidance means.In the embodiment of the present invention, when having barrier in front of unmanned fork truck, unmanned fork is controlled
Vehicle slows down and stops to the position of stopping distance, and after setting time of stopping, whether detection barrier is moved, according to testing result
Corresponding avoidance means are taken with the position of barrier, improve the safety and operational efficiency of unmanned fork truck.
Detailed description of the invention
Fig. 1 is the flow chart of the barrier-avoiding method of the unmanned fork truck of one of embodiment of the present invention one；
Fig. 2 is the schematic diagram that the barrier in the embodiment of the present invention one is located in front of target point；
Fig. 3 is schematic diagram of the barrier between unmanned fork truck and target point in the embodiment of the present invention one；
Fig. 4 is the structural schematic diagram of the obstacle avoidance apparatus of the unmanned fork truck of one of embodiment of the present invention two；
Fig. 5 is the structural schematic diagram of the obstacle avoidance system of the unmanned fork truck of one of embodiment of the present invention three.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is a kind of flow chart of the barrier-avoiding method for unmanned fork truck that the embodiment of the present invention one provides, the present embodiment
It is applicable to the case where unmanned fork truck carries out avoidance, this method can be executed by the obstacle avoidance apparatus of unmanned fork truck,
The device can be made of hardware and/or software, and can be generally integrated in the equipment of the barrier avoiding function with unmanned fork truck,
The equipment can be the electronic equipments such as server, mobile terminal or server cluster.As shown in Figure 1, specifically comprising the following steps:
Step 110, the avoidance distance and stopping distance of unmanned fork truck are obtained.
Avoidance distance is when unmanned fork truck reduces speed now at a distance from barrier, and stopping distance is unmanned fork truck
The distance between with barrier when starting parking.In the present embodiment, it is when unmanned fork truck is travelled at a distance from barrier
When the position of avoidance distance, unmanned fork truck reduces speed now, and starts to stop when being decelerated to the position of stopping distance.Specifically
, unmanned fork truck with certain speed of service (first speed of service) into target point driving process, unmanned fork truck
On avoidance detection device front is detected, when detecting has barrier in front of unmanned fork truck, obtain nobody and drive
Sail the current operating parameter of fork truck, wherein operating parameter includes first speed of service.Then according to operating parameter determine avoidance away from
From and stopping distance.
Optionally, avoidance distance and stopping distance are determined according to operating parameter, can be implemented by following manner: reflected in setting
The corresponding avoidance distance of first speed of service and stopping distance are searched in firing table.Wherein, setting mapping table, which can be, pre-establishes
First speed of service and avoidance distance and stopping distance corresponding relationship list.The process for establishing mapping table can be skill
The value that art personnel are obtained by multiple experiment.Illustratively, table 1 be in the present embodiment first speed of service and avoidance distance with
And the corresponding relationship of stopping distance.
Table 1
| First speed of service (meter per second) | Avoidance distance (rice) | Stopping distance (rice) |
| 0-1 | 3 | 2 |
| 1-2 | 4 | 3 |
| 2-3 | 6 | 4 |
Optionally, when determining avoidance distance and stopping distance, it is also contemplated that the load capacity of unmanned fork truck, table
Avoidance distance and stopping distance in 1 are determined on the basis of unmanned fork truck is fully loaded, in the present embodiment, when nobody drives
Sail fork truck be capable of carrying a load of zero load -1/2 it is fully loaded between when, avoidance distance and stopping distance can be set to full load
80%, when unmanned fork truck be capable of carrying a load of 1/2 it is fully loaded-fully loaded between when, avoidance distance and stopping distance can be set
It is the 90% of full load.It, can also be without considering load capacity, i.e., regardless of current unmanned fork truck is unloaded in the present embodiment
Either 1/2 is fully loaded or fully loaded, carries out avoidance all in accordance with the avoidance distance and stopping distance of full load.
Step 120, the position of barrier is obtained.
The position of barrier can be positioned at the front of target point or between unmanned fork truck and target point.It obtains
It takes the mode of the position of barrier may is that position unmanned fork truck, according to positioning result and unmanned fork truck
With the position for determining barrier at a distance from barrier.Positioning result can be unmanned fork truck currently at a distance from target point.
If unmanned fork truck is currently less than unmanned fork truck at a distance from barrier at a distance from target point, barrier is located at target
Point front；If unmanned fork truck is currently greater than unmanned fork truck at a distance from barrier at a distance from target point, barrier
Between unmanned fork truck and target point.Fig. 2 is that barrier is located at the signal in front of target point in the embodiment of the present invention one
Figure；Fig. 3 is schematic diagram of the barrier between unmanned fork truck and target point in the embodiment of the present invention one.
Step 130, when unmanned fork truck reaches the position of avoidance distance, it is default with first to control unmanned fork truck
Acceleration reduces speed now, and starts to stop with the second predetermined acceleration when being decelerated to the position of stopping distance.
Wherein, absolute value of the absolute value of the first predetermined acceleration less than the second predetermined acceleration.In the present embodiment, first
The setting of predetermined acceleration is influenced by first speed of service, and the acceleration of setting needs to meet when unmanned fork truck reaches parking
When the position of distance, the speed of service is not 0, still has certain speed of service.Specifically, when first speed of service is 3m/s
When, the first predetermined acceleration can be set to (- 1m/s2, -2m/s2) between arbitrary value, the absolute value of the second predetermined acceleration
Greater than the first predetermined acceleration, for example, it is assumed that the first predetermined acceleration is set as -2m/s2, then the second predetermined acceleration can set
It is set to -3m/s2.Specifically, trolley is still with the first speed of service row before the position that unmanned fork truck reaches avoidance distance
It sails, when reaching the position that distance apart from obstacle is avoidance distance, starts to reduce speed now with the first predetermined acceleration, when subtracting
When speed to the position of stopping distance, start to start to stop with the second predetermined acceleration.Illustratively, it is assumed that unmanned fork truck
First speed of service is 3m/s, and determining avoidance distance is 6 meters, and stopping distance is 4 meters, when unmanned fork truck is apart from barrier
At 6 meters, start with -2m/s2Acceleration slow down, speed when being decelerated to apart from 4 meters of barrier is according to following formula meter
It calculatesWherein, a indicates that the first predetermined acceleration, s indicate between the position of avoidance distance and the position of stopping distance
Distance, v1Indicate speed of the unmanned fork truck at the position of avoidance distance, v2Indicate unmanned fork truck in avoidance distance
Position when speed, the v of acquisition2For 1m/s.Start when apart from 4 meters of barrier with -3m/s2Acceleration parking, then can be with
The unmanned fork truck being calculated is 0.17m in the distance that docking process travels, i.e., distance barrier when unmanned fork truck stops
The distance for hindering object is 3.83m.
Step 140, judge whether to detect barrier in set period of time after a stoppage, according to the position of barrier and inspection
It surveys result and takes corresponding avoidance means.
Wherein, set period of time can be any time between 2-5 seconds.In the present embodiment, regardless of barrier is located at mesh
The front of punctuate is still located between unmanned fork truck and target point, if obstacle is not detected in set period of time after a stoppage
Object then controls unmanned fork truck and travels according to first speed of service to target point.Illustratively, it is assumed that set period of time setting
It is 3 seconds, first speed of service is 3 meter per seconds, after unmanned fork truck stops 3 seconds, if not detecting barrier again, i.e. barrier
It has been be removed that, then unmanned fork truck continues to continue with the speed of 3 meter per seconds traveling to target point.
In the present embodiment, if barrier is detected in set period of time after a stoppage and before barrier is located at target point
Side, then control unmanned fork truck and run according to second speed of service to target point, and second speed of service is less than the first operation speed
Degree.For example, it is assumed that first speed of service is 3 meter per seconds, then second speed of service can be 1 meter per second.Slowly with lower speed
Target point is approached, prevents unmanned fork truck from bumping against barrier, improves safety.
In the present embodiment, if barrier is detected in set period of time after a stoppage and barrier is located at unmanned fork truck
Between target point, then new driving path is updated and obtained to stopping distance, updated stopping distance stops less than original
Vehicle distance；It controls unmanned fork truck and adjusts route between former stopping distance and updated stopping distance, according to new traveling
Route is to target point.Specifically, barrier is between unmanned fork truck and target point, and barrier is not removed,
Then plan the path for reaching target point again for unmanned fork truck.Unmanned fork truck when being adjusted to new driving path,
Certain adjustment distance is needed, is at this time updated stopping distance, so that updated stopping distance is less than former stopping distance,
Bus or train route diameter then, which is reserved, for unmanned fork truck adjusts distance.Illustratively, former stopping distance is 4 meters, updated stopping distance
It is 3 meters, then unmanned fork truck can adjust route in 1 meter, travel according to new driving path to target point.Nobody is driven
Fork truck adjusts path is sailed, the advantage of doing so is that waiting until to continue to travel after obstacle is removed without unmanned fork truck, is mentioned
High operational efficiency.
The technical solution of the present embodiment obtains the avoidance distance and stopping distance of unmanned fork truck first, obtains obstacle
The position of object controls unmanned fork truck and reduces speed now, when being decelerated to when unmanned fork truck reaches the position of avoidance distance
Start to stop when the position of stopping distance, finally judges whether to detect barrier in set period of time after a stoppage, according to barrier
The position of object and testing result is hindered to take corresponding avoidance means.In the embodiment of the present invention, there is barrier in front of unmanned fork truck
It when hindering object, controls unmanned fork truck and slows down and stop, after setting time of stopping, whether detection barrier is moved, according to inspection
Corresponding avoidance means are taken in the position for surveying result and barrier, improve the safety and operational efficiency of unmanned fork truck.
Embodiment two
Fig. 4 is a kind of structural schematic diagram of the obstacle avoidance apparatus of unmanned fork truck provided by Embodiment 2 of the present invention.Such as Fig. 4
Shown, which includes: that avoidance distance obtains module 410, and Obstacle Position obtains module 420, park control module 430 and keeps away
Barrier means obtain module 440.
Avoidance distance obtains module 410, for obtaining the avoidance distance and stopping distance of unmanned fork truck, avoidance distance
When reducing speed now for unmanned fork truck at a distance from barrier, stopping distance be unmanned fork truck start parking when and obstacle
The distance between object；
Obstacle Position obtains module 420, for obtaining the position of barrier；
Park control module 430 controls unmanned fork when for reaching the position of avoidance distance when unmanned fork truck
Vehicle is reduced speed now with the first predetermined acceleration, starts to stop with the second predetermined acceleration when being decelerated to the position of stopping distance；
Wherein, absolute value of the absolute value of the first predetermined acceleration less than the second predetermined acceleration；
Avoidance means obtain module 440, for judging whether to detect barrier in set period of time after a stoppage, according to
The position of barrier and testing result take corresponding avoidance means.
Optionally, further includes:
Operating parameter obtains module, for obtaining unmanned when detecting has barrier in front of unmanned fork truck
The current operating parameter of fork truck, operating parameter include first speed of service；
Avoidance distance obtains module 410, is also used to: avoidance distance and stopping distance are determined according to operating parameter, and according to
First speed of service continues to move ahead.
Optionally, avoidance distance obtains module 410, is also used to:
The corresponding avoidance distance of first speed of service and stopping distance are searched in setting mapping table.
Optionally, if barrier is not detected in set period of time after a stoppage, avoidance means obtain module 440, also
For:
Unmanned fork truck is controlled to travel according to first speed of service to target point.
Optionally, Obstacle Position obtains module 420, is also used to:
Unmanned fork truck is positioned, is determined and is hindered at a distance from barrier according to positioning result and unmanned fork truck
Hinder the position of object, the position of barrier is located at the front of target point or between unmanned fork truck and target point.
Optionally, if detecting barrier in set period of time after a stoppage and barrier is located at the front of target point,
Avoidance means obtain module 440, are also used to:
It controls unmanned fork truck to run according to second speed of service to target point, second speed of service is less than the first operation
Speed.
Optionally, if detecting barrier in set period of time after a stoppage and barrier is located at unmanned fork truck and mesh
Between punctuate, then avoidance means obtain module 440, are also used to:
New driving path is updated and obtained to stopping distance, and updated stopping distance is less than former stopping distance；
It controls and adjusts route in the stopping distance of unmanned fork truck in the updated, travel according to new driving path to mesh
Punctuate.
Method provided by the executable aforementioned all embodiments of the present invention of above-mentioned apparatus, it is corresponding to have the execution above method
Functional module and beneficial effect.The not technical detail of detailed description in the present embodiment, reference can be made to the aforementioned all implementations of the present invention
Method provided by example.
Embodiment three
Fig. 5 is a kind of structural schematic diagram of the obstacle avoidance system for unmanned fork truck that the embodiment of the present invention three provides.Such as Fig. 5
Shown, which includes: unmanned fork truck 510 and control centre 520.
Unmanned fork truck 510 includes: that obstacle detecting apparatus, positioning device, vehicle control apparatus and wireless communication are set
It is standby；
Whether obstacle detecting apparatus has barrier in front of unmanned fork truck for detecting；Positioning device is used for nobody
It drives fork truck to be positioned, vehicle control apparatus is used to control the driving status of unmanned fork truck, and driving status includes plus/minus
Speed, parking and steering；Equipment and control centre 520 establish connection to unmanned fork truck by wireless communication；
Control centre 520 sends control signal to vehicle control apparatus, to control the traveling shape of unmanned fork truck 510
State.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of barrier-avoiding method of unmanned fork truck characterized by comprising
The avoidance distance and stopping distance of unmanned fork truck are obtained, the avoidance distance is that the unmanned fork truck starts to subtract
When fast at a distance from barrier, the stopping distance be the unmanned fork truck start parking when barrier between away from
From the avoidance distance is greater than stopping distance；
Obtain the position of the barrier；
When the unmanned fork truck reaches the position of the avoidance distance, it is default with first to control the unmanned fork truck
Acceleration reduces speed now, and starts to stop with the second predetermined acceleration when being decelerated to the position of the stopping distance；Wherein, first
Absolute value of the absolute value of predetermined acceleration less than the second predetermined acceleration；
Judge whether to detect the barrier in set period of time after a stoppage, be tied according to the position of the barrier and detection
Fruit takes corresponding avoidance means.
2. the method according to claim 1, wherein the avoidance distance and parking for obtaining unmanned fork truck away from
From before, further includes:
The current operating parameter of the unmanned fork truck is obtained, the operating parameter includes first speed of service；
Correspondingly, obtaining the avoidance distance and stopping distance of unmanned fork truck, comprising:
Avoidance distance and stopping distance are determined according to the operating parameter, and continue to move ahead according to first speed of service.
3. according to the method described in claim 2, it is characterized in that, according to the operating parameter determine avoidance distance and parking away from
From, comprising:
The corresponding avoidance distance of first speed of service and stopping distance are searched in setting mapping table.
4. according to the method described in claim 2, it is characterized in that, if the barrier is not detected in set period of time after a stoppage
Hinder object, then corresponding avoidance means taken according to the position of the barrier and testing result, comprising:
The unmanned fork truck is controlled to travel according to first speed of service to target point.
5. according to the method described in claim 2, it is characterized in that, obtaining the position of the barrier, comprising:
The unmanned fork truck is positioned, it is true at a distance from barrier according to positioning result and the unmanned fork truck
The position of the fixed barrier, the position of the barrier are located at the front of target point or are located at unmanned fork truck and target
Between point.
6. according to the method described in claim 5, it is characterized in that, if the obstacle is detected in set period of time after a stoppage
Object and the barrier are located at the front of target point, then take corresponding avoidance according to the position of the barrier and testing result
Means, comprising:
It controls the unmanned fork truck to run according to second speed of service to target point, second speed of service is less than described
First speed of service.
7. according to the method described in claim 4, it is characterized in that, if the obstacle is detected in set period of time after a stoppage
The object and barrier is between unmanned fork truck and target point, then adopt according to the position of the barrier and testing result
Take corresponding avoidance means, comprising:
New driving path is updated and obtained to the stopping distance, and updated stopping distance is less than former stopping distance；
It controls the unmanned fork truck and adjusts route between former stopping distance and updated stopping distance, according to described new
Driving path is travelled to target point.
8. a kind of obstacle avoidance apparatus of unmanned fork truck characterized by comprising
Avoidance distance obtains module, and for obtaining the avoidance distance and stopping distance of unmanned fork truck, the avoidance distance is
When the unmanned fork truck reduces speed now at a distance from barrier, the stopping distance is that the unmanned fork truck starts to stop
The distance between Che Shiyu barrier；
Obstacle Position obtains module, for obtaining the position of the barrier；
Park control module, when for reaching the position of the avoidance distance when the unmanned fork truck, control it is described nobody
It drives fork truck to reduce speed now with the first predetermined acceleration, when being decelerated to the position of the stopping distance with the second predetermined acceleration
Start to stop；Wherein, absolute value of the absolute value of the first predetermined acceleration less than the second predetermined acceleration；
Avoidance means obtain module, the barrier are detected for judging whether in set period of time after a stoppage, according to institute
Corresponding avoidance means are taken in the position and testing result for stating barrier.
9. device according to claim 8, which is characterized in that further include:
Operating parameter obtains module, for obtaining described unmanned when detecting has barrier in front of unmanned fork truck
The current operating parameter of fork truck, the operating parameter include first speed of service；
Avoidance distance obtains module, is also used to: determining avoidance distance and stopping distance according to the operating parameter, and according to described
First speed of service continues to move ahead.
10. a kind of obstacle avoidance system of unmanned fork truck characterized by comprising unmanned fork truck and control centre；
The unmanned fork truck includes: obstacle detecting apparatus, positioning device, vehicle control apparatus and wireless telecom equipment；
Whether the obstacle detecting apparatus has barrier in front of unmanned fork truck for detecting；The positioning device for pair
Unmanned fork truck is positioned, and the vehicle control apparatus is used to control the driving status of unmanned fork truck, driving status
Including plus/minus speed, parking and turn to；Unmanned fork truck is established by the wireless telecom equipment and the control centre to be connected
It connects；
The control centre sends control signal to the vehicle control apparatus, to control the driving status of unmanned fork truck.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811415498.2A CN109240313A (en) | 2018-11-26 | 2018-11-26 | Barrier-avoiding method, the apparatus and system of unmanned fork truck |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811415498.2A CN109240313A (en) | 2018-11-26 | 2018-11-26 | Barrier-avoiding method, the apparatus and system of unmanned fork truck |
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| CN109240313A true CN109240313A (en) | 2019-01-18 |
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| CN201811415498.2A Pending CN109240313A (en) | 2018-11-26 | 2018-11-26 | Barrier-avoiding method, the apparatus and system of unmanned fork truck |
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| CN110244709A (en) * | 2019-05-16 | 2019-09-17 | 智久(厦门)机器人科技有限公司上海分公司 | A kind of mobile device parking planing method, device, computer readable storage medium |
| CN110412985A (en) * | 2019-08-09 | 2019-11-05 | 珠海格力智能装备有限公司 | Self-adaptive obstacle avoidance method, robot and computer readable storage medium |
| CN110609546A (en) * | 2019-08-15 | 2019-12-24 | 浙江国自机器人技术有限公司 | Protection method, system, computer device and readable storage medium for picking device |
| CN111170210A (en) * | 2020-03-05 | 2020-05-19 | 安徽宇锋仓储设备有限公司 | Cargo detection device system for fork of forklift |
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| CN109828574A (en) * | 2019-02-22 | 2019-05-31 | 深兰科技（上海）有限公司 | A kind of barrier-avoiding method and electronic equipment |
| CN109828574B (en) * | 2019-02-22 | 2022-05-03 | 深兰机器人(上海)有限公司 | Obstacle avoidance method and electronic equipment |
| CN110244709A (en) * | 2019-05-16 | 2019-09-17 | 智久(厦门)机器人科技有限公司上海分公司 | A kind of mobile device parking planing method, device, computer readable storage medium |
| CN110412985A (en) * | 2019-08-09 | 2019-11-05 | 珠海格力智能装备有限公司 | Self-adaptive obstacle avoidance method, robot and computer readable storage medium |
| CN110609546A (en) * | 2019-08-15 | 2019-12-24 | 浙江国自机器人技术有限公司 | Protection method, system, computer device and readable storage medium for picking device |
| CN110609546B (en) * | 2019-08-15 | 2023-06-30 | 浙江国自机器人技术股份有限公司 | Method, system, computer device and readable storage medium for protecting pick device |
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| CN111170210A (en) * | 2020-03-05 | 2020-05-19 | 安徽宇锋仓储设备有限公司 | Cargo detection device system for fork of forklift |
| WO2021208225A1 (en) * | 2020-04-15 | 2021-10-21 | 长沙中联重科环境产业有限公司 | Obstacle avoidance method, apparatus, and device for epidemic-prevention disinfecting and cleaning robot |
| CN111562782A (en) * | 2020-04-15 | 2020-08-21 | 长沙中联重科环境产业有限公司 | Epidemic prevention disinfection cleaning robot |
| WO2022116649A1 (en) * | 2020-12-04 | 2022-06-09 | 北京旷视机器人技术有限公司 | Control method and apparatus for carrying device, carrying device, and storage medium |
| CN112650225A (en) * | 2020-12-10 | 2021-04-13 | 广东嘉腾机器人自动化有限公司 | AGV obstacle avoidance method |
| CN113110413A (en) * | 2021-03-10 | 2021-07-13 | 成都永奉科技有限公司 | Following robot, following control method and following control system |
| CN113233377A (en) * | 2021-03-29 | 2021-08-10 | 上海快仓自动化科技有限公司 | Motion control method of omnidirectional automatic forklift and omnidirectional automatic forklift |
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| CN113867365A (en) * | 2021-10-28 | 2021-12-31 | 广州文远知行科技有限公司 | Method and device for determining variable acceleration of unmanned vehicle and related equipment |
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| CN114779761A (en) * | 2022-03-22 | 2022-07-22 | 广东博智林机器人有限公司 | Mobile robot fault stopping control method, device, equipment and storage medium |
| CN115509258A (en) * | 2022-10-10 | 2022-12-23 | 未来机器人（深圳）有限公司 | Obstacle avoidance method of unmanned vehicle and unmanned vehicle |
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