CN110703774B - Navigation of an automated guided vehicle - Google Patents
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- CN110703774B CN110703774B CN201910855060.4A CN201910855060A CN110703774B CN 110703774 B CN110703774 B CN 110703774B CN 201910855060 A CN201910855060 A CN 201910855060A CN 110703774 B CN110703774 B CN 110703774B
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- 238000000034 method Methods 0.000 claims abstract description 40
- 230000005856 abnormality Effects 0.000 claims description 15
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- 230000008569 process Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 9
- 238000004590 computer program Methods 0.000 description 7
- 238000012546 transfer Methods 0.000 description 5
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
Embodiments of the present disclosure relate to a navigation method, a navigation apparatus, a server, and a computer-readable storage medium for automatically guiding a vehicle. The method comprises the following steps: receiving that navigation marks corresponding to the positions where the AGVs pass or stop reported by the AGVs are abnormal; when the reported navigation mark is abnormal, a path is planned for the AGV again, wherein the path is planned for the AGV along the rollback direction of the AGV first, and when the path cannot be planned along the rollback direction of the AGV is determined, the path is planned again along the head direction of the AGV; and issuing a re-planned path to the AGV. According to various embodiments of the present disclosure, when the risk of missing codes of the AGV in the running process is identified, a path can be re-planned for the AGV, error accumulation of the AGV in the process of advancing and/or reversing is avoided, and the risk of deviation is reduced.
Description
Technical Field
The present disclosure relates to the field of navigation of automatic guided vehicles (AGVs; automated Guided Vehicle), and more particularly to a navigation method, a navigation device, a server, and a computer-readable storage medium for an automatic guided vehicle.
Background
In current logistics storage field, automatic guided vehicle AGV has been used more and more to replace or supplement manual labor, effectively improves conveying efficiency simultaneously. An AGV is a transport vehicle equipped with an automatic guidance device such as electromagnetic or optical, capable of traveling along a predetermined guidance path, and having safety protection and various transfer functions. The current main navigation mode of the AGV is a navigation method based on two-dimensional code positioning and assisting inertial navigation. The two-dimensional code labels which are uniformly or non-uniformly distributed on the planned walking path of the AGV on the ground of the application place of the AGV are generally obtained by the aid of the camera and identified when the AGV advances, the AGV is controlled to advance according to position information in the two-dimensional code labels, and navigation to the AGV is achieved. The inertial navigation is to acquire the running state of the vehicle by using a sensor such as a gyroscope of the AGV and the like, and determine or calibrate the pose of the vehicle by combining the image information of the two-dimensional code label of the camera replenishment. For example, the position relationship between the AGV and a known two-dimensional code label layout position (commonly referred to as a code point) can be calculated by the traveling speed and heading of the AGV, and thus the position of the AGV can be calculated.
Chinese patent documents with publication numbers CN104142683a and CN206627826U both disclose such navigation methods based on two-dimensional code positioning and assisting inertial navigation.
In such navigation, the AGV reads the ground two-dimensional code tag information by looking down the camera, but if the ground code is broken/blocked, the camera cannot recognize the code. At this time, if the vehicle moves forward again, turns (e.g., turns), errors are accumulated, and there is a great risk of missing codes and deviating and colliding.
The matters in the background section are only those known to the inventors and do not, of course, represent prior art in the field.
BRIEF SUMMARY OF THE PRESENT DISCLOSURE
Accordingly, it is an aim of embodiments of the present disclosure to address one or more of the foregoing problems, and to provide a process that allows an AGV to retract when it is at risk of missing codes (missing navigation marks), avoiding error accumulation for re-advancement and/or reversing, and reducing the risk of deviation.
In a first aspect, embodiments of the present disclosure provide a navigation method for an Automatic Guided Vehicle (AGV), comprising: receiving that navigation marks corresponding to the positions where the AGVs pass or stop reported by the AGVs are abnormal; when the reported navigation mark is abnormal, a path is planned for the AGV again, wherein the path is planned for the AGV along the rollback direction of the AGV first, and when the path cannot be planned along the rollback direction of the AGV is determined, the path is planned again along the head direction of the AGV; and issuing a re-planned path to the AGV.
In one embodiment, the rescheduling the path for the AGV further comprises: when the path cannot be planned along the direction of the head, the path is re-planned along the direction of reversing of the AGV head.
In one embodiment, prior to the step of re-planning a path for the AGV, the method may further comprise: when the reported navigation mark is abnormal, setting the position corresponding to the abnormal navigation mark reported by the AGV as a locking state, or setting the adjacent position in a first preset range of the position corresponding to the navigation mark as the locking state, wherein the position marked as the locking state is avoided when the path planning is carried out on the AGV subsequently.
In one embodiment, an alarm may be sent to the operation and maintenance personnel upon receiving an abnormality in the navigation mark reported by the AGV.
In one example, the navigation mark employed by the method according to an embodiment of the present invention is a navigation mark at a critical location of the current planned path of the AGV.
In a second aspect, embodiments of the present disclosure provide a navigation device for automatically guiding an AGV, comprising: the receiving device is used for receiving that navigation marks corresponding to the positions where the AGVs pass or stop reported by the AGVs are abnormal; the path planning device is used for re-planning a path for the AGV when the reported navigation mark is abnormal, wherein the path is re-planned for the AGV along the back direction of the AGV, and the path is re-planned along the head direction of the AGV when the path cannot be planned along the back direction of the AGV is determined; and the issuing device is used for issuing the re-planned path to the AGV.
In one embodiment, the navigation device further comprises: and the locking device is used for setting the position corresponding to the abnormal navigation mark reported by the AGV as a locking state when the reported navigation mark is abnormal or setting the adjacent position in the first preset range of the position corresponding to the navigation mark as the locking state when the reported navigation mark is abnormal, wherein the position marked as the locking state is avoided when the path planning is carried out on the AGV subsequently.
In a third aspect, embodiments of the present disclosure provide a server, comprising: a memory configured to store program code, and a processor configured to execute the program code to perform the aforementioned method.
In a fourth aspect, the disclosed embodiments provide a computer-readable storage medium comprising computer-executable instructions stored thereon that, when executed by a processor, perform the aforementioned method.
According to various embodiments of the present disclosure, a path may be re-planned for an AGV upon receiving an abnormality in the navigation mark of the AGV stop or path reported by the AGV. When the path is re-planned, the AGV is first tried to plan the path for the AGV in a way of backing the AGV from the current position in the backing direction, and preferably when the AGV is determined to be unable to backing, the AGV is tried to plan the path for the AGV in a way of advancing the AGV from the current position in the direction of the head. The navigation mark is used for calibrating the position and the gesture of the AGV, and the AGV directly backs when encountering the abnormal navigation mark, so that the accumulation of the running deviation of the AGV can be avoided to the greatest extent. Furthermore, under the condition that the AGV is not feasible to try to retract, the AGV is tried to be guided to plan a path along the direction of the head, so that larger error accumulation and larger deviation risk caused by reversing of the AGV are avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate and explain the exemplary embodiments of the disclosure and together with the description serve to explain the disclosure, and do not constitute an undue limitation on the disclosure. In the drawings:
FIG. 1 schematically illustrates a schematic diagram of a basic application scenario for an automatic guided vehicle AGV navigation method according to an embodiment of the present disclosure;
FIG. 2 schematically illustrates a flow chart of a navigation method for an automatic guided vehicle AGV according to one embodiment of the present disclosure;
3-6 schematically illustrate operational diagrams of a navigation method for an automatic guided vehicle AGV according to embodiments of the present disclosure in several example application scenarios;
FIG. 7 schematically illustrates a block diagram of a navigation device for an AGV in accordance with one embodiment of the present disclosure;
FIG. 8 illustrates a block diagram of a computer system suitable for use in implementing various methods in accordance with embodiments of the invention; and
fig. 9 schematically illustrates a block diagram of a computer program product according to an embodiment of the present disclosure.
Detailed Description
Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways without departing from the spirit or scope of the present disclosure. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.
In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present disclosure and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present disclosure. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present disclosure, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the description of the present disclosure, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected: can be mechanically connected, electrically connected or can be communicated with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this disclosure will be understood by those of ordinary skill in the art as the case may be.
In this disclosure, unless expressly stated or limited otherwise, a first feature being "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other by way of additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is less level than the second feature.
The following disclosure provides many different embodiments, or examples, for implementing different structures of the disclosure. In order to simplify the present disclosure, components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present disclosure. Furthermore, the present disclosure may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.
The preferred embodiments of the present disclosure are described below in conjunction with the accompanying drawings, it being understood that the preferred embodiments described herein are for purposes of illustration and explanation only and are not intended to limit the present disclosure.
Fig. 1 schematically illustrates a schematic diagram of a basic application scenario 100 for an AGV navigation method according to an embodiment of the present disclosure, which may be, for example, a logistics warehouse system. The application scenario includes one or more shelves 110 of a storage area, one or more shelves 112 of a pick area, one or more automated guided vehicles 120, a server 130, and a plurality of navigation markers 140. The storage shelves 110 may include fixed shelves and movable shelves that may be carried by the automated guided vehicle AGV. The surrounding and/or underlying locations of the shelf 110 may be used to plan the travel route of the AGV with the navigation markers 140 distributed continuously or discretely over these locations or areas. For example, in an application scenario where an automated guided vehicle is used to pick up goods, the AGV receives a dispatch instruction from the central control server 130 that includes a planned travel path, and can autonomously move a first shelf location, pick up goods, and then travel to a second location (e.g., a shelf in a pick zone) to drop the goods under program control. The order picking personnel can complete the order picking operation according to the order information of the clients in the order picking area.
The automated guided vehicle 120 may be a pallet transfer robot or a bin transfer robot that transfers pallets or bins containing goods within a warehouse. For example, the goods shelf transfer robot is provided with a lifting mechanism capable of supporting and lifting the goods shelf, and the goods shelf adopts a square shelf body with a space for automatically guiding the vehicles to pass; when lifting the goods shelf, the automatic guiding vehicle can automatically travel to the position right below the target goods shelf, the target goods shelf is lifted off the ground by the lifting mechanism, and then the supporting goods shelf automatically travels to the target position (such as a goods picking area). Unlike a shelf handling robot, a bin handling robot is a robot that uses bins as handling and operating units, and has one or more layers of bin storage spaces provided in a main body, each layer of bin storage spaces being capable of storing one or more bins. The bin handling robot may be provided with a robotic arm for moving the target bin to the bin storage space under program control.
The navigation mark 140 is used to provide coordinate information of the position of the mark (i.e. the position corresponding to the mark) or information related to the coordinate information (from which the corresponding coordinate information can be calculated) for the AGV to perform pose determination and calibration. The navigation mark 140 may be distributed in a checkerboard manner on the ground of a specific application scene, may be uniformly distributed, may be unevenly distributed, may be in the form of a two-dimensional code in the form of a QR code or a DM code, or may further include an auxiliary graphic mark. The present disclosure is not limited in terms of the distribution and type of navigation marks.
The server or central control server 130 is communicatively connected, typically wirelessly, to a plurality of automated guided vehicles, for example, via Wifi or other transmission links, for controlling the actions of the automated guided vehicles. At the server 130, the floor of the application scene is planned in a two-dimensional plane, e.g., a grid, the server stores logical coordinates of the grids, and schedules the AGVs and plans the travel paths of the AGVs for one transport task in accordance with the logical coordinates. The main control functions of the server 130 in terms of navigation include, for example: global map management, AGV path planning, AGV navigation control, task allocation, and the like. It should be appreciated that the server 130 may not be configured to plan the ground of the application scene in a grid, depending on, for example, traffic conditions of the ground, and the present disclosure is not limited to how the server 130 is configured to plan the ground of the application scene.
It should also be appreciated that the central control server 130 is shown in fig. 1 as a stand-alone device with an automated guided vehicle, a shelf, but those skilled in the art will appreciate that the present disclosure is not so limited and that the central control server 130 may be integrated into other components, such as with a piece of shelf, as is within the scope of the present disclosure. The central control server 130 may be implemented in software, hardware, or a combination of software and hardware, such as a separate computer, a single chip microcomputer, a microprocessor, a microcontroller, a digital signal processor, an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), etc., or other integrated format, which are within the scope of the present disclosure.
FIG. 2 schematically illustrates a flow chart of a navigation method 200 for an Automatic Guided Vehicle (AGV) according to one embodiment of the present disclosure.
In step S210, the navigation mark corresponding to the position where the AGV is passing or stopping reported by the AGV is received, and the navigation mark is abnormal.
And in step S220, when the reported navigation mark is abnormal, re-planning a path for the AGV, wherein the path is re-planned for the AGV along the back direction of the AGV first, and when it is determined that the path cannot be planned along the back direction of the AGV, the path is re-planned along the head direction of the AGV.
At step S230, a re-planned path is issued to the AGV.
In the basic application scenario of fig. 1, the method 200 may be performed at the server 130. When the AGV's camera reads the navigation mark, but cannot identify the content of the navigation mark, it can be identified as abnormal navigation mark. For example, the AGV may learn from the server that a navigation mark exists at a location, but may not recognize the navigation mark and may assume that a navigation mark abnormality exists. At this point, the AGV may report the navigation mark anomaly to the server. The cause of the navigation mark anomaly may be, for example, a broken navigation mark, a blocked navigation comparison, and possibly other causes that may not be recognized by the AGV.
Further, the method may further comprise, at step S220, upon determining that the path cannot be planned along the direction of the head, and re-planning a path along the direction of reversing the AGV head.
According to the embodiment of the invention, after receiving the abnormality of the navigation mark of the current AGV, when the path is re-planned for the AGV, whether the current path of the AGV is a single line, whether other AGVs exist behind the AGV, whether the current map supports rollback or not, and any other appropriate factors can be comprehensively considered to determine whether the current AGV can rollback or not.
According to an embodiment of the present invention, the method according to an embodiment of the present invention may be performed only for navigation marks at key locations of the current planned path of the AGV. The critical position may be, for example, the turning position of the planned path of the AGV.
Further, prior to the step of rescheduling the path for the AGV, the method may further comprise: when the navigation mark reported by the AGV is abnormal, setting the position corresponding to the abnormal navigation mark reported by the AGV as a locking state, or setting the adjacent position in a first preset range of the position corresponding to the navigation mark as the locking state, wherein the position marked as the locking state is avoided when the path planning is carried out on the AGV subsequently. At the server 130, a global map of the application scenario is maintained, including information such as identifiers of the various navigation markers, specific coordinates, and lock status. The abnormal position of the navigation mark marked as the locked state means that when the AGV passes the position where the navigation mark is located, there is a risk of missing codes to deviate, or the position where the navigation mark is located is in a state where the AGV cannot pass. According to particular embodiments of the present disclosure, the locking mode of the navigation mark may include manual locking, path planning locking, and abnormal locking of the navigation mark. The position marked as locked should be avoided when planning a path for one of the transport tasks of the AGV.
In this case, a new locking mode, i.e. an abnormal locking of the navigation mark, is introduced according to an embodiment of the invention. The navigation system (including the AGV and the server) can correctly distinguish between manual locking, path planning locking and abnormal locking of navigation marks. Further, in the map viewing interface of the server, different types of lock position points may be displayed in different styles.
When it is determined that an abnormality exists in one navigation mark, the position corresponding to the navigation mark or the adjacent position of the position corresponding to the navigation mark is set to be in a locking state, so that the situation that the AGV passes through the peripheral area of the position corresponding to the navigation mark when planning a path of a subsequent AGV is avoided, the situation that the AGV passes through the position adjacent position is possible to occur abnormality or collision (for example, the AGV with a fault exists in the position and the AGV carries a goods shelf) is avoided, and the passing efficiency is improved.
The first preset range may be, for example, a range of one-degree neighbors, two-degree neighbors and residence marks of one navigation mark in the whole navigation mark distribution, or may be, for example, a certain distance range in a specific application scene, for example, a circular range with a certain position corresponding to the navigation mark as a circle center and a certain size as a radius, or may be a certain rectangular range determined with the position corresponding to the navigation mark as a center, for example, a "nine-square" area with the position corresponding to the navigation mark as a center, and any other feasible range.
Further, the system sends an alarm to the operation and maintenance personnel at the same time or after setting the navigation mark to the locked state. The navigation mark can be checked and/or repaired in time by operation and maintenance personnel after the operation and maintenance personnel receive the alarm.
In one embodiment, the navigation mark includes a locking attribute that includes: locking type, AGV identifier, locking time, etc. The locking type can be manual locking, path planning locking, abnormal locking of navigation marks and no locking at present. After the server receives the report of the abnormal navigation mark, a record is newly added under the locking attribute, wherein the locking type is the abnormal locking of the navigation mark, the AGV identifier is the vehicle identifier of the AGV reporting the abnormality, and the locking time is the system time of the server receiving the report of the abnormal navigation mark.
Based on the marked exception lock attribute and the lock attribute, the server may determine the time at which to trigger the lock and the extent of the lock. An alarm may be sent to the operation and maintenance personnel while or after setting the position corresponding to the navigation mark as a locked state, or setting the adjacent position within the first preset range of the position corresponding to the navigation mark as a locked state. After the operation and maintenance personnel solve the abnormal situation of the navigation mark, the locking state of the position corresponding to the navigation mark can be manually interfered, for example, unlocking is performed, namely, the locking type of the locking attribute of the navigation mark is 'current no locking', and the record of all items under the locking attribute can be performed.
One cause of the above-mentioned abnormality or risk of the navigation mark of the AGV may be that the ground code is broken/blocked, etc., thereby causing the AGV camera to fail to recognize the code. Thus, in accordance with embodiments of the present disclosure, upon determining that the navigation indicia of the AGV dock or route is abnormal, the path may be re-planned for the AGV, which may first determine whether the AGV may plan the path in the retraction direction, and less preferably, whether the AGV may plan the path in the head advancement direction. The navigation mark is used for calibrating the position and the gesture of the AGV, when the AGV encounters the abnormality of the navigation mark, the AGV directly backs and then continuously advances along a new path to reach the target position, and the accumulation of the running deviation of the AGV can be avoided to the greatest extent. Further, in situations where attempting AGV retraction is not feasible, attempting to plan a path to guide the AGV past the abnormal navigation mark in the direction of the head and continue to the target position along the new planned path avoids the greater accumulation of errors and greater risk of deviation from the AGV's turn.
An operational schematic of a navigation method for an automatic guided vehicle AGV according to an embodiment of the present disclosure in several example application scenarios is described below in connection with fig. 3-6. FIG. 3 schematically illustrates a schematic view of the current planned path of the AGV, as shown in FIG. 3, with the current planned path being along the dashed path, the planned travel path of the AGV being a turn, and the navigation mark anomaly location being a turn stop. In the following, several example application scenarios are described under the assumption of this AGV current position and current planned path.
Application scenario one
As shown in FIG. 4, it is determined that the navigation mark corresponding to the turning position where the AGV is passing has abnormality in the navigation mark, and a path is planned for the AGV again. When planning a path for an AGV, it is confirmed that the AGV retraction route is not locked, such as not a one-way street, an unoccupied on-line vehicle, and/or a map supports the retraction direction movement, so that a planned path can be established that first guides the AGV to move in the retraction direction. After the AGV receives the re-planned path issued by the server, it may first fall back to the previous location and then proceed along the new planned path.
Under the application scene, when the abnormality of the AGV navigation mark is identified, after confirming that the rollback path can be rollback, the path is re-planned along the rollback direction of the AGV, so that the error accumulation and deviation risk of the continuous advancing and steering actions of the AGV are avoided.
Application scene two
As shown in FIG. 5, it is determined that the navigation mark corresponding to the turning position where the AGV is passing has abnormality in the navigation mark, and the path is planned for the AGV again. In planning a path for an AGV, it is determined that the AGV retraction route has been locked, such as a single way, an on-line car has been occupied, and/or the map does not support movement in the retraction direction, so that a planned path may be less preferably established that first guides the AGV along the direction of the AGV head. After the AGV receives the re-planned path issued by the server, the AGV can advance along the direction of the head and continue to advance along the new planned path.
Under the application scene, under the condition that the AGV navigation mark is identified to be abnormal and the planned path cannot be established along the AGV rollback direction, the path is planned according to the head direction preferably, so that the risk of deviation and the risk of collision with a goods shelf and/or other vehicles, which are possibly caused by steering, are avoided.
Application scenario three
As shown in FIG. 6, it is determined that the navigation mark corresponding to the turning position where the AGV is passing has an abnormal navigation mark, and a path is planned for the AGV again. In planning a path for an AGV, it is determined that the AGV retraction path has been locked, such as a single way, an on-line truck has been occupied, and/or the map does not support movement in the retraction direction, and then it is determined that the AGV is locked from advancing in the direction of the head of the AGV, such as a single way, an on-line truck has been occupied, and/or the map does not support movement in the direction of the head, so that a planned path can be established that directs the AGV to first move in the direction of the head retraction. And at the abnormal position of the navigation mark, sending a request message for rescheduling the path to the scheduling server. And after the AGV receives the re-planned path issued by the server, reversing the head of the vehicle, and continuing to advance along the new planned path.
According to various embodiments of the present disclosure, upon determining that the navigation mark of the AGV is at rest or the pathway is abnormal, a path may be planned for the AGV again, and it may be determined first whether the AGV may plan the path along the retraction direction, and less preferably, whether the AGV may plan the path along the head advancement direction. The navigation mark is used for calibrating the position and the gesture of the AGV, when the AGV encounters the abnormality of the navigation mark, the AGV directly backs and then continuously advances along a new path to reach the target position, and the accumulation of the running deviation of the AGV can be avoided to the greatest extent. Further, in situations where attempting AGV retraction is not feasible, attempting to plan a path to guide the AGV past the abnormal navigation mark in the direction of the head and continue to the target position along the new planned path avoids the greater accumulation of errors and greater risk of deviation from the AGV's turn. In addition, if the AGVs are carrying the shelves to run, collision risk of the carried shelves with other current fixed shelves around or other AGVs around is increased if the trade turns, and in the case that the navigation mark is identified, the rollback is tried first, and then the forward is tried along the direction of the head, so that any possible collision risk can be minimized.
In a second aspect, the present disclosure also provides a navigation device 700 for an Automatic Guided Vehicle (AGV), as shown in fig. 7, the navigation device 700 comprising:
the receiving device 710 is configured to receive that a navigation mark corresponding to a position where the AGV is passing or stopping reported by the AGV has a navigation mark abnormality;
the path planning device 720 is configured to re-plan a path for the AGV when the reported navigation mark is abnormal, wherein the path is re-planned for the AGV along the back direction of the AGV first, and when it is determined that the path cannot be planned along the back direction of the AGV, the path is re-planned along the head direction of the AGV; and
and the path issuing device 730 is configured to issue the re-planned path to the AGV.
Further, the navigation device may further include: and the locking device is used for setting the position corresponding to the abnormal navigation mark reported by the AGV as a locking state when the reported navigation mark is abnormal or setting the adjacent position in the first preset range of the position corresponding to the navigation mark as the locking state when the reported navigation mark is abnormal, wherein the position marked as the locking state is avoided when the path planning is carried out on the AGV subsequently.
It should be understood that each module or sub-device recited in apparatus 700 corresponds to method 200 described with reference to fig. 2. Thus, the operations and features described above with respect to fig. 2 are equally applicable to the apparatus 700 and the modules or sub-devices contained therein, and are not described in detail herein.
It should also be appreciated that the device 700 may be implemented generally at the server 130 described with reference to fig. 1. Which may be implemented in various ways. For example, in some implementations, device 700 may be implemented using software and/or firmware modules. In addition, device 700 may also be implemented using hardware modules. Other ways of being known now or developed in the future are also possible, and the scope of the invention is not limited in this respect.
In a third aspect, the present disclosure also provides a server comprising: a memory configured to store program code, and a processor configured to execute the program code to perform a method according to the foregoing. The server may be implemented at the server 130 described with reference to fig. 1.
Fig. 8 shows a block diagram of a computer system 800 suitable for implementing various methods according to embodiments of the invention, which may be used, for example, to implement the server 130 according to embodiments of the invention. As shown in fig. 8, a computer system 800 may include: a CPU (central processing unit) 801, a RAM (random access memory) 802, a ROM (read only memory) 803, a system bus 804, a hard disk controller 808, a keyboard controller 806, a serial interface controller 807, a parallel interface controller 808, a display controller 809, a hard disk 810, a keyboard 811, a serial external device 812, a parallel external device 813, and a display 814. Among these components, connected to the system bus 804 are a CPU 801, a RAM 802, a ROM 803, a hard disk controller 805, a keyboard controller 806, a serial controller 807, a parallel controller 808, and a display controller 809. The hard disk 810 is connected to the hard disk controller 805, the keyboard 811 is connected to the keyboard controller 806, the serial external device 812 is connected to the serial interface controller 807, the parallel external device 813 is connected to the parallel interface controller 808, and the display 814 is connected to the display controller 809. The computer system 800 may also include a networking module (not shown) configured to enable the computer system 800 to transceive data with other mobile terminals or computer systems, e.g., the networking module may include a network adapter, modem, etc. It should be understood that the block diagram depicted in fig. 8 is shown for illustrative purposes only and is not limiting of the present invention. In some cases, some of the modules may be added or subtracted as desired.
Those skilled in the art will readily appreciate that the servers may be deployed locally, or remotely, may be implemented using software and/or firmware modules, may be implemented using hardware modules, or a combination thereof. The hardware portion may be implemented using dedicated logic; the software portions may be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or special purpose design hardware. Those of ordinary skill in the art will appreciate that the apparatus and methods described above may be implemented using computer executable instructions and/or embodied in processor control code, such as provided on a carrier medium such as a magnetic disk, CD or DVD-ROM, a programmable memory such as read only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The apparatus of the present invention and its modules may be implemented by hardware circuitry, such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., as well as software executed by various types of processors, or by a combination of the above hardware circuitry and software, such as firmware. These are all within the scope of the present invention.
In a fourth aspect, the present disclosure also provides a computer program product and a computer readable storage medium. Embodiments of the present disclosure may be implemented in the form of a computer program product. Fig. 9 schematically illustrates a block diagram of a computer program product 900 according to an embodiment of the present disclosure. For example, the method 200 described with reference to fig. 2 may be implemented by a computer program product 900. The signal bearing medium 902 may be implemented as or include a computer readable medium 906, a computer recordable medium 908, a computer communication medium 910, or a combination thereof, storing programming instructions for all or some of the previously described processes for execution by a configurable processor. By way of example only, in fig. 9, the instructions may include, for example, one or more executable instructions for causing one or more processors, including the server shown in fig. 1, to: receiving that navigation marks corresponding to the positions where the AGVs pass or stop reported by the AGVs are abnormal; when the reported navigation mark is abnormal, a path is planned for the AGV again, wherein the path is planned for the AGV along the rollback direction of the AGV first, and when the path cannot be planned along the rollback direction of the AGV is determined, the path is planned again along the head direction of the AGV; and issuing a re-planned path to the AGV. The computer program product may be stored in RAM 802, ROM 803, hard disk 810, and/or any suitable storage medium, such as shown in fig. 8, or downloaded from a suitable location over a network to computer system 850. The computer program product may comprise computer code portions comprising program instructions executable by a suitable processing device, such as the CPU 801 shown in fig. 8.
The present disclosure also provides a computer readable storage medium comprising computer executable instructions stored thereon which, when executed by a processor, perform a method according to the preceding claims.
It should be noted that although several modules or sub-devices of the device are mentioned in the above detailed description, this division is not mandatory only. Indeed, the features and functions of two or more modules described above may be embodied in one module in accordance with embodiments of the present disclosure. Conversely, the features and functions of one module described above may be further divided into a plurality of modules to be embodied.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present disclosure, and is not intended to limit the present disclosure, but although the present disclosure has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the technical solutions described in the foregoing embodiments, or that equivalents may be substituted for part of the technical features thereof. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (7)
1. A navigation method for an Automatic Guided Vehicle (AGV), comprising:
receiving that navigation marks corresponding to the positions where the AGVs pass or stop reported by the AGVs are abnormal;
when the reported navigation mark is abnormal, a path is planned for the AGV again, wherein the path is planned for the AGV along the rollback direction of the AGV first, and when the path cannot be planned along the rollback direction of the AGV is determined, the path is planned again along the head direction of the AGV; and
issuing a re-planned path to the AGV;
before the step of rescheduling the path for the AGV, the method further includes: when the reported navigation mark is abnormal, setting the position corresponding to the navigation mark of the abnormality reported by the AGV as a locking state, or setting the adjacent position in a first preset range of the position corresponding to the navigation mark as the locking state, wherein when the path planning is carried out on the AGV subsequently, the position marked as the locking state is avoided, the navigation mark comprises a locking attribute, and the locking attribute comprises: locking type, AGV identifier and locking time parameter; the locking types comprise manual locking, path planning locking, abnormal navigation mark locking and no locking at present;
wherein the range includes at least one of: a circular range taking the position corresponding to the navigation mark as a center and taking the preset size as a radius, a preset rectangular range determined by taking the position corresponding to the navigation mark as a center, and a nine-square area taking the position corresponding to the navigation mark as a center.
2. The method of claim 1 wherein said rescheduling a path for said AGV further comprises:
when the path cannot be planned along the direction of the head, the path is re-planned along the direction of reversing of the AGV head.
3. The method of claim 1, further comprising:
and when the navigation mark reported by the AGV is abnormal, sending an alarm to an operation and maintenance person.
4. The method of claim 1 wherein the navigation mark is a navigation mark at a critical location of the current planned path of the AGV.
5. A navigation device for automatically guiding an AGV, comprising:
the receiving device is used for receiving that navigation marks corresponding to the positions where the AGVs pass or stop reported by the AGVs are abnormal;
the path planning device is used for re-planning a path for the AGV when the reported navigation mark is abnormal, wherein the path is re-planned for the AGV along the back direction of the AGV, and the path is re-planned along the head direction of the AGV when the path cannot be planned along the back direction of the AGV is determined; and
the path issuing device is used for issuing a re-planned path to the AGV;
further comprises:
the locking device is configured to set, when the reported navigation mark is abnormal, a position corresponding to the abnormal navigation mark reported by the AGV as a locking state, or set, in a first preset range, an adjacent position corresponding to the navigation mark as a locking state, where, when path planning is performed for the AGV subsequently, the position marked as the locking state is avoided, the navigation mark includes a locking attribute, and the locking attribute includes: locking type, AGV identifier and locking time parameter; the locking types comprise manual locking, path planning locking, abnormal navigation mark locking and no locking at present;
wherein the range includes at least one of: a circular range taking the position corresponding to the navigation mark as a center and taking the preset size as a radius, a preset rectangular range determined by taking the position corresponding to the navigation mark as a center, and a nine-square area taking the position corresponding to the navigation mark as a center.
6. A server, comprising:
a memory configured to store program codes, an
A processor configured to execute the program code to perform the method according to any one of claims 1-4.
7. A computer readable storage medium comprising computer executable instructions stored thereon, which when executed by a processor perform the method according to any of claims 1-4.
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