CN110737274A

CN110737274A - AGV obstacle avoidance method and system, AGV and storage medium

Info

Publication number: CN110737274A
Application number: CN201911058664.2A
Authority: CN
Inventors: 汪文俊; 邵阳光; 黄志明
Original assignee: Muxing Robot (jiangsu) Co Ltd
Current assignee: Muxing Robot (jiangsu) Co Ltd
Priority date: 2019-11-01
Filing date: 2019-11-01
Publication date: 2020-01-31
Anticipated expiration: 2039-11-01
Also published as: CN110737274B

Abstract

The invention discloses AGV obstacle avoidance methods, systems, AGVs and storage media, the method is applied to a control unit, a prevention area is built in the control unit, the prevention area comprises multiple stages of function areas, the obstacle avoidance length and/or the obstacle avoidance width of each two function areas are different, the method comprises the steps of obtaining obstacle information in a global area scanned by an obstacle avoidance module, judging whether an obstacle falls into any stage function area, and triggering preset operation corresponding to the function area if the obstacle falls into the stage function area, wherein the preset operation comprises speed reduction and parking, the method can improve the operation efficiency of the AGVs and reduce false detection by arranging the prevention area with the multiple stages of function areas and respectively arranging different preset operations aiming at each stage of function area, and in the embodiment of , the method enables different working conditions to correspond to the prevention areas with different gears by arranging multiple groups of the prevention areas with different gears, so that the obstacle avoidance effect and the operation efficiency of the AGVs are higher.

Description

AGV obstacle avoidance method and system, AGV and storage medium

Technical Field

The invention relates to the technical field of AGV obstacle avoidance, in particular to AGV obstacle avoidance methods and systems, an AGV and a storage medium.

Background

The AGV self-navigation technology is developed to be mature at present, the AGV can independently execute partial tasks of transporting and pulling goods, when the AGV self-navigation executes the tasks, rings which are important for detection and anti-collision of obstacles are provided, obstacle detection and anti-collision strategies of the AGV on the market are simpler, generally simply sets alarm ranges, when the obstacle is detected in the alarm range, the operation of deceleration or stopping is executed, the setting size of the alarm range of the anti-collision strategy can influence the operation efficiency and the operation safety of the AGV, the too large alarm range easily causes false detection, the AGV decelerates or stops at a far distance from the obstacle, the operation efficiency of the AGV is influenced, and the operation safety of the AGV is correspondingly reduced.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, and provides AGV obstacle avoidance methods, systems, AGVs and storage media, aiming at solving the problem that the obstacle detection and anti-collision strategy of the conventional AGV has poor effectiveness.

The technical scheme is as follows: in order to achieve the above purpose, the AGV obstacle avoidance method of the present invention is applied to a control unit, wherein a defense area is built in the control unit, the defense area includes multiple functional areas, the obstacle avoidance length and/or obstacle avoidance width of each two functional areas are different, and all the functional areas are included in a global area that can be scanned by an obstacle avoidance module; the method comprises the following steps:

acquiring barrier information in the global area scanned by the barrier avoiding module;

judging whether an obstacle falls into any -level functional area, if so, triggering preset operation corresponding to the functional area, wherein the preset operation comprises deceleration and parking.

, the control unit is provided with a plurality of sets of defense areas with different gears, and the setting of the functional areas of the defense areas of any two gears is different, and the method also comprises the following steps:

acquiring the working condition of the AGV, wherein the working condition comprises the distance between the AGV and a terminal and/or the condition of whether goods are loaded;

and switching the gear of the defense area to the gear matched with the defense area according to the working condition.

, the functional areas in the defense area include an early warning area, a deceleration area and a stop area, the obstacle avoidance lengths of the three areas become shorter and the obstacle avoidance widths become wider in sequence from the front to the back, and the triggering corresponding to the preset operation of the functional areas includes:

when an obstacle falls into the early warning area, controlling the AGV to decelerate to a speed not higher than preset speed;

when an obstacle falls into the deceleration area, controlling the AGV to decelerate to a speed not higher than a second preset speed;

and when the obstacle falls into the stopping area, controlling the AGV to stop.

, a corresponding relation table is built in the control unit, the corresponding relation table records the distance interval and/or the corresponding relation between cargo loading and the gear position, and the switching the gear position of the defense area to the adaptive gear position according to the working condition comprises:

inquiring the corresponding relation table according to the distance interval of the distance between the AGV and the terminal point and/or the condition of whether the AGV carries cargo to obtain an adaptive gear;

and setting the defense area corresponding to the adapted gear as the current defense area.

, the obstacle avoidance module comprises a binocular camera and a structured light detection module.

, the AGV carries objects as a goods shelf with supporting legs, the obstacle avoidance width of at least functional areas of the current defense area set by the control unit is larger than the width of the goods shelf, the obstacle avoidance width is larger than the width of the goods shelf, the position corresponding to the supporting legs in the functional areas of the width of the goods shelf is provided with a special-shaped area, and the control unit ignores the obstacle information in the special-shaped area.

AGV obstacle avoidance system, which has stored therein defense area information, the defense area includes multi-stage functional areas, the obstacle avoidance length and/or obstacle avoidance width of each two functional areas are different, and all the functional areas are included in the global area that can be scanned by the obstacle avoidance module, the system includes:

an acquisition module for acquiring the information of the obstacles in the global area scanned by the obstacle avoidance module, and

and the triggering module is used for judging whether an obstacle falls into any -level functional area or not, and if so, triggering preset operation corresponding to the functional area, wherein the preset operation comprises deceleration and parking.

, storing multiple sets of defense area information of different gears, wherein the setting of the functional area of the defense area of any two gears is different, the system also comprises:

the second acquisition module is used for acquiring the working condition of the AGV, wherein the working condition comprises the distance between the AGV and a terminal point and/or the loading condition; and

and the matching module is used for switching the gear of the defense area to the gear matched with the defense area according to the working condition.

an AGV comprising:

the AGV comprises an AGV body which can move controllably;

the obstacle avoidance module is used for scanning obstacle information; and

and the control unit comprises the AGV obstacle avoidance system.

storage media having stored thereon an executable program that when executed performs the AGV obstacle avoidance method described above.

The AGV obstacle avoidance method, the AGV obstacle avoidance system, the AGV and the storage medium have the advantages that the defense areas with the multi-stage function areas are arranged, different preset operations are respectively set for the function areas at all stages, accordingly, obstacle detection and anti-collision strategies of the AGV are effectively refined, the operation efficiency of the AGV can be improved while the anti-collision purpose is guaranteed, error detection is reduced, in the step advancing embodiment, multiple sets of defense areas with different gears are arranged, different working condition conditions correspond to the defense areas with different gears, the obstacle detection and anti-collision strategies are refined according to the working condition conditions in steps, and accordingly the obstacle avoidance efficiency and the operation efficiency of the AGV are high.

Drawings

FIG. 1 is a diagram illustrating a hardware configuration of an AGV according to an embodiment of the present invention;

FIG. 2 is a distribution diagram of functional zones in a defence area according to embodiments of the present invention;

FIG. 3 is a schematic flow chart illustrating an AGV obstacle avoidance method according to an embodiment of the present invention;

FIG. 4 is a schematic flow chart illustrating a method for selecting a defensive range shift according to operating condition in accordance with an embodiment of the invention;

FIG. 5 is a block diagram of a defence area with shaped zones according to various embodiments of the present invention;

FIG. 6 is a schematic diagram of an AGV obstacle avoidance system according to a second embodiment of the present invention.

In the figure:

Detailed Description

The invention is further described with reference to the following figures.

For purposes of clarity and understanding of the objects, aspects and advantages of the present invention, reference is made to the following detailed description taken in conjunction with the accompanying drawings and examples, it being understood that the specific embodiments described herein are illustrative of the invention only and are not limiting, since other embodiments may become apparent to those skilled in the art upon consideration of the following detailed description of the invention, without any creative effort.

It is to be understood that in the following description, suffixes such as "module", "part", or "unit" used to indicate elements are used only for facilitating the description of the present invention, and have no particular meaning in themselves. Thus, "module", "component" or "unit" may be used mixedly.

Fig. 1 shows a schematic hardware structure diagram of AGVs 100 according to an embodiment of the present invention, which at least includes an AGV body 110, an obstacle avoidance module 120, a control unit 130, and a battery 140, where the AGV body 110 is used to carry all components included in the AGV100, and the components including the obstacle avoidance module 120, the control unit 130, and the battery 140 are all mounted on the AGV body 110, and the following detailed descriptions of the components of the AGV100 are as follows:

the AGV body 110 includes a body 111 and two driving wheels 112 mounted on the left and right sides of the middle of the body 111, and in addition, in order to maintain the balance of the body 111, a plurality of driven wheels are mounted on the front and rear sides of the body 111, and the driven wheels support the left and right sides; the control unit 130 can perform differential operation by controlling the two driving wheels 112 respectively so that the AGV body 110 can perform forward, backward, in-situ rotation, and the like, so that the AGV body 110 has flexible movement capability.

The obstacle avoidance module 120 is configured to scan obstacle information, the obstacle avoidance module 120 may employ sensors capable of detecting obstacles around the AGV in the form of a laser radar, an ultrasonic sensor, an infrared sensor, and the like, and the technical solutions of the obstacle avoidance module 120 based on the above sensors or their combinations should be regarded as falling within the protection scope of the present invention; in preferred embodiment, keep away barrier module 120 and contained binocular camera and structured light detection module, should keep away barrier module 120 and use the vision binocular as the owner, the scheme of structured light has been fused, can effectively increase the degree of depth measurement precision of white wall and no texture object, can use in dark surrounds simultaneously, comparatively speaking, traditional infrared wave, there is the detection blind area easily when the barrier is kept away to the scheme such as linear rotation radar two-dimentional, adopt this to keep away barrier module 120 to carry out three-dimensional scanning can accurate detection barrier and the module between the distance, can real-time transmission keep away barrier information, the reliability of perception has been promoted by a wide margin. In other embodiments, the obstacle avoidance module 120 may include other sensors besides the binocular camera and the structured light detection module, such as the above-mentioned laser radar, ultrasonic sensor, infrared sensor, and other types of sensors, and these combinations should be considered as falling within the scope of the present invention.

The control unit 130 is used to control the entire AGV100 to perform series tasks including autonomous navigation movement, obstacle detection, and collision avoidance, and includes at least sets of processors and memories, wherein the memories store executable programs, and the processors execute the executable programs to implement series of controls for the AGV 100;

the control unit 130 includes an AGV obstacle avoidance system 150, where the AGV obstacle avoidance system 150 may be in a hardware form or a software form, and when the AGV obstacle avoidance system 150 exists in a hardware form, it includes an independent sub-processor and a sub-memory, and when the AGV obstacle avoidance system exists in a hardware form, the sub-memory stores a dedicated visual obstacle avoidance program, and when the AGV obstacle avoidance system exists in a software form, it shares a processor and a memory with other programs in the control unit 130, and the processor is program blocks among a plurality of programs in the memory, and the processor executes the program blocks to implement the AGV obstacle avoidance method of the present invention.

Example

In the embodiment, the AGV obstacle avoiding method is applied to the control unit 130, a defense area is built in the control unit 130, the defense area comprises a plurality of stages of functional areas, the obstacle avoiding length and/or the obstacle avoiding width of each two functional areas are different, all the functional areas are contained in a global area which can be scanned by an obstacle avoiding module, here, the functional areas are kinds of virtual areas which are virtually divided in the control unit 130, the functional areas always move along with the movement of the AGV100, namely the functional areas are divided by taking a base coordinate of the AGV100 as a reference coordinate, the obstacle avoiding length of the functional areas is a distance divided in the front-back direction of the AGV100, the obstacle avoiding length is a distance divided in the left-right direction of the AGV100, when the obstacle avoiding length and the obstacle avoiding width are determined, the effective area range of the functional areas is determined, each functional area corresponds to kinds of preset operation instructions, and in the operation process of the AGV100, when an obstacle appears in the functional area, kinds of operation instructions are triggered to achieve the purpose of preventing collision with the obstacle.

In the present embodiment, the schematic diagram of the defense area is shown in fig. 2, wherein the functional areas include an early warning area a, a deceleration area b, and a stopping area c, when viewed from the front and the back, the obstacle avoidance lengths of the three areas are sequentially shorter, and the obstacle avoidance widths are sequentially wider, i.e., the obstacle avoidance length of the early warning area a is longest, the obstacle avoidance length of the stopping area c is shortest, the obstacle avoidance width of the stopping area c is widest, and the obstacle avoidance width of the stopping area c is narrowest, the preset operation command of the early warning area a is to decelerate the AGV100 to a target of higher target speeds (herein, referred to as " preset speed") so that the AGV100 runs at a speed no higher than a preset speed, when the deceleration degree of the AGV 110 is relatively smaller, the preset operation command of the deceleration area b is to decelerate the AGV100 to a target of lower target speeds (herein, referred to as "second preset speed") so that the AGV runs at a speed no higher than the second preset speed, when the AGV 110 runs at a relatively larger deceleration degree of the AGV100, and when the AGV stops at a collision is to a collision prevention instruction of the AGV 100.

The prevention area is set into the three areas, the obstacle avoidance length and the obstacle avoidance width of the three areas are set into the shape shown in fig. 2, the obstacle avoidance effect can be effectively guaranteed, the obstacle avoidance length of the early warning area a is longest, the detection length of the early warning area a is longest, error detection is easily caused by slight deviation when the AGV100 moves, the obstacle avoidance width of the early warning area a is set to be narrowest, error detection can be effectively prevented, and the obstacle avoidance width of the early warning area a can be narrower than the AGV body 110. On the contrary, the obstacle avoidance width of the stop area c is the widest, so that collision can be effectively prevented, the obstacle avoidance width of the stop area c needs to be larger than the width of the AGV100, and when the goods transported or transferred by the AGV100 are wider, the obstacle avoidance width of the stop area c should be larger than the maximum width of the goods.

Based on the above hardware conditions and the arrangement of the defense area of the AGV100, as shown in fig. 3, the AGV obstacle avoidance method includes the following steps S201 to S202:

step S201, obtaining the obstacle information in the global area scanned by the obstacle avoidance module;

in this step, the obstacle avoidance module 120 may perform obstacle detection on the effective detection range thereof, and obtain the direction and depth distance information of each obstacle.

Step S202, determining whether an obstacle falls into any -level functional area, if so, triggering a preset operation corresponding to the functional area.

In this step, the control unit 130 sequentially determines whether the obstacle falls into the defense area according to the direction and depth distance information of each obstacle, ignores the obstacle when the obstacle does not fall into the defense area, determines the specific functional area in which the obstacle falls and triggers the preset operation instruction corresponding to the functional area when the obstacle falls into the defense area, so that the AGV100 executes corresponding operation according to the preset operation instruction.

Specifically, triggering the preset operation corresponding to the functional area in step S202 specifically includes the following steps S301 to S303, and it is understood that the step numbers in the embodiment of the method are not used to limit the order of executing the steps.

Step S301, when an obstacle falls into the early warning area a, controlling the AGV100 to decelerate to a speed not higher than the th preset speed;

step S302, when an obstacle falls into the deceleration area b, controlling the AGV100 to decelerate to a speed not higher than a second preset speed;

step S303, when an obstacle falls into the stop area c, controlling the AGV100 to stop.

In a preferred embodiment, a plurality of groups of the defense areas with different gears are built in the control unit 130, the setting of the function areas of the defense areas of any two gears is different, in this embodiment, each defense area can be provided with three function areas of a pre-warning area a, a deceleration area b and a stop area c, at least items of the at least obstacle avoidance lengths of the defense areas of all gears, which are same as those of the function areas of types, are different, the obstacle avoidance widths can be the same, or can be individually set in a detailed manner according to the gear levels, for example, if 15 gear defense areas are arranged in the control unit 130, the obstacle avoidance lengths of the pre-warning area a, the deceleration area b and the stop area c of the gear 1 are respectively set to be 0.5m, 0.3m and 0.2m, the obstacle avoidance lengths of the pre-warning area a, the deceleration area b and the stop area c of the gear 15 are respectively set to be 2m, 1.5m and 1m, the obstacle avoidance lengths of the respective pre-warning area a, the deceleration area b and the stop area c of the 13 gears between the gear 1 and the gear 15 can be divided into a plurality of groups of defense areas, which can be respectively set as effective detection strategies for improving the current detection of.

Based on the setting of the multi-gear defense area, as shown in fig. 4, the AGV obstacle avoidance method further includes the following steps S401 to S402:

step S401, acquiring the working condition of the AGV100, wherein the working condition comprises the distance between the AGV100 and a terminal and the condition of whether the AGV is loaded or not;

in this step, the distance between the AGV100 and the end point and whether the load is loaded are considered as parameters to be considered for gear shifting, and in other embodiments, other parameters may be introduced as parameters to be considered for gear shifting, for example, the weight and volume of the transported goods may be introduced as parameters to be considered for gear shifting.

Returning to fig. 4, step S402, the gear of the defense area is switched to the gear adapted to the condition of the working condition.

In this step, , the farther the AGV100 is from the end point, the longer the obstacle avoidance distance of the selected gear, the closer the AGV100 is to the end point, and the shorter the obstacle avoidance distance of the selected gear, when the AGV100 is loaded with cargo, this is called a "heavy-car" state, and the maximum obstacle avoidance distance of the selected defense area should be longer than the maximum obstacle avoidance distance of the selected defense area when the AGV100 is not loaded with cargo.

Specifically, in order to facilitate the control unit 130 to select a suitable gear, the control unit 130 may have a corresponding relationship table built therein, where the corresponding relationship table records a distance interval and/or a corresponding relationship between cargo and a gear, and the step of switching the gear of the defense area to the adapted gear according to the working condition includes the following steps S501 to S502:

step S501, inquiring the corresponding relation table according to the distance interval of the distance from the AGV100 to the end point and/or the condition of whether the cargo is loaded to obtain the matched gear;

and step S502, setting the defense area corresponding to the adapted gear as the current defense area.

Taking the 0-15 gear defense areas as an example, the control unit 130 may switch between the 0-7 gear defense areas when the AGV100 is running empty, wherein the maximum obstacle avoidance distance of the 7 gear defense area is the farthest, and the maximum obstacle avoidance distance of the 0 gear defense area is the closest. When the AGV100 is loaded, the control unit 130 may be set to switch between the 8-15 gear zones, wherein the maximum obstacle avoidance distance of the 15 gear zone is the farthest, and the maximum obstacle avoidance distance of the 8 gear zone is the closest.

In embodiments, the AGV100 is a rack with supporting legs, the obstacle avoidance width of at least functional areas of the current defense area set by the control unit 130 is larger than the width of the rack, and the position corresponding to the supporting legs in the functional area with the obstacle avoidance width larger than the width of the rack has a special-shaped area d (as shown in fig. 5), and the control unit 130 ignores the obstacle information in the special-shaped area d, so that the supporting legs of the rack can be effectively prevented from interfering with the obstacle detection result.

Example two

The present embodiment provides AGV obstacle avoidance system 600, where the AGV obstacle avoidance system 600 may include or be divided into or more program modules, or more program modules are stored in a storage medium and executed by or more processors to implement the AGV obstacle avoidance method described above, and the program modules referred to in the embodiments of the present invention refer to series of computer program instruction segments capable of performing specific functions, and are more suitable than the program itself for describing the execution process of the AGV obstacle avoidance method in the storage medium.

Information of a defense area is stored in the AGV obstacle avoidance system, the defense area comprises a plurality of stages of functional areas, the obstacle avoidance length and/or the obstacle avoidance width of each two functional areas are different, and all the functional areas are contained in a global area which can be scanned by the obstacle avoidance module 120;

the following description will specifically describe the functions of the program modules of this embodiment, and as shown in fig. 6, an AGV obstacle avoidance system 600 includes:

, an obtaining module 610, configured to obtain obstacle information in the global area scanned by the obstacle avoidance module 120;

and the triggering module 620 is used for judging whether an obstacle falls into any -level functional area, and if so, triggering preset operation corresponding to the functional area, wherein the preset operation comprises deceleration and parking.

In a preferred embodiment, a plurality of sets of defense area information of different gears are stored in the AGV obstacle avoidance system 600, and the functional area settings of the defense areas of any two gears are different; based on this, the AGV obstacle avoidance system 600 further includes:

a second obtaining module 630, configured to obtain operating conditions of the AGV100, where the operating conditions include a distance between the AGV100 and a terminal and/or a cargo state;

and the matching module 640 is used for switching the gear of the defense area to the gear matched with the defense area according to the working condition.

For the technical details of the program modules in performing the corresponding tasks, reference may be made to embodiment , which is not described herein again.

EXAMPLE III

The present embodiment further provides computer readable storage media, such as flash memory, hard disk, multimedia card, card type memory (e.g., SD or DX memory, etc.), Random Access Memory (RAM), Static Random Access Memory (SRAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Programmable Read Only Memory (PROM), magnetic memory, magnetic disk, optical disk, server, App application mall, etc., on which computer programs are stored, which when executed by a processor implement corresponding functions.

The above example numbers are for description only and do not represent the merits of the examples.

According to the AGV obstacle avoidance method, the AGV obstacle avoidance system, the AGV and the storage medium, the defense areas with the multi-stage functional areas are arranged, different preset operations are respectively set for the functional areas at all stages, so that obstacle detection and anti-collision strategies of the AGV are effectively refined, the operation efficiency of the AGV can be improved while the anti-collision purpose is guaranteed, and error detection is reduced, in the embodiment of step , the plurality of groups of defense areas with different gears are arranged, so that different working condition conditions correspond to the defense areas with different gears, the obstacle detection and anti-collision strategies are refined according to the working condition conditions in step , and the effectiveness and the operation efficiency of the AGV are high.

The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.

Claims

The AGV obstacle avoiding method is applied to a control unit and is characterized in that a defense area is built in the control unit, the defense area comprises a plurality of stages of functional areas, the obstacle avoiding length and/or the obstacle avoiding width of every two functional areas are different, and all the functional areas are contained in a global area which can be scanned by an obstacle avoiding module, and the method comprises the following steps:

acquiring barrier information in the global area scanned by the barrier avoiding module;

judging whether an obstacle falls into any -level functional area, if so, triggering preset operation corresponding to the functional area, wherein the preset operation comprises deceleration and parking.
2. The AGV obstacle avoidance method according to claim 1, wherein a plurality of sets of said defence areas of different gears are built in said control unit, and the functional area settings of said defence areas of any two gears are different; the method further comprises the following steps:

acquiring the working condition of the AGV, wherein the working condition comprises the distance between the AGV and a terminal and/or the condition of whether goods are loaded;

and switching the gear of the defense area to the gear matched with the defense area according to the working condition.
3. The AGV obstacle avoidance method according to claim 1, wherein the functional areas in the defense area include an early warning area, a deceleration area, and a stop area, and the obstacle avoidance lengths of the three areas are sequentially shorter and the obstacle avoidance widths are sequentially wider when viewed from the front and the back; the triggering preset operation corresponding to the functional area comprises:

when an obstacle falls into the early warning area, controlling the AGV to decelerate to a speed not higher than preset speed;

when an obstacle falls into the deceleration area, controlling the AGV to decelerate to a speed not higher than a second preset speed;

and when the obstacle falls into the stopping area, controlling the AGV to stop.
4. The AGV obstacle avoidance method according to claim 2, wherein a correspondence table is built in the control unit, the correspondence table records a correspondence between a distance interval and/or whether cargo is loaded and a shift position, and the switching the shift position of the defense area to the adaptive shift position according to the working condition includes:

inquiring the corresponding relation table according to the distance interval of the distance between the AGV and the terminal point and/or the condition of whether the AGV carries cargo to obtain an adaptive gear;

and setting the defense area corresponding to the adapted gear as the current defense area.
5. The AGV obstacle avoidance method of claim 1, wherein the obstacle avoidance module comprises a binocular camera and a structured light detection module.
6. The AGV obstacle avoiding method according to claim 1, wherein the carrying object of the AGV is a rack with support legs, the obstacle avoiding width of at least functional areas of the current defense area set by the control unit is larger than the width of the rack, and a position corresponding to the support legs in the functional area with the obstacle avoiding width larger than the width of the rack has a special-shaped area, and the control unit ignores the obstacle information in the special-shaped area.
7, AGV keeps away barrier system, characterized in that, its in-storage has defence area information, the defence area contains multistage functional area, and the length of keeping away the barrier and/or keeping away the barrier width difference of every two functional area, and all the functional area all contains in keeping away the global area that barrier module can scan, the system includes:

an acquisition module for acquiring the information of the obstacles in the global area scanned by the obstacle avoidance module, and

and the triggering module is used for judging whether an obstacle falls into any -level functional area or not, and if so, triggering preset operation corresponding to the functional area, wherein the preset operation comprises deceleration and parking.
8. The AGV obstacle avoidance system of claim 7, wherein a plurality of sets of said defence areas information of different gears are stored therein, and the functional area settings of said defence areas of any two gears are different; the system further comprises:

the second acquisition module is used for acquiring the working condition of the AGV, wherein the working condition comprises the distance between the AGV and a terminal point and/or the loading condition; and

and the matching module is used for switching the gear of the defense area to the gear matched with the defense area according to the working condition.
An AGV of the type , comprising:

the AGV comprises an AGV body which can move controllably;

the obstacle avoidance module is used for scanning obstacle information; and

a control unit comprising the AGV obstacle avoidance system of claim 7 or 8.
Storage medium 10, , characterized in that, the storage medium has stored thereon an executable program, when executed, to implement the AGV obstacle avoidance method according to any of claims 1-7 and .