CN111796590A - Obstacle avoidance control method and device, article carrying system and readable storage medium - Google Patents
Obstacle avoidance control method and device, article carrying system and readable storage medium Download PDFInfo
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- CN111796590A CN111796590A CN201910904258.7A CN201910904258A CN111796590A CN 111796590 A CN111796590 A CN 111796590A CN 201910904258 A CN201910904258 A CN 201910904258A CN 111796590 A CN111796590 A CN 111796590A
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- 238000001514 detection method Methods 0.000 claims description 27
- 238000004590 computer program Methods 0.000 claims description 9
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- 230000004888 barrier function Effects 0.000 description 12
- 238000004519 manufacturing process Methods 0.000 description 9
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- 238000003384 imaging method Methods 0.000 description 2
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
Abstract
The disclosure relates to a control method and device for obstacle avoidance, an article carrying system and a readable storage medium, and relates to the technical field of computers. The method of the present disclosure comprises: in response to the situation that an object appears in front of the automatic guided vehicle, determining whether the object is an obstacle or not according to the state of the position code point where the object is located; the method comprises the following steps that in the running process of each automatic guided vehicle, the current position code point and a preset number of position code points in front of the running path are locked; under the condition that the object is an obstacle, replanning a path to a target position code point for the automatic guided vehicle; wherein the replanned path excludes the position code point where the obstacle is located; and controlling the automatic guided vehicle to run according to the re-planned path.
Description
Technical Field
The present disclosure relates to the field of computer technologies, and in particular, to a method and an apparatus for controlling obstacle avoidance, an article handling system, and a readable storage medium.
Background
Currently, Automated Guided Vehicles (AGVs) are used in a wide variety of fields. Location code points (e.g., two-dimensional codes) are typically provided on the warehouse floor for AGV navigation. In the goods-to-person picking mode, a common approach is to place items on custom shelves, transport the shelves by the AGV to a picking station, and pick the items to be picked from the shelves by an operator.
In the process of carrying the goods shelf by the AGV, the goods fall off from the goods shelf inevitably. There are also other non-rack items, such as cleaning implements, etc., that are lost to the area where the AGV operates due to some human factor. These conditions can cause the AGV to encounter obstacles during travel. At present, in order to ensure safety and prevent the AGV from colliding with a barrier object, the AGV can automatically detect whether other objects appear in front, and once other objects appear, the warning that the AGV cannot normally arrive is sent out until the alarm time preset by the control device is reached. After the control device gives an alarm, an operator determines which AGV and the current position on the control device, and then the operator comes to the position to process the obstacle, so that the AGV can normally continue to run.
Disclosure of Invention
The inventor finds that: under the condition that the AGV meets the obstacle, the AGV is controlled to stop, wait for manual processing and then continue to run, and therefore the efficiency of carrying and production operation is reduced. In addition, in the current method for detecting the obstacle by using the AGVs, under some conditions, for example, other AGVs passing by can also be misjudged as the obstacle, so that the AGVs stop waiting, and the efficiency of carrying and production operation is further reduced.
One technical problem to be solved by the present disclosure is: the carrying efficiency and the whole production operation efficiency of the AGV in the warehouse are improved.
According to some embodiments of the present disclosure, there is provided a method for controlling obstacle avoidance, including: in response to the situation that an object appears in front of the automatic guided vehicle, determining whether the object is an obstacle or not according to the state of the position code point where the object is located; the method comprises the following steps that in the running process of each automatic guided vehicle, the current position code point and a preset number of position code points in front of the running path are locked; under the condition that the object is an obstacle, replanning a path to a target position code point for the automatic guided vehicle; wherein the replanned path excludes the position code point where the obstacle is located; and controlling the automatic guided vehicle to run according to the re-planned path.
In some embodiments, the automated guided vehicle stops at a position at a preset distance from the object by detecting the distance from the object; the position code point where the object is located is determined according to the position code point where the automatic guided vehicle stops and a preset distance.
In some embodiments, the method further comprises: receiving detection report information of the automatic guided vehicle, wherein the detection report information comprises: the current position code point of the automatic guided vehicle and the distance between the automatic guided vehicle and the detected object; the position code point where the object is located is determined according to the current position code point where the automatic guided vehicle is located and the distance between the automatic guided vehicle and the detected object.
In some embodiments, determining whether the object is an obstacle according to the state of the position code point where the object is located includes: searching whether the position code point where the object is positioned is marked as an obstacle position code point; in the case where the position code point is marked as an obstacle position code point, it is determined that the object is an obstacle.
In some embodiments, determining whether the object is an obstacle according to the state of the position code point where the object is located further includes: and under the condition that the position code point is not marked as an obstacle position code point, inquiring the locking state of the position code point where the object is located, and under the condition that the position code point where the object is located is locked by the automatic guided vehicle, determining that the object is an obstacle.
In some embodiments, the method further comprises: releasing the current locked position code point of the automatic guided vehicle; and marking the position code point where the obstacle is located as an obstacle position code point.
In some embodiments, the method further comprises: sending an obstacle clearing instruction, wherein the obstacle clearing instruction comprises: the barrier is at the position code point; and in response to the situation that the obstacle is successfully cleared, clearing the mark of the obstacle position code point of the position code point where the obstacle is positioned.
In some embodiments, the situation of successfully clearing the obstacle is determined according to a response message returned by the obstacle clearing robot, wherein the response message is successful in clearing the obstacle; or the condition that the obstacle is successfully cleared is determined according to the information that other automatic guided vehicles successfully pass through the position code point where the obstacle is located.
In some embodiments, the condition that an object appears in front of the automatic guided vehicle is determined according to the detection report information of the automatic guided vehicle; alternatively, the presence of an object in front of the automated guided vehicle is determined based on the automated guided vehicle stopping for more than a preset time.
In some embodiments, controlling the automated guided vehicle to travel according to the re-planned path comprises: according to the re-planned path and the current position code point of the automatic guided vehicle, sending running instruction information to the automatic guided vehicle, wherein the running instruction information comprises: identification information of a driving direction and a position code point; receiving heartbeat information reported periodically by the automatic guided vehicle, wherein the heartbeat information comprises: the automatic guided vehicle scans the identification information obtained by the position code points; and determining the current position code point of the automatic guided vehicle according to the heartbeat information.
According to other embodiments of the present disclosure, there is provided a control device for obstacle avoidance, including: the obstacle determining module is used for responding to the situation that an object appears in front of the automatic guided vehicle in the driving process and determining whether the object is an obstacle or not according to the state of the position code point where the object is located; the method comprises the following steps that in the running process of each automatic guided vehicle, the current position code point and a preset number of position code points in front of the running path are locked; the path planning module is used for replanning a path to the target position code point for the automatic guided vehicle under the condition that the object is the obstacle; wherein the replanned path excludes the position code point where the obstacle is located; and the driving control module is used for controlling the automatic guided vehicle to drive according to the re-planned path.
In some embodiments, the automated guided vehicle stops at a position at a preset distance from the object by detecting the distance from the object; the position code point where the object is located is determined according to the position code point where the automatic guided vehicle stops and a preset distance.
In some embodiments, the apparatus further comprises: the information receiving module is used for receiving the detection report information of the automatic guided vehicle, and the detection report information comprises: the current position code point of the automatic guided vehicle and the distance between the automatic guided vehicle and the detected object; the position code point where the object is located is determined according to the current position code point where the automatic guided vehicle is located and the distance between the automatic guided vehicle and the detected object.
In some embodiments, the obstacle determining module is configured to find whether a position code point where the object is located is marked as an obstacle position code point; in the case where the position code point is marked as an obstacle position code point, it is determined that the object is an obstacle.
In some embodiments, the obstacle determining module is further configured to query a locking state of the position code point where the object is located when the position code point is not marked as the obstacle position code point, and determine that the object is the obstacle when the position code point where the object is located is locked by the automatic guided vehicle.
In some embodiments, the apparatus further comprises: the code point management module is used for releasing the currently locked position code points of the automatic guided vehicle; and marking the position code point where the obstacle is located as an obstacle position code point.
In some embodiments, the apparatus further comprises: clear away instruction module for send clear away the barrier instruction, clear away the barrier instruction and include: the barrier is at the position code point; the code point management module is also used for responding to the situation that the obstacle is successfully cleared, and clearing the mark of the obstacle position code point of the position code point where the obstacle is located.
In some embodiments, the situation of successfully clearing the obstacle is determined according to a response message returned by the obstacle clearing robot, wherein the response message is successful in clearing the obstacle; or the condition that the obstacle is successfully cleared is determined according to the information that other automatic guided vehicles successfully pass through the position code point where the obstacle is located.
In some embodiments, the condition that an object appears in front of the automatic guided vehicle is determined according to the detection report information of the automatic guided vehicle; alternatively, the presence of an object in front of the automated guided vehicle is determined based on the automated guided vehicle stopping for more than a preset time.
In some embodiments, the driving control module is configured to send driving instruction information to the automated guided vehicle according to the re-planned path and the current location code point of the automated guided vehicle, where the driving instruction information includes: identification information of a driving direction and a position code point; receiving heartbeat information reported periodically by the automatic guided vehicle, wherein the heartbeat information comprises: the automatic guided vehicle scans the identification information obtained by the position code points; and determining the current position code point of the automatic guided vehicle according to the heartbeat information.
According to still other embodiments of the present disclosure, there is provided a control device for avoiding an obstacle, including: a processor; and a memory coupled to the processor for storing instructions that, when executed by the processor, cause the processor to perform a method of controlling obstacle avoidance as in any of the embodiments described above.
According to still further embodiments of the present disclosure, there is provided a computer-readable non-transitory storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method for controlling obstacle avoidance of any of the foregoing embodiments.
According to further embodiments of the present disclosure, an article carrying system is provided, which includes the obstacle avoidance control device of any of the foregoing embodiments; and the automatic guided vehicle is used for receiving the instruction of the obstacle avoidance control device and driving according to the re-planned path.
According to the method and the system, under the condition that the object appears in front of the AGV in the running process, whether the object is a barrier or not is determined according to the state of the position code point where the object is located, if the object is the barrier, the path to the destination point is automatically re-planned, and the AGV is controlled to run according to the re-planned path. Because each AGV is at the in-process of traveling, current position code point and current position code point are locked along the position code point of the predetermined number in route the place ahead of traveling, consequently, can judge the object according to the state of object position code point and be barrier or other AGV to reduce the erroneous judgement of barrier, reduce the time that AGV parks and waits, improve handling efficiency and whole production operating efficiency. And the method of replanning the path is adopted under the condition that the object is the obstacle, so that the waiting time of the AGV in stopping is reduced, and the carrying efficiency and the whole production operation efficiency are further improved.
Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 illustrates a flow diagram of a control method of obstacle avoidance according to some embodiments of the present disclosure.
FIG. 2 illustrates a schematic diagram of a position code point being locked in some embodiments of the present disclosure.
Fig. 3 illustrates a schematic view of an automated guided vehicle encountering an obstacle according to some embodiments of the present disclosure.
Fig. 4 shows a flow chart of a control method for obstacle avoidance according to another embodiment of the present disclosure.
Fig. 5 shows a schematic structural diagram of a control device for obstacle avoidance according to some embodiments of the present disclosure.
Fig. 6 is a schematic structural diagram of a control device for obstacle avoidance according to another embodiment of the present disclosure.
Fig. 7 is a schematic structural diagram of a control device for obstacle avoidance according to further embodiments of the present disclosure.
Fig. 8 illustrates a schematic structural view of an article handling system of some embodiments of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
The scheme is provided for solving the problem that the existing AGV obstacle avoiding method and the obstacle detecting method cause lower carrying efficiency and overall production operation efficiency. Some embodiments of the disclosed obstacle avoidance control method are described below with reference to fig. 1.
Fig. 1 is a flowchart of some embodiments of the disclosed obstacle avoidance control method. As shown in fig. 1, the method of this embodiment includes: step S102 to step S106.
In step S102, in response to the presence of an object in front of the automated guided vehicle, it is determined whether the object is an obstacle according to the state of the position code point where the object is located.
The AGV can navigate according to the position code points in the driving process. The position code point is, for example, a preset area or a position point provided with position identification information. The location indicating information may be a two-dimensional code pattern disposed on the warehouse floor or other identification information that may uniquely identify the location information. For example, a control device for obstacle avoidance (hereinafter, simply referred to as a control device) determines a route to a destination point for the AGV before the AGV starts traveling, and the route may be represented by information of position code points and traveling directions at the respective position code points. In the driving process, the AGV scans the current position code point, and periodically reports heartbeat information to the control device, wherein the heartbeat information comprises: and the AGV scans the identification information obtained by the position code points. And the control device determines the next driving direction of the AGV according to the information of the current position code point of the AGV, sends a driving instruction to the AGV, and the AGV continues to drive according to the driving instruction.
In the driving process of each automatic guided vehicle, the current position code point and the position code points with the preset number in front of the current position code point along the driving path can be locked. The position code point where the AGV is currently located and the position code points where the AGV is currently located along the preset number of position code points in front of the running path may be marked as a locked state by the control device in the path information composed of the position code points corresponding to the AGV. When one position code point is locked by one AGV, other AGVs cannot repeatedly lock.
As shown in fig. 2, the AGV normally executes a driving instruction according to the originally planned path in a manner of driving after locking a point. When the AGV runs, the control device can perform rolling locking, for example, the control device can lock 5 continuous code points first, and the AGV is ensured to have enough distance to run under the condition of keeping a certain speed. Then, when the user drives a code point, the last code point is released immediately, and a new code point is locked forwards continuously. As shown in fig. 2, the AGV starts traveling from position No. 1, consecutive 5 position No. 2 to 7 are locked before traveling, when the AGV travels to position No. 3, position No. 2 is released and position No. 8 is locked again while traveling forward (the locked position No. is shaded), and so on.
A detection device can be configured on the AGV to automatically detect whether an object appears in a preset distance range. For example, the AGV may be provided with a detection device such as a laser radar or an imaging device. The detection of the object may also be achieved by providing a detection device (e.g., an imaging device) in the warehouse, and the like, and is not limited to the illustrated example.
The control device can determine the condition of the object in front of the AGV running according to the detection reported information of the AGV. The detection of the reported information comprises the following steps: the current position code point of the AGV and the distance between the AGV and the detected object. Alternatively, the control means may determine that an object appears in front of the travel of the AGV according to the AGV stopping for more than a preset time. The control device can judge whether the AGV stops for more than the preset time according to the fact that whether the time from the last heartbeat information sending time of the AGV to the current time exceeds the preset time.
In some embodiments, the AGV may automatically decelerate upon detecting the presence of an object in front of the travel, and may detect the distance to the object by the detection device and stop at a position at a predetermined distance from the object. Further, the position code point where the object is located may be determined according to the position code point where the automated guided vehicle stops and a preset distance. The AGV may send a parking report message to the control device, and the parking report message may include a position code point at which the AGV stops. Or the control device determines the position code point of the AGV stopping according to the heartbeat information sent by the AGV last time before the AGV sends the parking report information. The control device knows that the AGV stops, and then determines that the object appears in the front of the AGV traveling. Or, the control device can judge whether the AGV stops for more than the preset time according to whether the time from the last sending of the heartbeat information to the current time by the AGV exceeds the preset time. Under the condition that the parking time exceeds the preset time, the control device can determine the position code point of the AGV parking according to the heartbeat information sent by the AGV last time.
In other embodiments, the control device may receive detection report information of the AGV, where the detection report information includes: the current position code point of the AGV and the distance between the AGV and the detected object. The position code point where the object is located may be determined according to the position code point where the AGV is currently located and a distance between the AGV and the detected object. And the AGV can immediately send detection report information under the condition of automatically detecting that an object appears in front of the traveling vehicle. The control may indicate to the AGV the location code point of the stop so that the AGV stops at the corresponding location code point (e.g., one location code point before the location code point where the object along the travel path of the AGV is located). Alternatively, the AGV may send the detection report information while parking.
In still other embodiments, in the event that the detection device within the warehouse detects the presence of an object in front of the travel of the AGV, the control device may be notified and control the AGV to stop. The detection device can detect the position code point of the object.
According to the above real-time modes, the method for determining the position code point of the object by detecting the object through the AGV is simpler and more convenient to realize.
In some embodiments, determining whether an object is an obstacle may employ the following method. And searching whether the position code point where the object is positioned is marked as an obstacle position code point. In the case where the position code point is marked as an obstacle position code point, it is determined that the object is an obstacle. The control device can acquire whether each AGV running in the warehouse meets the obstacle or not, and marks the position code point as the obstacle position code point under the condition that the object in front of the AGV running is determined to be the obstacle and the position code point where the obstacle is located is not marked. The marking of the obstacle position code point can subsequently reduce the determination process of the locking state.
And under the condition that the position code point is not marked as an obstacle position code point, inquiring the locking state of the position code point where the object is located, and under the condition that the position code point where the object is located is locked by the automatic guided vehicle, determining that the object is an obstacle. And if the position code point where the object is located is locked by the AGV, indicating that the position code point does not belong to other AGVs, determining the object as the obstacle. If the position code point where the object is located is locked by other AGVs and is not marked as an obstacle code point, the object on the position code point is indicated as other AGVs.
According to the method of the embodiment, whether the object is an obstacle can be simply, directly and efficiently judged through judging the state of the position code point, and the judgment accuracy is improved.
In step S104, if the object is an obstacle, a route to the destination point is newly planned for the automated guided vehicle. The re-planned path excludes the location code point where the obstacle is located.
The control device can determine that the position code point where the AGV is currently located reaches the target position code point and does not contain the shortest path of the position code point where the obstacle is located. In some embodiments, the control device may re-plan the path of the AGVs whose distance from the obstacle is less than the threshold, which may reduce subsequent detection of these AGVs, interaction with the control device, and determination process of the control device, thereby improving efficiency. The control device does not need to re-plan the routes of all AGVs whose routes include the position code point where the obstacle is located, because there is a high possibility that the obstacle has been cleaned when some AGVs farther from the position code point travel to the position code point.
In the event that the AGV stops at a location a predetermined distance from the object, the location may be between two location code points, or the location may be within the area of the location code point where the object is located. In order to ensure the feasibility of replanning the path, the position code point reported by the last heartbeat message before the AGV stops can be used as a starting point to replan the path, and the AGV can return to the starting point.
In step S106, the automated guided vehicle is controlled to travel according to the re-planned route.
The control may send information for one or more location code points of the re-planned path to the AGV. In some embodiments, the control device sends driving instruction information to the automated guided vehicle according to the re-planned path and the current position code point of the automated guided vehicle, where the driving instruction information includes: identification information of a driving direction and a position code point; receiving heartbeat information reported periodically by the automatic guided vehicle, wherein the heartbeat information comprises: the automatic guided vehicle scans the identification information obtained by the position code points; and determining the current position code point of the automatic guided vehicle according to the heartbeat information.
One application example of the present disclosure is described below by taking the scenario shown in fig. 3 as an example. As shown in fig. 3, when the AGV detects that there is an object in front of the traveling, the AGV gradually decelerates to travel until the traveling speed of the AGV is reduced to zero when the distance between the AGV body and the object is a predetermined distance, for example, about 5 cm. When the AGV decelerates and drives over the position number 5 point close to the position number 6 point, the AGV will stay a very short distance before the obstacle because the object is in the position number 6 point area. At this time, the position code points locked by the AGV are the consecutive 5 position code points from No. 5 to No. 9. Since the position number 6 point has not been reached, the position number 5 point cannot be released immediately, and the position number 10 point cannot be locked. The control device can determine the reason that the AGV can not normally move at the moment according to the position of the position code point 6 where the object is and whether the position code point 6 is locked by the current AGV or not, and whether the AGV meets an obstacle or not.
If the deceleration stop is caused by the locking by another AGV, the controller receives the lock point failure feedback of the position number 6 point. Since the position code point 6 is already locked by the current AGV and the AGV has already traveled past the position code point 5, and the traveling speed reported by the AGV is zero at this time, it can be completely determined that the AGV is in the "obstacle-encountering parking" state at this time. Once the control device determines that the AGV is in the state of stopping when meeting obstacles, the control device can dispatch the AGV to return to the position code point No. 5 or directly and slowly back to the position code point No. 5, and then a new path to the destination position code point is planned again by taking the position code point No. 5 as a starting point.
According to the method, under the condition that the object appears before the AGV runs, whether the object is an obstacle or not is determined according to the state of the position code point where the object is located, if the object is the obstacle, the path to the destination point is automatically re-planned, and the AGV is controlled to run according to the re-planned path. Because each AGV is at the in-process of traveling, current position code point and current position code point are locked along the position code point of the predetermined number in route the place ahead of traveling, consequently, can judge the object according to the state of object position code point and be barrier or other AGV to reduce the erroneous judgement of barrier, reduce the time that AGV parks and waits, improve handling efficiency and whole production operating efficiency. And the method of replanning the path is adopted under the condition that the object is the obstacle, so that the waiting time of the AGV in stopping is reduced, and the carrying efficiency and the whole production operation efficiency are further improved.
Further embodiments of the disclosed obstacle avoidance control method are described below with reference to fig. 4.
Fig. 4 is a flowchart of some embodiments of the disclosed obstacle avoidance control method. As shown in fig. 4, the method of this embodiment includes: step S402 to step S412.
In step S402, in response to the presence of an object ahead of the automated guided vehicle, a position code point at which the object is located is determined.
In step S404, it is searched whether the position code point where the object is located is marked as an obstacle position code point. If the position code point where the object is located is marked as an obstacle position code point, step S405 is performed, otherwise step S406 is performed.
In step S405, the object is determined to be an obstacle. Step S410 is then performed.
In step S406, the locking state of the position code point where the object is located is queried, and it is determined whether the position code point where the object is located is locked by the automated guided vehicle, if so, step S407 is executed, otherwise, step S408 is executed.
In step S407, it is determined that the object is an obstacle, and the position code point where the obstacle is located is marked as an obstacle position code point. Step S410 is then performed.
In step S408, it is determined that the object does not belong to an obstacle.
In step S410, the currently locked position code point of the automated guided vehicle is released, and an obstacle clearing instruction is sent.
The clear obstacle instruction includes: the obstacle is at the location code point. The control device can send an obstacle clearing instruction to the monitoring system, and the monitoring system sends the obstacle clearing instruction to the obstacle clearing robot or the obstacle clearing personnel. The control device can also directly send an obstacle clearing instruction to the obstacle clearing robot or the obstacle clearing personnel.
In step S412, in response to the case where the obstacle clearance is successful, the mark of the obstacle position code point of the position code point where the obstacle is located is cleared.
In some embodiments, the situation of successfully clearing the obstacle is determined according to a response message returned by the obstacle clearing robot, wherein the response message is successful in clearing the obstacle; or the condition that the obstacle is successfully cleared is determined according to the information that other automatic guided vehicles successfully pass through the position code point where the obstacle is located. After the obstacle is successfully cleared, other AGVs report heartbeat messages when passing through, and the control device can determine that the obstacle is successfully cleared. The success of clearing the obstacle is judged by the other AGVs successfully passing through the position code point where the obstacle is located, so that the signaling interaction flow can be reduced, and the resources are saved.
The present disclosure also provides a control device for obstacle avoidance, which is described below with reference to fig. 5. The control device for avoiding the obstacle can be arranged in the AGV and also can be independently arranged. The control device for avoiding the obstacle is not only suitable for the AGV to avoid the obstacle but also suitable for other robots.
Fig. 5 is a block diagram of some embodiments of the disclosed obstacle avoidance control apparatus. As shown in fig. 5, the apparatus 50 of this embodiment includes: an obstacle determination module 502, a path planning module 504, and a travel control module 506.
The obstacle determining module 502 is configured to determine whether an object is an obstacle according to a state of a position code point where the object is located in response to a situation that the object appears in front of the automated guided vehicle; and in the running process of each automatic guided vehicle, the current position code point and the position code points of the current position code point are locked along the position code points of the preset number in front of the running path.
In some embodiments, the condition that an object appears in front of the automatic guided vehicle is determined according to the detection report information of the automatic guided vehicle; alternatively, the presence of an object in front of the automated guided vehicle is determined based on the automated guided vehicle stopping for more than a preset time.
In some embodiments, the automated guided vehicle stops at a position at a preset distance from the object by detecting the distance from the object; the position code point where the object is located is determined according to the position code point where the automatic guided vehicle stops and a preset distance.
In some embodiments, the obstacle determining module 502 is configured to find whether a position code point where the object is located is marked as an obstacle position code point; in the case where the position code point is marked as an obstacle position code point, it is determined that the object is an obstacle.
In some embodiments, the obstacle determining module 502 is further configured to query a locking state of the position code point where the object is located if the position code point is not marked as an obstacle position code point, and determine that the object is an obstacle if the position code point where the object is located is locked by the automated guided vehicle.
A path planning module 504, configured to re-plan a path to the destination location code point for the automated guided vehicle when the object is an obstacle; wherein the re-planned path excludes the location code point where the obstacle is located.
And a driving control module 506, configured to control the automated guided vehicle to drive according to the re-planned route.
In some embodiments, the driving control module 506 is configured to send driving instruction information to the automated guided vehicle according to the re-planned path and the current location code point of the automated guided vehicle, where the driving instruction information includes: identification information of a driving direction and a position code point; receiving heartbeat information reported periodically by the automatic guided vehicle, wherein the heartbeat information comprises: the automatic guided vehicle scans the identification information obtained by the position code points; and determining the current position code point of the automatic guided vehicle according to the heartbeat information.
In some embodiments, the apparatus 50 further comprises: an information receiving module 508, configured to receive detection report information of the automated guided vehicle, where the detection report information includes: the current position code point of the automatic guided vehicle and the distance between the automatic guided vehicle and the detected object; the position code point where the object is located is determined according to the current position code point where the automatic guided vehicle is located and the distance between the automatic guided vehicle and the detected object.
In some embodiments, the apparatus 50 further comprises: a code point management module 510, configured to release a currently locked position code point of the automated guided vehicle; and marking the position code point where the obstacle is located as an obstacle position code point.
In some embodiments, the apparatus 50 further comprises: a clear instruction module 512, configured to send an obstacle clearing instruction, where the obstacle clearing instruction includes: the barrier is at the position code point; the code point management module is also used for responding to the situation that the obstacle is successfully cleared, and clearing the mark of the obstacle position code point of the position code point where the obstacle is located.
The obstacle avoidance control devices in the embodiments of the present disclosure may each be implemented by various computing devices or computer systems, which are described below with reference to fig. 6 and 7.
Fig. 6 is a block diagram of some embodiments of the disclosed obstacle avoidance control apparatus. As shown in fig. 6, the apparatus 60 of this embodiment includes: a memory 610 and a processor 620 coupled to the memory 610, the processor 620 being configured to execute the method for controlling obstacle avoidance in any of the embodiments of the present disclosure based on instructions stored in the memory 610.
Fig. 7 is a block diagram of another embodiment of the control device for obstacle avoidance according to the present disclosure. As shown in fig. 7, the apparatus 70 of this embodiment includes: memory 710 and processor 720 are similar to memory 610 and processor 620, respectively. An input output interface 730, a network interface 740, a storage interface 750, and the like may also be included. These interfaces 730, 740, 750, as well as the memory 710 and the processor 720, may be connected, for example, by a bus 760. The input/output interface 730 provides a connection interface for input/output devices such as a display, a mouse, a keyboard, and a touch screen. The network interface 740 provides a connection interface for various networking devices, such as a database server or a cloud storage server. The storage interface 750 provides a connection interface for external storage devices such as an SD card and a usb disk.
The present disclosure also provides an article handling system, described below in conjunction with fig. 8.
Fig. 8 is a block diagram of some embodiments of the article handling system of the present disclosure. As shown in fig. 8, the system 8 of this embodiment includes: the obstacle avoidance control device 50/60/70 of any of the preceding embodiments; and an automatic guided vehicle 82 for receiving an instruction of the obstacle avoidance control device and driving according to the re-planned path.
The automated guided vehicle 82 is also used for detecting an object in front of the vehicle and sending detection report information to the obstacle avoidance control device 50/60/70.
The automated guided vehicle 82 is also configured to stop at a position at a preset distance from the object by detecting the distance from the object.
The automated guided vehicle 82 is also used to periodically report heartbeat information to the obstacle avoidance control 50/60/70.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only exemplary of the present disclosure and is not intended to limit the present disclosure, so that any modification, equivalent replacement, or improvement made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (14)
1. A control method for obstacle avoidance comprises the following steps:
responding to the situation that an object appears in front of the automatic guided vehicle in the running process, and determining whether the object is an obstacle or not according to the state of the position code point where the object is located; the method comprises the following steps that in the running process of each automatic guided vehicle, the current position code point and a preset number of position code points in front of the running path are locked;
under the condition that the object is an obstacle, replanning a path to a target position code point for the automatic guided vehicle; wherein the replanned path excludes the position code point where the obstacle is located;
and controlling the automatic guided vehicle to run according to the re-planned path.
2. The obstacle avoidance control method according to claim 1, wherein,
the automatic guided vehicle stops at a position where the distance from the automatic guided vehicle to the object is a preset distance by detecting the distance from the automatic guided vehicle to the object;
and the position code point where the object is located is determined according to the position code point where the automatic guided vehicle stops and the preset distance.
3. The obstacle avoidance control method according to claim 1, further comprising:
receiving detection reporting information of the automated guided vehicle, wherein the detection reporting information comprises: the current position code point of the automatic guided vehicle and the distance between the automatic guided vehicle and the detected object;
and the position code point where the object is located is determined according to the current position code point of the automatic guided vehicle and the distance between the automatic guided vehicle and the detected object.
4. The obstacle avoidance control method according to claim 1, wherein,
the determining whether the object is an obstacle according to the state of the position code point where the object is located includes:
searching whether the position code point where the object is located is marked as an obstacle position code point;
determining that the object is an obstacle in case the position code point is marked as an obstacle position code point.
5. The obstacle avoidance control method according to claim 4, wherein,
the determining whether the object is an obstacle according to the state of the position code point where the object is located further comprises:
and under the condition that the position code point is not marked as an obstacle position code point, inquiring the locking state of the position code point where the object is located, and under the condition that the position code point where the object is located is locked by the automatic guided vehicle, determining that the object is an obstacle.
6. The obstacle avoidance control method according to claim 5, further comprising:
releasing the current locked position code point of the automatic guided vehicle;
and marking the position code point where the obstacle is located as an obstacle position code point.
7. The obstacle avoidance control method according to claim 6, further comprising:
sending an obstacle clearing instruction, wherein the obstacle clearing instruction comprises: the position code point of the obstacle;
and in response to the situation that the obstacle is successfully cleared, clearing the mark of the obstacle position code point of the position code point where the obstacle is located.
8. The obstacle avoidance control method according to claim 7, wherein,
the situation of successfully clearing the obstacle is determined according to a response message of successfully clearing the obstacle returned by the obstacle clearing robot;
or the condition that the obstacle is successfully cleared is determined according to the information that other automatic guided vehicles successfully pass through the position code point where the obstacle is located.
9. The obstacle avoidance control method according to claim 1, wherein,
the condition that an object appears in front of the running of the automatic guided vehicle is determined according to the detection reported information of the automatic guided vehicle;
alternatively, the presence of an object in front of the automated guided vehicle is determined based on the automated guided vehicle stopping for more than a preset time.
10. The obstacle avoidance control method according to any one of claims 1 to 9, wherein,
the controlling the automated guided vehicle to travel according to the re-planned path includes:
according to the re-planned path and the current position code point of the automatic guided vehicle, sending running instruction information to the automatic guided vehicle, wherein the running instruction information comprises: identification information of a driving direction and a position code point;
receiving heartbeat information periodically reported by the automatic guided vehicle, wherein the heartbeat information comprises: the automatic guided vehicle scans the identification information obtained by the position code points;
and determining the current position code point of the automatic guided vehicle according to the heartbeat information.
11. A control device for obstacle avoidance, comprising:
the obstacle determining module is used for responding to the situation that an object appears in front of the automatic guided vehicle in the driving process and determining whether the object is an obstacle or not according to the state of the position code point where the object is located; the method comprises the following steps that in the running process of each automatic guided vehicle, the current position code point and a preset number of position code points in front of the running path are locked;
the path planning module is used for replanning a path to a target position code point for the automatic guided vehicle under the condition that the object is an obstacle; wherein the replanned path excludes the position code point where the obstacle is located;
and the running control module is used for controlling the automatic guided vehicle to run according to the re-planned path.
12. A control device for obstacle avoidance, comprising:
a processor; and
a memory coupled to the processor for storing instructions that, when executed by the processor, cause the processor to perform the method of controlling obstacle avoidance of any of claims 1-10.
13. A computer-readable non-transitory storage medium having a computer program stored thereon, wherein the program when executed by a processor implements the steps of the method of any one of claims 1-10.
14. An article handling system comprising: a control device for obstacle avoidance according to claim 11 or 12; and
and the automatic guided vehicle is used for receiving the instruction of the obstacle avoidance control device and driving according to the re-planned path.
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