CN111796590B - Obstacle avoidance control method, device, article handling system and readable storage medium - Google Patents
Obstacle avoidance control method, device, article handling system and readable storage medium Download PDFInfo
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- CN111796590B CN111796590B CN201910904258.7A CN201910904258A CN111796590B CN 111796590 B CN111796590 B CN 111796590B CN 201910904258 A CN201910904258 A CN 201910904258A CN 111796590 B CN111796590 B CN 111796590B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—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
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Abstract
The disclosure relates to a control method, a device, an article handling system and a readable storage medium for obstacle avoidance, and relates to the technical field of computers. The method of the present disclosure comprises: responding to the condition that an object appears in front of the running of the automatic guided vehicle, and determining whether the object is an obstacle according to the state of a position code point where the object is positioned; in the running process of each automatic guiding vehicle, the current position code point and the preset number of position code points in front of the running path of the current position code point are locked; under the condition that the object is an obstacle, re-planning a path to a code point of a target position for the automatic guided vehicle; wherein the re-planned 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 disclosure relates to the field of computer technology, and in particular, to a method and a device for controlling obstacle avoidance, an article handling system and a readable storage medium.
Background
Currently, handling AGVs (Automated Guided Vehicle, automated guided vehicles) are increasingly used in a variety of fields. Location code points (e.g., two-dimensional codes) are typically set on the warehouse floor for AGV navigation. In the goods-to-person picking mode, the common approach is to place items on custom shelves, transport the shelves by an AGV to a picking station, and pick the items from the shelves that need to be picked by an operator.
In the course of the shelves being carried by the AGVs, it is inevitable that items fall off the shelves. There are also other non-shelf items, such as cleaning implements, that may be left in the area where the AGV is operating due to certain artifacts. These conditions can cause the AGV to encounter obstacles during travel. At present, in order to ensure safety, prevent that the AGV from colliding with obstacle objects, the AGV can automated inspection the place ahead whether other objects appear, in case there are other objects to appear, need stop until reaching the warning time that controlling means preset, just send the warning that the AGV can not normally arrive. After the control device gives an alarm, an operator determines which AGV and the current position of the AGV on the control device, and then the operator gets to the position to treat the obstacle, so that the AGV can normally continue to run.
Disclosure of Invention
The inventors found that: under the condition that the AGV meets the obstacle, the AGV is controlled to stop waiting for manual treatment and then continuously run, so that the efficiency of carrying and production operation is reduced. In addition, the current method for detecting the obstacle by using the AGV can be misjudged as the obstacle under some conditions, such as that other AGVs pass, so that the AGVs stop waiting, and further the efficiency of carrying and production operation is reduced.
One technical problem to be solved by the present disclosure is: and the carrying efficiency of AGVs in the warehouse and the overall production operation efficiency are improved.
According to some embodiments of the present disclosure, a control method for obstacle avoidance is provided, including: responding to the condition that an object appears in front of the running of the automatic guided vehicle, and determining whether the object is an obstacle according to the state of a position code point where the object is positioned; in the running process of each automatic guiding vehicle, the current position code point and the preset number of position code points in front of the running path of the current position code point are locked; under the condition that the object is an obstacle, re-planning a path to a code point of a target position for the automatic guided vehicle; wherein the re-planned 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 of the object is determined according to the position code point of the stop of the automatic guided vehicle 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 following steps: the code point of the current position of the automatic guided vehicle and the distance between the automatic guided vehicle and the detected object; the position code point of the object 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.
In some embodiments, determining whether the object is an obstacle based on the state of the code point at which the object is located includes: searching whether the position code point of the object is marked as an obstacle position code point or not; in the case where the position code point is marked as an obstacle position code point, the object is determined to be an obstacle.
In some embodiments, determining whether the object is an obstacle according to the state of the code point of the position of the object 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 of the object, and under the condition that the position code point of the object is locked by the automatic guided vehicle, determining that the object is an obstacle.
In some embodiments, the method further comprises: releasing the currently locked position code point of the automatic guided vehicle; and marking the position code point of the obstacle as the obstacle position code point.
In some embodiments, the method further comprises: transmitting an obstacle clearing instruction, wherein the obstacle clearing instruction comprises: the obstacle is at the position code point; and in response to the condition 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.
In some embodiments, the successful obstacle clearing condition is determined based on a response message returned by the obstacle clearing robot to the successful obstacle clearing condition; or the successful obstacle clearing condition is determined according to the information that other automatic guided vehicles successfully pass through the position code point of the obstacle.
In some embodiments, the presence of an object in front of the travel of the automated guided vehicle is determined based on the detected report information of the automated guided vehicle; or the condition that the automatic guided vehicle is in front of the running state of the object is determined according to the fact that the automatic guided vehicle stops 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 code point of the current position of the automatic guided vehicle, sending running indication information to the automatic guided vehicle, wherein the running indication information comprises: identification information of the driving direction and the position code point; receiving heartbeat information periodically reported by an 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 code point of the current position of the automatic guided vehicle according to the heartbeat information.
According to further embodiments of the present disclosure, there is provided a control device for obstacle avoidance, including: the obstacle determining module is used for determining whether the object is an obstacle according to the state of the position code point of the object in response to the condition that the object appears in front of the running of the automatic guided vehicle; in the running process of each automatic guiding vehicle, the current position code point and the preset number of position code points in front of the running path of the current position code point are locked; the path planning module is used for re-planning a path to a code point of a target position for the automatic guided vehicle under the condition that the object is an obstacle; wherein the re-planned 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 of the object is determined according to the position code point of the stop of the automatic guided vehicle 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 code point of the current position of the automatic guided vehicle and the distance between the automatic guided vehicle and the detected object; the position code point of the object 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.
In some embodiments, the obstacle determination 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, the object is determined to be an obstacle.
In some embodiments, the obstacle determining module is further configured to query a locking state of a position code point where the object is located if the position code point is not marked as the 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.
In some embodiments, the apparatus further comprises: the code point management module is used for releasing the currently locked position code point of the automatic guided vehicle; and marking the position code point of the obstacle as the obstacle position code point.
In some embodiments, the apparatus further comprises: the clear instruction module is used for sending an obstacle clearing instruction, and the obstacle clearing instruction comprises: the obstacle is at the position code point; the code point management module is also used for clearing the marks of the obstacle position code points of the position code points where the obstacle is located in response to the condition that the obstacle clearing is successful.
In some embodiments, the successful obstacle clearing condition is determined based on a response message returned by the obstacle clearing robot to the successful obstacle clearing condition; or the successful obstacle clearing condition is determined according to the information that other automatic guided vehicles successfully pass through the position code point of the obstacle.
In some embodiments, the presence of an object in front of the travel of the automated guided vehicle is determined based on the detected report information of the automated guided vehicle; or the condition that the automatic guided vehicle is in front of the running state of the object is determined according to the fact that the automatic guided vehicle stops for more than a preset time.
In some embodiments, the driving control module is configured to send driving indication 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 indication information includes: identification information of the driving direction and the position code point; receiving heartbeat information periodically reported by an 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 code point of the current position of the automatic guided vehicle according to the heartbeat information.
According to still further embodiments of the present disclosure, there is provided a control device for obstacle avoidance, 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, a computer-readable non-transitory storage medium is provided, on which a computer program is stored, wherein the program, when executed by a processor, implements the obstacle avoidance control method of any of the foregoing embodiments.
According to still further embodiments of the present disclosure, there is provided an article handling system comprising the obstacle avoidance control of any of the previous embodiments; and the automatic guided vehicle is used for receiving the instruction of the obstacle avoidance control device and running according to the re-planned path.
According to the method and the device, under the condition that an object appears in front of the AGV, whether the object is an obstacle is determined according to the state of the position code point of the object, if the object is the obstacle, a path to a destination point is automatically planned again, and the AGV is controlled to run according to the planned path. Because each AGV is in the in-process of traveling, current place position code point and current place position code point are locked along the position code point of the presettingnumber of travel route the place ahead, consequently, can judge the object and be barrier or other AGVs according to the state of object place position code point to reduce the erroneous judgement of barrier, reduce the time that AGVs stopped waiting, improve conveying efficiency and whole production operating efficiency. And moreover, a path re-planning mode is adopted under the condition that the object is an obstacle, so that the waiting time of the AGV is shortened, and the carrying efficiency and the overall production operation efficiency are further improved.
Other features of the present disclosure and its advantages will become apparent from the following detailed description of exemplary embodiments of the disclosure, 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 that are required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.
Fig. 1 illustrates a flow diagram of a method of controlling obstacle avoidance in some embodiments of the present disclosure.
Fig. 2 illustrates a schematic diagram of a position code point being locked in accordance with some embodiments of the present disclosure.
Fig. 3 illustrates a schematic diagram of an automated guided vehicle encountering an obstacle in accordance with some embodiments of the present disclosure.
Fig. 4 shows a flow diagram of a method of controlling obstacle avoidance in further embodiments of the present disclosure.
Fig. 5 illustrates a schematic structural diagram of a control device for obstacle avoidance in some embodiments of the present disclosure.
Fig. 6 shows a schematic structural view of a control device for obstacle avoidance according to further embodiments of the present disclosure.
Fig. 7 shows 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 following description of the technical solutions in the embodiments of the present disclosure will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, not all 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. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.
The scheme is provided for solving the problem that the existing AGV obstacle avoidance method and obstacle detection method lead to lower carrying efficiency and overall production operation efficiency. Some embodiments of the control method of the obstacle avoidance of the present disclosure are described below in connection with fig. 1.
Fig. 1 is a flow chart of some embodiments of a control method of obstacle avoidance of the present disclosure. As shown in fig. 1, the method of this embodiment includes: step S102 to step S106.
In step S102, in response to the situation that an object appears in front of the traveling of the automated guided vehicle, it is determined whether the object is an obstacle according to the state of the code point of the position where the object is located.
The AGV can navigate according to the position code points in the running process. The position code point is, for example, a block preset area or position point provided with position identification information. The location indicating information may be a two-dimensional code pattern provided on the warehouse floor or other identification information that can uniquely identify the location information. For example, a control device for obstacle avoidance (hereinafter referred to as a control device) determines a path to a destination point for an AGV before the AGV starts traveling, and the path may be represented by information of position code points and traveling directions at the respective position code points. In the running process of the AGV, scanning the code point of the current position, and periodically reporting heartbeat information to a control device, wherein the heartbeat information comprises: and the AGV scans the identification information obtained by the position code points. The control device determines the running direction of the AGV in the next step according to the information of the code point of the current position of the AGV, sends a running instruction to the AGV, and the AGV continues to run according to the running instruction.
In the running process of each automatic guiding vehicle, the current position code point and the preset number of position code points in front of the running path of the current position code point can be locked. The control device can mark the current position code point of the AGV and the preset number of position code points in front of the driving path as a locking state in the path information formed by the position code points corresponding to the AGV. When one position code point is locked by one AGV, the other AGVs cannot be repeatedly locked.
As shown in fig. 2, the AGV normally executes the travel command according to the previously planned path in a lock-point-then-travel manner. When the AGV is running, the control device can perform rolling locking points, for example, the control device can lock 5 continuous code points first, and the AGV is ensured to still have enough running distance under the condition of keeping a certain speed. Then, each time a code point is driven, the last code point that was driven is released immediately, and the new code point is locked forward. As shown in fig. 2, the AGV starts traveling from the position number 1, the consecutive 5 position number points from the position number 2 to the position number 7 are locked before traveling, when the AGV travels to the position number 3, the position number 2 is released, and simultaneously the position number 8 is locked forward again (the locked position number is hatched), and so on.
The AGV can be provided with a detection device for automatically detecting 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 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 that an object appears in front of the running of the AGV according to the detection and reporting information of the AGV. Detecting the reported information includes: the current position code point of the AGV and the distance between the AGV and the detected object. Or the control device can determine that an object appears in front of the running of the AGV according to the fact that the AGV stops exceeding the preset time. The control device can judge whether the stopping of the AGV exceeds the preset time according to whether the current time exceeds the preset time after the time of last sending heartbeat information by the AGV.
In some embodiments, the AGV may automatically slow down if it detects an object in front of the travel, and may detect a distance to the object by the detection device, stopping at a position at a preset distance from the object. Further, the position code point of the object may be determined according to the position code point of the stop of the automatic guided vehicle and a preset distance. The AGV may send parking report information to the control device, which may include the position code point at which the AGV stopped. Or the control device determines the position code point of stopping the AGV according to the heartbeat information which is transmitted by the AGV last time before the parking report information is transmitted. And the control device determines that an object appears in front of the running of the AGV when knowing that the AGV stops. Or the control device can judge whether the stopping of the AGV exceeds the preset time according to whether the current time exceeds the preset time or not after the time of last sending the heartbeat information by the AGV. Under the condition that the parking 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 a detection report from the AGV, where the detection report includes: the current position code point of the AGV and the distance between the AGV and the detected object. The position code point of the object may be determined based on the current position code point of the AGV and the distance between the AGV and the detected object. The detection report information can be sent immediately under the condition that the AGV automatically detects that an object appears in front of the running. The control may indicate to the AGV the location code point of the stop, thereby causing the AGV to stop at the corresponding location code point (e.g., one location code point before the location code point at which the object along the path traveled by the AGV is located). Or the AGV may send the detection report while parking.
In still other embodiments, the control device may be notified in the event that a detection device within the warehouse detects the presence of an object in front of the travel of the AGV, and the control device controls the AGV to stop. The detection device can detect the position code point of the object.
The method for determining the position code point of the object is simpler and more convenient to realize by detecting the object through the AGV in the real-time mode.
In some embodiments, determining whether the object is an obstacle may employ the following method. And searching whether the position code point of the object is marked as an obstacle position code point. In the case where the position code point is marked as an obstacle position code point, the object is determined to be an obstacle. The control device can acquire whether each AGV running in the warehouse encounters an obstacle, and marks the position code point as an obstacle position code point under the condition that the object in front of the running of the AGV is determined to be the obstacle and the position code point where the obstacle is located is not marked. The marking of the code points of the obstacle position may subsequently reduce the decision process of the lock 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 of the object, and under the condition that the position code point of the object is locked by the automatic guided vehicle, determining that the object is an obstacle. If the position code point of the object is locked by the AGV, the position code point is not included in other AGVs, and the object is determined to be an 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, then the object at that position code point is indicated as the other AGVs.
According to the method, whether the object is an obstacle can be simply, directly and efficiently judged through judging the states of the position code points, and judging accuracy is improved.
In step S104, if the object is an obstacle, the route to the destination point is planned again for the automated guided vehicle. The re-planned path excludes the position code point where the obstacle is located.
The control device can determine the shortest path from the current position code point of the AGV to the target position code point, and does not include the position code point of the obstacle. In some embodiments, the control device may re-plan the path of the AGVs having a distance to the obstacle less than the threshold, and may reduce subsequent detection of the AGVs, interaction with the control device, and determination by the control device, thereby improving efficiency. The control device does not need to re-plan the path of all AGVs whose paths include the position code point where the obstacle is located because there is a high probability that the obstacle has been cleared when some AGVs farther from the position code point travel to the position code point.
In the case where the AGV stops at a position at a preset distance from the object, the position may be between two position code points or within the position code point area where the object is located. In order to ensure the feasibility of path re-planning, the position code point reported by the last heartbeat message before the AGV stops can be used as a starting point to re-plan 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 of one or more position code points of the re-planned path to the AGV. In some embodiments, the control device sends driving indication information to the automatic guided vehicle according to the re-planned path and the current position code point of the automatic guided vehicle, where the driving indication information includes: identification information of the driving direction and the position code point; receiving heartbeat information periodically reported by an 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 code point of the current position of the automatic guided vehicle according to the heartbeat information.
An application example of the present disclosure is described below taking the scenario shown in fig. 3 as an example. As shown in fig. 3, when the AGV detects that an object is present in front of the travel, the AGV gradually decelerates until the travel speed of the AGV decreases to zero when the distance between the body of the AGV and the object is a preset distance, for example, about 5 cm. When the AGV is decelerating past the number 5 position code point to a position number 6 position code point, the AGV will remain a very short distance to rest in front of the obstacle object because the object is in the area of the number 6 position code point. At this time, the position code points locked by the AGV are 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, nor is the position number 10 point locked. The control device can determine whether the AGV cannot normally move forward at the moment or not because of touching the obstacle according to the position of the No. 6 position code point of the object and whether the No. 6 position code point is locked by the current AGV.
If the speed is reduced and stopped due to locking by other AGVs, the control device receives a failure feedback of the locking point of the number 6 position code point. Since the position number 6 is already locked by the current AGV, and the AGV has driven past the position number 5, the running speed reported by the AGV at this time is zero, and the AGV can be completely determined to be in the state of 'obstacle meeting parking'. Once the control device determines that the AGV is in a state of 'obstacle meeting parking', the AGV can be scheduled to return to the No. 5 position code point or directly slowly back to the No. 5 position code point, and then a new path to the target position code point is planned again by taking the No. 5 position code point as a starting point.
In the method of the embodiment, under the condition that an object appears in front of the running of the AGV, whether the object is an obstacle is determined according to the state of the code point of the position of the object, 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 in the in-process of traveling, current place position code point and current place position code point are locked along the position code point of the presettingnumber of travel route the place ahead, consequently, can judge the object and be barrier or other AGVs according to the state of object place position code point to reduce the erroneous judgement of barrier, reduce the time that AGVs stopped waiting, improve conveying efficiency and whole production operating efficiency. And moreover, a path re-planning mode is adopted under the condition that the object is an obstacle, so that the waiting time of the AGV is shortened, and the carrying efficiency and the overall production operation efficiency are further improved.
Further embodiments of the control method of the obstacle avoidance of the present disclosure are described below in conjunction with fig. 4.
Fig. 4 is a flow chart of some embodiments of a control method of obstacle avoidance of the present disclosure. As shown in fig. 4, the method of this embodiment includes: step S402 to step S412.
In step S402, in response to the situation that an object appears in front of the traveling of the automated guided vehicle, a position code point where the object is located is determined.
In step S404, it is found 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, it is determined that the object is an obstacle. Step S410 is then performed.
In step S406, the locking state of the position code point of the object is queried, whether the position code point of the object is locked by the automated guided vehicle is determined, if yes, 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 position code point where the automated guided vehicle is currently locked is released, and an obstacle clearing instruction is sent.
The obstacle clearing instruction includes: the obstacle is at the position 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 send an obstacle clearing instruction directly to the obstacle clearing robot or the obstacle clearing personnel.
In step S412, in response to the situation in which the obstacle is successfully cleared, the flag of the obstacle position code point of the position code point in which the obstacle is located is cleared.
In some embodiments, the successful obstacle clearing condition is determined based on a response message returned by the obstacle clearing robot to the successful obstacle clearing condition; or the successful obstacle clearing condition is determined according to the information that other automatic guided vehicles successfully pass through the position code point of the obstacle. After the obstacle is successfully cleared, heartbeat messages can be reported when other AGVs pass through, and the control device can determine that the obstacle is successfully cleared. The success of removing the obstacle is judged by other AGVs through the position code points of the obstacle, so that the signaling interaction flow can be reduced, and the resources are saved.
The present disclosure further provides a control device for obstacle avoidance, which is described below in conjunction with fig. 5. The control device of the obstacle avoidance of the present disclosure may be provided in the AGV as well as may be provided independently. 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 a control device of the obstacle avoidance of the present disclosure. As shown in fig. 5, the apparatus 50 of this embodiment includes: the obstacle determination module 502, the path planning module 504, and the travel control module 506.
The obstacle determining module 502 is configured to determine whether the object is an obstacle according to a state of a code point of a position where the object is located in response to a situation that the object appears in front of the traveling of the automated guided vehicle; in the running process of each automatic guiding vehicle, the current position code point and the preset number of position code points in front of the running path of the current position code point are locked.
In some embodiments, the presence of an object in front of the travel of the automated guided vehicle is determined based on the detected report information of the automated guided vehicle; or the condition that the automatic guided vehicle is in front of the running state of the object is determined according to the fact that the automatic guided vehicle stops 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 of the object is determined according to the position code point of the stop of the automatic guided vehicle and a preset distance.
In some embodiments, the obstacle determination module 502 is configured to find whether the 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, the object is determined to be 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 the 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.
The path planning module 504 is configured to re-plan a path to a destination code point for the automated guided vehicle if the object is an obstacle; wherein the re-planned path excludes the position 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 path.
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 the driving direction and the position code point; receiving heartbeat information periodically reported by an 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 code point of the current position of the automatic guided vehicle according to the heartbeat information.
In some embodiments, the apparatus 50 further comprises: the information receiving module 508 is configured to receive detection report information of the automated guided vehicle, where the detection report information includes: the code point of the current position of the automatic guided vehicle and the distance between the automatic guided vehicle and the detected object; the position code point of the object 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.
In some embodiments, the apparatus 50 further comprises: the code point management module 510 is configured to release a currently locked position code point of the automated guided vehicle; and marking the position code point of the obstacle as the obstacle position code point.
In some embodiments, the apparatus 50 further comprises: the clearing indication module 512 is configured to send an obstacle clearing instruction, where the obstacle clearing instruction includes: the obstacle is at the position code point; the code point management module is also used for clearing the marks of the obstacle position code points of the position code points where the obstacle is located in response to the condition that the obstacle clearing is successful.
The control means for obstacle avoidance in embodiments of the present disclosure may each be implemented by various computing devices or computer systems, as described below in connection with fig. 6 and 7.
Fig. 6 is a block diagram of some embodiments of a control device of the obstacle avoidance of the present disclosure. 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 of controlling obstacle avoidance in any of the embodiments of the present disclosure based on instructions stored in the memory 610.
The memory 610 may include, for example, system memory, fixed nonvolatile storage media, and the like. The system memory stores, for example, an operating system, application programs, boot Loader (Boot Loader), database, and other programs.
Fig. 7 is a block diagram of other embodiments of a control device of the obstacle avoidance of 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. Input/output interface 730, network interface 740, 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 by a bus 760, for example. The input/output interface 730 provides a connection interface for input/output devices such as a display, a mouse, a keyboard, a touch screen, etc. The network interface 740 provides a connection interface for various networking devices, such as may be connected to a database server or cloud storage server, or the like. Storage interface 750 provides a connection interface for external storage devices such as SD cards, U-discs, and the like.
The present disclosure also provides an article handling system, described below in connection 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 foregoing embodiments; and an automated guided vehicle 82 for receiving instructions from the obstacle avoidance control device and traveling according to the re-planned path.
The automated guided vehicle 82 is also configured to detect the presence of an object in front of travel and send a detection report to the obstacle avoidance control 50/60/70.
The automated guided vehicle 82 is further configured to stop at a position at a predetermined distance from the object by detecting the distance from the object.
The automated guided vehicle 82 is also configured to periodically report heartbeat information to the obstacle avoidance control device 50/60/70.
It will be appreciated by those skilled in the art that 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, etc.) 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 flowchart and/or block of the flowchart illustrations and/or block diagrams, and combinations of flowcharts 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 foregoing description of the preferred embodiments of the present disclosure is not intended to limit the disclosure, but rather to enable any modification, equivalent replacement, improvement or the like, which fall within the spirit and principles of the present disclosure.
Claims (14)
1. A method of obstacle avoidance control, comprising:
Responding to the condition that an object appears in front of the running of the automatic guided vehicle, and determining whether the object is an obstacle according to the state of a position code point where the object is positioned; each automatic guided vehicle is locked in the running process, the current position code point and the preset number of position code points in front of the running path are locked, the position code points are a preset area or position points provided with position identification information, the automatic guided vehicle scans the current position code point in the running process and periodically reports heartbeat information, and the heartbeat information comprises: the guide vehicle scans the identification information obtained by the position code points, and the obstacle does not comprise other automatic guide vehicles;
when the object is an obstacle, re-planning a path to a code point of a target position for the automatic guided vehicle; wherein the re-planned 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 of claim 1 wherein,
The automatic guided vehicle stops at a position with a preset distance from the object by detecting the distance from the object;
and the position code point of the object is determined according to the position code point of the stop of the automatic guided vehicle and the preset distance.
3. The obstacle avoidance control method of claim 1, further comprising:
Receiving detection report information of the automatic guided vehicle, wherein the detection report information comprises: the code point of the current position of the automatic guided vehicle and the distance between the automatic guided vehicle and the detected object;
The position code point of the object 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 of claim 1 wherein,
The determining whether the object is an obstacle according to the state of the position code point of the object comprises:
searching whether the position code point of the object is marked as an obstacle position code point or not;
and determining that the object is an obstacle in the case that the position code point is marked as an obstacle position code point.
5. The obstacle avoidance control method of claim 4 wherein,
The determining whether the object is an obstacle according to the state of the position code point of the object further includes:
And inquiring the locking state of the position code point of the object under the condition that the position code point is not marked as an obstacle position code point, and determining the object as an obstacle under the condition that the position code point of the object is locked by the automatic guided vehicle.
6. The obstacle avoidance control method of claim 5, further comprising:
Releasing the currently locked position code point of the automatic guided vehicle;
And marking the position code point of the obstacle as an obstacle position code point.
7. The obstacle avoidance control method of claim 6, further comprising:
Transmitting an obstacle clearing instruction, wherein the obstacle clearing instruction comprises: the obstacle is at the position code point;
And in response to the condition 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 of claim 7 wherein,
The successful obstacle clearing situation is determined according to a response message returned by the obstacle clearing robot;
or the successful obstacle clearing condition is determined according to the information that other automatic guided vehicles successfully pass through the position code point of the obstacle.
9. The obstacle avoidance control method of 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 report information of the automatic guided vehicle;
or the condition that the automatic guided vehicle is in front of the running state of the object is determined according to the condition that the automatic guided vehicle stops for more than a preset time.
10. The method for controlling obstacle avoidance as claimed in 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 indication information to the automatic guided vehicle, wherein the running indication information comprises: identification information of the driving direction and the 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 code point of the current position 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 determining whether the object is an obstacle according to the state of the code point of the position of the object in response to the condition that the object appears in front of the running of the automatic guided vehicle; each automatic guided vehicle is locked in the running process, the current position code point and the preset number of position code points in front of the running path are locked, the position code points are a preset area or position points provided with position identification information, the automatic guided vehicle scans the current position code point in the running process and periodically reports heartbeat information, and the heartbeat information comprises: the guide vehicle scans the identification information obtained by the position code points, and the obstacle does not comprise other automatic guide vehicles;
The path planning module is used for rescheduling a path to a target position code point for the automatic guided vehicle under the condition that the object is an obstacle; wherein the re-planned 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.
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 obstacle avoidance control method of any of claims 1-10.
13. A computer readable non-transitory storage medium having stored thereon a computer program, wherein the program when executed by a processor implements the steps of the method of any of claims 1-10.
14. An article handling system, comprising: the obstacle avoidance control device of 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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| CN114485621A (en) * | 2022-02-08 | 2022-05-13 | 达闼机器人股份有限公司 | Navigation method, navigation device and computer readable storage medium |
| CN114838736A (en) * | 2022-04-29 | 2022-08-02 | 深圳优地科技有限公司 | Obstacle avoidance path planning method and device, unmanned vehicle and storage medium |
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