CN112346446A

CN112346446A - Code-shedding recovery method and device for automatic guided transport vehicle and electronic equipment

Info

Publication number: CN112346446A
Application number: CN201910730580.2A
Authority: CN
Inventors: 黄可杰
Original assignee: Alibaba Group Holding Ltd
Current assignee: Alibaba Group Holding Ltd
Priority date: 2019-08-08
Filing date: 2019-08-08
Publication date: 2021-02-09

Abstract

The embodiment of the application discloses a code-off recovery method and device for an automatic guided vehicle and electronic equipment, wherein the method comprises the following steps: in the process of driving according to the designated route, acquiring and storing yaw information of the AGV when passing through the navigation code; when the AGV generates code shedding, carrying out attitude adjustment on the AGV according to the saved yaw information; and controlling the AGV to travel to the target navigation code along the target direction path. Through the embodiment of the application, when the AGV has the code shedding condition, the navigation code can be recovered more efficiently.

Description

Code-shedding recovery method and device for automatic guided transport vehicle and electronic equipment

Technical Field

The application relates to the technical field of code shedding recovery, in particular to a code shedding recovery method and device for an automatic guided vehicle and electronic equipment.

Background

Under the information service mode of 'new retail' commodity objects characterized by combining online and offline, a more comprehensive and more convenient service can be provided for users by laying entity shops online and combining online information service capability. The type of off-line physical store can be many, including supermarkets, restaurants, and the like. The online restaurant service in the new retail mode can provide dining service for the user, the user can make an online order through a related application program on the line, and can select to have a meal to go to the gate, or go to a store for a meal, or directly order the meal in the store, and the like. The dining process of the restaurant can be different from that of the traditional restaurant in various links, and the difference comprises 'unattended' in various links. For example, after a kitchen finishes processing specific food, food delivery from a food outlet to a table can be realized in a robot food delivery mode without manual service, and the like.

In the specific implementation of the robot meal delivery, an AGV (Automated Guided Vehicle) cart may be used as a transport means, and the prepared meal in the kitchen may be transported to a specific table by the AGV cart under the scheduling of the server. In order to avoid the situations of collision with pedestrians in a restaurant and the like and to facilitate control over the traveling route of the AGV, the AGV lanes can be laid in areas where the pedestrians cannot reach in the restaurant, and specific tables are laid along the AGV lanes. In addition, a navigation code can be further arranged at a position corresponding to the specific table position on the lane, the AGV can judge whether the food arrives at the destination or not by scanning the navigation code passing by in the driving process, if so, the AGV stops moving forward, the customer can take down the food from the AGV, and then the AGV returns to the food taking port to execute the next food delivery task.

That is to say, under normal conditions, the AGV can stop only at a specific navigation code mark, so that the server can know the position of the AGV, and then perform subsequent scheduling. However, in practical applications, due to some unexpected situations, for example, function abnormality such as image analysis or motor control, or motion suspension of obstacle avoidance caused by an obstacle occurring in a field, etc., the AGV may "unlock" the AGV car, that is, the AGV car stops at a position without a navigation code, that is, the geometric center position of the AGV car deviates from the navigation code at the time of stopping the AGV. Therefore, the server cannot know the position of the AGV, and further cannot perform the next scheduling.

In the prior art, when an AGV is out of code, the AGV needs to be moved to a position of a navigation code by manual intervention, and then the server can continue to schedule the AGV. However, this will inevitably cause occupation of labor cost, and in addition, much time is consumed in the process of waiting for manual intervention, which affects the efficiency of scheduling operation.

Therefore, when the AGV is out of code, how to recover to the navigation code more efficiently becomes a technical problem to be solved by those skilled in the art.

Disclosure of Invention

The application provides a code-shedding recovery method and device for an automatic guided transport vehicle and electronic equipment, which can recover a navigation code more efficiently when an AGV has a code-shedding condition.

The application provides the following scheme:

an automated guided vehicle code-shedding recovery method comprises the following steps:

in the process of driving according to the designated route, acquiring and storing yaw information of the AGV when passing through the navigation code;

when the AGV generates code shedding, carrying out attitude adjustment on the AGV according to the saved yaw information;

and controlling the AGV to travel to the target navigation code along the target direction path.

An automated guided vehicle comprising:

the attitude tracking module is used for acquiring and storing yaw information when the AGV passes through the navigation code;

and the self-recovery module is used for adjusting the posture of the AGV according to the saved yaw information when the AGV loses codes, and controlling the AGV to drive to the target navigation code along the path of the target direction.

An automated guided vehicle control system comprising:

the server is used for carrying out routing scheduling on the AGV according to the real-time position of the AGV and the target navigation code, determining a target area according to the position of the last navigation code before the target AGV is subjected to code shedding when the target AGV is subjected to code shedding, and controlling other AGVs to wait outside the target area;

the AGV comprises an AGV controller, a target navigation code and a navigation code, wherein the AGV controller is used for acquiring and storing yaw information when the target AGV passes through the navigation code, and when the target AGV is out of code, adjusting the posture of the target AGV according to the stored yaw information and controlling the target AGV to travel to the target navigation code along a target direction path;

and the server is also used for carrying out routing scheduling again on the target AGV and other AGVs waiting outside the target area after the target AGV travels to the target navigation code.

An automated guided vehicle control method comprising:

the server carries out routing scheduling on the AGV according to the real-time position of the AGV and a target navigation code;

when the target AGV generates code shedding, determining a target area according to the position of the last navigation code where the target AGV is located before code shedding, and controlling other AGVs to wait outside the target area, so that the target AGV automatically restores to the target navigation code along a target direction path after performing attitude adjustment according to yaw information stored in the passed navigation code;

and after the target AGV recovers to the target navigation code, carrying out routing scheduling on the target AGV and other AGVs waiting outside the target area again.

An automated guided vehicle control method comprising:

the AGV controller waits outside a target area according to a control instruction sent by the server; the target area is determined according to the position of the last navigation code where the target AGV is located before code shedding occurs, so that the target AGV can automatically recover to the target navigation code along a target direction path after performing attitude adjustment according to yaw information stored in the passed navigation code;

and after receiving the new routing scheduling information sent by the server, re-planning the route to control the AGV to continuously complete the conveying task.

A deviation rectifying method for an automatic guided vehicle comprises the following steps:

after the AGV leaves the navigation code, acquiring the direction information of the head of the AGV in real time;

and if the angle of the direction of the vehicle head deviating from the center line of the lane reaches a threshold value, carrying out attitude adjustment on the AGV according to the stored yaw information.

A method of rehabilitation of an automated guided vehicle, comprising:

in the process of driving according to the designated route, acquiring and storing yaw information of the AGV when passing through the positioning marker; wherein the positioning marker is disposed on a road surface or on a roadside of the designated route;

when the AGV stops at the position without the positioning marker, adjusting the posture of the AGV according to the saved yaw information;

and controlling the AGV to travel to the target positioning marker along the target direction path.

An automated guided vehicle de-stacking recovery device, comprising:

the first yaw information acquisition unit is used for acquiring and storing yaw information when the AGV passes through a navigation code in the process of driving according to a specified route;

the first attitude adjusting unit is used for adjusting the attitude of the AGV according to the saved yaw information when the AGV is subjected to code shedding;

and the first recovery unit is used for controlling the AGV to travel to the target navigation code along the target direction path.

An automated guided vehicle control apparatus comprising:

the routing scheduling unit is used for performing routing scheduling on the AGV according to the real-time position of the AGV and the target navigation code;

the target area locking unit is used for determining a target area according to the position of the last navigation code where the target AGV is positioned before code shedding occurs when the target AGV generates code shedding, and controlling other AGVs to wait outside the target area so that the target AGV can be automatically restored to the target navigation code along a target direction path after performing attitude adjustment according to yaw information stored in the passed navigation code;

and the routing scheduling unit is also used for carrying out routing scheduling on the target AGV and other AGVs waiting outside the target area again after the target AGV restores to the target navigation code.

An automated guided vehicle control apparatus comprising:

the first control unit is used for waiting outside the target area according to the control instruction sent by the server; the target area is determined according to the position of the last navigation code where the target AGV is located before code shedding occurs, so that the target AGV can automatically recover to the target navigation code along a target direction path after performing attitude adjustment according to yaw information stored in the passed navigation code;

and the second control unit is used for re-planning the route after receiving the new routing scheduling information sent by the server so as to control the AGV to continuously complete the conveying task.

A deviation rectifying device for an automated guided vehicle, comprising:

the automatic guided vehicle AGV comprises a yaw information acquisition unit, a navigation code acquisition unit and a navigation code storage unit, wherein the yaw information acquisition unit is used for acquiring and storing yaw information when the automatic guided vehicle AGV passes through the navigation code in the process of driving according to a specified route;

the system comprises a vehicle head information acquisition unit, a navigation code acquisition unit and a navigation code display unit, wherein the vehicle head information acquisition unit is used for acquiring vehicle head direction information of the AGV in real time after the AGV leaves the navigation code;

and the attitude adjusting unit is used for adjusting the attitude of the AGV according to the saved yaw information if the angle of the direction of the vehicle head deviating from the center line of the lane reaches a threshold value.

A recovery device for an automated guided vehicle, comprising:

the second yaw information acquisition unit is used for acquiring and storing yaw information when the AGV passes through the positioning marker in the process of driving according to the specified route; wherein the positioning marker is disposed on a road surface or on a roadside of the designated route;

the second attitude adjusting unit is used for adjusting the attitude of the AGV according to the saved yaw information when the AGV parks at the position without the positioning marker;

and the second recovery unit is used for controlling the AGV to travel to the target positioning marker along the target direction path.

An electronic device, comprising:

one or more processors; and

a memory associated with the one or more processors for storing program instructions that, when read and executed by the one or more processors, perform operations comprising:

An electronic device, comprising:

one or more processors; and

according to the real-time position of the AGV and a target navigation code, performing routing scheduling on the AGV;

According to the specific embodiments provided herein, the present application discloses the following technical effects:

in the embodiment of the application, in the process that the AGV normally runs, the yaw information of the AGV can be recorded when passing through the navigation code, so that if the AGV has the code losing condition in the running process, the deviation of the AGV can be corrected according to the yaw information stored before, then the AGV is controlled to run to the target navigation code along the target direction path, and the self-recovery of the AGV can be realized. Through the mode, when the AGV has the code shedding phenomenon, manual intervention is not relied on, and the efficiency can be improved.

Of course, it is not necessary for any product to achieve all of the above-described advantages at the same time for the practice of the present application.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic diagram of a system architecture provided by an embodiment of the present application;

FIG. 2 is a flow chart of a first method provided by an embodiment of the present application;

FIG. 3 is a schematic view of an automated guided vehicle provided in an embodiment of the present application;

FIG. 4 is a schematic diagram of a system provided by an embodiment of the present application;

FIG. 5 is a flow chart of a second method provided by embodiments of the present application;

FIG. 6 is a flow chart of a third method provided by embodiments of the present application;

FIG. 7 is a flow chart of a fourth method provided by embodiments of the present application;

FIG. 8 is a flow chart of a fifth method provided by embodiments of the present application;

FIG. 9 is a schematic diagram of a first apparatus provided by an embodiment of the present application;

FIG. 10 is a schematic diagram of a second apparatus provided by an embodiment of the present application;

FIG. 11 is a schematic diagram of a third apparatus provided by an embodiment of the present application;

FIG. 12 is a schematic diagram of a fourth apparatus provided by an embodiment of the present application;

FIG. 13 is a schematic diagram of a fifth apparatus provided by an embodiment of the present application;

fig. 14 is a schematic diagram of an electronic device provided in an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments that can be derived from the embodiments given herein by a person of ordinary skill in the art are intended to be within the scope of the present disclosure.

In the embodiment of the application, an implementation scheme for automatic recovery after AGV code shedding is provided. It should be noted that, in the embodiment of the present application, lanes of an AGV are usually latticed, a driving route of the AGV is usually divided into multiple hops during driving, where the driving route of each hop is a straight line, when an "L" turn needs to be performed, a navigation code is also set at a turn, and the AGV recognizes the navigation code, stops the vehicle, rotates in place, adjusts a direction of a vehicle head, and then continues driving of a next hop. Therefore, when the AGV is out of code, the AGV usually runs in a straight line for a certain jump, and the navigation code exists in front or behind the AGV, and the AGV is controlled to run forwards or backwards to the nearest navigation code, and the ID and other information of the navigation code is reported to the server, so that the server can know the position of the AGV, and self-recovery is realized.

However, in the process of implementing the present application, the inventor of the present application finds that, during the running process of the AGV, due to the influence of factors such as ground friction and difference between the left wheel and the right wheel, the AGV may not always run along a straight line, but gradually has some yaw. Thus, when an AGV experiences an off-code condition, its heading may not be perfectly parallel to the center route, and so on. In this case, if the AGV is restarted directly in this posture and is controlled to run directly forward or backward, the yaw may be more serious due to the accumulation of errors, so that when it passes through a certain navigation code, the direction of the vehicle head may already form an angle of more than 5 degrees or even more with the central flight path due to the fact that the AGV has a severe yaw, and the center of the navigation code is usually located on the central flight path, so that the navigation code may not enter the view port range of the AGV camera, thereby missing the navigation code, failing to be at the navigation code, and further failing to achieve self-recovery.

Therefore, in the solution, in a state that the AGV normally travels, when the AGV passes through one navigation code, direction information and yaw information of the AGV can be acquired and recorded, so that if an AGV code-losing situation occurs at a certain time, first, a current direction and yaw information of the AGV can be determined according to a direction and yaw information obtained when the AGV passes through a previous navigation code, and then, a position and/or posture of the AGV is adjusted so that a head direction of the AGV is parallel to a direction of a central route, and after the central position of the AGV is located on the central route, a target direction path (for example, the AGV can be forward or backward) is determined, and then, the AGV is controlled to travel to a next navigation code along the direction path to stop, so that the AGV can be recovered. At this time, information such as the ID of the navigation code where the AGV is located can be reported to the server, and since the server usually records information such as the destination navigation code of the AGV, routing scheduling can be performed on the AGV again according to the current position of the AGV and the information such as the destination navigation code, and then the AGV continues to run according to a specific route.

In order to better understand the specific system architecture of the solution provided in the embodiment of the present application, the following first briefly introduces the architecture of the AGV control system. As shown in fig. 1, the AGV control system may include a server and several AGVs, and all AGVs in the system may be controlled by the server in a unified manner.

The server can run car-borne software, and the main functions of the server can include routing scheduling, traffic management, map management, AGV management and the like. The routing scheduling means that the running route of each AGV from the initial navigation code to the terminal navigation is calculated according to the current real-time positions of all the AGVs. Traffic management means, according to the state of AGV on the current lane, the AGV is dispatched to a certain position dynamically, in the embodiment of the application, when the AGV takes place to lose code, a certain region can also be locked in time, and simultaneously, the route is adjusted dynamically immediately, other AGVs are controlled outside the region temporarily, and collision or traffic jam of AGV in the self-recovery process is prevented. With respect to map management, a running map of configuration management AGVs may be edited and synchronized to each AGV. AGV management refers to the ability to control the opening and closing of each AGV, as well as the relative operating configurations of the AGVs, and the like.

An AGV can be generally divided into two major components, an upper computer and a lower computer. The AGV control logic system that the host computer indicates mainly can operate on the industrial computer of systems such as linux, and the software system of host computer mainly includes some logical unit modules, in this application embodiment, specific gesture tracking module (be used for obtaining yaw information at AGV through the navigation code), navigation code analysis module (be used for the image of gathering through the navigation code camera and carry out the navigation code analysis) and self-resuming module etc. all can operate on this host computer. The obstacle avoidance processing module can also be used for avoiding obstacle processing in the normal driving or self-recovery process, and the specific obstacle avoidance processing module can also be operated on the upper computer. In addition, the upper computer can run a mileage tracking module, a power management module, a map module and the like. The mileage tracking module may be mainly used to track and record the traveled mileage of the AGV from a certain starting point, for example, record the traveled mileage again after a navigation code is passed each time, and the like. The power management module is mainly used for monitoring the battery power of the AGV and reporting to the server, and when the power of the AGV is insufficient, the server is ensured to dispatch the AGV to charge the charging area. Regarding the map management module, each AGV can hold a navigation code map, and the map includes the direction, state, logic, physical position and the like of each navigation point, and can be used for calculating information such as the running distance, the remaining mileage, the running direction and the like when the AGV runs.

The lower computer mainly refers to a control execution mechanism of the AGV, and is connected with an external sensor, a motor and other equipment in an acquisition/control mode based on embedded software developed by a single chip microcomputer. For example, the system mainly comprises an obstacle avoidance camera, a gyroscope, a navigation code camera, a stepping motor, a battery and the like.

The following describes in detail a specific technical solution provided in an embodiment of the present application.

Example one

First, in view of a self-recovery module running in an AGV upper computer, the embodiment provides an automatic guided vehicle code-shedding recovery method, which may specifically include:

s201: in the process of driving according to the designated route, acquiring and storing yaw information of the AGV when passing through the navigation code;

the designated route may specifically be a route generated according to a routing scheduling instruction issued by the server, and specifically may include a multi-hop route segment, where in each hop, the travel route of the AGV is guaranteed to be a straight line. Like this, even though AGV takes place to take off the sign indicating number, then as long as AGV position and gesture have all realized rectifying, then can make AGV traveling a distance back forward or backward, just can gather the information of a navigation code, then, stop in this navigation code department, wait for the rescheduling of server, can realize the AGV and take off the self-resuming after the sign indicating number.

The yaw information of the AGV can be determined based on image information or the like acquired when the AGV passes through the navigation code. Specifically, since the AGV generally needs to recognize the navigation code by image capturing, the yaw information of the AGV can be acquired and recorded according to the distortion degree of the captured image. The specific yaw information may include an included angle between the direction of the vehicle head and the central route, left-right offset between the center position of the AGV and the central route, and the like. In addition, in an alternative manner, a front-to-back offset of the center position of the AGV from the center position of the navigation code may be included, and so on. In practical application, when the AGV passes through a certain navigation code, if the yaw is obvious (for example, the included angle is greater than 5 degrees, and the like), the deviation can be corrected in time, that is, the posture and the like of the AGV are adjusted, so that the direction of the head of the AGV is parallel to the direction of the central air route, and the central position of the AGV is located on the central air route. Therefore, the AGV can realize one-time deviation correction at each navigation code, and the gradual accumulation of yaw errors is avoided.

In short, every time the AGV passes through one navigation code, the yaw information at the corresponding time can be recorded, and the information can overwrite the information recorded at the last navigation code. Specific information may be stored in the AGV, and in particular, the stored information may be as shown in table 1:

TABLE 1

That is, in a specific implementation, the information recorded in table 1 may always be the direction and yaw information when the AGV passes through the last navigation code. Of course, in practical applications, the yaw information obtained when the AGV passes through each navigation code may also be saved.

S202: when the AGV generates code shedding, carrying out attitude adjustment on the AGV according to the saved yaw information;

because the embodiment of the application acquires the yaw information of the AGV at each time of passing through one navigation code, when the AGV takes off the code, the direction of the yaw information is usually the same as the direction of passing through the last navigation code, the yaw information is also close to the yaw information of passing through the last navigation code, or the yaw information can be calculated by algorithm fitting according to the yaw information of passing through the last navigation code, therefore, the yaw information of the AGV passing through the last navigation code can be taken out, then, the deviation of the AGV is corrected according to the information, namely, the posture of the AGV is adjusted.

Specifically, if the deviation is corrected when the last navigation code passes through, the yaw information of the start position can be set to be 0, and then, according to the yaw information passing through the last navigation code and the distance from the last navigation code to the current deviation position, fitting calculation can be performed according to a certain algorithm, including calculation of the difference between the left wheel and the right wheel of the AGV, so that the yaw amount generated by the AGV from the last navigation code to the deviation time is roughly calculated. Adjustments to the position and/or attitude of the AGV may then be made accordingly. If the deviation of the AGV is not corrected when passing through the previous navigation code, the specific processing manner is similar to the foregoing case, and only the yaw information at the start time is set as the yaw information when passing through the previous navigation code, that is, the accumulated offset is calculated on the basis of the yaw information when passing through the previous navigation code, and then the deviation is corrected on the basis.

After the deviation correction is completed, the target direction path can also be determined, that is, the direction to which the AGV specifically performs self-recovery is determined. Theoretically, since the rectification is already completed, that is, the direction of the front of the AGV is parallel to the direction of the center line of the lane, and the center position of the AGV can be located on the center line of the lane, the self-recovery is possible both forward and backward, and in a specific implementation, any one of them can be selected. Or, in order to improve the self-recovery efficiency, the AGV can recover the target navigation code as soon as possible, the distance between the position where the AGV is located when the AGV is unlocked and the two front and rear navigation codes can be determined, and the direction of the person closer to the AGV relative to the AGV can be determined as the target direction. When the distance between the AGV and the two front and rear navigation codes is determined, since the distance between the two front and rear navigation codes is known (can be known from map data), the distance between the AGV and the last navigation code passed by the AGV can be determined first, and then the distance between the AGV and the other navigation code can be calculated. That is to say, when assuming that the AGV takes place to lose the sign indicating number, the AGV stops in the position that does not have the navigation sign indicating number between first navigation sign indicating number and the second navigation sign indicating number, at this moment, can be according to when the AGV takes place to lose the sign indicating number with the distance between first navigation sign indicating number/the second navigation sign indicating number to and the distance between first navigation sign indicating number and the second navigation sign indicating number, follow in first navigation sign indicating number and the second navigation sign indicating number confirm with the navigation sign indicating number that the AGV is close apart from. For example, assuming that the distance between two navigation codes is 50cm, and the AGV has traveled 20cm from the first navigation code to the current code-off, it may be determined that the distance between the AGV and the first navigation code is 20cm, and the distance between the AGV and the second navigation code is 30 cm. The direction of the first navigation code relative to the AGV may then be selected as the target direction at the time of self-recovery.

When the distance between the AGV and the last navigation code passed by the AGV is calculated, there may be multiple ways, for example, in one way, the information of the time length from the last navigation code to the current code shedding time may be recorded, and then the distance that the AGV has traveled from the last navigation code to the code shedding time may be calculated according to the average traveling speed of the AGV. Or, alternatively, the number of wheel revolutions of the AGV may be recorded from the last navigation code, and then the distance that the AGV has traveled from the last navigation code to the code-off time may be calculated by combining the wheel circumferences, and so on.

In addition, particularly when determining the target direction, in addition to the distance factor, the obstacle situation on a specific path may be considered. For example, if an AGV is located closer to the navigation code a when it is unlocked, but there is an obstacle between the AGV and the navigation code, and another AGV that has failed may be present, it may be considered to perform recovery in the direction of another navigation code B, and so on. That is to say, in a specific implementation, after the navigation code closer to the AGV is determined, it may be determined whether an obstacle exists between the AGV and the navigation code closer to the AGV, if not, the direction of the navigation code closer to the AGV is determined as the target direction, otherwise, the direction of the navigation code farther from the AGV may be determined as the target direction.

Wherein, for carrying out the obstacle judgement, can be equipped with degree of depth range finding sensor for AGV, or closely range finding sensor. In the case of using the depth sensor, before the AGV travels toward the target direction, whether an obstacle exists between the position of the AGV and the target navigation code in the target direction may be determined by the depth data collected by the depth ranging sensor. That is, since the distance that the depth sensor can sense is relatively long, it can sense whether there is an obstacle on the path between the AGV and the target navigation code in advance. And under the condition of using the short-distance measuring sensor, because the distance which can be perceived is relatively short, a target direction can be determined firstly, then, in the process that the AGV drives to the target direction, whether an obstacle exists in front or not is judged in real time through data acquired by the short-distance measuring sensor, if the obstacle does not exist, the AGV continues to move forwards, and if the obstacle exists, the opposite direction can be determined as the target direction again.

Alternatively, in particular implementations, other manners of determining a target directional path may be used, such as, for example, one manner in which the target directional path may be determined based on whether the transport associated with the AGV has completed delivery. For example, if the current delivery task is not completed, the front direction may be preferentially taken as the target direction path, and if the delivery task is completed, the direction in which the nearest navigation code is located is selected from the first navigation code and the second navigation code as the target direction, and so on. Or, in another mode, if there are a plurality of transportation objects associated with the AGV, the target direction path may be determined according to priority information between the plurality of distribution objects and position information of the target navigation code corresponding to each of the distribution objects. For example, if the AGV delivers a plurality of dishes at a time and needs to deliver the dishes to different tables, the table where the dishes needing to be delivered preferentially are located may be determined according to the priorities of the dishes, and then the target direction path may be determined according to the positions of the tables. Or determining the target direction path according to the state characteristics of the AGV when code shedding occurs. Wherein the status features include: whether emergency stop takes place for the AGV, whether displacement in the left and right directions takes place for the AGV, and so on. For example, if the AGV has not made an emergency stop and has not caused a displacement in the left-right direction, the forward direction may be directly targeted, and so on.

S203: and controlling the AGV to travel to the target navigation code along the target direction path.

After deviation rectification of the AGV is completed and the target direction path is determined, the AGV can be controlled to travel to the target navigation code along the target direction path. In specific implementation, in order to enable the AGV to stop at the target navigation code as accurately as possible, the AGV may be controlled to travel to the target navigation code and stop in a low-speed traveling state, report identification information such as an ID of the target navigation code to the server, and wait for a rescheduling instruction of the server.

Wherein, specific target navigation code can be the navigation code of the first legal (accord with preset navigation code coding rule) in the target direction, and usually will be equipped with navigation code sensor on the AGV, specifically can be the camera etc. like this the AGV follows the in-process that target direction route was gone can carry out image acquisition through navigation code sensor, then, when gathering first legal navigation code information, can with first legal navigation code is confirmed to be the target navigation code to trigger the AGV parks.

In the process of image acquisition, image acquisition can be continuously performed from the beginning of self-recovery, or in another implementation scheme, in order to reduce the energy consumption of the AGV, image acquisition can be restarted when the AGV is about to reach the target navigation code. In specific implementation, the first distance between the AGV and the target navigation code can be known before the self-recovery is started, and the second distance which is already traveled by the AGV from the code-losing state can be calculated through information such as the number of wheel rotations of the AGV after the self-recovery is started, so that the distance between the AGV and the target navigation code can be calculated in real time. Even if the navigation code sensor performs image acquisition in a state that the AGV is still far away from the target navigation code, the effective navigation code information cannot be obtained actually because the navigation code information does not exist on the road surface, so that the waste of resources such as electric energy and calculation of the AGV is caused. Therefore, through calculating the distance between AGV and the target navigation sign indicating number in real time, can be when the AGV is about to reach the position at navigation sign indicating number place, promptly, AGV with when the distance of target navigation sign indicating number reaches preset threshold value, restart navigation sign indicating number sensor is right image acquisition is carried out on the road surface of appointed circuit to reach the purpose of saving the AGV energy consumption.

After the AGV reaches the target navigation code, the attitude of the AGV can be adjusted. Specifically, the included angle of the head of the AGV relative to the central air route and the left-right offset of the central position of the AGV relative to the central air route can be determined according to the image information of the target navigation code acquired by the AGV, and then the attitude of the AGV is adjusted so as to prevent the AGV from continuously accumulating the offset in the subsequent driving process.

In addition, the information of the AGV and the target navigation code may be submitted to a server, and then the driving route of the AGV may be re-determined according to new scheduling information provided by the server. Specifically, the server usually records destination information of each AGV, for example, the AGV that executes a meal delivery job usually has a certain table as its destination, and the information is not lost even if the AGV loses code in the middle of the process by using the navigation code corresponding to the table as the destination navigation code. Therefore, after the AGV completes self-recovery, the server can perform routing scheduling again according to the current position of the AGV, the information of the target navigation code, the information of the current position of the other AGV and the like, and after the AGV receives a new scheduling instruction, the AGV continues to travel to the position of the target navigation code according to the instruction.

After receiving new route scheduling information and planning a new driving route, in the process that the AGV drives according to the new driving route, in the embodiment of the application, the AGV can be controlled to a certain degree, so that the purposes of saving energy consumption, stably stopping, avoiding sudden stop and the like are achieved.

Wherein, to energy saving, mainly embody in the aspect that the navigation sign indicating number sensor is to carrying out image acquisition, specifically, every navigation sign indicating number back of passing through, can confirm the distance between AGV and the next navigation sign indicating number when distance between AGV and the next navigation sign indicating number equals preset threshold value, restart the navigation sign indicating number sensor is right the road surface of appointed circuit carries out image acquisition to acquire the information of next navigation sign indicating number department.

Of course, the above approach may also be applicable in cases where the AGV is not out-of-code. That is to say, in the normal running process of the AGV, it is also necessary to obtain information of each navigation code, so as to report the position of the AGV to the server in real time, or obtain related yaw information. Therefore, the navigation code sensor is required to determine whether a certain navigation code is reached by acquiring an image of the road surface, identify information such as an ID of the navigation code, acquire yaw information, and the like. In the process, the navigation code sensor does not need to be set to be in a normally open state, and when the distance between the AGV and the next navigation code is equal to a preset threshold value, the navigation code sensor is started again to acquire the image of the road surface of the specified line. That is to say, the embodiment of the present application actually provides a navigation code acquisition control method for an automated guided vehicle, and the specific method may include:

the method comprises the following steps: after the AGV passes through the navigation code, closing the navigation code sensor;

step two: determining the distance between the AGV and the next navigation code in the process that the AGV drives to the next navigation code;

step three: and when the distance between the AGV and the next navigation code is equal to a preset threshold value, starting a navigation code sensor to acquire an image of the road surface of the appointed line so as to acquire the information of the next navigation code.

In addition, for avoiding an emergency stop during a stable parking, when the terminal of the current driving route is reached in the process of driving according to the new driving route, the driver needs to perform parking to adjust the direction of the head of the vehicle and then perform the next jump of driving, or the driver needs to stop to wait for a customer to take a meal, so that the AGV needs to be stopped. However, during the normal running of the AGV, the running speed of the AGV may be relatively high, and at this time, if the AGV stops directly after reaching the end point, an abrupt stop may occur, and further, food on the AGV may drop. Therefore, in the embodiment of the application, when the AGV travels according to a new travel route, the total mileage information of the new travel route may be determined according to map data and the like stored in advance, and in a specific travel process, the distance that the AGV has traveled from the target navigation code may be determined; then, determining the remaining mileage between the AGV and a route end point according to the difference value between the total mileage and the distance traveled; and starting a slow parking strategy when the fact that the AGV is about to reach the line terminal point is determined according to the remaining mileage. That is to say, in the embodiment of the present application, the remaining mileage of the AGV can be determined in real time during the traveling process of each jump of the AGV, so that the distance between the AGV and the end point of the traveling route of each jump can be determined, and if the distance is found to be relatively short, the slow-speed parking strategy can be started. That is, the traveling speed of the AGV is first reduced so that the AGV can be gradually stopped at a low speed, thereby achieving smooth stopping of the AGV.

In addition, when determining the remaining distance between the AGV and the end point of the route, it is common to first determine the total distance of the specific route and then subtract the distance that the AGV has traveled on the current route. Where the distance the AGV has traveled can be determined from the time, speed, or wheel circumference, number of revolutions, etc. of travel, it is usually calibrated each time a navigation code is passed. This is because, in the course of traveling of the vehicle, due to the ground resistance, the difference between the left and right wheels, etc., the traveling distance calculated from the time, the speed, the wheel circumference, and the number of revolutions may have a certain error, and the position of the navigation code is fixed, so that the traveling distance of the AGV can be calibrated every time the AGV passes through one navigation code. In addition, in specific implementation, when the AGV arrives at a navigation code, there may be some offsets between the center position of the AGV and the center position of the navigation code, and at this time, an error may occur in the calibration process according to the position of the navigation code. Therefore, in the preferred embodiment of the present application, it is also possible to determine the front-back offset of the center position of the AGV with respect to the center position of the target navigation code whenever the AGV reaches one navigation code, and then perform position adjustment on the AGV according to the front-back offset at a specific navigation code, so that the remaining mileage between the AGV and the route end can be determined according to the adjusted position information, and the calculated remaining mileage information is more accurate. This is more meaningful for scenarios with higher accuracy requirements, such as robot restaurants, where the distance between AGVs is generally shorter.

Similarly, the slow stop strategy for the AGV based on the remaining range described above, as well as the specific calculation method for the remaining range, may be used in the case where the AGV is not out of code. That is, in the course of normal travel of the AGV, the parking process is required when the end point of the current route is reached, and in order to avoid a sudden stop or the like, the remaining mileage may be calculated and a slow parking maneuver may be started immediately after the end point is reached. In addition, when the remaining mileage is calculated, calibration can be performed according to the position of the navigation code, and the front and rear positions of the AGV relative to the center of the navigation code can be corrected, so that the accuracy is improved.

Specifically, the embodiment of the present application actually provides a parking control method for an automated guided vehicle, which specifically includes the following steps:

the method comprises the following steps: determining the remaining mileage information when the AGV reaches the current driving route terminal point in the process that the AGV drives according to the current driving route;

step two: judging whether the AGV is about to reach the end point of the current driving route or not according to the remaining mileage information;

step three: if the endpoint is about to be reached, a slow stop strategy is initiated.

Specifically, when determining that the AGV reaches the remaining mileage information of the current driving route end point, first, the total mileage information of the current driving route planned for the AGV may be determined, and in the driving process of the AGV, the mileage information that the AGV has driven in the current driving route is determined, and the remaining mileage information may be determined by subtracting the traveled mileage from the total mileage.

When the mileage information that the AGV has traveled in the current travel route is specifically determined, the mileage information that the AGV has traveled can be calibrated according to the identification of the navigation code that the AGV has traveled and the position information of the navigation code in the route actually.

In order to enable the calibration result to be more accurate, when the AGV reaches one navigation code, the front-back offset of the center position of the AGV relative to the center position of the corresponding navigation code can be determined, and the position of the AGV is adjusted according to the front-back offset, so that the distance which the AGV has traveled is calibrated according to the adjusted position information.

Therefore, in the embodiment of the application, in the normal running process of the AGV, the yaw information of the AGV can be recorded when passing through the navigation code, so that if the AGV has the code losing condition in the running process, the deviation of the AGV can be corrected according to the yaw information stored before, and then the AGV is controlled to run to the target navigation code along the target direction path, and the self-recovery of the AGV can be realized. Through the mode, when the AGV has the code shedding phenomenon, manual intervention is not relied on, and the efficiency can be improved.

Example two

The second embodiment corresponds to the second embodiment, and provides an automatic guided vehicle, which may specifically include, referring to fig. 3:

the attitude tracking module 301 is used for acquiring and storing the navigation information of the AGV when passing through the navigation code;

and the self-recovery module 302 is used for adjusting the posture of the AGV according to the saved yaw information when the AGV loses codes, and controlling the AGV to travel to the target navigation code along the path of the target direction.

In a specific implementation, the AGV may further include:

and the mileage tracking module 303 is used for calculating the traveled mileage of the AGV from the last navigation code after the AGV passes through each navigation code, so as to determine the target direction according to the navigation code close to the AGV.

In addition, the AGV may further include:

and the obstacle avoidance management module 304 is used for determining whether an obstacle exists between the AGV and the navigation code with the closer distance through a distance measurement sensor, if not, determining the direction of the navigation code with the closer distance relative to the AGV as the target direction, otherwise, determining the direction of the navigation code with the farther distance relative to the AGV as the target direction.

Specifically, the ranging sensor includes: and the depth ranging sensor is used for judging whether a barrier exists between the position where the AGV is located and the target navigation code in the target direction or not through the acquired depth data before the AGV drives in the target direction.

Alternatively, the ranging sensor includes: and the short-distance measuring sensor is used for judging whether an obstacle exists or not through data acquired by the short-distance measuring sensor in real time in the process that the AGV drives towards the target direction, and if so, the opposite direction is determined as the target direction again.

In addition, the AGV may further include:

the navigation code analysis module is used for continuously acquiring images through a navigation code sensor in the process that the AGV runs along the target direction path; and when first legal navigation code information is acquired, determining the first legal navigation code as the target navigation code, and triggering the AGV to stop.

During specific implementation, the navigation code analysis module can also be used for determining the included angle of the head of the AGV relative to the central air route, the left-right offset of the central position of the AGV relative to the central air route, and/or the front-back offset of the central position of the AGV relative to the central position of the target navigation code according to the image information of the target navigation code acquired by the AGV, so as to adjust the position and/or the posture of the AGV.

EXAMPLE III

The third embodiment further provides an automated guided vehicle control system, and in particular, referring to fig. 4, the system may include:

the server 401 is configured to perform routing scheduling on the AGVs according to the real-time positions of the AGVs of the automatic guided vehicle and the destination navigation codes, determine a target area according to the position of the last navigation code where the target AGV is located before code shedding occurs when the target AGV is in code shedding, and control other AGVs outside the target area to wait;

the AGV comprises an AGV controller 402, a target navigation code and a target direction controller, wherein the AGV controller 402 is used for acquiring and storing yaw information when the target AGV passes through the navigation code, and when the target AGV is out of code, adjusting the posture of the target AGV according to the stored yaw information and controlling the target AGV to travel to the target navigation code along a target direction path;

the server 401 is further configured to perform routing scheduling again for the target AGV and other AGVs waiting outside the target area after the target AGV travels to the target navigation code.

In specific implementation, the system can be applied to various scenes, for example, one of the scenes can be an AGV meal delivery scene in a target place, AGV lanes (for example, a grid shape) can be laid in the target place, tables are distributed on two sides of the AGV lanes, and a navigation code is arranged on a lane road corresponding to the positions of the tables; at this time, the server may be further configured to allocate a meal delivery task to the AGV, and determine the destination navigation code of the AGV according to the target table position information in the meal delivery task.

Example four

The fourth embodiment corresponds to the third embodiment, and from the perspective of the server, there is provided an automated guided vehicle control method, referring to fig. 5, which may specifically include:

s501: the server carries out routing scheduling on the AGV according to the real-time position of the AGV and a target navigation code;

s502: when the target AGV generates code shedding, determining a target area according to the position of the last navigation code where the target AGV is located before code shedding, and controlling other AGVs to wait outside the target area, so that the target AGV automatically restores to the target navigation code along a target direction path after performing attitude adjustment according to yaw information stored in the passed navigation code;

s503: and after the target AGV recovers to the target navigation code, carrying out routing scheduling on the target AGV and other AGVs waiting outside the target area again.

EXAMPLE five

The fifth embodiment corresponds to the third embodiment, and from the perspective of the AGV controller, provides a method for controlling an automatic guided vehicle, wherein the AGV is an AGV that has not been unlocked, but since the AGV may be closer to the AGV that has been unlocked, and the AGV may be located at a position that may affect the self-recovery of the AGV that has been unlocked, the AGV may wait outside a certain target area under the dispatch of the server, and may continue to travel under the dispatch of the server again after the AGV completes the self-recovery. Specifically, referring to fig. 6, the method may specifically include:

s601: the AGV controller waits outside a target area according to a control instruction sent by the server; the target area is determined according to the position of the last navigation code where the target AGV is located before code shedding occurs, so that the target AGV can automatically recover to the target navigation code along a target direction path after performing attitude adjustment according to yaw information stored in the passed navigation code;

s602: and after receiving the new routing scheduling information sent by the server, re-planning the route to control the AGV to continuously complete the conveying task.

For the parts of the third to fifth embodiments that are not described in detail, reference may be made to the descriptions in the foregoing embodiments, which are not described herein again.

EXAMPLE six

In each of the foregoing embodiments, when the AGV is out of code, the AGV may be corrected according to the yaw information that is stored before the AGV when passing through the navigation code, and then the AGV may be self-recovered. In the sixth embodiment, if the AGV does not have the code shedding phenomenon, only yaw occurs during the driving process, and the deviation can be corrected at any time. Under the condition, the AGV can sense the change of the direction of the head of the AGV according to sensors such as a gyroscope and the like, if the direction of the head of the AGV is found to deviate at a larger angle relative to the center line of the lane, the deviation can be corrected, and the deviation information according to the deviation correction can be also based on the deviation information obtained when the AGV passes through the navigation code. Specifically, referring to fig. 7, the sixth embodiment provides a deviation rectifying method for an automated guided vehicle, which may specifically include:

s701: in the process of driving according to the designated route, acquiring and storing yaw information of the AGV when passing through the navigation code;

this step may be the same as step S201.

S702: after the AGV leaves the navigation code, acquiring the direction information of the head of the AGV in real time;

the information on the direction of the AGV can be obtained from a sensor such as a gyroscope provided in the AGV.

S703: and if the angle of the direction of the vehicle head deviating from the center line of the lane reaches a threshold value, carrying out attitude adjustment on the AGV according to the stored yaw information.

The position of the lane center line may be determined based on pre-saved lane map information. When determining that the deviation angle reaches a certain threshold value, the deviation of the AGV can be corrected, namely, the attitude of the AGV can be adjusted according to the yaw information saved before. Therefore, the deviation correction at any time in the AGV driving process can be realized, and the AGV driving along the straight line can be better controlled.

Certainly, in the concrete implementation, in order to reduce the situation that the angle of the vehicle head direction deviating from the center line of the lane is too large, when the AGV reaches the navigation code, the AGV may also perform attitude adjustment according to the correspondingly obtained yaw information. Therefore, the AGV can correct the deviation when reaching one navigation code, and the accumulation of errors in the subsequent driving process is avoided.

EXAMPLE seven

In practical applications, the AGV can be positioned in other manners besides being positioned by the navigation code during the traveling process. For example, ground-painted grid lines, or grating sensors, etc., may be included, which may be collectively referred to as localization markers. The technical solution provided by the embodiment of the present application can also be applied to the above scenario. To this end, in the seventh embodiment, there is further provided a recovery method of the automated guided vehicle, referring to fig. 8, the method may specifically include:

s801: in the process of driving according to the designated route, acquiring and storing yaw information of the AGV when passing through the positioning marker; wherein the positioning marker is disposed on a road surface or on a roadside of the designated route;

s802: when the AGV stops at the position without the positioning marker, adjusting the posture of the AGV according to the saved yaw information;

s803: and controlling the AGV to travel to the target positioning marker along the target direction path.

For the parts of the second to eighth embodiments that are not described in detail, reference may be made to the description of the first embodiment, which is not described herein again.

Corresponding to the first embodiment, the embodiment of the present application further provides an automatic guided vehicle code-shedding recovery device, referring to fig. 9, where the device may specifically include:

a first yaw information acquiring unit 901, configured to acquire and store yaw information of the AGV when the AGV passes through a navigation code during traveling according to a specified route;

a first attitude adjusting unit 902, configured to adjust an attitude of the AGV according to the stored yaw information when the AGV is out of code;

and a first recovery unit 903, configured to control the AGV to travel to the target navigation code along the target direction path.

During specific implementation, navigation codes are arranged on the road surface of the specified route at intervals of preset distance;

when the AGV has code losing, the AGV stops at the position without the navigation code between the first navigation code and the second navigation code.

In a specific implementation, the apparatus may further include:

the distance determining unit is used for determining a navigation code which is close to the AGV from the first navigation code and the second navigation code according to the distance between the AGV and the first navigation code/the second navigation code when code shedding occurs and the distance between the first navigation code and the second navigation code;

and the first target direction determining unit is used for determining the target direction according to the direction of the navigation code with the shorter distance relative to the AGV.

Specifically, the first target direction determining unit may be configured to:

and determining whether an obstacle exists between the AGV and the navigation code with the closer distance, if not, determining the direction of the navigation code with the closer distance relative to the AGV as the target direction, otherwise, determining the direction of the navigation code with the farther distance relative to the AGV as the target direction.

Wherein the AGV is equipped with a depth ranging sensor;

the first target direction determining unit may be specifically configured to:

before the AGV drives to the target direction, whether obstacles exist between the position of the AGV and the target navigation code in the target direction or not is judged through the depth data collected by the depth ranging sensor.

Alternatively, the AGV is equipped with a proximity ranging sensor;

the first target direction determining unit may be specifically configured to:

and in the process that the AGV drives towards the target direction, judging whether an obstacle exists or not through data acquired by the short-distance measuring sensor in real time, and if so, re-determining the opposite direction as the target direction.

In another mode, the apparatus may further include:

and the second target direction determining unit is used for determining the target direction path according to whether the delivery of the transport object related to the AGV is finished.

Or, the third target direction determining unit is configured to determine the target direction path according to priority information between the multiple distribution objects and position information of the target navigation code corresponding to each distribution object, if the number of the transportation objects associated with the AGV is multiple.

Or, the fourth target direction determining unit is configured to determine the target direction path according to the state characteristic of the AGV when code shedding occurs.

Wherein the status features include: whether emergency stop takes place for AGV, whether displacement in the left and right directions takes place for AGV.

In a specific implementation, the first recovery unit may be configured to: and controlling the AGV to travel to a target navigation code along the target direction path at a low speed.

Wherein, the device can also include:

the image acquisition unit is used for acquiring an image of the road surface of the specified route through a navigation code sensor in the process that the AGV runs along the target direction path;

and the parking triggering unit is used for determining the first legal navigation code as the target navigation code and triggering the AGV to park when the first legal navigation code information is acquired.

The image acquisition unit may specifically be configured to:

determining a first distance between the AGV and the target navigation code;

determining a second distance that the AGV has traveled from the code-missing position in real time;

determining the distance to the target navigation code according to the difference value of the first distance and the second distance;

and when the distance between the AGV and the target navigation code reaches a preset threshold value, starting the navigation code sensor to acquire images of the road surface of the appointed line.

In addition, the apparatus may further include:

and the navigation code position posture adjusting unit is used for adjusting the posture of the AGV after the AGV reaches the target navigation code position.

The navigation code position posture adjusting unit may specifically be configured to: and determining an included angle of the head of the AGV relative to a central air line and/or left and right offset of the central position of the AGV relative to the central air line according to the image information of the target navigation code acquired by the AGV, so as to adjust the posture of the AGV.

In addition, the apparatus may further include:

and the navigation code information submitting unit is used for submitting the information of the AGV and the target navigation code to a server and re-determining the driving route of the AGV according to new scheduling information provided by the server.

In addition, the method can also comprise the following steps:

the distance determining unit is used for determining the distance between the AGV and the next navigation code after each navigation code passes in the process that the AGV drives according to the new driving route;

and the starting unit is used for starting the navigation code sensor to acquire the image of the road surface of the specified line when the distance between the AGV and the next navigation code is equal to a preset threshold value so as to acquire the information of the next navigation code.

Furthermore, the apparatus may further include:

the total mileage determining unit is used for determining total mileage information of a new driving route in the process that the AGV drives according to the new driving route;

a traveled distance determining unit, configured to determine a distance that the AGV has traveled since the target navigation code;

the remaining mileage determining unit is used for determining the remaining mileage between the AGV and the route end point according to the difference value between the total mileage and the distance traveled;

and the parking strategy starting unit is used for starting a slow parking strategy when the fact that the AGV is about to reach the line terminal is determined according to the remaining mileage.

In addition, the method can also comprise the following steps:

and the calibration unit is used for calibrating the distance traveled by the AGV according to the identification of the navigation code passed by the AGV and the position information of the navigation code.

Further, the method may further include:

the front-back offset determining unit is used for determining the front-back offset of the center position of the AGV relative to the center position of the corresponding navigation code when the AGV reaches one navigation code;

and the position adjusting unit is used for adjusting the position of the AGV according to the front and back offsets so as to calibrate the distance which the AGV has run through according to the adjusted position information.

Corresponding to the fourth embodiment, the present application further provides an automatic guided vehicle control apparatus, referring to fig. 10, the apparatus may include:

a routing scheduling unit 1001, configured to perform routing scheduling on the AGV according to the real-time position of the AGV and the destination navigation code;

a target area locking unit 1002, configured to determine a target area according to a position of a previous navigation code where a target AGV is located before code shedding occurs when the target AGV generates code shedding, and control other AGVs outside the target area to wait for the target AGV to perform posture adjustment according to yaw information stored in a passed navigation code, and then automatically recover to the target navigation code along a target direction path;

the routing scheduling unit 1001 is further configured to perform routing scheduling again for the target AGV and other AGVs waiting outside the target area after the target AGV recovers to the target navigation code.

Corresponding to the fifth embodiment, the present application further provides an automatic guided vehicle control apparatus, referring to fig. 11, where the apparatus may include:

a first control unit 1101 for waiting outside the target area in accordance with a control instruction sent by the server; the target area is determined according to the position of the last navigation code where the target AGV is located before code shedding occurs, so that the target AGV can automatically recover to the target navigation code along a target direction path after performing attitude adjustment according to yaw information stored in the passed navigation code;

and the second control unit 1102 is configured to perform route planning again after receiving the new routing scheduling information sent by the server, so as to control the AGV to continue to complete the transportation task.

Corresponding to the sixth embodiment, the present application further provides a deviation rectifying device for an automated guided vehicle, and referring to fig. 12, the device may include:

a yaw information obtaining unit 1201, configured to obtain and store yaw information of the AGV when the AGV passes through the navigation code during traveling according to the specified route;

a vehicle head information obtaining unit 1202, configured to obtain vehicle head direction information of the AGV in real time after the AGV leaves the navigation code;

and an attitude adjusting unit 1203, configured to adjust an attitude of the AGV according to the stored yaw information if an angle of the vehicle head direction deviating from the lane center line reaches a threshold.

Corresponding to the seventh embodiment, the present application further provides a recovery device for an automated guided vehicle, and referring to fig. 13, the device may include:

a second yaw information acquiring unit 1301, configured to acquire and store yaw information of the AGV passing through the positioning marker during traveling according to the designated route; wherein the positioning marker is disposed on a road surface or on a roadside of the designated route;

a second attitude adjustment unit 1302, configured to adjust an attitude of the AGV according to the stored yaw information when the AGV parks at a location without a positioning marker;

and a second recovery unit 1303 for controlling the AGV to travel along the target direction path to the target position marker.

In addition, an embodiment of the present application further provides an electronic device, including:

one or more processors; and

Another electronic device, comprising:

one or more processors; and

Fig. 14 illustrates an architecture of an electronic device, which may include, in particular, a processor 1410, a video display adapter 1411, a disk drive 1412, an input/output interface 1413, a network interface 1414, and a memory 1420. The processor 1410, video display adapter 1411, disk drive 1412, input/output interface 1413, network interface 1414, and memory 1420 may be communicatively coupled via a communication bus 1430.

The processor 1410 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits, and is configured to execute related programs to implement the technical solution provided in the present Application.

The Memory 1420 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, or the like. The memory 1420 may store an operating system 1421 for controlling the operation of the electronic device 1400, and a Basic Input Output System (BIOS) for controlling low-level operations of the electronic device 1400. In addition, a web browser 1423, a data storage management system 1424, and a code-shedding recovery processing system 1425, among others, may also be stored. The code-shedding recovery processing system 1425 can be an application program that implements the operations of the foregoing steps in this embodiment of the application. In summary, when the technical solution provided by the present application is implemented by software or firmware, the relevant program codes are stored in the memory 1420 and called to be executed by the processor 1410.

The input/output interface 1413 is used for connecting an input/output module to input and output information. The i/o module may be configured as a component in a device (not shown) or may be external to the device to provide a corresponding function. The input devices may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices may include a display, a speaker, a vibrator, an indicator light, etc.

The network interface 1414 is used for connecting a communication module (not shown in the figure) to enable the device to interact with other devices. The communication module can realize communication in a wired mode (such as USB, network cable and the like) and also can realize communication in a wireless mode (such as mobile network, WIFI, Bluetooth and the like).

The bus 1430 includes a path that allows information to be transferred between various components of the device, such as the processor 1410, the video display adapter 1411, the disk drive 1412, the input/output interface 1413, the network interface 1414, and the memory 1420.

In addition, the electronic device 1400 may also obtain information of specific pickup conditions from the virtual resource object pickup condition information database 1441 for performing condition judgment, and the like.

It should be noted that although the above-described apparatus only shows the processor 1410, the video display adapter 1411, the disk drive 1412, the input/output interface 1413, the network interface 1414, the memory 1420, the bus 1430 and the like, in a specific implementation, the apparatus may also include other components necessary for proper operation. Furthermore, it will be understood by those skilled in the art that the apparatus described above may also include only the components necessary to implement the solution of the present application, and not necessarily all of the components shown in the figures.

From the above description of the embodiments, it is clear to those skilled in the art that the present application can be implemented by software plus necessary general hardware platform. Based on such understanding, the technical solutions of the present application may be essentially or partially implemented in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments of the present application.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the system or system embodiments are substantially similar to the method embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described system and system embodiments are only illustrative, wherein the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

The method, the device and the electronic equipment for recovering the code losing of the automated guided vehicle provided by the application are introduced in detail, specific examples are applied in the description to explain the principle and the implementation mode of the application, and the description of the embodiments is only used for helping to understand the method and the core idea of the application; meanwhile, for a person skilled in the art, according to the idea of the present application, the specific embodiments and the application range may be changed. In view of the above, the description should not be taken as limiting the application.

Claims

1. The method for recovering the code losing of the automatic guided vehicle is characterized by comprising the following steps:

2. The method of claim 1,

navigation codes are arranged on the road surface of the specified route at intervals of preset distance;

3. The method of claim 2, further comprising:

determining a navigation code which is close to the AGV from the first navigation code and the second navigation code according to the distance between the AGV and the first navigation code/the second navigation code when code shedding occurs and the distance between the first navigation code and the second navigation code;

and determining the target direction according to the direction of the navigation code with the shorter distance relative to the AGV.

4. The method of claim 3,

the determining the target direction according to the direction of the shorter-distance navigation code relative to the AGV comprises:

5. The method of claim 4,

the AGV is equipped with a depth ranging sensor;

the determining whether an obstacle exists between the AGV and the closest navigation code includes:

6. The method of claim 4,

the AGV is equipped with a close range distance sensor;

7. The method of claim 2, further comprising:

and determining the target direction path according to whether the transport object associated with the AGV has finished delivery.

8. The method of claim 2, further comprising:

and if the number of the transport objects associated with the AGV is multiple, determining the target direction path according to the priority information among the multiple distribution objects and the position information of the target navigation code corresponding to each distribution object.

9. The method of claim 2, further comprising:

and determining the target direction path according to the state characteristics of the AGV when code shedding occurs.

10. The method of claim 9,

the status features include: whether emergency stop takes place for AGV, whether displacement in the left and right directions takes place for AGV.

11. The method of claim 1,

the controlling the AGV to travel to the target navigation code along the target direction path includes:

and controlling the AGV to travel to a target navigation code along the target direction path at a low speed.

12. The method of claim 1, further comprising:

in the process that the AGV runs along the target direction path, image acquisition is carried out on the road surface of the specified route through a navigation code sensor;

and when first legal navigation code information is acquired, determining the first legal navigation code as the target navigation code, and triggering the AGV to stop.

13. The method of claim 12,

the image acquisition is carried out to the road surface of appointed circuit through navigation code sensor, includes:

determining a first distance between the AGV and the target navigation code;

14. The method of claim 1, further comprising:

and after the AGV reaches the target navigation code, adjusting the posture of the AGV.

15. The method of claim 14,

the right AGV carries out attitude adjustment, including:

and determining an included angle of the head of the AGV relative to a central air line and/or left and right offset of the central position of the AGV relative to the central air line according to the image information of the target navigation code acquired by the AGV, so as to adjust the posture of the AGV.

16. The method of claim 1, further comprising:

and submitting the information of the AGV and the target navigation code to a server, and re-determining the driving route of the AGV according to new scheduling information provided by the server.

17. The method of claim 16, further comprising:

in the process that the AGV drives according to a new driving route, after every navigation code passes through, determining the distance between the AGV and the next navigation code;

and when the distance between the AGV and the next navigation code is equal to a preset threshold value, starting a navigation code sensor to acquire an image of the road surface of the appointed line so as to acquire the information of the next navigation code.

18. The method of claim 16, further comprising:

determining total mileage information of a new driving route in the process that the AGV drives according to the new driving route;

determining the distance that the AGV has traveled since the target navigation code;

determining the remaining mileage between the AGV and a route end point according to the difference value between the total mileage and the distance traveled;

and starting a slow parking strategy when the fact that the AGV is about to reach the line terminal point is determined according to the remaining mileage.

19. The method of claim 18, further comprising:

and calibrating the distance traveled by the AGV according to the identification of the navigation code passed by the AGV and the position information of the navigation code.

20. The method of claim 19, further comprising:

determining the front-back offset of the center position of the AGV relative to the center position of the corresponding navigation code when the AGV reaches one navigation code;

and adjusting the position of the AGV according to the front and back offset, so that the distance which the AGV has run through is calibrated according to the adjusted position information.

21. An automated guided vehicle, comprising:

22. The automated guided vehicle of claim 21, further comprising:

and the mileage tracking module is used for calculating the traveled mileage of the AGV from the last navigation code after the AGV passes through each navigation code, so as to determine the target direction according to the navigation code close to the AGV.

23. The automated guided vehicle of claim 22, further comprising:

and the obstacle avoidance management module is used for determining whether an obstacle exists between the AGV and the navigation code with the closer distance through a distance measurement sensor, if not, determining the direction of the navigation code with the closer distance relative to the AGV as the target direction, otherwise, determining the direction of the navigation code with the farther distance relative to the AGV as the target direction.

24. The automated guided vehicle of claim 23,

the ranging sensor includes: and the depth ranging sensor is used for judging whether a barrier exists between the position where the AGV is located and the target navigation code in the target direction or not through the acquired depth data before the AGV drives in the target direction.

25. The automated guided vehicle of claim 23,

the ranging sensor includes: and the short-distance measuring sensor is used for judging whether an obstacle exists or not through data acquired by the short-distance measuring sensor in real time in the process that the AGV drives towards the target direction, and if so, the opposite direction is determined as the target direction again.

26. The automated guided vehicle of claim 21, further comprising:

the navigation code analysis module is used for acquiring images through a navigation code sensor in the process that the AGV runs along the target direction path; and when first legal navigation code information is acquired, determining the first legal navigation code as the target navigation code, and triggering the AGV to stop.

27. The automated guided vehicle of claim 26,

the navigation code analysis module is further used for determining an included angle of the head of the AGV relative to a central air line, left and right offset of the central position of the AGV relative to the central air line and/or front and back offset of the central position of the AGV relative to the central position of the target navigation code according to the image information of the target navigation code acquired by the AGV, so that the position and/or posture of the AGV can be adjusted.

28. An automated guided vehicle control system, comprising:

29. The system of claim 28,

the system is applied to an AGV meal delivery scene in a target place, an AGV lane is paved in the target place, tables are distributed on two sides of the AGV lane, and navigation codes are arranged on the lane road surface corresponding to the positions of the tables;

and the server is also used for distributing the meal delivery task to the AGV and determining the target navigation code of the AGV according to the target table position information in the meal delivery task.

30. An automated guided vehicle control method, comprising:

31. An automated guided vehicle control method, comprising:

32. A deviation rectifying method for an automatic guided vehicle is characterized by comprising the following steps:

33. The method of claim 32, further comprising:

and when the AGV reaches the navigation code, adjusting the attitude of the AGV according to correspondingly obtained yaw information.

34. A method of restoring an automated guided vehicle, comprising:

35. The utility model provides an automatic guide transport vechicle loses sign indicating number recovery unit which characterized in that includes:

36. An automated guided vehicle control apparatus, comprising:

37. An automated guided vehicle control apparatus, comprising:

38. The utility model provides an automatic deviation correcting device of guide transport vechicle which characterized in that includes:

39. A recovery device for an automated guided vehicle, comprising:

40. An electronic device, comprising:

one or more processors; and

41. An electronic device, comprising:

one or more processors; and