CN112731920A

CN112731920A - Method and device for controlling conveying equipment, conveying equipment and storage medium

Info

Publication number: CN112731920A
Application number: CN202011414788.2A
Authority: CN
Inventors: 张文君; 范小军
Original assignee: Beijing Kuangshi Robot Technology Co Ltd
Current assignee: Beijing Kuangshi Robot Technology Co Ltd
Priority date: 2020-12-04
Filing date: 2020-12-04
Publication date: 2021-04-30
Also published as: WO2022116649A1

Abstract

The application provides a control method and device for a carrying device, the carrying device and a storage medium, and relates to the technical field of obstacle avoidance. The method comprises the following steps: when at least one obstacle is detected to exist in the running direction of the carrying equipment, determining the position relation between a target obstacle in the at least one obstacle and a first obstacle avoidance detection area and a second obstacle avoidance detection area; and determining obstacle avoidance parameters of the carrying equipment based on the position relation. According to the scheme, the obstacle avoidance detection areas in the front of the passing direction of the carrying equipment are determined, and the obstacle avoidance parameters of the carrying equipment are determined according to the position relation between the obstacle and the two obstacle avoidance detection areas, so that the obstacle avoidance parameters of the carrying equipment can be more reasonably planned, the carrying equipment can stop moving forwards at a reasonable position away from the obstacle, and the operation efficiency of the carrying equipment is improved while the operation safety of carrying is ensured.

Description

Method and device for controlling conveying equipment, conveying equipment and storage medium

Technical Field

The application relates to the technical field of obstacle avoidance, in particular to a control method and device of a carrying device, the carrying device and a storage medium.

Background

At present, equipment with a carrying function, such as an intelligent robot and an Automatic Guided Vehicle (AGV), is widely applied to the fields of logistics storage and the like, and particularly, the AGV can run according to a specified guide route and has safety protection and various transfer functions.

Currently, some transporting devices may have an autonomous navigation technology, for example, an AGV may autonomously perform a part of tasks of transporting and towing goods, and when the transporting device autonomously navigates to perform the task, it is important to detect and prevent obstacles from collision in order to ensure the passing safety of the transporting device.

At present, a processing mode of a collision avoidance strategy of a carrying device generally performs corresponding deceleration processing when an obstacle is detected within a certain distance, but the mode may cause the carrying device to decelerate or stop at a distance far from the obstacle, which affects the operation efficiency of the carrying device.

Disclosure of Invention

An object of the embodiments of the present application is to provide a method and an apparatus for controlling a transport device, and a storage medium, so as to solve a problem that an obstacle avoidance processing manner in the prior art affects operation efficiency of an AGV.

In a first aspect, an embodiment of the present application provides a method for controlling a handling apparatus, where the method includes: when at least one obstacle is detected to exist in the running direction of the carrying equipment, determining the position relation between a target obstacle in the at least one obstacle and a first obstacle avoidance detection area and a second obstacle avoidance detection area, wherein the first obstacle avoidance detection area and the second obstacle avoidance detection area are in the running direction of the carrying equipment, and the second obstacle avoidance detection area is outside the first obstacle avoidance detection area; and determining obstacle avoidance parameters of the carrying equipment based on the position relation.

In the implementation process, the obstacle avoidance detection areas in the front of the passing direction of the carrying equipment are determined, and the obstacle avoidance parameters of the carrying equipment are determined according to the position relation between the obstacle and the two obstacle avoidance detection areas, so that the obstacle avoidance parameters of the carrying equipment can be planned more reasonably, the carrying equipment can stop moving forwards at a reasonable position away from the obstacle, and the operation efficiency of the carrying equipment is improved while the operation safety of carrying is ensured.

Optionally, the obstacle avoidance parameter includes an obstacle avoidance distance between a stop position of the carrying device and the target obstacle; the determining of the obstacle avoidance parameters of the carrying device based on the position relationship includes:

when the position relation is that the target obstacle is in the first obstacle avoidance detection area, determining a first obstacle avoidance distance between the stop position of the carrying equipment and the target obstacle;

or when the position relation is that the target obstacle is in the second obstacle avoidance detection area, determining a second obstacle avoidance distance between the stop position of the carrying equipment and the target obstacle;

and the first obstacle avoidance distance is greater than the second obstacle avoidance distance.

In the implementation process, the safety threat of the barrier in the second obstacle avoidance detection area to the carrying equipment is smaller than that of the barrier in the first obstacle avoidance detection area, so that when the barrier is in the first obstacle avoidance detection area, the obstacle avoidance distance of the barrier is larger than the obstacle avoidance distance of the barrier in the second obstacle avoidance detection area, the carrying equipment can stop at a position far away from the barrier when the barrier is in the first obstacle avoidance detection area, and the carrying equipment can stop at a position close to the barrier when the barrier is in the second obstacle avoidance detection area, so that different obstacle avoidance distances are selected based on the difference of the obstacle avoidance detection areas, and the operation efficiency of the carrying equipment is improved.

Optionally, the method further comprises:

acquiring the distance between each obstacle in the at least one obstacle and the carrying equipment;

and determining the target obstacle from the at least one obstacle according to the distance between each obstacle and the carrying equipment.

In the implementation process, when a plurality of obstacles exist, one target obstacle serving as a reference is determined according to the distance, so that obstacle avoidance parameters can be planned by taking the target obstacle as the reference, and the carrying equipment is ensured not to collide with any obstacle.

Optionally, the method further comprises:

and determining the driving parameters of the carrying equipment according to the obstacle avoidance parameters, wherein the driving parameters comprise a driving speed curve and/or deceleration. Therefore, the running parameters of the carrying equipment can be planned better, and the running efficiency of the carrying equipment is improved.

Optionally, the obstacle avoidance parameter includes an obstacle avoidance distance between a stop position of the transportation device and the target obstacle, and the determining the driving parameter of the transportation device according to the obstacle avoidance parameter includes:

determining a deceleration distance between the carrying equipment and the stop position according to the distance between the carrying equipment and the target obstacle and the obstacle avoidance distance;

acquiring the current speed, the current acceleration and the maximum acceleration of the carrying equipment;

and determining a running speed curve of the carrying equipment through an S-shaped speed planning algorithm according to the deceleration distance, the current speed, the current acceleration and the maximum acceleration.

In the implementation process, the speed reduction distance, the current speed, the current acceleration and the maximum acceleration of the carrying equipment are obtained, and then the running speed curve of the carrying equipment can be better planned through an S-shaped speed planning algorithm, so that the carrying equipment runs at a reasonable speed within the speed reduction distance, and the running efficiency of the carrying equipment is improved.

acquiring the current speed of the carrying equipment;

and determining the deceleration according to the current speed and the deceleration distance.

In the implementation process, the deceleration of the conveying equipment is determined according to the deceleration distance and the current speed, so that the running speed of the conveying equipment can be reasonably planned.

Optionally, the method further comprises:

acquiring the position information of the target obstacle in real time, and judging whether the obstacle avoidance parameters are changed or not according to the position information of the target obstacle;

and when the obstacle avoidance parameters are changed, determining the driving parameters of the carrying equipment according to the changed obstacle avoidance parameters.

In the implementation process, whether the obstacle avoidance parameters are changed or not is judged in real time according to the position information of the target obstacle, and the running parameters of the carrying equipment are updated in time, so that the situation that the carrying equipment stops not running even if the obstacle avoidance occurs due to the situation of misinformation is ensured, and the obstacle avoidance precision is improved while the obstacle avoidance safety is ensured.

Optionally, the method further comprises:

when the at least one obstacle meets a first preset condition, determining that no target obstacle exists in the running direction of the carrying equipment, and controlling the carrying equipment to normally run. So that the handling equipment does not need to be stopped but continues to advance, thereby ensuring the effective operation of the handling equipment.

Optionally, the second obstacle avoidance detection area is arranged along the running direction of the carrying device and located on two sides of the first obstacle avoidance detection area. The obstacle avoidance detection areas with different danger degrees can be conveniently divided.

Optionally, the determining an obstacle avoidance parameter of the carrying device according to the position relationship includes:

acquiring a target distance between the target obstacle and a target position, wherein the target position is located in the first obstacle avoidance detection area or the second obstacle avoidance detection area, and the target position is a position to be reached by the carrying equipment;

and determining obstacle avoidance parameters of the carrying equipment according to the target distance.

In the implementation process, the obstacle avoidance parameters of the conveying equipment are determined by acquiring the target distance between the target obstacle and the target position, so that the condition that the conveying equipment collides with the obstacle before running to the target position is avoided.

Optionally, the obstacle avoidance parameter includes an obstacle avoidance distance between a stop position of the carrying device and the target obstacle, and the obstacle avoidance distance is greater than the target distance. This allows the carrier to stop before reaching the target position to avoid collision with an obstacle.

Optionally, the method further comprises:

and when the target distance between the target obstacle and the target position meets a second preset condition, determining that the target obstacle is a non-obstacle, and controlling the carrying equipment to normally run. The conveying equipment can continue to run before reaching the target position without stopping, and therefore effective operation of the conveying equipment is guaranteed.

In a second aspect, an embodiment of the present application provides a control device for a handling apparatus, where the device includes:

the device comprises a position relation determining module, a first obstacle avoidance detecting area and a second obstacle avoidance detecting area, wherein the position relation determining module is used for determining the position relation between a target obstacle in at least one obstacle and the first obstacle avoidance detecting area and the second obstacle avoidance detecting area in the running direction of the carrying equipment when the situation that the at least one obstacle exists in the running direction of the carrying equipment is detected, and the second obstacle avoidance detecting area is arranged outside the first obstacle avoidance detecting area;

and the obstacle avoidance parameter determining module is used for determining obstacle avoidance parameters of the carrying equipment based on the position relation.

Optionally, the obstacle avoidance parameter includes an obstacle avoidance distance between a stop position of the carrying device and the target obstacle; the obstacle avoidance parameter determining module is configured to determine a first obstacle avoidance distance between the stop position of the carrying device and the target obstacle when the position relationship indicates that the target obstacle is in the first obstacle avoidance detection area; or when the position relation is that the target obstacle is in the second obstacle avoidance detection area, determining a second obstacle avoidance distance between the stop position of the carrying equipment and the target obstacle; and the first obstacle avoidance distance is greater than the second obstacle avoidance distance.

Optionally, the apparatus further comprises:

the obstacle determining module is used for acquiring the distance between each obstacle in the at least one obstacle and the carrying equipment; and determining the target obstacle from the at least one obstacle according to the distance between each obstacle and the carrying equipment.

Optionally, the apparatus further comprises:

and the driving parameter determining module is used for determining driving parameters of the carrying equipment according to the obstacle avoidance parameters, and the driving parameters comprise a driving speed curve and/or deceleration.

Optionally, the obstacle avoidance parameter includes an obstacle avoidance distance between a stop position of the carrying device and the target obstacle, and the driving parameter determining module is configured to determine a deceleration distance of the carrying device from the stop position according to the distance between the carrying device and the target obstacle and the obstacle avoidance distance; acquiring the current speed, the current acceleration and the maximum acceleration of the carrying equipment; and determining a running speed curve of the carrying equipment through an S-shaped speed planning algorithm according to the deceleration distance, the current speed, the current acceleration and the maximum acceleration.

Optionally, the obstacle avoidance parameter includes an obstacle avoidance distance between a stop position of the carrying device and the target obstacle, and the driving parameter determining module is configured to determine a deceleration distance of the carrying device from the stop position according to the distance between the carrying device and the target obstacle and the obstacle avoidance distance; acquiring the current speed of the carrying equipment; and determining the deceleration according to the current speed and the deceleration distance.

Optionally, the driving parameter determining module is configured to obtain position information of the target obstacle in real time, and determine whether the obstacle avoidance parameter is changed according to the position information of the target obstacle; and when the obstacle avoidance parameters are changed, determining the driving parameters of the carrying equipment according to the changed obstacle avoidance parameters.

Optionally, the apparatus further comprises:

and the control module is used for determining that no target obstacle exists in the running direction of the carrying equipment when the at least one obstacle meets a first preset condition, and controlling the carrying equipment to normally run.

Optionally, the second obstacle avoidance detection area is disposed along two sides of the moving direction of the carrying device in the first obstacle avoidance detection area.

Optionally, the obstacle avoidance parameter determining module is further configured to obtain a target distance between the target obstacle and a target position, where the target position is located in the first obstacle avoidance detection area or the second obstacle avoidance detection area, and the target position is a position to be reached by the carrying device; and determining obstacle avoidance parameters of the carrying equipment according to the target distance.

Optionally, the obstacle avoidance parameter includes an obstacle avoidance distance between a stop position of the carrying device and the target obstacle, and the obstacle avoidance distance is greater than the target distance.

Optionally, the apparatus further comprises:

and the control module is used for determining that the target obstacle is a non-obstacle and controlling the carrying equipment to normally run when the target distance between the target obstacle and the target position meets a second preset condition.

In a third aspect, an embodiment of the present application provides a handling apparatus, including a processor and a memory, where the memory stores computer readable instructions, and when the computer readable instructions are executed by the processor, the steps in the method as provided in the first aspect are executed.

In a fourth aspect, embodiments of the present application provide a readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, performs the steps in the method as provided in the first aspect.

Additional features and advantages of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the present application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a conveying apparatus for executing a control method of the conveying apparatus according to an embodiment of the present application;

fig. 2 is a flowchart of a control method for a handling apparatus according to an embodiment of the present disclosure;

fig. 3 is a schematic diagram of an obstacle avoidance detection area according to an embodiment of the present disclosure;

fig. 4 is a schematic diagram of an obstacle avoidance distance according to an embodiment of the present disclosure;

fig. 5 is a schematic diagram illustrating detection of an obstacle outside a target position according to an embodiment of the present application;

fig. 6 is a block diagram of a control device of a conveying apparatus according to 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.

The embodiment of the application provides a control method of a carrying device, which determines different obstacle avoidance detection areas in front of the passing direction of the carrying device, and determines obstacle avoidance parameters of the carrying device according to the position relation between an obstacle and the two obstacle avoidance detection areas, so that the obstacle avoidance parameters of the carrying device can be planned more reasonably, the carrying device can stop moving forward at a reasonable position in front of the obstacle, and the operation efficiency of the carrying device is improved while the operation safety of carrying is ensured.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a conveying apparatus for performing a control method of the conveying apparatus according to an embodiment of the present disclosure, where the conveying apparatus may include: at least one processor 110, such as a CPU, at least one communication interface 120, at least one memory 130, and at least one communication bus 140. Wherein the communication bus 140 is used for realizing direct connection communication of these components. The communication interface 120 of the device in the embodiment of the present application is used for performing signaling or data communication with other node devices. The memory 130 may be a high-speed RAM memory or a non-volatile memory (e.g., at least one disk memory). Memory 130 may optionally be at least one memory device located remotely from the aforementioned processor. The memory 130 stores computer readable instructions, and when the computer readable instructions are executed by the processor 110, the carrying device executes the following method shown in fig. 2, for example, the memory 130 may be configured to store a position relationship between an obstacle and the second obstacle avoidance detection area and the first obstacle avoidance detection area, and the processor 110 may be configured to determine obstacle avoidance parameters of the carrying device according to the position relationship.

In some embodiments, the transporting device described in the embodiments of the present application may be an AGV with various functions, for example, a lifting AGV, a roller AGV, a belt AGV, etc., and may also be a forklift (such as a box storage robot), or other intelligent robot, etc., and may even be a four-way shuttle, that is, the transporting device may refer to any device capable of transporting goods.

When the transporting device is an AGV, it may further include other hardware, such as a vehicle body, a shelf for lifting goods, and the like, and the processor 110, the memory 130, the communication interface 120, the communication bus 140, and other devices may be disposed in the vehicle body. For ease of understanding, the following embodiments will be described with reference to the conveying apparatus being an AGV.

Still can be provided with sensors that can be used to survey the barrier around the haulage equipment such as laser radar, ultrasonic sensor, infrared sensor in the haulage equipment, whether haulage equipment can detect in real time like this and keep away the barrier detection area and have the barrier, and then can take corresponding treatment in advance and keep away the barrier and handle when having the barrier to ensure haulage equipment safety in the operation.

It will be appreciated that the configuration shown in figure 1 is merely illustrative and that the handling apparatus may also include more or fewer components than shown in figure 1 or have a different configuration than shown in figure 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.

Referring to fig. 2, fig. 2 is a flowchart of a method for controlling a handling apparatus according to an embodiment of the present disclosure, where the method includes the following steps:

step S110: when at least one obstacle is detected to exist in the running direction of the carrying equipment, the position relation between a target obstacle in the at least one obstacle and the first obstacle avoidance detection area and the second obstacle avoidance detection area is determined.

In order to ensure the operation safety of the AGV, it is necessary to detect whether there is an obstacle in front of the AGV in real time. And in order to effectively detect the barrier, avoid the false retrieval to the barrier (if AGV also keeps away the barrier and handles when detecting the barrier very far away from AGV the place ahead), can set up reasonable barrier detection area, keep away barrier detection area promptly to detect keeping away the barrier in the barrier detection area.

The obstacle avoidance detection area can comprise a second obstacle avoidance detection area and a first obstacle avoidance detection area, the second obstacle avoidance detection area is arranged on the outer side of the first obstacle avoidance detection area, and the two obstacle avoidance detection areas are arranged in the laser scanning area of the laser radar of the AGV. The range of the first obstacle avoidance detection area may be preset, and if the first obstacle avoidance detection area is rectangular, the length and width of the rectangular area may be set, and the second obstacle avoidance detection area may be a peripheral area corresponding to the long edge of the first obstacle avoidance detection area, in which case the second obstacle avoidance detection area may include two rectangular areas, and the long edge of the rectangular area and the first obstacle avoidance detection area may be rectangularThe long sides of the rectangular areas are equal (certainly, the long sides may be different in practical situations and can be flexibly set as required), and the short sides of the rectangular areas can also be set as practical situations. Fig. 3 is a schematic diagram of a first obstacle avoidance detection area and a second obstacle avoidance detection area in an embodiment. At this time, the second obstacle avoidance detection area is S₂The first obstacle avoidance detection area is S₁The width of the second obstacle avoidance detection area is w_outThen, the width of the first obstacle avoidance detection region may be 2 × w_out. In some embodiments, the second obstacle avoidance detection area may further include a peripheral area corresponding to a short side of the first obstacle avoidance detection area away from the AGV.

Or, when the first obstacle avoidance detection area is semicircular, the second obstacle avoidance detection area may be a semicircular annular area surrounding the first obstacle avoidance detection area, and it can be understood that the second obstacle avoidance detection area does not completely surround the first obstacle avoidance detection area, but refers to other peripheral areas excluding one side close to the AGV in the first obstacle avoidance detection area, that is, the second obstacle avoidance detection area may partially wrap the first obstacle avoidance detection area. It can be understood that, the size and shape of the first obstacle avoidance detection area and the second obstacle avoidance detection area may be set according to actual requirements, which is only an example, and in practical applications, the second obstacle avoidance detection area and the first obstacle avoidance detection area may also be set to other shapes and sizes, such as a triangle, a polygon, and the like.

The condition that the second obstacle avoidance detection area is outside the first obstacle avoidance detection area may also refer to: the second obstacle avoidance detection area is arranged along the running direction of the conveying equipment and located on two sides of the first obstacle avoidance detection area, as shown in fig. 3, located on two sides of the long side of the first obstacle avoidance detection area. When the first obstacle avoidance detection area has another shape, the second obstacle avoidance detection area may include two sub-areas, and the sub-areas are respectively disposed on the upper side and the lower side of the first obstacle avoidance detection area as shown in fig. 3, which is not limited in the embodiment of the present application.

In other embodiments, the width of the obstacle avoidance detection area may be determined according to the width of the AGV itself or the width of the load (which generally refers to the width required for the load to pass) when the AGV lifts the load.

For example, when the AGV is in an empty state, it indicates that the AGV does not lift the goods, at this time, the width of the obstacle avoidance detection area may be greater than or equal to the width of the AGV itself, and if the width of the AGV itself is 1 meter, the width of the obstacle avoidance detection area (i.e., the sum of the widths of the first obstacle avoidance detection area and the second obstacle avoidance detection area, or the width of the first obstacle avoidance detection area only) may be 1 meter or 2 meters, and the like. If the width of the obstacle avoidance detection area is 1 meter, the width of the first obstacle avoidance detection area is preset to be 0.8 meter, and because the number of the second obstacle avoidance detection areas is two, the width of each second obstacle avoidance detection area can be set to be larger than or equal to 0.1 meter.

When the AGV is in a state of jacking the goods, the width of the goods can be obtained, and then the width of the obstacle avoidance detection area can be larger than or equal to the width of the goods.

Of course, the widths and lengths of the first obstacle avoidance detection area and the second obstacle avoidance detection area may be set according to actual requirements, for example, the width of the obstacle avoidance detection area in fig. 3 is w_fHaving a length d_l. Wherein, the x direction is the running direction of the carrying equipment.

Because the AGV is in idle state or the shared region size of its current under the state of lifting goods different, if the AGV is under the state of lifting goods, because the volume of goods is great, so, probably the great region of current needs, and when the AGV is under idle state, its current required region is less, so, can confirm to keep away the size of barrier detection area according to AGV's different states to can rationally set up first obstacle detection area and the second and keep away the size of barrier detection area.

In some embodiments, the laser radar installed on the AGV may be used to scan an obstacle, for example, the laser radar may emit laser to a laser scanning area in real time, and whether the obstacle exists is determined by the obtained reflected signal. It can be understood that the laser can reflect signals after encountering an obstacle, and the laser radar can consider that the obstacle exists in front after receiving the reflected signals. In order to accurately detect the obstacle, the laser radar can acquire a corresponding point cloud polar coordinate by detecting the obstacle, and then convert the point cloud polar coordinate into a plane rectangular coordinate relative to the AGV, and then determine whether the obstacle is the obstacle according to whether the number of the continuous linear code scanning points forming the smallest obstacle exceeds a threshold, and if the number of the continuous linear code scanning points forming the smallest obstacle is greater than a certain threshold (for example, 10), determine that the obstacle exists in front.

It is understood that a scanning area (e.g., a laser scanning angle θ) of the laser radar may be set, so as to determine whether an obstacle exists in the laser scanning area, and when it is detected that at least one obstacle exists, determine a position relationship between a target obstacle and the first obstacle avoidance detection area and the second obstacle avoidance detection area.

When the number of the obstacles is one, the target obstacle is the obstacle, and if the number of the obstacles is two or more, the target obstacle may be one obstacle closer to the AGV. The way it determines the target obstacle may be: and acquiring the distance between each obstacle and the carrying equipment, and then determining a target obstacle from at least one obstacle according to the distance between each obstacle and the carrying equipment.

If the obstacle closest to the conveying device is selected as the target obstacle, of course, if two obstacles exist, the distance between the two obstacles and the conveying device is the same, and the two obstacles are closest to the conveying device, any one obstacle can be selected as the target obstacle, or if one obstacle of the two obstacles is in the first obstacle avoidance detection area, the obstacle in the first obstacle avoidance detection area is used as the target obstacle.

For example, if one obstacle is in the first obstacle avoidance detection area and another obstacle is in the second obstacle avoidance detection area, the distance between the current position of the AGV and each obstacle may be compared, if the obstacle in the first obstacle avoidance detection area is closer to the AGV, the obstacle in the first obstacle avoidance detection area is used as the target obstacle, and if the obstacle in the second obstacle avoidance detection area is closer to the AGV, the obstacle in the second obstacle avoidance detection area is used as the target obstacle.

The above-mentioned position relation may be that the target obstacle is in the first obstacle avoidance detection area, the target obstacle is in the second obstacle avoidance detection area, or the target obstacle is not in both obstacle avoidance detection areas.

Step S120: and determining obstacle avoidance parameters of the carrying equipment based on the position relation.

It can be understood that, if it is detected that an obstacle exists in the obstacle avoidance detection area, in order to avoid the AGV colliding with the obstacle, a corresponding obstacle avoidance measure should be taken to perform obstacle avoidance processing, such as deceleration or stopping moving forward at a corresponding position. In the embodiment of the application, the obstacle avoidance measure can be deceleration according to a certain acceleration, and then the obstacle avoidance measure can stop when the obstacle is away from the obstacle by a certain distance. Therefore, the obstacle avoidance parameter may include an obstacle avoidance distance between a stop position of the AGV and the obstacle, or a deceleration distance of the AGV, or the like.

Because the first obstacle avoidance detection area may be a passing-by area for the AGV to pass through, the degree of danger of the obstacle in the first obstacle avoidance detection area to the AGV passing through is relatively large, and the degree of danger of the obstacle in the second obstacle avoidance detection area is relatively small, so that different obstacle avoidance parameters can be determined according to the position relationship between the obstacle and different obstacle avoidance detection areas. If the obstacle avoidance parameters include the obstacle avoidance distance, when the target obstacle is in the first obstacle avoidance detection area, the obstacle avoidance distance should be larger, and the AGV needs to stop at a position farther from the obstacle, so as to ensure higher safety of the AGV. When the target obstacle is in the second obstacle avoidance detection area, the obstacle avoidance distance should be smaller, allowing the AGV to stop at a place where the obstacle is closer.

For example, in some embodiments, if the obstacle avoidance parameter includes an obstacle avoidance distance between a stop position of the handling apparatus and the target obstacle. And when the position relation is that the target obstacle is in the first obstacle avoidance detection area, determining a first obstacle avoidance distance between the stop position of the carrying equipment and the target obstacle. And when the position relation is that the target obstacle is in the second obstacle avoidance detection area, determining a second obstacle avoidance distance between the stop position of the carrying equipment and the target obstacle, wherein the first obstacle avoidance distance is larger than the second obstacle avoidance distance.

That is, if the target obstacle 1 is in the first obstacle avoidance detection area, the distance between the current position of the transport apparatus and the target obstacle 1 is X1, at this time, the determined first obstacle avoidance distance is a1, if the target obstacle 1 is in the second obstacle avoidance detection area, the distance between the current position of the transport apparatus and the target obstacle 1 is also X1, at this time, the determined first obstacle avoidance distance is a2, a1 is greater than a2, which indicates that the obstacle in the second obstacle avoidance detection area has less safety threat to the transport apparatus than the obstacle in the first obstacle avoidance detection area. Therefore, the carrying equipment can stop far away from the obstacle when the obstacle is in the first obstacle avoidance detection area, and the carrying equipment can stop near the obstacle when the obstacle is in the second obstacle avoidance detection area, so that different obstacle avoidance distances can be selected based on the difference of the obstacle avoidance detection areas, and the running efficiency of the carrying equipment is improved.

If the determined target barrier is not in any obstacle avoidance detection area, the target barrier can be considered to not influence the operation of the AGV, at the moment, the AGV can continuously run according to the current running state without taking obstacle avoidance measures, the position relation between the target barrier and the obstacle avoidance detection area is detected in real time in the running process of the AGV, and if the target barrier is in the obstacle avoidance detection area, corresponding obstacle avoidance measures can be taken to carry out obstacle avoidance processing so as to avoid the situation that the AGV collides with the target barrier.

Therefore, the corresponding obstacle avoidance parameters may be determined according to the position relationship, for example, when the obstacle avoidance parameters include an obstacle avoidance distance between the stop position of the AGV and the target obstacle, an obstacle avoidance distance may be preset for a case where the target obstacle is in the first obstacle avoidance detection area, and an obstacle avoidance distance may also be preset for a case where the target obstacle is in the second obstacle avoidance detection area, so that if any one of the target obstacles is in the obstacle avoidance detection area, the corresponding obstacle avoidance distance may be determined. The AGV may then determine a deceleration distance to decelerate based on the distance between the current position and the target obstacle so that a corresponding deceleration may be planned to ensure that the AGV is parked in front of the target obstacle.

For ease of understanding, how to obtain the obstacle avoidance parameters is illustrated below.

As shown in fig. 4, if there are two obstacles in the laser scanning area, point a in fig. 4 is an obstacle a in the second obstacle avoidance detection area, and point B is an obstacle B in the first obstacle avoidance detection area, at this time, the AGV may obtain the first distance d between the AGV and the obstacle B through the laser radar_inAnd acquiring a second distance d between the AGV and the obstacle A_out。

If the second distance is smaller than the first distance, the obstacle a is used as a target obstacle. After obtaining the two distances, to avoid the AGV colliding with two obstacles, in some embodiments, the first distance d may be obtained_inA second distance d from_outIf the average distance is 5 m, the obstacle avoidance distance is 2.5 m, which represents the distance from the obstacle a to the stop position of the AGV (of course, if the obtained obstacle avoidance distance is greater than the first distance, the obstacle avoidance distance is considered invalid, and half of the obstacle avoidance distance can be continuously taken as the final obstacle avoidance distance).

Or, the obstacle avoidance distances corresponding to different preset distance ranges may also be preset, for example, if the preset distance range interval is represented as (0, 5] m, the corresponding obstacle avoidance distance is 2.5 m, and the preset distance range is represented as (5, 10), and the corresponding obstacle avoidance distance is 3 m, according to this way, after the average distance is obtained, the preset distance range to which the average distance belongs may be searched, so that the corresponding obstacle avoidance distance may be determined, and when the obstacle avoidance distance is greater than the distance between the current position of the AGV and the target obstacle, the obstacle avoidance distance may also be multiplied by a preset coefficient at this time to obtain the final obstacle avoidance distance.

In addition, the obstacle avoidance parameter may include the travel distance of the carrying device in addition to the obstacle avoidance distance, as shown in fig. 4, if the second distance d is smaller than the first distance d_out6 m, the obstacle avoidance distance l obtained according to the method_stop3 m, the travel distance l of the transport equipment_brake3 meters, meaning that the AGV has to travel 3 meters before stopping at the stop position y in FIG. 4_stopAt this point, the AGV may perform a deceleration plan based on the distance to ensure that the AGV may stop at position y 3 meters after traveling_stopTo (3).

In the process of determining the obstacle avoidance parameters based on the position relationship, the obstacle avoidance distance may be preset according to different obstacle avoidance detection areas, and in other embodiments, the obstacle avoidance parameters may be determined according to the position relationship and the distance between the current position of the carrying device and the target obstacle.

As exemplified above, at the second distance d_outIs less than the first distance d_inWhen the obstacle detection area is a target obstacle, the obstacle A is close to the AGV, the obstacle A is a target obstacle, the obstacle distance can be planned according to the second distance, the preset distance range to which the second distance belongs is searched for, the corresponding obstacle distance can be obtained, and the second distance d is the target distance_outIf the distance is 8 meters, the corresponding obstacle avoidance distance is 3 meters, which means that the AGV needs to stop at a position 3 meters away from the obstacle A, and the distance that the AGV needs to travel is 5 meters. Thus, the AGV may be scheduled for a deceleration on the basis of 5 meters. Similarly, if the first distance obtained by the obstacle a is 8 meters when the obstacle a is in the first obstacle avoidance detection area, the corresponding obstacle avoidance distance can be obtained through the preset distance range to which the first distance belongs, and if the first distance is 8 meters, the corresponding obstacle avoidance distance is 4 meters.

That is to say, when keeping away the barrier detection area to the barrier in the difference, it sets up that the obstacle-avoiding distance that preset distance range corresponds can be different for in same distance range, be in the first obstacle-avoiding detection area in the barrier corresponding keep away the barrier distance and be greater than the second obstacle-avoiding detection area in the barrier corresponding keep away the barrier distance, so can make handling equipment park far away apart from the first obstacle-avoiding detection area in the barrier, in order to ensure higher security.

Or when the first distance is smaller, it indicates that the first obstacle B in the obstacle avoidance detection area is closer to the AGV, and at this time, the danger degree of the AGV is higher, and then the AGV needs to stop at a place farther from the AGV, and the obstacle avoidance distance may also be a distance obtained by multiplying the first distance by a preset value, and is 0.6 if the preset value is set. When the second distance is smaller, the obstacle avoidance distance can be calculated in this way, and because the danger degree of the obstacle in the second obstacle avoidance detection area to the AGV is lower, the preset value set for the second distance can be relatively smaller, such as 0.4, and the obstacle avoidance distance can be obtained by multiplying the second distance by the preset value.

In some embodiments, after the obstacle avoidance parameters are determined, in order to improve the operation efficiency of the transportation device, the driving parameters of the transportation device may be further determined according to the obstacle avoidance parameters, and the driving parameters may include a driving speed curve and/or deceleration.

If the obstacle avoidance parameters include the obstacle avoidance distance between the stopping position of the carrying equipment and the target obstacle, the deceleration distance between the carrying equipment and the stopping position can be determined according to the distance between the carrying equipment and the target obstacle and the obstacle avoidance distance, then the current speed, the current acceleration and the maximum acceleration of the carrying equipment are obtained, and then the running speed curve of the carrying equipment is determined through an S-shaped speed planning algorithm according to the deceleration distance, the current speed, the current acceleration and the maximum acceleration.

After the obstacle avoidance distance of the AGV is determined, the deceleration distance of the AGV from the current position to the stop position can be determined, namely the deceleration distance is equal to the difference value of the distance between the current position of the AGV and the target obstacle minus the obstacle avoidance distance. The current speed and the current acceleration of the AGV can be obtained by detecting through a sensor installed on the AGV, and the maximum acceleration of the AGV can be obtained from related configuration parameters of the AGV in advance. The AGV can plan the running speed curve of the AGV through an S-shaped speed planning algorithm according to the information such as the deceleration distance, the current speed and the current acceleration of the AGV at the moment, and the maximum acceleration of the AGV, so that the AGV can stop at the position away from the obstacle distance just before the obstacle, and the safety of obstacle avoidance and parking is achieved.

The specific implementation of the planning of the driving speed curve by the S-shaped speed planning algorithm may refer to related implementation procedures in the prior art, which are not described in detail herein. After obtaining the speed curve of traveling, AGV can travel according to the speed curve of traveling for AGV can just travel behind the speed reduction distance and stop at the stop position, compare in the mode that begins to slow down and travel immediately after detecting the barrier, can effectively improve AGV's operating efficiency.

In some embodiments, the deceleration is achieved as follows: and determining a deceleration distance from the carrying equipment to the stop position according to the distance between the carrying equipment and the target obstacle and the obstacle avoidance distance, then acquiring the current speed of the carrying equipment, and determining the corresponding deceleration according to the current speed and the deceleration distance.

After obtaining the deceleration distance, the current speed of the conveyance apparatus, the deceleration can be calculated by the following formula:

a＝(0-v²)/(2s)；

where a is deceleration, s is deceleration distance, and v is current speed.

And the detection of the AGV for the obstacle is real-time detection, the AGV can acquire the position information of the target obstacle in real time, judge whether the obstacle avoidance parameter is changed according to the position information of the target obstacle, and determine the driving parameter of the carrying equipment according to the changed obstacle avoidance parameter when the obstacle avoidance parameter is changed.

That is to say, when the AGV runs based on the currently planned running parameter, it detects whether the target obstacle is moved in real time during the running process, if the position of the target obstacle changes, the position relationship between the target obstacle and the two obstacle avoidance detection areas is determined again, the obstacle avoidance parameter is obtained by recalculation, and then the running parameter is recalculated according to the obstacle avoidance parameter in the above manner.

If the AGV detects that the target barrier is moved out of the obstacle avoidance detection area before the deceleration and stop, namely the target barrier is not in the current obstacle avoidance detection area, the AGV can restore to the target speed according to the set acceleration, such as the original driving speed, then continuously detect the barrier, and if the obstacle is detected again, the obstacle avoidance parameters can be determined again according to the above mode, and then the driving parameters of the AGV are determined according to the obstacle avoidance parameters.

In the implementation process, the position information of the target obstacle is detected in real time, whether the obstacle avoidance parameters are changed or not is judged in real time according to the position information of the target obstacle, and the running parameters of the carrying equipment are updated in real time, so that the situation that the carrying equipment stops not running even if the obstacle avoidance occurs due to the situation of misinformation is ensured, and the obstacle avoidance safety is also ensured while the obstacle avoidance precision is improved.

In some embodiments, when the at least one obstacle detected above satisfies the first preset condition, it is determined that the target obstacle does not exist in the traveling direction of the conveying apparatus, and normal traveling of the conveying apparatus is controlled, so that the conveying apparatus does not need to stop but continues to advance, thereby ensuring effective operation of the conveying apparatus.

Here, the first preset condition may include: at least one obstacle is not in the first obstacle avoidance detection area, and is also not in the second obstacle avoidance detection area, that is, at least one obstacle is outside the obstacle avoidance detection area, or the first preset condition may also include that the distance between the obstacle closest to the handling equipment and the handling equipment exceeds a preset distance, which indicates that the obstacle is farther from the handling equipment, and then the obstacle avoidance processing is not performed.

It will be appreciated that the first predetermined condition may also set other conditions according to actual requirements, such as that at least one obstacle is far away from the target position to be reached by the handling device (e.g. the obstacle is more than a certain distance away from the target position, and the handling device will not collide with the obstacle in the process of reaching the target position). The carrying equipment can detect the obstacle in real time in the operation process, when the obstacle meets the first preset condition, the carrying equipment continues to run, and when the obstacle does not meet the first preset condition, the carrying equipment can determine corresponding obstacle avoidance parameters according to the position relation between the obstacle and the two obstacle avoidance detection areas, so that obstacle avoidance processing is performed.

However, in some cases, when a target position (e.g., a terminal position) to be reached by the AGV is also within an obstacle avoidance detection area, and if the obstacle avoidance processing is performed on an obstacle outside the target position in the above manner, the operation efficiency of the AGV may be low (e.g., the obstacle may be located far away from the target position, and the obstacle avoidance distance is determined in the above manner, so that the AGV may stop at a place far away from the target position), so for this case, the obstacle avoidance parameter of the transport apparatus may be determined in the following manner:

the method comprises the steps of obtaining a target distance between a target obstacle and a target position, and then determining obstacle avoidance parameters of the carrying equipment according to the target distance, wherein the target position is located in a first obstacle avoidance detection area or a second obstacle avoidance detection area and is a position to which the carrying equipment is to reach.

If the target obstacle is located between the conveying device and the target position, the obstacle avoidance parameter acquiring method and the corresponding obstacle avoidance processing method may be similar to those described in the above embodiments, and if the target obstacle is located outside the conveying device and the target position, that is, after the target obstacle is located at the target position, the conveying device needs to pass through the target position and then pass through the target obstacle first, in this case, if the target obstacle is located very close to the target position, the conveying device should be controlled to stop before reaching the target position in order to improve the safety of the conveying device and avoid collision between the conveying device and the target obstacle.

In order to better determine obstacle avoidance parameters, a position relationship between a target obstacle and a target position may be determined, for example, an area behind the target position is used as a target obstacle avoidance detection area, and then whether the target obstacle is in the target obstacle avoidance detection area is obtained, if so, the target obstacle is considered to be closer to the target position, otherwise, the target obstacle is farther from the target position.

For example, as shown in fig. 5, the rectangular area shown in fig. 5 is an obstacle avoidance detection area composed of a first obstacle avoidance detection area and a second obstacle avoidance detection area, an obstacle 1 and an obstacle 2 exist in the obstacle avoidance detection area, since the obstacle 1 is closest to the AGV, the obstacle 1 is a target obstacle, and a target position to which the AGV needs to reach is in the obstacle avoidance detection area.

The method for determining the corresponding target obstacle avoidance detection area may be as follows: e.g., a line drawn perpendicular to the direction of travel of the AGV at a predetermined width (e.g., d in fig. 5) based on the location point where the target position is located_reach) And determining another straight line, wherein the straight line is parallel to the straight line of the target position, the area surrounded by the two straight lines and the obstacle avoidance detection area is the target obstacle avoidance detection area, and at the moment, the distance between any position in the target obstacle avoidance detection area and the current position of the carrying equipment is greater than the distance between the target position and the current position of the carrying equipment, so that the situation that the AGV needs to reach the area where the target obstacle avoidance detection area needs to pass through the target position after the target position is indicated.

If the target obstacle is in the target obstacle avoidance detection area, such as the obstacle 1 in fig. 5, that is, the target obstacle is in the target obstacle avoidance detection area, which indicates that the target obstacle may be closer to the target position, in order to ensure that the AGV does not collide with the target obstacle when reaching the target position, the AGV may further include a step of determining that the AGV does not collide with the target obstacle when reaching the target positionA distance is reserved so that the AGV stops at a certain position before the target position. At this time, preset obstacle avoidance parameters can be obtained, for example, the obstacle avoidance parameters include an obstacle avoidance distance, the obstacle avoidance distance is larger than the distance between the target position and the target obstacle, and for example, the obstacle avoidance distance is the width d of the target obstacle avoidance detection area_reachAnd adding or multiplying a preset value, wherein the preset value can be flexibly selected according to actual requirements, such as 3 meters and the like.

Alternatively, the obstacle avoidance parameter of the transport device may be determined based on the target distance between the target obstacle and the target position and based on the target distance.

The way of determining the obstacle avoidance distance according to the target distance is similar to that described above, for example, if the target distance is 1 meter and the preset value is 1.2, the obstacle avoidance distance is obtained by multiplying the target distance by 1.2, that is, the obstacle avoidance distance is 1.2 meters, which means that the AGV needs to stop at a position 1.2 meters ahead of the target obstacle, that is, the AGV stops at a position 0.2 meters away from the target position. Of course, the AGV detects whether the target obstacle has been removed in real time while traveling to the stop position, and if so, the AGV continues to travel to the target position.

For example, in fig. 5, if the obstacle 1 is in the target obstacle avoidance detection area, the obstacle avoidance distance may be determined according to the target distance between the obstacle 1 and the target position, and at this time, the obstacle avoidance distance should be greater than the target distance, so that the transporting apparatus may stop moving forward before reaching the target position, so as to avoid collision with the obstacle 1. Since the obstacle 2 is located outside the target obstacle avoidance detection area, the obstacle 2 is far from the target position of the AGV, and at this time, it is not considered that the obstacle 2 threatens the safety of the AGV, so that if it is detected that the obstacle 1 is not located in the target obstacle avoidance detection area, the transport apparatus can be controlled to continue to travel to the target position.

In the implementation process, the obstacle avoidance parameters are determined according to the target distance between the obstacle and the target position, so that the conveying equipment can stop advancing before reaching the target position, and the condition that the conveying equipment possibly collides with the obstacle when running to the target position is avoided.

In some embodiments, when the target distance between the target obstacle and the target position meets the second preset condition, the target obstacle is determined to be a non-obstacle, and the conveying equipment is controlled to normally run, so that the conveying equipment can continue running before reaching the target position without stopping, and effective operation of the conveying equipment is ensured.

Here, the second preset condition may include that the target distance is greater than a preset threshold, or the target distance is greater than the width of the target obstacle avoidance detection area, in this case, it indicates that the target obstacle is far from the target position and does not pose a threat to the operation safety of the transportation device, and the transportation device may be controlled to normally travel to the target position.

Here, the target obstacle referred to herein means an obstacle behind the target position, that is, an obstacle that is not located between the conveyance device and the target position.

In the above embodiment, the obstacle avoidance detection area is divided into the second obstacle avoidance detection area and the first obstacle avoidance detection area in a layered manner, so that the obstacle avoidance deceleration strategies of the obstacle avoidance detection areas of different levels are different (i.e., the obstacle avoidance distance corresponding to the second obstacle avoidance detection area and the first obstacle avoidance detection area is different, and different driving parameters can be determined according to the obstacle avoidance distance). And the AGV detects the obstacle in real time before stopping, and can recover the original driving state to continue driving after detecting that the obstacle is removed. When the AGV reaches the target position, the detection distance of the obstacle can be shortened (for example, whether the detected target obstacle is in the target obstacle avoidance detection area or not), and if the obstacle exists in the area with a certain distance away from the target position, special obstacle avoidance processing can be performed according to the situation, so that the AGV can be ensured not to collide with the obstacle when reaching the target position, and the operation safety of the AGV is improved.

Referring to fig. 6, fig. 6 is a control device 200 of a handling apparatus according to an embodiment of the present disclosure, where the control device 200 may be a module, a program segment, or a code on the handling apparatus. It should be understood that the apparatus 200 corresponds to the above-mentioned embodiment of the method of fig. 2, and can perform various steps related to the embodiment of the method of fig. 2, and the specific functions of the apparatus 200 can be referred to the above description, and the detailed description is appropriately omitted here to avoid redundancy.

Optionally, the apparatus 200 comprises:

a position relation determining module 210, configured to determine, when it is detected that at least one obstacle exists in an operation direction of a conveying apparatus, a position relation between a target obstacle in the at least one obstacle and a first obstacle avoidance detection area and a second obstacle avoidance detection area, where the first obstacle avoidance detection area and the second obstacle avoidance detection area are in the operation direction of the conveying apparatus, and the second obstacle avoidance detection area is outside the first obstacle avoidance detection area;

and an obstacle avoidance parameter determining module 220, configured to determine an obstacle avoidance parameter of the transporting device based on the position relationship.

Optionally, the obstacle avoidance parameter includes an obstacle avoidance distance between a stop position of the carrying device and the target obstacle; the obstacle avoidance parameter determining module 220 is configured to determine, when the position relationship indicates that the target obstacle is in the first obstacle avoidance detection area, a first obstacle avoidance distance between the stop position of the carrying device and the target obstacle; or when the position relation is that the target obstacle is in the second obstacle avoidance detection area, determining a second obstacle avoidance distance between the stop position of the carrying equipment and the target obstacle; and the first obstacle avoidance distance is greater than the second obstacle avoidance distance.

Optionally, the apparatus 200 further comprises:

Optionally, the obstacle avoidance parameter determining module 220 is further configured to obtain a target distance between the target obstacle and a target position, where the target position is located in the first obstacle avoidance detection area or the second obstacle avoidance detection area, and the target position is a position to be reached by the carrying device; and determining obstacle avoidance parameters of the carrying equipment according to the target distance.

Optionally, the apparatus 200 further comprises:

It should be noted that, for the convenience and brevity of description, the specific working procedure of the above-described apparatus may refer to the corresponding procedure in the foregoing method embodiment, and the description is not repeated herein.

The embodiment of the present application provides a readable storage medium, and the computer program, when executed by a processor, executes the method processes performed by the handling device in the method embodiment shown in fig. 2.

The present embodiments disclose a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the methods provided by the above-described method embodiments, for example, comprising: when at least one obstacle is detected to exist in the running direction of the carrying equipment, determining the position relation between a target obstacle in the at least one obstacle and a first obstacle avoidance detection area and a second obstacle avoidance detection area, wherein the first obstacle avoidance detection area and the second obstacle avoidance detection area are in the running direction of the carrying equipment, and the second obstacle avoidance detection area is outside the first obstacle avoidance detection area; and determining obstacle avoidance parameters of the carrying equipment based on the position relation.

In summary, the embodiment of the present application provides a control method and apparatus for a handling device, and a storage medium, in which an obstacle avoidance detection area in front of a current direction of the handling device is determined, and an obstacle avoidance parameter of the handling device is determined according to a position relationship between an obstacle and two obstacle avoidance detection areas, so that the obstacle avoidance parameter of the handling device can be planned more reasonably, the handling device can stop moving forward at a reasonable position in front of the obstacle, and the operation efficiency of the handling device is improved while the operation safety of handling is ensured.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.

In addition, units described as separate parts may or may not be physically separate, and 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 units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling a conveyance apparatus, characterized by comprising:

when at least one obstacle is detected to exist in the running direction of the carrying equipment, determining the position relation between a target obstacle in the at least one obstacle and a first obstacle avoidance detection area and a second obstacle avoidance detection area, wherein the first obstacle avoidance detection area and the second obstacle avoidance detection area are in the running direction of the carrying equipment, and the second obstacle avoidance detection area is outside the first obstacle avoidance detection area;

and determining obstacle avoidance parameters of the carrying equipment based on the position relation.

2. The method according to claim 1, wherein the obstacle avoidance parameters include an obstacle avoidance distance between a stop position of the handling device and the target obstacle; the determining of the obstacle avoidance parameters of the carrying device based on the position relationship includes:

when the position relation is that the target obstacle is in the first obstacle avoidance detection area, determining a first obstacle avoidance distance between the stop position of the carrying equipment and the target obstacle; or

When the position relation is that the target obstacle is in the second obstacle avoidance detection area, determining a second obstacle avoidance distance between the stop position of the carrying equipment and the target obstacle;

3. The method according to claim 1 or 2, characterized in that the method further comprises:

4. The method according to any one of claims 1-3, further comprising:

and determining the driving parameters of the carrying equipment according to the obstacle avoidance parameters, wherein the driving parameters comprise a driving speed curve and/or deceleration.

5. The method according to claim 4, wherein the obstacle avoidance parameters include an obstacle avoidance distance between a stop position of the handling device and the target obstacle, and the determining the driving parameters of the handling device according to the obstacle avoidance parameters includes:

6. The method according to claim 4, wherein the obstacle avoidance parameters include an obstacle avoidance distance between a stop position of the handling device and the target obstacle, and the determining the driving parameters of the handling device according to the obstacle avoidance parameters includes:

acquiring the current speed of the carrying equipment;

7. The method of claim 5 or 6, further comprising:

8. The method according to any one of claims 1-7, further comprising:

when the at least one obstacle meets a first preset condition, determining that no target obstacle exists in the running direction of the carrying equipment, and controlling the carrying equipment to normally run.

9. The method according to any one of claims 1 to 7, wherein the second obstacle avoidance detection area is arranged along the running direction of the carrying device and is located on both sides of the first obstacle avoidance detection area.

10. The method according to any one of claims 1 to 9, wherein determining obstacle avoidance parameters of the handling device according to the positional relationship comprises:

11. The method of claim 10, wherein the obstacle avoidance parameters include an obstacle avoidance distance between a stop position of the handling device and the target obstacle, the obstacle avoidance distance being greater than the target distance.

12. The method of claim 10, further comprising:

and when the target distance between the target obstacle and the target position meets a second preset condition, determining that the target obstacle is a non-obstacle, and controlling the carrying equipment to normally run.

13. A control device for a handling apparatus, characterized in that the device comprises:

14. A handling apparatus comprising a processor and a memory, the memory storing computer readable instructions which, when executed by the processor, perform the method of any one of claims 1 to 12.

15. A readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-12.