CN112731920B - Control method and device of conveying equipment, conveying equipment and storage medium - Google Patents

Control method and device of conveying equipment, conveying equipment and storage medium Download PDF

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Publication number
CN112731920B
CN112731920B CN202011414788.2A CN202011414788A CN112731920B CN 112731920 B CN112731920 B CN 112731920B CN 202011414788 A CN202011414788 A CN 202011414788A CN 112731920 B CN112731920 B CN 112731920B
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Prior art keywords
obstacle
obstacle avoidance
target
distance
detection area
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CN112731920A (en
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张文君
范小军
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Beijing Kuangshi Robot Technology Co Ltd
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Beijing Kuangshi Robot Technology Co Ltd
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Publication of CN112731920A publication Critical patent/CN112731920A/en
Priority to PCT/CN2021/119465 priority patent/WO2022116649A1/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The application provides a control method and device of carrying equipment, the carrying equipment and a storage medium, and relates to the technical field of obstacle avoidance. The method comprises the following steps: when at least one obstacle exists in the running direction of the carrying equipment, determining 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; and determining obstacle avoidance parameters of the conveying equipment based on the position relation. According to the scheme, the obstacle avoidance parameters of the carrying equipment are determined according to the position relation between the obstacles and the two obstacle avoidance detection areas by determining the obstacle avoidance detection areas in front of the passing of the carrying equipment, so that the obstacle avoidance parameters of the carrying equipment can be reasonably planned, the carrying equipment can stop advancing at a reasonable position in front of the obstacles, and the operation efficiency of the carrying equipment is improved while the operation safety of the carrying is ensured.

Description

Control method and device of 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 conveying equipment, the conveying equipment and a storage medium.
Background
At present, equipment with a carrying function such as an intelligent robot, an automatic guided vehicle (Automated Guided Vehicle, an AGV) and the like is widely applied to the fields of logistics storage and the like, particularly the AGV can run according to a specified guiding route, and has the functions of safety protection and various transfer.
At present, some handling devices may have autonomous navigation technology, such as an AGV may autonomously perform a part of tasks of handling and towing goods, and in order to ensure the traffic safety of the handling device when the handling device autonomously navigates and performs the tasks, it is an important ring for detecting obstacles and preventing collisions.
At present, the processing mode of the anti-collision strategy of the carrying equipment generally detects that an obstacle exists in a certain distance, and corresponding deceleration processing is carried out, but the mode can enable the carrying equipment to decelerate or stop in a distance far away from the obstacle, so that the operation efficiency of the carrying equipment is affected.
Disclosure of Invention
The embodiment of the application aims to provide a control method and device of carrying equipment, carrying equipment and a storage medium, which are used for solving the problem that an obstacle avoidance processing mode in the prior art influences the 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 exists 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 arranged in the running direction of the carrying equipment, and the second obstacle avoidance detection area is arranged 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 parameters of the carrying equipment are determined according to the position relation between the obstacles and the two obstacle avoidance detection areas by determining the obstacle avoidance detection areas in front of the passing of the carrying equipment, so that the obstacle avoidance parameters of the carrying equipment can be planned more reasonably, the carrying equipment can stop advancing at a reasonable position in front of the obstacles, and the operation efficiency of the carrying equipment is improved while the operation safety of the carrying is ensured.
Optionally, the obstacle avoidance parameter includes an obstacle avoidance distance between a stop position of the handling device and the target obstacle; the determining the obstacle avoidance parameters of the handling equipment based on the position relation comprises the following steps:
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 conveying equipment and the target obstacle;
wherein, the first obstacle avoidance distance is greater than the second obstacle avoidance distance.
In the implementation process, since the obstacle in the second obstacle avoidance detection area is smaller than the obstacle in the first obstacle avoidance detection area in terms of safety threat to the carrying device, when the obstacle is in the first obstacle avoidance detection area, the obstacle avoidance distance is greater than that of the obstacle in the second obstacle avoidance detection area, so that the carrying device can stop at a far distance from the obstacle when the obstacle is in the first obstacle avoidance detection area, and the carrying device can stop at a near place from the obstacle when the obstacle 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 device is improved.
Optionally, the method further comprises:
Acquiring a distance between each obstacle of the at least one obstacle and the handling device;
the target obstacle is determined from the at least one obstacle according to a distance between each obstacle and the handling device.
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 the 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 running parameters of the carrying equipment according to the obstacle avoidance parameters, wherein the running parameters comprise a running speed curve and/or deceleration. The running parameters of the conveying equipment can be planned better, so that the running efficiency of the conveying equipment is improved.
Optionally, the obstacle avoidance parameter includes an obstacle avoidance distance between a stop position of the handling device and the target obstacle, and the determining the driving parameter of the handling device according to the obstacle avoidance parameter includes:
Determining a deceleration distance between the conveying equipment and the stopping position according to the distance between the conveying 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 reducing distance, the current speed, the current acceleration and the maximum acceleration of the carrying equipment are obtained, so that the running speed curve of the carrying equipment can be planned better through an S-shaped speed planning algorithm, the carrying equipment can run at a reasonable speed within the speed reducing distance, 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 handling device and the target obstacle, and the determining the driving parameter of the handling device according to the obstacle avoidance parameter includes:
Determining a deceleration distance between the conveying equipment and the stopping position according to the distance between the conveying equipment 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.
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 according to the position information of the target obstacle;
and when the obstacle avoidance parameters are changed, determining the running parameters of the conveying 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 and does not run even if the obstacle avoidance occurs misinformation is ensured, and the obstacle avoidance safety is ensured while the obstacle avoidance precision is improved.
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 run normally. So that the handling device does not need to be stopped but continues to advance, thereby ensuring an efficient operation of the handling device.
Optionally, the second obstacle avoidance detection area is disposed along the running direction of the handling device, and is located at two sides of the first obstacle avoidance detection area. This can facilitate the division of obstacle avoidance detection areas of different degrees of risk.
Optionally, the determining the obstacle avoidance parameter of the handling device according to the position relationship includes:
Obtaining a target distance between the target obstacle and a target position, wherein the target position is positioned 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 carrying equipment are determined by acquiring the target distance between the target obstacle and the target position, so that the situation that the carrying equipment collides with the obstacle before moving to the target position is avoided.
Optionally, the obstacle avoidance parameter includes 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. This allows the handling device to be parked before reaching the target location to avoid collision with obstacles.
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. So that the handling device can continue to travel without stopping before reaching the target position, thereby ensuring an efficient operation of the handling device.
In a second aspect, an embodiment of the present application provides a control device for a handling apparatus, the device including:
a positional relationship determining module, configured to determine, when at least one obstacle exists in an operation direction of a handling device, a positional relationship 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 handling device, and the second obstacle avoidance detection area is outside the first obstacle avoidance detection area;
and the obstacle avoidance parameter determination module is used for determining the 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 handling device and the target obstacle; the obstacle avoidance parameter determining module is configured to determine a first obstacle avoidance distance between a stop position of the handling device and the target obstacle when the position relationship is 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 stopping position of the carrying equipment and the target obstacle; wherein, the first obstacle avoidance distance is greater than the second obstacle avoidance distance.
Optionally, the apparatus further comprises:
An obstacle determination module for acquiring a distance between each obstacle of the at least one obstacle and the handling device; the target obstacle is determined from the at least one obstacle according to a distance between each obstacle and the handling device.
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, wherein 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 handling device and the target obstacle, and the driving parameter determining module is configured to determine a deceleration distance of the handling device from the stop position according to the distance between the handling 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 handling device and the target obstacle, and the driving parameter determining module is configured to determine a deceleration distance of the handling device from the stop position according to the distance between the handling 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, in real time, position information of the target obstacle, 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 running parameters of the conveying 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 conveying equipment when the at least one obstacle meets a first preset condition, and controlling the conveying equipment to normally run.
Optionally, the second obstacle avoidance detection area is disposed along two sides of the traveling direction of the handling 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 handling 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 handling device and the target obstacle, the obstacle avoidance distance being greater than the target distance.
Optionally, the apparatus further comprises:
And the control module is used for determining the target obstacle to be 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, embodiments of the present application provide a handling device comprising a processor and a memory storing computer readable instructions which, when executed by the processor, perform the steps of the method as provided in the first aspect above.
In a fourth aspect, embodiments of the present application provide a readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method as provided in the first aspect above.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the embodiments of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the written description and claims thereof 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 needed 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 should not be considered as limiting the scope, and other related drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a handling apparatus for executing a control method of the handling apparatus according to an embodiment of the present application;
fig. 2 is a flowchart of a control method of a handling device according to an embodiment of the present application;
FIG. 3 is a schematic diagram of an obstacle avoidance detection region according to an embodiment of the present application;
FIG. 4 is a schematic diagram of an obstacle avoidance distance according to an embodiment of the present application;
Fig. 5 is a schematic diagram of detecting 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 handling 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 is characterized in that by determining different obstacle avoidance detection areas in front of the passing of the carrying device and determining the obstacle avoidance parameters of the carrying device according to the position relation between an obstacle and the two obstacle avoidance detection areas, the obstacle avoidance parameters of the carrying device can be more reasonably planned, the carrying device can stop advancing at a reasonable position in front of the obstacle, and the operation safety of the carrying device is ensured and the operation efficiency of the carrying device is improved.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a handling apparatus for performing a control method of the handling apparatus according to an embodiment of the present application, where the handling 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 to enable 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 nonvolatile memory (non-volatile memory), such as at least one disk memory. Memory 130 may also optionally be at least one storage device located remotely from the aforementioned processor. The memory 130 stores computer readable instructions that, when executed by the processor 110, perform the method of fig. 2 described below, for example, the memory 130 may be configured to store a positional relationship between an obstacle and the second obstacle avoidance detection region and the first obstacle avoidance detection region, and the processor 110 may be configured to determine obstacle avoidance parameters of the handling device according to the positional relationship.
In some embodiments, the handling 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-type AGV, etc., the handling device may also be a forklift (such as a box storage robot), or other intelligent robots, etc., or even a four-way shuttle, that is, the handling device may be any device capable of handling goods.
When the handling device is an AGV, it may further include other hardware, such as a vehicle body, a goods shelf for jacking goods, etc., where the foregoing devices such as the processor 110, the memory 130, the communication interface 120, the communication bus 140, etc. may be disposed in the vehicle body, and of course, other devices for ensuring the operation of the AGV such as a battery, a motor, etc. may be also included in the vehicle body, which will not be described in detail herein. For ease of understanding, the following embodiments will be described with respect to a transport device as an example of an AGV.
The carrying equipment can be further provided with sensors such as a laser radar, an ultrasonic sensor and an infrared sensor which can be used for detecting obstacles around the carrying equipment, so that the carrying equipment can detect whether the obstacle is in the obstacle avoidance detection area in real time, and further can take corresponding treatment measures in advance to carry out obstacle avoidance treatment when the obstacle is in the obstacle avoidance detection area, so that the safety of the carrying equipment in the operation process is ensured.
It will be appreciated that the configuration shown in fig. 1 is merely illustrative, and that the handling apparatus may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 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 control method of a handling device according to an embodiment of the present application, 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, determining 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.
To ensure the operational safety of the AGV, real-time detection of whether an obstacle exists in front of the AGV is required. In order to effectively detect the obstacle, the AGV can set a reasonable obstacle detection area, namely an obstacle avoidance detection area, so as to detect the obstacle in the obstacle avoidance 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 all arranged in a laser scanning area of the laser radar of the AGV. The range of the first obstacle avoidance detecting area can be preset, for example, when the first obstacle avoidance detecting area is rectangular, the length and the width of the rectangular area can be set, and the second obstacle avoidance detecting area can refer to a peripheral area corresponding to the long side of the first obstacle avoidance detecting area, in this case, the second obstacle avoidance detecting area can comprise two rectangular areas, the long side of the rectangular area is equal to the long side of the first obstacle avoidance detecting area (of course, the actual situation can be unequal, and the rectangular area can be flexibly set according to the requirement), and the short side of the rectangular area can also be set according to the actual situation. 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 detecting area is S 2, the first obstacle avoidance detecting area is S 1, and the width of the second obstacle avoidance detecting area is w out, so that the width of the first obstacle avoidance detecting area may be 2*w out. In some embodiments, the second obstacle avoidance detection zone may also include a peripheral zone corresponding to a short side of the first obstacle avoidance detection zone remote from the AGV.
Or when the first obstacle avoidance detecting area is semicircular, the second obstacle avoidance detecting area may be a semicircular annular area surrounding the first obstacle avoidance detecting area, and it is understood that the second obstacle avoidance detecting area does not completely surround the first obstacle avoidance detecting area, but means other peripheral areas, except for one side, close to the AGV, in the first obstacle avoidance detecting area, that is, the second obstacle avoidance detecting area may partially surround the first obstacle avoidance detecting area. It will be appreciated that, for the first obstacle avoidance detecting area and the second obstacle avoidance detecting area, the sizes and shapes of the first obstacle avoidance detecting area and the second obstacle avoidance detecting area may be set according to actual requirements, which are merely examples, and in practical applications, the second obstacle avoidance detecting area and the first obstacle avoidance detecting area may also be set to other shapes and sizes, such as triangles, polygons, and the like.
The case where the second obstacle avoidance detection region is outside the first obstacle avoidance detection region may further mean: the second obstacle avoidance detection area is arranged along the running direction of the conveying equipment and is positioned at two sides of the first obstacle avoidance detection area, such as two sides of a long side of the first obstacle avoidance detection area in fig. 3. When the first obstacle avoidance detecting area is in other shapes, the second obstacle avoidance detecting 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 detecting 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 zone may be determined based on the width of the AGV itself or the width of the load (which is typically 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 load, and at this time, the width of the obstacle avoidance detection area may be greater than or equal to the width of the AGV itself, for example, the width of the AGV itself is 1 meter, and then 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 only the width of the first obstacle avoidance detection area) may be 1 meter or 2 meters. 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 since 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 greater than or equal to 0.1 meter.
When AGVs are in a jacking cargo state, the width of the cargo can be obtained, then the width of the obstacle avoidance detection area can be larger than or equal to the width of the cargo, and in this case, the width of the first obstacle avoidance detection area can be equal to the width of the AGVs themselves, or can be preset, and therefore the width of the second obstacle avoidance detection area can be determined.
Of course, the width and length of the first obstacle avoidance detecting area and the second obstacle avoidance detecting area may be set according to actual requirements, for example, in fig. 3, the width of the obstacle avoidance detecting area is w f, and the length thereof is d l. The x direction is the running direction of the carrying device.
Because the AGV is in empty load state or jack up under the goods state its current region size difference that occupies, like the AGV is under the jack up goods state, because the volume of goods is great, so, probably pass through and need great region, and the AGV is under empty load state, its current required region is less, so, can confirm the size of avoiding the barrier detection zone according to the different states of AGV to can rationally set up the size of first barrier detection zone and second barrier detection zone of avoiding.
In some embodiments, the laser radar installed on the AGV may be used to scan an obstacle, for example, the laser radar emits laser to the laser scanning area in real time, and the obtained reflected signal is used to determine whether the obstacle exists. It will be appreciated that the laser will reflect a signal after encountering an obstacle, and the lidar will be able to assume that there is an obstacle in front of it after receiving the reflected signal. In order to accurately detect the obstacle, the lidar can obtain the corresponding point cloud polar coordinates by detecting the obstacle, then convert the point cloud polar coordinates into plane rectangular coordinates relative to the AGV, and then determine whether the obstacle is the obstacle according to whether the number of the minimum continuous straight line code scanning points formed by the obstacle exceeds a threshold value, if the number of the minimum continuous straight line code scanning points formed by the obstacle is greater than a certain threshold value (such as 10), then determine that the obstacle exists in front.
It will be appreciated that the scanning area (e.g., laser scanning angle θ) of the lidar may be set so that it may be determined whether an obstacle is present in the laser scanning area, and when at least one obstacle is detected, the positional relationship between the target obstacle and the first obstacle avoidance detection area and the second obstacle avoidance detection area may be determined.
When the number of the obstacles is one, the target obstacle is the obstacle, and when the number of the obstacles is two or more, the target obstacle may be one obstacle closer to the AGV. The method for determining the target obstacle can be as follows: the distance between each obstacle and the handling device is acquired, and then a target obstacle is determined from at least one obstacle according to the distance between each obstacle and the handling device.
If the obstacle closest to the transporting apparatus is selected as the target obstacle, of course, if there are two obstacles that are the same distance from the transporting apparatus and closest to the transporting apparatus, either one of the two obstacles may be selected as the target obstacle, or if one of the two obstacles is within the first obstacle avoidance detection area, the obstacle within the first obstacle avoidance detection area may be selected as the target obstacle.
For example, if one of the obstacles is in the first obstacle avoidance detection area, and the other obstacle is in the second obstacle avoidance detection area, the distance between the current position of the AGV and each obstacle can be compared at this time, if the distance between the obstacle in the first obstacle avoidance detection area and the AGV is closer, the obstacle in the first obstacle avoidance detection area is used as the target obstacle, and if the distance between the obstacle in the second obstacle avoidance detection area and the AGV is closer, the obstacle in the second obstacle avoidance detection area is used as the target obstacle.
The above positional relationship 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 will be appreciated that if an obstacle is detected in the obstacle avoidance detection area, in order to avoid collision between the AGV and the obstacle, corresponding obstacle avoidance measures should be taken to avoid obstacle avoidance, such as slowing down or stopping the travel at the corresponding position. In the embodiment of the application, the obstacle avoidance measures can be to decelerate according to a certain acceleration and then stop when a certain distance is kept from the obstacle. Therefore, the obstacle avoidance parameters may include the obstacle avoidance distance between the stop position of the AGV and the obstacle, or the deceleration distance of the AGV, etc.
Since the first obstacle avoidance detection area may be a necessary passage area for the AGV to pass through, the obstacle in the first obstacle avoidance detection area has a greater risk of passing through the AGV, and the obstacle in the second obstacle avoidance detection area has a relatively smaller risk, so that different obstacle avoidance parameters can be determined according to the positional 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 greater, and the AGV needs to stop at a distance from the obstacle to ensure higher safety of the AGV. When the target obstacle is in the second obstacle avoidance detection zone, its obstacle avoidance distance should be smaller, allowing the AGV to park in a location where the obstacle is closer.
For example, in some embodiments, the obstacle avoidance parameter comprises an obstacle avoidance distance between a stop position of the handling equipment and the target obstacle. And when the position relationship 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 conveying equipment and the target obstacle. And when the position relationship 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 conveying 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 handling device and the target obstacle 1 is X1, and the determined first obstacle avoidance distance is a1 at this time, if the target obstacle 1 is also in the second obstacle avoidance detection area, the distance between the current position of the handling device and the target obstacle 1 is also X1, and the determined first obstacle avoidance distance is a2 at this time, a1 is greater than a2, which indicates that the obstacle in the second obstacle avoidance detection area has a smaller security threat to the handling device than the obstacle in the first obstacle avoidance detection area. Like this the barrier can stop in the distance place that keeps away barrier detection zone in the first barrier that keeps away, and the barrier can stop in the place that keeps away barrier detection zone in the second that keeps away barrier that the barrier is nearer to the barrier to select different barrier distances that keep away based on the difference that keeps away barrier detection zone, improved the operating efficiency of handling equipment.
If the determined target obstacle is not in any obstacle avoidance detection area, the target obstacle can be considered to have no influence on the operation of the AGV, the AGV can continue to run according to the current running state without adopting an obstacle avoidance measure at the moment, the position relationship between the target obstacle and the obstacle avoidance detection area is detected in real time in the running process of the AGV, and if the target obstacle is in the obstacle avoidance detection area, the corresponding obstacle avoidance measure can be adopted to carry out obstacle avoidance treatment so as to avoid collision of the AGV and the target obstacle.
Therefore, the corresponding obstacle avoidance parameters can be determined according to the position relationship, for example, when the obstacle avoidance parameters include the obstacle avoidance distance between the stop position of the AGV and the target obstacle, the obstacle avoidance distance can be preset for the condition that the target obstacle is in the first obstacle avoidance detection area, and the obstacle avoidance distance can also be preset for the condition that the target obstacle is in the second obstacle avoidance detection area, so that if any one target obstacle is in the obstacle avoidance detection area, the corresponding obstacle avoidance distance can be determined. The AGV may then determine the deceleration distance to be decelerated based on the distance between the current position and the target obstacle, and may then plan a corresponding deceleration to ensure that the AGV parks in front of the target obstacle.
In the implementation process, the obstacle avoidance parameters of the carrying equipment are determined according to the position relation between the obstacles and the two obstacle avoidance detection areas by determining the obstacle avoidance detection areas in front of the passing of the carrying equipment, so that the obstacle avoidance parameters of the carrying equipment can be planned more reasonably, the carrying equipment can stop advancing at a reasonable position in front of the obstacles, and the operation efficiency of the carrying equipment is improved while the operation safety of the carrying is ensured.
To facilitate understanding, the following illustrates how the obstacle avoidance parameters are obtained.
As shown in fig. 4, if two obstacles exist in the laser scanning area, in fig. 4, point a is an obstacle a in the second obstacle avoidance detection area, point B is an obstacle B in the first obstacle avoidance detection area, and at this time, the AGV may acquire a first distance d in between the AGV and the obstacle B and acquire a second distance d out between the AGV and the obstacle a through the laser radar.
If the second distance is smaller than the first distance at this time, the obstacle a is the target obstacle. After obtaining the two distances, in order to avoid the collision between the AGV and the two obstacles, in some embodiments, an average distance between the first distance d in and the second distance d out may be obtained, and then the obstacle avoidance distance of the AGV may be determined according to the average distance, for example, half of the average distance is taken as the obstacle avoidance distance between the stop position of the AGV and the obstacle a, for example, the average distance is 5 meters, the obstacle avoidance distance is 2.5 meters, which indicates the distance of the obstacle a from the stop position of the AGV (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 may be taken as the final obstacle avoidance distance.
Or, the corresponding obstacle avoidance distance in different preset distance ranges can be preset, for example, the preset distance range is expressed as (0, 5) m, the corresponding obstacle avoidance distance is 2.5 m, the preset distance range is expressed as (5, 10), the corresponding obstacle avoidance distance is 3m, and according to the mode, after the average distance is obtained, the preset distance range to which the average distance belongs can be searched, so that the corresponding obstacle avoidance distance can be determined, and when the obstacle avoidance distance is larger than the distance between the current position of the AGV and the target obstacle, the final obstacle avoidance distance can be obtained by multiplying the obstacle avoidance distance by a preset coefficient.
In addition, the obstacle avoidance parameter may further include a travel distance of the handling device, as shown in fig. 4, if the second distance d out is 6 meters, and the obstacle avoidance distance l stop obtained according to the above manner is 3 meters, the travel distance l brake of the handling device is 3 meters, that is, the stopping position of the AGV is y stop in fig. 4 after the AGV still needs to travel for 3 meters, and at this time, the AGV may perform deceleration planning according to the distance to ensure that the AGV can stop at the position y stop after the AGV travels for 3 meters.
In the above process of determining the obstacle avoidance parameter based on the positional relationship, the obstacle avoidance distance may be preset according to different obstacle avoidance detection areas, and in other embodiments, the obstacle avoidance parameter may also be determined according to the positional relationship and the distance between the current position of the handling device and the target obstacle.
For example, when the second distance d out is smaller than the first distance d in, the obstacle a in the second obstacle avoidance detection area is considered to be closer to the AGV, the obstacle a is the target obstacle, and the second distance can be used as the planned obstacle avoidance distance at this time, for example, the preset distance range to which the second distance belongs is searched to obtain the corresponding obstacle avoidance distance, if the second distance d out is 8 meters, the corresponding obstacle avoidance distance is 3 meters, which indicates that the AGV needs to stop at the position 3 meters before the distance of the obstacle a, and the distance that the AGV needs to travel is 5 meters. Thus, the AGV can be used as a deceleration plan based on 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, for example, the first distance is 8 meters, and the corresponding obstacle avoidance distance is 4 meters.
That is, when the obstacle is in different obstacle avoidance detection areas, the obstacle avoidance distances corresponding to the preset distance ranges are set to be different, so that in the same distance range, the obstacle avoidance distance corresponding to the obstacle in the first obstacle avoidance detection area is larger than the obstacle avoidance distance corresponding to the obstacle in the second obstacle avoidance detection area, and the handling equipment can park at a position far away from the obstacle in the first obstacle avoidance detection area, so that higher safety is ensured.
Or when the first distance is smaller, the obstacle B in the first obstacle avoidance detection area is closer to the AGV, the risk degree of the AGV is higher, the AGV needs to stop at a place farther from the AGV, and the obstacle avoidance distance can be obtained by multiplying the first distance by a preset value, for example, the preset value is 0.6. For the second distance being smaller, the obstacle avoidance distance can also be calculated in this way, and since the risk 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, for example, 0.4, and the like, so that the obstacle avoidance distance can be obtained by multiplying the second distance by the preset value.
In some embodiments, after determining the obstacle avoidance parameter, in order to improve the operation efficiency of the handling device, a running parameter of the handling device may be further determined according to the obstacle avoidance parameter, where the running parameter may include a running speed curve and/or a deceleration.
If the obstacle avoidance parameter includes an obstacle avoidance distance between a stop position of the conveying device and the target obstacle, a deceleration distance between the conveying device and the stop position can be determined according to the distance between the conveying device and the target obstacle and the obstacle avoidance distance, then a current speed, a current acceleration and a maximum acceleration of the conveying device are obtained, and then a running speed curve of the conveying device is determined according to the deceleration distance, the current speed, the current acceleration and the maximum acceleration through an S-shaped speed planning algorithm.
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 current acceleration of the AGV can be detected by a sensor mounted on the AGV, and the maximum acceleration of the AGV can be obtained from the relevant configuration parameters of the AGV in advance. The AGV can plan a 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 of the AGV, the current acceleration, the maximum acceleration of the AGV and the like, so that the AGV stops at a position which is just in front of an obstacle and is away from the obstacle, and the safety of obstacle avoidance and stopping is achieved.
The specific implementation of the S-shaped speed planning algorithm for planning the driving speed profile can refer to the related implementation process in the prior art, and will not be described in detail here. After the travel speed curve is obtained, the AGV can travel according to the travel speed curve, so that the AGV can stop at a stop position after just traveling a deceleration distance, and the operation efficiency of the AGV can be effectively improved compared with a mode of starting deceleration travel immediately after detecting an obstacle.
In the implementation process, the speed reducing distance, the current speed, the current acceleration and the maximum acceleration of the carrying equipment are obtained, so that the running speed curve of the carrying equipment can be planned better through an S-shaped speed planning algorithm, the carrying equipment can run at a reasonable speed within the speed reducing distance, and the running efficiency of the carrying equipment is improved.
In some embodiments, the deceleration is achieved in the following manner: according to the distance between the carrying equipment and the target obstacle and the obstacle avoidance distance, determining the deceleration distance between the carrying equipment and the stopping position, then obtaining 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 handling device, the deceleration can be calculated by the following formula:
a＝(0-v2)/(2s)；
Wherein a is deceleration, s is deceleration distance, and v is current speed.
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.
The AGV can acquire the position information of the target obstacle in real time when detecting the obstacle, judge whether the obstacle avoidance parameter is changed according to the position information of the target obstacle, and determine the running parameter of the conveying equipment according to the changed obstacle avoidance parameter when the obstacle avoidance parameter is changed.
That is, when the AGV travels based on the currently planned travel parameter, it detects in real time whether the target obstacle is moved during the travel, if the position of the target obstacle changes, it redetermines the positional relationship between the target obstacle and the two obstacle avoidance detection areas, and also redests the obtained obstacle avoidance parameter, and then redests the travel parameter according to the obstacle avoidance parameter in the manner described above.
If the AGV detects that the target obstacle has been moved out of the obstacle avoidance detection area before stopping, i.e. the target obstacle has not been in the current obstacle avoidance detection area, the AGV can resume the target speed according to the set acceleration, such as the original running speed, then continue to detect the obstacle, if the obstacle is detected again, the obstacle avoidance parameters can be determined again according to the above-mentioned mode, and then the running parameters of the AGV are determined according to the obstacle avoidance parameters.
In the implementation process, through detecting the position information of the target obstacle 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 time, so that the situation that the carrying equipment stops and does not run even if the obstacle avoidance occurs misinformation is ensured, and the obstacle avoidance safety is 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 there is no target obstacle in the running direction of the handling apparatus, and normal running of the handling apparatus is controlled, so that the handling apparatus may continue to advance without stopping, thereby ensuring efficient running of the handling apparatus.
Here, the first preset condition may include: the at least one obstacle is not in the first obstacle avoidance detection area and is not in the second obstacle avoidance detection area, that is, the at least one obstacle is outside the obstacle avoidance detection area, or the first preset condition may also include that a distance between the nearest obstacle to the handling device and the handling device exceeds a preset distance, in which case it indicates that the obstacle is far from the handling device, and the obstacle avoidance process is not performed.
It will be appreciated that the first preset condition may also set other conditions according to actual requirements, for example, may further include that at least one obstacle is far away from the target location to be reached by the handling device (for example, the obstacle is far from the target location by a certain distance, and the handling device does not collide with the obstacle when reaching the target location). 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 travel, 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 the target position (such as the end position) that the AGV needs to reach is also in the obstacle avoidance detection area, and if the obstacle outside the target position is also subjected to the obstacle avoidance processing in the above manner, the running efficiency of the AGV may be low (for example, the obstacle may be far from the target position, and the obstacle avoidance distance is determined according to the above manner, so that the AGV may stop at a place far from the target position), so, for this case, the obstacle avoidance parameter of the handling device may also be determined by:
and acquiring a target distance between a target obstacle and a target position, and determining obstacle avoidance parameters of the conveying equipment according to the target distance, wherein the target position is positioned in the first obstacle avoidance detection area or the second obstacle avoidance detection area, and is the position to be reached by the conveying equipment.
If the target obstacle is located between the handling device and the target position, the method for obtaining the obstacle avoidance parameter and the corresponding obstacle avoidance processing method may be similar to the method described in the foregoing embodiments, and if the target obstacle is located outside the handling device and the target position, that is, after the target position, the handling device needs to pass through the target position and then pass through the target obstacle, in this case, if the target obstacle is very close to the target position, in order to improve the safety of the handling device, the handling device is prevented from colliding with the target obstacle, and should also be controlled to stop before reaching the target position.
In order to better determine the obstacle avoidance parameters, a positional relationship between the target obstacle and the target position may be determined, for example, an area after the target position is taken as a target obstacle avoidance detection area, and then whether the target obstacle is in the target obstacle avoidance detection area is acquired, 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, where the obstacle 1 and the obstacle 2 are present, and since the obstacle 1 is closest to the AGV, the obstacle 1 is a target obstacle, and the target position that the AGV needs to reach at this time is in the obstacle avoidance detection area.
The method for determining the corresponding target obstacle avoidance detection area may be: if a straight line is defined based on the position point where the target position is located, the straight line is perpendicular to the advancing direction of the AGV, another straight line is defined with a preset width (as d reach in fig. 5), the straight line is parallel to the straight line where the target position is located, and the area surrounded by the two straight lines and the obstacle avoidance detection area is the target obstacle avoidance detection area, at this time, the distance between any position in the target obstacle avoidance detection area and the current position of the handling device is greater than the distance between the target position and the current position of the handling device, which indicates that the AGV needs to pass through the target position after the target obstacle avoidance detection area is located.
If the target obstacle is in the target obstacle avoidance detection area, as in the obstacle 1 in fig. 5, that is, the target obstacle is in the target obstacle avoidance detection area, it indicates that the target obstacle may be closer to the target position, in order to ensure that the AGV will not collide with the target obstacle when reaching the target position, a certain distance may be reserved, so that the AGV stops at a certain position before the target position. At this time, preset obstacle avoidance parameters may be obtained, for example, the obstacle avoidance parameters include an obstacle avoidance distance, where the obstacle avoidance distance should be greater than a distance between the target position and the target obstacle, for example, the obstacle avoidance distance is a preset value added to or multiplied by the width d reach of the target obstacle avoidance detection area, and the preset value may be flexibly taken according to actual requirements, for example, 3 meters.
Or the obstacle avoidance parameters of the conveying equipment can be determined according to the target distance between the target obstacle and the target position and the target distance.
The manner 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 set to 1.2, the obstacle avoidance distance is the target distance multiplied by 1.2, that is, the obstacle avoidance distance is 1.2 meters, which indicates that the AGV needs to stop at a position 1.2 meters in front of the target obstacle, that is, the AGV stops at a position 0.2 meters from the target position. Of course, during the process of the AGV traveling to the stop position, whether the target obstacle has been removed is detected in real time, and if so, the AGV continues to travel to the target position.
For example, in fig. 5, 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, where the obstacle avoidance distance should be greater than the target distance, so that the conveying device may stop advancing before reaching the target position, so as to avoid colliding with the obstacle 1. Since the obstacle 2 is located outside the target obstacle avoidance detection area, it is far from the target position of the AGV, and at this time, the obstacle 2 may not be considered to pose a threat to the safety of the AGV, and therefore, if it is detected that the obstacle 1 is not located in the target obstacle avoidance detection area, the transporting apparatus may 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 carrying equipment can stop advancing before reaching the target position, and the situation that the carrying 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 handling device is controlled to normally run, so that the handling device can continue to run before reaching the target position without stopping, and effective running of the handling device is ensured.
Here, the second preset condition may include that the target distance is greater than the preset threshold value, or that the target distance is greater than the width of the target obstacle avoidance detection area, where in this case, it indicates that the target obstacle is far away from the target position, which does not pose a threat to the operation safety of the handling device, and the handling device may be controlled to normally travel to the target position.
Here, the target obstacle referred to herein means an obstacle after the target position, that is, an obstacle that is not located between the transporting apparatus 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 grades are different (that is, the obstacle avoidance distances corresponding to the second obstacle avoidance detection area and the first obstacle avoidance detection area are different, different driving parameters can be determined according to the obstacle avoidance distances), such as the speed of the AGV is slower when the obstacle is in the second obstacle avoidance detection area, the AGV can park in a place closer to the obstacle, and the speed of the AGV is faster when the obstacle is in the first obstacle avoidance detection area, so that the AGV can park in a place farther from the obstacle. The AGV detects the obstacle in real time before stopping, and after detecting that the obstacle is removed, the AGV can resume the original running state and continue running. When the AGV is about to reach the target position, the detection distance of the obstacle can be reduced (for example, whether the detected target obstacle is in the target obstacle avoidance detection area or not), if the detected target obstacle is in the area with a certain distance outside the target position, special obstacle avoidance treatment 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 illustrates a control apparatus 200 of a handling device according to an embodiment of the application, where the apparatus 200 may be a module, a program segment, or a code on the handling device. It should be understood that the apparatus 200 corresponds to the above embodiment of the method of fig. 2, and is capable of executing the steps involved in the embodiment of the method of fig. 2, and specific functions of the apparatus 200 may be referred to in the above description, and detailed descriptions thereof are omitted herein as appropriate to avoid redundancy.
Optionally, the apparatus 200 includes:
a positional relationship determining module 210, configured to determine, when at least one obstacle exists in an operation direction of a handling device, a positional relationship between a target obstacle in the at least one obstacle and a first obstacle avoidance detection region and a second obstacle avoidance detection region, where the first obstacle avoidance detection region and the second obstacle avoidance detection region are in the operation direction of the handling device, and the second obstacle avoidance detection region is outside the first obstacle avoidance detection region;
The obstacle avoidance parameter determination module 220 is configured to determine an obstacle avoidance parameter of the handling device based on the positional relationship.
Optionally, the obstacle avoidance parameter includes an obstacle avoidance distance between a stop position of the handling device and the target obstacle; the obstacle avoidance parameter determining module 220 is configured to determine a first obstacle avoidance distance between a stop position of the handling device and the target obstacle when the position relationship is 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 stopping position of the carrying equipment and the target obstacle; wherein, the first obstacle avoidance distance is greater than the second obstacle avoidance distance.
Optionally, the apparatus 200 further includes:
An obstacle determination module for acquiring a distance between each obstacle of the at least one obstacle and the handling device; the target obstacle is determined from the at least one obstacle according to a distance between each obstacle and the handling device.
Optionally, the apparatus 200 further includes:
and the driving parameter determining module is used for determining driving parameters of the carrying equipment according to the obstacle avoidance parameters, wherein 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 handling device and the target obstacle, and the driving parameter determining module is configured to determine a deceleration distance of the handling device from the stop position according to the distance between the handling 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 handling device and the target obstacle, and the driving parameter determining module is configured to determine a deceleration distance of the handling device from the stop position according to the distance between the handling 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, in real time, position information of the target obstacle, 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 running parameters of the conveying equipment according to the changed obstacle avoidance parameters.
Optionally, the apparatus 200 further includes:
And the control module is used for determining that no target obstacle exists in the running direction of the conveying equipment when the at least one obstacle meets a first preset condition, and controlling the conveying equipment to normally run.
Optionally, the second obstacle avoidance detection area is disposed along two sides of the traveling direction of the handling device in the first obstacle avoidance detection area.
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 handling 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 handling device and the target obstacle, the obstacle avoidance distance being greater than the target distance.
Optionally, the apparatus 200 further includes:
And the control module is used for determining the target obstacle to be 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.
It should be noted that, for convenience and brevity, a person skilled in the art will clearly understand that, for the specific working procedure of the apparatus described above, reference may be made to the corresponding procedure in the foregoing method embodiment, and the description will not be repeated here.
An embodiment of the application provides a readable storage medium, which when executed by a processor, performs a method process performed by a handling device in the method embodiment shown in fig. 2.
The present embodiment discloses 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, are capable of performing the methods provided by the above-described method embodiments, for example, comprising: when at least one obstacle exists 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 arranged in the running direction of the carrying equipment, and the second obstacle avoidance detection area is arranged outside the first obstacle avoidance detection area; and determining obstacle avoidance parameters of the carrying equipment based on the position relation.
In summary, the embodiments of the present application provide a control method, apparatus, a handling device, and a storage medium for a handling device, where by determining different obstacle avoidance detection areas in front of the handling device, obstacle avoidance parameters of the handling device are determined according to a positional relationship between an obstacle and two obstacle avoidance detection areas, so that the obstacle avoidance parameters of the handling device can be planned more reasonably, the handling device can stop advancing at a reasonable position in front of the obstacle, and the operation efficiency of the handling device is improved while the operation safety of the 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 manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
Further, the units described as separate units may or may not be physically separate, and units displayed as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Furthermore, functional modules in various embodiments of the present application may be integrated together to form a single portion, or each module may exist alone, or two or more modules may be integrated to form a single portion.
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 variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (13)

1. A method of controlling a handling apparatus, the method comprising:
When at least one obstacle exists 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 arranged in the running direction of the carrying equipment, and the second obstacle avoidance detection area is arranged outside the first obstacle avoidance detection area;
determining obstacle avoidance parameters of the carrying equipment based on the position relation;
wherein the determining the obstacle avoidance parameter of the handling device based on the positional relationship includes:
Obtaining a target distance between the target obstacle and a target position, wherein the target position is positioned 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;
determining obstacle avoidance parameters of the carrying equipment according to the target distance;
the obstacle avoidance parameters include an obstacle avoidance distance between a stop position of the carrying device and the target obstacle, and the determining the obstacle avoidance parameters of the carrying device according to the target distance includes:
Judging whether the target obstacle is in a target obstacle avoidance detection area, wherein the target obstacle avoidance detection area is an area behind the target position;
if yes, determining that the obstacle avoidance distance is greater than the target distance;
and if the target obstacle is not in the target obstacle avoidance detection area and is behind the target obstacle avoidance detection area, determining that the obstacle avoidance distance is equal to the target distance.
2. The method of claim 1, wherein the determining obstacle avoidance parameters of the handling device based on the positional relationship comprises:
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 (b)
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 greater than the second obstacle avoidance distance.
3. The method according to claim 1, wherein the method further comprises:
Acquiring a distance between each obstacle of the at least one obstacle and the handling device;
the target obstacle is determined from the at least one obstacle according to a distance between each obstacle and the handling device.
4. The method according to claim 1, wherein the method further comprises:
And determining the running parameters of the carrying equipment according to the obstacle avoidance parameters, wherein the running parameters comprise a running speed curve and/or deceleration.
5. The method of claim 4, wherein determining the travel parameters of the handling device based on the obstacle avoidance parameters comprises:
Determining a deceleration distance between the conveying equipment and the stopping position according to the distance between the conveying 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.
6. The method of claim 4, wherein determining the travel parameters of the handling device based on the obstacle avoidance parameters comprises:
Determining a deceleration distance between the conveying equipment and the stopping position according to the distance between the conveying equipment 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.
7. The method according to claim 5 or 6, further comprising:
acquiring the position information of the target obstacle in real time, and judging whether the obstacle avoidance parameters are changed according to the position information of the target obstacle;
and when the obstacle avoidance parameters are changed, determining the running parameters of the conveying equipment according to the changed obstacle avoidance parameters.
8. The method according to any one of claims 1-6, 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 run normally.
9. The method according to any one of claims 1-6, wherein the second obstacle avoidance detection zone is arranged in the direction of travel of the handling device on both sides of the first obstacle avoidance detection zone.
10. The method according to claim 1, wherein 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.
11. A control device of a handling apparatus, the device comprising:
a positional relationship determining module, configured to determine, when at least one obstacle exists in an operation direction of a handling device, a positional relationship 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 handling device, and the second obstacle avoidance detection area is outside the first obstacle avoidance detection area;
the obstacle avoidance parameter determination module is used for determining the obstacle avoidance parameters of the carrying equipment based on the position relation;
the obstacle avoidance parameter determining module is specifically 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 handling device; determining obstacle avoidance parameters of the carrying equipment according to the target distance;
The obstacle avoidance parameter determining module is specifically configured to determine whether the target obstacle is in a target obstacle avoidance detection area, where the target obstacle avoidance detection area is an area behind the target position; if yes, determining that the obstacle avoidance distance is greater than the target distance; and if the target obstacle is not in the target obstacle avoidance detection area and is behind the target obstacle avoidance detection area, determining that the obstacle avoidance distance is equal to the target distance.
12. A handling device comprising a processor and a memory storing computer readable instructions which, when executed by the processor, perform the method of any of claims 1-10.
13. A readable storage medium having stored thereon a computer program which, when executed by a processor, performs the method of any of claims 1-10.
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