CN116300978B - Workshop AGV commodity circulation dolly navigation control system - Google Patents
Workshop AGV commodity circulation dolly navigation control system Download PDFInfo
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- 238000012544 monitoring process Methods 0.000 claims abstract description 43
- 238000012216 screening Methods 0.000 claims abstract description 15
- 230000003872 anastomosis Effects 0.000 claims description 48
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- 239000000463 material Substances 0.000 claims description 40
- 238000004458 analytical method Methods 0.000 claims description 31
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- 230000000903 blocking effect Effects 0.000 claims description 23
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- 230000003044 adaptive effect Effects 0.000 claims description 20
- 230000004888 barrier function Effects 0.000 claims description 19
- 230000006978 adaptation Effects 0.000 claims description 14
- 238000011156 evaluation Methods 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 9
- 238000012937 correction Methods 0.000 claims description 7
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- 230000005540 biological transmission Effects 0.000 description 8
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- 238000013461 design Methods 0.000 description 6
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- 230000007547 defect Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
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- 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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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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
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Abstract
The invention relates to the field of AGV logistics trolley navigation control, and particularly discloses a workshop AGV logistics trolley navigation control system which comprises a target workshop panoramic dynamic scanning module, a control route pre-screening module, a basic information monitoring and analyzing module, a predicted control route data identification and analyzing module, a designated control route locking module and an SQL control database.
Description
Technical Field
The invention relates to the technical field of AGV logistics trolley navigation control, in particular to a workshop AGV logistics trolley navigation control system.
Background
AGVs are automatic logistics equipment, not only can independently travel in some industrial application places, can also change between different topography, work area and transportation task, and then independently accomplish multiple workflow such as material handling, material letter sorting, and latent AGVs compare in traditional AGVs, can hide under the goods, move through the magnetism guiding area on ground, have advantages such as area is little and flexibility is strong, have obtained wide application in present industrial workshop.
In the operation process of the latent AGV, navigation control is needed, and how to realize reasonable path planning and navigation control on the latent AGV is an important point of attention, and the current latent AGV also has a certain degree of ascending improvement space in the operation process, and is specifically shown as follows: 1. the current hidden AGVs are used for identifying obstacles in the route in the actual route selection and navigation control process, identification analysis is not carried out on the electromagnetic conduction path, the most critical part of the hidden AGVs is used for realizing the transmission and transportation of cargoes by depending on the electromagnetic conduction path and a built-in electromagnetic induction system, and the electromagnetic conduction path is usually exposed on a ground plane and is easy to be subjected to the loss phenomenon that mechanical damage, external pollution and the like cannot be avoided, so that if the specific situation of the electromagnetic conduction path is not subjected to substantial analysis, negative influence is indirectly caused on the cargo transmission stability of the hidden AGVs, the use energy consumption of the hidden AGVs is further increased, and the operation stability and the coordination of the whole operation system are also influenced.
2. The current hidden AGV is in the actual operation earlier stage, does not carry out the analysis to the basic condition of transport goods, and the different weights of transport goods all have potential requirement to the operation speed of hidden AGV and the deflection angle of travel route, lack the consideration to this aspect, not only can lead to increasing the risk of droing of transport goods, still can lead to the phenomenon that the deviation electromagnetic conduction route appears in hidden AGV, and then influence the transmission efficiency of goods, be unfavorable for guaranteeing the safe and stable operation of hidden AGV.
Disclosure of Invention
In order to overcome the defects in the background technology, the embodiment of the invention provides a workshop AGV logistics trolley navigation control system which can effectively solve the problems related to the background technology.
The aim of the invention can be achieved by the following technical scheme: a workshop AGV logistics trolley navigation control system comprising: target workshop panorama dynamic scanning module: and the panoramic scanning device is used for carrying out panoramic dynamic scanning on the target workshop to obtain a panoramic 3D overlooking image of the target workshop.
Control route pre-screening module: the method is used for positioning the position of the appointed latent AGV in the panoramic 3D overlook image of the target workshop, acquiring the target arrival position of the appointed latent AGV, and further primarily screening to obtain each reference control route of the appointed latent AGV.
The basic information monitoring and analyzing module: and the system is used for monitoring the target carrying cargo information of the appointed latent AGV and the information of each reference control route, further preliminarily calculating the basic control anastomosis coefficient corresponding to each reference control route of the appointed latent AGV, and screening each expected control route of the appointed latent AGV according to the basic control anastomosis coefficient.
The predicted control route data identification and analysis module: the system is used for identifying the data of each expected control route of the appointed latent AGV and comprises a driving space identification and analysis unit and an electromagnetic conduction path identification and analysis unit, so as to respectively calculate the corresponding control anastomosis coefficients of the driving spaces of the expected control routes of the appointed latent AGVAnd a control anastomosis coefficient corresponding to the electromagnetic conduction path +.>。
A designated control route locking module: and the comprehensive control anastomosis coefficients corresponding to the expected control routes of the appointed latent AGVs are analyzed, and then the appointed control routes of the appointed latent AGVs are locked.
SQL control database: the method is used for storing the adaptive running speeds of the material delivery contact surface and the goods shelf delivery connection surface corresponding to the substantial bearing weight intervals, storing the maximum deflection angles of the proper running routes corresponding to the control running speed intervals of the appointed hidden AGVs, and storing the initial delivery panoramic 3D overlook image of the target workshop.
As a preferred design scheme, the specific process of monitoring the target cargo handling information of the appointed latent AGV and the information of each reference control route is as follows: the method comprises the steps of obtaining position information of target transport goods of a specified latent AGV, performing three-dimensional panoramic scanning to obtain a three-dimensional panoramic scanning image of the target transport goods of the specified latent AGV, and extracting the maximum length of the target transport goods of the specified latent AGV from the three-dimensional panoramic scanning image.
And dividing the target transport goods of the appointed hidden AGV to obtain the consignment materials and the consignment goods shelves of the appointed hidden AGV.
And marking a contact plane between the consignment material of the appointed hidden AGV and the consignment goods shelf as a material consignment contact surface, and marking a contact plane between the upper end surface of the appointed hidden AGV and the consignment goods shelf as a goods shelf consignment joint surface.
Taking the center points of the material delivery contact surface and the goods shelf delivery connection surface as bearing monitoring points, further carrying out substantial bearing weight monitoring in the bearing monitoring points corresponding to the material delivery contact surface and the goods shelf delivery connection surface to obtain the substantial bearing weight of the bearing monitoring points corresponding to the material delivery contact surface and the goods shelf delivery connection surface, calibrating the substantial bearing weight as the reference substantial bearing weight corresponding to the material delivery contact surface and the goods shelf delivery connection surface, further comparing the substantial bearing weight with the adaptive running speed corresponding to each substantial bearing weight interval of the material delivery contact surface and the goods shelf delivery connection surface of the appointed hidden AGV stored in the SQL control database to obtain the adaptive running speed corresponding to the reference substantial bearing weight corresponding to the material delivery contact surface and the goods shelf delivery connection surface of the appointed hidden AGV, and sequentially marking the adaptation running speed as followsAnd->。
Acquiring predefined control travel speeds for a specified latent AGVCalculating an adaptation evaluation value corresponding to the predefined control travel speed of the specified latent AGV according to the adaptation evaluation value, and marking the adaptation evaluation value as +.>And then analyzing and obtaining the adaptive control running speed of the appointed latent AGV.
Comparing the adaptive control running speed of the appointed hidden AGV with the minimum deviation angle of the proper running route corresponding to each control running speed interval of the appointed hidden AGV stored in the SQL control database to obtain the minimum deviation angle of the proper running route corresponding to the adaptive control running speed of the appointed hidden AGV。
Counting each piece of reference control route information of the appointed latent AGV, wherein each piece of reference control route information comprises a route lengthNumber of deflection points->The route deflection angle of each deflection point +.>J is the number of each reference control route, < ->I is the number of each bias point, < ->。
As a preferable design scheme, the basic control anastomosis coefficients corresponding to the reference control routes of the appointed latent AGVThe specific calculation expression of (2) is as follows: />Wherein->、/>And->The basic control anastomosis influence weights corresponding to the set route length, the number of deflection points and the route deflection angles to which the deflection points belong are respectively set, and n is the number of reference control routes.
As a preferred embodiment, the travel space recognition analysis unit is used for recognizing and analyzing the travel space of each expected control route of the assigned latent AGV, and the specific process is thatComprising the following steps: according to the maximum length of the target transport goods of the appointed latent AGV, constructing a channel plane of the appointed latent AGV in each predicted control route, positioning the appointed latent AGV to the position of each blocking object in the channel plane of each predicted control route according to the panoramic 3D overlooking image of the target workshop, and counting the occupied area of each blocking objectP is the number of the respective predicted control route, < >>G is the number of each barrier, +.>。
Extracting the corresponding central line of the appointed hidden AGV in the channel plane of each predicted control route, further extracting and counting the vertical distance between the central point of the upper end face of each barrier of the appointed hidden AGV in the channel plane of each predicted control route and the corresponding central line, marking the vertical distance as a reference blocking distance, and counting the reference blocking distance of each barrier of the appointed hidden AGV in the channel plane of each predicted control route according to the vertical distance。
As a preferable design scheme, the control anastomosis coefficients corresponding to the running spaces of the estimated control routes of the appointed latent AGVsThe specific calculation expression of (2) is as follows:wherein->And->Unit floor area of the barrier respectively setCorresponding control anastomosis influencing factors and corresponding anastomosis correction values of the area occupied by the barrier, and +.>Compensating the floor space for the correction of the set barrier,/->Control anastomosis factor corresponding to unit blocking distance for set blocking object, < >>And->And respectively controlling the coincidence influence weight factors corresponding to the occupied area and the blocking distance of the set blocking object, wherein z is the number of the expected control routes.
As a preferred design, the electromagnetic conduction path identification and analysis unit performs identification and analysis on the electromagnetic conduction path of each expected control route of the specified latent AGV, and the specific process includes: extracting electromagnetic conduction path plane images of all expected control routes of the appointed latent AGV from panoramic 3D overlooking images of a target workshop, further outlining the outline of the electromagnetic conduction path, and accordingly extracting the total length of outline lines of the outer edge of the electromagnetic conduction path of all expected control routes of the appointed latent AGVSimilarly, an initial projection panoramic 3D overlook image of the target workshop stored in the SQL control database is extracted, and an initial total length of outline lines of the outer edge to which the electromagnetic conduction path of each predicted control route of the specified latent AGV belongs is extracted from the initial projection panoramic 3D overlook image>。
Gray-scale image processing is carried out on the electromagnetic conduction path plane image of each expected control route of the appointed latent AGV, and then the gray-scale image of the electromagnetic conduction path of each expected control route of the appointed latent AGV is carried out according to the set dividing areaDividing areas to obtain gray level sub-images of the electromagnetic conduction paths of the expected control routes of the appointed latent AGV, taking the central point of each gray level sub-image as a conduction monitoring point, and further extracting the image gray level values of the conduction monitoring points of the electromagnetic conduction paths of the expected control routes of the appointed latent AGVSimilarly, extracting an image initial gray value of each conduction monitoring point to which an electromagnetic conduction path of each expected control route of the appointed latent AGV belongs>D is the number of each conduction monitoring point, < ->。
As a preferable design scheme, the control anastomosis coefficients corresponding to the electromagnetic conduction paths of the expected control routes of the appointed latent AGVThe specific expression of (2) is:wherein->And->The allowable deviation length and the image allowable deviation gray value of the outline of the outer edge to which the set electromagnetic conduction path belongs are respectively +.>And->Respectively compensating and correcting the length and gray value of the outline of the outer edge to which the set electromagnetic conduction path belongs and compensating and correcting the gray value of the image by +.>And->And f is the number of conduction monitoring points, wherein the preset outer edge contour line length and the control anastomosis weight ratio corresponding to the image gray value are respectively adopted.
As a preferable design scheme, the specified latent AGV is provided with comprehensive control anastomosis coefficients corresponding to each expected control routeThe specific calculation formula is as follows: />Wherein->And->And (3) respectively matching and evaluating the duty ratio weight factors for the preset driving space and the comprehensive control corresponding to the electromagnetic conduction path, wherein e is a natural constant.
Compared with the prior art, the embodiment of the invention has at least the following advantages or beneficial effects: 1. according to the invention, by arranging the electromagnetic conduction path identification analysis unit, identification analysis is carried out on the electromagnetic conduction path in the actual operation process of the latent AGV, the naked characteristic of the electromagnetic conduction path is considered, and further, the physical analysis is carried out on the specific condition of the electromagnetic conduction path, so that the negative influence on the goods transmission stability of the latent AGV can be effectively avoided, the use energy consumption of the latent AGV can be effectively reduced, and the operation stability and coordination of the whole operation system are effectively ensured.
2. According to the invention, the basic information monitoring and analyzing module is arranged, so that analysis is performed on the basic condition of the transported goods in the early stage of the actual operation process of the latent AGV, the potential requirements of different weights of the transported goods on the operation speed of the latent AGV and the deflection angle of the driving route are considered, the falling risk of the transported goods is reduced, the phenomenon that the latent AGV deviates from the electromagnetic conduction path is avoided, the transport efficiency of the goods is improved, and the safe and stable operation of the latent AGV is guaranteed.
3. According to the invention, through data analysis, the comprehensive control matching coefficient corresponding to each predicted control route of the appointed latent AGV is calculated, and finally the appointed control route of the appointed latent AGV is screened out, so that the moving time and energy consumption of the appointed latent AGV when the goods transmission task is executed are effectively reduced, the flexibility and adaptability of the control route selection execution are improved, and the cooperative work between the appointed latent AGV and other devices can be more efficient through scientific and reasonable route planning, thereby being beneficial to improving the overall production operation efficiency and the continuity of the whole production flow.
Drawings
The invention will be further described with reference to the accompanying drawings, in which embodiments do not constitute any limitation of the invention, and other drawings can be obtained by one of ordinary skill in the art without inventive effort from the following drawings.
FIG. 1 is a schematic diagram of a system architecture connection according to the present invention.
Fig. 2 is a schematic diagram of a predicted control route data recognition analysis module according to the present invention.
FIG. 3 is a schematic plan view of a given latent AGV according to the present invention.
Fig. 4 is a schematic diagram of the deflection point of the control route according to the present invention.
Fig. 5 is a schematic plan view of a channel of an intended control route according to the present invention.
Reference numerals: 1. material delivery, 2, goods delivery shelves, 3, shelf delivery connection surfaces, 4, appointed hidden AGVs, 5, material delivery contact surfaces, 6, deflection points, 7, end points of the home route, 8, reference junction line, 9, channel plane of the predicted control route, 10, channel plane center line.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the present invention provides a workshop AGV logistics trolley navigation control system, including: the system comprises a target workshop panoramic dynamic scanning module, a control route pre-screening module, a basic information monitoring and analyzing module, an expected control route data identification and analysis module, a designated control route locking module and an SQL control database.
The target workshop panoramic dynamic scanning module is connected with the control route pre-screening module, the control route pre-screening module is connected with the basic information monitoring and analyzing module, the basic information monitoring and analyzing module is connected with the predicted control route data identifying and analyzing module, the predicted control route data identifying and analyzing module is connected with the designated control route locking module, and the SQL control database is respectively connected with the basic information monitoring and analyzing module and the predicted control route data identifying and analyzing module.
The target workshop panoramic dynamic scanning module is used for carrying out panoramic dynamic scanning on the target workshop to obtain a panoramic 3D overlooking image of the target workshop.
The above-mentioned panoramic dynamic scanning for the target workshop, and the specifically used device is a panoramic dynamic three-dimensional scanner.
The control route pre-screening module is used for positioning the position of the appointed latent AGV in the panoramic 3D overlook image of the target workshop, acquiring the target arrival position of the appointed latent AGV, and further primarily screening to obtain each reference control route of the appointed latent AGV.
It should be noted that, the above preliminary screening obtains each reference control route of the appointed latent AGV, and the specific process is: according to the panoramic 3D overlook image of the target workshop, the target is positioned to the position point of the appointed latent AGV and the target arrival position point of the appointed latent AGV, and then all routes which can reach the connection between the position point of the appointed latent AGV and the target arrival position point of the appointed latent AGV are recorded as all reference control routes, and all reference control routes of the appointed latent AGV are counted.
The basic information monitoring and analyzing module is used for monitoring target carrying cargo information of the appointed latent AGV and information of each reference control route, and further preliminarily calculating basic control anastomosis coefficients corresponding to each reference control route of the appointed latent AGV, and accordingly screening each expected control route of the appointed latent AGV.
It should be noted that, the above screening designates each expected control route of the latent AGV, and the specific process is as follows: and comparing the basic control anastomosis coefficients corresponding to the reference control routes of the appointed latent AGV with a set basic control anastomosis coefficient threshold value, if the basic control anastomosis coefficient corresponding to a certain reference control route of the appointed latent AGV is lower than the basic control anastomosis coefficient threshold value, performing rejection processing on the reference control route, and calibrating the rest reference control routes after the rejection processing as predicted control routes, and counting to obtain the predicted control routes of the appointed latent AGV.
In the specific embodiment of the invention, the basic information monitoring and analyzing module is arranged, so that analysis is carried out on the basic condition of the transported goods in the early stage of the actual operation process of the hidden AGV, the potential requirements of different weights of the transported goods on the operation speed of the hidden AGV and the deflection angle of the running route are considered, and the consideration of the level reduces the falling risk of the transported goods, avoids the phenomenon that the hidden AGV deviates from an electromagnetic conduction path, further improves the transport efficiency of the goods, and is beneficial to guaranteeing the safe and stable operation of the hidden AGV.
Specifically, the specific process of monitoring the target transport cargo information of the appointed latent AGV and the information of each reference control route is as follows: the method comprises the steps of obtaining position information of target transport goods of a specified latent AGV, performing three-dimensional panoramic scanning to obtain a three-dimensional panoramic scanning image of the target transport goods of the specified latent AGV, and extracting the maximum length of the target transport goods of the specified latent AGV from the three-dimensional panoramic scanning image.
And dividing the target transport goods of the appointed hidden AGV to obtain the consignment materials and the consignment goods shelves of the appointed hidden AGV.
It should be understood that the specific characteristics of the specified latent AGV described in this invention are: the hidden AGVs submerge the bottom of the consignment shelf to automatically hang and separate so as to realize material transportation, and the target transport goods of the appointed hidden AGVs comprise two components of consignment materials and the consignment shelf.
And marking a contact plane between the consignment material of the appointed hidden AGV and the consignment goods shelf as a material consignment contact surface, and marking a contact plane between the upper end surface of the appointed hidden AGV and the consignment goods shelf as a goods shelf consignment joint surface.
The structural layers of the specified latent AGV, the material to be shipped, the shelf to be shipped, the material to be shipped contact surface, and the shelf to be shipped engagement surface according to the present invention may be shown in fig. 3.
Taking the center points of the material delivery contact surface and the goods shelf delivery connection surface as bearing monitoring points, further carrying out substantial bearing weight monitoring in the bearing monitoring points corresponding to the material delivery contact surface and the goods shelf delivery connection surface to obtain the substantial bearing weight of the bearing monitoring points corresponding to the material delivery contact surface and the goods shelf delivery connection surface, calibrating the substantial bearing weight as the reference substantial bearing weight corresponding to the material delivery contact surface and the goods shelf delivery connection surface, further comparing the substantial bearing weight with the adaptive running speed corresponding to each substantial bearing weight interval of the material delivery contact surface and the goods shelf delivery connection surface of the appointed hidden AGV stored in the SQL control database to obtain the adaptive running speed corresponding to the reference substantial bearing weight corresponding to the material delivery contact surface and the goods shelf delivery connection surface of the appointed hidden AGV, and sequentially marking the adaptation running speed as followsAnd->。
Acquiring predefined control travel speeds for a specified latent AGVCalculating an adaptation evaluation value corresponding to the predefined control travel speed of the specified latent AGV according to the adaptation evaluation value, and marking the adaptation evaluation value as +.>And then analyzing and obtaining the adaptive control running speed of the appointed latent AGV.
It should be explained that the above-mentioned adaptation evaluation value corresponding to the predefined control travel speed of the specified latent AGVThe specific expression of (2) is: />Wherein->And->Controlled travel allowable deviation speed, respectively expressed as the substantial bearing weight of the predefined material shipping interface and the substantial bearing weight of the shelf shipping interface +.>And->The control driving speed adaptation assessment weight factors respectively indicated as the preset material delivery contact surface and the goods shelf delivery connection surface are +.>Indicated as the set control running correction compensation speed.
It should be further described that the above analysis results in the following specific process of adaptively controlling the travel speed of the specified latent AGV: and comparing the adaptive evaluation value corresponding to the predefined control running speed of the appointed latent AGV with the adaptive control running speed corresponding to each predefined adaptive evaluation value interval, so as to obtain the adaptive control running speed of the appointed latent AGV.
Comparing the adaptive control running speed of the appointed hidden AGV with the minimum deviation angle of the proper running route corresponding to each control running speed interval of the appointed hidden AGV stored in the SQL control database to obtain the minimum deviation angle of the proper running route corresponding to the adaptive control running speed of the appointed hidden AGV。
Counting each piece of reference control route information of the appointed latent AGV, wherein each piece of reference control route information comprises a route lengthNumber of deflection points->The route deflection angle of each deflection point +.>J is the number of each reference control route, < ->I is the number of each bias point, < ->。
It should be understood that the specific acquisition and acquisition process of the route deflection angle to which each deflection point of each reference control route belongs is as follows: the method comprises the steps of positioning the panoramic 3D overlook image of a target workshop to the position of each deflection point in each reference control route, dividing the panoramic 3D overlook image into two sides of the reference control route according to the set length to obtain a home route corresponding to each deflection point in each reference control route, positioning the home route to the positions of two end points of the home route, connecting each deflection point in each reference control route with two end points of the corresponding home route in a straight line mode to obtain a connecting straight line between each deflection point in each reference control route and the two end points of the corresponding home route, calibrating the connecting straight line to be each reference connection line of the home route to which each deflection point in each reference control route belongs, marking the minimum included angle between each reference connection line to be the route deflection angle, and further extracting and counting the route deflection angle to which each deflection point in each reference control route belongs, wherein the connecting straight line is shown in a specific reference figure 4.
Further, the basic control anastomosis coefficients corresponding to the reference control routes of the appointed latent AGVThe specific calculation expression of (2) is as follows: />Wherein->、/>Andthe basic control anastomosis influence weights corresponding to the set route length, the number of deflection points and the route deflection angles to which the deflection points belong are respectively set, and n is the number of reference control routes.
The predicted control route data recognition analysis module is used for recognizing the data of each predicted control route of the appointed latent AGV, and accordingly, control anastomosis coefficients corresponding to the running space of each predicted control route of the appointed latent AGV are calculated respectivelyAnd a control anastomosis coefficient corresponding to the electromagnetic conduction path +.>。
Referring to fig. 2, the estimated control route data recognition analysis module includes a travel space recognition analysis unit and an electromagnetic conduction path recognition analysis unit.
Specifically, the running space recognition analysis unit is used for recognizing and analyzing the running space of each expected control route of the appointed latent AGV, and the specific process comprises the following steps: according to the maximum length of the target transport goods of the appointed latent AGV, constructing a channel plane of the appointed latent AGV in each predicted control route, positioning the appointed latent AGV to the position of each blocking object in the channel plane of each predicted control route according to the panoramic 3D overlooking image of the target workshop, and counting the occupied area of each blocking objectP is the number of the respective predicted control route, < >>G is the number of each barrier, +.>。
It should be explained that, the above construction of the channel plane of the specified latent AGV in each predicted control route specifically includes the following construction processes: according to the maximum length of the target carried goods of the appointed latent AGV, the target carried goods of the appointed latent AGV is used as the reference width of the channel plane of each estimated control route, the reference widths of the channel planes of each estimated control route are accumulated according to the set extension widths, the reference construction reference widths of the channel planes of each estimated control route are obtained, the reference construction reference widths of the channel planes of each estimated control route are subjected to halving, the reference construction half-side reference widths of the channel planes are obtained, the central line corresponding to the channel planes of each estimated control route is extracted, and the channel planes of the final appointed latent AGV in each estimated control route are obtained by equidistantly constructing the reference construction half-side reference widths of the channel planes along the central line corresponding to the channel planes of each estimated control route in the horizontal directions of both sides.
Extracting the corresponding central line of the appointed hidden AGV in the channel plane of each predicted control route, further extracting and counting the vertical distance between the central point of the upper end face of each barrier of the appointed hidden AGV in the channel plane of each predicted control route and the corresponding central line, marking the vertical distance as a reference blocking distance, and counting the reference blocking distance of each barrier of the appointed hidden AGV in the channel plane of each predicted control route according to the vertical distance。
Further, the control anastomosis coefficients corresponding to the running spaces of the expected control routes of the appointed latent AGVsThe specific calculation expression of (2) is as follows: />Wherein->And->Control anastomosis influencing factors corresponding to unit occupied area of the set barriers and anastomosis correction values corresponding to the occupied area of the barriers respectively>Compensating the floor space for the correction of the set barrier,/->Control anastomosis factor corresponding to unit blocking distance for set blocking object, < >>And->Control anastomosis influence weight factors corresponding to the occupied area and the blocking distance of the set blocking object respectively, wherein z is an expected control routeIs a number of (3).
Specifically, the electromagnetic conduction path identification and analysis unit identifies and analyzes the electromagnetic conduction path of each expected control route of the appointed latent AGV, and the specific process comprises the following steps: extracting electromagnetic conduction path plane images of all expected control routes of the appointed latent AGV from panoramic 3D overlooking images of a target workshop, further outlining the outline of the electromagnetic conduction path, and accordingly extracting the total length of outline lines of the outer edge of the electromagnetic conduction path of all expected control routes of the appointed latent AGVSimilarly, an initial projection panoramic 3D overlook image of the target workshop stored in the SQL control database is extracted, and an initial total length of outline lines of the outer edge to which the electromagnetic conduction path of each predicted control route of the specified latent AGV belongs is extracted from the initial projection panoramic 3D overlook image>。
Gray level image processing is carried out on the electromagnetic conduction path plane images of the expected control routes of the appointed latent AGV, then the electromagnetic conduction path gray level images of the expected control routes of the appointed latent AGV are subjected to equal area division according to the set dividing area, each gray level sub-image of the electromagnetic conduction paths of the expected control routes of the appointed latent AGV is obtained, the central point of each gray level sub-image is used as a conduction monitoring point, and then the image gray level value of each conduction monitoring point of the electromagnetic conduction paths of the expected control routes of the appointed latent AGV is extractedSimilarly, extracting an image initial gray value of each conduction monitoring point to which an electromagnetic conduction path of each expected control route of the appointed latent AGV belongs>D is the number of each conduction monitoring point, < ->。
In the embodiment of the invention, the electromagnetic conduction path identification and analysis unit is arranged to realize identification and analysis on the electromagnetic conduction path in the actual operation process of the latent AGV, so that the exposed characteristic of the electromagnetic conduction path is considered, and further, the specific condition of the electromagnetic conduction path is subjected to substantial analysis, thereby effectively avoiding negative influence on the goods transmission stability of the latent AGV, effectively reducing the use energy consumption of the latent AGV and effectively guaranteeing the operation stability and coordination of the whole operation system.
Further, the control anastomosis coefficients corresponding to the electromagnetic conduction paths of the expected control routes of the appointed latent AGVThe specific expression of (2) is: />WhereinAnd->The allowable deviation length and the image allowable deviation gray value of the outline of the outer edge to which the set electromagnetic conduction path belongs are respectively +.>And->Respectively compensating and correcting the length and gray value of the outline of the outer edge to which the set electromagnetic conduction path belongs and compensating and correcting the gray value of the image by +.>And->And f is the number of conduction monitoring points, wherein the preset outer edge contour line length and the control anastomosis weight ratio corresponding to the image gray value are respectively adopted.
The appointed control route locking module is used for analyzing comprehensive control anastomosis coefficients corresponding to all the expected control routes of the appointed latent AGVs, and further locking the appointed control routes of the appointed latent AGVs.
Specifically, the specified latency AGV has comprehensive control anastomosis coefficients corresponding to each predicted control routeThe specific calculation formula is as follows: />Wherein->And->And (3) respectively matching and evaluating the duty ratio weight factors for the preset driving space and the comprehensive control corresponding to the electromagnetic conduction path, wherein e is a natural constant.
It should be noted that, the above-mentioned locking designates the appointed control route of the latent AGV, the concrete locking flow is: and sequencing the comprehensive control anastomosis coefficients corresponding to the predicted control routes of the appointed latent AGVs sequentially according to the sequence from large to small, further extracting the first predicted control route of the sequencing of the comprehensive control anastomosis coefficients, calibrating the first predicted control route as the appointed control route of the appointed latent AGVs, and transmitting a moving instruction to control the appointed latent AGVs to carry out cargo transmission.
In the specific embodiment of the invention, the comprehensive control anastomosis coefficient corresponding to each predicted control route of the appointed latent AGV is calculated through data analysis, the appointed control route of the appointed latent AGV is finally screened out, the moving time and energy consumption of the appointed latent AGV when the appointed latent AGV executes a cargo transmission task are effectively reduced, the flexibility and adaptability of the control route selection execution are improved, and the cooperative work between the appointed latent AGV and other devices can be more efficient through scientific and reasonable route planning, so that the overall production operation efficiency and the continuity of the whole production flow are improved.
The SQL control database is used for storing the adaptive running speed of the material consignment contact surface and the goods shelf consignment connection surface corresponding to each substantial bearing weight interval, storing the maximum deflection angle of the proper running route of the appointed hidden AGV corresponding to each control running speed interval, and storing the initial consignment panoramic 3D overlook image of the target workshop.
The foregoing is merely illustrative of the structures of this invention and various modifications, additions and substitutions for those skilled in the art of describing particular embodiments without departing from the structures of the invention or exceeding the scope of the invention as defined by the claims.
Claims (6)
1. Workshop AGV commodity circulation dolly navigation control system, characterized in that includes:
target workshop panorama dynamic scanning module: the panoramic scanning method comprises the steps of carrying out panoramic dynamic scanning on a target workshop to obtain a panoramic 3D overlooking image of the target workshop;
control route pre-screening module: the method comprises the steps of positioning a position of a designated latent AGV in a panoramic 3D overlook image of a target workshop, obtaining a target arrival position of the designated latent AGV, and primarily screening to obtain each reference control route of the designated latent AGV;
the basic information monitoring and analyzing module: the method comprises the steps of monitoring target carrying cargo information of the appointed latent AGV and information of each reference control route, and further preliminarily calculating basic control anastomosis coefficients corresponding to each reference control route of the appointed latent AGV, and screening each expected control route of the appointed latent AGV according to the basic control anastomosis coefficients;
the specific process of monitoring the target carrying cargo information of the appointed latent AGV and the information of each reference control route is as follows:
acquiring position information of a target transport cargo of a designated latent AGV, performing three-dimensional panoramic scanning to obtain a three-dimensional panoramic scanning image of the target transport cargo of the designated latent AGV, and extracting the maximum length of the target transport cargo of the designated latent AGV from the three-dimensional panoramic scanning image;
dividing target transport goods of the appointed hidden AGVs to obtain consignment materials and consignment shelves of the appointed hidden AGVs;
the method comprises the steps that a contact plane between a material to be shipped and a goods to be shipped of an appointed hidden AGV is recorded as a material shipping contact surface, and a contact plane between the upper end surface of the appointed hidden AGV and the goods to be shipped of the goods to be shipped is recorded as a goods-shelf shipping joint surface;
taking the center points of the material delivery contact surface and the goods shelf delivery connection surface as bearing monitoring points, further carrying out substantial bearing weight monitoring in the bearing monitoring points corresponding to the material delivery contact surface and the goods shelf delivery connection surface to obtain the substantial bearing weight of the bearing monitoring points corresponding to the material delivery contact surface and the goods shelf delivery connection surface, calibrating the substantial bearing weight as the reference substantial bearing weight corresponding to the material delivery contact surface and the goods shelf delivery connection surface, further comparing the substantial bearing weight with the adaptive running speed corresponding to each substantial bearing weight interval of the material delivery contact surface and the goods shelf delivery connection surface of the appointed hidden AGV stored in the SQL control database to obtain the adaptive running speed corresponding to the reference substantial bearing weight corresponding to the material delivery contact surface and the goods shelf delivery connection surface of the appointed hidden AGV, and sequentially marking the adaptation running speed as followsAnd->；
Acquiring predefined control travel speeds for a specified latent AGVCalculating an adaptation evaluation value corresponding to the predefined control travel speed of the specified latent AGV according to the adaptation evaluation value, and marking the adaptation evaluation value as +.>Further analyzing and obtaining the adaptive control running speed of the appointed latent AGV;
adaptively controlling travel speed of a specified latent AGV and each control row of the specified latent AGV stored in an SQL control databaseComparing the minimum deviation angles of the proper travel routes corresponding to the travel speed intervals to obtain the minimum deviation angles of the proper travel routes corresponding to the proper control travel speeds of the appointed hidden AGVs；
Counting each piece of reference control route information of the appointed latent AGV, wherein each piece of reference control route information comprises a route lengthNumber of deflection points->The route deflection angle of each deflection point +.>J is the number of each reference control route, < ->I is the number of each bias point, < ->；
Basic control anastomosis coefficients corresponding to each reference control route of the appointed latent AGVThe specific calculation expression of (2) is as follows: />Wherein->、/>And->The basic control anastomosis influence weight corresponding to the set route length, the number of deflection points and the route deflection angle to which the deflection points belong is respectively calculated, and n is the number of reference control routes;
the predicted control route data identification and analysis module: the system is used for identifying the data of each expected control route of the appointed latent AGV and comprises a driving space identification and analysis unit and an electromagnetic conduction path identification and analysis unit, so as to respectively calculate the corresponding control anastomosis coefficients of the driving spaces of the expected control routes of the appointed latent AGVAnd a control anastomosis coefficient corresponding to the electromagnetic conduction path +.>；
A designated control route locking module: the comprehensive control anastomosis coefficients corresponding to all the expected control routes of the appointed latent AGVs are analyzed, and then the appointed control routes of the appointed latent AGVs are locked;
SQL control database: the method is used for storing the adaptive running speeds of the material delivery contact surface and the goods shelf delivery connection surface corresponding to the substantial bearing weight intervals, storing the maximum deflection angles of the proper running routes corresponding to the control running speed intervals of the appointed hidden AGVs, and storing the initial delivery panoramic 3D overlook image of the target workshop.
2. The workshop AGV logistics trolley navigation control system of claim 1, wherein: the running space recognition analysis unit is used for recognizing and analyzing the running space of each expected control route of the appointed latent AGV, and the specific process comprises the following steps:
constructing a channel plane of the appointed hidden AGVs in each expected control route according to the maximum length of the target carried cargoes of the appointed hidden AGVs, and positioning each blocking of the appointed hidden AGVs in the channel plane of each expected control route according to the panoramic 3D overlooking image of the target workshopThe position of the object is counted and the occupied area of each barrier is countedP is the number of the respective predicted control route, < >>G is the number of each barrier, +.>；
Extracting the corresponding central line of the appointed hidden AGV in the channel plane of each predicted control route, further extracting and counting the vertical distance between the central point of the upper end face of each barrier of the appointed hidden AGV in the channel plane of each predicted control route and the corresponding central line, marking the vertical distance as a reference blocking distance, and counting the reference blocking distance of each barrier of the appointed hidden AGV in the channel plane of each predicted control route according to the vertical distance。
3. The workshop AGV logistics trolley navigation control system of claim 2, wherein: control anastomosis coefficients corresponding to running spaces of all expected control routes of the appointed latent AGVThe specific calculation expression of (2) is as follows:wherein->And->Control anastomosis influencing factors corresponding to unit occupied areas of the set barriers and the occupied areas of the barriers respectivelyCorresponding to the ground area, correction value +_>Compensating the floor space for the correction of the set barrier,/->Control anastomosis factor corresponding to unit blocking distance for set blocking object, < >>And->And respectively controlling the coincidence influence weight factors corresponding to the occupied area and the blocking distance of the set blocking object, wherein z is the number of the expected control routes.
4. The workshop AGV logistics trolley navigation control system of claim 1, wherein: the electromagnetic conduction path identification and analysis unit is used for identifying and analyzing the electromagnetic conduction paths of all expected control routes of the appointed latent AGV, and the specific process comprises the following steps:
extracting electromagnetic conduction path plane images of all expected control routes of the appointed latent AGV from panoramic 3D overlooking images of a target workshop, further outlining the outline of the electromagnetic conduction path, and accordingly extracting the total length of outline lines of the outer edge of the electromagnetic conduction path of all expected control routes of the appointed latent AGVSimilarly, an initial projection panoramic 3D overlook image of the target workshop stored in the SQL control database is extracted, and an initial total length of outline lines of the outer edge to which the electromagnetic conduction path of each predicted control route of the specified latent AGV belongs is extracted from the initial projection panoramic 3D overlook image>；
Each predicted control path of the latent AGV is appointedGray level image processing is carried out on the electromagnetic conduction path plane image of the line, and then the gray level image of the electromagnetic conduction path of each expected control route of the appointed latent AGV is subjected to equal area division according to the set dividing area, so that each gray level sub-image of each expected control route of the appointed latent AGV is obtained, the central point of each gray level sub-image is used as a conduction monitoring point, and then the image gray level value of each conduction monitoring point of each expected control route of the appointed latent AGV is extractedSimilarly, extracting an image initial gray value of each conduction monitoring point to which an electromagnetic conduction path of each expected control route of the appointed latent AGV belongs>D is the number of each conduction monitoring point, < ->。
5. The car navigation control system of the AGV logistics of the workshops of claim 4, wherein: the control anastomosis coefficients corresponding to the electromagnetic conduction paths of all the expected control routes of the appointed latent AGVThe specific expression of (2) is:wherein->And->The allowable deviation length and the image allowable deviation gray value of the outline of the outer edge to which the set electromagnetic conduction path belongs are respectively +.>And->Respectively compensating and correcting the length and gray value of the outline of the outer edge to which the set electromagnetic conduction path belongs and compensating and correcting the gray value of the image by +.>And->And f is the number of conduction monitoring points, wherein the preset outer edge contour line length and the control anastomosis weight ratio corresponding to the image gray value are respectively adopted.
6. The workshop AGV logistics trolley navigation control system of claim 1, wherein: the corresponding comprehensive control anastomosis coefficients of all the expected control routes of the appointed latent AGVThe specific calculation formula is as follows:wherein->And->And (3) respectively matching and evaluating the duty ratio weight factors for the preset driving space and the comprehensive control corresponding to the electromagnetic conduction path, wherein e is a natural constant.
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