WO2022082508A1

WO2022082508A1 - Method and device for implementing synchronization between agvs

Info

Publication number: WO2022082508A1
Application number: PCT/CN2020/122482
Authority: WO
Inventors: 席宝时; 闵令宝; 华韬; 李�浩; 吴剑强
Original assignee: 西门子（中国）有限公司
Priority date: 2020-10-21
Filing date: 2020-10-21
Publication date: 2022-04-28
Also published as: CN116323434A

Abstract

A method for use in implementing synchronization between two AGVs (1-2, 101-102, and 1301-1302). A first ranging unit (M1) and a second ranging unit (M2) provided on one lateral surface of the first AGV (1, 101, and 1301) respectively and initially are provided in alignment with specific positions on a first trapezoidal block (T1) and a second trapezoidal block (T2) on one lateral surface of the second AGV (2, 102, and 1302). The first AGV (1, 101, and 1301) and the second AGV (2, 102, and 1302) are specified as being spaced apart by a first distance (D1). When the first AGV (1, 101, and 1301) moves as the second AGV (2, 102, and 1302) moves, a second distance (D2) between the first AGV (1, 101, and 1301) and the second AGV (2, 102, and 1302) is measured by the first ranging unit (M1) (201); a third distance (D3) between the first AGV (1, 101, and 1301) and the second AGV (2, 102, and 1302) is measured by the second ranging unit (M2) (202); a relative state related to synchronization between the first AGV (1, 101, and 1301) and the second AGV (2, 102, and 1302) is determined on the basis of the first distance (D1), of the second distance (D2), and of the third distance (D3) (203); and when the relative state expresses that the first AGV (1, 101, and 1301) and the second AGV (2, 102, and 1302) are unsynchronized, the movement of the first AGV (1, 101, and 1301) is adjusted on the basis of the relative state (204). The method for use in implementing synchronization between the two AGVs (1-2, 101-102, and 1301-1302) easily and quickly implements the synchronization of the AGVs (1-2, 101-102, and 1301-1302), provides a high-precision and smart synchronization mechanism design, and is flexibly applicable in collaborative work scenarios of multiple AGVs (1-3, 101-102, 1200, and 1301-1302).

Description

Method and apparatus for realizing synchronization between AGVs

technical field

The present disclosure relates to the technical field of intelligent mobile robots, and more particularly, to a method, an apparatus, a computing device, a computer-readable storage medium and a program product for realizing synchronization between AGVs.

Background technique

AGV (Automatic Guided Vehicle) is becoming more and more common in industrial and commercial fields. For example, AGVs are used to move components from a warehouse to a production line, and then move finished goods from the production line to the warehouse to automate logistics. For some large-size products, two or more AGVs may be required to move from one location to another, and how to maintain synchronization between AGVs is very important.

SUMMARY OF THE INVENTION

At present, the synchronization problem between AGVs has not been well solved. A possible solution is to use a camera mounted above the AGV (eg, mounted on the ceiling of the workshop) to capture the image of the AGV (eg, the camera needs to capture an image of the entire workshop), using computer vision techniques (eg, image stitching). ) to locate the AGV and control the AGV according to the calculated result. However, for this solution, the visible area of the camera and the positioning accuracy are the key issues, resulting in high cost, and there is a large delay from capturing the AGV, positioning the AGV to controlling the AGV, which is difficult to meet the actual synchronization application.

The first embodiment of the present disclosure proposes a method for realizing synchronization between two AGVs, the two AGVs include a first AGV and a second AGV, and the two AGVs are provided on one side surface of the first AGV. The first ranging unit and the second ranging unit are respectively initially aligned with specific positions on the first trapezoidal block and the second trapezoidal block provided on one side surface of the second AGV, the first AGV and the The second AGV is designated to be spaced apart by a first distance, and when the first AGV moves following the movement of the second AGV, the method includes: A. measuring the first AGV by a first ranging unit The second distance between the AGV and the second AGV; B. The third distance between the first AGV and the second AGV is measured by the second ranging unit; C. Based on the first a distance, the second distance, and the third distance, determining a relative state between the first AGV and the second AGV with respect to synchronization; and D. when the relative state represents the first AGV When out of synchronization with the second AGV, the movement of the first AGV is adjusted based on the relative state.

In this embodiment, AGV synchronization can be easily realized by sampling, no complex image processing technology is required, field costs are effectively reduced, AGV synchronization can be quickly realized to meet application requirements, and high precision and intelligent synchronization mechanism design , which can be flexibly and reliably applied to scenarios where multiple AGVs work together.

The second embodiment of the present disclosure provides a method for realizing synchronization among multiple AGVs, the multiple AGVs include a first AGV, a second AGV and a third AGV, the second AGV and the third AGV Three AGVs are respectively arranged on both sides of the first AGV, and the first ranging unit and the second ranging unit arranged on one side surface of the first AGV are respectively initially aligned and arranged on the second AGV At specific positions on the first trapezoidal block and the second trapezoidal block on one side surface of the third AGV, the third ranging unit and the fourth ranging unit provided on the one side surface of the third AGV are respectively initially aligned and set At specific positions on the third and fourth trapezoidal blocks on the other side surface of the first AGV, the first AGV and the second AGV are designated to be spaced apart by a first distance, the first AGV An AGV and the third AGV are designated to be separated by another distance, the method comprising: when the first AGV moves following the movement of the second AGV, using the method described in the first embodiment method to achieve synchronization between the first AGV and the second AGV, and using the method according to the first embodiment when the third AGV moves following the movement of the first AGV Synchronization between the third AGV and the first AGV is achieved.

The third embodiment of the present disclosure provides a method for realizing synchronization among multiple AGVs, the multiple AGVs include a first AGV, a second AGV and a third AGV, the first AGV and the third AGV Three AGVs are respectively arranged on both sides of the second AGV, and the first ranging unit and the second ranging unit arranged on one side surface of the first AGV are respectively initially aligned and arranged on the second AGV At specific positions on the first trapezoidal block and the second trapezoidal block on one side surface of the third AGV, the third ranging unit and the fourth ranging unit provided on the one side surface of the third AGV are respectively initially aligned and set At specific positions on the third and fourth trapezoidal blocks on the other side surface of the second AGV, the first AGV and the second AGV are designated to be spaced apart by a first distance, the first The second AGV and the third AGV are designated to be separated by another distance, the method comprising: when the first AGV moves following the movement of the second AGV, using the method described in the first embodiment method to achieve synchronization between the first AGV and the second AGV, and when the third AGV moves following the movement of the second AGV, using the method described in the first embodiment Synchronization between the third AGV and the second AGV.

A fourth embodiment of the present disclosure provides an AGV including a controller configured to implement the method according to the first embodiment.

The fifth embodiment of the present disclosure provides an apparatus for realizing synchronization between two AGVs, the two AGVs include a first AGV and a second AGV, and the two AGVs are provided on one side surface of the first AGV. The first ranging unit and the second ranging unit are respectively initially aligned with specific positions on the first trapezoidal block and the second trapezoidal block provided on one side surface of the second AGV, the first AGV and the the second AGV is designated to be spaced apart by a first distance, the first AGV moves following movement of the second AGV, the apparatus includes a first measurement module configured to measure by a first ranging unit A second distance between the first AGV and the second AGV; a second measurement module configured to measure the distance between the first AGV and the second AGV through the second ranging unit a third distance; a state determination module configured to determine a relative state of synchronization between the first AGV and the second AGV based on the first distance, the second distance, and the third distance and an adjustment module configured to adjust the movement of the first AGV based on the relative state when the relative state indicates that the first AGV and the second AGV are out of synchronization.

A sixth embodiment of the present disclosure provides a computing device comprising: a processor; and a memory for storing computer-executable instructions that, when executed, cause the processor to The method described in the first embodiment, the second embodiment or the third embodiment is performed.

A seventh embodiment of the present disclosure proposes a computer-readable storage medium having computer-executable instructions stored thereon, and the computer-executable instructions are used to execute the first embodiment, the first The method described in the second embodiment or the third embodiment.

An eighth embodiment of the present disclosure proposes a computer program product tangibly stored on a computer-readable storage medium and comprising computer-executable instructions that, when executed, cause At least one processor performs the method described in the first embodiment, the second embodiment or the third embodiment.

Description of drawings

The features, advantages and other aspects of various embodiments of the present disclosure will become more apparent when taken in conjunction with the accompanying drawings and with reference to the following detailed description, In the attached picture:

FIG. 1 illustrates an exemplary scenario in which embodiments of the present disclosure may be applied.

2 shows a flowchart of an exemplary method for achieving synchronization between two AGVs according to an embodiment of the present disclosure.

3 shows a schematic diagram of relative movement between two AGVs according to an embodiment of the present disclosure.

4 shows a schematic diagram of relative movement between two AGVs according to an embodiment of the present disclosure.

5 shows a schematic diagram of relative movement between two AGVs according to an embodiment of the present disclosure.

FIG. 6 shows a schematic diagram of relative movement between two AGVs according to an embodiment of the present disclosure.

7 shows a block diagram of an exemplary apparatus for achieving synchronization between two AGVs according to an embodiment of the present disclosure.

8 shows a flowchart of an exemplary method for achieving synchronization between multiple AGVs, according to an embodiment of the present disclosure.

FIG. 9 shows a schematic diagram of relative movement among a plurality of AGVs according to an embodiment of the present disclosure.

10 shows a flowchart of an exemplary method for achieving synchronization between multiple AGVs according to an embodiment of the present disclosure.

11 shows a schematic diagram of relative movement between multiple AGVs according to an embodiment of the present disclosure.

12 illustrates an exemplary AGV for implementing AGV synchronization according to an embodiment of the present disclosure.

13 illustrates an exemplary system for implementing AGV synchronization according to embodiments of the present disclosure.

14 illustrates an exemplary computing device for implementing AGV synchronization in accordance with embodiments of the present disclosure.

Detailed ways

Various exemplary embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. Although the example methods, apparatuses described below include software and/or firmware executing on hardware among other components, it should be noted that these examples are merely illustrative and should not be regarded as limiting. For example, it is contemplated that any or all hardware, software and firmware components may be implemented exclusively in hardware, exclusively in software, or in any combination of hardware and software. Accordingly, while exemplary methods and apparatus have been described below, those skilled in the art will readily appreciate that the examples provided are not intended to limit the manner in which these methods and apparatus may be implemented.

Additionally, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods and systems in accordance with various embodiments of the present disclosure. It should be noted that the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may in fact be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented using dedicated hardware-based systems that perform the specified functions or operations , or can be implemented using a combination of dedicated hardware and computer instructions.

As used herein, the terms "including", "including" and similar terms are open-ended terms, ie, "including/including but not limited to," meaning that other content may also be included. The term "based on" is "based at least in part on." The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment" and so on.

FIG. 1 illustrates an exemplary scenario 100 in which embodiments of the present disclosure may be applied. Scenario 100 includes multiple AGVs, such as AGV 101 and AGV 102. The AGV 101 moves along the first path 103 and the AGV 102 moves along the second path 104 . The AGV 101 can be equipped with an automatic navigation device to automatically drive along the prescribed guidance path 103. For example, the AGV 101 can use magnetic navigation (a magnetic strip is attached to the road surface of the AGV driving path, and the guidance is realized by the magnetic strip induction signal), two QR code navigation (by scanning the QR code laid on the ground with a camera, and analyzing the QR code information to achieve guidance) or laser navigation (by collecting laser beams reflected by the natural environment (walls, pillars and other fixed objects) to achieve guidance ) etc. to move along the first path 103 . The AGV 102 may similarly move along the second path 104 . The AGV 101 can also be installed with a multi-joint manipulator or a multi-degree-of-freedom mechanical device 105 oriented to the industrial field, and the AGV 102 can also be installed with a multi-joint manipulator or a multi-degree-of-freedom mechanical device 106 oriented to the industrial field. In some cases, two or more AGVs are required to move the product cooperatively or to process the product with a robot. In this case, synchronization between two or more AGVs needs to be maintained, for example, to keep AGV 101 and AGV 102 at a specified separation distance as they move along first path 103 and second path 104, respectively. It should be understood that the number of AGVs in FIG. 1 is for illustration and not limitation, and that scenario 100 may include more AGVs (eg, three, four, etc.). In addition, in the case of coordinated movement of two AGVs, one AGV can act as a master AGV (master AGV), and the other AGV can act as a slave AGV (slave AGV), wherein the slave AGV moves following the movement of the master AGV. In the case of coordinated movement of multiple AGVs, there can be multiple configurations of master-slave AGVs.

However, regardless of the navigation method, when the AGV 101 and the AGV 102 move along the

paths

103 and 104, respectively, because they are not completely consistent (for example, movement speed error, movement direction error, etc.), it is inevitable that there will be out of synchronization. Synchronization can be achieved between the AGV 101 and the AGV 102 in the scene 100 through the method for realizing synchronization between two AGVs described below in conjunction with FIGS. 2-6 .

FIG. 2 shows a flowchart of an exemplary method 200 for achieving synchronization between two AGVs according to an embodiment of the present disclosure. The method 200 may be applied to the example scenario 100 shown in FIG. 1 and the example system 1300 shown in FIG. 13 . For example, the method 200 may be implemented by any of the AGVs in FIG. 1 , the exemplary AGV 1200 in FIG. 12 , the computing device 1303 in the exemplary system 1300 that is communicatively coupled to the AGV. The method 200 is described below in conjunction with FIGS. 3-6 , wherein FIGS. 3-6 show schematic diagrams 300 , 400 , 500 , 600 of relative movement between two AGVs according to embodiments of the present disclosure.

Referring to FIG. 3 , the two AGVs include AGV1 (first AGV) and AGV2 (second AGV). The first ranging unit M1 and the second ranging unit M2 are disposed on one side surface (eg, the outer wall) of the AGV1. The first trapezoidal block T1 and the second trapezoidal block T2 are provided on one side surface (eg, the outer wall) of the AGV2. One side surface of AGV1 may be parallel to one side surface of AGV2. The first trapezoidal block T1 and the second trapezoidal block T2 may have the same shape (upper lengthening, lower side length, hypotenuse, bevel angle), for example, having the illustrated bevel angle θ, upper side length C ₁ and lower side length C ₂ , C ₁ and C ₂ are not the same. As shown in FIG. 3 , initially, the first ranging unit M1 is aligned with the first trapezoidal block T1 , and the second ranging unit is aligned with the second trapezoidal block T2 . For example, the first ranging unit M1 and the second ranging unit M2 are respectively aligned with the same middle position of the first trapezoid block T1 and the second trapezoid block T2, for example, the waistline of the trapezoid block, the middle position (the middle side length C ₃ ) Divide the height of the trapezoid into H ₁ and H ₂ . In one example, this alignment can be achieved by placing a marker point at an intermediate position of the first trapezoidal block T1 and the second trapezoidal block T2. Thus, the distance between the first ranging unit M1 and the second ranging unit M2 is equal to the distance between the first trapezoidal block T1 and the second trapezoidal block T2 , such as the longitudinal distance H shown in FIG. 4 . AGV1 and AGV2 are designated to be separated by a first distance D ₁ . For example, in guidance by navigation (eg, magnetic navigation, two-dimensional code navigation, laser navigation, etc.), the heads of AGV1 and AGV2 are designated to be laterally spaced apart by a first distance D ₁ , as shown in Figures 3-6 Show.

Referring to FIG. 2, when the first AGV moves following the movement of the second AGV (ie, the AGV movement task is initiated (eg, moving from the first position to the second position), the second AGV acts as the main AGV, and the first AGV acts as the From an AGV), the method 200 begins at step 201 . In step 201, a second distance between the first AGV and the second AGV is measured by the first ranging unit. 3-6 show the second distance D ₂ obtained by the first ranging unit M1 under relative movement between the two AGVs.

In some embodiments, step 201 may include measuring the second distance between the first AGV and the second AGV by the first ranging unit transmitting pulses to the second AGV and receiving reflected pulses from the second AGV. For example, the first ranging unit M1 may include a sensor, such as an ultrasonic sensor, a photoelectric sensor (infrared, laser sensor), etc. The sensor includes a transmitter and a receiver, and the transmitter transmits generated pulses (eg, ultrasonic, infrared, laser) to the AGV2. etc.), the receiver receives the reflected pulses (eg, ultrasonic, infrared, laser, etc.) returned from the AGV2. For example, the _second distance D2 between AGV1 and AGV2 may be calculated based on the time difference between the sampled transmitted and reflected pulses.

Next, the method 200 proceeds to step 202 . In step 202, a third distance between the first AGV and the second AGV is measured by the second ranging unit. 3-6 show the second distance D ₃ obtained by the second ranging unit M2 under relative movement between the two AGVs.

In some embodiments, step 202 may include measuring a third distance between the first AGV and the second AGV by the second ranging unit transmitting pulses to the second AGV and receiving reflected pulses from the second AGV. For example, the second ranging unit M2 may include a sensor, such as an ultrasonic sensor, a photoelectric sensor (infrared, laser sensor), etc. The sensor includes a transmitter and a receiver, and the transmitter transmits generated pulses (eg, ultrasonic, infrared, laser) to the AGV2 etc.), the receiver receives the reflected pulses (eg, ultrasonic, infrared, laser, etc.) returned from the AGV2. For example, the second distance _D3 between AGV1 and AGV2 may be calculated based on the time difference between the sampled transmitted and reflected pulses.

Next, the method 200 proceeds to step 203 . In step 203, based on the first distance, the second distance and the third distance, a relative state of synchronization between the first AGV and the second AGV is determined. For example, as shown in Figures 3-6, under different relative movements between AGV1 and AGV2, the first distance D ₁ , the second distance D ₂ and the third distance D ₃ have different relationships, so the first distance D 1 , the second distance D 2 and the third distance D 3 have different relationships. The distance D ₁ , the second distance D ₂ and the third distance D ₃ are used to determine whether the two AGVs are in synchronization and in what kind of asynchronous state.

In some embodiments, step 203 may include: if the second distance is different from the third distance, determining that the first out-of-sync state is between the first AGV and the second AGV; or if the second distance is the same as the third distance , then when the second distance is within the first threshold range of the first distance, it is determined that the first AGV and the second AGV are in a second asynchronous state, and when the second distance is within the second threshold range of the first distance , it is determined that the first AGV and the second AGV are in a third asynchronous state, and when the second distance is the same as the first distance, it is determined that the first AGV and the second AGV are in a fourth asynchronous state.

As shown in Figure 3, under normal conditions (ideal synchronization), AGV1 and AGV2 move synchronously, at this time D ₂ =D ₃ =D ₁ -C ₃ , if the waist line of the trapezoid block is taken as the specific position of alignment, Then C ₃ =(C ₁ +C ₂ )/2, H ₁ =H ₂ .

As shown in FIG. 4 , when the second distance D ₂ is not equal to the third distance D ₃ , it means that the AGV1 is tilted relative to the AGV2, because in the absence of tilt, the first distance measuring unit M1 and the second distance measuring unit M1 Aligned from cell _M2 is the same position on the ramp of the trapezoidal block, whereby D2= _D3 . Therefore, if the second distance D ₂ is not the same as the third distance D ₃ , it can be determined that the AGV1 and the AGV2 are in the first asynchronous state, which means that they are relatively inclined at an angle α.

As shown in FIG. 5 , when the second distance D ₂ is equal to the third distance D ₃ , if D ₁ -C ₃ <D ₂ <D ₁ -C ₁ , the AGV1 moves faster than the AGV2 at this time. Therefore, when the second distance D ₂ is within the first threshold range of the first distance D ₁ (eg, D ₁ -C ₃ <D ₂ <D ₁ -C ₁ ), it can be determined that AGV1 and AGV2 are in a second out-of-synch state, ie, indicating that AGV1 is ahead of AGV2, where the first threshold range can be determined by the parameters of the trapezoid block (eg, upper side length C ₁ and middle side length C ₃ ).

As shown in FIG. 6 , when the second distance D ₂ is equal to the third distance D ₃ , if D ₁ -C ₂ <D ₂ <D ₁ -C ₃ , the AGV1 moves slower than the AGV2 at this time. Therefore, when the second distance D ₂ is within the second threshold range of the first distance D ₁ (eg, D ₁ -C ₂ <D ₂ <D ₁ -C ₃ ), it can be determined that AGV1 and AGV2 are in a third out-of-synch state, ie, indicating that AGV1 is behind AGV2, where the second threshold range can be determined by the parameters of the trapezoid block (eg, lower side length _C2 and middle side length C3 ₎ .

However, if AGV1 is too much ahead of AGV2 or AGV1 is too far behind AGV2, the first ranging unit M1 and the second ranging unit M2 are no longer aligned with the position on the slope of the trapezoidal block on _AGV2 , at this time D1 =D ₂ =D ₃ , the moving direction cannot be judged, and AGV1 and AGV2 are in the fourth asynchronous state at this time.

Next, the method 200 proceeds to step 204 . In step 204, when the relative state indicates that the first AGV and the second AGV are out of synchronization, the movement of the first AGV is adjusted based on the relative state.

In some embodiments, step 204 may include: when the relative state is the first asynchronous state, estimating a tilt angle of the first AGV relative to the second AGV based on the second distance and the third distance; and based on the estimated tilt angle, drive the first AGV to change the moving direction to compensate for the tilt angle.

As shown in Figure 4, when AGV1 and AGV2 are in the first asynchronous state, that is, when the relative inclination angle α is represented, the inclination angle α can be estimated according to the following equation (1):

After the tilt angle α is estimated, the AGV1 can be driven to change the moving direction (eg, rotate by an appropriate angle) to compensate for the tilt angle α.

In some embodiments, step 204 may include: when the relative state is the second asynchronous state or the third asynchronous state, estimating the distance between the first AGV and the second AGV in the moving direction based on the first distance and the second distance relative displacement; and, based on the estimated relative displacement, driving the first AGV to change the moving speed to compensate for the relative displacement.

As shown in Figure 5, when AGV1 and AGV2 are in the second asynchronous state, that is, when AGV1 is ahead of AGV2, the relative relationship between AGV1 and AGV2 in the longitudinal direction (ie, in the moving direction) can be calculated according to the following equation (2). Displacement D:

D=H ₁ -(D ₁ -D ₂ -C ₁ )tanθ (2)

After the relative displacement D is calculated according to the parameters of D ₁ , D ₂ and the trapezoidal block, the AGV1 can be driven to decelerate to compensate for the relative displacement D. For example, the corresponding velocity trapezoidal curve and deceleration time can be calculated, and the movement can be automatically decelerated to compensate for the relative displacement D.

As shown in Figure 6, when AGV1 and AGV2 are in the third asynchronous state, which means that AGV1 lags behind AGV2, the relative relationship between AGV1 and AGV2 in the longitudinal direction (ie, in the moving direction) can be calculated according to the following equation (3). Displacement D:

D=(D ₁ -D ₂ -C ₃ )tanθ (3)

After the relative displacement D is calculated according to the parameters of D ₁ , D ₂ and the trapezoidal block, the AGV1 can be driven to accelerate to compensate for the relative displacement D. For example, the corresponding velocity trapezoidal curve and acceleration time can be calculated, and the movement can be automatically accelerated to compensate for the relative displacement D.

In some embodiments, step 204 may include: when the relative state is the fourth asynchronous state, stopping the movement of the first AGV and the second AGV, and sending alarm information.

When AGV1 and AGV2 are in the fourth asynchronous state, it means that when AGV1 is ahead or behind AGV2 too much, since the moving direction cannot be judged, it is necessary to stop AGV1 and AGV2 from moving to avoid unexpected situations, and send out alarm information (for example, by sound , indicator lights, etc.) to remind the user. For example, AGV1 may stop AGV2 from moving, either directly or through a workstation sending an instruction to stop moving to AGV2.

The method 200 may also include: judging whether the moving task has ended (for example, judging whether it has moved from the first position to the second position according to the navigation), if the moving task has not ended, then repeating the above steps 201-204 to continuously control as the slave AGV. The movement of the first AGV achieves synchronization between the first AGV and the second AGV.

According to the embodiments of the present disclosure, AGV synchronization can be easily realized by sampling, no complex image processing technology is required, field costs are effectively reduced, AGV synchronization can be quickly realized to meet application requirements, and it has a high-precision and intelligent synchronization mechanism The design can be flexibly and reliably applied to scenarios where multiple AGVs work together.

FIG. 7 shows a block diagram of an exemplary apparatus 700 for implementing synchronization between two AGVs, wherein the two AGVs include a first AGV and a second AGV, arranged at a position of the first AGV, according to an embodiment of the present disclosure. The first ranging unit and the second ranging unit on the side surface are respectively initially aligned with specific positions on the first trapezoid block and the second trapezoid block provided on the side surface of the second AGV, the first AGV and the second The two AGVs are designated to be spaced apart by a first distance, the first AGV moving following the movement of the second AGV. The apparatus 700 includes a first measurement module 701 , a second measurement module 702 , a state determination module 703 and an adjustment module 704 .

The first measurement module 701 is configured to measure the second distance between the first AGV and the second AGV through the first ranging unit.

The second measurement module 702 is configured to measure a third distance between the first AGV and the second AGV through the second ranging unit.

The state determination module 703 is configured to determine the relative state of synchronization between the first AGV and the second AGV based on the first distance, the second distance and the third distance.

The adjustment module 704 is configured to adjust the movement of the first AGV based on the relative state when the relative state indicates that the first AGV and the second AGV are out of synchronization.

In some embodiments, the first measurement module 701 may be further configured to measure the second distance between the first AGV and the second AGV by the first ranging unit transmitting pulses to the second AGV and receiving reflected pulses from the second AGV distance.

In some embodiments, the second measurement module 702 may be further configured to measure the third distance between the first AGV and the second AGV by the second ranging unit transmitting pulses to the second AGV and receiving reflected pulses from the second AGV distance.

In some embodiments, the state determination module 703 may be further configured to: if the second distance is not the same as the third distance, determine that the first out-of-sync state is between the first AGV and the second AGV, or if the second distance The same as the third distance, then when the second distance is within the first threshold range of the first distance, it is determined that the first AGV and the second AGV are in a second asynchronous state, and when the second distance is within the first When the two thresholds are within the range, it is determined that the first AGV and the second AGV are in a third asynchronous state, and when the second distance is the same as the first distance, it is determined that the first AGV and the second AGV are in a fourth asynchronous state .

In some embodiments, the adjustment module 704 may be further configured to: estimate the tilt angle of the first AGV relative to the second AGV based on the second distance and the third distance when the relative state is the first asynchronous state; and based on Based on the estimated tilt angle, the first AGV is driven to change the moving direction to compensate for the tilt angle.

In some embodiments, the adjustment module 704 may be further configured to: estimate the first AGV and the second AGV based on the first distance and the second distance when the relative state is the second asynchronous state or the third asynchronous state relative displacement of the AGV in the moving direction; and, based on the estimated relative displacement, driving the first AGV to change the moving speed to compensate for the relative displacement.

In some embodiments, the adjustment module 704 may be further configured to stop the movement of the first AGV and the second AGV and issue an alarm message when the relative state is the fourth asynchronous state.

The above describes how to realize the synchronization process between two AGVs. The above synchronization process can be flexibly applied to multiple AGV scenarios to realize synchronization between multiple AGVs, as described below in conjunction with FIGS. 8-10 .

FIG. 8 shows a flowchart of an exemplary method 800 for achieving synchronization between multiple AGVs, according to an embodiment of the present disclosure. Figure 9 shows a schematic diagram 900 of relative movement between multiple AGVs according to an embodiment of the present disclosure. The method 800 is described below in conjunction with FIG. 9 . The method 800 may be applied to the example scenario 100 shown in FIG. 1 and the example system 1300 shown in FIG. 13 . For example, method 800 may be implemented by computing device 1303 in example system 1300 that is communicatively coupled to the AGV.

As shown in FIG. 9 , the plurality of AGVs include AGV1 (first AGV), AGV2 (second AGV) and AGV3 (third AGV), AGV2 and AGV3 are respectively arranged on both sides of AGV1 and on one side surface of AGV1 The first ranging unit M1 and the second ranging unit M2 are respectively initially aligned with specific positions on the first trapezoidal block T1 and the second trapezoidal block T2 arranged on one side surface of the AGV2, and are arranged on one side of the AGV3 The third ranging unit M3 and the fourth ranging unit M4 on the surface are initially aligned with specific positions on the third and fourth trapezoidal blocks T3 and T4 provided on the other side surface of the AGV1, AGV1 and AGV2, respectively. Designated to be separated by a first distance D ₁ , AGV1 and AGV3 are designated to be separated by another distance D ₁ ′. One side surface of AGV1 may be parallel to one side surface of AGV2, and the other side surface of AGV1 may be parallel to one side surface of AGV3.

Referring to FIG. 8 , method 800 begins at step 801 . In step 801, when the first AGV moves following the movement of the second AGV, the aforementioned method 200 is used to achieve synchronization between the first AGV and the second AGV. For example, with AGV2 as the master AGV and AGV1 as the slave AGV, the method 200 can be used to achieve synchronization between AGV1 and AGV2.

Next, in step 802, when the third AGV moves following the movement of the first AGV, the aforementioned method 200 is used to achieve synchronization between the third AGV and the first AGV. For example, with AGV1 as the master AGV and AGV3 as the slave AGV, the method 200 can be used to achieve synchronization between AGV3 and AGV1.

FIG. 10 shows a flowchart of another exemplary method 1000 for achieving synchronization among multiple AGVs according to an embodiment of the present disclosure. FIG. 11 shows a schematic diagram 1100 of relative movement between multiple AGVs according to an embodiment of the present disclosure. The method 1000 is described below in conjunction with FIG. 11 . The method 1000 may be applied to the example scenario 100 shown in FIG. 1 and the example system 1300 shown in FIG. 13 . For example, method 1000 may be implemented by computing device 1303 in example system 1300 that is communicatively coupled to the AGV.

As shown in FIG. 11 , the plurality of AGVs include AGV1 (first AGV), AGV2 (second AGV) and AGV3 (third AGV), AGV1 and AGV3 are respectively arranged on both sides of AGV2 and on one side surface of AGV1 The first ranging unit M1 and the second ranging unit M2 are respectively initially aligned with specific positions on the first trapezoidal block T1 and the second trapezoidal block T2 arranged on one side surface of the AGV2, and are arranged on one side of the AGV3 The third ranging unit M3 and the fourth ranging unit M4 on the surface are initially aligned with specific positions on the third trapezoidal block T3 and the fourth trapezoidal block T4 provided on the other side surface of the AGV2, respectively, AGV1 and AGV2 Designated to be separated by a first distance D ₁ , AGV2 and AGV3 are designated to be separated by another distance D ₁ ′. One side surface of AGV2 may be parallel to one side surface of AGV1, and the other side surface of AGV2 may be parallel to one side surface of AGV3.

Referring to FIG. 10 , method 1000 begins at step 1001 . In step 1001, when the first AGV moves following the movement of the second AGV, the aforementioned method 200 is used to achieve synchronization between the first AGV and the second AGV. For example, with AGV2 as the master AGV and AGV1 as the slave AGV, the method 200 can be used to achieve synchronization between AGV1 and AGV2.

Next, in step 1002, as the third AGV moves following the movement of the second AGV, the aforementioned method 200 is used to achieve synchronization between the third AGV and the second AGV. For example, with AGV2 as the master AGV and AGV3 as the slave AGV, the method 200 can be used to achieve synchronization between AGV3 and AGV2.

FIG. 12 shows an exemplary AGV 1200 for implementing AGV synchronization according to an embodiment of the present disclosure. As shown in Figure 12, the AGV 1200 includes a controller 1201, which may be configured to implement the aforementioned method 200 for achieving synchronization between two AGVs. For example, when the AGV's controller has sufficient processing power, the method for achieving AGV synchronization can be integrated into the AGV and implemented by the AGV's controller.

FIG. 13 illustrates an exemplary system 1300 for implementing AGV synchronization in accordance with embodiments of the present disclosure. Exemplary system 1300 includes a plurality of AGVs 1301 , AGVs 1302 and computing devices 1303 . It should be understood that the number of AGVs in Figure 13 is for illustration and not limitation, and that system 1300 may include more AGVs (eg, three, four, etc.). The plurality of AGVs 1301 , AGVs 1302 may be similar to the AGVs 101 , AGVs 102 of FIG. 1 . Computing device 1303 may be communicatively coupled to multiple AGVs 1301 and AGVs 1302 for information exchange. For example, computing device 1303 may communicate with

multiple AGVs

1301 and 1302 via wired or wireless data links to send instructions (eg, move instructions, stop instructions, measurement instructions, etc.) to and from multiple AGVs 1301 and AGVs 1302 Acquiring data (eg, various distances (including measured distances and known distances, eg, first distance D ₁ , second distance D ₂ , third distance D ₃ , distance H between ranging units, etc.) , various parameters (eg, ladder block parameters, etc.) Computing device 1303 may be a computer (PC), workstation, programmable logic controller (PLC), and/or any suitable control device to implement the methods for implementing AGV synchronization described in embodiments of the present disclosure (eg, the aforementioned any one or more steps of

methods

200, 800 or 1000).

14 shows a block diagram of an exemplary computing device 1400 for implementing AGV synchronization, in accordance with embodiments of the present disclosure. Computing device 1400 includes processor 1401 and memory 1402 coupled with processor 1401 . The memory 1402 is used to store computer-executable instructions that, when executed, cause the processor 1401 to perform the methods in the above embodiments (eg, any one or more steps of the

aforementioned methods

200 , 800 or 1000 ).

Also, alternatively, the above-described method can be implemented by a computer-readable storage medium. The computer-readable storage medium carries computer-readable program instructions for carrying out various embodiments of the present disclosure. A computer-readable storage medium may be a tangible device that can hold and store instructions for use by the instruction execution device. The computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (non-exhaustive list) of computer readable storage media include: portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM) or flash memory), static random access memory (SRAM), portable compact disk read only memory (CD-ROM), digital versatile disk (DVD), memory sticks, floppy disks, mechanically coded devices, such as printers with instructions stored thereon Hole cards or raised structures in grooves, and any suitable combination of the above. Computer-readable storage media, as used herein, are not to be construed as transient signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (eg, light pulses through fiber optic cables), or through electrical wires transmitted electrical signals.

Accordingly, in another embodiment, the present disclosure provides a computer-readable storage medium having computer-executable instructions stored thereon for performing various implementations of the present disclosure method in the example.

In another embodiment, the present disclosure presents a computer program product tangibly stored on a computer-readable storage medium and comprising computer-executable instructions that, when executed, cause At least one processor executes the methods in various embodiments of the present disclosure.

In general, the various example embodiments of the present disclosure may be implemented in hardware or special purpose circuits, software, firmware, logic, or any combination thereof. Certain aspects may be implemented in hardware, while other aspects may be implemented in firmware or software, which may be executed by a controller, microprocessor or other computing device. While aspects of the embodiments of the present disclosure are illustrated or described as block diagrams, flowcharts, or using some other graphical representation, it is to be understood that the blocks, apparatus, systems, techniques, or methods described herein may be taken as non-limiting Examples are implemented in hardware, software, firmware, special purpose circuits or logic, general purpose hardware or controllers or other computing devices, or some combination thereof.

Computer-readable program instructions or computer program products for executing various embodiments of the present disclosure can also be stored in the cloud, and when invoked, the user can access the data stored in the cloud for execution through the mobile Internet, fixed network or other network. The computer-readable program instructions of an embodiment of the present disclosure implement the technical solutions disclosed in accordance with various embodiments of the present disclosure.

Although embodiments of the present disclosure have been described with reference to several specific embodiments, it is to be understood that embodiments of the present disclosure are not limited to the specific embodiments disclosed. The embodiments of the present disclosure are intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. The scope of the claims is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures and functions.

Claims

A method for realizing synchronization between two AGVs, the two AGVs comprising a first AGV and a second AGV, a first ranging unit and a second ranging unit disposed on one side surface of the first AGV The distance unit is initially aligned with a specific position on a first trapezoidal block and a second trapezoidal block provided on one side surface of the second AGV, respectively, the first AGV and the second AGV are designated to be spaced apart A first distance, when the first AGV moves following the movement of the second AGV, the method includes:

A. The second distance between the first AGV and the second AGV is measured by the first ranging unit;

B. The third distance between the first AGV and the second AGV is measured by the second ranging unit;

C. determining a relative state of synchronization between the first AGV and the second AGV based on the first distance, the second distance, and the third distance; and

D. When the relative state indicates that the first AGV and the second AGV are out of synchronization, the movement of the first AGV is adjusted based on the relative state.
The method according to claim 1, wherein said step A comprises:

The second distance between the first AGV and the second AGV is measured by the first ranging unit transmitting pulses to the second AGV and receiving reflected pulses from the second AGV.
The method according to claim 1, wherein said step B comprises:

A third distance between the first AGV and the second AGV is measured by a second ranging unit transmitting pulses to the second AGV and receiving reflected pulses from the second AGV.
The method according to claim 1, wherein said step C comprises:

If the second distance is not the same as the third distance, determining that the first AGV and the second AGV are in a first asynchronous state, or

If the second distance is the same as the third distance, then

When the second distance is within a first threshold range of the first distance, determining that the first AGV and the second AGV are in a second asynchronous state,

When the second distance is within a second threshold range of the first distance, determining that the first AGV and the second AGV are in a third asynchronous state,

When the second distance is the same as the first distance, it is determined that the first AGV and the second AGV are in a fourth asynchronous state.
The method according to claim 4, wherein said step D comprises:

when the relative state is a first asynchronous state, estimating a tilt angle of the first AGV relative to the second AGV based on the second distance and the third distance; and

Based on the estimated tilt angle, the first AGV is driven to change the moving direction to compensate for the tilt angle.
The method according to claim 4, the step D comprises:

When the relative state is the second asynchronous state or the third asynchronous state, the relative relationship between the first AGV and the second AGV in the moving direction is estimated based on the first distance and the second distance displacement; and

Based on the estimated relative displacement, the first AGV is driven to change the moving speed to compensate for the relative displacement.
The method according to claim 4, the step D comprises:

When the relative state is the fourth asynchronous state, the first AGV and the second AGV are stopped from moving, and alarm information is issued.
A method for realizing synchronization between multiple AGVs, the multiple AGVs include a first AGV, a second AGV and a third AGV, the second AGV and the third AGV are respectively arranged in the first AGV On both sides of the AGV, the first ranging unit and the second ranging unit provided on one side surface of the first AGV are respectively initially aligned with the first trapezoid provided on the one side surface of the second AGV At specific positions on the block and the second trapezoidal block, the third ranging unit and the fourth ranging unit provided on one side surface of the third AGV are respectively initially aligned with the other one provided on the first AGV. Specific locations on the third and fourth trapezoidal blocks on the side surface, the first AGV and the second AGV are designated to be separated by a first distance, the first AGV and the third AGV are Specified as being separated by another distance, the method includes:

When the first AGV moves following the movement of the second AGV, synchronization between the first AGV and the second AGV is achieved using the method according to any one of claims 1-7 ,as well as

When the third AGV moves following the movement of the first AGV, synchronization between the third AGV and the first AGV is achieved using the method according to any one of claims 1-7 .
A method for realizing synchronization between multiple AGVs, the multiple AGVs include a first AGV, a second AGV and a third AGV, the first AGV and the third AGV are respectively arranged in the second AGV On both sides of the AGV, the first ranging unit and the second ranging unit provided on one side surface of the first AGV are respectively initially aligned with the first trapezoid provided on the one side surface of the second AGV At specific positions on the block and the second trapezoidal block, the third ranging unit and the fourth ranging unit provided on one side surface of the third AGV are respectively initially aligned with the other one provided on the second AGV. Specific locations on the third and fourth trapezoidal blocks on the side surfaces, the first AGV and the second AGV are designated to be spaced apart by a first distance, the second AGV and the third AGV are Specified as being separated by another distance, the method includes:

When the first AGV moves following the movement of the second AGV, synchronization between the first AGV and the second AGV is achieved using the method according to any one of claims 1-7 ,as well as

When the third AGV moves following the movement of the second AGV, the method according to any one of claims 1-7 is used to achieve synchronization between the third AGV and the second AGV.
An AGV comprising a controller configured to implement the method of any of claims 1-7.
A device for realizing synchronization between two AGVs, the two AGVs include a first AGV and a second AGV, a first ranging unit and a second ranging unit disposed on one side surface of the first AGV The distance unit is initially aligned with a specific position on a first trapezoidal block and a second trapezoidal block provided on one side surface of the second AGV, respectively, the first AGV and the second AGV are designated to be spaced apart For a first distance, the first AGV moves following the movement of the second AGV, and the device includes:

a first measurement module configured to measure a second distance between the first AGV and the second AGV through a first ranging unit;

a second measurement module configured to measure a third distance between the first AGV and the second AGV through the second ranging unit;

a state determination module configured to determine a relative state of synchronization between the first AGV and the second AGV based on the first distance, the second distance, and the third distance; and

An adjustment module configured to adjust the movement of the first AGV based on the relative state when the relative state indicates that the first AGV and the second AGV are out of synchronization.
The apparatus of claim 11, wherein the first measurement module is further configured to:

The second distance between the first AGV and the second AGV is measured by the first ranging unit transmitting pulses to the second AGV and receiving reflected pulses from the second AGV.
The apparatus of claim 11, wherein the second measurement module is further configured to:

A third distance between the first AGV and the second AGV is measured by a second ranging unit transmitting pulses to the second AGV and receiving reflected pulses from the second AGV.
The apparatus of claim 11, wherein the state determination module is further configured to:

If the second distance is not the same as the third distance, determining that the first AGV and the second AGV are in a first asynchronous state, or

If the second distance is the same as the third distance, then

When the second distance is within a first threshold range of the first distance, determining that the first AGV and the second AGV are in a second asynchronous state,

When the second distance is within a second threshold range of the first distance, determining that the first AGV and the second AGV are in a third asynchronous state,

When the second distance is the same as the first distance, it is determined that the first AGV and the second AGV are in a fourth asynchronous state.
The apparatus of claim 14, wherein the adjustment module is further configured to:

when the relative state is a first asynchronous state, estimating a tilt angle of the first AGV relative to the second AGV based on the second distance and the third distance; and

Based on the estimated tilt angle, the first AGV is driven to change the moving direction to compensate for the tilt angle.
The apparatus of claim 14, the adjustment module is further configured to:

When the relative state is the second asynchronous state or the third asynchronous state, the relative relationship between the first AGV and the second AGV in the moving direction is estimated based on the first distance and the second distance displacement; and

Based on the estimated relative displacement, the first AGV is driven to change the moving speed to compensate for the relative displacement.
The apparatus of claim 14, the adjustment module is further configured to:

When the relative state is the fourth asynchronous state, the first AGV and the second AGV are stopped from moving, and alarm information is issued.
Computing equipment, the computing equipment includes:

processor; and

A memory for storing computer-executable instructions which, when executed, cause the processor to perform the method of any of claims 1-9.
A computer-readable storage medium having computer-executable instructions stored thereon for performing the method of any of claims 1-9.
A computer program product tangibly stored on a computer-readable storage medium and comprising computer-executable instructions which, when executed, cause at least one processor to perform the execution according to claims 1-9 The method of any of the above.