AGV trolley control method and device, electronic equipment and storage medium

Abstract

The invention belongs to the technical field of robot control, and discloses an AGV trolley control method and device, electronic equipment and a storage medium, six ultrasonic sensors are installed in front of, on the left front side, on the right front side, on the right rear side, on the left rear side and on the right rear side of a chassis of an AGV trolley correspondingly, visual equipment or other equipment does not need to be arranged, and the implementation cost is greatly reduced; obstacle distance data detected by the six ultrasonic sensors are compared with a first preset distance threshold value, a preset basic obstacle avoidance rule is selected according to a comparison result to obtain a system instruction, or a pre-trained prediction model is adopted to obtain the system instruction, and the AGV trolley is controlled to move according to the system instruction; the method can adapt to uncertain factors in an actual operation environment, so that the AGV can simply and quickly realize autonomous obstacle avoidance.

Description

technical field [0001] The present application relates to the technical field of robot control, in particular, to an AGV car control method, device, electronic equipment and storage medium. Background technique [0002] In recent years, with the rapid development of robotics and artificial intelligence technology, the safe, reliable and flexible AGV (Automatic Guided Vehicle) car plays an increasingly important role in intelligent inspection, hotel / restaurant pick-up and delivery, etc., and the key issues in the application of these AGV cars It is the path planning and dynamic obstacle avoidance ability. The dynamic obstacle avoidance ability is the basis for the autonomous navigation ability of the AGV car, because the AGV car often has more or less uncertain factors in the actual operating environment, such as the AGV car. When there are obstacles at the same distance from the left and right sensors, the AGV car will swing left and right, or even stop moving, resulting in ...

AI Technical Summary

Problems solved by technology

[0002] In recent years, with the rapid development of robotics and artificial intelligence technology, the safe, reliable and flexible AGV (Automatic Guided Vehicle) car plays an increasingly important role in intelligent inspection, hotel / restaurant pick-up and delivery, etc., and the key issues in the application of these AGV cars It is the path planning and dynamic obstacle avoidance ability. The dynamic obstacle avoidance ability is the basis for the autonomous navigation ability of the AGV car, because the AGV car often has more or less uncertain factors in the actual operating environment, such as the AGV car. When there are obstacles at the same distance from the left and right sensors, the AGV car will swing left and right, or even stop moving, resulting in the inability of the goods to reach the destination in time. Therefore, the AGV car's ability to adapt to the environment and autonomous obstacle avoidance capabilities are crucial

At present, the autonomous obstacle avoidance control function and navigation of AGV cars can also be realized by using vision technology, but its implementation cost is high, resulting in the limited application of AGV cars

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