Remote control device, automated guided transport vehicle, warehouse control device and system thereof

Abstract

The embodiment of the present application provides a remote control device, an automated guided transport vehicle, a warehouse control device and a system thereof, wherein the remote control device comprises: a first data communication module for receiving a remote task sent by the warehouse control device to instruct the remote control device to remotely control the automated guided transport device AGV, and also for receiving environmental information sent by the AGV, wherein the environmental information is environmental information around the AGV; a human-computer interaction module for obtaining remote control instructions input by a remote operation user according to environmental information; a first control module, wherein the first control module is respectively connected to the first data communication module and the human-computer interaction module for communication, the first control module is used to send environmental information to the human-computer interaction module, and is also used to control the first data communication module to send remote control instructions to the AGV according to the remote task. With the aid of the above technical solution, the embodiment of the present application can improve the efficiency of task completion.

Description

Technical Field

[0001] The present application relates to the field of remote control technology, and in particular to a remote control device, an automated guided vehicle (AGV), a warehouse control device and a system thereof. Background Art

[0002] As an intelligent mobile robot, AGV has become one of the main equipment in the logistics automation system of the manufacturing industry.

[0003] At present, AGVs generally navigate by scanning QR codes on the ground. However, since the QR codes on the ground may be covered by other objects or stepped on, the AGV may not be able to recognize the QR codes, which may cause the AGV to be unable to navigate, thereby reducing task efficiency. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a remote control device, an automatic guided transport vehicle, a warehouse control device and a system thereof to improve the efficiency of task completion.

[0005] In the first aspect, an embodiment of the present application provides a remote control device, which includes: a first data communication module, used to receive a remote task sent by a warehouse control device to instruct the remote control device to remotely control an automated guided transport device AGV, and also used to receive environmental information sent by the AGV, wherein the environmental information is environmental information around the AGV; a human-computer interaction module, used to obtain remote control instructions input by a remote operating user based on the environmental information; a first control module, the first control module being communicatively connected to the first data communication module and the human-computer interaction module respectively, the first control module being used to send environmental information to the human-computer interaction module, and also being used to control the first data communication module to send remote control instructions to the AGV based on the remote task.

[0006] Therefore, the embodiments of the present application allow the operator to remotely control the AGV by taking into account the operator's flexibility, the controllability of the AGV, and environmental information, thereby not only ensuring the operator's safety but also greatly improving the efficiency of task completion.

[0007] In addition, the embodiment of the present application allows the operator to determine the position of the AGV based on environmental information and perform relevant remote operations, thereby solving the problem of being unable to achieve positioning in the prior art due to the QR code being covered by other objects or stepped on by other objects through remote control.

[0008] In a possible embodiment, the remote task is generated by the warehouse control device according to a remote control request sent by the AGV to the warehouse control device when an abnormality occurs in the AGV.

[0009] Therefore, the AGV in the embodiment of the present application can work in advance according to the local strategy stored in the AGV. When the AGV encounters an abnormality, it can be remotely controlled by the remote control device, so that the AGV can achieve a semi-automatic and semi-remote working mode.

[0010] In a possible embodiment, the human-computer interaction module is used to present environmental information.

[0011] Therefore, the embodiments of the present application present environmental information so that the remote operation user can accurately locate the AGV.

[0012] In the second aspect, an embodiment of the present application provides an automated guided vehicle AGV, which includes: an acquisition module for acquiring environmental information around the AGV; a second data communication module for receiving a remote task sent by a warehouse control device to instruct a remote control device to remotely control the AGV, and also for sending environmental information to the remote control device, and also for receiving remote control instructions sent by the remote control device; a second control module, the second control module is communicatively connected to the acquisition module and the second data communication module respectively, the second control module is used to control the second data communication module to send environmental information to the remote control device according to the remote task, and is also used to control the AGV according to the remote control instructions.

[0013] In a possible embodiment, the second control module is also used to control the second data communication module to send a remote control request to the warehouse control device when an abnormality occurs in the AGV, so that the warehouse control device can send remote tasks to the AGV and the remote control device respectively according to the remote control request.

[0014] In a possible embodiment, the AGV also includes: an emergency module, the emergency module is communicatively connected to a second control module, and the emergency module is used to intercept remote control instructions when it is determined that at least one of the remote operation user, the AGV, and the remote control device has an abnormality; the second control module is also used to control the AGV according to the local policy stored in the AGV.

[0015] In a third aspect, an embodiment of the present application provides a warehouse control device, which includes: a third control module, used to generate remote tasks; a third data communication module, the third data communication module and the third control module are communicatively connected, the third data communication module is used to send remote tasks to the automatic guided vehicle AGV and the remote control device respectively, wherein the remote tasks are used to instruct the remote control device to remotely control the AGV.

[0016] In a possible embodiment, the third data communication module is further used to receive a remote control request sent by the AGV when an abnormality occurs in the AGV; the third control module is further used to generate a remote task according to the remote control request.

[0017] In a fourth aspect, an embodiment of the present application provides a system for remotely controlling an automated guided vehicle (AGV), the system comprising: a warehouse control device, for generating remote tasks, and sending remote tasks to the remote control device and the AGV, respectively; a remote control device, the remote control device and the warehouse control device are communicatively connected, the remote control device is used to receive environmental information sent by the AGV, and obtain remote control instructions input by the remote operating user based on the environmental information, and send remote control instructions to the AGV according to the remote tasks; and an AGV, the AGV is communicatively connected to the warehouse control device and the remote control device, respectively, the AGV is used to send environmental information to the remote control device according to the remote tasks, and perform related operations according to the remote control instructions.

[0018] In a possible embodiment, the remote task is generated by the warehouse control device according to a remote control request sent by the AGV to the warehouse control device when an abnormality occurs in the AGV.

[0019] In the fifth aspect, an embodiment of the present application provides a method for remotely controlling an automated guided vehicle AGV, the method comprising: a warehouse control device generates a remote task, and sends the remote task to the remote control device and the AGV respectively; the AGV sends environmental information to the remote control device according to the remote task; the remote control device receives the environmental information sent by the AGV, and obtains the remote control instructions input by the remote operating user according to the environmental information, and sends the remote control instructions to the AGV according to the remote task; the AGV performs related operations according to the remote control instructions.

[0020] In order to make the above-mentioned objectives, features and advantages to be achieved by the embodiments of the present application more obvious and understandable, the following specifically cites preferred embodiments and describes them in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 A schematic diagram of the structure of a system for remotely controlling an AGV provided in an embodiment of the present application is shown;

[0023] Figure 2 A specific structural schematic diagram of a system for remotely controlling an AGV provided in an embodiment of the present application is shown;

[0024] Figure 3 A flow chart of a method for remotely controlling an AGV provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0026] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0027] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "front side", "rear side", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] Currently, operators can carry out tasks such as cargo transportation by driving traditional transport vehicles. However, since traditional transport vehicles require operators to operate the transport vehicles from the driving position inside the traditional transport vehicles, there are many restrictions on the operators. In addition, since the driver is required to operate the traditional transport vehicles on the vehicle, the driver's safety cannot be guaranteed in the event of a safety accident with the traditional transport vehicles.

[0029] With the development of technology, solutions that use AGV (for example, automated forklifts, etc.) to achieve logistics automation have appeared on the market. The AGV automation solution mainly includes the following three parts: service end, warehouse control device (or warehouse control system) and AGV.

[0030] The server includes an order management module (or order management system) and a warehouse management module (or warehouse management system). The order management module is used to receive customer order information and inventory information from the warehouse management module, and then classify orders by customer and urgency, configure inventory at different storage locations, and determine delivery dates; the warehouse management module is responsible for controlling the production rhythm inside the warehouse and sending tasks to the server.

[0031] In addition, the warehouse control system is responsible for scheduling multiple AGVs, and gives each AGV the specific operation (e.g., move, fork lift, stop, etc.) that needs to be performed according to the real-time position and status of each AGV. In addition, after obtaining the specific operation, the AGV completes the corresponding operation.

[0032] Among them, the navigation module is crucial in the process of AGV performing related operations.

[0033] For example, the navigation module in the AGV is generally responsible for the work from the first point to the second point. The navigation module is generally implemented through QR code navigation and video navigation. Among them, QR code navigation generally determines its own position by scanning the QR code on the ground; video navigation is completed by sensing the surrounding environment through the camera.

[0034] However, for the QR code navigation solution, since the QR code is laid on the ground, other objects (for example, packaging bags, etc.) may cover the QR code or the QR code may be stepped on and soiled by on-site personnel, which may cause the AGV to be unable to locate, and further reduce the task efficiency; for video navigation, due to the problem of low positioning accuracy of video navigation, accurate positioning cannot be achieved, which may also cause the problem of reduced task efficiency.

[0035] In addition, for the automation solution of AGV, decisions are made through algorithms or the machine itself. However, during the design, engineers took safety issues into consideration, so the relevant decisions of the automation solution could not maximize the efficiency of AGV.

[0036] In addition, the automated control of the AGV is also limited by the accuracy and scalability of the automation-related modules, and its robustness is also low.

[0037] Based on this, an embodiment of the present application provides a solution for remotely controlling AGV, in which a remote task is generated by a warehouse control device, and the warehouse control device sends the remote task to the AGV and the remote control device respectively. Then, the AGV sends the environmental information collected by itself to the remote control device according to the remote task. Then, the remote control device obtains the remote control instructions input by the remote operating user according to the environmental information, and also sends the remote control instructions to the AGV according to the remote task. Finally, the AGV performs related operations according to the remote control instructions.

[0038] Therefore, the embodiments of the present application allow the operator to remotely control the AGV by taking into account the operator's flexibility, the controllability of the AGV, and environmental information, which not only ensures the operator's safety but also greatly improves the efficiency of task completion.

[0039] In addition, the embodiment of the present application allows the operator to determine the position of the AGV based on environmental information and perform relevant remote operations, thereby solving the problem of being unable to achieve positioning in the prior art due to the QR code being covered by other objects or stepped on by other objects through remote control.

[0040] See also Figure 1 , Figure 1 FIG. 1 is a schematic diagram showing a system for remotely controlling an AGV provided in an embodiment of the present application. Figure 1 The system shown includes a service end 110 , a warehouse control device 120 , an automated guided vehicle 130 , and a remote control device 140 .

[0041] In some possible embodiments, the server 110 may be a computer, etc. In other words, the specific device of the server 110 may be configured according to actual needs, and the embodiments of the present application are not limited thereto.

[0042] In some possible embodiments, the warehouse control device 120 may be a server, a server cluster, or one of the systems in the server, etc. In other words, the specific device of the warehouse control device 120 may also be configured according to actual needs, and the embodiments of the present application are not limited thereto.

[0043] In some possible embodiments, the automatic guided transport vehicle 130 may be a forklift, or a small handling robot, etc. In other words, the specific device of the automatic guided transport vehicle 130 may also be configured according to actual needs, and the embodiments of the present application are not limited thereto.

[0044] In some possible embodiments, the remote control device 140 may be a mobile phone, a controller, or a computer, etc. In other words, the specific device of the remote control device 140 may also be configured according to actual needs, and the embodiments of the present application are not limited thereto.

[0045] Specifically, the server 110 obtains the user's order and assigns the order-related work to the warehouse control device 120. The warehouse control device 120 generates a plurality of tasks to be completed according to the work assigned by the server 110. Also, the warehouse control device 120 applies for resources according to the requirements of the tasks to be completed, and establishes connections with the applied automatic guided transport vehicle 130 and the remote control device 140. Also, the warehouse control device 120 sends remote tasks to the automatic guided transport vehicle 130 and the remote control device 140 respectively to notify the automatic guided transport vehicle 130 to be remotely controlled by the remote control device 140 later, and to notify the remote control device 140 to remotely control the automatic guided transport vehicle 130 later, so that the automatic guided transport vehicle 130 and the remote control device 140 can interact directly later, without the need to implement the interaction between the automatic guided transport vehicle 130 and the remote control device 140 through the warehouse control device 120.

[0046] Furthermore, after receiving the remote task, the automated guided transport vehicle 130 may send the environmental information collected by itself to the remote control device. Correspondingly, the remote control device 140 receives the environmental information sent by the automated guided transport vehicle 130.

[0047] Furthermore, after receiving the remote task, the remote control device 140 visualizes the environmental information and obtains the remote control command input by the operator. Furthermore, the remote control device 140 sends the remote control command to the automated guided transport vehicle 130. Correspondingly, the automated guided transport vehicle 130 receives the remote control command sent by the remote control device 140.

[0048] And, the automated guided transport vehicle 130 performs relevant operations according to the remote control instructions.

[0049] In addition, after the automatic guided transport vehicle 130 and the remote control device 140 complete the remote task, the automatic guided transport vehicle 130 and the remote control device 140 both send a feedback message of task completion to the warehouse control device 120, and then the warehouse control device makes corresponding records and disconnects from the automatic guided transport vehicle 130 and the remote control device 140.

[0050] It should be noted that although Figure 1A specific number of automated guided vehicles, remote control devices, and warehouse control devices are shown, but technicians in this field should understand that in actual application, the remote-controlled AGV system may include more automated guided vehicles, remote control devices, and warehouse control devices, and the embodiments of the present application are not limited to this.

[0051] See also Figure 2 , Figure 2 FIG. 2 shows a schematic diagram of a specific structure of a system for remotely controlling an AGV provided in an embodiment of the present application. Figure 2 The system shown includes a server 210, a warehouse control device 220, an automated guided vehicle 230, and a remote control device 240. The server 210 is connected in communication with the warehouse control device 220, and the warehouse control device 220 can also be connected in communication with the automated guided vehicle 230 and the remote control device 240, respectively.

[0052] It should be understood that the modules included in the server 210 can be configured according to actual needs, and the embodiments of the present application are not limited thereto.

[0053] For example, the service end 210 may include an order management module, a warehouse management module, an enterprise resource planning module, and a supply chain management module. Among them, the enterprise resource planning module combines the characteristics of discrete production and process production, faces the global market, includes all leading and supporting capabilities in the supply chain, and coordinates various management departments of the enterprise around the market orientation; the supply chain management module can connect the enterprise with external suppliers and manufacturers.

[0054] In addition, the warehouse control device 220 may include an operation management module 221, a monitoring module 222, a third control module 223 and a third data communication module 224. The operation management module 221, the monitoring module 222 and the third data communication module 224 are respectively connected to the third control module 223 for communication.

[0055] The job management module 221 is used to automatically generate at least one task to be completed according to the assigned task sent by the server 210 under the control of the third control module 223, and place all the tasks to be completed into the task pool. In addition, the job management module 221 is also controlled by the third control module 223 to schedule and control at least one automatic guided transport vehicle 230 and at least one remote control device 240 in the warehouse. In other words, the job management module 221 can apply for the resources required for the target task.

[0056] It should be understood that the specific form of the job management module 221 can be set according to actual needs, and the embodiments of the present application are not limited thereto.

[0057] It should also be understood that the specific content of the resources required for the target task can be set according to actual needs, and the embodiments of the present application are not limited to this.

[0058] For example, the content of the resources required for the target task includes the vehicle type of the automated guided transport vehicle 230 , the number of automated guided transport vehicles 230 required, the estimated completion time, etc.

[0059] Furthermore, the monitoring module 222 is used to obtain the specific location and current state (e.g., idle state or working state, etc.) of each automated guided transport vehicle 230 in the warehouse, so as to facilitate the operation management module 221 to schedule the automated guided transport vehicle 230. Furthermore, the monitoring module 222 can also obtain the progress state of the target task (e.g., the target task has been sent to the automated guided transport vehicle 230 and the remote control device 240, etc.).

[0060] It should be understood that the specific form of the monitoring module 222 can also be set according to actual needs, and the embodiments of the present application are not limited to this.

[0061] And, the third control module 223 is used to control the job management module 221, the monitoring module 222 and the third data communication module 224. In addition, the third control module 223 can also call an algorithm to select a task to be completed from the task pool as a target task. In other words, the third control module 223 can generate a target task.

[0062] It should be understood that the specific device of the third control module 223 can also be set according to actual needs, and the embodiments of the present application are not limited to this.

[0063] For example, the third control module 223 may be a chip or a single-chip microcomputer.

[0064] Furthermore, the third data communication module 224 is used to send the target task only to the automatic guided transport vehicle 230, and may also send the target task to the automatic guided transport vehicle 230 and the remote control device 240 respectively.

[0065] It should be understood that the target task can be a remote task or a task to be completed that is sent separately to the automated guided transport vehicle 230. The remote task is a task used to instruct the remote control device 240 to remotely control the automated guided transport vehicle 230; the task to be completed refers to a task that the automated guided transport vehicle 230 itself can automatically complete according to the local strategy stored in the automated guided transport vehicle 230.

[0066] In addition, it should be noted that the remote task may include multiple remote subtasks, so that when the automated guided transport vehicle 230 performs the remote task, the automated guided transport vehicle 230 may upload its own movement status (for example, the automated guided transport vehicle 230 has passed a certain location; for another example, the automated guided transport vehicle 230 has transported an object from a certain location to another location, etc.) to the warehouse control device 220. Subsequently, the warehouse control device 220 may determine and record which remote subtasks the automated guided transport vehicle 230 has completed based on the movement status of the automated guided transport vehicle 230.

[0067] Accordingly, for a task to be completed, the task to be completed may also include multiple subtasks, so that the automated guided transport vehicle 230 may also upload its own motion status to the warehouse control device 220. Subsequently, the warehouse control device 220 may determine and record which subtasks the automated guided transport vehicle 230 has completed based on the motion status of the automated guided transport vehicle 230. Furthermore, if the automated guided transport vehicle 230 subsequently switches from the automatic operation mode to the remote control mode, the automated guided transport vehicle 230 may also send the completion status of the subtasks to the remote control device 240, thereby facilitating the remote operator to quickly perform remote control.

[0068] It should also be understood that since there can be multiple automated guided transport vehicles 230 and remote control devices 240 in the warehouse, the remote task can carry the address information of the target automated guided transport vehicle 230 and the address information of the target remote control device 240, so that the subsequent automated guided transport vehicle 230 and the target remote control device 240 can communicate directly.

[0069] It should also be understood that the specific device of the third data communication module 224 can also be set according to actual needs.

[0070] For example, the third data communication module 224 may be Bluetooth, a 4G wireless communication module, a 5G wireless communication module, etc.

[0071] In addition, it should be noted that, although the modules included in the server 210 are described above, those skilled in the art should understand that the server 210 may also include other modules, and the embodiments of the present application are not limited thereto.

[0072] In addition, the automated guided transport vehicle 230 may include a collection module 231, an emergency module 232, a second control module 233, and a second data communication module 234. The collection module 231, the emergency module 232, and the second data communication module 234 may be communicatively connected to the second control module 233, respectively.

[0073] The acquisition module 231 is used to acquire environmental information around the automatic guided transport vehicle 230 .

[0074] It should be understood that the specific devices included in the acquisition module 231 can be configured according to actual needs, and the embodiments of the present application are not limited thereto.

[0075] For example, the acquisition module 231 may include a camera, a distance sensor, and a microphone, so that the environmental information uploaded by the automatic guided transport vehicle 230 may include a video signal, a distance signal, and a sound signal.

[0076] Furthermore, the second control module 233 can receive the environmental information sent by the acquisition module 231, and can also forward the environmental information to the second data communication module 234, thereby controlling the second data communication module 234 to send the environmental information to the remote control device 240 according to the remote control task. Furthermore, the second control module 233 can also perform related operations according to the remote control instructions sent by the remote control device 240. In other words, the second control module 233 can realize the control of the acquisition module 231, the emergency module 232 and the second data communication module 234.

[0077] It should be understood that the specific functions of the remote control instructions can be set according to actual needs, and the embodiments of the present application are not limited to this.

[0078] For example, the function of the remote control command can be used to control the movement of the automatic guided transport vehicle 230, etc.

[0079] It should also be understood that the process in which the second control module 233 performs related operations according to the remote control instructions sent by the remote control device 240 can be performed according to existing computer programs or methods, and the embodiments of the present application are not limited thereto.

[0080] For example, the second control module 233 can perform signal conversion on the remote control command, thereby converting the remote control command into a signal that can be recognized by the driving structure (eg, engine, brake, etc.) on the automatic guided transport vehicle 230.

[0081] In addition, it should be noted that the automated guided vehicle 230 can operate completely in a remote control mode, or can operate in a semi-automatic and semi-remote mode, and the embodiments of the present application are not limited to this.

[0082] In order to facilitate understanding of the semi-automatic and semi-remote working mode in the embodiments of the present application, a description is given below through a specific embodiment.

[0083] Specifically, the automated guided transport vehicle 230 can work according to the local strategy stored in itself. Later, when the automated guided transport vehicle 230 is abnormal, and the automated guided transport vehicle 230 cannot perform the following work according to the local strategy, the automated guided transport vehicle 230 can send a remote control request to the warehouse control device. Later, the warehouse control device generates a remote task according to the remote control request, and sends the remote task to the automated guided transport vehicle 230 and the remote control device 240 corresponding to the automated guided transport vehicle 230. Thus, the remote control device 240 can remotely control the automated guided transport vehicle 230.

[0084] That is to say, under normal conditions, the automated guided transport vehicle 230 works according to its own local strategy. However, in the event of a problem that the automated guided transport vehicle 230 itself cannot solve, the automated guided transport vehicle 230 can apply for remote control to perform subsequent work.

[0085] In addition, it should be noted that although the above description takes the automatic guided transport vehicle 230 operating according to its own local strategy as an example, technicians in this field should understand that the operation mode of the automatic guided transport vehicle 230 can also be set according to actual needs, and the embodiments of the present application are not limited to this.

[0086] For example, in a normal state (or in other words, in the operation of daily tasks), the automated guided vehicle 230 can also operate under the remote control of the remote control device 240 .

[0087] It should be understood that the abnormal situation of the automatic guided transport vehicle 230 corresponding to the above-mentioned remote control can be set according to actual needs, and the embodiments of the present application are not limited to this.

[0088] For example, when the QR code laid on the ground is covered, the automatic guided transport vehicle 230 cannot scan the QR code, and the automatic guided transport vehicle 230 is out of position, that is, the automatic guided transport vehicle 230 has an abnormality, then the automatic guided transport vehicle 230 can send a remote control request to the warehouse control device.

[0089] It should be understood that the specific device of the second control module 233 can be set according to actual needs, and the embodiments of the present application are not limited thereto.

[0090] For example, the second control module 233 may be a chip or a single-chip microcomputer.

[0091] Furthermore, the second data communication module 234 can receive the target task sent by the warehouse control device, send environmental information to the remote control device 240, receive the remote control instruction sent by the remote control device 240, and send a feedback message to the warehouse control device to indicate that the task has been completed.

[0092] It should be understood that, when the target task is a task to be completed that is sent separately to the automated guided transport vehicle 230, the automated guided transport vehicle 230 can perform relevant operations according to its own stored local strategies, and then apply for remote operation when a situation arises that the automated guided transport vehicle 230 cannot resolve; when the target task is a remote task, the automated guided transport vehicle 230 can perform relevant operations according to the remote control instructions sent by the remote control device 240.

[0093] Furthermore, the emergency module 232 can be used to determine whether at least one of the remote operation user, the automated guided transport vehicle 230, and the remote control device 240 is abnormal in the case of remote control. Furthermore, if it is determined that at least one of the remote operation user, the automated guided transport vehicle 230, and the remote control device 240 is abnormal, the remote control instruction is intercepted. Furthermore, the second control module 233 can perform related operations according to the local strategy stored in the automated guided transport vehicle 230.

[0094] It should be understood that the process by which the emergency module 232 determines whether at least one of the remote operating user, the automated guided transport vehicle 230 and the remote control device 240 is abnormal can be performed using existing computer programs or methods, and the embodiments of the present application are not limited to this.

[0095] It should also be understood that abnormal conditions of the operator (for example, fatigue, etc.), abnormal conditions of the automated guided vehicle 230, and abnormal conditions of the remote control device 240 can all be set according to actual needs, and the embodiments of the present application are not limited to this.

[0096] For example, in the case where a speed sensor for measuring the driving speed of the automatic guided transport vehicle 230 is installed on the automatic guided transport vehicle 230, the emergency module 232 can compare the current driving speed with the preset speed. If the current driving speed of the automatic guided transport vehicle 230 is greater than the preset speed, it is determined that the automatic guided transport vehicle 230 is overspeeding. In other words, if the automatic guided transport vehicle 230 is abnormal at this time, the emergency module 232 can intercept the remote control command.

[0097] It should be understood that the size of the preset speed can be set according to actual needs, and the embodiments of the present application are not limited to this.

[0098] For another example, when a camera is installed on the automatic guided transport vehicle 230, the emergency module 232 can recognize the images captured by its own camera. When the emergency module 232 determines that the automatic guided transport vehicle 230 is about to collide, that is, the automatic guided transport vehicle 230 has an abnormality, the emergency module 232 can intercept the remote control command. Subsequently, the automatic guided transport vehicle 230 can brake or turn according to the local obstacle avoidance strategy.

[0099] For another example, when the remote control instruction sent by the remote control device 240 is a plurality of garbled characters, the emergency module 232 may determine that an abnormality occurs in the remote control device 240, and the emergency module 232 may intercept the remote control instruction.

[0100] It should also be understood that the specific form of the emergency module 232 can also be set according to actual needs, and the embodiments of the present application are not limited to this.

[0101] In addition, it should be noted that although the modules included in the automatic guided transport vehicle 230 are described above, those skilled in the art should understand that the automatic guided transport vehicle 230 may also include other modules, and the embodiments of the present application are not limited to this.

[0102] Optionally, continue to see Figure 2 The automated guided transport vehicle 230 may further include a local driving module 235, which may be connected to the second control module 233, and may be used to specify the path of the automated guided transport vehicle according to the local strategy of the automated guided transport vehicle 230, and the local driving module 235 may also be used for obstacle avoidance of the automated guided transport vehicle 230, and may also record the historical path and motion state of the automated guided transport vehicle 230. In other words, the specific functions of the local driving module 235 may be set according to actual needs, and the embodiments of the present application are not limited thereto.

[0103] For example, in the case where the automated guided transport vehicle 230 needs to move from a first location to a second location, the local driving module 235 can be used to plan a path from the first location to the second location.

[0104] Optionally, continue to see Figure 2 The automated guided transport vehicle 230 may further include a positioning module 236 , which may be connected to the second control module 233 , and the positioning module 236 may be used to determine the position of the automated guided transport vehicle 230 .

[0105] It should be understood that the specific device and installation position of the positioning module 236 can be set according to actual needs, and the embodiments of the present application are not limited thereto.

[0106] For example, the positioning module 236 may be a GPS positioning device or a visual positioning device, etc., so that when there is no QR code inside the warehouse, the positioning module 236 can be used to realize the positioning of the automatic guided transport vehicle 230.

[0107] In addition, the remote control device 240 includes a first data communication module 241, a human-machine interaction module 242, and a first control module 243. The first data communication module 241 and the human-machine interaction module 242 are connected to the first control module 243, respectively.

[0108] Among them, the first data communication module 241 can receive a remote task sent by the warehouse control device to instruct the remote control device 240 to remotely control the automatic guided transport vehicle 230, and can also receive environmental information sent by the automatic guided transport vehicle 230, and can also send remote control instructions to the automatic guided transport vehicle 230, and can also send a feedback message to the warehouse control device to indicate that the task has been completed.

[0109] It should be understood that the specific device of the first data communication module 241 can be set according to actual needs, and the embodiments of the present application are not limited thereto.

[0110] For example, the first data communication module 241 may be Bluetooth, a router, a 4G wireless transmission module, or a 5G wireless transmission module.

[0111] Furthermore, the human-computer interaction module 242 can present environmental information and can also obtain remote control instructions input by the remote operation user according to the environmental information.

[0112] It should be understood that the specific devices included in the human-computer interaction module 242 can be configured according to actual needs, and the embodiments of the present application are not limited thereto.

[0113] For example, the human-computer interaction module 242 may include a display module, a sound playback module, and a keyboard input module. Also, when the environmental information includes video information and distance information, the human-computer interaction module 242 may not only display the video image, but also indicate the distance to other objects (e.g., other automated guided vehicles, etc.) in the video image.

[0114] Furthermore, the first control module 243 may forward the environmental information to the human-machine interaction module 242 , and may also control the first data communication module 241 to send a remote control instruction to the automatic guided transport vehicle 230 according to the remote task.

[0115] It should be understood that the specific device of the first control module 243 can also be set according to actual needs, and the embodiments of the present application are not limited to this.

[0116] For example, the first control module 243 may be a chip or a single-chip microcomputer.

[0117] It should be understood that the above-mentioned system for remotely controlling AGV is merely exemplary, and those skilled in the art may make various modifications to the above-mentioned system, and the modified schemes are also within the protection scope of the embodiments of the present application.

[0118] In addition, it should be noted that, although the modules included in the remote control device 240 are described above, those skilled in the art should understand that the remote control device 240 may also include other modules, and the embodiments of the present application are not limited thereto.

[0119] Therefore, the embodiments of the present application allow the operator to remotely control the AGV by taking into account the operator's flexibility, the controllability of the AGV, and environmental information, thereby not only ensuring the operator's safety but also greatly improving the efficiency of task completion.

[0120] In addition, the embodiment of the present application can also allocate and schedule all tasks in the field through the warehouse control module, thereby also improving the efficiency of task completion.

[0121] In order to facilitate understanding of the embodiments of the present application, a description is given below using specific embodiments.

[0122] like Figure 3 As shown, Figure 3 A flowchart of a method for remotely controlling an AGV provided in an embodiment of the present application is shown. Figure 3 The methods shown include:

[0123] Step S310: the warehouse control device generates a remote task.

[0124] It should be understood that the warehouse control device reads the work to be performed from the server and automatically generates a series of tasks to be completed, which are placed in the waiting task pool and wait for execution. The warehouse control device calls the algorithm to automatically calculate the appropriate tasks in the waiting task pool as remote tasks, and according to the needs of the remote tasks, applies for the corresponding AGV and human resources, and establishes a connection with them for subsequent information processing.

[0125] It should be understood that the specific tasks included in the tasks to be completed can be set according to actual needs, and the embodiments of the present application are not limited to this.

[0126] For example, the tasks to be completed may include tasks such as moving, sorting and inventory taking.

[0127] Step S320: the warehouse control device sends a remote task to the remote control device.

[0128] Specifically, the remote control device receives the remote task sent by the warehouse control device, initializes according to the remote task, and loads the task into the human-computer interaction interface. After receiving the message that the AGV initialization is completed, the remote control device feeds back to the warehouse control device that the task can be started, and allows the remote operation user to perform related operations.

[0129] It should be understood that the specific process of initializing the remote control device can be set according to actual needs, and the embodiments of the present application are not limited thereto.

[0130] For example, the initialization of the remote control device may include the initialization of a human-machine display interface, etc.

[0131] Step S330: the warehouse control device sends a remote task to the automated guided vehicle.

[0132] Specifically, the AGV receives the remote task sent by the warehouse control device, initializes the AGV according to the remote task, and also feeds back the initialization completion information to the remote control device.

[0133] It should be understood that the specific process of initializing the AGV can be set according to actual needs, and the embodiments of the present application are not limited to this.

[0134] For example, initialization of the AGV may include stopping the motion state of the AGV, etc.

[0135] Step S340: the automated guided vehicle sends environmental information to the remote control device according to the remote task. Correspondingly, the automated guided vehicle receives the environmental information sent by the remote control device.

[0136] Specifically, the AGV collects environmental information and transmits the environmental information to the remote control device.

[0137] Step S350: the remote control device obtains a remote control instruction input by the remote operation user according to the environmental information.

[0138] Step S360: The remote control device sends a remote control instruction to the automated guided vehicle according to the remote task. Correspondingly, the AGV receives the remote control instruction sent by the remote control device.

[0139] Specifically, the remote operation user can input a series of remote control instructions through the remote control device according to the environmental data collected by the AGV, and the remote control device transmits the remote control instructions to the AGV, and the AGV completes the task.

[0140] Finally, the remote operation user confirms the task completion and feeds back the task completion status to the warehouse control device.

[0141] Therefore, remote operation users can obtain relevant information such as the AGV's operating status, vehicle speed, field of view, etc. based on the acquisition modules such as the cameras and related sensors deployed on the AGV, and further remotely control the various operations of the AGV based on the remote tasks issued by the warehouse control device, thereby reducing the staff costs in the warehouse.

[0142] Step S370: the automated guided vehicle performs relevant operations according to the remote control instructions.

[0143] Specifically, the AGV converts a series of remote control instructions issued by the remote control device into actual physical operations of the AGV to perform on-site tasks.

[0144] In addition, when the AGV determines that the on-site situation is dangerous or uncontrollable, the AGV can temporarily intercept the relevant remote control instructions and perform relevant safety operations according to the local policy based on the on-site situation.

[0145] It should be understood that the above method of remotely controlling an AGV is merely exemplary, and those skilled in the art may make various modifications based on the above method, and the modified schemes are also within the protection scope of the embodiments of the present application.

[0146] For example, although the operations of the method of the present invention are described in a particular order in the accompanying drawings, this does not require or imply that the operations must be performed in the particular order, or that all the operations shown must be performed to achieve the desired results. On the contrary, the steps depicted in the flow chart can be performed in a different order. Additionally or alternatively, some steps can be omitted, multiple steps can be combined into one step, and / or one step can be decomposed into multiple steps.

[0147] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0148] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0149] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0150] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk. It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0151] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0152] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A remote control device, characterized in that: include: A first data communication module is used to receive a remote task sent by a warehouse control device for instructing the remote control device to remotely control an automated guided transport device AGV, and is also used to receive environmental information sent by the AGV, wherein the environmental information is environmental information around the AGV; the remote task is generated by the warehouse control device according to a remote control request sent by the AGV to the warehouse control device when an abnormality occurs to the AGV, or the remote task is generated by the warehouse control device according to an allocation task generated based on an order after a service end sends the warehouse control device; A human-computer interaction module, used for obtaining a remote control instruction input by a remote operation user according to the environmental information; the remote control instruction is determined by the remote operation user based on the position of the AGV after determining the position of the AGV according to the environmental information; A first control module, wherein the first control module is communicatively connected with the first data communication module and the human-computer interaction module respectively, the first control module is used to send the environmental information to the human-computer interaction module, and is also used to control the first data communication module to send the remote control instruction to the AGV according to the remote task, and the remote control instruction will be intercepted by the AGV when it is determined that at least one of the remote operation user, the AGV and the remote control device is abnormal; wherein the abnormality of the remote operation user includes fatigue of the remote operation user, the abnormality of the AGV includes the driving speed of the AGV exceeding a preset speed and / or the AGV is about to collide, and the abnormality of the remote control device includes the remote control instruction sent by the remote control device being garbled.

2. The remote control device according to claim 1, characterized in that: The human-computer interaction module is used to present the environmental information.

3. An automatic guided vehicle AGV, characterized in that: include: A collection module, used to collect environmental information around the AGV; A second data communication module is used to receive a remote task sent by the warehouse control device to instruct the remote control device to remotely control the AGV, and is also used to send the environmental information to the remote control device, and is also used to receive the remote control instruction sent by the remote control device; the remote task is generated by the warehouse control device according to the remote control request sent by the AGV to the warehouse control device when the AGV is abnormal, or the remote task is generated by the warehouse control device according to the allocation task generated based on the order after the service end sends it to the warehouse control device; The remote control instruction is determined by the remote operating user on the remote control device based on the position of the AGV after determining the position according to the environmental information; a second control module, the second control module being communicatively connected to the acquisition module and the second data communication module respectively, the second control module being used to control the second data communication module to send the environmental information to the remote control device according to the remote task, and also being used to control the AGV according to the remote control instruction; An emergency module, the emergency module is communicatively connected with the second control module, and the emergency module is used to intercept the remote control instruction when it is determined that at least one of the remote operation user, the AGV and the remote control device is abnormal; wherein the abnormality of the remote operation user includes fatigue of the remote operation user, the abnormality of the AGV includes that the driving speed of the AGV exceeds a preset speed and / or the AGV is about to collide, and the abnormality of the remote control device includes that the remote control instruction sent by the remote control device is garbled; The second control module is further used to control the AGV according to the local policy stored in the AGV.

4. The AGV according to claim 3, characterized in that: The second control module is also used to control the second data communication module to send a remote control request to the warehouse control device when an abnormality occurs in the AGV, so that the warehouse control device can send remote tasks to the AGV and the remote control device respectively according to the remote control request.

5. A warehouse control device, characterized in that: include: A third control module is used to generate a remote task; A third data communication module, the third data communication module is communicatively connected to the third control module, the third data communication module is used to send remote tasks to the automatic guided vehicle AGV and the remote control device respectively, wherein the remote task is used to instruct the remote control device to remotely control the AGV; the remote task is generated according to the remote control request sent by the AGV when an abnormality occurs to the AGV, or the remote task is generated based on an allocation task sent by a server, and the allocation task is generated by the server based on an order.

6. The warehouse control device according to claim 5, characterized in that: The third data communication module is further used to receive a remote control request sent by the AGV when an abnormality occurs to the AGV; The third control module is further configured to generate the remote task according to the remote control request.

7. A system for remotely controlling an automated guided vehicle (AGV), characterized in that: include: A warehouse control device, used for generating remote tasks and sending the remote tasks to the remote control device and the AGV respectively; The remote task is generated by the warehouse control device according to a remote control request sent by the AGV to the warehouse control device when an abnormality occurs to the AGV, or the remote task is generated by the warehouse control device according to an allocation task generated based on an order after the service end sends the warehouse control device; A remote control device, wherein the remote control device is communicatively connected with the warehouse control device, the remote control device is used to receive environmental information sent by the AGV, obtain remote control instructions input by a remote operating user according to the environmental information, and send the remote control instructions to the AGV according to the remote task; the remote control instructions are determined based on the position of the AGV after the remote operating user determines the position according to the environmental information; the remote control instructions will be intercepted by the AGV when it is determined that at least one of the remote operating user, the AGV and the remote control device is abnormal; wherein the abnormality of the remote operating user includes fatigue of the remote operating user, the abnormality of the AGV includes the driving speed of the AGV exceeding a preset speed and / or the AGV is about to collide, and the abnormality of the remote control device includes that the remote control instructions sent by the remote control device are garbled; The AGV is respectively connected to the warehouse control device and the remote control device for communication. The AGV is used to send the environmental information to the remote control device according to the remote task and perform related operations according to the remote control instruction.

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