Automatic guided vehicle AGV control method, device, system and storage medium

Abstract

The embodiments of the present application provide a control method, device, system and storage medium for an automated guided vehicle (AGV). The method includes: receiving multiple first positions reported by multiple AGVs online in a warehouse at a first moment, and a second position reported by a mobile terminal held by a user entering the warehouse at a first moment; and controlling the parking of a first AGV located in a first parking area according to the multiple first positions and the second positions, wherein the second position is within the first parking area. The above control method can avoid collisions between AGVs and personnel, and improve the safety of the system. Compared with the existing solutions, since there is no need to install obstacle avoidance sensors in multiple directions for each AGV, the cost of building an AGV system is reduced.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of warehouse obstacle avoidance technology, and in particular to a control method, device, system and storage medium for an automated guided vehicle (AGV). Background Art

[0002] An AGV (Automatic Guided Vehicle) is a battery-powered, unmanned automated transport vehicle equipped with a non-contact guide device and an independent addressing system. Its system technology and products have become important equipment and technology for flexible production lines, flexible assembly lines, and warehouse logistics automation systems.

[0003] At present, the autonomous navigation technology of AGV has matured, and AGV can autonomously perform some tasks of transporting and pulling goods. In the process of warehouse management, workers sometimes need to enter the working area of ​​AGV. In order to prevent the running AGV from colliding with the workers entering the site, the most commonly used technology is to install obstacle avoidance sensors on the AGV. When an obstacle is identified, the AGV stops automatically.

[0004] In order to improve the obstacle avoidance effect of AGV, obstacle avoidance sensors need to be installed in multiple positions on the AGV body. For warehouses that require a large number of AGVs to operate, the cost of building an AGV system is very high. Summary of the invention

[0005] The embodiments of the present application provide a control method, device, system and storage medium for an automated guided vehicle (AGV) to avoid collisions between the AGV and personnel and improve the safety of the system.

[0006] In a first aspect, an embodiment of the present application provides a control method for an AGV, including:

[0007] Receiving a plurality of first positions reported by a plurality of AGVs online in the warehouse at a first moment, and a second position reported by a mobile terminal held by a user entering the warehouse at the first moment;

[0008] The first AGV located in the first parking area is controlled to park according to the plurality of first positions and the second position, wherein the second position is within the first parking area.

[0009] In a possible implementation, controlling the parking of the first AGV located in the first parking area according to the first position and the second position includes:

[0010] Determine, according to the second position, a first parking area in the warehouse with the second position as the center and a preset distance as the radius;

[0011] Determining, based on the first parking area and the plurality of first positions, a first AGV currently located in the first parking area;

[0012] Send a stop instruction to the first AGV.

[0013] Optionally, the preset distance is greater than or equal to the sum of the maximum parking distance of the AGV and the positioning error value of the mobile terminal.

[0014] In a possible implementation, the method further includes:

[0015] According to the multiple first positions and the second position, the second AGV in the warehouse is controlled to avoid the first parking area, the second AGV is located within a preset range outside the first parking area, and a preset running route of the second AGV passes through the first parking area.

[0016] In a possible implementation manner, controlling the second AGV in the warehouse to avoid the first parking area according to the multiple first positions and the second position includes:

[0017] Determine, according to the second position, a first parking area in the warehouse with the second position as the center and a preset distance as the radius;

[0018] According to the first parking area and the plurality of first positions, determining a third AGV currently located within a preset range outside the first parking area, and selecting a second AGV whose preset running path passes through the first parking area from the third AGV;

[0019] The running path of the second AGV is replanned, and a new path control instruction is sent to the second AGV.

[0020] In a possible implementation, the method further includes:

[0021] Receiving a plurality of third positions reported by a plurality of online AGVs in the warehouse at a second moment, and a fourth position reported by the mobile terminal at the second moment;

[0022] The fourth AGV located in the second parking area is controlled to park according to the plurality of third positions and the fourth position, wherein the fourth position is within the second parking area.

[0023] Optionally, the second parking area includes a first sub-area that does not overlap with the first parking area.

[0024] In a possible implementation manner, controlling the fourth AGV to stop according to the plurality of third positions and the fourth position includes:

[0025] Determine, according to the fourth position, a second parking area in the warehouse with the fourth position as the center and the preset distance as the radius;

[0026] determining, based on the second parking area, the first parking area, and the plurality of third locations, a fourth AGV currently located in the first sub-area;

[0027] A parking instruction is sent to the fourth AGV.

[0028] Optionally, the first parking area includes a second sub-area that does not overlap with the second parking area.

[0029] In a possible implementation, the method further includes:

[0030] The fifth AGV currently located in the second sub-area is controlled to start.

[0031] In a possible implementation manner, if the location update reported by the mobile terminal is not received within a preset time period, the method further includes:

[0032] Send a stop command to all online AGVs.

[0033] In a second aspect, an embodiment of the present application provides a control device for an AGV, comprising:

[0034] A receiving module, used to receive a plurality of first positions reported by a plurality of AGVs online in the warehouse at a first moment, and a second position reported by a mobile terminal held by a user entering the warehouse at the first moment;

[0035] The processing module is used to control the parking of the first AGV located in the first parking area according to the multiple first positions and the second position, and the second position is in the first parking area.

[0036] In a possible implementation manner, the processing module is specifically configured to determine, according to the second position, a first parking area in the warehouse with the second position as the center and a preset distance as the radius;

[0037] Determining, based on the first parking area and the plurality of first positions, a first AGV currently located in the first parking area;

[0038] The device also includes: a sending module, configured to send a parking instruction to the first AGV.

[0039] The preset distance is greater than or equal to the sum of the maximum parking distance of the AGV and the positioning error value of the mobile terminal.

[0040] In a possible implementation manner, the processing module is further used to:

[0041] According to the multiple first positions and the second position, the second AGV in the warehouse is controlled to avoid the first parking area, the second AGV is located within a preset range outside the first parking area, and a preset running route of the second AGV passes through the first parking area.

[0042] In a possible implementation manner, the processing module is specifically configured to:

[0043] Determine, according to the second position, a first parking area in the warehouse with the second position as the center and a preset distance as the radius;

[0044] According to the first parking area and the plurality of first positions, determining a third AGV currently located within a preset range outside the first parking area, and selecting a second AGV whose preset running path passes through the first parking area from the third AGV;

[0045] Replanning the running path of the second AGV;

[0046] The sending module is also used to send a new path control instruction to the second AGV.

[0047] In a possible implementation, the receiving module is further used to receive a plurality of third positions reported by a plurality of online AGVs in the warehouse at the second moment, and a fourth position reported by the mobile terminal at the second moment;

[0048] The processing module is further used to control the parking of a fourth AGV located in the second parking area according to the plurality of third positions and the fourth position, wherein the fourth position is within the second parking area.

[0049] Optionally, the second parking area includes a first sub-area that does not overlap with the first parking area.

[0050] In a possible implementation manner, the processing module is specifically configured to:

[0051] Determine, according to the fourth position, a second parking area in the warehouse with the fourth position as the center and the preset distance as the radius;

[0052] determining, based on the second parking area, the first parking area, and the plurality of third locations, a fourth AGV currently located in the first sub-area;

[0053] The sending module is further used to send a parking instruction to the fourth AGV.

[0054] Optionally, the first parking area includes a second sub-area that does not overlap with the second parking area.

[0055] In a possible implementation manner, the processing module is further configured to control a fifth AGV currently located in the second sub-area to start.

[0056] In a possible implementation, if the location update reported by the mobile terminal is not received within a preset time period, the sending module is further configured to send a parking instruction to all online AGVs.

[0057] In a third aspect, an embodiment of the present application provides a control device for an AGV, comprising:

[0058] at least one processor; and

[0059] a memory communicatively connected to the at least one processor; wherein,

[0060] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the control device to perform any method according to the first aspect.

[0061] In a fourth aspect, an embodiment of the present application provides an AGC control system, including: an AGV control device, a plurality of AGVs online in a warehouse, and a mobile terminal held by a user entering the warehouse, wherein the AGV control device is communicatively connected with the plurality of AGVs and the mobile terminal respectively;

[0062] Wherein, the control device is used to execute the method as described in any one of the first aspects to control the multiple AGVs to stop or start.

[0063] In a possible implementation manner, the control system further includes:

[0064] At least three positioning transmitters, the positioning transmitters are used to transmit broadcast signals, the mobile terminal is used to receive the broadcast signals transmitted by the at least three positioning transmitters, determine the real-time position of the mobile terminal according to the broadcast signals, and report the real-time position to the control device of the AGV.

[0065] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, comprising: a computer program for storing a computer program, which, when executed on a computer, enables the computer to execute any one of the methods described in the first aspect.

[0066] The embodiments of the present application provide a control method, device, system and storage medium for an automated guided vehicle (AGV). The method includes: receiving multiple first positions reported by multiple AGVs online in a warehouse at a first moment, and a second position reported by a mobile terminal held by a user entering the warehouse at a first moment; and controlling the parking of a first AGV located in a first parking area according to the multiple first positions and the second positions, wherein the second position is within the first parking area. The above control method can avoid collisions between AGVs and personnel, and improve the safety of the system. Compared with the existing solutions, since there is no need to install obstacle avoidance sensors in multiple directions for each AGV, the cost of building an AGV system is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1a A schematic diagram of the architecture of an AGV system provided in an embodiment of the present application;

[0068] Figure 1b A schematic diagram of the architecture of an AGV system provided in an embodiment of the present application;

[0069] Figure 2 A flow chart of a control method of an AGV provided in an embodiment of the present application;

[0070] Figure 3 A top view of a warehouse at a first moment provided in an embodiment of the present application;

[0071] Figure 4 A flow chart of a control method of an AGV provided in an embodiment of the present application;

[0072] Figure 5 A top view of a warehouse at a first moment provided in an embodiment of the present application;

[0073] Figure 6 A flow chart of a control method of an AGV provided in an embodiment of the present application;

[0074] Figure 7 A schematic diagram of a parking area at two consecutive moments provided in an embodiment of the present application;

[0075] Figure 8 A top view of a warehouse at two consecutive moments provided in an embodiment of the present application;

[0076] Fig. 9 A schematic diagram of the structure of a control device for an AGV provided in an embodiment of the present application;

[0077] Fig.10 A schematic diagram of the hardware structure of an AGV control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0078] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0079] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example.

[0080] In addition, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, method, product, or apparatus.

[0081] Currently, e-commerce warehouses have used AGVs for cargo handling, with a high degree of automation. However, due to AGV failures or other warehouse management needs, staff sometimes need to enter the AGV work area. In order to prevent the AGV from colliding with staff, obstacle avoidance sensors are usually installed on the AGV. The obstacle avoidance sensors are used to identify obstacles near the AGV, including staff and other AGVs. Usually, obstacle avoidance sensors are installed in front of the AGV, but the obstacle avoidance effect is not good due to the limited recognition range. In order to enhance the recognition ability of the AGV, obstacle avoidance sensors can be installed in multiple positions of the AGV. This solution is suitable for scenarios with a small number of AGVs. However, for warehouses that require a large number of AGVs to operate, the cost of adopting the above solution is very high.

[0082] In order to solve the above problems, an embodiment of the present application provides a control method for AGV, which can be applied to the control platform of the AGV system. The platform controls the parking of AGVs within a preset range near the location of the staff based on the location information reported by multiple AGVs and the positioning device held by the staff. The above scheme can effectively prevent the AGV from colliding with the staff entering the warehouse and improve the safety of the entire system. It should be noted that the above scheme is applicable to large, medium and small warehouses. Each AGV controlled by the platform only needs to be installed with a low-precision and low-cost obstacle avoidance sensor (used to assist in detecting obstacles or people), which greatly reduces the cost of building the AGV system.

[0083] First, combine with Figure 1a , Attachment Figure 1b The system architecture of the AGV control method provided in the embodiment of the present application is introduced in detail.

[0084] Figure 1a A schematic diagram of the architecture of an AGV system provided in an embodiment of the present application is shown in FIG. Figure 1a As shown, the AGV system 100 provided in this embodiment includes a control platform 110, a plurality of AGVs 120, and a mobile terminal 130 held by a user entering the warehouse. The control platform 110 is communicatively connected with the plurality of AGVs 120 and the mobile terminal 130 respectively.

[0085] based on Figure 1a In the system architecture shown, the control platform 110 receives the real-time positions reported by multiple AGVs 120 and mobile terminals 130 at the same time. The real-time positions reported by the mobile terminals are the real-time positions of the staff in the warehouse. The control platform 110 determines a part of the AGVs whose distance from the staff is less than the preset safety distance based on the real-time positions reported by multiple AGVs 120 and mobile terminals 130, and controls these AGVs to stop to prevent the AGVs from colliding with the staff during operation. Among them, the AGV 120 can determine its own position by identifying the QR code laid on the floor of the warehouse, and report the position to the control platform 110 in real time. The mobile terminal 130 can use any indoor positioning technology to determine its own position, and this embodiment of the application does not impose any restrictions on this.

[0086] Figure 1b A schematic diagram of the architecture of an AGV system provided in an embodiment of the present application is shown in FIG. Figure 1b As shown, the AGV system 100 provided in this embodiment includes a control platform 110, multiple AGVs 120, a mobile terminal 130 held by a user entering the warehouse, and a positioning transmitter 140. The control platform 110 is respectively connected to the multiple AGVs 120 and the mobile terminal 130 for communication. At least three positioning transmitters 140 are arranged in the warehouse, and the position of each positioning transmitter 140 in the warehouse remains fixed. The positioning transmitter 140 transmits signals with a fixed power. In practical applications, more positioning transmitters can be set according to the size of the warehouse to achieve full coverage of the transmission signal.

[0087] based on Figure 1bIn the system architecture shown, the mobile terminal 130 receives the broadcast signal transmitted by each positioning transmitter 140, determines the distance between the mobile terminal 130 and each positioning transmitter 140, and then calculates the real-time position of the mobile terminal 130 in the warehouse through spatial coordinates. Optionally, the mobile terminal 130 can use a variety of methods to calculate the distance from each positioning transmitter 140, such as received signal strength indication (RSSI) ranging positioning method or time arrival method. The control platform 110 receives the real-time positions reported by multiple AGVs 120 and mobile terminals 130 at the same time. The real-time positions reported by the mobile terminals are the real-time positions of the staff in the warehouse. Based on the real-time positions reported by multiple AGVs 120 and mobile terminals 130, the control platform 110 determines a part of the AGVs whose distance from the staff is less than the preset safety distance, and controls these AGVs to stop to prevent the AGVs from colliding with the staff during operation.

[0088] In some embodiments, the control platform 110 can be connected to a wireless access point AP via a router switch. The control platform 110 can communicate with multiple AGVs 120 via wifi. AGVs 120 receive and execute various instructions sent by the control platform 110 and perform various action processing, such as starting, stopping, accelerating, and decelerating.

[0089] The embodiments of the present application do not impose any restrictions on the type of mobile terminal, as long as it has a positioning function. For example, the mobile terminal 130 can be a smart phone, IPAD, laptop, wearable device (such as a smart watch, bracelet, glasses), etc.

[0090] The technical solution of the present application is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0091] Figure 2 A flow chart of a control method of an AGV provided in an embodiment of the present application, such as Figure 2 As shown, the control method provided in this embodiment includes the following steps:

[0092] Step 210: Receive multiple first positions reported by multiple AGVs online in the warehouse at a first moment, and receive second positions reported by a mobile terminal held by a user entering the warehouse at a first moment.

[0093] Step 220: Control the first AGV located in the first parking area to park according to the multiple first positions and second positions.

[0094] The second position is within the first parking area. In a possible implementation, the second position is the center position of the first parking area, and the first parking area can be a circular area with the second position as the center and a preset distance as the radius, or a square area with the second position as the center, or an area of ​​other shapes, which is not limited in any way in this embodiment of the application.

[0095] In a possible implementation, step 220 specifically includes the following steps: determining a first parking area in the warehouse with the second position as the center and a preset distance as the radius according to the second position. Then, determining a first AGV currently located in the first parking area according to the first parking area and the plurality of first positions. Finally, sending a parking instruction to the first AGV.

[0096] The preset distance in this embodiment can be set according to an empirical value, or can be set in the following manner:

[0097] The preset distance is greater than or equal to the sum of the maximum parking distance of the AGV and the positioning error value of the mobile terminal. The maximum parking distance of the AGV refers to the driving distance of the AGV from receiving the parking instruction to the final parking of the AGV. For example, the maximum parking distance of the AGV is 5m, the positioning error value of the mobile terminal is 0.5m, and the preset distance is greater than or equal to 5.5m. In order to prevent the AGV from colliding with the staff, the preset distance can be expanded, for example, set to 8m, that is, the first parking area is an area with a radius of 8m centered on the second position.

[0098] Figure 3 The top view of the warehouse at the first moment provided in the embodiment of the present application is as follows: Figure 3 As shown, at the first moment, the control platform receives the second position 310 reported by the mobile terminal held by the user. There are two online AGVs, AGV331 and AGV332, in the first parking area 320 with the second position 310 as the center and a preset distance r1 as the radius. The control platform sends parking instructions to these two AGVs.

[0099] The AGV control method provided in this embodiment obtains the real-time position of the personnel entering the warehouse through the position reported by the mobile terminal held by the user, and controls the parking of the AGV within a preset range near the position according to the position, thereby avoiding collision of the AGV with the personnel and improving the safety of the system. Compared with the existing solution, since there is no need to install obstacle avoidance sensors in multiple directions for each AGV, the cost of building the AGV system is greatly reduced.

[0100] Figure 4 A flow chart of a control method of an AGV provided in an embodiment of the present application, such as Figure 4 As shown, the control method provided in this embodiment includes the following steps:

[0101] Step 410: Receive multiple first positions reported by multiple AGVs online in the warehouse at a first moment and second positions reported by a mobile terminal held by a user entering the warehouse at a first moment.

[0102] Step 420: Control the second AGV in the warehouse to avoid the first parking area according to the multiple first positions and second positions.

[0103] The second AGV is located in a preset range outside the first parking area, and the preset running route of the second AGV passes through the first parking area. The first parking area is the same as the above embodiment, and will not be described again here.

[0104] In a possible implementation, the first parking area is set as a circular area with the second position as the center and the preset distance as the radius. Step 420 specifically includes the following steps:

[0105] According to the second position, a first parking area in the warehouse with the second position as the center and a preset distance as the radius is determined. According to the first parking area and the multiple first positions, a third AGV currently located within a preset range outside the first parking area is determined. Then, a second AGV whose preset running path passes through the first parking area is selected from the third AGV. Finally, the running path of the second AGV is replanned, and a new path control instruction is sent to the second AGV.

[0106] In the above example, considering that some third AGVs within the preset range outside the first parking area may not pass through the first parking area, there is no need to re-plan the paths of these AGCs. In order to avoid unnecessary path adjustments, the control platform needs to further screen the third AGVs, and finally obtain the second AGV that needs to re-plan the path. The control platform only needs to re-plan the path of the second AGV and control the second AGC that is about to enter the first parking area to bypass the first parking area. It should be noted that the first parking area in this embodiment will not change within a certain period of time.

[0107] Figure 5 The top view of the warehouse at the first moment provided in the embodiment of the present application is as follows: Figure 5As shown, at the first moment, the control platform receives the second position 310 reported by the mobile terminal held by the user. There are two online AGVs, AGV331 and AGV332, in the first parking area 320 with the second position 310 as the center and the preset distance r1 as the radius. The control platform sends a parking instruction to the two AGVs. In addition, in the annular area composed of two circular rings with the second position 310 as the center and the radii r1 and r2 respectively, there are three online AGVs, AGV333, AGV334, and AGV335. Based on the preset running paths of the three AGVs, the control platform can determine that the preset running paths of two of the AGVs, AGV333 and AGV334, will pass through the first parking area 320. In order to improve the operating efficiency of the online AGVs, the control platform can dispatch AGV333 and AGV334 that are about to enter the first parking area 320, and re-plan the paths of the two AGVs so that they bypass the first parking area 320. Since the AGV 335 in the circular area will not pass through the first parking area 320, the control platform does not need to issue commands to control the AGV.

[0108] The AGV control method provided in this embodiment obtains the real-time position of the personnel entering the warehouse through the position reported by the mobile terminal held by the user, and controls the parking of the AGV within a preset range near the position according to the position. In addition, the operation path of the AGV within a certain range outside the preset range can be appropriately adjusted to make the AGV that is about to enter the preset range detour, avoid more AGVs from stopping, and improve the operation efficiency of the system's online AGV.

[0109] Figure 6 A flow chart of a control method of an AGV provided in an embodiment of the present application. Figure 2 Based on the embodiment shown, Figure 6 As shown, the control method provided in this embodiment also includes:

[0110] Step 510: Receive multiple third positions reported by multiple AGVs online in the warehouse at the second moment, and a fourth position reported by the mobile terminal at the second moment.

[0111] In the embodiment of the present application, the second moment is the next moment that is continuous with the first moment. The AGV and the mobile terminal can report their positions to the control platform based on the same reporting cycle, for example, reporting their positions every 2 seconds. The reporting cycle is the time difference between the second moment and the first moment.

[0112] Step 520: Control the parking of the fourth AGV located in the second parking area according to the plurality of third positions and the fourth position.

[0113] Among them, the fourth position is within the second parking area.

[0114] and Figure 2 Similar to the first parking area in the embodiment, in a possible implementation, the fourth position serves as the center position of the second parking area. The second parking area can be a circular area with the fourth position as the center and a preset distance as the radius, or a square area with the fourth position as the center, or an area of ​​other shapes, and the embodiment of the present application does not impose any limitation on this.

[0115] The first moment and the second moment are two consecutive moments. The first moment corresponds to the first parking area, and the second moment corresponds to the second parking area. There are two positional relationships between the first parking area and the second parking area: independent of each other, or partial area overlap.

[0116] In a possible case, the first parking area and the second parking area are independent of each other.

[0117] Step 520 specifically includes the following steps: determining a second parking area in the warehouse with the fourth position as the center and a preset distance as the radius based on the fourth position, then determining the fourth AGV currently located in the second parking area based on the second parking area and multiple third positions, and finally sending a parking instruction to the fourth AGV.

[0118] In one possible case, the first parking area and the second parking area partially overlap, wherein the second parking area includes a first sub-area that does not overlap with the first parking area, the first parking area includes a second sub-area that does not overlap with the second parking area, and the second parking area and the first parking area both include a third sub-area, and the third sub-area is an overlapping area.

[0119] Step 520 specifically includes the following steps: determining a second parking area in the warehouse with the fourth position as the center and a preset distance as the radius according to the fourth position, then determining the fourth AGV currently located in the first sub-area according to the second parking area, the first parking area and multiple third positions, and finally sending a parking instruction to the fourth AGV.

[0120] Figure 7 A schematic diagram of a parking area at two consecutive moments provided in an embodiment of the present application, such as Figure 7 As shown, the first moment corresponds to the first parking area 320, and the second moment corresponds to the second parking area 350. The second parking area 350 includes an area C (i.e., a first sub-area) that does not overlap with the first parking area 320, and an area B (i.e., a third sub-area) that overlaps with the first parking area 320. The first parking area 320 includes an area A (i.e., a second sub-area) that does not overlap with the second parking area 350, and an area B that overlaps with the second parking area 350.

[0121] Figure 8The top view of the warehouse at two consecutive moments provided in the embodiment of the present application is as follows: Figure 8 As shown, at the first moment, the control platform receives the second position 310 reported by the mobile terminal held by the user. With the second position 310 as the center and the preset distance r1 as the radius, there are two online AGVs, namely AGV331 and AGV332, in the first parking area 320. The control platform sends a parking instruction to the two AGVs. At the second moment, the control platform receives the fourth position 340 reported by the mobile terminal. With the fourth position 340 as the center and the preset distance r1 as the radius, there are three AGVs, namely AGV332, AGV361, and AGV362, in the second parking area 350. Since the control platform has sent a parking instruction to AGV332 at the previous moment, the control platform can only send a parking instruction to AGV361 and AGV362, reducing the signaling consumption of the control platform.

[0122] Optionally, in some embodiments, the control method may further include the following steps:

[0123] The fifth AGV currently located in the second sub-area is controlled to start. This example implements dynamic scheduling of the AGV that stopped at the last moment. If the stopped AGV is not in the current parking area, the control platform can control it to re-run, thereby improving the operating efficiency of the online AGV in the system.

[0124] like Figure 8 As shown, there is an AGV331 in the second sub-area of ​​the first parking area 320 that does not overlap with the second parking area 350. Since AGV331 is not in the current second parking area 350 (i.e., the updated parking area), the control platform can send a start command to AGV331.

[0125] Optionally, in some embodiments, before the control platform controls the fifth AGV currently located in the second sub-area to run, it may further include the following steps:

[0126] Determine whether the preset running path of the fifth AGV located in the second sub-area passes through the current second parking area. Specifically, if the fifth AGV does not pass through the second parking area, send a start instruction to the fifth AGV. If it passes through the second parking area, the running path of the fifth AGV can be replanned and a new path control instruction can be sent to the fifth AGV.

[0127] The above example implements dynamic scheduling of stopped AGVs. Based on the positional relationship between the stopped AGV and the current parking area, the AGV is controlled to continue running or run according to new path control instructions, thereby improving the operating efficiency of the system's online AGVs.

[0128] The AGV control method provided in this embodiment analyzes the position of the parking area at two consecutive moments and dynamically adjusts the actions of each AGV in the new and old parking areas according to the changes in the parking areas. If there is no overlapping area between the new and old parking areas, the AGV in the new parking area is controlled to stop, and the AGV in the old parking area is controlled to restart. If there is an overlapping area between the new and old parking areas, the AGV in the new parking area except the overlapping area is controlled to stop, and the AGV in the old parking area except the overlapping area is controlled to restart. The above scheme realizes dynamic scheduling of AGVs and improves the operating efficiency of the system's online AGVs.

[0129] Optionally, based on the above embodiments, if the location update reported by the mobile terminal is not received within a preset time period, the control method further includes:

[0130] Send a stop command to all online AGVs.

[0131] In the above example, if the control platform does not receive a signal from the mobile terminal for a long time, it can be determined that the mobile terminal has a fault. In order to prevent accidents, the control platform will initiate an emergency response and control all AGVs online in the warehouse to stop to ensure the safety of personnel.

[0132] Fig. 9 This is a schematic diagram of the structure of a control device for an AGV provided in an embodiment of the present application. Fig. 9 As shown, the control device 600 of the AGV provided in this embodiment includes:

[0133] The receiving module 610 is used to receive a plurality of first positions reported by a plurality of AGVs online in the warehouse at a first moment, and a second position reported by a mobile terminal held by a user entering the warehouse at the first moment;

[0134] The processing module 620 is used to control the parking of the first AGV located in the first parking area according to the multiple first positions and the second position, and the second position is in the first parking area.

[0135] In a possible implementation, the processing module 620 is specifically configured to:

[0136] Determine, according to the second position, a first parking area in the warehouse with the second position as the center and a preset distance as the radius;

[0137] Determining, based on the first parking area and the plurality of first positions, a first AGV currently located in the first parking area;

[0138] The sending module 630 is used to send a parking instruction to the first AGV.

[0139] Optionally, the preset distance is greater than or equal to the sum of the maximum parking distance of the AGV and the positioning error value of the mobile terminal.

[0140] In a possible implementation, the processing module 620 is further configured to:

[0141] According to the multiple first positions and the second position, the second AGV in the warehouse is controlled to avoid the first parking area, the second AGV is located within a preset range outside the first parking area, and a preset running route of the second AGV passes through the first parking area.

[0142] In a possible implementation, the processing module 620 is specifically configured to:

[0143] Determine, according to the second position, a first parking area in the warehouse with the second position as the center and a preset distance as the radius;

[0144] According to the first parking area and the plurality of first positions, determining a third AGV currently located within a preset range outside the first parking area, and selecting a second AGV whose preset running path passes through the first parking area from the third AGV;

[0145] Replanning the running path of the second AGV;

[0146] The sending module 630 is further configured to send a new path control instruction to the second AGV.

[0147] In a possible implementation manner, the receiving module 610 is further configured to:

[0148] Receiving a plurality of third positions reported by a plurality of online AGVs in the warehouse at a second moment, and a fourth position reported by the mobile terminal at the second moment;

[0149] The processing module 620 is further configured to control the parking of a fourth AGV located in the second parking area according to the plurality of third positions and the fourth position, wherein the fourth position is within the second parking area.

[0150] Optionally, the second parking area includes a first sub-area that does not overlap with the first parking area.

[0151] In a possible implementation, the processing module 620 is specifically configured to:

[0152] Determine, according to the fourth position, a second parking area in the warehouse with the fourth position as the center and the preset distance as the radius;

[0153] determining, based on the second parking area, the first parking area, and the plurality of third locations, a fourth AGV currently located in the first sub-area;

[0154] The sending module is specifically used to send a parking instruction to the fourth AGV.

[0155] Optionally, the first parking area includes a second sub-area that does not overlap with the second parking area.

[0156] In a possible implementation, the processing module 620 is further configured to control the fifth AGV currently located in the second sub-area to start.

[0157] In a possible implementation, if the location update reported by the mobile terminal is not received within a preset time period, the sending module 630 is further configured to send a parking instruction to all online AGVs.

[0158] The control device of the AGV provided in the embodiment of the present application is used to execute the technical solution in any of the aforementioned method embodiments, and its implementation principle and technical effect are similar and will not be repeated here.

[0159] It should be noted that it should be understood that the division of the various modules of the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. And these modules can all be implemented in the form of software called by processing elements; they can also be all implemented in the form of hardware; some modules can also be implemented in the form of software called by processing elements, and some modules can be implemented in the form of hardware. For example, the processing module can be a separately established processing element, or it can be integrated in a chip of the above device. In addition, it can also be stored in the memory of the above device in the form of program code, and called and executed by a processing element of the above device. The implementation of other modules is similar. In addition, these modules can be fully or partially integrated together, or they can be implemented independently. The processing element described here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each module above can be completed by an integrated logic circuit of hardware in the processor element or instructions in the form of software.

[0160] For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as one or more application specific integrated circuits (ASIC), or one or more microprocessors (digital signal processors, DSP), or one or more field programmable gate arrays (FPGA), etc. For another example, when a module above is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0161] Fig.10 This is a schematic diagram of the hardware structure of an AGV control device provided in an embodiment of the present application. Fig.10 As shown, the control device 700 of the AGV provided in this embodiment includes:

[0162] At least one processor 710 ( Figure 7 Only one processor is shown); and

[0163] A memory 720 in communication with the at least one processor; wherein,

[0164] The memory 720 stores instructions that can be executed by the at least one processor 710. The instructions are executed by the at least one processor 710 to enable the control device 700 to execute the technical solution in any of the aforementioned method embodiments.

[0165] Optionally, the memory 720 may be independent or integrated with the processor 710 .

[0166] When the memory 720 is a device independent of the processor 710 , the control device 700 further includes: a bus 730 for connecting the memory 720 and the processor 710 .

[0167] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the technical solution in any of the aforementioned method embodiments.

[0168] An embodiment of the present application also provides a chip, including: a processing module and a communication interface, wherein the processing module can execute the technical solution in any of the aforementioned method embodiments.

[0169] Furthermore, the chip also includes a storage module (such as a memory), the storage module is used to store instructions, the processing module is used to execute the instructions stored in the storage module, and the execution of the instructions stored in the storage module enables the processing module to execute the technical solution in any of the aforementioned method embodiments.

[0170] It should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented by a hardware processor or implemented by a combination of hardware and software modules in the processor.

[0171] The memory may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a magnetic disk or an optical disk, etc.

[0172] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0173] The above storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general or special purpose computer.

[0174] An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the storage medium can also exist in the control device as discrete components.

[0175] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A control method for an automatic guided vehicle AGV, characterized in that: include: Receiving a plurality of first positions reported by a plurality of AGVs online in the warehouse at a first moment, and a second position reported by a mobile terminal held by a user entering the warehouse at the first moment; According to the plurality of first positions and the second position, the first AGV is controlled to park in a first parking area; the first parking area is a first circular area with the second position as the center and a first preset distance as the radius; According to the first parking area and the plurality of first positions, a third AGV currently located within a preset range is determined, and a second AGV whose preset running path passes through the first parking area is screened out from the third AGV; the preset range is a circular area excluding the first circular area from a second circular area with the second position as the center and the second preset distance as the radius; Replanning the running path of the second AGV, sending a new path control instruction to the second AGV, and controlling the second AGV to bypass the first parking area; The method further comprises: Receiving a plurality of third positions reported by a plurality of online AGVs in the warehouse at a second moment, and a fourth position reported by the mobile terminal at the second moment; Determine, according to the fourth position, a second parking area in the warehouse with the fourth position as the center and the first preset distance as the radius; the second parking area includes a first sub-area that does not overlap with the first parking area; determining, based on the second parking area, the first parking area, and the plurality of third locations, a fourth AGV currently located in the first sub-area; A parking instruction is sent to the fourth AGV.

2. The method according to claim 1, characterized in that The controlling the parking of the first AGV located in the first parking area according to the first position and the second position includes: Determine, according to the second position, a first parking area in the warehouse with the second position as the center and the first preset distance as the radius; Determining, based on the first parking area and the plurality of first positions, a first AGV currently located in the first parking area; Send a stop instruction to the first AGV.

3. The method according to claim 1, characterized in that The first parking area includes a second sub-area that does not overlap with the second parking area, and the method further includes: The fifth AGV currently located in the second sub-area is controlled to start.

4. The method according to claim 1 or 2, characterized in that: If the location update reported by the mobile terminal is not received within a preset time period, the method further includes: Send a stop command to all online AGVs.

5. A control device for an AGV, characterized in that: include: A receiving module, used to receive a plurality of first positions reported by a plurality of AGVs online in the warehouse at a first moment, and a second position reported by a mobile terminal held by a user entering the warehouse at the first moment; The processing module is used to control the parking of the first AGV located in the first parking area according to the multiple first positions and the second position; determine the third AGV currently located in the preset range according to the first parking area and the multiple first positions, and select the second AGV whose preset running path passes through the first parking area from the third AGV; and re-plan the running path of the second AGV, send a new path control instruction to the second AGV, and control the second AGV to bypass the first parking area; wherein the first parking area is a first circular area with the second position as the center and the first preset distance as the radius; the preset range is a second circular area with the second position as the center and the second preset distance as the radius excluding the annular area of ​​the first circular area; The receiving module is further used to receive a plurality of third positions reported by a plurality of online AGVs in the warehouse at a second moment, and a fourth position reported by the mobile terminal at the second moment; The processing module is further used to determine, according to the fourth position, a second parking area in the warehouse with the fourth position as the center and the first preset distance as the radius; the second parking area includes a first sub-area that does not overlap with the first parking area; and determine, according to the second parking area, the first parking area and the plurality of third positions, a fourth AGV currently located in the first sub-area; A parking instruction is sent to the fourth AGV.

6. A control device for an AGV, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the control device to perform the method according to any one of claims 1 to 4.

7. A control system for an AGV, characterized in that: include: A control device of the AGV, a plurality of AGVs online in the warehouse, and a mobile terminal held by a user entering the warehouse, wherein the AGV control device is communicatively connected with the plurality of AGVs and the mobile terminal respectively; Wherein, the control device is used to execute the method as described in any one of claims 1 to 4 to control the parking or starting of the multiple AGVs.

8. The control system according to claim 7, characterized in that: The control system also includes: at least three positioning transmitters, the positioning transmitters are used to transmit broadcast signals, the mobile terminal is used to receive the broadcast signals transmitted by the at least three positioning transmitters, determine the real-time position of the mobile terminal according to the broadcast signals, and report the real-time position to the control device of the AGV.

9. A computer-readable storage medium, characterized in that: include: Used to store a computer program, when the computer program is executed on a computer, the computer is caused to execute the method according to any one of claims 1 to 4.

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