AGV executes real-time segmented task path magnetic nail search method

Abstract

The application provides a magnetic nail searching method for AGV to execute real-time segmented task paths, comprising: AGV receives segmented paths and loads them to a path list P; filters completed segmented paths to obtain a path set R; searches magnetic nails corresponding to the path set R, sorts the magnetic nails to form a magnetic nail set S and filters interference magnetic nails; calculates the distance between the first magnetic nail in the magnetic nail set S and the last magnetic nail in a magnetic nail sequence M, and then inserts the first magnetic nail in the magnetic nail set S to the tail of the magnetic nail sequence M; and AGV moves according to the distance between two magnetic nails and the path direction of the corresponding magnetic nail. The magnetic nail searching method for AGV to execute real-time segmented task paths according to the application splices the scheduling paths segmented and issued to relatively long moving task paths, and then locks specific magnetic nails in the moving task path range and calculates the distance between the specific magnetic nails, so as to improve the calculation efficiency of the distance between the magnetic nails.

Description

Technical Field

[0001] This invention relates to the field of navigation methods for intelligent mobile devices, and in particular to a magnetic nail search method for AGVs to perform real-time segmented task paths. Background Technology

[0002] When an inertial navigation AGV using magnetic nail positioning moves, it first acquires the complete scheduling path. Then, during movement, it adjusts its direction and distance by sensing information on specific magnetic nails, thus moving to its destination along a trajectory close to the scheduling path. To update the reliability of the AGV's pose (the reliability of the actual movement trajectory) in real time, the AGV needs to know the distance to the next magnetic nail in real time. However, when the scheduling path is issued in real-time segments, the AGV needs to receive new path tasks from the scheduling system during its journey and then search for the specific magnetic nails to be sensed. This results in the AGV needing to search for magnetic nails multiple times (and may find duplicate magnetic nails), affecting the calculation of the distance to the next specific magnetic nail and the efficiency of moving based on the calculated distance, thus impacting the reliability of the AGV's pose during movement. Summary of the Invention

[0003] The purpose of this invention is to overcome the problem that existing magnetic nail inertial navigation AGVs, when issuing real-time segmented scheduling paths, require the AGV to search for magnetic nails multiple times, reducing the efficiency of calculating the parameters of specific magnetic nails. The invention provides a magnetic nail search method for AGVs executing real-time segmented task paths. First, the segmented scheduling paths are spliced ​​into a relatively long movement task path. Then, specific magnetic nails within the movement task path range are locked and the distance between specific magnetic nails is calculated, thereby improving the calculation efficiency of magnetic nail distance.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] The AGV's method for searching real-time segmented task paths using magnetic nails includes:

[0006] Establish a path list P and a magnetic nail sequence M, and load several path direction information into the magnetic nails;

[0007] The AGV receives task information and extracts the segmented paths, splices several segmented paths to form a movement task path, and loads it into the path list P.

[0008] The AGV moves according to the segmented path, filters the completed segmented paths in the path list P, and obtains the path set R of the task to be moved.

[0009] Search the magnetic nails corresponding to the segmented paths of the path set R, and sort the magnetic nails from near to far according to the distance between the end point of the segmented path just passed by the AGV and the corresponding magnetic nail to form a magnetic nail set S, and filter the interference magnetic nails in the magnetic nail set S;

[0010] After calculating the distance between the first magnetic nail in the magnetic nail set S and the last magnetic nail in the magnetic nail sequence M, the first magnetic nail in the magnetic nail set S is inserted into the tail of the magnetic nail sequence M;

[0011] The AGV moves according to the distance between two magnetic nails in the magnetic nail sequence M and the path information obtained after the corresponding magnetic nail in the magnetic nail sequence M.

[0012] Compared with the prior art, the magnetic nail search method for the AGV to execute the segmented task path in real time, wherein the AGV splices a plurality of received segmented paths to form a long-moving task path, then searches the magnetic nails in the related area of the work map based on the known path not yet walked in the moving task path, then filters and selects the magnetic nails in the related area to obtain specific magnetic nails, calculates the distance between the specific magnetic nails, and then records the specific magnetic nails in the magnetic nail sequence M, thereby simplifying the search steps of the specific magnetic nails, reducing the search times (only searching the known path not yet walked), and improving the calculation efficiency of the distance between the magnetic nails.

[0013] Preferably, the step of splicing a plurality of segmented paths to form a moving task path and loading into the path list P comprises:

[0014] The AGV receives task information, extracts the segmented paths in the task information, and sorts the segmented paths according to the serial numbers of the segmented paths;

[0015] The sorted segmented paths are sequentially inserted into the tail of the path list P.

[0016] Preferably, the number of segmented paths in the path set R is read and set as a first record value D;

[0017] When the sorted segmented paths are sequentially inserted into the tail of the path list P, the first record value D is increased according to the number of segmented paths.

[0018] Preferably, after the AGV receives the task information, it is judged whether the first record value D is equal to 0;

[0019] If the first record value D is equal to 0, the path list P and the magnetic nail sequence M are emptied, and then a plurality of received segmented paths in the task information are spliced to form a moving task path and loaded into the path list P;

[0020] If the first record value D is greater than 0, a plurality of received segmented paths in the task information are spliced to form a moving task path and loaded into the path list P;

[0021] AGV each through a segment path, the cycle once the step.

[0022] When the first record value D is equal to 0, it indicates that the number of segment paths in the path set R is 0, that is, the AGV has executed the received segment paths, then the path list P and the magnetic nail sequence M are emptied, redundant data is reduced, and a new round of segment path receiving and execution is started.

[0023] Preferably, the tracking point index of the starting point of the segment path in the path list P is 0.

[0024] If the first record value D is equal to 0, after a plurality of segment paths are spliced to form a mobile task path and loaded into the path list P, the tracking point index of the ending point of the first segment path in the path list P is defined as 1.

[0025] If the first record value D is greater than 0, the tracking point index of the ending point of the first segment path in the path list P is defined as 1, and the tracking point indexes of the ending points of the subsequent segment paths are increased by 1 in turn.

[0026] The tracking point index is a serial number mark of the ending points of all received segment paths in the current task. If the first record value D is equal to 0, it indicates that the AGV has executed the received segment paths, and after the path list P is emptied, the tracking point index of the starting point of the first segment path newly received and loaded into the path list P is 0, and the tracking point index of the ending point of the first segment path is defined as 1. If the first record value D is greater than 0, it indicates that the AGV has not executed the received segment paths, and in addition to defining the tracking point index of the ending point of the first segment path in the path list P as 1, the ending points of the subsequent segment paths also need to be serially marked.

[0027] Preferably, the step of searching the magnetic nails corresponding to the segment paths of the path set R to form the magnetic nail set S comprises:

[0028] Obtaining information of the segment path where the AGV is currently located;

[0029] Based on the position of the magnetic sensor of the AGV, obtaining the coordinates (X1, Y1) of the AGV on the working map;

[0030] According to the coordinates (X1, Y1) and the range adjustment parameter V1, obtaining the region correction coordinates (Xb, Yb);

[0031] Obtaining information of any segment path in the path set R, reading the path ending point on the segment path, and obtaining the coordinates (Xn, Yn) of the path ending point on the working map;

[0032] According to the coordinates (Xn, Yn) of the end point of the path of the plurality of sub-paths and the range adjustment parameter V2, the area defining coordinates (Xa, Ya) are obtained;

[0033] According to the area correction coordinates (Xb, Yb) and the area defining coordinates (Xa, Ya), the magnetic nail selection area is constructed, and all magnetic nails in the magnetic nail selection area are recorded in the magnetic nail set S.

[0034] Preferably, the step of constructing the magnetic nail selection area according to the area correction coordinates (Xb, Yb) and the area defining coordinates (Xa, Ya) comprises:

[0035] A rectangular area is drawn on the working map with the area correction coordinates (Xb, Yb) and the area defining coordinates (Xa, Ya) as opposite corners to form the magnetic nail selection area.

[0036] The above steps can form a rectangular area containing a plurality of sub-paths, and ensure that the magnetic nails belonging to the plurality of sub-paths can be covered by the rectangular area.

[0037] Preferably, the step of filtering the interference magnetic nails in the magnetic nail set S comprises:

[0038] The magnetic nails in the rectangular area drawn with the coordinates (X1, Y1) and the coordinates (Xb, Yb) as opposite corners are removed;

[0039] The remaining magnetic nails in the magnetic nail set S are sequentially selected, and set as magnetic nail m. The sub-path L closest to the magnetic nail m is obtained in combination with the path set R and the working map, and the perpendicular distance T of the magnetic nail m to the sub-path L is calculated. If the perpendicular distance T is greater than the preset distance deviation value W, the magnetic nail m is determined as an interference magnetic nail, and is removed from the magnetic nail set S. Otherwise, the magnetic nail m is retained, and the path information of the sub-path L is added to the magnetic nail m. The next magnetic nail is selected for judgment.

[0040] Since the AGV searches for the magnetic nails from the position of the magnetic sensor, the magnetic nails in the area from the position of the AGV magnetic sensor to the part of the sub-path where the AGV is currently located and which has been completed by the AGV need to be excluded first. Then, by judging whether the perpendicular distance between the magnetic nail and the sub-path closest to the magnetic nail exceeds the preset distance deviation value W, the magnetic nails that deviate from the sub-path seriously are filtered out.

[0041] Preferably, after the filtering of the interference magnetic nails in the magnetic nail set S is completed, the corresponding path information is loaded to the magnetic nails in the magnetic nail set S. The path information contains the tracking point index of the end point of the unfinished sub-path. The magnetic nails in the magnetic nail set S are sequentially selected, and it is judged whether the specific magnetic nail belonging to the specific sub-path has been added to the magnetic nail sequence M. If it is judged that the specific magnetic nail belonging to the specific sub-path has been added to the magnetic nail sequence M, the magnetic nail is removed from the magnetic nail sequence M. The magnetic nail is re-inserted into the magnetic nail sequence M according to the magnetic nail set S.

[0042] Since the AGV receives the task information periodically, the path information of a segment path not passed through will be received repeatedly, so the magnetic nail of the segment path not passed through obtained repeatedly needs to be excluded (de-duplication). After receiving a new path task, the tracking point index of the magnetic nail on the path not passed through needs to be updated to the tracking point index of the end point of the latest path, by reading the tracking point index loaded on the magnetic nail, i.e. tracking the magnetic nail (old magnetic nail) loaded with the previous index and removing it, and then re-adding the magnetic nail (with the same number as the old magnetic nail, but with a different tracking point index on the path not passed through) with the updated path information (containing the tracking point index of the magnetic nail on the path not passed through) to the magnetic nail sequence M. In addition, the path information of the segment path recorded in the magnetic nail of the magnetic nail sequence M contains direction data, and in the process of judging whether a specific magnetic nail in the magnetic nail set S has been added to the magnetic nail sequence M, it can be judged whether the segment path corresponding to the specific magnetic nail belongs to "a segment path overlapping with the trajectory of the segment path recorded by the magnetic nail already added to the magnetic nail sequence M but in the opposite direction", so as to avoid the magnetic nail corresponding to the new segment path (with the same trajectory as the old segment path but in the opposite direction) from being removed.

[0043] Preferably, if there is no magnetic nail in the magnetic nail sequence M, the AGV moves a safe distance F until a magnetic nail corresponding to the segment path of the path set R is searched.

[0044] In the process of periodically searching for the magnetic nail by the AGV, if there is no magnetic nail in the magnetic nail sequence M in a certain period (because there is no magnetic nail along the way), it will cause the AGV to be unable to perform the calculation of "the distance from the AGV to the magnetic nail in the magnetic nail sequence M", and by setting a safe distance F, it is avoided that the reliability is not calculated due to the distance value of no magnetic nail. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 is a flowchart of the method of the present application;

[0046] Figure 2 is a flowchart of selecting a specific magnetic nail;

[0047] Figure 3 is a first state diagram of the first case of delimiting the magnetic nail selection area;

[0048] Figure 4 is a second state diagram of the first case of delimiting the magnetic nail selection area;

[0049] Figure 5 is a diagram of the segment path of delimiting the magnetic nail selection area;

[0050] Figure 6 is a first state diagram of the second case of delimiting the magnetic nail selection area;

[0051] Figure 7 is a second state diagram of a second case of demarcating a magnetic pin selection area;

[0052] Figure 8 is a third state diagram of a second case of demarcating a magnetic pin selection area;

[0053] Figure 9 is a diagram of a third case of demarcating a magnetic pin selection area. DETAILED DESCRIPTION

[0054] Embodiments of the present application will be described below with reference to the accompanying drawings:

[0055] Referring to Figures 1-2 The magnetic pin search method for AGV to execute real-time segmented task paths in the embodiment includes:

[0056] A path list P and a magnetic pin sequence M are established, and a plurality of path direction information is loaded to the magnetic pin;

[0057] The AGV receives task information and extracts segmented paths therein, splices a plurality of segmented paths to form a mobile task path, and loads the mobile task path to the path list P;

[0058] The AGV moves according to the segmented paths, filters the completed segmented paths in the path list P, and obtains a path set R of the to-be-moved task paths;

[0059] The magnetic pins corresponding to the segmented paths of the path set R are searched, the magnetic pins are sorted from near to far according to the distance between the end point of the segmented path just passed by the AGV and the corresponding magnetic pin to form a magnetic pin set S, and the interference magnetic pins in the magnetic pin set S are filtered;

[0060] After the distance between the first magnetic pin in the magnetic pin set S and the last magnetic pin in the magnetic pin sequence M is calculated, the first magnetic pin in the magnetic pin set S is inserted into the tail of the magnetic pin sequence M;

[0061] The AGV moves according to the distance between two magnetic pins in the magnetic pin sequence M and the path information obtained after the corresponding magnetic pin in the magnetic pin sequence M.

[0062] After the magnetic pin is inserted into the tail of the magnetic pin sequence M from the magnetic pin set S, the magnetic pin is deleted from the magnetic pin set S.

[0063] The step of splicing a plurality of segmented paths to form a mobile task path and loading the mobile task path to the path list P includes:

[0064] The AGV receives task information, extracts the segmented paths in the task information, and sorts the segmented paths according to the serial numbers of the segmented paths;

[0065] The sorted segment paths are inserted into the tail of the path list P in turn.

[0066] The number of segment paths in the path set R is read and set as a first record value D.

[0067] When the sorted segment paths are inserted into the tail of the path list P in turn, the first record value D is increased according to the number of segment paths.

[0068] After the AGV receives the task information, it is determined whether the first record value D is equal to 0.

[0069] If the first record value D is equal to 0, the path list P and the magnetic nail sequence M are emptied, and then a plurality of segment paths in the received task information are spliced to form a mobile task path and loaded into the path list P.

[0070] If the first record value D is greater than 0, a plurality of segment paths in the received task information are spliced to form a mobile task path and loaded into the path list P.

[0071] The AGV passes through a segment path, and this step is cycled once.

[0072] When the first record value D is equal to 0, it indicates that the number of segment paths in the path set R is 0, that is, the AGV has executed the received segment paths, and then the path list P and the magnetic nail sequence M are emptied, redundant data is reduced, and a new round of reception and execution of segment paths is started.

[0073] The tracking point index of the starting point of the segment path in the path list P is 0.

[0074] If the first record value D is equal to 0, after a plurality of segment paths are spliced to form a mobile task path and loaded into the path list P, the tracking point index of the ending point of the first segment path in the path list P is defined as 1.

[0075] If the first record value D is greater than 0, the tracking point index of the ending point of the first segment path in the path list P is defined as 1, and the tracking point indexes of the ending points of subsequent segment paths are increased by 1 in turn.

[0076] The tracking point index is a serial number mark of the ending points of all received segment paths in the current task. If the first record value D is equal to 0, it indicates that the AGV has executed the received segment paths, and after the path list P is emptied, the tracking point index of the starting point of the first segment path newly received and loaded into the path list P is 0, and the tracking point index of the ending point of the first segment path is defined as 1. If the first record value D is greater than 0, it indicates that the AGV has not executed the received segment paths, and in addition to defining the tracking point index of the ending point of the first segment path in the path list P as 1, the ending points of subsequent segment paths also need to be serially marked.

[0077] The completed segmental paths form a path set Q, and the segmental paths loaded into the path set Q in the path list P are filtered to obtain a path set R;

[0078] The number of segmental paths in the path set Q is read and set as a second record value E;

[0079] When the first record value D is equal to 0, the path set Q is emptied;

[0080] The second record value E is increased by 1 and the first record value D is decreased by 1 each time the AGV passes through a segmental path.

[0081] The task execution progress of the AGV can be known by reading the second record value E.

[0082] The step of searching for the magnetic nails corresponding to the segmental paths of the path set R to form a magnetic nail set S includes:

[0083] The information of the segmental path where the AGV is currently located is obtained;

[0084] Based on the position of the magnetic sensor of the AGV, the coordinates (X1, Y1) of the AGV on the working map are obtained;

[0085] According to the coordinates (X1, Y1) and the range adjustment parameter V1, the area correction coordinates (Xb, Yb) are obtained;

[0086] The information of any segmental path in the path set R is obtained, the path end point on the segmental path is read, and the coordinates (Xn, Yn) of the path end point on the working map are obtained;

[0087] According to the coordinates (Xn, Yn) of the path end points of the segmental paths and the range adjustment parameter V2, the area limitation coordinates (Xa, Ya) are obtained;

[0088] According to the area correction coordinates (Xb, Yb) and the area limitation coordinates (Xa, Ya), the magnetic nail selection area is constructed, and all the magnetic nails in the magnetic nail selection area are recorded in the magnetic nail set S.

[0089] The step of constructing the magnetic nail selection area with the area correction coordinates (Xb, Yb) and the area limitation coordinates (Xa, Ya) includes:

[0090] A rectangular area is drawn on the working map with the area correction coordinates (Xb, Yb) and the area limitation coordinates (Xa, Ya) as opposite corners to form the magnetic nail selection area.

[0091] The above steps can form a rectangular area containing several segmental paths, and ensure that the magnetic nails belonging to the several segmental paths can be covered by the rectangular area.

[0092] Specifically, as a feasible implementation of the range adjustment parameter V1, the distance between (Xb, Yb) and the coordinate (X1, Y1) is dt, and the angle between (Xb, Yb) and the segmented path where (X1, Y1) is located is 90-180°; as a feasible implementation of the range adjustment parameter V2, the distance between (Xa, Ya) and the coordinate (Xn, Yn) is dt, and the angle between (Xa, Ya) and the segmented path where (Xn, Yn) is located is 0-90°.

[0093] The step of filtering out interfering magnetic nails in the magnetic nail set S includes:

[0094] The magnetic nails in the rectangular region with the coordinate (X1, Y1) and the coordinate (Xb, Yb) as opposite vertices are removed.

[0095] The remaining magnetic nails in the magnetic nail set S are sequentially selected, and set as magnetic nail m. The segmented path L closest to the magnetic nail m is obtained in combination with the path set R and the working map, and the perpendicular distance T of the magnetic nail m to the segmented path L is calculated. If the perpendicular distance T is greater than the preset distance deviation value W, the magnetic nail m is determined as an interfering magnetic nail, and is removed from the magnetic nail set S. Otherwise, the magnetic nail m is retained, and the path information of the segmented path L is added to the magnetic nail m. The next magnetic nail is selected for judgment.

[0096] Since the AGV searches for the magnetic nail from the position of the magnetic sensor, the magnetic nails in the area from the position of the AGV magnetic sensor to the part of the segmented path where the AGV is currently located and which has been completed by the AGV need to be excluded first. Then, by judging whether the perpendicular distance between the magnetic nail and the segmented path closest to it exceeds the preset distance deviation value W, the magnetic nails that deviate seriously from the segmented path are filtered out.

[0097] After the filtering of the interfering magnetic nails in the magnetic nail set S is completed, the magnetic nails in the magnetic nail set S are loaded with corresponding path information. The path information includes the tracking point index of the end point of the unfinished segmented path. The magnetic nails in the magnetic nail set S are sequentially selected, and it is judged whether the specific magnetic nail belonging to a specific segmented path has been added to the magnetic nail sequence M (whether the tracking point indexes of the end points of the unfinished segmented paths loaded by the two magnetic nails in the magnetic nail set S with the same number as the magnetic nail sequence M are the same). If it is judged that the specific magnetic nail belonging to the specific segmented path has been added to the magnetic nail sequence M, the magnetic nail is removed from the magnetic nail sequence M, and the magnetic nail is re-inserted into the magnetic nail sequence M according to the magnetic nail set S.

[0098] Since the AGV receives task information periodically, it will repeatedly receive path information for a segment that has not been traversed before. Therefore, it is necessary to exclude duplicate magnetic nails for the untraversed segment (deduplication). After receiving a new path task, the tracking point index of the magnetic nails on the incomplete path needs to be updated to the tracking point index of the end point of the latest path. This is done by reading the tracking point index loaded on the magnetic nail, i.e., tracking the magnetic nail with the previous index (old magnetic nail) and removing it. Then, the magnetic nail with the updated path information (including the tracking point index of the magnetic nails on the incomplete path) is replaced with the one whose number is the same as the old magnetic nail. (The tracking point indices on the unfinished paths are different) are re-added to the magnetic nail sequence M; in addition, the path information of the segmented paths recorded in the magnetic nails of the magnetic nail sequence M contains direction data. In the process of determining whether a specific magnetic nail belonging to the magnetic nail set S has been added to the magnetic nail sequence M, it can be determined whether the segmented path corresponding to the specific magnetic nail belongs to "a segmented path that overlaps with the segmented path trajectory recorded by the magnetic nail that has been added to the magnetic nail sequence M but has the opposite direction", thereby avoiding the removal of magnetic nails corresponding to such new segmented paths (which are the same as the old segmented path trajectories but have the opposite direction).

[0099] If there is no magnetic nail in the magnetic nail sequence M, the AGV moves a safe distance F until it finds a magnetic nail corresponding to the segmented path of the path set R.

[0100] During the AGV's periodic search for magnetic nails, if there are no magnetic nails in the magnetic nail sequence M within a certain period (because no magnetic nails are placed along the route), the AGV will be unable to calculate the "distance from the AGV to the magnetic nail in the magnetic nail sequence M". By setting a safety distance F, the reliability calculation cannot be avoided due to the absence of a distance value for a magnetic nail.

[0101] Specifically, the safe distance F is 5-20 meters.

[0102] The following three embodiments illustrate the method of the present invention:

[0103] Appendix Figures 3-9 In the diagram, hollow circles represent the endpoints of segmented paths, solid circles represent the coordinate points of segmented paths, intersecting circles represent magnetic nails, and triangles represent AGVs.

[0104] See Figures 3-4 This diagram illustrates the first scenario for defining the area to be selected for the magnetic nail:

[0105] See Figure 3 When the AGV is on segment path 1, the AGV receives segment paths 2 and 3 from the scheduling system. The path set R contains segment paths 1, 2, and 3 in sequence; (X1, Y1), (Xa, Ya), (Xn, Yn), (Xb, Yb) are shown in the figure.

[0106] The magnetic nails contained in the magnetic nail sequence M are: m2;

[0107] The magnetic nails contained in the magnetic nail selection area are: m2, m3, m4, m5, m6, and m7;

[0108] The magnetic nails contained in the magnetic nail sequence M are: m2, m4, and m7.

[0109] The magnetic nail m2 in the magnetic nail sequence M is the magnetic nail searched when the last task is received, and the tracking point index thereof is the tracking point index corresponding to the end point of the path 1, so it needs to be deleted first.

[0110] The path information of the segmented path 2 is written into the magnetic nail m2 in the magnetic nail set S (the tracking point index thereof becomes the index corresponding to the end point of the segmented path 3), and the magnetic nail m2 is inserted into the magnetic nail sequence M. Since the magnetic nail m2 has been inserted into the magnetic nail sequence M, only the magnetic nails m4 and m7 in the magnetic nail set S need to be processed: the path information of the segmented path 2 is written into the magnetic nail m4, and the magnetic nail m4 is inserted into the magnetic nail sequence M. The path information of the segmented path 3 is written into the magnetic nail m7, the distance from the magnetic nail m4 to the magnetic nail m7 is calculated, and the magnetic nail m7 is inserted into the magnetic nail sequence M.

[0111] The magnetic nails contained in the magnetic nail sequence M are: m2, m4, and m7.

[0112] Referring to Figure 4 , when the AGV is located on the segmented path 2, the AGV receives the segmented path 4 (the path 3 has been issued) issued by the scheduling system, and the path set R contains the segmented paths in the order of 2, 3, and 4; (X1, Y1), (Xa, Ya), (Xn, Yn), and (Xb, Yb) are shown in the figure.

[0113] The magnetic nails contained in the magnetic nail sequence M are: m2, m4, and m7.

[0114] The magnetic nails contained in the magnetic nail selection area are: m4, m6, m7, m8, and m9.

[0115] The magnetic nails contained in the magnetic nail sequence M are: m2, m4, and m7.

[0116] In the magnetic pin sequence M, the magnetic pin m2 is the magnetic pin searched when the last task is received, and the tracking point index of the magnetic pin m2 is the index corresponding to the end point of the segmented path 3. Therefore, the magnetic pin m2 is filtered out first. The path information of the segmented path 2 is written into the magnetic pin m4, the distance from the magnetic sensor to the magnetic pin m4 is calculated, and the magnetic pin m4 is inserted into the magnetic pin sequence M. Since the magnetic pin sequence M already contains the magnetic pin m4, only the magnetic pins m7 and m9 in the magnetic pin set S need to be processed: the path information of the segmented path 3 is written into the magnetic pin m7, the distance from the magnetic pin m4 to the magnetic pin m7 is calculated, and the magnetic pin m7 is inserted into the magnetic pin sequence M. The path information of the segmented path 4 is written into the magnetic pin m9, the distance from the magnetic pin m7 to the magnetic pin m9 is calculated, and the magnetic pin m9 is inserted into the magnetic pin sequence M.

[0117] The magnetic pins contained in the magnetic pin sequence M are: m4, m7, and m9.

[0118] Referring to Figures 5-8 , a schematic diagram of a second case of the magnetic pin selection area is shown, in which the magnetic pin m7 and the magnetic pin m9 record the turning instructions read in a specific direction (only the AGV can pass in the specific direction to read, and other directions do not respond when the AGV passes the magnetic pins, which belongs to the prior art).

[0119] Referring to Figure 6 , when the AGV is located on the segmented path 1, the AGV receives the segmented paths 2 and 3 issued by the scheduling system, and the path set R contains the segmented paths 1, 2, and 3 in sequence. (X1, Y1), (Xa, Ya), (Xn, Yn), (Xb, Yb) are shown in the figure.

[0120] The magnetic pins contained in the magnetic pin sequence M are: m2, m4;

[0121] The magnetic pins contained in the magnetic pin selection area are: m2, m4, m5, m6, m7, m9, m8, and m10.

[0122] The above magnetic pins are sorted and added to the magnetic pin set S, and then the interference magnetic pin m5 (the vertical distance T of the magnetic pin closest to the segmented path is greater than the preset distance deviation value W) is filtered out. The remaining magnetic pins in the magnetic pin set S are: m2, m4, m7, m6, m9, m8, and m10.

[0123] In the magnetic pin sequence M, the magnetic pins m2 and m4 are the magnetic pins searched when the last task is received, and the tracking point indexes thereof are the tracking point indexes corresponding to the end point of the segment path 1. Therefore, the magnetic pins m2 and m4 are filtered out first. The path information of the segment path 1 is written into the magnetic pin m2 (the tracking point index of which becomes the index corresponding to the end point of the segment path 3), the distance from the magnetic sensor to the magnetic pin m2 is calculated, and the magnetic pin m2 is inserted into the magnetic pin sequence M. Similarly, the magnetic pin m4 is processed and inserted into the magnetic pin sequence M. Since the magnetic pins m2 and m4 are already included in the magnetic pin sequence M, only the magnetic pins m7, m6, m9, m8 and m10 in the magnetic pin set S need to be processed: the path information of the segment path 2 is written into the magnetic pins m7 and m6, the distance from the magnetic pin m4 to the magnetic pin m7 is calculated, the magnetic pin m7 is inserted into the magnetic pin sequence M, and the distance from the magnetic pin m7 to the magnetic pin m6 is calculated. The magnetic pin m6 is inserted into the magnetic pin sequence M. The path information of the segment path 3 is written into the magnetic pins m9, m8 and m10, the distance from the magnetic pin m6 to the magnetic pin m9 is calculated, the magnetic pin m9 is inserted into the magnetic pin sequence M, the distance from the magnetic pin m9 to the magnetic pin m8 is calculated, the magnetic pin m8 is inserted into the magnetic pin sequence M, and the distance from the magnetic pin m8 to the magnetic pin m10 is calculated. The magnetic pin m10 is inserted into the magnetic pin sequence M.

[0124] Referring to Figure 7 and Figure 8 , when the AGV walks through the segment path 1, since the path that has been issued will not be issued again, the magnetic pin searching can not be performed (if the magnetic pin searching is performed, the steps are described above with reference to the related description of Figure 6 .

[0125] Referring to Figure 9 , a schematic diagram illustrating a third case of demarcating a magnetic pin selection area is shown, based on the scheme of Figures 5-8 , new segment paths 4 to 7 are added, wherein the segment path 7 that has not been completed by the AGV overlaps with the segment path 2 that has been walked through, but the moving directions of the two segment paths are opposite (the tracking point index of the segment path changes); and the magnetic pins m10, m11 and m12 record the turning instructions read in a specific direction.

[0126] The magnetic pins included in the magnetic pin sequence M are: m13;

[0127] After screening, the remaining magnetic pins included in the magnetic pin set S are: m9 and m6. After the magnetic pins m9 and m6 are processed and inserted into the magnetic pin sequence M, the magnetic pins m9 and m6 are inserted into the magnetic pin sequence M twice. Compared with the first time when the magnetic pins m9 and m6 are inserted into the magnetic pin sequence M, the tracking point indexes of the segment paths on the magnetic pins m9 and m6 are different.

[0128] Compared with the prior art, the magnetic nail searching method for AGV executing real-time segmented task path of the application, wherein the AGV splices the received several segmented paths to form a long track moving task path, then searches the magnetic nails in the related area of the working map based on the uncompleted known path in the moving task path, then filters and selects the magnetic nails in the related area to obtain specific magnetic nails, calculates the distance between the specific magnetic nails, and then records the specific magnetic nails into the magnetic nail sequence M, which simplifies the searching steps of the specific magnetic nails, reduces the searching times (only searching the uncompleted known path), and improves the calculation efficiency of the distance of the magnetic nails.

[0129] According to the disclosure and teaching of the above description, those skilled in the art of the present application can also make changes and modifications to the above embodiments. Therefore, the present application is not limited to the specific embodiments disclosed and described above, and some modifications and changes of the present application should fall within the protection scope of the claims of the present application. In addition, although some specific terms are used in the specification, these terms are only for convenience of description and do not constitute any limitation on the present application.

Claims

1. AGV executes a real-time segmented task path magnetic nail search method, comprising: establishing a path list P and a magnetic nail sequence M, and loading several path direction information to the magnetic nail; AGV receives task information and extracts the segmented path therein, splices several segmented paths to form a mobile task path and loads it to the path list P; AGV moves according to the segmented path, filters the completed segmented path in the path list P, and obtains the path set R of the to-be-moved task path; search for the magnetic nail corresponding to the segmented path of the path set R, and sort the magnetic nails from near to far according to the distance between the end point of the segmented path just passed by the AGV and the corresponding magnetic nail to form the magnetic nail set S, and filter the interference magnetic nails in the magnetic nail set S; after calculating the distance between the first magnetic nail in the magnetic nail set S and the last magnetic nail in the magnetic nail sequence M, the first magnetic nail in the magnetic nail set S is inserted into the tail of the magnetic nail sequence M; AGV moves according to the distance between two magnetic nails in the magnetic nail sequence M and the path information obtained after sensing the corresponding magnetic nail in the magnetic nail sequence M; the magnetic nail inserted into the tail of the magnetic nail sequence M from the magnetic nail set S will be deleted from the magnetic nail set S.

2. The magnetic pin search method for AGV to execute real-time segmented task path according to claim 1, characterized in that, The step of splicing several segmented paths to form a mobile task path and loading it to the path list P comprises: AGV receives task information, extracts the segmented path in the task information, and sorts the segmented path according to the serial number of the segmented path; the sorted segmented path is inserted into the tail of the path list P in turn.

3. The magnetic pin search method for AGV to execute real-time segmented task path according to claim 2, characterized in that, read the number of segmented paths in the path set R, and set it as the first record value D; when the sorted segmented path is inserted into the tail of the path list P in turn, the first record value D is increased according to the number of segmented paths.

4. The magnetic pin search method for AGV to execute real-time segmented task path according to claim 3, characterized in that, after AGV receives the task information, it is judged whether the first record value D is equal to 0; if the first record value D is equal to 0, the path list P and the magnetic nail sequence M are emptied, and then several segmented paths in the received task information are spliced to form a mobile task path and loaded to the path list P; if the first record value D is greater than 0, several segmented paths in the received task information are spliced to form a mobile task path and loaded to the path list P; AGV passes through a segmented path and circulates once in this step.

5. The magnetic pin search method for AGV to execute real-time segmented task path according to claim 4, characterized in that, the tracking point index of the starting point of the segmented path in the path list P is 0; if the first record value D is equal to 0, after splicing several segmented paths to form a mobile task path and loading it to the path list P, the tracking point index of the end point of the first segmented path in the path list P is defined as 1; if the first record value D is greater than 0, the tracking point index of the end point of the first segmented path in the path list P is defined as 1, and the tracking point index of the end point of the subsequent segmented path is increased by 1 in turn.

6. The magnetic peg search method for AGV to perform real-time segmented task path according to claim 1, wherein, The step of searching for the magnetic nail corresponding to the segmented path of the path set R to form the magnetic nail set S comprises: obtain the information of the segmented path where AGV is located at present; based on the position of the magnetic sensor of AGV, obtain its coordinates (X1, Y1) on the working map; according to the coordinates (X1, Y1) and the range adjustment parameter V1, obtain the region correction coordinates (Xb, Yb); Obtaining information of any segmented path in the path set R, reading the path end point on the segmented path, and obtaining the coordinate (Xn, Yn) of the path end point on the work map; Obtaining the region limit coordinate (Xa, Ya) according to the coordinate (Xn, Yn) of the path end point of the segmented path and the range adjustment parameter V2; Constructing the magnetic nail selection region according to the region correction coordinate (Xb, Yb) and the region limit coordinate (Xa, Ya), and recording all the magnetic nails in the magnetic nail selection region into the magnetic nail set S.

7. The magnetic peg search method for AGV to execute real-time segmented task path according to claim 6, characterized in that, The step of constructing the magnetic nail selection region according to the region correction coordinate (Xb, Yb) and the region limit coordinate (Xa, Ya) comprises: Drawing a rectangular region with the region correction coordinate (Xb, Yb) and the region limit coordinate (Xa, Ya) as opposite top corners on the work map as the magnetic nail selection region.

8. The magnetic peg search method for AGV to execute real-time segmented task path according to claim 6, wherein, The step of filtering the interference magnetic nail in the magnetic nail set S comprises: Removing the magnetic nail in the rectangular region with the coordinate (X1, Y1) and the coordinate (Xb, Yb) as opposite top corners; Selecting the remaining magnetic nail in the magnetic nail set S in turn, and setting it as magnetic nail m, obtaining the segmented path L closest to the magnetic nail m in combination with the path set R and the work map, calculating the perpendicular distance T from the magnetic nail m to the segmented path L, and judging the magnetic nail m as the interference magnetic nail if the perpendicular distance T is greater than the preset distance deviation value W, removing the magnetic nail m from the magnetic nail set S, otherwise, retaining the magnetic nail m and adding the path information of the segmented path L to the magnetic nail m, and selecting the next magnetic nail for judgment.

9. The magnetic peg search method for AGV to execute real-time segmented task path according to claim 8, characterized in that, After completing the filtering of the interference magnetic nail in the magnetic nail set S, loading the corresponding path information to the magnetic nail in the magnetic nail set S, the path information containing the tracking point index of the end point of the unfinished segmented path, selecting the magnetic nail in the magnetic nail set S in turn, judging whether the specific magnetic nail belonging to the specific segmented path has been added to the magnetic nail sequence M, removing the magnetic nail from the magnetic nail sequence M if the specific magnetic nail belonging to the specific segmented path has been added to the magnetic nail sequence M, and re-inserting the magnetic nail into the magnetic nail sequence M according to the magnetic nail set S.

10. The magnetic peg search method for AGV to perform real-time segmented task path according to claim 1, wherein, If there is no magnetic nail in the magnetic nail sequence M, the AGV moves a safe distance F until the magnetic nail corresponding to the segmented path of the path set R is searched.

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