AGV operation method, device, system, server and storage medium

Abstract

The embodiments of the present application provide an operation method, device, system, server and storage medium of an AGV, which relates to the field of automatic transportation technology. The method includes: the server obtains an initial path from the initial position of the AGV to the target position. The server compares the path width of the sub-path included in the initial path with the passage width of the AGV. If the path width of each sub-path included in the initial path meets the passage condition, the initial path is determined to be the target path of the AGV, and the target path is sent to the AGV. When the AGV is driving along the received target path, if it encounters a sub-path whose path width is less than the passage width of the AGV, it rotates the target angle according to the target direction so that the path width of the sub-path is greater than the passage width of the AGV after rotation, and maintains the passage posture after rotation through the sub-path, which can improve the operation efficiency of the AGV in a narrow environment and improve space utilization.

Description

Technical Field

[0001] The present application relates to the field of automatic transportation technology, and in particular to an AGV operation method, device, system, server and storage medium. Background Art

[0002] As an important tool for automated transportation and handling, AGV (Automated Guided Vehicle) has been increasingly used in recent years. According to the transfer method, common AGV types include lurking AGV, backpack AGV, forklift AGV, traction AGV, heavy-load AGV and material box AGV.

[0003] When AGV is transporting materials, there may be obstacles in the site. For example, in some warehouses, there are many obstacles on both sides of the AGV's path. In this case, the AGV's path is relatively narrow. If the width of the path is smaller than the width of the material being transported by the AGV, the AGV will not be able to pass. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide an AGV operation method, device, system, server and storage medium to achieve reasonable planning of the AGV driving path in a narrow environment, improve the operation efficiency of the AGV in a narrow environment, and improve space utilization. The specific technical solution is as follows:

[0005] In a first aspect, in order to achieve the above-mentioned purpose, an embodiment of the present application provides an AGV operation method, which is applied to a server and includes:

[0006] Obtain the initial path from the initial position of the AGV to the target position;

[0007] Compare the path width of the sub-path included in the initial path with the passage width of the AGV; wherein the passage width is the maximum value of the size of the AGV along the target direction and the size of the load carried by the AGV along the target direction; the target direction is perpendicular to the movement direction of the AGV;

[0008] If the path width of each sub-path included in the initial path satisfies the pass condition, the initial path is determined to be the target path of the AGV; wherein, for any sub-path, the sub-path satisfies the pass condition including: the path width of the sub-path is greater than the pass width of the AGV, or the path width of the sub-path is greater than the pass width of the AGV after rotating the target angle in the target direction;

[0009] The target path is sent to the AGV to instruct the AGV to travel along the target path to the target location.

[0010] Optionally, comparing the path width of the sub-path in the initial path with the passage width of the AGV includes:

[0011] In the order from the initial position to the target position of the AGV, a sub-path to be compared is determined from each sub-path in the initial path, and the path width of the sub-path is compared with the passage width of the AGV; wherein each sub-path in the initial path has a different width from an adjacent sub-path;

[0012] If the path width of the sub-path meets the passage condition, the next sub-path of the sub-path is determined as the sub-path to be compared in the order from the initial position to the target position of the AGV, and the step of comparing the path width of the sub-path with the passage width of the AGV is returned to be executed;

[0013] The method further comprises:

[0014] If the path width of the sub-path is smaller than the passage width of the AGV and smaller than the passage width of the AGV after rotating by a target angle in any direction, the initial path is determined to be an unavailable path.

[0015] Optionally, if the path width of the sub-path satisfies the passage condition, determining the next sub-path of the sub-path as the sub-path to be compared in the order from the initial position to the target position of the AGV includes:

[0016] If the path width of the sub-path is smaller than the passage width of the AGV, determine the angle at which the AGV rotates when the passage width of the AGV takes a minimum value, and obtain a target angle;

[0017] If the path width of the sub-path is greater than the passage width of the AGV after rotating the target angle in the target direction, it is determined that the path width of the sub-path meets the passage condition, and the next sub-path of the sub-path is determined as the sub-path to be compared in the order from the initial position of the AGV to the target position.

[0018] Optionally, if the path width of the sub-path is smaller than the passage width of the AGV, after determining the angle at which the AGV rotates when the passage width of the AGV takes a minimum value and obtaining the target angle, the method further includes:

[0019] In the path before the sub-path, determine the position that supports the AGV to rotate to the target angle without collision, obtain the rotation point of the sub-path, and the target direction of rotation at the rotation point;

[0020] If there is no position in the path before the sub-path that supports the AGV to rotate to the target angle without collision, the initial path is determined to be an unavailable path.

[0021] Optionally, after determining that the initial path is an unavailable path, the method further includes:

[0022] A new initial path from the initial position of the AGV to the target position is determined, and the step of comparing the path width of the sub-path in the initial path with the passage width of the AGV before rotation is performed again.

[0023] Optionally, after determining that the initial path is the target path of the AGV if the path width of each sub-path included in the initial path meets the traffic condition, the method further includes:

[0024] Record the rotation points of the AGV in the target path, the target direction and the target angle of the AGV's rotation at each rotation point, and the passage posture of the AGV through each sub-path in the target path; wherein the passage posture of the AGV through any sub-path meets the business requirements of the AGV in the sub-path.

[0025] Optionally, the sending the target path to the AGV to instruct the AGV to travel along the target path to the target position, the method further includes:

[0026] The target path, the rotation point of the AGV in the target path, the target direction and target angle of the AGV's rotation at each rotation point, and the passage posture of the AGV through each sub-path in the target path are sent to the AGV, so that when the AGV encounters a sub-path with a path width less than the passage width of the AGV during its travel along the target path, the target angle is rotated according to the target direction so that the path width of the sub-path is greater than the passage width of the AGV after rotation; the passage posture after rotation is maintained through the sub-path; after passing through the sub-path, according to the passage posture of the AGV through each sub-path in the target path issued by the server, it is determined whether the passage posture through the next sub-path is the passage posture of the AGV before rotation; if the passage posture through the next sub-path is the passage posture of the AGV before rotation, the target angle is rotated in the direction opposite to the target direction; and the passage posture after rotation is maintained through the next sub-path.

[0027] In a second aspect, in order to achieve the above-mentioned purpose, an embodiment of the present application provides an AGV operation method, which is applied to the AGV and includes:

[0028] Driving according to the target path sent by the server; wherein the target path is the path from the initial position of the AGV to the target position;

[0029] During the driving process, if a sub-path with a path width smaller than the passage width of the AGV is encountered, the target angle is rotated according to the target direction so that the path width of the sub-path is larger than the passage width of the AGV after rotation;

[0030] Keep the rotated passing posture through the subpath.

[0031] Optionally, before driving according to the target path sent by the server, the method further includes:

[0032] Receive a target path from the initial position of the AGV to the target position, the rotation points of the AGV in the target path, the target direction and target angle of the AGV at each rotation point, and the passage posture of the AGV through each sub-path in the target path sent by a server;

[0033] During the driving process, if a sub-path whose path width is smaller than the passage width of the AGV is encountered, the target angle is rotated according to the target direction so that the path width of the sub-path is larger than the passage width of the AGV after rotation, including:

[0034] During the driving process, if a sub-path with a path width smaller than the passage width of the AGV is encountered, then when the rotation point of the sub-path is reached, the target angle is rotated according to the target direction so that the path width of the sub-path is larger than the passage width of the AGV after rotation; wherein the rotation point is a position in the path before the sub-path that supports the AGV to rotate according to the target direction to the target angle without collision; and the target angle is the angle at which the AGV rotates when the passage width of the AGV takes the minimum value.

[0035] Optionally, during the driving process, if a sub-path whose path width is smaller than the passage width of the AGV is encountered, the method further comprises: rotating the target angle according to the target direction so that the path width of the sub-path is larger than the passage width of the AGV after rotation;

[0036] After passing the sub-path, judging whether the passing posture of the AGV passing through the next sub-path is the passing posture of the AGV before the rotation according to the passing posture of the AGV passing through each sub-path in the target path sent by the server;

[0037] If the passing posture of the AGV passing through the next sub-path is the passing posture of the AGV before rotation, the target angle is rotated in a direction opposite to the target direction to restore the passing posture before rotation, and the next sub-path is passed according to the restored passing posture.

[0038] Optionally, the AGV includes a controller, a motion chassis, a lifting mechanism and a lifting platform; the motion chassis is arranged at the bottom of the AGV; the lifting mechanism and the lifting platform are arranged at the top of the motion chassis;

[0039] The controller controls the lifting mechanism to rise or fall, so as to drive the lifting platform to rise or fall;

[0040] The AGV also includes a rotating component; the rotating component is connected to the lifting platform and is arranged below the lifting platform; the controller controls the lifting platform to rotate the target angle in the target direction, so as to drive the load carried on the lifting platform to rotate the target angle in the target direction and keep the moving chassis stationary.

[0041] Optionally, the AGV includes a controller, a motion chassis, a lifting mechanism and a lifting platform; the motion chassis is arranged at the bottom of the AGV; the lifting mechanism and the lifting platform are arranged at the top of the motion chassis;

[0042] The controller controls the lifting mechanism to rise or fall, so as to drive the lifting platform to rise or fall;

[0043] The AGV also includes a rotating wheel; the controller controls the rotating wheel to rotate the target angle in the target direction to drive the AGV as a whole to rotate the target angle in the target direction, and the lifting platform, the lifting mechanism and the moving chassis remain relatively stationary.

[0044] In a third aspect, in order to achieve the above-mentioned purpose, an embodiment of the present application provides an AGV operation device, which is applied to a server and includes:

[0045] An initial path acquisition module is used to acquire an initial path from the initial position of the AGV to the target position;

[0046] A width comparison module, used to compare the path width of the sub-path included in the initial path with the passage width of the AGV; wherein the passage width is the maximum value of the size of the AGV along the target direction and the size of the load carried by the AGV along the target direction; the target direction is perpendicular to the movement direction of the AGV;

[0047] A target path determination module, configured to determine that the initial path is the target path of the AGV if the path width of each subpath included in the initial path satisfies a pass condition; wherein, for any subpath, the subpath satisfies the pass condition including: the path width of the subpath is greater than the pass width of the AGV, or the path width of the subpath is greater than the pass width of the AGV after rotating the target angle in the target direction;

[0048] The target path sending module is used to send the target path to the AGV to instruct the AGV to travel along the target path to the target position.

[0049] Optionally, the width comparison module is specifically used to:

[0050] In the order from the initial position to the target position of the AGV, a sub-path to be compared is determined from each sub-path in the initial path, and the path width of the sub-path is compared with the passage width of the AGV; wherein each sub-path in the initial path has a different width from an adjacent sub-path;

[0051] If the path width of the sub-path meets the passage condition, the next sub-path of the sub-path is determined as the sub-path to be compared in the order from the initial position to the target position of the AGV, and the step of comparing the path width of the sub-path with the passage width of the AGV is returned to be executed;

[0052] The device also includes:

[0053] The marking module is used to determine that the initial path is an unavailable path if the path width of the sub-path is smaller than the passage width of the AGV and smaller than the passage width of the AGV after rotating by a target angle in any direction.

[0054] Optionally, the width comparison module is specifically used to:

[0055] If the path width of the sub-path is smaller than the passage width of the AGV, determine the angle at which the AGV rotates when the passage width of the AGV takes a minimum value, and obtain a target angle;

[0056] If the path width of the sub-path is greater than the passage width of the AGV after rotating the target angle in the target direction, it is determined that the path width of the sub-path meets the passage condition, and the next sub-path of the sub-path is determined as the sub-path to be compared in the order from the initial position of the AGV to the target position.

[0057] Optionally, the device further comprises:

[0058] A rotation point determination module is used to determine the angle at which the AGV rotates when the passage width of the AGV takes the minimum value if the path width of the sub-path is smaller than the passage width of the AGV in the width comparison module, and after obtaining the target angle, determine the position that supports the AGV to rotate to the target angle without collision in the path before the sub-path, and obtain the rotation point of the sub-path and the target direction of rotation at the rotation point;

[0059] The marking module is used to determine that the initial path is an unavailable path if there is no position in the path before the sub-path that supports the AGV to rotate to the target angle without collision.

[0060] Optionally, the device further comprises:

[0061] The initial path updating module is used to determine a new initial path from the initial position of the AGV to the target position after the marking module determines that the initial path is an unavailable path, and return to execute the step of comparing the path width of the sub-path in the initial path with the passage width of the AGV before rotation.

[0062] Optionally, the device further comprises:

[0063] A recording module is used to record the rotation points of the AGV in the target path, the target direction and the target angle of the AGV's rotation at each rotation point, and the passage posture of the AGV through each sub-path in the target path after the target path determination module executes to determine that the initial path is the target path of the AGV if the path width of each sub-path included in the initial path meets the passage condition; wherein the passage posture of the AGV through any sub-path meets the business requirements of the AGV in the sub-path.

[0064] Optionally, the target path sending module is specifically used to:

[0065] The target path, the rotation point of the AGV in the target path, the target direction and target angle of the AGV's rotation at each rotation point, and the passage posture of the AGV through each sub-path in the target path are sent to the AGV, so that when the AGV encounters a sub-path with a path width less than the passage width of the AGV during its travel along the target path, the target angle is rotated according to the target direction so that the path width of the sub-path is greater than the passage width of the AGV after rotation; the passage posture after rotation is maintained through the sub-path; after passing through the sub-path, according to the passage posture of the AGV through each sub-path in the target path issued by the server, it is determined whether the passage posture through the next sub-path is the passage posture of the AGV before rotation; if the passage posture through the next sub-path is the passage posture of the AGV before rotation, the target angle is rotated in the direction opposite to the target direction; and the passage posture after rotation is maintained through the next sub-path.

[0066] In a fourth aspect, in order to achieve the above-mentioned purpose, an embodiment of the present application provides an AGV operation system, the system comprising a server and an AGV;

[0067] The server is used to obtain an initial path from an initial position of the AGV to a target position; compare the path width of the sub-path included in the initial path with the passage width of the AGV; wherein the passage width is the maximum value of the size of the AGV along the target direction and the size of the load carried by the AGV along the target direction; the target direction is perpendicular to the movement direction of the AGV; if the path width of each sub-path included in the initial path meets the passage condition, the initial path is determined to be the target path of the AGV; wherein, for any sub-path, the sub-path meets the passage condition including: the path width of the sub-path is greater than the passage width of the AGV, or the path width of the sub-path is greater than the passage width of the AGV after rotating the target angle according to the target direction; and send the target path to the AGV;

[0068] The AGV is used to travel along the target path sent by the server; during the driving process, if a sub-path with a path width smaller than the passage width of the AGV is encountered, the target angle is rotated according to the target direction so that the path width of the sub-path is larger than the passage width of the AGV after rotation, and the AGV maintains the rotational passage posture through the sub-path.

[0069] The present application also provides a server, including:

[0070] Memory, used to store computer programs;

[0071] The processor is used to implement the AGV operation method described in any one of the first aspects above when executing the program stored in the memory.

[0072] An embodiment of the present application also provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the AGV operating method described in any one of the first aspects above, or the AGV operating method described in any one of the second aspects above, is implemented.

[0073] An embodiment of the present application further provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the AGV operating method described in any one of the first aspects above, or the AGV operating method described in any one of the second aspects above.

[0074] Beneficial effects of the embodiments of the present application:

[0075] The server obtains the initial path from the initial position of the AGV to the target position; compares the path width of the subpaths included in the initial path with the passage width of the AGV; if the path width of each subpath included in the initial path meets the passage condition, the initial path is determined to be the target path of the AGV; and the target path is sent to the AGV. When the AGV is traveling along the target path sent by the server, if it encounters a subpath whose path width is less than the passage width of the AGV, it rotates the target angle according to the target direction so that the path width of the subpath is greater than the passage width of the AGV after rotation, and maintains the passage posture after rotation through the subpath, which can realize the reasonable planning of the AGV's driving path in a narrow environment, determine the optimal path, and control the AGV to rotate according to the obstacles around the AGV's driving path so that the AGV will not collide when passing through the road section with obstacles around it, which can improve the operation efficiency of the AGV in a narrow environment and improve the space utilization.

[0076] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0078] Figure 1 A schematic diagram of an application scenario of an AGV operation method provided in an embodiment of the present application;

[0079] Figure 2A flowchart of a first AGV operation method provided in an embodiment of the present application;

[0080] Figure 3 A schematic diagram of the path of the first AGV provided in an embodiment of the present application;

[0081] Figure 4 A schematic diagram of a collision between an AGV and an obstacle provided in an embodiment of the present application;

[0082] Figure 5 A schematic diagram of the passage width of an AGV provided in an embodiment of the present application;

[0083] Figure 6 A schematic diagram of a second AGV path provided in an embodiment of the present application;

[0084] Figure 7 A flowchart of a second AGV operation method provided in an embodiment of the present application;

[0085] Figure 8 A schematic diagram of the passage width of an AGV after rotation provided in an embodiment of the present application;

[0086] Fig. 9 A schematic diagram of an AGV rotation process provided in an embodiment of the present application;

[0087] Fig.10 A flow chart of a path planning method provided in an embodiment of the present application;

[0088] Fig.11 A structural diagram of an AGV operating device provided in an embodiment of the present application;

[0089] Fig.12 A structural diagram of a server provided in an embodiment of the present application. DETAILED DESCRIPTION

[0090] 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 based on the present application belong to the scope of protection of the present application.

[0091] In the related art, when AGV is transporting materials, there may be obstacles in the material transporting site. For example, in some warehouses, there are many obstacles on both sides of the AGV's passage (such as Figure 1In this case, the AGV's passage path is relatively narrow. If the size of the material transported by the AGV is large, if the width of the passage path is smaller than the width of the material transported by the AGV, it will be unable to pass.

[0092] In order to solve the above problems, the embodiment of the present application provides an AGV operation method, which is applied to the AGV operation system, such as Figure 1 As shown, the system includes a server 101 and an AGV 102. The server 101 and the AGV 102 communicate with each other.

[0093] AGV102 transports the material from the initial position 103 to the target position 104 in the material transporting site. There are multiple paths from the initial position 103 to the target position 104. Server 101 obtains an initial path from the initial position 103 of AGV102 to the target position 104. The initial position 103 of AGV102 is: the location of the material transported by AGV102, and the target position 104 of AGV102 is: the location to which the material transported by AGV102 needs to be transported. After obtaining the initial path, server 101 compares the path width of the sub-path included in the initial path with the passage width of AGV102. If the path width of each sub-path included in the initial path meets the passage condition, the initial path is determined to be the target path of AGV102, and the target path is sent to AGV102.

[0094] Accordingly, AGV102 receives the target path sent by server 101 and drives along the target path. During the driving process, if a sub-path with a path width smaller than the passage width of AGV102 is encountered, the target angle is rotated according to the target direction so that the path width of the sub-path is larger than the passage width after the rotation of AGV102, and the sub-path is passed while maintaining the passage posture after the rotation.

[0095] Based on the AGV operation system provided in the embodiment of the present application, it is possible to reasonably plan the AGV's driving path in a narrow environment, determine the optimal path, and control the AGV to rotate according to the obstacles around the AGV's driving path so that the AGV will not collide when passing through sections with obstacles around it. This can improve the operating efficiency of the AGV in a narrow environment and improve space utilization.

[0096] See also Figure 2 , Figure 2 A flowchart of an AGV operation method provided in an embodiment of the present application, the method is applied to the above system, and the method may include the following steps:

[0097] S201: The server obtains an initial path from the initial position of the AGV to the target position.

[0098] S202: The server compares the path width of the sub-path included in the initial path with the passage width of the AGV.

[0099] The passage width is the maximum value of the size of the AGV along the target direction and the size of the load carried by the AGV along the target direction; the target direction is perpendicular to the movement direction of the AGV.

[0100] S203: If the path width of each sub-path included in the initial path meets the traffic condition, the server determines that the initial path is the target path of the AGV.

[0101] Among them, for any sub-path, the sub-path meets the passage condition including: the path width of the sub-path is greater than the passage width of the AGV, or the path width of the sub-path is greater than the passage width after the AGV rotates by a target angle in a target direction.

[0102] S204: The server sends the target path to the AGV.

[0103] S205: The AGV drives according to the target path sent by the server.

[0104] S206: During the driving process, if a sub-path with a path width smaller than the passage width of the AGV is encountered, the AGV rotates the target angle according to the target direction so that the path width of the sub-path is larger than the passage width after the rotation of the AGV.

[0105] S207: The AGV maintains the rotated passing posture and passes through the sub-path.

[0106] Based on the AGV operation method provided in the embodiment of the present application, it is possible to reasonably plan the AGV's driving path in a narrow environment, determine the optimal path, and control the AGV to rotate according to the obstacles around the AGV's driving path so that the AGV will not collide when passing through sections with obstacles around it. This can improve the operating efficiency of the AGV in a narrow environment and improve space utilization.

[0107] For step S201, for the scenario of material outbound, the initial position of the AGV is: the current position of the material that the AGV needs to transport in the warehouse, and the target position of the AGV is: the position where the material transported by the AGV is outbound.

[0108] For the scenario of material warehousing, the initial position of the AGV is: the current location of the material that the AGV needs to transport, and the target position of the AGV is: the location in the warehouse to which the material that the AGV needs to transport is.

[0109] For the warehouse tallying scenario, the initial position of the AGV is: the current location of the material that the AGV needs to transport in the warehouse, and the target position of the AGV is: the location in the warehouse to which the material that the AGV needs to transport is transported.

[0110] The server performs path planning according to the connectivity from the initial position to the target position, obtains multiple paths from the initial position of the AGV to the target position, and selects an initial path from the multiple paths. For example, the server selects the shortest path from the multiple paths as the initial path. Alternatively, the server randomly selects a path from the multiple paths as the initial path.

[0111] For example, see Figure 3 ,According to the connectivity from the initial position to the target position, there are multiple paths from the initial position of the AGV to the target position. Figure 3 In the description, three paths, path 1, path 2 and path 3, are used as examples. The server selects the shortest path from the three paths as path 1, and path 1 is the initial path of the AGV.

[0112] With respect to step S202, after the initial path is determined, there may be obstacles in the material transporting site. If the material transported by the AGV is large in size, the AGV may not be able to pass through the initial path when transporting the material.

[0113] For example, see Figure 4 , Figure 4 The load shown in the dotted box in the middle represents the material carried by the AGV. The size of the material carried by the AGV is large, and the passage width of the AGV is greater than the path width of the initial path. In this case, the AGV follows Figure 4 When traveling along the initial path shown, the AGV will collide with obstacles 401 and 402, that is, the AGV cannot pass through the initial path.

[0114] The passage width of the AGV is the maximum value of the size of the AGV along the target direction and the size of the load (i.e. material) carried along the target direction; the target direction is the direction perpendicular to the movement direction of the AGV.

[0115] For example, see Figure 5 , the length of AGV along the moving direction is Length (length), that is Figure 5 L4 in the AGV. The length of the target direction perpendicular to the moving direction is Width, that is, Figure 5 The length of the material carried by the AGV along the direction of AGV movement is LoadLength, that is, Figure 5 The length of the material transported by the AGV in the target direction perpendicular to the AGV movement direction is LoadWidth (load width), that is, Figure 5 L1 in.

[0116] When L1 is greater than L2, the passage width of the AGV is L1. When L1 is less than L2, the passage width of the AGV is L2. In other words, the passage width of the AGV (MoveWidth) = Max (Width, LoadWidth). Max is the maximum value function.

[0117] Therefore, the server compares the path width of the initial path with the passage width of the AGV to determine whether the AGV can pass through the initial path when transporting materials.

[0118] The path width of the initial path may change, and the initial path may be divided into multiple sub-paths according to the change of the path width of the initial path. The initial path includes at least one sub-path. For example, if the path width of the initial path does not change, the initial path includes one sub-path. If the path width of the initial path changes, the path width is divided at the change position to obtain multiple sub-paths in the initial path.

[0119] For example, see Figure 6 , the width of the horizontal path and the vertical path in path 1 are different, then path 1 can be divided into sub-path 11 and sub-path 12 according to the change of path width. Similarly, path 2 is divided into sub-path 21, sub-path 22 and sub-path 23. The width of the horizontal path and the vertical path in path 3 are different, and the width of the horizontal path also changes, then path 3 can be divided into sub-path 31, sub-path 32, sub-path 33 and sub-path 34 according to the change of path width.

[0120] Since the path widths of the sub-paths in the initial path are different, the server needs to compare the path widths of the sub-paths included in the initial path with the passage width of the AGV respectively.

[0121] In some embodiments, Figure 2 Based on Figure 7 , step S202 may include the following steps:

[0122] S2021: The server determines a sub-path to be compared from each sub-path in the initial path in the order from the initial position to the target position of the AGV, and compares the path width of the sub-path with the passage width of the AGV.

[0123] The width of each sub-path in the initial path is different from that of the adjacent sub-path.

[0124] S2022: If the path width of the sub-path meets the passage condition, the server determines the next sub-path of the sub-path as the sub-path to be compared in the order from the initial position to the target position of the AGV, and returns to execute the step of comparing the path width of the sub-path with the passage width of the AGV.

[0125] The server determines the first sub-path in the initial path as the sub-path to be compared in the order from the initial position to the target position of the AGV, and compares the path width of the sub-path with the passage width of the AGV. For example, Figure 6 In the example, for path 1, subpath 11 is determined as the subpath to be compared, and the path width of subpath 11 is compared with the passage width of the AGV.

[0126] If the path width of the subpath is greater than the passage width of the AGV, indicating that the AGV can pass through the subpath, the server determines that the subpath meets the passage condition. Alternatively, if the path width of the subpath is greater than the passage width of the AGV after rotating the target angle in the target direction, indicating that the AGV can pass through the subpath after the rotation, the server determines that the subpath meets the passage condition. For example, Figure 6 In the example, the path width of subpath 11 is smaller than the passage width of the AGV. After the AGV rotates 90 degrees, the path width of subpath 11 is larger than the passage width of the AGV. The AGV can pass through subpath 11 after the rotation, and it is determined that subpath 11 meets the passage condition.

[0127] Then, the server determines the next sub-path of the sub-path as a new sub-path to be compared in the order from the initial position to the target position of the AGV, and compares the path width of the newly determined sub-path with the passage width of the AGV, and so on, until all sub-paths included in the initial path are compared. Figure 6 In the example, for path 1, after determining that sub-path 11 meets the passage condition, the path width of sub-path 12 is compared with the passage width of the AGV.

[0128] When all sub-paths included in the initial path meet the pass conditions, the AGV can pass through the initial path, and the server can determine that the initial path is the target path of the AGV.

[0129] In some embodiments, after step S2021, the method may further include the following steps: if the path width of the sub-path is not greater than the passage width of the AGV, and is less than the passage width of the AGV after rotating the target angle in any direction, the server determines that the initial path is an unavailable path.

[0130] If the path width of the sub-path is smaller than the passage width of the AGV, and the path width of the sub-path is smaller than the passage width of the AGV after rotating the target angle in any direction, it indicates that the AGV cannot pass through the sub-path. When the AGV cannot pass through any sub-path in the initial path, that is, the AGV cannot pass through the initial path, the server can determine that the initial path is an unavailable path.

[0131] In some embodiments, for any sub-path in the initial path, when the path width of the sub-path is equal to the passage width of the AGV, it can be determined whether the sub-path meets the passage condition according to actual business needs. For example, except for the initial path, there are no other paths from the initial position to the target position. In order to meet the needs of the AGV to transport materials, it is determined that the sub-path meets the passage condition. Alternatively, in addition to the initial path, there are other paths from the initial position to the target position. In order to avoid collisions with obstacles during the AGV's material transportation process and improve safety, it can be determined that the sub-path does not meet the passage condition.

[0132] Based on the above processing, the path width of each sub-path in the initial path can be compared with the passage width of the AGV in order from the initial position to the target position. When each sub-path meets the passage conditions, the initial path is determined as the target path, and the driving path of the AGV in a narrow environment is reasonably planned and the optimal path is determined, which can improve the operation efficiency of the AGV in a narrow environment and improve the space utilization. And when it is compared that any sub-path does not meet the passage conditions, the initial path is determined as an unavailable path, without comparing other sub-paths, which can improve the processing efficiency of the server.

[0133] In some embodiments, step S2022 may include the following steps: if the path width of the sub-path is smaller than the passage width of the AGV, determine the angle at which the AGV rotates when the passage width of the AGV takes the minimum value, and obtain the target angle; if the path width of the sub-path is larger than the passage width of the AGV after rotating the target angle in the target direction, determine that the path width of the sub-path meets the passage conditions, and determine the next sub-path of the sub-path as the sub-path to be compared in order from the initial position to the target position of the AGV.

[0134] When comparing the path width of the sub-path to be compared with the passage width of the AGV, if the passage width of the sub-path is smaller than the passage width of the AGV, since the AGV has the ability to rotate and the passage width of the AGV is different when the AGV rotates at different angles, the server determines the angle (i.e., the target angle) at which the AGV rotates when the passage width of the AGV takes the minimum value.

[0135] The server can traverse each angle of the AGV rotation and determine the passage width of the AGV after each rotation until the angle at which the passage width of the AGV is minimized is determined to obtain the target angle. For example, the passage width of the AGV is compared after each rotation of the material by 1 degree to obtain the target angle at which the passage width of the AGV is minimized.

[0136] The target angle is the angle at which the AGV rotates to minimize its passage width. Figure 8 As shown in the figure, when AGV transports materials, the long side of the material (i.e. Figure 8 L1 in the figure) and the long side of the AGV ( Figure 8 That is, the angle shown by L4) ( Figure 8 The middle angle a) is 90 degrees, that is, the AGV's passage posture is: the material is placed vertically on the AGV. At this time, the AGV's passage width is the length of the long side of the material (i.e. L1). After the AGV rotates 90 degrees, the AGV's passage posture is: the material is placed parallel to the AGV. At this time, the AGV's passage width takes the minimum value, and the AGV's passage width is the length of the short side of the material (i.e. L3), then the target angle is 90 degrees.

[0137] If the path width of the sub-path is greater than the passage width after the AGV rotates by the target angle according to the target direction, the server may determine that the path width of the sub-path meets the passage condition.

[0138] Based on the above processing, the target angle that makes the AGV's travel width take the minimum value can be determined, and then the path width of the sub-path and the travel width of the AGV when the AGV's travel width takes the minimum value can be compared to avoid the situation where the initial path is determined as an unusable path due to the determined rotation angle not being the angle that makes the AGV's travel width take the minimum value. This can achieve reasonable planning of the AGV's driving path in narrow environments, determine the optimal path, further improve the operating efficiency of AGVs in narrow environments, and improve space utilization.

[0139] In some embodiments, after determining the target angle, the method may further include the following steps: in the path before the sub-path, determine the position that supports the AGV to rotate the target angle without collision, obtain the rotation point of the sub-path, and the target direction of rotation at the rotation point. If there is no position in the path before the sub-path that supports the AGV to rotate the target angle without collision, determine that the initial path is an unavailable path.

[0140] For any sub-path in the initial path, if the AGV needs to rotate the target angle in the target direction to make the path width of the sub-path larger than the passage width after the AGV rotates, it means that the AGV needs to complete the rotation of the target angle in the target direction before proceeding to the sub-path. Therefore, the server needs to determine the position in the path before the sub-path that supports the AGV to rotate the target angle without collision, and obtain the rotation point before the AGV enters the sub-path, as well as the target direction of rotation at the rotation point.

[0141] The rotation point before the AGV enters the sub-path, and the target direction of rotation at the rotation point, can be determined based on the obstacles on both sides of the path. For example, if the obstacle is on the left side of the path, the target direction is left. If the obstacle is on the left side of the path, the target direction is right.

[0142] like Fig. 9 As shown in the figure, with the center point of the material's top view (i.e., point O) as the rotation center, when the AGV rotates 90 degrees to the right, the space actually swept by the load during the rotation process includes two sector areas numbered 1 and 2, and the diameters of the two sector areas are the diagonals of the material's top view. Therefore, when determining the rotation point of the road section to be compared, it is required that the two sector areas numbered 1 and 2 mentioned above do not collide with the obstacles on both sides of the path. Fig. 9 In the example, if the AGV rotates to the right without colliding with obstacles on both sides of the path, the position is determined as the rotation point of the AGV, and the target direction of the rotation at the rotation point is determined to be right.

[0143] The server detects whether there is a position in the previous subpath of the subpath that supports the AGV to rotate the target angle without collision. If there is a position in the previous subpath of the subpath that supports the AGV to rotate the target angle without collision, the position is determined as the rotation point of the AGV, and the target direction of rotation at the rotation point is determined.

[0144] If there is no position in the previous subpath of the subpath that supports the AGV to rotate the target angle without collision, the server continues to detect whether there is a position in the previous subpath of the previous subpath of the subpath that supports the AGV to rotate the target angle without collision, and so on, until the rotation of the AGV before entering the subpath is determined.

[0145] If there is no position in the path before the subpath that supports the AGV to rotate to the target angle without collision, that is, the AGV cannot complete the rotation before entering the subpath, the AGV cannot pass through the subpath, and the server can determine that the initial path is an unavailable path.

[0146] In some embodiments, for any sub-path in the initial path, after determining the rotation point of the sub-path, the server can also determine the passage posture of the AGV through the sub-path. The server obtains the passage posture that makes the sub-path meet the passage conditions, and the passage posture that meets the business needs of the AGV in the sub-path. When the passage posture that makes the sub-path meet the passage conditions is inconsistent with the passage posture that meets the business needs of the AGV in the sub-path, the initial path is determined to be an unavailable path. When the passage posture that makes the sub-path meet the passage conditions is consistent with the passage posture that meets the business needs of the AGV in the sub-path, the passage posture of the AGV passing through the sub-path is obtained.

[0147] Based on the above processing, for any sub-path in the initial path, in the path before the sub-path, the rotation point before the AGV enters the sub-path and the target direction of rotation at the rotation point are determined, so that the AGV completes the rotation when reaching the rotation point, further improving the operating efficiency of the AGV.

[0148] In some embodiments, after determining that the initial path is an unavailable path, the method may further include the following steps: determining a new initial path from the initial position of the AGV to the target position, and returning to execute the step of comparing the path width of the sub-path in the initial path with the passage width before the AGV rotates.

[0149] After determining that the initial path is an unavailable path, the server re-determines the shortest path from the initial position of the AGV to the target position, except for the initial path, from each path from the initial position of the AGV to the target position, and obtains a new initial path. Figure 3 In the embodiment, when path 1 is an unavailable path, path 2 is re-determined as a new initial path.

[0150] Then, the server compares the path width of each sub-path in the newly determined initial path with the passage width of the AGV, and determines whether the newly determined initial path is the target path according to the comparison result, and so on, until the target path of the AGV is determined.

[0151] For step S203 and step S204, when all sub-paths included in the initial path meet the traffic conditions, the AGV can pass through the initial path, and the server can determine that the initial path is the target path of the AGV. Then, the server sends the target path to the AGV. Accordingly, the AGV can travel along the target path and transport the materials from the initial location to the target location.

[0152] For step 205 and step S206, after the AGV receives the target path sent by the server, it drives along the target path to the target position. During the driving process, if it encounters a sub-path whose path width is smaller than the passage width of the AGV, the AGV rotates the target angle according to the target direction so that the path width of the sub-path is larger than the passage width after the AGV is rotated. After the rotation, the AGV can pass through the sub-path, and the AGV maintains the passage posture after rotation to pass through the sub-path.

[0153] In some embodiments, the server may also record the rotation point of the AGV in the target path, the target direction and target angle of the AGV's rotation at each rotation point, and the passage posture of the AGV through each sub-path in the target path. The passage posture of the AGV through the sub-path refers to the relative posture of the material carried by the AGV and the AGV.

[0154] For any sub-path in the target path, the AGV's passing posture through the sub-path is determined based on the AGV's business needs in the sub-path (such as manual material pick-up and placement business, etc.) and the path width of the sub-path. That is, the AGV's passing posture through the sub-path meets the AGV's business needs in the sub-path and also makes the sub-path meet the passing conditions.

[0155] Furthermore, the server sends the target path, the rotation points of the AGV in the target path, the target direction and target angle of the AGV's rotation at each rotation point, and the travel posture of the AGV through each sub-path in the target path to the AGV.

[0156] Correspondingly, the AGV receives the target path from the initial position of the AGV to the target position, the rotation point of the AGV in the target path, the target direction and target angle of the AGV's rotation at each rotation point, and the passage posture of the AGV through each sub-path in the target path sent by the server.

[0157] Furthermore, when the AGV is traveling along the target path to the target position, if it encounters a sub-path whose path width is smaller than the AGV's passage width, it will rotate the target angle according to the target direction after reaching the rotation point of the sub-path, so that the path width of the sub-path is larger than the passage width of the AGV after rotation, and the AGV will maintain the passage posture after rotation through the sub-path. If it does not encounter a sub-path whose path width is smaller than the AGV's passage width, the AGV will maintain the current passage posture through the sub-path.

[0158] In some embodiments, for any sub-path, after the AGV passes through the sub-path, according to the passage posture of the AGV through each sub-path in the target path sent by the server, it is determined whether the passage posture of the AGV through the next sub-path is the passage posture before the AGV rotates.

[0159] If the passing posture of the AGV through the next sub-path is not the passing posture before the AGV rotates, the AGV maintains the current passing posture through the next sub-path, and so on, until it reaches the target position.

[0160] If the AGV's passing posture when passing through the next sub-path is the passing posture before the AGV rotates, the AGV rotates the target angle in the direction opposite to the target direction so that the AGV restores the passing posture before the rotation, and passes through the next sub-path according to the restored passing posture, and so on, until the target position is reached.

[0161] Based on the above processing, when the AGV is traveling along the target path, it rotates according to the obstacles around the AGV's driving path so that the AGV will not collide with the road sections with obstacles around it, which can improve the operating efficiency of the AGV in narrow environments and improve space utilization.

[0162] In some embodiments, the AGV includes a controller, a motion chassis, a lifting mechanism, and a lifting platform; the motion chassis is disposed at the bottom of the AGV; the lifting mechanism and the lifting platform are disposed at the top of the motion chassis. The controller may be a logic operation unit built into the AGV, which is used to interact with the server and control the travel and rotation of the AGV. For example, the controller controls the lifting mechanism to rise or fall, thereby driving the lifting platform to rise or fall.

[0163] The AGV also includes a rotating assembly. The rotating assembly is connected to the lifting platform and is arranged below the lifting platform. Accordingly, when the controller controls the lifting platform to rotate in a target direction and a target angle, the load carried on the lifting platform can be driven to rotate in a target direction and a target angle, and during the rotation process, the moving chassis is kept stationary.

[0164] For example, the lifting mechanism is arranged between the moving chassis and the lifting mechanism, and the rotating component can be arranged between the moving chassis and the lifting mechanism. When the controller controls the rotating component to rotate in the target direction and the target angle, the lifting mechanism, the lifting platform, and the load carried on the lifting platform can be driven to rotate in the target direction and the target angle, and during the rotation process, the moving chassis is kept stationary.

[0165] Alternatively, the lifting mechanism is arranged between the moving chassis and the lifting mechanism, and the rotating component can be arranged between the lifting platform and the lifting mechanism. When the controller controls the rotating component to rotate in the target direction and the target angle, the lifting platform and the load carried on the lifting platform can be driven to rotate in the target direction and the target angle, and during the rotation process, the moving chassis is kept stationary.

[0166] In some embodiments, the AGV includes a controller, a motion chassis, a lifting mechanism and a lifting platform; the motion chassis is arranged at the bottom of the AGV; the lifting mechanism and the lifting platform are arranged at the top of the motion chassis; wherein the controller may be a logic operation unit built into the AGV, which is used to interact with the server and control the travel and rotation of the AGV. For example, the controller controls the lifting mechanism to rise or fall, so as to drive the lifting platform to rise or fall.

[0167] The AGV also includes a rotating wheel. The rotating wheel can be a universal wheel, a differential steering wheel, etc. The controller controls the rotating wheel to rotate in a target direction and a target angle, which can drive the AGV as a whole to rotate in a target direction and a target angle. During the rotation, the lifting platform, the lifting mechanism and the motion chassis remain relatively stationary.

[0168] See also Fig.10 , Fig.10 A flow chart of a path planning method provided in an embodiment of the present application. The method is applied to a server and comprises the following steps:

[0169] S1001: Find a path from the current point of the AGV to the target point, recorded as path L1.

[0170] In this step, the current point is the initial position of the AGV, the target point is the target position of the AGV, and the path L1 is the initial path. That is, the initial path (i.e., path L1) from the initial position of the AGV to the target position is first determined.

[0171] S1002: Compare the road width of each segment of the path L1 with the passage width of the load-carrying AGV.

[0172] In this step, the load is the material carried by the AGV. The RoadWidth (road width) of each path (i.e., sub-path) in path L1 is compared with the MoveWidth (travel width) of the AGV carrying the load to determine whether the AGV can pass through each sub-path in path L1 while carrying the load.

[0173] S1003: If there is a section of the path L1 whose width is smaller than the passage width of the AGV, and after the AGV rotates, the road width is still smaller than the passage width of the AGV, mark the path L1 as impassable and search for other paths.

[0174] In this step, if the RoadWidth of a certain path (i.e., sub-path) in path L1 is smaller than the MoveWidth of the AGV, it means that the AGV cannot pass through the sub-path at present, and after the AGV rotates, the RoadWidth of the path is still smaller than the MoveWidth of the AGV, which means that the AGV still cannot pass through the sub-path after the rotation, that is, the AGV cannot reach the target point along path L1, then the path L1 is marked as impassable (i.e., unavailable path), and other paths are searched, that is, other paths other than path L1 are re-determined as new initial paths. Subsequently, the road width of the new initial path is compared with the passage width of the AGV until the target path of the AGV is determined.

[0175] S1004: If the width of each section of the path L1 is greater than the passable width of the AGV, the path L1 is a passable path, and there is no movement restriction on the AGV on the path, and the path search ends.

[0176] In this step, if the RoadWidth of each section of the path L1 (i.e., sub-path) is greater than the MoveWidth of the AGV, it means that the AGV reaches the target point along the path L1, and the path L1 is determined to be a passable path (i.e., the target path), and there is no movement restriction on the AGV on the path, and the path search ends. That is, the path L1 is determined to be the target path of the AGV. No movement restriction means that the AGV does not need to rotate.

[0177] S1005: If there is a section of road whose width is smaller than the passage width of the AGV, but after the AGV rotates a certain angle, the road width is larger than the passage width of the AGV, then this section is called a restricted passage section.

[0178] In this step, if there is a section of road (i.e., sub-path) in path L1 whose RoadWidth is smaller than the MoveWidth of the AGV, but after the AGV turns to a specific angle (i.e., the target angle), the RoadWidth of this section of road is larger than the MoveWidth of the AGV, indicating that the AGV can pass through this section after rotation, then the section is determined to be a LimitPath (restricted passage section).

[0179] S1006: Find the first restricted traffic section in path L1, and find the nearest rotation point before this section.

[0180] In this step, the first restricted section in path L1 is recorded as LimitPath1. In the section before this section, find the position closest to LimitPath1 that supports the AGV to rotate in the target direction and the target angle without collision, and use it as the rotation point of LimitPath1 (recorded as P1).

[0181] S1007: If the traversal path L1 cannot find a rotation point before the first restricted road section, mark this road section as inaccessible and search for other paths.

[0182] In this step, if the traversed path L1 cannot find a rotation point before LimitPath1, it means that the AGV cannot complete the rotation before entering LimitPath1, and cannot pass LimitPath1. Then, path L1 is determined to be an unavailable path, and other paths are searched, that is, a new initial path is determined. Subsequently, the road width of the new initial path is compared with the passage width of the AGV until the target path of the AGV is determined.

[0183] S1008: If the rotation point is found, mark the rotation point as the rotation point of the first restricted traffic section, and mark the traffic posture from the rotation point to the first restricted traffic section.

[0184] In this step, if a rotation point can be found in the section before LimitPath1, that is, the AGV can rotate at this rotation point before entering LimitPath1, then mark this rotation point as the rotation point of LimitPath1, denoted as P1. And mark the passing posture from point P1 to section LimitPath1, that is, the passing posture that the AGV needs to maintain when moving from P1 to section LimitPath1.

[0185] S1009: Find the subsequent n-th restricted road section, and find the rotation point between the n-1-th restricted road section and the n-th restricted road section that is closest to the n-th restricted road section.

[0186] In this step, the subsequent n-th restricted road section is found and recorded as LimitPathn, and the position between the n-1-th restricted road section (recorded as LimitPathn-1) and LimitPathn that is closest to LimitPathn and supports the AGV to rotate the target angle in the target direction is found, and the LimitPathn rotation point P is obtained, recorded as Pn.

[0187] S1010: If the rotation point can be found, the rotation point is marked as the rotation point of the n-th restricted passage section, and the passage posture from the rotation point to the n-th restricted passage section is set in the path L1.

[0188] In this step, if the position closest to LimitPathn between the n-1th restricted passage section (denoted as LimitPathn-1) and LimitPathn can be found, which supports the AGV to rotate to the target angle in the target direction, that is, the rotation point of LimitPathn can be found, then the rotation point is marked as the rotation point of the section LimitPathn and recorded as Pn, and the passage posture from Pn to the section LimitPathn is set in path L1, that is, the passage posture that the AGV needs to maintain when moving from Pn to the section LimitPathn.

[0189] S1011: If no rotation point is found between the n-1th restricted section and the nth restricted section, the rotation point of the n-1th restricted section is set as the rotation point of the nth restricted section, and the traffic posture from the rotation point to the nth restricted section is set in the path L1.

[0190] In this step, if no position is found between LimitPathn-1 and LimitPathn that supports the AGV to rotate to the target angle in the target direction, that is, the rotation point is not found, the rotation point of the previous section LimitPathn-1 (denoted as Pn-1) is directly set as the rotation point Pn of the section LimitPathn, and the passage posture from Pn-1 to the section LimitPathn is set in path L1.

[0191] S1012: traverse the entire path L1, complete the marking, and set the path L1 carrying the special mark as the path of the AGV.

[0192] In this step, all sections of the path L1 are traversed, the rotation points and travel postures of each section are marked, and the path L1 is determined as the target path of the AGV.

[0193] Subsequently, the server sends the target path to the AGV. Accordingly, after the AGV receives the target path sent by the server, when driving along the target path, if it encounters a sub-path whose path width is smaller than the passage width of the AGV, it rotates the target angle according to the target direction so that the path width of the sub-path is larger than the passage width after the rotation of the AGV, and keeps the passage posture after the rotation through the sub-path until the AGV reaches the target position.

[0194] Based on the path planning method provided in the embodiment of the present application, it is possible to reasonably plan the driving path of the AGV in a narrow environment, determine the optimal path, and control the AGV to rotate according to the obstacles around the driving path of the AGV so that the AGV will not collide when passing through the road sections with obstacles around it. This can improve the operating efficiency of the AGV in a narrow environment and improve space utilization.

[0195] See also Fig.11 , Fig.11 A structural diagram of an AGV operation device provided in an embodiment of the present application, wherein the device is applied to a server and comprises:

[0196] An initial path acquisition module 1101 is used to acquire an initial path from an initial position of the AGV to a target position;

[0197] A width comparison module 1102 is used to compare the path width of the sub-path included in the initial path with the passage width of the AGV; wherein the passage width is the maximum value of the size of the AGV along the target direction and the size of the load carried by the AGV along the target direction; the target direction is perpendicular to the movement direction of the AGV;

[0198] The target path determination module 1103 is used to determine that the initial path is the target path of the AGV if the path width of each sub-path included in the initial path meets the pass condition; wherein, for any sub-path, the sub-path meets the pass condition including: the path width of the sub-path is greater than the pass width of the AGV, or the path width of the sub-path is greater than the pass width of the AGV after rotating the target angle according to the target direction;

[0199] The target path sending module 1104 is used to send the target path to the AGV to instruct the AGV to travel along the target path to the target position.

[0200] Optionally, the width comparison module 1102 is specifically configured to:

[0201] In the order from the initial position to the target position of the AGV, a sub-path to be compared is determined from each sub-path in the initial path, and the path width of the sub-path is compared with the passage width of the AGV; wherein each sub-path in the initial path has a different width from an adjacent sub-path;

[0202] If the path width of the sub-path meets the passage condition, the next sub-path of the sub-path is determined as the sub-path to be compared in the order from the initial position to the target position of the AGV, and the step of comparing the path width of the sub-path with the passage width of the AGV is returned to be executed;

[0203] The device also includes:

[0204] The marking module is used to determine that the initial path is an unavailable path if the path width of the sub-path is smaller than the passage width of the AGV and smaller than the passage width of the AGV after rotating by a target angle in any direction.

[0205] Optionally, the width comparison module 1102 is specifically configured to:

[0206] If the path width of the sub-path is smaller than the passage width of the AGV, determine the angle at which the AGV rotates when the passage width of the AGV takes a minimum value, and obtain a target angle;

[0207] If the path width of the sub-path is greater than the passage width of the AGV after rotating the target angle in the target direction, it is determined that the path width of the sub-path meets the passage condition, and the next sub-path of the sub-path is determined as the sub-path to be compared in the order from the initial position of the AGV to the target position.

[0208] Optionally, the device further comprises:

[0209] A rotation point determination module is used to determine the angle at which the AGV rotates when the passage width of the AGV takes the minimum value if the path width of the sub-path is smaller than the passage width of the AGV in the width comparison module 1102, and after obtaining the target angle, determine the position that supports the AGV to rotate to the target angle without collision in the path before the sub-path, and obtain the rotation point of the sub-path and the target direction of rotation at the rotation point;

[0210] The marking module is used to determine that the initial path is an unavailable path if there is no position in the path before the sub-path that supports the AGV to rotate to the target angle without collision.

[0211] Optionally, the device further comprises:

[0212] The initial path updating module is used to determine a new initial path from the initial position of the AGV to the target position after the marking module determines that the initial path is an unavailable path, and return to execute the step of comparing the path width of the sub-path in the initial path with the passage width of the AGV before rotation.

[0213] Optionally, the device further comprises:

[0214] A recording module is used to record the rotation points of the AGV in the target path, the target direction and the target angle of rotation of the AGV at each rotation point, and the passage posture of the AGV through each sub-path in the target path after the target path determination module 1103 executes to determine that the initial path is the target path of the AGV if the path width of each sub-path included in the initial path meets the passage condition; wherein the passage posture of the AGV through any sub-path meets the business requirements of the AGV in the sub-path.

[0215] Optionally, the target path sending module 1104 is specifically used to:

[0216] The target path, the rotation point of the AGV in the target path, the target direction and target angle of the AGV's rotation at each rotation point, and the passage posture of the AGV through each sub-path in the target path are sent to the AGV, so that when the AGV encounters a sub-path with a path width less than the passage width of the AGV during its travel along the target path, the target angle is rotated according to the target direction so that the path width of the sub-path is greater than the passage width of the AGV after rotation; the passage posture after rotation is maintained through the sub-path; after passing through the sub-path, according to the passage posture of the AGV through each sub-path in the target path issued by the server, it is determined whether the passage posture through the next sub-path is the passage posture of the AGV before rotation; if the passage posture through the next sub-path is the passage posture of the AGV before rotation, the target angle is rotated in the direction opposite to the target direction; and the passage posture after rotation is maintained through the next sub-path.

[0217] Based on the AGV operating device provided in the embodiment of the present application, it is possible to reasonably plan the driving path of the AGV in a narrow environment, determine the optimal path, and control the AGV to rotate according to the obstacles around the driving path of the AGV so that the AGV will not collide when passing through the road section with obstacles around it. This can improve the operating efficiency of the AGV in a narrow environment and improve space utilization.

[0218] The present application also provides a server, such as Fig.12 As shown, including:

[0219] Memory 1201, used for storing computer programs;

[0220] The processor 1202 is used to implement the following steps when executing the program stored in the memory 1201:

[0221] Obtain the initial path from the initial position of the AGV to the target position;

[0222] Compare the path width of the sub-path included in the initial path with the passage width of the AGV; wherein the passage width is the maximum value of the size of the AGV along the target direction and the size of the load carried by the AGV along the target direction; the target direction is perpendicular to the movement direction of the AGV;

[0223] If the path width of each sub-path included in the initial path satisfies the pass condition, the initial path is determined to be the target path of the AGV; wherein, for any sub-path, the sub-path satisfies the pass condition including: the path width of the sub-path is greater than the pass width of the AGV, or the path width of the sub-path is greater than the pass width of the AGV after rotating the target angle in the target direction;

[0224] The target path is sent to the AGV to instruct the AGV to travel along the target path to the target location.

[0225] In addition, the server may further include a communication bus and / or a communication interface, and the processor 1202, the communication interface, and the memory 1201 communicate with each other via the communication bus.

[0226] The communication bus mentioned in the above server can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0227] The communication interface is used for communication between the above server and other devices.

[0228] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0229] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0230] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned AGV operation methods are implemented.

[0231] In another embodiment provided in the present application, a computer program product including instructions is also provided, and when the computer is run on the computer, the computer executes the operating method of any AGV in the above embodiments.

[0232] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0233] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0234] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, system, server, computer-readable storage medium, and computer program product embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0235] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. An AGV operation method, characterized in that: The method is applied to a server, and the method comprises: Obtain the initial path from the initial position of the AGV to the target position; Compare the path width of the sub-path included in the initial path with the passage width of the AGV; wherein the passage width is the maximum value of the size of the AGV along the target direction and the size of the load carried by the AGV along the target direction; the target direction is perpendicular to the movement direction of the AGV; If the path width of each sub-path included in the initial path satisfies the pass condition, the initial path is determined to be the target path of the AGV; wherein, for any sub-path, the sub-path satisfies the pass condition including: the path width of the sub-path is greater than the pass width of the AGV, or the path width of the sub-path is greater than the pass width of the AGV after rotating the target angle in the target direction; Sending the target path to the AGV to instruct the AGV to travel along the target path to the target location; The method further comprises: For any sub-path, after determining that the width of the sub-path is greater than the passage width of the AGV after rotating the target angle according to the target direction, determine the position in the path before the sub-path that supports the AGV to rotate the target angle without collision, and obtain the rotation point of the sub-path and the target direction of rotation at the rotation point; The step of sending the target path to the AGV to instruct the AGV to travel along the target path to the target position includes: The target path is sent to the AGV to instruct the AGV that when traveling along the target path to the target position, if a sub-path with a path width less than the passage width of the AGV is encountered, the AGV rotates the target angle according to the target direction when reaching the rotation point of the sub-path, so that the path width of the sub-path is greater than the passage width of the AGV after rotation.

2. The method according to claim 1, characterized in that The comparing the path width of the sub-path in the initial path with the passage width of the AGV includes: In the order from the initial position to the target position of the AGV, a sub-path to be compared is determined from each sub-path in the initial path, and the path width of the sub-path is compared with the passage width of the AGV; wherein each sub-path in the initial path has a different width from an adjacent sub-path; If the path width of the sub-path meets the passage condition, the next sub-path of the sub-path is determined as the sub-path to be compared in the order from the initial position to the target position of the AGV, and the step of comparing the path width of the sub-path with the passage width of the AGV is returned to be executed; The method further comprises: If the path width of the sub-path is smaller than the passage width of the AGV and smaller than the passage width of the AGV after rotating by a target angle in any direction, the initial path is determined to be an unavailable path.

3. The method according to claim 2, characterized in that If the path width of the sub-path satisfies the passage condition, the next sub-path of the sub-path is determined as the sub-path to be compared in the order from the initial position to the target position of the AGV, including: If the path width of the sub-path is smaller than the passage width of the AGV, determine the angle at which the AGV rotates when the passage width of the AGV takes a minimum value, and obtain a target angle; If the path width of the sub-path is greater than the passage width of the AGV after rotating the target angle in the target direction, it is determined that the path width of the sub-path meets the passage condition, and the next sub-path of the sub-path is determined as the sub-path to be compared in the order from the initial position of the AGV to the target position.

4. The method according to claim 3, characterized in that If the path width of the sub-path is smaller than the passage width of the AGV, after determining the angle at which the AGV rotates when the passage width of the AGV takes a minimum value and obtaining the target angle, the method further includes: If there is no position in the path before the sub-path that supports the AGV to rotate to the target angle without collision, the initial path is determined to be an unavailable path.

5. The method according to claim 2 or 4, characterized in that: After determining that the initial path is an unavailable path, the method further includes: A new initial path from the initial position of the AGV to the target position is determined, and the step of comparing the path width of the sub-path in the initial path with the passage width of the AGV before rotation is performed again.

6. The method according to claim 4, characterized in that After determining that the initial path is the target path of the AGV if the path width of each sub-path included in the initial path meets the traffic condition, the method further includes: Record the rotation points of the AGV in the target path, the target direction and the target angle of the AGV's rotation at each rotation point, and the passage posture of the AGV through each sub-path in the target path; wherein the passage posture of the AGV through any sub-path meets the business requirements of the AGV in the sub-path.

7. The method according to claim 6, characterized in that The step of sending the target path to the AGV to instruct the AGV to travel along the target path to the target position includes: The target path, the rotation point of the AGV in the target path, the target direction and target angle of the AGV's rotation at each rotation point, and the passage posture of the AGV through each sub-path in the target path are sent to the AGV, so that when the AGV encounters a sub-path with a path width less than the passage width of the AGV during its travel along the target path, the target angle is rotated according to the target direction so that the path width of the sub-path is greater than the passage width of the AGV after rotation; the passage posture after rotation is maintained through the sub-path; after passing through the sub-path, according to the passage posture of the AGV through each sub-path in the target path issued by the server, it is determined whether the passage posture through the next sub-path is the passage posture of the AGV before rotation; if the passage posture through the next sub-path is the passage posture of the AGV before rotation, the target angle is rotated in the direction opposite to the target direction; and the passage posture after rotation is maintained through the next sub-path.

8. An AGV operation method, characterized in that: The method is applied to AGV, and the method comprises: Driving according to the target path sent by the server; wherein the target path is the path from the initial position of the AGV to the target position; During the driving process, if a sub-path with a path width smaller than the passage width of the AGV is encountered, the target angle is rotated according to the target direction so that the path width of the sub-path is larger than the passage width of the AGV after rotation; Maintain the rotated passing posture and pass through the subpath; During the driving process, if a sub-path whose path width is smaller than the passage width of the AGV is encountered, the target angle is rotated according to the target direction so that the path width of the sub-path is larger than the passage width of the AGV after rotation, including: During the driving process, if a sub-path whose path width is smaller than the passage width of the AGV is encountered, when the rotation point of the sub-path is reached, the target angle is rotated according to the target direction so that the path width of the sub-path is larger than the passage width of the AGV after rotation; wherein the rotation point is a position in the path before the sub-path that supports the AGV to rotate according to the target direction by the target angle without collision.

9. The method according to claim 8, characterized in that Before driving according to the target path sent by the server, the method further includes: Receive the target path from the initial position to the target position of the AGV, the rotation points of the AGV in the target path, the target direction and target angle of the AGV's rotation at each rotation point, and the passage posture of the AGV through each sub-path in the target path sent by the server; the target angle is the angle at which the AGV rotates when the passage width of the AGV takes the minimum value.

10. The method according to claim 9, characterized in that During the driving process, if a sub-path whose path width is smaller than the passage width of the AGV is encountered, the target angle is rotated according to the target direction so that the path width of the sub-path is larger than the passage width of the AGV after rotation, and the method further includes: After passing the sub-path, judging whether the passing posture of the AGV passing through the next sub-path is the passing posture of the AGV before the rotation according to the passing posture of the AGV passing through each sub-path in the target path sent by the server; If the passing posture of the AGV passing through the next sub-path is the passing posture of the AGV before rotation, the target angle is rotated in a direction opposite to the target direction to restore the passing posture before rotation, and the next sub-path is passed according to the restored passing posture.

11. The method according to claim 8, characterized in that The AGV includes a controller, a motion chassis, a lifting mechanism and a lifting platform; the motion chassis is arranged at the bottom of the AGV; the lifting mechanism and the lifting platform are arranged at the top of the motion chassis; The controller controls the lifting mechanism to rise or fall, so as to drive the lifting platform to rise or fall; The AGV also includes a rotating component; the rotating component is connected to the lifting platform and is arranged below the lifting platform; the controller controls the lifting platform to rotate the target angle in the target direction, so as to drive the load carried on the lifting platform to rotate the target angle in the target direction and keep the moving chassis stationary.

12. The method according to claim 8, characterized in that The AGV includes a controller, a motion chassis, a lifting mechanism and a lifting platform; the motion chassis is arranged at the bottom of the AGV; the lifting mechanism and the lifting platform are arranged at the top of the motion chassis; The controller controls the lifting mechanism to rise or fall, so as to drive the lifting platform to rise or fall; The AGV also includes a rotating wheel; the controller controls the rotating wheel to rotate the target angle in the target direction to drive the AGV as a whole to rotate the target angle in the target direction, and the lifting platform, the lifting mechanism and the moving chassis remain relatively stationary.

13. An AGV operating device, characterized in that: The device is applied to a server, and comprises: An initial path acquisition module is used to acquire an initial path from the initial position of the AGV to the target position; A width comparison module, used to compare the path width of the sub-path included in the initial path with the passage width of the AGV; wherein the passage width is the maximum value of the size of the AGV along the target direction and the size of the load carried by the AGV along the target direction; the target direction is perpendicular to the movement direction of the AGV; A target path determination module, configured to determine that the initial path is the target path of the AGV if the path width of each subpath included in the initial path satisfies a pass condition; wherein, for any subpath, the subpath satisfies the pass condition including: the path width of the subpath is greater than the pass width of the AGV, or the path width of the subpath is greater than the pass width of the AGV after rotating the target angle in the target direction; A target path sending module, used to send the target path to the AGV to instruct the AGV to travel along the target path to the target position; The device also includes: A rotation point determination module is used for, for any sub-path, after determining that the width of the sub-path is greater than the passage width of the AGV after rotating the target angle according to the target direction, determining in the path before the sub-path a position that supports the AGV to rotate the target angle without collision, and obtaining the rotation point of the sub-path and the target direction of rotation at the rotation point; The target path sending module is specifically used to send the target path to the AGV to instruct the AGV that when traveling along the target path to the target position, if a sub-path with a path width less than the passage width of the AGV is encountered, the AGV rotates the target angle according to the target direction when reaching the rotation point of the sub-path, so that the path width of the sub-path is greater than the passage width of the AGV after rotation.

14. An AGV operation system, characterized in that: The system includes a server and an AGV; The server is used to obtain an initial path from an initial position of the AGV to a target position; compare the path width of the sub-path included in the initial path with the passage width of the AGV; wherein the passage width is the maximum value of the size of the AGV along the target direction and the size of the load carried by the AGV along the target direction; the target direction is perpendicular to the movement direction of the AGV; if the path width of each sub-path included in the initial path meets the passage condition, the initial path is determined to be the target path of the AGV; wherein, for any sub-path, the sub-path meets the passage condition including: the path width of the sub-path is greater than the passage width of the AGV, or the path width of the sub-path is greater than the passage width of the AGV after rotating the target angle according to the target direction; and send the target path to the AGV; The AGV is used to travel along the target path sent by the server; during the travel process, if a sub-path with a path width smaller than the passage width of the AGV is encountered, the AGV is rotated by a target angle according to a target direction so that the path width of the sub-path is larger than the passage width of the AGV after rotation, and the AGV passes through the sub-path while maintaining the passage posture after rotation; The server is further configured to, for any sub-path, after determining that the width of the sub-path is greater than the passage width of the AGV after rotating the target angle according to the target direction, determine, in the path before the sub-path, a position that supports the AGV to rotate the target angle without collision, obtain the rotation point of the sub-path, and the target direction of rotation at the rotation point; The AGV is specifically used to, during driving, if it encounters a sub-path whose path width is smaller than the passage width of the AGV, then when it reaches the rotation point of the sub-path, rotate the target angle according to the target direction so that the path width of the sub-path is larger than the passage width of the AGV after rotation; wherein the rotation point is a position in the path before the sub-path that supports the AGV to rotate according to the target direction by the target angle without collision.

15. A server, characterized in that: include: Memory, used to store computer programs; A processor, for implementing the method according to any one of claims 1 to 7 when executing a program stored in a memory.

16. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any one of claims 1 to 7, or the method described in any one of claims 8 to 12 is implemented.

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