AGV navigation control method and system, computer storage medium and equipment

Abstract

The embodiment of the invention provides an AGV navigation control method and system, a computer storage medium and equipment. The method comprises the following steps: according to received task information, determining a platform identifier of a target platform where a target AGV needs to arrive; in the process that the target AGV advances towards the target platform, when the target AGV reaches a mark point, a mark point code corresponding to the mark point is obtained; determining the mark point type of the mark point and the corresponding action to be executed according to the code length of the mark point code and the characters contained in the mark point code; and under the condition that the mark point type of the mark point is a predetermined type or the mark point code of the mark point is related to the platform identifier, executing a to-be-executed action corresponding to the mark point, otherwise, straight going through the mark point until the target AGV reaches the target platform. According to the technical scheme provided by the embodiment of the invention, the navigation reliability of the AGV can be improved, so that normal production is ensured.

Description

Technical Field

[0001] The present application relates to the field of AGV technology, and in particular to an AGV navigation control method, system, computer storage medium and device. Background Art

[0002] At present, with the continuous improvement of domestic automation technology, AGV (Automated Guided Vehicle) has been widely popularized in logistics, manufacturing and other industries. Users can control the AGV to drive along the specified path and automatically load and unload goods. In the current technical solution, the driving path of the AGV is generally provided by the AGV scheduling system, and the AGV uses its own laser navigation or magnetic track navigation technology to achieve driving along the specified path. During the driving process, the AGV needs to interact with the AGV scheduling system in real time to achieve position feedback and path correction. This means that when the AGV scheduling system fails or the network is disconnected, all AGVs will be paralyzed, which will have a serious impact on production. Therefore, how to improve the reliability of AGV navigation and ensure the normal progress of production has become a technical problem that needs to be solved urgently. Summary of the invention

[0003] The embodiments of the present application provide an AGV navigation control method, system, computer storage medium and device, which can improve the reliability of AGV navigation at least to a certain extent, thereby ensuring the normal progress of production.

[0004] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0005] According to one aspect of an embodiment of the present application, there is provided an AGV navigation control method, which is applied to a target AGV;

[0006] The method comprises:

[0007] Determine the platform identifier of the target platform that the target AGV needs to reach according to the received task information;

[0008] When the target AGV moves toward the target platform, each time a marking point is reached, a marking point code corresponding to the marking point is obtained;

[0009] Determine the marking point type of the marking point and its corresponding action to be executed according to the encoding length of the marking point code and the characters contained therein;

[0010] When the marking point type of the marking point is a predetermined type or the marking point code of the marking point is related to the platform identifier, the to-be-executed action corresponding to the marking point is executed; otherwise, the marking point is passed straight until the target AGV reaches the target platform.

[0011] According to one aspect of an embodiment of the present application, an AGV navigation control system is provided, including an AGV dispatching system and a plurality of target AGVs, wherein the AGV dispatching system is communicatively connected with the plurality of target AGVs;

[0012] The AGV scheduling system is used to determine the target AGV to perform the task and send the corresponding task information to the target AGV;

[0013] The target AGV is used to execute the AGV navigation control method as described in the above embodiment according to the received task information.

[0014] According to one aspect of an embodiment of the present application, a computer-readable medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the AGV navigation control method as described in the above embodiment is implemented.

[0015] According to one aspect of an embodiment of the present application, an electronic device is provided, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the AGV navigation control method as described in the above embodiments.

[0016] According to one aspect of the embodiments of the present application, a computer program product or a computer program is provided, the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the AGV navigation control method provided in the above embodiment.

[0017] In the technical solutions provided in some embodiments of the present application, the target AGV determines the platform identification of the target platform it needs to reach based on the received task information. In the process of the target AGV moving toward the target platform, each time it reaches a mark point, it obtains the mark point code corresponding to the mark point, and determines the mark point type of the mark point and its corresponding action to be executed based on the code length of the mark point code and the characters it contains. If the mark point type of the mark point or the mark point code of the mark point is related to the platform identification, the action to be executed corresponding to the mark point is executed, otherwise it goes straight through the mark point until the target AGV reaches the target platform. In this way, the target AGV can find the correct path to the target platform based on the mark point codes of each mark point, without the need for excessive involvement of the AGV scheduling system, thereby improving the reliability of AGV navigation and ensuring the normal progress of production.

[0018] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0020] Figure 1 A schematic flow chart of an AGV navigation control method according to an embodiment of the present application is shown;

[0021] Figure 2 A schematic diagram of an AGV navigation path and marking point coding according to an embodiment of the present application is shown;

[0022] Figure 3 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown. DETAILED DESCRIPTION

[0023] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concept of the example embodiments to those skilled in the art.

[0024] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0025] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0026] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0027] Figure 1 The flowchart of the AGV navigation control method according to an embodiment of the present application is shown. The method can be applied to a target AGV. It should be noted that the target AGV can be any AGV in the system, that is, each AGV can execute the AGV navigation control method provided in the embodiment of the present application.

[0028] Please refer to Figure 1 The AGV navigation control method at least includes steps S110 to S140, which are described in detail as follows:

[0029] In step S110, the platform identifier of the target platform that the target AGV needs to reach is determined according to the received task information.

[0030] In this embodiment, the target AGV can receive task information sent by the AGV dispatching system, and the task information can be used to indicate the transport task that the target AGV needs to perform and the target station that needs to be reached to perform the transport task. Specifically, the task information can include path information for performing the task, and the path information can include station identifications of one or more target stations, so that the target AGV can clearly identify the destination that it needs to reach based on the station identifications.

[0031] It should be understood that when performing a transport task, the AGV may need to go to a station to obtain the goods to be transported, and then transport the goods to another station. For example, the target AGV needs to first go to the packaging material area to obtain packaging materials, and then transport the packaging materials to the destination. Therefore, there may be two or more target stations in a transport task.

[0032] When there are multiple target stations, the AGV scheduling system can determine the order of arrival of the target stations in the task information, so that the target AGV goes to the target station that needs to be arrived first and then to the target station that needs to be arrived later during the execution of the transportation task.

[0033] In step S120, when the target AGV moves toward the target platform, each time it reaches a mark point, a mark point code corresponding to the mark point is obtained.

[0034] In this embodiment, after determining the station identification of the target station that the target AGV needs to reach, the target AGV can move forward along a preset route (such as a laid magnetic track) to reach the target station. The preset route may be distributed with a number of marking points, and different types of marking points may have different functions.

[0035] In one example, a person skilled in the art may classify the types of marking points into turning marking points, platform marking points and positioning marking points. Among them, the turning marking points are used to indicate that the target AGV can turn at the current position, and the target AGV can determine whether to turn according to its own task needs. It should be noted that the turning marking points can also be subdivided according to their setting positions. For example, the turning marking points may include turning marking points for entering the branch line, turning marking points for entering the platform, and fixed turning marking points; the platform marking points may be set corresponding to each platform, so that when the target AGV reaches the platform marking point, the specific platform at the current position can be clearly identified to determine whether to park; the positioning marking point can be used to indicate that the target AGV uploads the position information to the AGV scheduling system, that is, when the target AGV reaches a positioning marking point, it can go straight through the positioning marking point and upload the current position information to the AGV scheduling system.

[0036] After determining each marking point, the technicians in this field can assign a marking point code to each marking point according to preset rules. The marking point code can be composed of one or more letters, numbers and symbols. It should be noted that different code lengths, different positions and / or different characters in the marking point code can refer to different meanings, so that the generated marking point code can characterize the type and function of the marking point.

[0037] In one embodiment, the coding rules of the marking point coding may be as shown in Table 1 below:

[0038] Table 1 Encoding rules for marker codes

[0039]

[0040]

[0041] In one example, after the marking point code corresponding to each marking point is determined according to the above-mentioned encoding rules, each marking point code can be pasted to the corresponding marking point. Every time the target AGV reaches a marking point, it can obtain the marking point code through the visual device it carries (such as a camera, etc.), identify it, and determine the coding length of the marking point code and the characters it contains for subsequent processing.

[0042] In step S130, the marking point type of the marking point and its corresponding action to be executed are determined according to the encoding length of the marking point code and the characters contained therein.

[0043] In this embodiment, as mentioned above, marker point codes of different coding lengths, different positions or different characters in the marker point codes can represent different meanings. Therefore, the target AGV can match the coding length of the identified marker point code and the characters contained therein with the coding rules to determine the marker point type corresponding to the marker point.

[0044] Taking the coding rules of the marking point coding shown in Table 1 as an example, the coding length of the turning marking point entering the branch line and the platform marking point is 3 bits, the coding length of the positioning marking point and the turning marking point entering the platform is 4 bits, and the coding length of the fixed turning marking point is 5 bits. Moreover, even in the case of the same coding length, it can be further distinguished according to whether there is a turning mark at a specific position in the marking point coding. For example, for the turning marking point entering the branch line and the platform marking point whose coding length of the marking point coding is 3 bits, it can be determined whether the first character in the marking point coding is a turning mark (i.e., R, L or G). If so, it can be determined that the marking point corresponding to the marking point coding is the turning marking point entering the branch line. If not, it can be determined that the corresponding marking point is the platform marking point; or, for the positioning marking point and the turning marking point entering the platform whose coding length of the marking point coding is 4 bits, it can be determined whether the fourth character in the marking point coding is a turning mark. If so, it can be determined that the marking point corresponding to the marking point coding is the turning marking point entering the platform. If not, it can be determined that the corresponding marking point is the positioning marking point.

[0045] After determining the mark point type of the mark point reached by the target AGV, the action to be executed corresponding to the mark point can be determined, where the action to be executed can be the action that the target AGV can execute at the mark point. For example, the action to be executed corresponding to the turning mark point can be turning in the specified direction, the action to be executed corresponding to the positioning mark point can be reporting its own position information, the action to be executed corresponding to the platform mark point can be parking, and so on.

[0046] It is worth noting that the action to be executed is not an action that the target AGV must execute. For example, when the mark point is a turning mark point, in addition to the fixed turning mark point, when the target AGV reaches other turning mark points (such as the turning mark point for entering a branch line or the turning mark point for entering a platform), according to the needs of the task to be performed, if the target platform is not on the branch line or the platform corresponding to the turning mark point for entering the platform is not the target platform, the target AGV chooses not to turn.

[0047] In one embodiment of the present application, determining the marking point type of the marking point and its corresponding action to be executed according to the encoding length of the marking point code and the characters contained therein includes:

[0048] Identify the mark point code and determine the corresponding code length and the characters included;

[0049] When the encoding length of the marking point code is a first preset length and the character at the first predetermined position thereof is a turning mark, determining that the marking point type of the marking point is a first type, and the corresponding action to be executed is a turning action corresponding to the turning mark;

[0050] When the encoding length of the marking point code is the first preset length and the character at the first predetermined position is not a turn mark, determining that the marking point type of the marking point is the second type, and the corresponding action to be performed is parking;

[0051] When the code length of the marking point code is the second preset length and the character at the second preset position is a turning mark, determining that the marking point type of the marking point is the third type, and the corresponding action to be executed is a turning action corresponding to the turning mark, and the second preset length is not equal to the first preset length;

[0052] When the encoding length of the marking point code is the second preset length and the character at the second predetermined position is not a turn mark, determining that the marking point type of the marking point is the fourth type, and the corresponding action to be executed is to go straight through the marking point;

[0053] When the encoding length of the marking point code is the third preset length, the marking point type of the marking point is determined to be the fifth type, and the corresponding action to be executed is the turning action corresponding to the turning mark at the third preset position in the marking point code, and the third preset length is not equal to the first preset length and the second preset length.

[0054] In this embodiment, when making a judgment, the target AGV can first identify the corresponding code length and the characters contained in it according to the mark point code of the mark point. According to the coding rules shown in Table 1, the target AGV can first determine whether the code length is the first preset length, the second preset length or the third preset length, wherein the first preset length, the second preset length and the third preset length are not equal to each other, so that the mark points can be preliminarily divided according to the code length. Assume that the first preset length is 3 bits, the second preset length is 4 bits, and the third preset length is 5 bits.

[0055] When it is determined that the coding length is the first preset length, i.e., 3 digits, it can be determined that the marking point is a turning marking point for entering the branch line or a platform marking point. Then, the target AGV can determine whether the character at the first predetermined position of the marking point code (such as the first character) is a turning mark, i.e., determine whether its first character is any one of "R", "L" or "G". If its first character is a turning mark, it is determined that the marking point type of the marking point corresponding to the marking point code is the first type (i.e., the turning marking point for entering the branch line), and its corresponding action to be performed is the turning action corresponding to its turning mark. If not, it can be determined that its marking point type is the second type (i.e., the platform marking point), and its corresponding action to be performed is to park at the platform.

[0056] When it is determined that the coding length is the second preset length, i.e., 4 bits, it can be determined that the mark point is a positioning mark point or a turning mark point for entering the platform. Then, the target AGV can further determine that if the character at its second predetermined position (such as the fourth character) is a turning mark, it can be determined that the corresponding mark point type is the third type (i.e., the turning mark point for entering the platform), and the corresponding action to be performed is the turning action corresponding to its turning mark. If the character at its second predetermined position is not a turning mark, it can be determined that the corresponding mark point type is the fourth type (i.e., the positioning mark point), and the corresponding action to be performed is to execute passing through the mark point and report the location information of the target AGV.

[0057] When the coding length is determined to be the third preset length, i.e. 5 bits, it can be determined that the marking point is of the fifth type (i.e. a fixed turning marking point). This type of marking point is generally set at the turning point of the main line. Therefore, the corresponding action to be executed is the turning action corresponding to the turning mark (such as the fifth character) at the third preset position in the marking point code.

[0058] Therefore, according to the mark point code obtained by encoding according to the above-mentioned encoding rules, the target AGV can accurately identify the corresponding mark point type and the corresponding action to be executed according to its code length and the characters contained therein. Without the participation of the AGV scheduling system, the target AGV can also accurately find the correct road to the target platform, thereby improving the reliability of AGV navigation.

[0059] Please continue to refer to Figure 1 In step S140, if the marking point type of the marking point is a predetermined type or the marking point code of the marking point is related to the platform identifier, the to-be-executed action corresponding to the marking point is executed, otherwise the marking point is passed straight through until the target AGV arrives at the target platform.

[0060] In this embodiment, after the target AGV determines the mark point type of the currently reached mark point, it can determine whether the mark point type is a predetermined type. If it is a predetermined type, the target AGV can execute the pending action corresponding to the mark point. The number of predetermined types can be one or more, for example, the predetermined type can include a positioning mark point and a fixed turning mark point. When the mark point is a positioning mark point or a fixed turning mark point, the target AGV can execute the pending action corresponding to the mark point, that is, report its own position information or turn in a specified direction.

[0061] When the mark point type of the mark point is any type other than the predetermined type, the target AGV can further determine whether the mark point code of the mark point is related to the platform identification of the target platform (for example, whether the mark point code contains the platform identification, etc.), so as to determine whether it is necessary to execute the pending action corresponding to the mark point. In the case where the mark point code is related to the platform identification of the target platform, it means that the pending action corresponding to the mark point can be executed to go to the target platform that the target AGV needs to reach. Therefore, when the two are related, the target AGV can execute the pending action of the mark point.

[0062] If the mark point code of the mark point is neither of the predetermined type nor related to the platform identification of the target platform, the target AGV can go straight through the mark point to avoid taking the wrong route.

[0063] In one embodiment, when the marking point type of the marking point is a predetermined type or the marking point code of the marking point is related to the platform identifier, executing the to-be-executed action includes:

[0064] When the marking point type of the marking point is the first type, and the character at the fourth predetermined position in the marking point code of the marking point is the same as the character at the fifth predetermined position in the platform identifier, executing the to-be-executed action corresponding to the marking point;

[0065] When the marking point type of the marking point is the first type, and the character at the fourth predetermined position in the marking point code of the marking point is different from the character at the fifth predetermined position in the platform identification, go straight through the marking point;

[0066] When the marking point type of the marking point is the second type, parking the car at the marking point;

[0067] When the marking point type of the marking point is the third type, and the predetermined number of characters arranged in front of the marking point code of the marking point is the same as the platform identifier, executing the to-be-executed action corresponding to the marking point;

[0068] When the marking point type of the marking point is the third type, and the predetermined number of characters arranged in front of the marking point code of the marking point are different from the platform identifier, go straight through the marking point;

[0069] When the marking point type of the marking point is the fourth type or the fifth type, the to-be-executed action corresponding to the marking point is executed.

[0070] In this embodiment, after determining the mark point type of the mark point currently reached by the target AGV and the corresponding pending action, the target AGV can further judge to determine whether to execute the pending action. Specifically, when the mark point type of the mark point is the first type (i.e., the turning mark point for entering the branch line), and the character at the fourth predetermined position in its mark point code (e.g., the third character) is the same as the character at the fifth predetermined position in the platform identification (e.g., the first character), it means that the target platform is located on the branch line. At this time, the target AGV can execute the pending action corresponding to the mark point, i.e., turn along the direction corresponding to its turning mark to enter the branch line.

[0071] When the marking point type of the marking point is the first type (i.e., the turning marking point entering the branch line), and the character in the fourth predetermined position in its marking point code (such as the third character) is different from the character in the fifth predetermined position in the platform identification (such as the first character), it means that the target platform is not on the branch line, so the target AGV can execute through the marking point.

[0072] It should be noted that due to the setting of the turning mark point for entering the platform, each platform is located on a loop on a main line or branch line. If the platform is not the target platform, the target AGV will go straight through the turning mark point and will not turn into the loop. Therefore, if the mark point type of the mark point is the second type (i.e., the platform mark point), it means that the target AGV has entered the loop where the target platform is located and has reached the target platform, and can execute the pending action corresponding to the mark point, i.e., stop at the platform.

[0073] When the mark point type of the mark point is the third type (i.e., the turning mark point for entering the platform), and the predetermined number of characters arranged in front of its mark point code are the same as the platform identifier (such as the first three characters in the mark point code are the same as the platform identifier), it can be determined that the mark point code of the mark point is related to the platform identifier of the target platform. At this time, the target AGV can execute the pending action corresponding to the mark point, that is, make a turn corresponding to the turning mark in the mark point code, thereby entering the loop where the target platform is located.

[0074] When the marking point type of the marking point is the third type (i.e., the turning marking point for entering the platform), and the predetermined number of characters arranged in front of its marking point code are different from the platform identification (such as the first three characters in the marking point code are different from the platform identification), the target AGV goes straight through the marking point.

[0075] When the mark point type of the mark point is the fourth type (i.e., positioning mark point) or the fifth type (i.e., fixed turning mark point), the target AGV can execute the action to be executed corresponding to the mark point, i.e., go straight and report the position information or turn.

[0076] Therefore, after the above judgment, even without the participation of the AGV scheduling system, the target AGV can find the loop where the target platform is located and reach the target platform, thereby improving the reliability of AGV navigation.

[0077] In some embodiments of the present application, the method further includes:

[0078] After the target AGV starts, stops, or passes through each of the marking points, the current location information of the target AGV is uploaded to the AGV scheduling system.

[0079] In this embodiment, the target AGV can upload its current position information to the AGV scheduling system each time it starts, stops, or passes a marking point. In one example, the current position information can be the marking point code of the marking point passed. In other examples, the current position information can also be other forms of information, such as coordinate information.

[0080] The AGV dispatching system can know the current location of each target AGV based on the received location information, thereby facilitating its task allocation or management.

[0081] In one example, the target AGV can also report its own status information at the same time, such as idle, on task, charging, etc., so that the AGV scheduling system knows the current status of each target AGV for task allocation. For example, when there is a new transportation task, idle target AGVs are given priority for execution, etc.

[0082] In some embodiments of the present application, before determining the station identifier of the target station that the target AGV needs to reach according to the received task information, the method further includes:

[0083] The task information sent by the AGV scheduling system is received, and the recipient of the task information is determined by the AGV scheduling system according to the distance between the position information of each idle AGV and the position information of the target platform to be reached to execute the task.

[0084] In this embodiment, when there is a new transport task, the AGV scheduling system can first determine the idle target AGV, and then compare the location information of each idle AGV (such as a specific mark point) with the location information of the target platform to be reached to perform the task, and determine the distance between the two. The AGV scheduling system can select the idle AGV with the smallest corresponding distance as the executor of the new transport task, and send the corresponding task information to the idle AGV.

[0085] In other examples, in addition to considering distance, the AGV scheduling system can also comprehensively consider factors such as the power of idle AGVs to select the optimal AGV to perform the transportation task.

[0086] In some embodiments of the present application, obtaining a marking point code corresponding to the marking point includes:

[0087] The two-dimensional code corresponding to the marking point is scanned and identified to obtain the marking point code corresponding to the marking point.

[0088] In this embodiment, after determining the corresponding marking point code of each marking point, a QR code corresponding to the marking point code can be generated and pasted to the corresponding marking point. When the target AGV reaches a marking point, it can obtain and identify the corresponding QR code through its own visual device to obtain the corresponding marking point code. Therefore, the management personnel can adjust the driving path of the AGV by adjusting the setting of the QR code, which is convenient for line management.

[0089] Based on the technical solution of the above embodiment, a specific application scenario of the embodiment of the present application is introduced below:

[0090] Figure 2 A schematic diagram of an AGV navigation path and marking point coding according to an embodiment of the present application is shown.

[0091] based on Figure 2 As shown, a magnetic track is laid in the working area of ​​the AGV, and the AGV can travel along the magnetic track through the magnetic track navigation technology. In addition, a number of marking points are arranged at intervals on the magnetic track. It is worth noting that the stations are all arranged on the loop on the main line or branch line of the magnetic track.

[0092] When the AGV is started, it will report the current location information. The AGV dispatching system (hereinafter referred to as "AGVC") selects the best vehicle to send the task information based on the current transportation task. If the platform marking point 102 needs packaging materials at this time, the dispatching system will screen the positions of all running AGVs (select the AGV that is on standby or about to complete warehousing before the turning mark point L06). For example, at this time, AGV No. 01 has completed the warehousing task and is located at positioning mark point 0015. It meets the conditions for executing the task and can be used as the target AGV, and the task information will be sent (first go to the packaging material area, namely the platform marking point 601, to pick up the packaging materials, and then transport them to the destination). After receiving the task information, the target AGV first navigates to the packaging material area, namely the platform marking point 601, loads and takes the packaging materials, and then navigates to the platform marking point 102.

[0093] At this point, the navigation logic of the target AGV is as follows:

[0094] When the idle AGV No. 01 located at the positioning mark point 0015 receives the task issued by the AGVC, it replies the task reception completion instruction to the AGVC, and the AGV starts to move forward along the magnetic track.

[0095] When the AGV runs to the L05 turning mark point, the AGV host computer parses the mark point code of the scanned QR code. First, it determines that the code length is 3 digits. Then, in the first step, it determines that the third digit (i.e., number 5) is different from the first digit (i.e., number 6) of the marking point 601 of the packaging area platform. The AGV goes straight through L05 and uploads the current position information to the AGVC at the same time.

[0096] When the AGV runs to the blue fixed turning mark point 0025G, it parses the 5-digit code and determines that the point is a "fixed turning mark point". Then it determines that the 5th digit of the code is "G" and executes a straight movement (if it is "R", it executes a right turn, if it is "L", it executes a left turn) and uploads the current position information to the AGVC.

[0097] When the AGV runs to the mark point 0001, it parses the 4-digit code, and the 4th digit is a number, and determines that the mark point is a "positioning mark point". The AGV uploads the current position information to the AGVC and continues to go straight.

[0098] When it reaches the mark point L06, the AGV host computer parses the mark point code of the scanned QR code, first judging that the code has 3 digits, first judging that the 3rd digit (i.e., number 6) is the same as the 1st digit (i.e., number 6) of the mark point 601 of the packaging area platform, then judging that the 1st character is "L", the AGV decelerates to the minimum speed, turns left to enter the platform roundabout line, and uploads the current position information to the AGVC. When the AGV recognizes the platform mark point 601, it compares and judges that the code is the same as the destination code, and the AGV stops and waits for the staff to load and take the packaging materials.

[0099] After the staff started the AGV again, it continued to drive to 0002L, parsed the 5-digit code, determined that the mark point was a "fixed turning mark point", and then determined that the 5th digit of the code was "L". The AGV executed a left turn and uploaded the current position information to the AGVC.

[0100] The AGV passes through positioning mark points 0002, 0003, 0004, and 0005 in sequence and uploads its location information to the AGVC.

[0101] When the AGV reaches the marking point R01, it performs the same judgment operation as the turning marking point L06. The third character "1" of the turning marking point R01 is the same as the first digit "1" of the platform marking point 102, and its first character is "R", so the AGV executes a right turn.

[0102] The AGV continues to move forward, passes the "positioning mark point" 0007, and uploads the current position information to the AGVC.

[0103] When the AGV runs to the turning mark point 101R, it parses the 4-digit code, the 4th character of which is "R", and determines that the mark point is the "turning mark point for entering the platform". At this time, the first three digits of the mark point "101" are different from the code number "102" of the final platform mark point. The AGV goes straight through the mark point and uploads the current position information to the AGVC.

[0104] When the AGV runs to the mark point 0003G, it parses the 5-digit code and determines that the mark point is a "fixed turning mark point". Then it determines that the 5th digit of the code is "G", executes straight movement, and reports the current position information to the AGVC.

[0105] When the AGV reaches the "turn mark point for entering the platform" 102L, the parsed code is 4 digits. At this time, the first three digits of the mark point "102" are the same as the platform mark point 102. Then, the 4th digit is determined to be the letter L. The AGV decelerates to the minimum speed and performs a left turn. When the AGV reaches the mark point 102, the first three digits of the code "102" are the same as the code digit "102" of the final platform mark point, indicating that the AGV has reached the destination. The AGV stops and waits for the unloading to complete before executing the subsequent tasks.

[0106] Therefore, the target AGV can find the correct path to the target platform according to the mark point codes of each mark point, without the need for excessive involvement of the AGV scheduling system, which improves the reliability of AGV navigation and ensures the normal progress of production.

[0107] The following introduces the system embodiment of the present application, which can be used to execute the AGV navigation control method in the above embodiment of the present application. For details not disclosed in the system embodiment of the present application, please refer to the embodiment of the AGV navigation control method in the above embodiment of the present application.

[0108] According to an embodiment of the present application, an AGV navigation control system includes an AGV dispatching system and a plurality of target AGVs, wherein the AGV dispatching system is in communication connection with the plurality of target AGVs.

[0109] The AGV scheduling system is used to determine the target AGV to perform the task and send the corresponding task information to the target AGV;

[0110] The target AGV is used to execute the AGV navigation control method as described in any of the above embodiments according to the received task information.

[0111] Therefore, the target AGV determines the platform identification of the target platform it needs to reach based on the received task information. In the process of the target AGV moving towards the target platform, each time it passes a mark point, it obtains the mark point code corresponding to the mark point, and determines the mark point type of the mark point and its corresponding action to be executed based on the code length of the mark point code and the characters it contains. If the mark point type of the mark point or the mark point code of the mark point is related to the platform identification, the action to be executed corresponding to the mark point is executed, otherwise it goes straight through the mark point until the target AGV reaches the target platform. Therefore, the target AGV can find the correct path to the target platform based on the mark point code of each mark point, without the need for excessive involvement of the AGV scheduling system, which improves the reliability of AGV navigation and ensures the normal progress of production.

[0112] In some embodiments of the present application, a magnetic track is laid in the working area of ​​the target AGV, a plurality of marking points are arranged at intervals on the magnetic track, and each of the target AGVs travels along the magnetic track.

[0113] Figure 3 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown.

[0114] It should be noted that Figure 3 The computer system of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0115] like Figure 3 As shown, the computer system includes a central processing unit (CPU) 301, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 302 or the program loaded from the storage part 308 to the random access memory (RAM) 303, such as executing the method described in the above embodiment. In RAM 303, various programs and data required for system operation are also stored. CPU 301, ROM 302 and RAM 303 are connected to each other through bus 304. Input / output (I / O) interface 305 is also connected to bus 304.

[0116] The following components are connected to the I / O interface 305: an input section 306 including a keyboard, a mouse, etc.; an output section 307 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage section 308 including a hard disk, etc.; and a communication section 309 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 309 performs communication processing via a network such as the Internet. A drive 310 is also connected to the I / O interface 305 as needed. A removable medium 311, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 310 as needed so that a computer program read therefrom is installed into the storage section 308 as needed.

[0117] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 309, and / or installed from a removable medium 311. When the computer program is executed by a central processing unit (CPU) 301, various functions defined in the system of the present application are executed.

[0118] It should be noted that the computer-readable medium shown in the embodiment of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, - but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0119] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0120] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0121] As another aspect, the present application also provides a computer-readable medium, which may be included in the electronic device described in the above embodiment; or may exist independently without being assembled into the electronic device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by an electronic device, the electronic device implements the method described in the above embodiment.

[0122] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0123] Through the description of the above implementation methods, it is easy for those skilled in the art to understand that the example implementation methods described here can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the implementation methods of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the implementation methods of the present application.

[0124] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application.

[0125] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. An AGV navigation control method, characterized in that: Applied to target AGV; The method comprises: Determine the platform identifier of the target platform that the target AGV needs to reach according to the received task information; When the target AGV moves toward the target platform, each time a marking point is reached, a marking point code corresponding to the marking point is obtained; Determine the marking point type of the marking point and its corresponding action to be executed according to the encoding length of the marking point code and the characters contained therein; When the marking point type of the marking point is a predetermined type or the marking point code of the marking point is related to the platform identifier, the to-be-executed action corresponding to the marking point is executed; otherwise, the marking point is passed straight until the target AGV reaches the target platform.

2. The method according to claim 1, characterized in that Determining the marking point type of the marking point and its corresponding action to be executed according to the encoding length of the marking point code and the characters contained therein, including: Identify the mark point code and determine the corresponding code length and the characters included; When the encoding length of the marking point code is a first preset length and the character at the first predetermined position thereof is a turning mark, determining that the marking point type of the marking point is a first type, and the corresponding action to be executed is a turning action corresponding to the turning mark; When the encoding length of the marking point code is the first preset length and the character at the first predetermined position is not a turn mark, determining that the marking point type of the marking point is the second type, and the corresponding action to be performed is parking; When the code length of the marking point code is the second preset length and the character at the second preset position is a turning mark, determining that the marking point type of the marking point is the third type, and the corresponding action to be executed is a turning action corresponding to the turning mark, and the second preset length is not equal to the first preset length; When the encoding length of the marking point code is the second preset length and the character at the second predetermined position is not a turn mark, determining that the marking point type of the marking point is the fourth type, and the corresponding action to be executed is to go straight through the marking point and report the position information; When the encoding length of the marking point code is the third preset length, the marking point type of the marking point is determined to be the fifth type, and the corresponding action to be executed is the turning action corresponding to the turning mark at the third preset position in the marking point code, and the third preset length is not equal to the first preset length and the second preset length.

3. The method according to claim 2, characterized in that When the marking point type of the marking point is a predetermined type or the marking point code of the marking point is related to the platform identifier, executing the to-be-executed action includes: When the marking point type of the marking point is the first type, and the character at the fourth predetermined position in the marking point code of the marking point is the same as the character at the fifth predetermined position in the platform identifier, executing the to-be-executed action corresponding to the marking point; When the marking point type of the marking point is the first type, and the character at the fourth predetermined position in the marking point code of the marking point is different from the character at the fifth predetermined position in the platform identification, go straight through the marking point; When the marking point type of the marking point is the second type, executing the to-be-executed action corresponding to the marking point; When the marking point type of the marking point is the third type, and the predetermined number of characters arranged in front of the marking point code of the marking point is the same as the platform identifier, executing the to-be-executed action corresponding to the marking point; When the marking point type of the marking point is the third type, and the predetermined number of characters arranged in front of the marking point code of the marking point are different from the platform identifier, go straight through the marking point; When the marking point type of the marking point is the fourth type or the fifth type, the to-be-executed action corresponding to the marking point is executed.

4. The method according to any one of claims 1 to 3, characterized in that The method further comprises: After the target AGV starts, stops, or passes through each of the marking points, the current location information of the target AGV is uploaded to the AGV scheduling system.

5. The method according to claim 4, characterized in that Before determining the station identifier of the target station that the target AGV needs to reach according to the received task information, the method further includes: The task information sent by the AGV scheduling system is received, and the receiver of the task information is determined by the AGV scheduling system according to the distance between the position information of each idle AGV and the position information of the target platform to be reached to execute the task.

6. The method according to claim 1, characterized in that Obtaining the marking point code corresponding to the marking point includes: The two-dimensional code corresponding to the marking point is scanned and identified to obtain the marking point code corresponding to the marking point.

7. An AGV navigation control system, characterized in that: It includes an AGV dispatching system and a plurality of target AGVs, wherein the AGV dispatching system is communicatively connected with the plurality of target AGVs; wherein, The AGV scheduling system is used to determine the target AGV to perform the task and send the corresponding task information to the target AGV; The target AGV is used to execute the AGV navigation control method according to any one of claims 1-6 according to the received task information.

8. The system according to claim 7, characterized in that A magnetic track is laid in the working area of ​​the target AGV, a plurality of marking points are arranged at intervals on the magnetic track, and each of the target AGVs travels along the magnetic track.

9. A computer readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the AGV navigation control method according to any one of claims 1 to 6 is implemented.

10. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, enables the one or more processors to implement the AGV navigation control method as described in any one of claims 1 to 6.

Images