Agv navigation control method, system, computer storage medium and device

Abstract

Embodiments of the present application provide an AGV navigation control method, system, computer storage medium and device. The method comprises: determining a station identity of a target station required to be reached by a target AGV according to received task information; in the process of the target AGV traveling to the target station, obtaining a marker point code corresponding to a marker point every time the marker point is reached; determining a marker point type of the marker point and a corresponding to-be-executed action according to a code length of the marker point code and characters contained in the marker point code; in the case that the marker point type of the marker point is a predetermined type or the marker point code of the marker point is related to the station identity, executing the to-be-executed action corresponding to the marker point, otherwise, straightly passing through the marker point until the target AGV reaches the target station. The technical solution of the embodiments of the present application can improve the reliability of AGV navigation, thereby ensuring the normal production.

Description

TECHNICAL FIELD

[0001] The present application relates to the AGV technical field, in particular, relates to an AGV navigation control method, system, computer storage medium and equipment. BACKGROUND

[0002] At present, with the continuous improvement of domestic automation technology, AGV (Automated Guided Vehicle) is widely popularized in logistics, manufacturing and other industries, and users can control AGV to travel along the specified path and automatically load and unload goods. In the current technical solution, the travel path of AGV is generally provided by AGV scheduling system, and AGV travels along the specified path through its own laser navigation or magnetic track navigation technology, and AGV needs to interact with AGV scheduling system in real time during travel to realize position feedback and path correction. This makes AGV paralyzed when AGV scheduling system fails or network is disconnected, which seriously affects production. Therefore, how to improve the reliability of AGV navigation and ensure the normal production has become a technical problem to be solved. SUMMARY

[0003] Embodiments of the present application provide an AGV navigation control method, system, computer storage medium and equipment, which can at least improve the reliability of AGV navigation to some extent, and ensure the normal production.

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

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

[0006] The method comprises:

[0007] According to the received task information, the station identification of the target station to be reached by the target AGV is determined;

[0008] In the process of the target AGV traveling to the target station, when a marker point is reached, the marker point code corresponding to the marker point is obtained;

[0009] According to the code length of the marker point code and the characters contained therein, the marker point type and the corresponding to-be-executed action of the marker point are determined;

[0010] In a case where the marker point type of the marker point is a predetermined type or the marker point code of the marker point is related to the station identity, a to-be-executed action corresponding to the marker point is executed, otherwise the target AGV directly passes through the marker point until the target AGV reaches the target station.

[0011] According to an aspect of the embodiments of the present application, an AGV navigation control system is provided, comprising an AGV scheduling system and a plurality of target AGVs, the AGV scheduling system being in communication connection with the plurality of target AGVs; wherein,

[0012] The AGV scheduling system is configured to determine a target AGV to execute a task and send corresponding task information to the target AGV.

[0013] The target AGV is configured to execute the AGV navigation control method according to the received task information.

[0014] According to an aspect of the embodiments of the present application, a computer readable medium having a computer program stored thereon is provided, the computer program being executed by a processor to implement the AGV navigation control method according to the above embodiments.

[0015] According to an aspect of the embodiments of the present application, an electronic device is provided, comprising one or more processors, and a storage device configured to store one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the AGV navigation control method according to the above embodiments.

[0016] According to an 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 comprising computer instructions stored in a computer readable storage medium. A processor of a 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 embodiments.

[0017] In the technical solution provided in some embodiments of the present application, the target AGV determines the station identity of the target station to be arrived according to the received task information. In the process of the target AGV moving to the target station, when a marking point is arrived, the marking point code corresponding to the marking point is obtained, the marking point type of the marking point and the corresponding to-be-executed action are determined according to the code length of the marking point code and the characters contained in the marking point code, and in the case that the marking point type of the marking point or the marking point code of the marking point is related to the station identity, the to-be-executed action corresponding to the marking point is executed, otherwise, the target AGV directly moves through the marking point until the target AGV arrives at the target station. In this way, the target AGV can find the correct path to the target station according to the marking point codes of the marking points, without the excessive participation of the AGV scheduling system, thereby improving the reliability of AGV navigation and ensuring the normal production.

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

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and serve to explain the principles of the application. It is clear that the accompanying drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor. In the drawings:

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

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

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

[0023] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations may, however, be implemented in many different forms and should not be construed as limited to the examples set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the gist of the example implementations to those skilled in the art. Like reference numerals refer to like elements throughout.

[0024] Moreover, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the application can be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In other instances, well-known structures, devices, implementations, and operations have not been shown or described in detail to avoid obscuring aspects of the application.

[0025] The block diagrams in the drawings show only the functionality of the features and can not imply that the functions must be implemented in the particular order presented or by the illustrated components. In some embodiments, the functionality of the features can be implemented in software, hardware, or a combination thereof.

[0026] The flow diagrams shown in the various figures, which can also be considered to be included among the block diagrams, are provided merely as illustrative examples and are not necessarily implemented in the order shown. That is, although the flow diagrams can show a particular order of steps, this is not necessarily the order in which the steps are performed. For example, in some embodiments, the steps can be performed in an order different than that shown in the figures. Also, some steps can be omitted or combined, and some steps can be performed in parallel rather than sequentially.

[0027] Figure 1 A flow diagram of an AGV navigation control method according to an embodiment of the application is shown. The method can be applied to a target AGV, which can be any AGV in the system, i.e., each AGV can perform the AGV navigation control method provided by the embodiment of the application.

[0028] Referring to Figure 1 The AGV navigation control method includes steps S110-S140, which are described in detail as follows.

[0029] In step S110, a station identifier of a target station to be reached by the target AGV is determined according to received task information.

[0030] In this embodiment, the target AGV can receive task information sent by an AGV dispatching system, which can be used to indicate a transportation task to be performed by the target AGV and a target station to be reached for performing the transportation task. Specifically, the task information can include path information of the task, which can include one or more station identifiers of target stations, so that the target AGV can determine the destination to be reached according to the station identifiers.

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

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

[0033] In step S120, when the target AGV travels to the target station, the marker point code corresponding to the marker point is obtained every time a marker point is reached.

[0034] In this embodiment, after determining the station identifier of the target station that the target AGV needs to arrive at, the target AGV can travel forward along a preset route (such as a laid magnetic track) to go to the target station. There can be several marker points distributed in the preset route, and different types of marker points can have different functions.

[0035] In an example, those skilled in the art can divide the types of marker points into turning marker points, station marker points, and positioning marker points. Among them, the turning marker point is used to indicate that the target AGV can turn at the current position, and the target AGV can determine whether to turn according to the need to perform the task itself. It should be noted that for the turning marker point, it can also be subdivided according to its setting position, for example, the turning marker point can include a turning marker point for entering a branch line, a turning marker point for entering a station, and a fixed turning marker point; the station marker point can be set corresponding to each station to determine whether to stop when the target AGV reaches the station marker point. The positioning marker 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 marker point, it can straight pass through the positioning marker point while uploading the current position information to the AGV scheduling system.

[0036] When each marker point is determined, those skilled in the art can assign a marker point code to each marker point according to a preset rule. The marker point code can be composed of one or more of letters, numbers, and symbols. It should be noted that different code lengths, different positions, and / or different characters in the marker point code can represent different meanings, so that the generated marker point code can represent the type and function of the marker point.

[0037] In an embodiment, the coding rule of the marker point code can be as shown in Table 1:

[0038] Table 1 Encoding rule of marker point code

[0039]

[0040]

[0041] In an example, after determining the marker point code corresponding to each marker point according to the encoding rule described above, the marker point code can be pasted to the corresponding marker point. When the target AGV reaches a marker point, the target AGV can obtain the marker point code through the visual device (such as a camera) carried by the target AGV, identify the marker point code, determine the encoding length of the marker point code and the characters contained in the marker point code, and prepare for subsequent processing.

[0042] In step S130, the marker point type of the marker point and the corresponding action to be performed are determined according to the encoding length of the marker point code and the characters contained in the marker point code.

[0043] In this embodiment, as described above, the marker point code of different encoding lengths, different positions in the marker point code, or different characters can all represent different meanings. Therefore, the target AGV can match the encoding length of the identified marker point code and the characters contained in the marker point code with the encoding rule, so as to determine the marker point type corresponding to the marker point.

[0044] Taking the encoding rule of the marker point code shown in Table 1 as an example, the encoding length of the turning marker point entering the branch and the platform marker point is 3 bits, the encoding length of the positioning marker point and the turning marker point entering the platform is 4 bits, and the encoding length of the fixed turning marker point is 5 bits. Moreover, even in the case of the same encoding length, the turning marker bit in the marker point code can be further distinguished according to whether the turning marker bit exists in a specific position. For example, for the turning marker point entering the branch and the platform marker point, the encoding length of the marker point code is 3 bits. It can be determined whether the first character in the marker point code is a turning marker (i.e., R, L, or G). If yes, it can be determined that the marker point code corresponds to the turning marker point entering the branch. If not, it can be determined that the marker point code corresponds to the platform marker point. Alternatively, for the positioning marker point and the turning marker point entering the platform, the encoding length of the marker point code is 4 bits. It can be determined whether the fourth character in the marker point code is a turning marker. If yes, it can be determined that the marker point code corresponds to the turning marker point entering the platform. If not, it can be determined that the marker point code corresponds to the positioning marker point.

[0045] After determining the marker point type of the marker point arrived by the target AGV, the corresponding to-be-executed action of the marker point can be determined, wherein the to-be-executed action can be an action executable by the target AGV at the marker point, for example, the to-be-executed action corresponding to a turning marker point can be turning in a specified direction, the to-be-executed action corresponding to a positioning marker point can be reporting the position information of itself, the to-be-executed action corresponding to a station marker point can be parking, and the like.

[0046] It is worth noting that the to-be-executed action is not necessarily an action to be executed by the target AGV, for example, when the marker point is a turning marker point, in addition to a fixed turning marker point, when the target AGV arrives at other turning marker points (such as a turning marker point entering a branch line or a turning marker point entering a station), the target AGV can choose not to turn according to the needs of the executed task, such as the target station not being on the branch line or the station corresponding to the turning marker point entering the station not being the target station.

[0047] In an embodiment of the present application, the marker point type of the marker point and the corresponding to-be-executed action are determined according to the encoding length of the marker point code and the characters contained therein, comprising:

[0048] According to the marker point code, the corresponding encoding length and the characters contained therein are determined;

[0049] When the encoding length of the marker point code is a first preset length and the character at the first predetermined position is a turning marker, it is determined that the marker point type of the marker point is a first type, and the corresponding to-be-executed action is a turning action corresponding to the turning marker;

[0050] When the encoding length of the marker point code is a first preset length and the character at the first predetermined position is not a turning marker, it is determined that the marker point type of the marker point is a second type, and the corresponding to-be-executed action is parking;

[0051] When the encoding length of the marker point code is a second preset length and the character at the second predetermined position is a turning marker, it is determined that the marker point type of the marker point is a third type, and the corresponding to-be-executed action is a turning action corresponding to the turning marker, and the second preset length is not equal to the first preset length;

[0052] When the encoding length of the marker point code is a second preset length and the character at the second predetermined position is not a turning marker, it is determined that the marker point type of the marker point is a fourth type, and the corresponding to-be-executed action is straight passing through the marker point;

[0053] When the encoding length of the marker point code is a third preset length, it is determined that the marker point type of the marker point is a fifth type, and the corresponding to-be-executed action is a turning action corresponding to a turning marker at a third predetermined position in the marker 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 judging, the target AGV can first identify the corresponding encoding length and the contained characters according to the marker point code of the marker point. According to the encoding rule shown in Table 1, the target AGV can first judge whether the encoding 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 marker points can be preliminarily divided according to the encoding length. It is assumed 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 encoding length is the first preset length, i.e. 3 bits, it can be determined that the marker point is a turning marker point entering a branch line or a station marker point. Then, the target AGV can judge whether the character at the first predetermined position of the marker point code (such as the first bit character) is a turning marker, i.e. whether the first bit character is any one of “R”, “L” or “G”. If the first bit character is a turning marker bit, it is determined that the marker point type of the marker point corresponding to the marker point code is the first type (i.e. a turning marker point entering a branch line), and the corresponding to-be-executed action is a turning action corresponding to the turning marker. If not, it can be determined that the marker point type is the second type (i.e. a station marker point), and the corresponding to-be-executed action is to stop at the station.

[0056] When it is determined that the encoding length is the second preset length, i.e. 4 bits, it can be determined that the marker point is a positioning marker point or a turning marker point entering a station. Then, the target AGV can further judge that if the character at the second predetermined position (such as the fourth bit character) is a turning marker, it can be determined that the corresponding marker point type is the third type (i.e. a turning marker point entering a station), and the corresponding to-be-executed action is a turning action corresponding to the turning marker. If the character at the second predetermined position is not a turning marker, it can be determined that the corresponding marker point type is the fourth type (i.e. a positioning marker point), and the corresponding to-be-executed action is to execute through the marker point and report the position information of the target AGV.

[0057] When it is determined that the encoding length is the third preset length, i.e. 5 bits, it can be determined that the marker point is the fifth type (i.e. a fixed turning marker point), and the corresponding to-be-executed action is a turning action corresponding to a turning marker (such as a fifth bit character) at a third predetermined position in the marker point code.

[0058] Therefore, according to the encoding rule, the target AGV can accurately identify the corresponding marker point type and the corresponding to-be-executed action according to the encoding length and the contained characters, and the target AGV can also accurately find the correct road to the target station without the participation of the AGV scheduling system, thereby improving the reliability of AGV navigation.

[0059] Please continue to refer to Figure 1 In step S140, in a case where the marker point type of the marker point is a predetermined type or the marker point encoding of the marker point is related to the station identification, the to-be-executed action corresponding to the marker point is executed, otherwise, the target AGV directly passes through the marker point until the target AGV reaches the target station.

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

[0061] When the marker point type of the marker point is any type other than the predetermined type, the target AGV can further determine whether the marker point encoding of the marker point is related to the station identification of the target station (for example, whether the station identification is contained in the marker point encoding, etc.), so as to determine whether the to-be-executed action corresponding to the marker point needs to be executed. In a case where the marker point encoding of the marker point is related to the station identification of the target station, it means that the to-be-executed action corresponding to the marker point needs to be executed, and the target AGV can go to the target station that the target AGV needs to reach. Therefore, in a case where the two are related, the target AGV can execute the to-be-executed action of the marker point.

[0062] If the marker point encoding of the marker point is neither a predetermined type nor related to the station identification of the target station, the target AGV can directly pass through the marker point to prevent wrong lines.

[0063] In an embodiment, in a case where the marker point type of the marker point is a predetermined type or the marker point encoding of the marker point is related to the station identification, the to-be-executed action includes:

[0064] When the marker point type of the marker point is the first type, and the character at the fourth predetermined position in the marker point code of the marker point is the same as the character at the fifth predetermined position in the station identification, the target AGV performs the to-be-executed action corresponding to the marker point;

[0065] When the marker point type of the marker point is the first type, and the character at the fourth predetermined position in the marker point code of the marker point is different from the character at the fifth predetermined position in the station identification, the target AGV straightly passes through the marker point.

[0066] When the marker point type of the marker point is the second type, the target AGV stops at the marker point.

[0067] When the marker point type of the marker point is the third type, and the character arranged in the front of the predetermined number in the marker point code of the marker point is the same as the station identification, the target AGV performs the to-be-executed action corresponding to the marker point.

[0068] When the marker point type of the marker point is the third type, and the character arranged in the front of the predetermined number in the marker point code of the marker point is different from the station identification, the target AGV straightly passes through the marker point.

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

[0070] In this embodiment, after determining the marker point type of the marker point currently arrived by the target AGV and the corresponding to-be-executed action, the target AGV can further determine whether to perform the to-be-executed action. Specifically, when the marker point type of the marker point is the first type (i.e. the turning marker point for entering a branch line), and the character at the fourth predetermined position (such as the third character) in the marker point code of the marker point is the same as the character at the fifth predetermined position (such as the first character) in the station identification, it indicates that the target station is located on the branch line, and at this time, the target AGV can perform the to-be-executed action corresponding to the marker point, i.e. turning in the corresponding direction along the turning marker to enter the branch line.

[0071] When the marker point type of the marker point is the first type (i.e. the turning marker point for entering a branch line), and the character at the fourth predetermined position (such as the third character) in the marker point code of the marker point is different from the character at the fifth predetermined position (such as the first character) in the station identification, it indicates that the target station is not located on the branch line, so the target AGV can pass through the marker point.

[0072] It should be noted that, due to the setting of the turning mark point into the station, each station is located on a loop on the main line or branch line, if the station is not the target station, the target AGV will straight pass the turning mark point without turning into the loop. Therefore, if the mark point type of the mark point is the second type (i.e. the station mark point), it indicates that the target AGV has entered the loop where the target station is located and reached the target station, and the target AGV can perform the to-be-executed action corresponding to the mark point, i.e. parking at the station.

[0073] When the mark point type of the mark point is the third type (i.e. the turning mark point into the station), and the predetermined number of characters arranged in the front of the mark point code is the same as the station identification (e.g. the first three characters in the mark point code are the same as the station identification), it can be determined that the mark point code of the mark point is related to the station identification of the target station, at this time, the target AGV can perform the to-be-executed action corresponding to the mark point, i.e. turning corresponding to the turning mark in the mark point code, so as to enter the loop where the target station is located.

[0074] When the mark point type of the mark point is the third type (i.e. the turning mark point into the station), and the predetermined number of characters arranged in the front of the mark point code is different from the station identification (e.g. the first three characters in the mark point code are different from the station identification), the target AGV will straight pass the mark point.

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

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

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

[0078] After the target AGV starts, parks or passes each mark point, uploading the current position information of the target AGV to the AGV scheduling system.

[0079] In this embodiment, the target AGV can upload the current position information of itself to the AGV scheduling system after starting, parking or passing each mark point each time, in an example, the current position information can be the mark point code of the passed mark point, in other examples, the current position information can also be other forms of information, such as coordinate information, etc.

[0080] The AGV scheduling system can know the current position of each target AGV according to the received position information, thereby facilitating task allocation or management.

[0081] In an example, the target AGV can also report its own state information, such as idle, in task, charging, etc., so that the AGV scheduling system knows the current state of each target AGV, thereby facilitating task allocation, such as preferentially selecting an idle target AGV to perform a new transportation task, etc.

[0082] In some embodiments of the present application, before determining the station identifier of the target station to be reached by the target AGV according to the received task information, the method further comprises:

[0083] receiving task information sent by the AGV scheduling system, the receiver of the task information being 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 station to be reached for performing a task.

[0084] In this embodiment, when there is a new transportation task, the AGV scheduling system can first determine an idle target AGV, and then compare the position information (such as at a specific marker point) of each idle AGV with the position information of the target station to be reached for performing a task, to determine the distance therebetween. The AGV scheduling system can select the idle AGV corresponding to the smallest distance as the performer of the new transportation task, and send corresponding task information to the idle AGV.

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

[0086] In some embodiments of the present application, obtaining the marker point code corresponding to the marker point comprises:

[0087] scanning and identifying the two-dimensional code corresponding to the marker point to obtain the marker point code corresponding to the marker point.

[0088] In this embodiment, after determining the marker point code corresponding to each marker point, a two-dimensional code corresponding to the marker point code can be generated and pasted to the corresponding marker point. When a target AGV reaches a marker point, it can obtain and identify the corresponding two-dimensional code through the visual device carried by itself, to obtain the corresponding marker point code. In this way, the management personnel can adjust the travel path of the AGV by adjusting the setting of the two-dimensional code, thereby facilitating line management.

[0089] Based on the technical solutions of the above embodiments, a specific application scenario of the embodiments of the present application is introduced as follows:

[0090] Figure 2 An AGV navigation path and a marked point coding schematic diagram 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 plurality of marked points are arranged at intervals on the magnetic track, and it is worth noting that the stations are arranged on the loops on the main line or branch line of the magnetic track.

[0092] When the AGV starts, the current position information is reported, and the AGV scheduling system (hereinafter referred to as "AGVC") selects the optimal vehicle according to the current transportation task and issues task information. If the station marked point 102 needs to be packed at this time, the scheduling system screens all the running AGV positions (selects the AGV on standby or about to complete warehousing before the turning marked point L06), for example, No. 01 AGV has completed the warehousing task and is located at the positioning marked point 0015, which meets the task execution condition, and can be used as the target AGV, and issues the task information (first go to the packing area, i.e. the station marked point 601 to take the packing material, and then transport to the destination). After receiving the task information, the target AGV first navigates to the packing area, i.e. the station marked point 601, takes the packing material, and then navigates to the station marked point 102.

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

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

[0095] When the AGV runs to the L05 turning marked point, the AGV host computer analyzes the marked point coding of the scanned two-dimensional code. First, it is judged that the coding length is 3 bits, then it is judged that the 3rd bit (i.e. the number 5) is different from the 1st bit (i.e. the number 6) of the packing area station marked point 601, and the AGV straightly passes through L05. At the same time, the current position information is uploaded to the AGVC.

[0096] When the AGV runs to the blue fixed turning marked point 0025G, it is analyzed that the coding is 5 bits in total, it is determined that the point is a "fixed turning marked point", then it is judged that the 5th bit is "G", a straight movement is executed (if it is "R", a right turn movement is executed, and if it is "L", a left turn movement is executed), and the current position information is uploaded to the AGVC.

[0097] When the AGV runs to the marked point 0001, it is analyzed that the coding is 4 bits in total, and the 4th bit is a number, it is determined that the marked point is a "positioning marked point", the AGV uploads the current position information to the AGVC, and continues to straightly move.

[0098] When reaching the marker point L06, the AGV host computer parses the marker point code of the scanned two-dimensional code. First, it judges that the code has 3 digits. First, it judges that the 3rd digit (i.e., the number 6) is the same as the 1st digit (i.e., the number 6) of the package material area station marker point 601. Then, it judges that the 1st digit is "L". The AGV slows down to the lowest speed and turns left into the station roundabout line, while uploading the current position information to the AGVC. When the AGV recognizes the station marker point 601, it compares and judges that the code is the same as the destination code. The AGV stops and waits for the staff to load or unload the package material.

[0099] The staff starts the AGV again. The AGV continues to drive to 0002L and parses the code, which has 5 digits. It is judged that the marker point is a "fixed turning marker point". Then, it is judged that the 5th digit of the code is "L". The AGV performs a left turn and uploads the current position information to the AGVC.

[0100] The AGV passes through the positioning marker points 0002, 0003, 0004, and 0005 in turn and uploads the position information to the AGVC.

[0101] When the AGV reaches the marker point R01, it performs the same judgment operation as the turning marker point L06. The 3rd digit "1" of the turning marker point R01 is the same as the 1st digit "1" of the station marker point 102, and the 1st digit is "R". Therefore, the AGV performs a right turn.

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

[0103] When the AGV reaches the turning marker point 101R, it parses the code, which has 4 digits. The 4th digit is "R". It is judged that the marker point is a "turning marker point for entering the station". At this time, the first three digits "101" of the marker point are compared with the code digits "102" of the final station marker point, which are not the same. The AGV drives straight through the marker point and uploads the current position information to the AGVC.

[0104] When the AGV reaches the marker point 0003G, it parses the code, which has 5 digits. It is judged that the marker point is a "fixed turning marker point". Then, it is judged that the 5th digit of the code is "G". It performs a straight movement and uploads the current position information to the AGVC.

[0105] When the AGV reaches the "turning mark point for entering the platform" 102L, the code is parsed for 4 digits, at this time, the first three digits "102" of the mark point are compared with the platform mark point 102, and then it is judged that the fourth digit is the letter L. The AGV slows down to the lowest speed and performs a left turning movement. When the AGV reaches the mark point 102, the first three digits "102" of the code are compared with the code number "102" of the final platform mark point, which indicates that the AGV reaches the destination. The AGV stops and waits to complete the unloading before performing the subsequent task.

[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 excessive participation of the AGV scheduling system, thereby improving the reliability of AGV navigation and ensuring the normal production.

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

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

[0109] The AGV scheduling system is used to determine a target AGV for executing a task and send 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-mentioned embodiments according to the received task information.

[0111] Therefore, the target AGV determines the platform identity of the target platform to be reached according to the received task information. In the process of the target AGV moving towards the target platform, every time a mark point is passed, the mark point code corresponding to the mark point is obtained, the mark point type and the corresponding to-be-executed action of the mark point are determined according to the code length of the mark point code and the characters contained therein, and in the case that the mark point type of the mark point or the mark point code of the mark point is related to the platform identity, the to-be-executed action corresponding to the mark point is executed, otherwise, the mark point is passed straight, until the target AGV reaches the target platform. 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 excessive participation of the AGV scheduling system, thereby improving the reliability of AGV navigation and ensuring the normal production.

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

[0113] Figure 3 A structural diagram of a computer system of an electronic device suitable for implementing embodiments 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 impose any limitation on the functions and use range of embodiments of the present application.

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

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

[0117] In particular, the processes described above with reference to the flow charts can be implemented as a computer software program in accordance with embodiments of the present application. For example, embodiments of the present application include a computer program product comprising a computer program carried on a computer readable medium, the computer program comprising computer instructions for performing the methods illustrated by the flow charts. In such embodiments, the computer program can be downloaded and installed from a network via the communication section 309 and / or installed from the removable media 311. When the computer program is executed by the central processing unit (CPU) 301, various functions defined in the system of the present application are performed.

[0118] It should be noted that the computer readable medium shown in the embodiments of the present application can be a computer readable signal medium or a computer readable storage medium or any combination thereof. The computer readable storage medium may, for example, be, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination thereof. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this application, the computer readable storage medium can be any tangible medium that contains or stores a program used by or in connection with an instruction execution system, apparatus or device. In this application, the computer readable signal medium can include a data signal carried in a baseband or as part of a carrier wave, in which the computer readable program is carried. Such a propagated data signal can take any of a variety of forms, including but not limited to electro-magnetic, optical, or any suitable combination thereof. The computer readable signal medium can also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate or transport a program for use by or in connection with an instruction execution system, apparatus or device. The computer program contained in the computer readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, or any suitable combination thereof.

[0119] The flowcharts and block diagrams in the drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustrations, and combinations thereof, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or combinations of hardware and software.

[0120] The units described in the embodiments of the present application can be implemented by software, or by hardware, or by a combination of software and hardware. The units described may

[0121] As another aspect, the present application also provides a computer readable medium, which can be included in the electronic device described in the above embodiments, or can exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to implement the method described in the above embodiments.

[0122] It should be noted that although several modules or units of the device for action execution are mentioned in the above detailed description, the 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. Conversely, the features and functions of one module or unit described above can be further divided into a plurality of modules or units.

[0123] From the above description of the embodiments, those skilled in the art will readily appreciate that the example embodiments described herein can be implemented by software and / or by hardware coupled with software. Accordingly, the technical solutions according to the embodiments of the present application can be embodied in the form of a software product. The software product can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, or the like) or on a network, and includes a number of instructions for causing a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to perform the methods according to the embodiments of the present application.

[0124] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the features disclosed herein. It is intended that the application be limited only by the scope of the claims, a which include all variations and equivalents that are within the spirit and scope of the application. Various modifications and changes can be made as would be obvious to a person skilled in the art having the benefit of this disclosure. It is intended that the application embrace all such modifications and changes and, accordingly, the above description to be regarded in an illustrative rather than a restrictive sense.

[0125] It should be understood that the application is not limited to the precise construction and compositions that have been described above and shown in the accompanying drawings and that various modifications and changes can be made by those skilled in the art without departing from the scope of the application. The scope of the application is limited only by the claims that follow and the equivalents thereof.

Claims

1. An AGV navigation control method, characterized by, The application is applied to a target AGV; The method comprises: According to the received task information, determining the station identification of the target station required to be arrived by the target AGV; In the process of the target AGV traveling to the target station, when a marking point is arrived, the marking point code corresponding to the marking point is acquired; According to the code length of the marking point code and the character contained therein, determining the marking point type of the marking point and the corresponding to-be-executed action; In the case that 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 station identification, the corresponding to-be-executed action of the marking point is executed, otherwise, the marking point is straightly passed through until the target AGV arrives at the target station.

2. The method of claim 1, wherein, According to the code length of the marking point code and the character contained therein, determining the marking point type of the marking point and the corresponding to-be-executed action, comprises: According to the marking point code, determining the code length and the character contained therein; When the code length of the marking point code is a first preset length and the character at a first predetermined position of the marking point code is a turning marker, determining that the marking point type of the marking point is a first type, and the corresponding to-be-executed action is a turning action corresponding to the turning marker; When the code length of the marking point code is the first preset length and the character at the first predetermined position is not the turning marker, determining that the marking point type of the marking point is a second type, and the corresponding to-be-executed action is parking; When the code length of the marking point code is a second preset length and the character at a second predetermined position of the marking point code is a turning marker, determining that the marking point type of the marking point is a third type, and the corresponding to-be-executed action is a turning action corresponding to the turning marker, the second preset length is not equal to the first preset length; When the code length of the marking point code is the second preset length and the character at the second predetermined position is not the turning marker, determining that the marking point type of the marking point is a fourth type, and the corresponding to-be-executed action is straightly passing through the marking point and reporting position information; When the code length of the marking point code is a third preset length, determining that the marking point type of the marking point is a fifth type, and the corresponding to-be-executed action is a turning action corresponding to the turning marker at a third predetermined position in the marking point code, the third preset length is not equal to the first preset length and the second preset length.

3. The method of claim 2, wherein, In the case that 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 station identification, executing the to-be-executed action, comprises: When the marking point type of the marking point is the first type, and the character at a fourth predetermined position in the marking point code is the same as the character at a fifth predetermined position in the station identification, executing the corresponding to-be-executed action of 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 is not the same as the character at the fifth predetermined position in the station identification, straightly passing through the marking point. when the marker point type of the marker point is the second type, performing a to-be-executed action corresponding to the marker point; when the marker point type of the marker point is the third type, and a predetermined number of characters arranged in the front of the marker point code of the marker point is same as the station identification, performing a to-be-executed action corresponding to the marker point; when the marker point type of the marker point is the third type, and a predetermined number of characters arranged in the front of the marker point code of the marker point is different from the station identification, driving straight through the marker point; when the marker point type of the marker point is the fourth type or the fifth type, performing a to-be-executed action corresponding to the marker point.

4. The method according to any one of claims 1 to 3, characterized in that, The method further comprises: uploading current position information of the target AGV to the AGV scheduling system after the target AGV starts, stops or passes through each marker point.

5. The method of claim 4, wherein, Before determining the station identification of the target station required to be arrived by the target AGV according to the received task information, the method further comprises: receiving task information sent by the AGV scheduling system, the receiver of the task information being 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 station required to be arrived for executing a task.

6. The method of claim 1, wherein, obtaining the marker point code corresponding to the marker point comprises: scanning and identifying the two-dimensional code corresponding to the marker point to obtain the marker point code corresponding to the marker point.

7. An AGV navigation control system characterized by comprising: comprise an AGV scheduling system and a plurality of target AGVs, the AGV scheduling system being in communication connection with the plurality of target AGVs; wherein the AGV scheduling system is configured to determine a target AGV for executing a task, and send corresponding task information to the target AGV; the target AGV is configured to execute the AGV navigation control method according to the received task information.

8. The system of claim 7, wherein, a magnetic track is laid in the working area of the target AGV, and a plurality of marker points are arranged at intervals on the magnetic track, and each target AGV drives along the magnetic track.

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

10. An electronic device, comprising: comprise: one or more processors; a storage device configured to store one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors are caused to realize the AGV navigation control method according to any one of claims 1 to 6.

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