AGV-type stereo garage anti-collision detection method, system, equipment and medium

Abstract

The present invention discloses an anti-collision detection method, system, equipment and medium for an AGV type stereo garage, comprising: if a terminal monitors that a driving path area of ​​an AGV trolley in a garage passage overlaps with a protection area of ​​any other AGV trolley, an anti-collision instruction is generated; a dispatching system receives the anti-collision instruction and controls the AGV trolley to perform an anti-collision operation; for the AGV trolley traveling to a target parking hall, an analysis is performed on whether the position of the door in the parking hall and the position of a micro-lifting structure are in a preset position; if so, an entry into the parking hall operation is performed; for the AGV trolley traveling to a target parking space, if a high-position board storage instruction is received, a detection is performed on whether the target parking space and the parking space below the target parking space have a vehicle loading board; if not, a high-position board storage operation is performed; thereby indirectly achieving all-round anti-collision detection of vehicles to be shipped out of the warehouse or to be shipped in, thereby improving the safety of the garage operation.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent garages, and in particular to an anti-collision detection method, system, equipment and medium for an AGV-type stereo garage. Background Art

[0002] With the rapid popularization and development of automobiles, the supply of urban parking spaces is seriously insufficient and the demand for parking spaces is increasing. AGV-type three-dimensional parking garages have been widely used due to their efficient space utilization and automated operation characteristics.

[0003] However, in AGV-type stereo garages, the operating environment is complex and changeable, including parking spaces at different heights, narrow passages, and frequent door opening and closing operations, which can easily cause collisions between vehicles waiting to be out of the garage or entering the garage on the AGV. In addition, traditional anti-collision detection methods often have problems such as single detection and limited detection range, and are difficult to adapt to the complex and changeable operating environment of stereo garages. Therefore, how to perform comprehensive anti-collision detection on vehicles waiting to be out of the garage or entering the garage in the AGV-type stereo garage is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The embodiments of the present invention provide an AGV-type stereo garage anti-collision detection method, system, device and medium, aiming to solve the problem that the prior art cannot perform all-round anti-collision detection on vehicles to be exited or entered in the AGV-type stereo garage.

[0005] In a first aspect, an embodiment of the present invention provides an AGV-type stereo garage anti-collision detection method, which is applied to an AGV-type stereo garage anti-collision detection system, wherein the system includes a terminal, a dispatching system, and multiple AGV trolleys, wherein the terminal is connected to the dispatching system and also connected to the multiple AGV trolleys, wherein the dispatching system is connected to the multiple AGV trolleys, and the method includes:

[0006] If the terminal detects that the driving path area of ​​the AGV in the garage passage overlaps with the protection area of ​​any other AGV among the multiple AGVs except the AGV, an anti-collision instruction is generated and sent to the scheduling system;

[0007] The dispatching system receives the anti-collision instruction and controls the AGV to perform an anti-collision operation according to the anti-collision instruction;

[0008] For the AGV traveling to the target hall, the AGV obtains the position of the door in the hall and the position of the micro-lifting structure of the target hall, and analyzes whether the position of the door in the hall and the position of the micro-lifting structure are in the preset position to obtain the analysis result;

[0009] If the analysis result shows that the position of the door in the hall and the position of the micro-lifting structure are both at the preset position, the AGV performs the operation of entering the target hall;

[0010] For the AGV traveling to the target parking space, if the AGV receives a high-position board storage instruction, the AGV detects whether there is a vehicle loading board in the target parking space and the parking space below the target parking space according to the high-position board storage instruction, and obtains a first detection result;

[0011] If the first detection result is that there is no vehicle loading board in the target parking space and the parking space below the target parking space, the AGV performs a high-position board storage operation.

[0012] In a second aspect, an embodiment of the present invention provides an AGV-type stereo garage anti-collision detection system, the system comprising a terminal, a dispatching system and a plurality of AGV trolleys, the terminal being connected to the dispatching system and also connected to the plurality of AGV trolleys, the dispatching system being connected to the plurality of AGV trolleys;

[0013] The terminal is used to generate an anti-collision instruction if it is detected that the driving path area of ​​the AGV in the garage passage overlaps with the protection area of ​​any other AGV among the multiple AGVs except the AGV, and send the anti-collision instruction to the scheduling system;

[0014] The dispatching system is used to receive the anti-collision instruction and control the AGV to perform the anti-collision operation according to the anti-collision instruction;

[0015] For the AGV vehicle traveling to the target hall, it is used to obtain the position of the door in the hall and the position of the micro-lifting structure of the target hall, and analyze whether the position of the door in the hall and the position of the micro-lifting structure are in the preset position to obtain the analysis result;

[0016] The AGV trolley is further used for executing the operation of entering the target hall if the analysis result shows that the position of the door in the hall and the position of the micro-lifting structure are both at the preset position;

[0017] For the AGV vehicle that has traveled to the target parking space, if a high-position board storage instruction is received, the AGV vehicle is further configured to detect whether the target parking space and the parking space below the target parking space have a vehicle loading board according to the high-position board storage instruction to obtain a first detection result;

[0018] The AGV is further configured to execute a high-position board storage operation if the first detection result is that neither the target parking space nor the parking space below the target parking space has a board.

[0019] In a third aspect, an embodiment of the present application further provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the AGV-type multi-story parking garage anti-collision detection method as described in the first aspect is implemented.

[0020] In a fourth aspect, an embodiment of the present application further provides a storage medium, wherein the storage medium stores a computer program, the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes the AGV-type multi-story parking garage anti-collision detection method described in the first aspect above.

[0021] The embodiment of the present invention provides an anti-collision detection method, system, device and medium for an AGV-type three-dimensional garage, including: if a terminal detects that the driving path area of ​​an AGV in the garage passage overlaps with the protection area of ​​any other AGV, an anti-collision instruction is generated; a scheduling system receives the anti-collision instruction and controls the AGV to perform an anti-collision operation; for the AGV that travels to the target parking hall, an analysis is performed on whether the position of the door in the parking hall and the position of the micro-lifting structure are in a preset position; if so, an entry into the parking hall operation is performed; for the AGV that travels to the target parking space, if a high-position board storage instruction is received, a detection is performed on whether the target parking space and the parking space below the target parking space have a vehicle loading board; if not, a high-position board storage operation is performed; thereby indirectly achieving all-round anti-collision detection of vehicles to be left or entered, thereby improving the safety of garage operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0023] Figure 1 A schematic diagram of a flow chart of an anti-collision detection method for an AGV-type stereo garage provided in an embodiment of the present invention;

[0024] Figure 2 A schematic block diagram of an AGV-type stereo garage anti-collision detection system provided by an embodiment of the present invention;

[0025] Figure 3 A schematic block diagram of a computer device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0028] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0029] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0030] In order to more clearly understand the technical solution of the present application, the terminals involved are described in detail below. The present application describes the technical solution from the perspectives of the sending end and the server.

[0031] See also Figure 1 , Figure 1 A flowchart of an AGV-type stereo garage anti-collision detection method provided by an embodiment of the present invention. The AGV-type stereo garage anti-collision detection method is applied to an AGV-type stereo garage anti-collision detection system, which includes a terminal, a dispatching system, and multiple AGV carts, wherein the terminal is connected to the dispatching system and also connected to the multiple AGV carts, and the dispatching system is connected to the multiple AGV carts.

[0032] like Figure 1 As shown, the method includes steps S110 to S160.

[0033] S110. If the terminal detects that the driving path area of ​​the AGV in the garage passage overlaps with the protection area of ​​any other AGV among the multiple AGVs except the AGV, an anti-collision instruction is generated and sent to the scheduling system.

[0034] In this embodiment, no matter whether it is used for picking up cars, storing cars or for other operations, as long as each AGV is traveling in the aisle of the garage, collisions between AGVs may occur. Therefore, in order to avoid collisions between AGVs, for each AGV traveling in the aisle of the garage, the terminal monitors whether there is overlap between the driving path area of ​​the AGV and the protection areas of other AGVs among the multiple AGVs except the AGV, so as to obtain monitoring results; if the monitoring result shows that the driving path of the AGV overlaps with the protection areas of other AGVs, it means that the AGV may easily collide with other AGVs. At this time, the terminal generates an anti-collision instruction and sends the anti-collision instruction to the dispatching system so that the dispatching system can subsequently perform traffic control on the AGV.

[0035] In one embodiment, each of the plurality of AGVs includes a laser scanner; before generating the anti-collision instruction, the steps include:

[0036] For each AGV, the AGV controls the corresponding laser scanner to emit a laser beam, calculates the distance and angle between the laser beam and the reflective column in the garage, obtains measurement data, and sends the measurement data to the terminal;

[0037] The terminal calculates the measurement data based on a preset algorithm to obtain the coordinate position of the AGV in the garage map;

[0038] The terminal obtains the size information corresponding to the AGV from the local database, and performs area drawing on the coordinate position based on a preset area drawing strategy and the size information to obtain a protection area corresponding to the AGV, and sends the protection area to the scheduling system and the AGV.

[0039] In this embodiment, in order to obtain the protection area of ​​each AGV, before the terminal generates an anti-collision instruction, each AGV first controls the laser scanner to emit a laser beam, and calculates the angle and distance between the laser beam and the reflective column in the garage to obtain measurement data, and then sends the measurement data to the terminal, and the terminal calculates the received measurement data to obtain the coordinate position of each AGV in the garage map; wherein the terminal is provided with drawing software; wherein the reflective column in the garage is a safety facility for warning and anti-collision; reflective columns are usually produced using reflective materials; wherein, in order to more easily obtain the reflective columns in the garage, the garage in this embodiment is provided with sufficiently dense reflective materials as much as possible to produce multiple reflective columns. Then, the terminal performs regional drawing of the coordinate position based on the preset area drawing strategy and size information to obtain the protection area corresponding to the AGV; wherein the size information includes the length and width of the AGV. Specifically, the terminal determines the center point coordinates of each AGV vehicle according to the coordinate position; and expands the size based on the center point coordinates and the size of the AGV vehicle to obtain the expanded AGV vehicle size; draws the center point coordinates and the expanded AGV vehicle size to obtain the protection area of ​​each AGV vehicle.

[0040] For example, the size of the AGV car is 5 meters in length and 2 meters in width. After the size expansion, the protection area of ​​the AGV car is based on the coordinates of the center point, and the length is expanded to 5.2 meters and the width is expanded to 2.2 meters.

[0041] Therefore, the above embodiment draws the protection area of ​​each AGV to minimize the risk of collision between AGVs, thereby improving the stability and reliability of the system.

[0042] In one embodiment, before obtaining the measurement data, the method includes:

[0043] The terminal responds to the coordinate origin determination instruction and determines the garage coordinate origin according to the coordinate origin determination instruction;

[0044] The terminal obtains a map drawing instruction, and sends the map drawing instruction to a target AGV vehicle among the multiple AGV vehicles;

[0045] The target AGV moves in the garage according to the map drawing instruction, and controls the laser scanner to scan the reflective columns in the garage to obtain scanning data, and sends the scanning data to the terminal;

[0046] The terminal constructs the garage map based on the garage coordinate origin and the scan data.

[0047] In this embodiment, in order to facilitate the subsequent calculation of the coordinate position of each AGV, the terminal responds to the coordinate origin determination instruction, and determines the garage coordinate origin on the drawing software according to the coordinate origin determination instruction; and after determining the garage coordinate origin, the terminal obtains the map drawing instruction and sends the map drawing instruction to the scheduling system; after the scheduling system sends the map drawing instruction to the target AGV, the target AGV moves in the garage according to the preset path, and controls the laser scanner to scan the reflective column in the garage according to the map drawing instruction to obtain scanning data; wherein, the reflective column is a fixed feature point in the garage, and the position of these feature points can be marked by laser scanning, and the relative position and distance between the AGV and the reflective column can also be accurately calculated, so as to facilitate the construction of the overall layout and outline of the garage. Therefore, after sending the scanning data to the terminal, the terminal can construct a two-dimensional map of the garage based on the garage coordinate origin and the scanning data.

[0048] S120: The dispatching system receives the anti-collision instruction, and controls the AGV to perform an anti-collision operation according to the anti-collision instruction.

[0049] In this embodiment, after the scheduling system receives the anti-collision instruction sent by the terminal, the scheduling system controls the AGV vehicle to perform anti-collision operations according to the anti-collision instruction; wherein the anti-collision operations include stopping operations and changing driving paths, thereby preventing collisions between AGV vehicles through early prevention.

[0050] S130. For the AGV traveling to the target hall, the AGV obtains the position of the door in the hall and the position of the micro-lifting structure of the target hall, and analyzes whether the position of the door in the hall and the position of the micro-lifting structure are in preset positions to obtain an analysis result.

[0051] In this embodiment, each AGV trolley needs to travel to the micro-lifting structure of the car hall during the process of performing the parking or retrieval operation to realize the transportation of the target vehicle. In order to improve the parking or retrieval efficiency of the three-dimensional parking garage, multiple car halls and multiple micro-lifting structures are usually set in the three-dimensional parking garage. This design is prone to the situation where multiple car halls, multiple micro-lifting structures and multiple AGV trolleys work at the same time. Therefore, in order to ensure that each AGV trolley does not collide with the car hall doors and multiple micro-lifting structures of multiple car halls when performing the retrieval or parking operation. For each AGV trolley that travels to the target car hall, the AGV trolley first obtains the position of the car hall door and the micro-lifting structure of the target car hall, and analyzes whether the position of the car hall door and the micro-lifting structure are in the preset position, so as to ensure that the position of the car hall door is in an open or allowed to pass state, and the micro-lifting structure is in a position that does not affect the passage of the AGV trolley.

[0052] More specifically, the system further includes an electrical control system, which is connected to the multiple AGVs, and includes a door controller, a slot-type power-off switch, and a PLC controller; before the AGV obtains the position of the door in the target hall and the position of the micro-lifting structure, it includes:

[0053] The PLC controller in the electrical control system uses the door controller to collect the position of the hall door, and uses the slot-type power-off switch to collect the position of the micro-lifting structure;

[0054] The PLC controller in the electrical control system sends the position of the hall door and the position of the micro-lifting structure to the AGV vehicle.

[0055] In this embodiment, in order to obtain the position of the vehicle hall door and the position of the micro-lifting structure of the target vehicle hall, the system also includes an electrical control system, wherein the electrical control system includes a door controller, a slot-type power-off switch and a PLC controller, and the door controller and the slot-type power-off switch are both connected to the PLC controller. Specifically, the position of the door in the vehicle hall is collected through communication with the door controller, and the position of the micro-lifting structure is collected through the slot-type power-off switch, and then the collected position of the door in the vehicle hall and the position of the micro-lifting structure are fed back to the PLC controller of the electrical control system, and the PLC controller communicates with the controller of the AGV trolley through the TCP protocol, thereby sending the position of the door in the vehicle hall and the position of the micro-lifting structure to the AGV trolley.

[0056] S140: If the analysis result shows that the position of the door in the vehicle hall and the position of the micro-lifting structure are both at the preset position, the AGV performs an operation of entering the target vehicle hall.

[0057] In this embodiment, after obtaining the analysis result, when the analysis result is that the door position in the vehicle hall and the position of the micro-lifting structure are both in the preset position, the AGV cart obtains the authority to enter the target vehicle hall, thereby starting to execute the operation of entering the target vehicle hall, and then moving the target vehicle in the target vehicle hall to the garage or moving the target vehicle in the garage to the target vehicle hall; when the analysis result is that the door position in the vehicle hall and / or the position of the micro-lifting structure are not in the preset position, the AGV cart does not obtain the authority to enter the target vehicle hall, and triggers an alarm or waits for instructions, thereby ensuring that the AGV cart does not collide with the door in the vehicle hall and the micro-lifting structure.

[0058] S150. For the AGV that has traveled to the target parking space, if the AGV receives a high-position board storage instruction, the AGV detects whether there is a vehicle loading board at the target parking space and the parking space below the target parking space according to the high-position board storage instruction, and obtains a first detection result.

[0059] In this embodiment, the AGV-type three-dimensional garage is provided with multi-layer parking spaces. Therefore, in the process of storing or taking out the target vehicle in or out of the target parking space, in order to prevent the AGV trolley from colliding with the vehicle loading plate, for each AGV trolley that travels to the target parking space, when the AGV trolley receives the high-position storage plate instruction, firstly, according to the high-position storage plate instruction, the target parking space and the parking space below the target parking space are detected whether there are vehicle loading plates, so as to ensure that there are no vehicle loading plates in the target parking space and the parking space below the target parking space before the subsequent operation of traveling to the high position can be performed; wherein, the detection of whether the target parking space and the parking space below the target parking space have vehicle loading plates is mainly carried out through the laser rangefinder arranged at each corner of each AGV trolley; the laser rangefinder can measure 5 meters and 10 meters; the 5-meter range is used to detect whether there is a vehicle loading plate when the parking space is in a low position; the 10-meter range is used to detect whether there is a vehicle loading plate when the parking space is in a high position. In addition, when the AGV receives a high-position vehicle pickup instruction, it detects whether there is a vehicle loading plate in the parking space below the target parking space according to the high-position vehicle pickup instruction, and obtains a fourth detection result; if the fourth detection result is that there is no vehicle loading plate in the parking space below the target parking space, the AGV performs a high-position vehicle pickup operation. Thus, the above embodiment can prevent the AGV from colliding with the vehicle loading plate when the AGV is storing or taking out the target vehicle in the target parking space.

[0060] S160: If the first detection result is that there is no vehicle loading board in the target parking space and the parking space below the target parking space, the AGV performs a high-position board storage operation.

[0061] In this embodiment, after the step of detecting whether the target parking space and the parking space below the target parking space have a vehicle loading plate according to the high-position storage plate instruction, if it is detected that there is no vehicle loading plate in the target parking space and the parking space below the target parking space, it means that the AGV trolley does not collide with the vehicle loading plate. At this time, the AGV trolley can execute the operation of storing the target vehicle on the AGV trolley into the target parking space at a high position.

[0062] In one embodiment, the method further comprises:

[0063] For the AGV vehicle that travels to the target parking space, if the AGV vehicle receives a low-position board storage instruction, it detects whether there is a vehicle loading board in the target parking space according to the low-position board storage instruction to obtain a second detection result;

[0064] If the second detection result is that there is no vehicle loading board in the target parking space, the AGV performs a low-level board storage operation.

[0065] In this embodiment, with regard to the situation of the AGV car driving to the target parking space, it also includes that when the AGV car receives a low-level board storage instruction, it first detects whether there is a vehicle loading board in the target parking space according to the low-level board storage instruction to ensure that there is no vehicle loading board in the target parking space, so as to avoid the collision between the AGV car and the vehicle loading board, thereby executing the subsequent operation of driving to the target parking space; if it is detected that there is no vehicle loading board in the target parking space, the AGV car directly executes the low-level board storage operation.

[0066] In one embodiment, the method further comprises:

[0067] For the AGV traveling to the target parking space, if the AGV receives a channel storage board instruction, it detects whether there is a vehicle loading board in the target channel according to the channel storage board instruction to obtain a third detection result;

[0068] If the third detection result is that there is no vehicle-carrying board in the target channel, the AGV performs a channel board storage operation.

[0069] In this embodiment, the garage passage can be set to be double-layered, the upper passage can be used for parking, and the lower passage can be used for AGV trolleys to travel; therefore, for the case of an AGV trolley traveling to the target passage, it also includes when the AGV trolley receives a passage board storage instruction, firstly, according to the passage board storage instruction, it detects whether there is a vehicle loading board in the target passage, to ensure that there is no vehicle loading board in the target passage, so as to avoid the AGV trolley from colliding with the vehicle loading board in the passage; if it is detected that there is no vehicle loading board in the target passage, the AGV trolley directly executes the operation of storing the target vehicle in the target passage.

[0070] In one embodiment, the system further includes a board storage mechanism and an electrical control system, the plurality of AGVs are connected to the electrical control system, and the electrical control system is connected to the board storage mechanism; the method further includes:

[0071] If the AGV receives a board storage instruction from the board storage mechanism, it obtains board storage information corresponding to the board storage mechanism from the electrical control system, and detects whether there is a vehicle-carrying board on the target board storage layer in the board storage information according to the board storage instruction from the board storage mechanism, to obtain a third detection result;

[0072] If the third detection result is that the target board storage layer in the board storage information does not have a board, the AGV performs a board storage operation by the board storage mechanism.

[0073] In this embodiment, the anti-collision detection system for the AGV-type stereo garage also includes a board storage mechanism and an electrical control system; wherein each of the multiple AGV trolleys is connected to the board storage mechanism through the electrical control system. Specifically, when the AGV trolley receives a board storage instruction from the board storage mechanism, it obtains the board storage information corresponding to the board storage mechanism from the electrical control system through a wireless network; wherein the board storage information includes the board storage information of each layer of the board storage mechanism. Moreover, the board storage instruction of the board storage mechanism includes the number of board storage layers, and the AGV trolley can confirm the target board storage layer in the board storage information through the number of board storage layers in the board storage instruction of the board storage mechanism, and detect whether the target board storage layer has a vehicle board. If the target board storage layer does not have a vehicle board, the AGV trolley performs the board storage operation of the board storage mechanism; if the target board storage layer has a vehicle board, the AGV trolley generates an alarm prompt to prevent the vehicle board in the board storage mechanism from colliding.

[0074] In one embodiment, the method further comprises:

[0075] The terminal draws the garage map based on a preset obstacle avoidance strategy to obtain an obstacle avoidance area, and sends the obstacle avoidance area to the dispatching system and the multiple AGVs; wherein the obstacle avoidance area includes a deceleration area and a stop area;

[0076] When any one of the multiple AGVs travels to the deceleration area, the dispatching system controls the any one of the AGVs to decelerate to a first preset speed;

[0077] When any one of the multiple AGVs drives to the stop area, the dispatching system controls the any one AGV to stop driving.

[0078] In this embodiment, in order to avoid collisions between AGVs, this embodiment can also draw an obstacle avoidance area on the garage map for each AGV traveling in the garage passage. Specifically, the terminal draws the garage map based on a preset obstacle avoidance strategy to obtain an obstacle avoidance area; wherein the obstacle avoidance area is usually set at forks, curves and other areas. Moreover, after obtaining the obstacle avoidance area, the obstacle avoidance area is sent to the scheduling system and the multiple AGVs, so that the scheduling system and the multiple AGVs can subsequently perform corresponding operations according to the obstacle avoidance area; wherein, in addition to the deceleration area and the stop area, the obstacle avoidance area may also include a warning area. Specifically, when any one of the multiple AGVs drives into the deceleration area, the dispatching system controls the any one of the multiple AGVs to decelerate to a first preset speed; when any one of the multiple AGVs drives into the stop area, the dispatching system controls the any one of the AGVs to stop driving; and when any one of the multiple AGVs drives into the warning area, the dispatching system controls the any one of the AGVs to decelerate to a second preset speed; wherein the first preset speed is less than the second preset speed; the obstacle avoidance lengths of the warning area, the deceleration area and the stop area become shorter in sequence; thereby, by setting the obstacle avoidance area, collisions between AGVs can be prevented.‌

[0079] It can be seen from the above technical scheme that the present invention performs anti-collision detection on the vehicle bodies between AGV vehicles during driving, the AGV vehicle and the vehicle loading plate driving to the target parking space, and the AGV vehicle and the garage inner door and micro-lifting structure driving to the target parking hall, thereby indirectly realizing all-round anti-collision detection on vehicles to be shipped out of the garage or to be shipped in, thereby improving the safety of garage operation.

[0080] Figure 2 A schematic block diagram of an AGV-type stereo garage anti-collision detection system provided by an embodiment of the present invention. Figure 2 As shown, the present invention also provides an AGV-type multi-story garage anti-collision detection system. The AGV-type multi-story garage anti-collision detection system 100 includes a terminal 110, a dispatching system 120 and multiple AGV carts 130. The terminal 110 is connected to the dispatching system 120 and is also connected to the multiple AGV carts 130. The dispatching system 120 is connected to the multiple AGV carts 130.

[0081] The terminal 110 is used to generate an anti-collision instruction if it is detected that the driving path area of ​​the AGV 130 in the garage passage overlaps with the protection area of ​​any other AGV 130 among the multiple AGVs 130 except the AGV 130, and send the anti-collision instruction to the scheduling system 120;

[0082] The dispatching system 120 is used to receive the anti-collision instruction and control the AGV 130 to perform the anti-collision operation according to the anti-collision instruction;

[0083] For the AGV 130 traveling to the target hall, it is used to obtain the position of the door in the hall and the position of the micro-lifting structure of the target hall, and analyze whether the position of the door in the hall and the position of the micro-lifting structure are in the preset position to obtain the analysis result;

[0084] The AGV trolley 130 is also used for executing the operation of entering the target hall if the analysis result shows that the position of the door in the hall and the position of the micro-lifting structure are both at the preset position;

[0085] For the AGV 130 that has traveled to the target parking space, if a high-position board storage instruction is received, the AGV 130 detects whether there is a vehicle loading board in the target parking space and the parking space below the target parking space according to the high-position board storage instruction, and obtains a first detection result;

[0086] The AGV trolley 130 is further configured to execute a high-position board storage operation if the first detection result is that neither the target parking space nor the parking space below the target parking space has a board.

[0087] In some embodiments, each of the plurality of AGVs 130 includes a laser scanner; before generating the anti-collision instruction, the steps include:

[0088] For each AGV 130, the AGV 130 is used to control the corresponding laser scanner to emit a laser beam, calculate the distance and angle between the laser beam and the reflective column in the garage, obtain measurement data, and send the measurement data to the terminal 110;

[0089] The terminal 110 is used to calculate the measurement data based on a preset algorithm to obtain the coordinate position of the AGV 130 in the garage map;

[0090] The terminal 110 is also used to obtain size information corresponding to the AGV trolley 130 from a local database, and perform area drawing on the coordinate position based on a preset area drawing strategy and the size information to obtain a protection area corresponding to the AGV trolley 130, and send the protection area to the scheduling system 120 and the AGV trolley 130.

[0091] In some embodiments, before obtaining the measurement data, the method includes:

[0092] The terminal 110 is used to respond to the coordinate origin determination instruction and determine the garage coordinate origin according to the coordinate origin determination instruction;

[0093] The terminal 110 is used to obtain a map drawing instruction and send the map drawing instruction to a target AGV vehicle 130 among the multiple AGV vehicles 130;

[0094] The target AGV 130 is used to move in the garage according to the map drawing instruction, and control the laser scanner to scan the reflective column in the garage to obtain scanning data, and send the scanning data to the terminal 110;

[0095] The terminal 110 is used to construct the garage map based on the garage coordinate origin and the scan data.

[0096] In some embodiments, the system further comprises:

[0097] The terminal 110 is used to draw the garage map based on a preset obstacle avoidance strategy to obtain an obstacle avoidance area, and send the obstacle avoidance area to the scheduling system 120 and the multiple AGVs 130; wherein the obstacle avoidance area includes a deceleration area and a stop area;

[0098] When any one of the multiple AGVs 130 travels to the deceleration area, the dispatching system 120 is used to control the any one of the AGVs 130 to decelerate to a first preset speed;

[0099] When any one of the multiple AGVs 130 travels to the stop area, the dispatching system 120 is further used to control the any one of the AGVs 130 to stop traveling.

[0100] In some embodiments, the system further comprises:

[0101] For the AGV 130 that has traveled to the target parking space, if a low-position board storage instruction is received, the AGV 130 detects whether there is a board in the target parking space according to the low-position board storage instruction to obtain a second detection result;

[0102] If the second detection result is that there is no vehicle loading board in the target parking space, the AGV 130 is used to perform a low-level board storage operation.

[0103] In some embodiments, the system further comprises:

[0104] For the AGV 130 that has traveled to the target parking space, if a channel storage board instruction is received, the AGV 130 detects whether there is a vehicle loading board in the target channel according to the channel storage board instruction to obtain a third detection result;

[0105] If the third detection result is that there is no vehicle-carrying board in the target channel, the AGV 130 is used to perform the channel board storage operation.

[0106] In some embodiments, the system further includes a board storage mechanism 150 and an electrical control system 140, the plurality of AGVs 130 are connected to the electrical control system 140, the electrical control system 140 is connected to the board storage mechanism 150, and the method further includes:

[0107] The AGV 130 is further configured to obtain board storage information corresponding to the board storage mechanism 150 from the electrical control system 140 if a board storage instruction of the board storage mechanism is received, and detect whether there is a vehicle-carrying board at the target board storage layer in the board storage information according to the board storage instruction of the board storage mechanism, to obtain a third detection result;

[0108] If the third detection result is that the target board storage layer in the board storage information does not have a board, the AGV 130 executes a board storage operation of the board storage mechanism.

[0109] It should be noted that technicians in the relevant field can clearly understand that the specific implementation process of the above-mentioned AGV-type multi-story parking garage anti-collision detection system can refer to the corresponding description in the aforementioned method embodiment, and for the convenience and brevity of description, it will not be repeated here.

[0110] The above-mentioned AGV type stereo garage anti-collision detection system can be implemented in the form of a computer program, which can be used in Figure 3 Runs on the computer device shown.

[0111] See also Figure 3 , Figure 3 500 is a schematic block diagram of a computer device provided in an embodiment of the present invention. The computer device 500 is a server, which may be an independent server or a server cluster composed of multiple servers. The computer device 500 may also be a sending end, which may be an electronic device with communication functions such as a smart phone, a tablet computer, a laptop computer, a desktop computer, a personal digital assistant, and a wearable device.

[0112] See also Figure 3 The computer device 500 includes a processor 502 , a memory and a network interface 505 connected via a system bus 501 , wherein the memory may include a storage medium 503 and an internal memory 504 .

[0113] The storage medium 503 can store an operating system 5031 and a computer program 5032. When the computer program 5032 is executed, the processor 502 can execute an anti-collision detection method for an AGV-type stereoscopic parking garage.

[0114] The processor 502 is used to provide computing and control capabilities to support the operation of the entire computer device 500 .

[0115] The internal memory 504 provides an environment for the operation of the computer program 5032 in the storage medium 503. When the computer program 5032 is executed by the processor 502, the processor 502 can execute the AGV-type stereo garage anti-collision detection method.

[0116] The network interface 505 is used for network communication, such as providing data information transmission, etc. Those skilled in the art will understand that Figure 3 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present invention, and does not constitute a limitation on the computer device 500 to which the solution of the present invention is applied. The specific computer device 500 may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0117] The processor 502 is used to run the computer program 5032 stored in the memory to implement the AGV-type stereoscopic car park anti-collision detection method disclosed in the embodiment of the present invention.

[0118] Those skilled in the art will understand that Figure 3 The embodiments of the computer device shown in the figure do not constitute a limitation on the specific composition of the computer device. In other embodiments, the computer device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently. For example, in some embodiments, the computer device may only include a memory and a processor. In such embodiments, the structure and function of the memory and the processor are the same as those of the embodiment of the present invention. Figure 3 The embodiments shown are consistent and will not be described again here.

[0119] It should be understood that in the embodiment of the present invention, the processor 502 may be a central processing unit (CPU), and the processor 502 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0120] In another embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium may be a non-volatile computer-readable storage medium. The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the AGV-type stereo garage anti-collision detection method disclosed in the embodiment of the present invention is implemented.

[0121] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the above-described equipment, system and unit can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. Those of ordinary skill in the art can appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0122] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. Units with the same function may also be combined into one unit. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, systems or units, or may be electrical, mechanical or other forms of connection.

[0123] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0124] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0125] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), disk or optical disk and other media that can store program code.

[0126] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An anti-collision detection method for an AGV-type stereo garage is applied to an anti-collision detection system for an AGV-type stereo garage. The system comprises a terminal, a dispatching system and a plurality of AGV trolleys. The terminal is connected to the dispatching system and also to the plurality of AGV trolleys. The dispatching system is connected to the plurality of AGV trolleys. The method is characterized in that: The method comprises: If the terminal detects that the driving path area of ​​the AGV in the garage passage overlaps with the protection area of ​​any other AGV among the multiple AGVs except the AGV, an anti-collision instruction is generated and sent to the scheduling system; The dispatching system receives the anti-collision instruction and controls the AGV to perform an anti-collision operation according to the anti-collision instruction; For the AGV traveling to the target hall, the AGV obtains the position of the door in the hall and the position of the micro-lifting structure of the target hall, and analyzes whether the position of the door in the hall and the position of the micro-lifting structure are in the preset position to obtain the analysis result; If the analysis result shows that the position of the door in the hall and the position of the micro-lifting structure are both at the preset position, the AGV performs the operation of entering the target hall; For the AGV traveling to the target parking space, if the AGV receives a high-position board storage instruction, the AGV detects whether there is a vehicle loading board in the target parking space and the parking space below the target parking space according to the high-position board storage instruction, and obtains a first detection result; If the first detection result is that there is no vehicle loading board in the target parking space and the parking space below the target parking space, the AGV performs a high-position board storage operation.

2. The AGV type stereo garage anti-collision detection method according to claim 1 is characterized in that: Each of the plurality of AGVs includes a laser scanner; before generating the anti-collision instruction, the method includes: For each AGV, the AGV controls the corresponding laser scanner to emit a laser beam, calculates the distance and angle between the laser beam and the reflective column in the garage, obtains measurement data, and sends the measurement data to the terminal; The terminal calculates the measurement data based on a preset algorithm to obtain the coordinate position of the AGV in the garage map; The terminal obtains the size information corresponding to the AGV from the local database, and performs area drawing on the coordinate position based on a preset area drawing strategy and the size information to obtain a protection area corresponding to the AGV, and sends the protection area to the scheduling system and the AGV.

3. The AGV type stereo garage anti-collision detection method according to claim 2 is characterized in that: Before obtaining the measurement data, the method includes: The terminal responds to the coordinate origin determination instruction and determines the garage coordinate origin according to the coordinate origin determination instruction; The terminal obtains a map drawing instruction, and sends the map drawing instruction to a target AGV vehicle among the multiple AGV vehicles; The target AGV moves in the garage according to the map drawing instruction, and controls the laser scanner to scan the reflective columns in the garage to obtain scanning data, and sends the scanning data to the terminal; The terminal constructs the garage map based on the garage coordinate origin and the scan data.

4. The AGV type stereo garage anti-collision detection method according to claim 2 is characterized in that: The method further comprises: The terminal draws the garage map based on a preset obstacle avoidance strategy to obtain an obstacle avoidance area, and sends the obstacle avoidance area to the dispatching system and the multiple AGVs; wherein the obstacle avoidance area includes a deceleration area and a stop area; When any one of the multiple AGVs travels to the deceleration area, the dispatching system controls the any one of the AGVs to decelerate to a first preset speed; When any one of the multiple AGVs drives to the stop area, the dispatching system controls the any one AGV to stop driving.

5. The AGV type stereo garage anti-collision detection method according to claim 1 is characterized in that: The method further comprises: For the AGV vehicle that travels to the target parking space, if the AGV vehicle receives a low-position board storage instruction, it detects whether there is a vehicle loading board in the target parking space according to the low-position board storage instruction to obtain a second detection result; If the second detection result is that there is no vehicle loading board in the target parking space, the AGV performs a low-level board storage operation.

6. The AGV type stereo garage anti-collision detection method according to claim 5 is characterized in that: The method further comprises: If the AGV receives a channel board storage instruction, it detects whether there is a vehicle board in the target channel according to the channel board storage instruction to obtain a third detection result; If the third detection result is that there is no vehicle-carrying board in the target channel, the AGV performs a channel board storage operation.

7. The AGV type stereo garage anti-collision detection method according to claim 5 is characterized in that: The system also includes a board storage mechanism and an electrical control system, the multiple AGVs are connected to the electrical control system, and the electrical control system is connected to the board storage mechanism; the method also includes: If the AGV receives a board storage instruction from the board storage mechanism, it obtains board storage information corresponding to the board storage mechanism from the electrical control system, and detects whether there is a vehicle-carrying board on the target board storage layer in the board storage information according to the board storage instruction from the board storage mechanism, to obtain a third detection result; If the third detection result is that the target board storage layer in the board storage information does not have a board, the AGV performs a board storage operation by the board storage mechanism.

8. An AGV type stereo garage anti-collision detection system, characterized in that: The system includes a terminal, a dispatching system and a plurality of AGVs, wherein the terminal is connected to the dispatching system and the plurality of AGVs, and the dispatching system is connected to the plurality of AGVs; The terminal is used to generate an anti-collision instruction if it is detected that the driving path area of ​​the AGV in the garage passage overlaps with the protection area of ​​any other AGV among the multiple AGVs except the AGV, and send the anti-collision instruction to the scheduling system; The dispatching system is used to receive the anti-collision instruction and control the AGV to perform the anti-collision operation according to the anti-collision instruction; For the AGV vehicle traveling to the target hall, it is used to obtain the position of the door in the hall and the position of the micro-lifting structure of the target hall, and analyze whether the position of the door in the hall and the position of the micro-lifting structure are in the preset position to obtain the analysis result; The AGV trolley is further used for executing the operation of entering the target hall if the analysis result shows that the position of the door in the hall and the position of the micro-lifting structure are both at the preset position; For the AGV vehicle that has traveled to the target parking space, if a high-position board storage instruction is received, the AGV vehicle is further configured to detect whether the target parking space and the parking space below the target parking space have a vehicle loading board according to the high-position board storage instruction to obtain a first detection result; The AGV is further configured to execute a high-position board storage operation if the first detection result is that neither the target parking space nor the parking space below the target parking space has a board.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the AGV-type stereo garage anti-collision detection method according to any one of claims 1 to 7 is implemented.

10. A storage medium, characterized in that: The storage medium stores a computer program, which includes program instructions. When the program instructions are executed by a processor, the processor executes the AGV-type stereo garage anti-collision detection method according to any one of claims 1 to 7.

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