Navigation communication method and system for AGV remote control interruption

Abstract

The present invention relates to the technical field of AGV navigation communication, and in particular to a navigation communication method and system applied to AGV remote control interruption, wherein the method is applied to local control after the control of the AGV remote control center is interrupted due to a fault, and is characterized in that the method comprises: in response to the AGV detecting that the communication quality with the remote control center drops to a preset quality level, generating a local navigation activation request message and sending it to a local communication node pre-loaded with a scene map; the local communication node receives the local navigation activation request message and parses and extracts key parameters to obtain an AGV behavior feature set; the AGV behavior feature set includes the identity authentication number, destination coordinates and real-time position coordinates of the AGV; effectively avoiding path conflicts, reducing the risk of collision between AGVs, and improving the safety and stability of the system.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV navigation communication, and in particular to a navigation communication method and system applied to AGV remote control interruption. Background Art

[0002] In modern warehousing and logistics systems, automated guided vehicles (AGVs) are important tools for automated material handling. Their stable operation and efficient scheduling are the key to automating the entire logistics process. The AGV system relies on a remote control center for centralized navigation and scheduling. In actual applications, the remote control center may fail due to a variety of reasons (such as network failure, equipment failure, or human error, etc.), resulting in interruption of AGV control. Once a control interruption occurs, the AGV may lose direction or even collide, which will not only seriously affect logistics efficiency, but may also cause equipment damage and material loss.

[0003] Most existing solutions rely on the simple obstacle avoidance function of the AGV itself, allowing the AGV to stop autonomously or make a simple detour when encountering an obstacle. However, this solution lacks global navigation and scheduling capabilities and cannot effectively handle route conflicts and priority issues between AGVs. Especially in complex warehouse environments, the intersection of routes between AGVs and the timeliness requirements of material handling make this simple obstacle avoidance solution unable to meet actual needs. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a navigation communication method and system for AGV remote control interruption, which can effectively avoid path conflicts, reduce the risk of collision between AGVs, and improve the safety and stability of the system.

[0005] In a first aspect, the present invention provides a navigation communication method applied to AGV remote control interruption, the method is applied to local control after the AGV remote control center fails and interrupts control, the method comprises:

[0006] In response to the AGV detecting that the communication quality with the remote control center drops to a preset quality level, a local navigation activation request message is generated and sent to a local communication node pre-loaded with a scene map;

[0007] The local communication node receives the local navigation activation request information and parses and extracts key parameters to obtain an AGV behavior feature set; the AGV behavior feature set includes the identity authentication number, destination coordinates, and real-time location coordinates of the AGV vehicle;

[0008] Perform route planning based on the behavior feature sets of each AGV to obtain the navigation route of each AGV, mark the AGV that has at least one route crossing as a risky AGV, and mark the AGV that has no route crossing as a safe AGV;

[0009] For each of the safety AGV vehicles, navigation control is performed based on its corresponding navigation route;

[0010] For each of the risky AGVs, obtain material aging characteristic information of the materials carried by the AGVs;

[0011] According to the material time-efficiency characteristic information, priority serialization adjustment is performed on all the risky AGVs to obtain a risk navigation priority sequence;

[0012] The single synchronous control capacity of the local communication node is obtained, and based on the risk navigation priority sequence, the navigation control batches of each risk AGV are determined, and navigation control is performed according to the navigation control batches.

[0013] Furthermore, the AGV behavior feature set includes the identity authentication number, destination coordinates, and real-time location coordinates of the AGV vehicle.

[0014] Furthermore, the method for determining the navigation control batch of each of the risky AGVs includes:

[0015] The sliding window length is set based on the single synchronous control capacity, and in the risk navigation priority sequence, the risk AGVs with the highest priority and the same number as the sliding window length are first extracted as the first navigation control batch;

[0016] Perform collision risk conflict identification on the risky AGVs in the first navigation control batch, and delete the risky AGVs that have collision risks and are lagging in priority;

[0017] The risky AGVs deleted from the first navigation control batch are replaced by the remaining risky AGVs that are not selected in the first navigation control batch according to the priority, and the collision risk conflict identification and deletion process is performed again until there is no collision risk in the first navigation control batch, and the identity authentication number of the risky AGV in the first navigation control batch is determined;

[0018] Re-adjust the priority sequence of the remaining risky AGVs, and repeat the confirmation process of the first navigation control batch to obtain a second navigation control batch;

[0019] The priority serialization adjustment and navigation control batch confirmation process is repeated until all the risky AGVs are assigned corresponding navigation control batches.

[0020] Furthermore, the method for collision risk conflict identification includes at least one of spatial conflict identification, temporal conflict identification and path intersection identification.

[0021] Furthermore, for each of the risky AGVs, material aging characteristic information of the materials carried therein is obtained, including:

[0022] The local communication node generates a request message, which includes the identity authentication number of the risk AGV and the material information carried; and sends the request message to the warehouse management system through a preset communication protocol;

[0023] After receiving the request information, the warehouse management system queries the database to obtain the material time-limit characteristic information of the materials carried by the risk AGV;

[0024] The warehouse management system packages the acquired material time-efficiency characteristic information into a response message and returns it to the local communication node through the same communication protocol;

[0025] After receiving the response message, the local communication node parses and extracts the time-sensitive characteristic information of the material.

[0026] Furthermore, the material timeliness characteristic information includes the importance of the material, the urgency of delivery, and the delivery time requirement.

[0027] Furthermore, the priority calculation formula of the risky AGV is:

[0028] ;

[0029] in, is the priority score of the i-th AGV; is the delivery time requirement of the materials carried by the i-th AGV; and They are the minimum and maximum delivery time requirements for all materials respectively; is the importance level of the material carried by the i-th AGV; is the delivery urgency of the materials carried by the i-th AGV; and are the minimum and maximum values ​​of the delivery urgency of all materials respectively; α, β and γ are the weight coefficients of material delivery time, material importance and delivery urgency respectively, which are used to adjust the influence of each parameter on the priority score.

[0030] On the other hand, the present application also provides a navigation communication system for AGV remote control interruption, the system comprising:

[0031] The communication quality detection module is used to continuously monitor the communication quality between the AGV and the remote control center. When it is detected that the communication quality drops to a preset quality level, a local navigation activation request message is generated and sent;

[0032] The local communication node module is pre-loaded with a scene map of the storage environment, and is used to receive the local navigation activation request information sent by the communication quality detection module, and parse it to extract key parameters to obtain an AGV behavior feature set; the AGV behavior feature set includes the identity authentication number, destination coordinates, and real-time location coordinates of the AGV vehicle;

[0033] A route planning module is used to plan routes according to the AGV behavior feature set provided by the local communication node module; generate a navigation route for each AGV, and mark the AGV as a risky AGV or a safe AGV according to whether there is an intersection on the route;

[0034] The safety AGV navigation control module is used to control the navigation of the vehicle marked as a safety AGV based on its corresponding navigation route; this module ensures that the safety AGV vehicle can reach the destination smoothly according to the planned route;

[0035] The risk AGV priority adjustment module is used to obtain the material time-limit characteristic information of the materials carried by the trolley marked as a risk AGV, and adjust the priority sequence of all risk AGVs according to the material time-limit characteristic information to generate a risk navigation priority sequence;

[0036] The batch navigation control module is used to obtain the single synchronous control capacity of the local communication node; and based on the risk navigation priority sequence, determine the navigation control batch of each risk AGV vehicle; perform navigation control on the risk AGV vehicle according to the navigation control batch to ensure that in the event of remote control interruption, the AGV vehicle can still complete the material handling task efficiently and orderly.

[0037] In a third aspect, the present application provides an electronic device, comprising a bus, a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the transceiver, the memory, and the processor are connected via the bus, and the computer program, when executed by the processor, implements the steps of any one of the above methods.

[0038] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps in any one of the above-mentioned methods when executed by a processor.

[0039] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention significantly improves the navigation communication efficiency and reliability of AGV in the case of remote control interruption through integrated management and intelligent scheduling; when the AGV detects that the communication quality with the remote control center has dropped to a preset level, it can quickly generate a local navigation activation request message and send it to the local communication node, ensuring that the AGV can immediately enter the local control mode when the communication is interrupted, reducing the impact of the interruption, improving the response speed of the system, and reducing the disordered movement and potential risks of the AGV during the interruption; the local communication node can parse the received request information, extract key parameters such as the AGV's identity authentication number, destination coordinates, and real-time location coordinates, form an AGV behavior feature set, ensure the accuracy and reliability of the local control system, and provide guidance for subsequent path planning. It provides accurate data support for planning and navigation control; it performs intelligent path planning based on the AGV behavior feature set, and can identify risky AGVs with route intersections and safe AGVs without route intersections, effectively avoiding path conflicts, reducing the risk of collision between AGVs, and improving the safety and stability of the system; for risky AGVs, it obtains the time-sensitive characteristic information of the materials they carry, and adjusts the priority serialization based on this information to generate a risk navigation priority sequence to ensure the priority execution of important tasks and improve logistics efficiency; it determines the navigation control batch of the risky AGV based on the single synchronous control capacity of the local communication node, performs navigation control by batch, optimizes the resource utilization of the local communication nodes, ensures the efficient operation of the system, and avoids control delays or failures due to insufficient control capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a flow chart of a navigation communication method applied to an AGV remote control interruption;

[0041] Figure 2 It is a structural diagram of the navigation communication system applied to the remote control interruption of AGV. DETAILED DESCRIPTION

[0042] In the description of this application, those skilled in the art should know that this application can be implemented as a method, an apparatus, an electronic device, and a computer-readable storage medium. Therefore, this application can be specifically implemented in the following forms: complete hardware, complete software (including firmware, resident software, microcode, etc.), a combination of hardware and software. In addition, in some embodiments, this application can also be implemented in the form of a computer program product in one or more computer-readable storage media, and the computer-readable storage medium contains computer program code.

[0043] The above-mentioned computer-readable storage medium may adopt any combination of one or more computer-readable storage media. Computer-readable storage media include: electrical, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or devices, or any combination of the above. More specific examples of computer-readable storage media include: portable computer disks, hard disks, random access memories, read-only memories, erasable programmable read-only memories, flash memories, optical fibers, optical disc read-only memories, optical storage devices, magnetic storage devices, or any combination of the above. In the present application, computer-readable storage media can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device, or device.

[0044] The acquisition, storage, use, and processing of data in the technical solution of this application comply with the relevant provisions of national laws.

[0045] The present application describes the provided methods, devices, and electronic devices through flowcharts and / or block diagrams.

[0046] It should be understood that each box in the flowchart and / or block diagram and the combination of boxes in the flowchart and / or block diagram can be implemented by computer-readable program instructions. These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine, and these computer-readable program instructions are executed by a computer or other programmable data processing device to produce a device that implements the functions / operations specified by the boxes in the flowchart and / or block diagram.

[0047] These computer-readable program instructions may also be stored in a computer-readable storage medium that enables a computer or other programmable data processing device to work in a specific manner. In this way, the instructions stored in the computer-readable storage medium produce an instruction device product including functions / operations specified in the blocks in the flowchart and / or block diagram.

[0048] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device, so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby enabling the instructions executed on the computer or other programmable data processing apparatus to provide a process for implementing the functions / operations specified in the blocks in the flowchart and / or block diagram.

[0049] The present application is described below in conjunction with the drawings in the present application.

[0050] Embodiment 1: Figure 1As shown, the navigation communication method applied to AGV remote control interruption of the present invention is applied to local control after the AGV remote control center fails and interrupts control, and specifically includes the following steps:

[0051] Step S1, in response to the AGV detecting that the communication quality with the remote control center drops to a preset quality level, a local navigation activation request message is generated and sent to a local communication node pre-loaded with a scene map;

[0052] In order to quickly switch to local control communication when remote control communication is interrupted, the specific implementation is as follows:

[0053] Step S11: configure a communication quality detection mechanism for each AGV to monitor the communication quality with the remote control center in real time; the communication quality can be measured by a variety of indicators, such as signal strength, packet loss rate, delay, etc.; the preset quality level is a threshold set based on the stability and security of the remote control communication system; when the communication quality indicator is lower than this threshold, it means that the signal from the remote control center may be unstable or interrupted, and the local navigation mode needs to be started;

[0054] Step S12: Once the communication quality is detected to be lower than the preset quality level, the control system of the AGV will immediately trigger the local navigation activation logic; the logic will generate a local navigation activation request message, which includes the identity authentication information of the AGV (such as ID number, serial number, etc.), destination coordinates, and real-time location coordinates, so that the local communication node can identify and process the request;

[0055] Step S13, after generating the local navigation activation request information, the AGV will send it to the pre-configured local communication node; the local communication node has computing power and storage capacity, and can pre-load the scene map of the storage environment so as to perform local navigation and scheduling when necessary; the sending process is carried out through a local wireless network (such as Wi-Fi, Bluetooth or a dedicated AGV communication network) to ensure that the information can be reliably transmitted to the local communication node; after sending the request information, the AGV waits for a confirmation response from the local communication node; if no confirmation response is received within a preset time, the AGV will resend the request information until a confirmation response is received or the maximum number of retries is reached;

[0056] Step S14: Before receiving the local navigation activation request information, the local communication node is already in standby mode and is ready to process the resources and algorithms required to process such requests; when receiving the request information, the local communication node will immediately start its built-in navigation and scheduling algorithms to prepare for subsequent route planning and navigation control.

[0057] Step S1 continuously monitors the communication quality between the AGV and the remote control center. When it detects that the communication quality has dropped to a preset quality level, it generates and sends a local navigation activation request message to the local communication node. This process ensures that when a communication interruption occurs, the AGV can quickly enter the local control mode, reducing the impact of the interruption and improving the response speed and reliability of the system.

[0058] Step S2, the local communication node receives the local navigation activation request information and parses and extracts key parameters to obtain an AGV behavior feature set; the AGV behavior feature set includes the identity authentication number, destination coordinates, and real-time location coordinates of the AGV vehicle;

[0059] After receiving the local navigation activation request information, the local communication node will immediately parse it; the parsing process includes identifying the source of the information (i.e. which AGV vehicle sent the request), understanding the meaning of the information (i.e. requesting local navigation) and extracting the key data carried in the information; the data information in the local navigation activation request information includes but is not limited to:

[0060] AGV identity authentication number: used to uniquely identify each AGV to ensure the accuracy and security of the requested information;

[0061] Current communication quality indicators: record the current signal strength, delay, packet loss rate and other communication quality indicators so that local communication nodes can evaluate the communication status;

[0062] Real-time location coordinates: record the current location of the AGV for subsequent route planning;

[0063] Destination coordinates: record the destination location of the AGV car and use it to generate a navigation route;

[0064] Other necessary information: such as the current task status and load information of the AGV, which is used for subsequent processing by the local communication node.

[0065] In the process of parsing the request information, the local communication node will pay special attention to and extract the three key parameters of the AGV vehicle's identity authentication number, destination coordinates, and real-time location coordinates; the identity authentication number is used to confirm which AGV vehicle sends the request to ensure the accuracy of subsequent navigation control; the destination coordinates are the target location that the AGV vehicle needs to reach, and are an important basis for planning the navigation route; the real-time location coordinates reflect the current location information of the AGV vehicle, and are the basis for evaluating its navigation needs and potential conflicts; by extracting the above key parameters, the local communication node can construct a complete AGV behavior feature set; the AGV behavior feature set not only includes the identity information and location information of the AGV vehicle, but also implies its navigation needs (i.e. going to the destination); in subsequent steps, the AGV behavior feature set will be used in key links such as route planning, conflict detection, and priority adjustment.

[0066] Step S3: perform route planning based on the behavior feature sets of each AGV to obtain the navigation routes of each AGV, mark the AGVs that have at least one route crossing as risky AGVs, and mark the AGVs that have no route crossing as safe AGVs;

[0067] Step S3 performs route planning based on the AGV behavior feature set received and parsed from the local communication node, and classifies and marks the AGV accordingly; the specific implementation is as follows:

[0068] Step S31: After obtaining the behavioral feature set of all AGVs, the local communication node will use the pre-loaded scene map to plan the route; this scene map usually contains detailed information such as all channels, shelves, obstacles, etc. in the warehouse environment, which is the basis for planning the navigation route; the route planning algorithm will comprehensively consider the starting point (real-time position coordinates) and end point (destination coordinates) of the AGV and the obstacle information in the map to calculate a feasible navigation route; the navigation route needs to meet the requirements of safety, efficiency, and collision-free;

[0069] Step S32: After obtaining the navigation routes of all AGVs, the navigation routes of all AGVs are cross-checked. The purpose of the cross-check is to find out the AGVs whose navigation routes have intersections. These AGVs may conflict during driving, so they need special attention. The cross-check is implemented by an algorithm, such as traversing the navigation routes of all AGVs to check whether they have common nodes or line segments. If so, it means that the routes of these AGVs are crossed.

[0070] Step S33, according to the result of route intersection detection, AGVs are divided into two categories: risky AGVs and safe AGVs; risky AGVs refer to AGVs whose navigation routes intersect at least once, and may conflict with other AGVs during driving, so additional measures need to be taken to avoid collisions; safe AGVs refer to AGVs whose navigation routes do not intersect, and they will not conflict with other AGVs during driving, so they can be directly navigated and controlled according to the planned routes;

[0071] Step S34: After the classification and marking of the AGVs are completed, navigation control is directly performed on the safe AGVs; for the risky AGVs, it is necessary to further obtain the material age characteristic information of the materials they carry, and adjust their priority sequence based on this information to determine the batch and order of navigation control.

[0072] Step S3 performs route planning based on the AGV behavior feature set, detects whether the generated navigation routes are crossed, and marks the AGV as a risky AGV or a safe AGV according to the detection results; ensures that when remote control is interrupted, the system can effectively manage the navigation route of the AGV, avoid path conflicts, and improve the safety and reliability of the system; in this way, the efficient operation of the AGV and the smoothness of the logistics process can be ensured in a complex warehousing environment.

[0073] Step S4: for each of the safety AGV vehicles, navigation control is performed based on its corresponding navigation route;

[0074] In step S3, a navigation route has been generated for each AGV, and the AGVs without route intersection are marked as "safe AGVs". In step S4, navigation control is performed based on the corresponding navigation route to ensure that the safe AGVs can reach the destination smoothly according to the predetermined path.

[0075] First, the navigation route of each safety AGV is confirmed again to ensure that the navigation route is calculated based on the latest scene map and AGV behavior feature set and has not changed due to other factors (such as new obstacles or map updates); then, according to the real-time position coordinates and destination coordinates of each safety AGV, detailed navigation instructions are generated; the instructions include turning, accelerating, decelerating, maintaining the current speed, etc., aiming to guide the AGV to travel along the predetermined route; the generated navigation instructions will be sent to the corresponding AGV through the local communication node; after receiving the instructions, the AGV will immediately start to execute and adjust its own motion state to meet the instruction requirements; during the driving process of the AGV, its position and state will be continuously monitored to ensure that it strictly follows the navigation route; if the AGV is found to deviate from the predetermined route or encounter other abnormal situations (such as obstacles), necessary adjustments will be made immediately, such as re-planning the route or issuing an emergency stop command; when the AGV successfully reaches the destination coordinates and completes the task, the system will record its driving data (such as driving time, distance, energy consumption, etc.) and update its status to "idle" for the next task allocation.

[0076] Step S4 performs navigation control on the vehicle marked as a safe AGV based on its corresponding navigation route to ensure that the safe AGV can reach the destination smoothly according to the planned route; this process includes the generation, sending, execution and real-time status monitoring of navigation instructions to ensure the accuracy and safety of navigation control.

[0077] Step S5: for each risky AGV, obtain material aging characteristic information of the materials carried by it;

[0078] In order to ensure the navigation timeliness of AGVs, it is necessary to collect the timeliness characteristic information of the materials loaded on each risky AGV so as to make subsequent priority adjustments and scheduling;

[0079] Step S51: The local communication node generates a request message, including the identity authentication number of the risky AGV and the relevant information of the material carried; and sends the request message to a warehouse management system (WMS) or other logistics information system through a preset communication protocol (such as HTTP, MQTT, etc.);

[0080] Step S52: After receiving the request information, the warehouse management system (WMS) or other logistics information system queries the database to obtain the material aging characteristic information of the materials carried by the risk AGV; packages the obtained material aging characteristic information into a response message, and returns it to the local communication node through the same communication protocol;

[0081] Step S53: After receiving the response message, the local communication node parses and extracts the timeliness characteristic information of the material; the extracted information is stored in the local database to ensure the integrity and accuracy of the information; the material timeliness characteristic information includes the type, importance, delivery urgency, delivery time requirements, etc. of the material; the timeliness characteristic information is used to evaluate the timeliness and priority of the material.

[0082] In summary, step S5 is the basis for ensuring that the risk AGV can adjust its priority and perform navigation control according to the time-sensitive characteristic information of the materials it carries; by accurately collecting and parsing this information, the driving route and priority of the risk AGV can be managed more effectively, thereby minimizing driving conflicts and logistics delays.

[0083] Step S6: adjusting the priority sequence of all risky AGVs according to the material time-efficiency characteristic information to obtain a risk navigation priority sequence;

[0084] In step S5, the material aging characteristic information of the materials carried by each risky AGV has been obtained. In step S6, the priority corresponding to the risky AGV needs to be calculated according to the material aging characteristic information, as follows:

[0085] Step S61: The local communication node evaluates the timeliness and importance of the materials carried by each risky AGV according to the material timeliness characteristic information obtained in step S5; the evaluation criteria include importance, delivery urgency, delivery time requirements, etc.

[0086] Step S62: Start a preset priority evaluation algorithm, which comprehensively considers the time-sensitive characteristic information such as the type, importance, delivery urgency, and delivery time requirements of the material, and calculates a comprehensive priority score for each risky AGV;

[0087] Step S63: sort all risky AGVs according to the priority scores to generate a risk navigation priority sequence; the generated risk navigation priority sequence includes the priority order of all risky AGVs, and AGVs with high priorities will have priority in obtaining navigation control resources to ensure timely processing of high-timeliness materials.

[0088] More specifically, the priority calculation formula of the risky AGV is:

[0089] ;

[0090] in, is the priority score of the i-th AGV; is the delivery time requirement of the materials carried by the i-th AGV; and They are the minimum and maximum delivery time requirements for all materials respectively; is the importance level of the material carried by the i-th AGV; is the delivery urgency of the materials carried by the i-th AGV; and are the minimum and maximum values ​​of the delivery urgency of all materials respectively; α, β and γ are the weight coefficients of material delivery time, material importance and delivery urgency respectively, which are used to adjust the influence of each parameter on the priority score.

[0091] In this step, the comprehensiveness and accuracy of the evaluation are ensured by comprehensively considering multiple dimensions such as the type of material, importance, delivery urgency and delivery time requirements; by adjusting the weight coefficient, the influence of various parameters on the priority can be flexibly adjusted according to the actual situation to adapt to different business needs; using standardized evaluation methods, ensure that the priority calculation process of each AGV is consistent to avoid subjective judgment bias; using mathematical formulas for priority calculation to ensure the objectivity and interpretability of the results; calculating the priority through an efficient algorithm to ensure that the risk navigation priority sequence is generated in a short time to improve the response speed of the system; through priority sorting, reduce the path conflicts between AGVs, reduce the risk of collision and improve the safety of the system; ensure that important tasks are executed first to avoid delays in important tasks due to low-priority tasks occupying resources.

[0092] Step S7: Acquire the single synchronous control capacity of the local communication node, and determine the navigation control batch of each risky AGV based on the risk navigation priority sequence, and perform navigation control according to the navigation control batch.

[0093] Due to the high requirements for real-time performance and security, and the priority of local communication node computing power, each communication node can only control a limited number of AGVs to ensure the reliability and security of the system; therefore, all the risky AGVs need to be navigated in batches. The specific batch division method is as follows:

[0094] Step S71, setting a sliding window length based on the single synchronous control capacity, and first extracting the risk AGVs with the highest priority and the same number as the sliding window length as the first navigation control batch in the risk navigation priority sequence;

[0095] The sliding window length indicates the upper limit of the number of AGVs that the local communication node can effectively control and monitor at the same time to ensure the stability and security of the system. In the risk navigation priority sequence that has been sorted according to the material time-limited feature information, the risk AGVs with the highest priority and the same number as the sliding window length are extracted as the first navigation control batch. The extracted risk AGVs will be given priority for navigation control because they have a higher priority.

[0096] Step S72: perform collision risk conflict identification on the risky AGVs in the first navigation control batch, and delete the risky AGVs with collision risk and low priority. The collision risk conflict identification method includes:

[0097] Spatial conflict identification: Two or more AGVs passing the same location at the same time or within a short period of time may lead to physical contact; check whether there is any overlapping part in the path of each pair of AGVs; if there is an overlapping part, further check the time interval; set a safety distance threshold. If the distance between the two AGVs at a certain moment is less than the safety distance threshold, it is considered that there is a spatial conflict;

[0098] Time conflict identification: Although two or more AGVs do not pass the same location at the same time, they may pass through adjacent locations at very close times, which may lead to close encounters and increase the risk of collision. For each pair of AGVs with overlapping paths, check the time windows in which they pass through the overlapping parts. If the time windows overlap or are very close, it is considered that there is a time conflict. Set a safe time interval threshold. If the time interval between two AGVs passing the same location is less than the safe time interval threshold, it is considered that there is a time conflict.

[0099] Path intersection identification: If there is an intersection in the paths of two or more AGVs, there may be a potential risk of collision even if they do not pass at the same time; check whether there is an intersection in the paths of each pair of AGVs; if there is an intersection, further check the time interval; set a safety area around the intersection, and if the time windows of two AGVs in the safety area overlap or are very close, it is considered that there is a risk of path intersection.

[0100] For AGV pairs with collision risks, their priorities are compared, the AGVs with lower priorities are deleted, and the AGVs with higher priorities are retained.

[0101] Step S73: the remaining risky AGVs that are not selected in the first navigation control batch are used to replace the risky AGVs that have been deleted in the first navigation control batch according to the priority, and the collision risk conflict identification and deletion process are performed again until there is no collision risk in the first navigation control batch, and the identity authentication number of the risky AGV in the first navigation control batch is determined;

[0102] Specifically, after deleting the risky AGVs with collision risks, vacancies may appear in the first navigation control batch; in order to fill these vacancies, substitutes will be made according to the priority levels from the remaining risky AGVs that have not been selected for the first navigation control batch; the substitute AGVs will re-identify the collision risk conflicts to ensure that there are no collision risks in the new first navigation control batch; this process will be repeated until all the AGVs in the first navigation control batch have been strictly screened and there are no collision risks.

[0103] Step S74, re-adjusting the priority sequence of the remaining risky AGVs, and repeating the confirmation process of the first navigation control batch to obtain a second navigation control batch;

[0104] Specifically, the remaining risk AGVs not selected in the first navigation control batch are re-adjusted in priority order, that is, rearranged according to priority. According to the process from step S71 to step S73, the second navigation control batch is determined to ensure that the AGVs in the second navigation control batch have no collision risk.

[0105] Step S75, repeat the priority serialization adjustment and navigation control batch confirmation process until all the risky AGVs are assigned corresponding navigation control batches.

[0106] In this step, by setting the sliding window length, ensure that the number of AGVs processed in each navigation control batch is within the system processing capacity to avoid resource overload; based on the risk navigation priority sequence, give priority to high-priority AGVs to ensure that key tasks are completed first; combine multiple detection methods such as spatial conflict, time conflict and path intersection to comprehensively identify potential collision risks; set safety distance thresholds and safety time interval thresholds to ensure the accuracy and flexibility of conflict detection; through the priority replacement mechanism, fill the gaps deleted due to collision risks in time to ensure that each batch runs at full load; repeatedly perform replacement and conflict identification until all AGVs are free of collision risks to ensure the stability and safety of the final batch; when identifying and handling collision risks, give priority to retaining high-priority AGVs to ensure the continuity and stability of key tasks; through real-time monitoring and dynamic adjustment, ensure efficient operation in complex warehousing environments and reduce unexpected interruptions and failures; according to actual operating conditions and system load, flexibly adjust the sliding window length and priority sorting algorithm to adapt to different warehousing environments and business needs.

[0107] Embodiment 2: Figure 2 As shown, the navigation communication system applied to AGV remote control interruption of the present invention specifically includes the following modules;

[0108] The communication quality detection module is used to continuously monitor the communication quality between the AGV and the remote control center. When it is detected that the communication quality drops to a preset quality level, a local navigation activation request message is generated and sent;

[0109] The local communication node module is pre-loaded with a scene map of the storage environment, and is used to receive the local navigation activation request information sent by the communication quality detection module, and parse it to extract key parameters to obtain an AGV behavior feature set; the AGV behavior feature set includes the identity authentication number, destination coordinates, and real-time location coordinates of the AGV vehicle;

[0110] A route planning module is used to plan routes according to the AGV behavior feature set provided by the local communication node module; generate a navigation route for each AGV, and mark the AGV as a risky AGV or a safe AGV according to whether there is an intersection on the route;

[0111] The safety AGV navigation control module is used to control the navigation of the vehicle marked as a safety AGV based on its corresponding navigation route; this module ensures that the safety AGV vehicle can reach the destination smoothly according to the planned route;

[0112] The risk AGV priority adjustment module is used to obtain the material time-limit characteristic information of the materials carried by the trolley marked as a risk AGV, and adjust the priority sequence of all risk AGVs according to the material time-limit characteristic information to generate a risk navigation priority sequence;

[0113] The batch navigation control module is used to obtain the single synchronous control capacity of the local communication node; and based on the risk navigation priority sequence, determine the navigation control batch of each risk AGV vehicle; perform navigation control on the risk AGV vehicle according to the navigation control batch to ensure that in the event of remote control interruption, the AGV vehicle can still complete the material handling task efficiently and orderly.

[0114] In this embodiment, by integrating multiple modules such as communication quality detection, local communication nodes, route planning, safe AGV navigation control, risk AGV priority adjustment, and batch navigation control, local navigation and scheduling control are realized in the case of remote control interruption; specifically, when the system detects that the communication quality with the remote control center has deteriorated, it can quickly activate the local navigation mode to ensure that the AGV can continue to operate in the event of loss of remote control; through the pre-loaded scene map and key parameter extraction, the system can accurately obtain the behavioral feature set of the AGV, and provide reliable data support for subsequent route planning and navigation control; in route planning In this stage, the system not only considers the navigation routes of the AGVs, but also divides the AGVs into risk and safety categories according to whether there are intersections in the routes, providing a basis for subsequent priority adjustment and batch control; for safe AGVs, the system can directly perform navigation control according to the planned routes to ensure that they arrive at their destination smoothly; for risky AGVs, the system performs priority serialization adjustment by obtaining material time-sensitive characteristic information to ensure timely transportation of key materials; finally, through the batch navigation control module, the system can determine the navigation control batches of each risky AGV according to the single synchronous control capacity of the local communication node, to achieve efficient and orderly navigation control.

[0115] The various variations and specific embodiments of the navigation communication method applied to AGV remote control interruption in the aforementioned embodiment 1 are also applicable to the navigation communication system applied to AGV remote control interruption in this embodiment. Through the aforementioned detailed description of the navigation communication method applied to AGV remote control interruption, those skilled in the art can clearly understand the implementation method of the navigation communication system applied to AGV remote control interruption in this embodiment, so for the sake of brevity of the specification, it will not be described in detail here.

[0116] In addition, the present application also provides an electronic device, including a bus, a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor. The transceiver, the memory, and the processor are respectively connected via a bus. When the computer program is executed by the processor, each process of the above-mentioned method for controlling output data is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0117] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A navigation communication method applied to AGV remote control interruption, the method is applied to local control after the AGV remote control center fails and the control is interrupted, characterized in that: The method comprises: In response to the AGV detecting that the communication quality with the remote control center drops to a preset quality level, a local navigation activation request message is generated and sent to a local communication node pre-loaded with a scene map; The local communication node receives the local navigation activation request information and parses and extracts key parameters to obtain an AGV behavior feature set; Perform route planning based on the behavior feature sets of each AGV to obtain the navigation route of each AGV, mark the AGV that has at least one route crossing as a risky AGV, and mark the AGV that has no route crossing as a safe AGV; For each of the safety AGV vehicles, navigation control is performed based on its corresponding navigation route; For each of the risky AGVs, obtain material aging characteristic information of the materials carried by the AGVs; According to the material time-efficiency characteristic information, priority serialization adjustment is performed on all the risky AGVs to obtain a risk navigation priority sequence; Acquire the single synchronous control capacity of the local communication node, and determine the navigation control batch of each risky AGV based on the risk navigation priority sequence, and perform navigation control according to the navigation control batch; The AGV behavior feature set includes the identity authentication number, destination coordinates and real-time location coordinates of the AGV; The method for determining the navigation control batch of each of the risky AGVs comprises: The sliding window length is set based on the single synchronous control capacity, and in the risk navigation priority sequence, the risk AGVs with the highest priority and the same number as the sliding window length are first extracted as the first navigation control batch; Perform collision risk conflict identification on the risky AGVs in the first navigation control batch, and delete the risky AGVs that have collision risks and are lagging in priority; The risky AGVs deleted from the first navigation control batch are replaced by the remaining risky AGVs that are not selected in the first navigation control batch according to the priority, and the collision risk conflict identification and deletion process is performed again until there is no collision risk in the first navigation control batch, and the identity authentication number of the risky AGV in the first navigation control batch is determined; Re-adjust the priority sequence of the remaining risky AGVs, and repeat the confirmation process of the first navigation control batch to obtain a second navigation control batch; Repeat the priority serialization adjustment and navigation control batch confirmation process until all the risky AGVs are assigned corresponding navigation control batches; The material timeliness characteristic information includes the importance of the material, the urgency of delivery, and the delivery time requirement.

2. The navigation communication method for AGV remote control interruption as claimed in claim 1, characterized in that: The method for collision risk conflict identification includes at least one of spatial conflict identification, temporal conflict identification and path intersection identification.

3. The navigation communication method for AGV remote control interruption as claimed in claim 1, characterized in that: For each of the risky AGVs, obtain the material aging characteristic information of the materials carried by the AGVs, including: The local communication node generates a request message, which includes the identity authentication number of the risk AGV and the material information carried; and sends the request message to the warehouse management system through a preset communication protocol; After receiving the request information, the warehouse management system queries the database to obtain the material time-limit characteristic information of the materials carried by the risk AGV; The warehouse management system packages the acquired material time-efficiency characteristic information into a response message and returns it to the local communication node through the same communication protocol; After receiving the response message, the local communication node parses and extracts the time-sensitive characteristic information of the material.

4. The navigation communication method for AGV remote control interruption as claimed in claim 1, characterized in that: The priority calculation formula of the risky AGV is: ； in, is the priority score of the i-th AGV; is the delivery time requirement of the materials carried by the i-th AGV; and They are the minimum and maximum delivery time requirements for all materials respectively; is the importance level of the material carried by the i-th AGV; is the delivery urgency of the materials carried by the i-th AGV; and They are the minimum and maximum values ​​of the delivery urgency among all materials respectively; , and They are the weight coefficients of material delivery time, material importance and delivery urgency, which are used to adjust the influence of each parameter on the priority score.

5. A navigation communication system for AGV remote control interruption, characterized in that: The system is applied to the navigation communication method for AGV remote control interruption as claimed in claim 1, and the system includes: The communication quality detection module is used to continuously monitor the communication quality between the AGV and the remote control center. When it is detected that the communication quality drops to a preset quality level, a local navigation activation request message is generated and sent; The local communication node module is pre-loaded with a scene map of the storage environment, and is used to receive the local navigation activation request information sent by the communication quality detection module, and parse it to extract key parameters to obtain an AGV behavior feature set; the AGV behavior feature set includes the identity authentication number, destination coordinates, and real-time location coordinates of the AGV vehicle; A route planning module is used to plan routes according to the AGV behavior feature set provided by the local communication node module; generate a navigation route for each AGV, and mark the AGV as a risky AGV or a safe AGV according to whether there is an intersection on the route; The safety AGV navigation control module is used to control the navigation of the vehicle marked as a safety AGV based on its corresponding navigation route; this module ensures that the safety AGV vehicle can reach the destination smoothly according to the planned route; The risk AGV priority adjustment module is used to obtain the material time-limit characteristic information of the materials carried by the trolley marked as a risk AGV, and adjust the priority sequence of all risk AGVs according to the material time-limit characteristic information to generate a risk navigation priority sequence; The batch navigation control module is used to obtain the single synchronous control capacity of the local communication node; and based on the risk navigation priority sequence, determine the navigation control batch of each risk AGV vehicle; perform navigation control on the risk AGV vehicle according to the navigation control batch to ensure that in the event of remote control interruption, the AGV vehicle can still complete the material handling task efficiently and orderly.

6. An electronic device, comprising a bus, a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the transceiver, the memory, and the processor are connected via the bus, wherein: When the computer program is executed by the processor, the steps in the method according to any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps in the method according to any one of claims 1 to 4 are implemented.

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