Method for initialized entry of laser navigation AGV (Automatic Guided Vehicle) into system

Abstract

The invention discloses a method for a laser navigation AGV (Automatic Guided Vehicle) to initialize an entering system, which comprises the following steps of: sequentially calculating initializable areas and directions of points in the advancing entering section direction of the points, and storing the initializable areas and directions in a point initializable attribute table; when the equipment is initialized to enter the system from manual operation to automatic operation, the position and direction of the equipment are matched with the initializable area and direction of the point; and if matching succeeds, guiding the equipment to move to the point, reporting the position and state of the equipment to a scheduling system after movement, and initializing the equipment to enter the system. The problems that the laser navigation AGV is difficult to quickly put into use after failure recovery in a single-channel multi-direction motion scene, or the workload and the system complexity need to be increased, so that later maintenance is difficult are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic guided vehicles (AGVs), and in particular to a method for initializing and entering a system of a laser-guided AGV. Background Art

[0002] The movement state of the equipment is divided into manual and automatic. Manual means that the equipment is controlled by handheld, while in automatic state it is managed by the scheduling system. When the equipment is just turned on or a fault occurs, and manual intervention is required, the equipment will be in manual state; after the fault is resolved or the power is turned on, the equipment needs to be restored to automatic state, that is, initialized to enter the system for use. The laser navigation AGV initialization into the system means that when the equipment changes from manual to automatic state, it uses the current position and direction of the equipment as a reference to find a point with matching position and direction in the planned map data, guides the equipment to move to this point, and informs the system of the equipment's position, status and other information so that the system can schedule and manage the equipment. The map planning data of the AGV is a topological map composed of fixed points and segments after measurement. The AGV moves between different nodes through the planned segments to complete logistics transportation; the direction of the planned point is a description of the angle stored on the node.

[0003] When a traditional laser-guided AGV is initialized to enter the system, it calculates the initializable area and direction based on the direction of the planning point and matches it with the device's position. Due to the single direction of the planning point, it can only be initialized to enter the system in a fixed direction. In some scenarios, such as corridors and alleys, where there are paths with switching requirements, the device's movement direction is diverse and inconsistent with the planning point direction. If a fault occurs at this time, it will be difficult to initialize and enter the system after the fault is restored.

[0004] like Figure 1 and Figure 2 As shown, the traditional method can also plan two points in different directions at the same location and plan paths at the two points separately, so as to ensure that the system is initialized in two directions; however, this process will increase a lot of work, and it will not be possible to walk and switch between the two points. If a connecting path is added between the two points, the data will become messy and difficult to maintain. Summary of the Invention

[0005] The purpose of the present invention is to provide a method for initializing a laser-guided AGV into a system to address the above-mentioned problems, thereby improving the convenience of equipment use, reducing workload, complexity and maintenance difficulty.

[0006] The technical solutions of the present invention are as follows:

[0007] A method for initializing a laser-guided AGV to enter a system includes the following steps:

[0008] Expand the initializable direction of the point from the direction of the point to the direction of the segment moving forward on the point;

[0009] Based on the point's forward entry direction, the initializable area and direction of the point are calculated in sequence and stored in the point initializable attribute table.

[0010] When the device is initialized and enters the system automatically from manual, the position and direction of the device are matched with the initializable area and direction of the point;

[0011] If the match is successful, the device will be guided to move to that point. After the movement is completed, the device position and status will be reported to the scheduling system, completing the device initialization and entering the system.

[0012] The entry segment of the point is the segment that reaches this point, and conversely, the segment that leaves this point is the exit segment of the point; in the planned topology diagram, the connected path from point A to point B is the exit of A and the entry of B; the forward entry segment refers to the segment where the equipment reaches this point in the direction of the vehicle head; the forward entry direction is the geometric angle of the end of the forward entry segment in the planning coordinate system.

[0013] Furthermore, the forward entry direction of the point is the initializable direction of the point.

[0014] Furthermore, the initializable direction of the point is flexibly calculated based on the topology and geometric relationship of the planning data. When there are multiple forward segments on the point, there are multiple initializable directions, while the original direction of the point can be retained to maintain backward compatibility.

[0015] Furthermore, the method further includes:

[0016] Dynamic calculation based on the topology and geometric relationships of planning data eliminates the need for manual data setting, reduces system complexity, improves equipment usability, and facilitates maintenance.

[0017] Furthermore, the method further includes:

[0018] Since the information of the points is not changed, it does not affect the planning of the curve between the two points and can maintain compatibility with traditional methods.

[0019] Furthermore, the device can adaptively initialize in multiple directions to enter the system according to planning data, and be put into use quickly after the fault is restored, while reducing workload and lowering maintenance difficulty.

[0020] Compared with the existing technology, the beneficial effects of the present invention are:

[0021] A method for initializing a laser-guided AGV into a system uses dynamic calculations based on the topological and geometric relationships of planning data, eliminating the need for manual data setup. This reduces system complexity, improves device usability, and eases maintenance. Because point information remains unchanged, it does not affect curve planning between two points and maintains compatibility with traditional methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This illustrates the problems of traditional methods Figure 1 .

[0023] Figure 2 This illustrates the problems of traditional methods Figure 2 .

[0024] Figure 3 A schematic diagram showing that a unique curve cannot be determined between two points in any direction.

[0025] Figure 4 A schematic diagram of the forward entry direction for use in this application. DETAILED DESCRIPTION

[0026] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[0027] The features and performance of the present invention are further described in detail below with reference to the embodiments.

[0028] Since the conflict is caused by the diverse device motion directions and the single planning point direction, the first consideration is to expand the number of planning point directions from one to any number. During device initialization and direction matching, initialization can be performed at any point as long as there is a matching direction at that point. This can resolve initialization issues caused by the point direction.

[0029] However, this method also has problems. Since the available or unavailable directions of the points need to be manually set, there is a certain amount of work and complexity. What is worse is that after the available directions of the points are expanded to multiple, it will be impossible to determine a unique curve between the two points, that is, it is impossible to plan a walking path between the two points. Therefore, a more reliable method is needed. Figure 3 As shown, the curves between the two points may include a 180° to 0° curve, a 180° to 270° curve, a 180° to 180° curve, and a 270° to 180° curve.

[0030] Considering that the device uses the segment on the point as the basis for walking, the forward entry direction of the point means that the device can move to the point in this direction, so this direction is used to initialize the device.

[0031] See also Figure 4 , a method for initializing a laser-guided AGV to enter a system, comprising the following steps:

[0032] Based on the point's forward entry direction, the initializable area and direction of the point are calculated in sequence and stored in the point initializable attribute table;

[0033] When the device is initialized and enters the system automatically from manual, the position and direction of the device are matched with the initializable area and direction of the point;

[0034] If the match is successful, the device will be guided to move to that point. After the movement is completed, the device position and status will be reported to the scheduling system, completing the device initialization and entering the system.

[0035] Expand the initializable direction of the point from the direction of the point to the direction of the segment forward on the point. Figure 4 As shown in the figure, the initializable direction of the point is flexibly calculated based on the topology and geometric relationship of the planning data. When there are multiple forward segments on a point, there are multiple initializable directions. At the same time, the original direction of the point can be retained to maintain backward compatibility.

[0036] Dynamic calculations based on the topological and geometric relationships of the planned data eliminate the need for manual data setup, reducing system complexity and improving device usability and maintenance. Since point information remains unchanged, it does not affect the planning of curves between two points and maintains compatibility with traditional methods.

[0037] The equipment can adaptively initialize in multiple directions to enter the system based on planning data and be put into use quickly after the fault is restored, while reducing workload and ease of maintenance difficulty.

[0038] The above-described embodiments merely represent specific implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of protection of the present application. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the technical concept of the present application, and all such variations and improvements fall within the scope of protection of the present application.

Claims

1. A method for initializing a laser-guided AGV to enter a system, characterized in that: The following steps are involved: Expand the initializable direction of the point from the direction of the point to the direction of the point entering the segment; Based on the point's forward entry direction, the initializable area and direction of the point are calculated in sequence and stored in the point initializable attribute table; When the device changes from manual to automatic initialization to enter the system, the position and direction of the device are matched with the initializable area and direction of the point; If the match is successful, the device will be guided to move to that point. After the movement is completed, the device position and status will be reported to the scheduling system, and the device initialization will be completed to enter the system.

2. A method for initializing a laser-guided AGV to enter a system according to claim 1, characterized in that: The forward entry direction of the point is the initializable direction of the point.

3. A method for initializing a laser-guided AGV to enter a system according to claim 2, characterized in that: The initializable directions of the points are flexibly calculated according to the topology and geometric relationship of the planning data. When there are multiple forward entry segments on the point, there are multiple initializable directions. At the same time, the original directions of the points can be retained to maintain backward compatibility.

4. The method for initializing a laser-guided AGV to enter a system according to claim 1, characterized in that: Said also includes: Dynamic calculation based on the topology and geometric relationship of planning data eliminates the need for manual data setting, reduces system complexity, improves equipment usability, and makes maintenance easier.

5. The method for initializing a laser-guided AGV to enter a system according to claim 1, characterized in that: Said also includes: Since the information of the points is not changed, the planning of the curve between the two points is not affected and compatibility with the traditional methods can be maintained.

6. The method for initializing a laser-guided AGV to enter a system according to claim 1, characterized in that: The device can also be adaptively initialized in multiple directions to enter the system according to planning data, and can be put into use quickly after the fault is restored, while reducing workload and maintenance difficulty.

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