AGV vehicle-mounted snow melting device and path planning method

Abstract

The invention provides an AGV vehicle-mounted snow melting device and a path planning method, and belongs to the field of automatic wharf automatic guided vehicle equipment application and vehicle navigation, a path planning information input unit is used for providing coordinate information, AGV spreader gear information and spreading range information for a snow melting agent spreading map unit, and updating snow melting agent spreading map information in real time; an AGV path planning unit plans an AGV driving snow melting path according to the starting place and the destination of snow melting; the AGV navigation unit controls the AGV to run according to the AGV traveling snow melting path; the snow-melting agent spreading map unit is used for recording actual position information and driving path information, and recording a snow-melting agent spreading amount and a snow-melting agent spreading amount threshold value at the same time; the remote operation unit is used for receiving a driving control instruction sent by a user through the handheld terminal, controlling the spreading amount of the snow-melting agent and adjusting the spreading range; according to the invention, the snow-melting agent can be spread on the snow and ice accumulated road surface based on the operation of the AGV to realize snow melting and ice melting, so that the snow melting efficiency is higher and the snow melting is more intelligent.

Description

Background Art

[0002] At present, the coastal areas where automated container terminals are located have a lot of rain and snow in winter, which leads to snow on the roads in the automated operation area. Due to the special operating conditions of automated container terminals, AGVs need to undertake the task of transporting containers. AGVs have a large weight. When AGVs carry containers and drive over snowy roads, the roads will freeze. The friction coefficient between AGV tires and the road surface will decrease, which will easily lead to abnormal situations such as vehicle skidding, rolling, and brake failure, which seriously affects the safety of AGV operations.

[0003] In order to solve the problem of snow and ice on the road in the automated operation area, most automated terminals adopt the method of manually spreading snow-melting agents. Before the arrival of rain and snow, the snow-melting agents are spread manually in the automated operation area in advance. When the snowfall is small, the speed of the AGV is limited to avoid problems such as vehicle skidding and brake failure. When the snowfall is heavy, the terminal operation is stopped and the snow-melting agents are spread manually. After the rain and snow stop and the manual snow and ice removal is completed, the production operation is resumed.

[0004] However, the manual spreading of snow-melting agents requires not only interrupting operations but also requiring personnel to enter the automated operation area, which consumes a lot of manpower and poses a safety hazard of human-machine interaction, and affects operating efficiency. In addition, when snowfall is light and the AGV is traveling slowly, it is difficult to manually spread snow-melting agents in the entire automated operation area, which seriously affects the snow melting effect. When snowfall increases, work and production have to be suspended to carry out manual snow and ice removal, which is time-consuming, labor-intensive and affects terminal production. Summary of the invention

[0005] The present invention provides an AGV vehicle-mounted snow melting device, which can reduce the impact of rainy and snowy weather in winter on AGV driving, and can also avoid human-machine intersection and reduce manpower consumption to achieve a snow and ice removal method.

[0006] The AGV vehicle-mounted snow melting device includes: a path planning information input unit, an AGV power supply unit, a snow melting agent spreading map unit, a remote operation unit, an AGV path planning unit and an AGV navigation unit; The path planning information input unit is used to provide coordinate information, AGV spreader gear information, spreading range information to the deicing agent spreading map unit, and update the deicing agent spreading map information in real time; The AGV path planning unit is used to plan the AGV snow melting path according to the starting point and destination of the snow melting; The AGV navigation unit is used to control the operation of the AGV according to the AGV driving snow melting path; The deicing agent spreading map unit is used to record the actual position information and the driving path information, and also to record the deicing agent spreading amount and the deicing agent spreading amount threshold; The remote operation unit is used to receive driving control instructions sent by the user through the handheld terminal, control the amount of snow melting agent spread, and adjust the spreading range; The AGV power supply unit is used to provide electrical energy to the device.

[0007] It should be further explained that it also includes: an AGV container loading platform, and an AGV vehicle-mounted spreader device is installed at the rear end of the AGV container loading platform; The AGV vehicle-mounted spreader device is provided with a bracket, and a snow melting agent storage tank is installed on the upper end of the bracket; A funnel is installed at the lower end of the bracket, and the snow melting agent storage box is connected to the funnel; A spreading device is installed at the bottom of the funnel, and the spreading device is connected with a driving device.

[0008] It should be further explained that a deicing agent storage sensor is installed inside the deicing agent storage tank; An electrically controlled valve is provided at the outlet of the funnel; The remote operation unit is respectively connected to the deicing agent storage sensor and the electric control valve to obtain the remaining deicing agent capacity in the deicing agent storage tank and send it to the handheld terminal, and receives the electric control valve control command sent by the user through the handheld terminal to control the deicing agent to enter the spreading device; The remote operation unit is also connected to the driving device, receives the driving control instructions sent by the user through the handheld terminal, and changes the spreading range of the spreading device by adjusting the rotation speed of the driving device.

[0009] The present application also provides an AGV vehicle-mounted snow melting method, the method comprising: Define vehicle coordinate information, AGV spreader gear information, spreading range information, and update snow melting agent spreading map information in real time; Plan the AGV snow-melting route based on the starting point and destination of the snowmelt; Control the operation of the AGV according to the snow melting path of the AGV; Record the actual location information and driving path information of the AGV, as well as the amount of deicing agent spread and the threshold value of the deicing agent spread; Receive driving control instructions sent by users through handheld terminals, control the amount of snow melting agent spread, and adjust the spreading range.

[0010] It should be further explained that the method further includes: defining the boundary point of the AGV operation area, setting a as the width of the spreading map unit, A ij is the deicing agent spreading value of each map feature unit, i and j are the column and row numbers of the map feature unit respectively; Define the four endpoints according to the preset order: Z ij (1) Z ij (2) Z ij(3) Z ij (4), the endpoint coordinates are: .

[0011] It should be further explained that, in the method, the following steps are used to assign values ​​to each map unit according to the endpoint coordinates of each map unit and the current driving coordinates of the AGV: Assign values ​​to map units based on the current driving direction of the AGV; Travel along the positive X axis: map unit endpoint Z ij (1) and Z ij (2) Based on the X coordinate being greater than the X coordinate of the rear center point of the AGV, the deicing agent spreading value is the deicing agent spreading value at the previous moment; Travel in the opposite direction along the X axis: map unit endpoint Z ij (3) and Z ij (4) Based on the X coordinate being less than the X coordinate of the rear center point of the AGV, the deicing agent spreading value is the deicing agent spreading value at the previous moment; Travel along the positive Y axis: map unit endpoint Z ij (2) and Z ij (3) Based on the Y coordinate being greater than the Y coordinate of the rear center point of the AGV, the deicing agent spreading value is the deicing agent spreading value at the previous moment; Travel in the opposite direction along the Y axis: map unit endpoint Z ij (1) and Z ij (4) Based on the fact that the Y coordinate is smaller than the Y coordinate of the rear center point of the AGV, the deicing agent spreading value is the deicing agent spreading value at the previous moment, that is: .

[0012] It should be further explained that in the method, the unassigned map unit is assigned a value based on the AGV endpoint distance, and the assignment method includes: calculating the distance from each endpoint in the feature area to the rear center point of the AGV: ; in, =1,2,3,4; respectively represent the endpoints of the feature area; According to the distance from the endpoint of the feature area to the center point of the rear of the AGV, the distance feature matrix of each feature area is defined: ; Among them, when hour, =1; when hour, =0; Assign snowmelt spreading values ​​to feature areas based on the distance feature matrix: when hour, ; when hour, .

[0013] It should be further explained that in the method, When the feature matrix is When the snow melting agent spreading area in the characteristic area for: , When the feature matrix is When the snow melting agent spreading area in the characteristic area for: , When the feature matrix is When the snow melting agent spreading area in the characteristic area for: , When the feature matrix is When the snow melting agent spreading area in the characteristic area for: .

[0014] It should be further explained that the method also calculates the deicing agent spreading time in the characteristic area: , In the formula, is the snow-melting agent spreading time in the ijth characteristic area, For the current moment, is the initial value of the effective action time of snow-melting agent spreading in the nth characteristic area; In this method, when the spreading time of the deicing agent in the characteristic area is greater than the maximum effective time of the deicing agent, that is, : ; When the deicing agent spreading action time in the characteristic area is greater than the maximum effective time of the deicing agent, and the deicing agent spreading value in the characteristic area is corrected, the initial value of the effective action time of the deicing agent spreading in the characteristic area is updated: .

[0015] It should be further explained that the AGV de-icing agent spreading path planning algorithm in the method includes the following steps: Step S51: setting the AGV to automatic mode; Step S52: determining whether the amount of deicing agent in the deicing agent storage tank is greater than a vehicle-mounted deicing agent replenishment threshold; If the deicing agent storage tank has a deicing agent reserve lower than the on-board deicing agent replenishment threshold, the AGV path planning unit automatically jumps to the deicing agent filling driving path, and the end point of the driving path is the deicing agent replenishment point, where the on-board deicing agent is replenished; Step S53: locating the minimum characteristic area of ​​the de-icing agent spreading value according to the de-icing agent spreading map, and presetting the minimum characteristic area of ​​the de-icing agent spreading value as the end point of the AGV driving path; Step S54: obtaining the distance between the end point of the preset AGV driving path and the current AGV; Set the AGV path distance difference threshold. When the distance between the preset AGV driving path end point and the current vehicle position is less than the path distance difference threshold, jump to step S55. Otherwise, the preset AGV driving path is canceled, and the process returns to step S53, where the current preset AGV driving path endpoint is excluded and the preset AGV driving path endpoint is reselected; Step S55: determining the difference between the end point of the AGV driving path preset in step S54 and the snow melting agent threshold value of the characteristic area; According to the lane application frequency, the de-icing agent spreading amount threshold for each characteristic area of ​​the de-icing agent spreading map is set; When the deicing agent spreading value of the characteristic area at the end point of the preset AGV driving path is less than the deicing agent spreading amount threshold of the area, jump to step S56; Otherwise, the preset AGV driving path is canceled, and the process returns to step S53, where the current preset AGV driving path endpoint is excluded and the preset AGV driving path endpoint is reselected; Step S56: Determine the driving direction of the AGV; If there are multiple preset AGV driving path endpoints that simultaneously meet steps S53 to S55, the AGV is preferentially selected to travel along the long axis direction of the AGV driving area, and a driving path where multiple preset AGV driving path endpoints are adjacently connected is selected; Step S57: The navigation system executes the AGV vehicle-mounted snow-melting agent spreading driving route.

[0016] It can be seen from the above technical solutions that the present invention has the following advantages: The AGV vehicle-mounted snow melting device and path planning method provided in this application can make the spreading of snow melting agent on snowy and iced roads in the AGV operation area of ​​the automated terminal more efficient and intelligent. Combined with the operation mode of the AGV vehicle-mounted spreader, the snow melting agent spreading path is automatically planned to replace manual operations, solve the potential safety hazards of manual snow and ice removal at the terminal, and realize the parallel operation of terminal operations and snow and ice removal operations, thereby improving the efficiency of automated terminal operations.

[0017] This application can achieve scientific spreading of deicing agent in the AGV operation area. A deicing agent spreading map is built to display the deicing agent spreading amount in the AGV operation area in real time and accurately. According to the actual situation of the automated terminal, the spreader gear is switched, the effective spreading range of the spreader is adjusted, and the deicing agent spreading amount threshold of the specified area can be set remotely to make the deicing agent spreading more uniform.

[0018] This application can realize accurate planning of AGV spreading path. According to the snow-melting agent spreading map of the AGV operating area and the vehicle operating status, the spreading path and power and snow-melting agent replenishment path of the vehicle-mounted spreader AGV are accurately planned, so that the AGV can drive to the area where the snow-melting agent needs to be laid in a timely and accurate manner, achieving the ideal snow and ice removal effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description will be briefly introduced below. Obviously, the accompanying drawings in the following description are only 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 creative work.

[0020] Figure 1 This is a schematic diagram of the AGV vehicle-mounted snow melting device; Figure 2 It is a schematic diagram of an embodiment of a schematic diagram of an AGV vehicle-mounted snow melting device; Figure 3 This is a schematic diagram of the AGV vehicle-mounted snow melting device; Figure 4 It is a schematic diagram of an embodiment of an AGV vehicle-mounted spreader device; Figure 5 Schematic diagram for calculating the value of map units for spreading snow-melting agents; Figure 6 The figure is a flow chart of the AGV vehicle-mounted snow melting method. DETAILED DESCRIPTION

[0021] In the following description, specific details such as specific system structures and technologies are provided for illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details.

[0022] It should be understood that when used in the present specification, the term "includes" indicates the presence of the described features, integral bodies, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integral bodies, steps, operations, elements, components and / or their collections. The terms "include", "comprise", "have" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0023] It should be understood that the "one or more" mentioned in this application refers to one, two or more than two, and the "multiple" mentioned in this application refers to two or more. In the description of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B. The "and / or" in this article is just a way to describe the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0024] In order to clearly describe the technical solution of the present application, the words "first", "second" and the like are used to distinguish the same or similar items with substantially the same functions and effects. Those skilled in the art can understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like do not necessarily limit the difference.

[0025] The phrases such as "one embodiment" or "some embodiments" described in the present application mean that the specific features, structures or characteristics described in the embodiment are included in one or more embodiments of the present application. Therefore, the phrases such as "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments" etc. that appear in different places in the present application do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways.

[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 only 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] See also Figure 1 The figure is a schematic diagram of an AGV vehicle-mounted snow melting device in a specific embodiment. The AGV vehicle-mounted snow melting device includes: a path planning information input unit, an AGV power supply unit, a snow melting agent spreading map unit, a remote operation unit, an AGV path planning unit and an AGV navigation unit.

[0028] In this embodiment, the path planning information input unit is used to provide coordinate information, AGV spreader gear information, spreading range information to the deicing agent spreading map unit, and update the deicing agent spreading map information in real time.

[0029] The AGV path planning unit is used to plan the AGV driving snow melting path according to the starting point and destination of the snow melting.

[0030] The AGV navigation unit is used to control the operation of the AGV according to the AGV driving snow melting path; The deicing agent spreading map unit is used to record the actual position information and the driving path information, and also to record the deicing agent spreading amount and the deicing agent spreading amount threshold.

[0031] The remote operation unit is used to receive driving control instructions sent by the user through a handheld terminal, control the amount of snow melting agent spread, and adjust the spreading range.

[0032] The AGV power supply unit is used to provide electrical energy to the device. Specifically, the AGV power supply unit may include a battery and a corresponding power supply circuit, which can supply power to the AGV to meet the needs of snow melting.

[0033] As an embodiment of the AGV snow melting device of the present application, the operation process of the device can be implemented in the following manner: Specifically, the AGV receives the starting point, destination, expected snow melting amount, road conditions and other related parameters of the snow melting task.

[0034] The AGV path planning unit plans the optimal driving and snow-melting path based on the starting point and destination, combined with information such as the road network, obstacle location, and traffic conditions.

[0035] The AGV navigation unit prepares navigation data according to the planned path, including control instructions such as direction and speed.

[0036] When starting to drive, the AGV starts to drive according to the navigation instructions, and uses sensors such as lidar, cameras, GPS, etc. to perceive the surrounding environment in real time to ensure that it drives according to the planned path.

[0037] The deicing agent spreading operation is based on the initialization of the spreading map: the deicing agent spreading map unit records the starting position of the AGV and initializes the driving path information and the deicing agent spreading amount counter.

[0038] According to the preset spreading strategy such as spreading amount, spreading speed, spreading range, etc., the AGV automatically adjusts the spreading of snowmelt during driving or according to remote instructions. The snowmelt spreading map unit records the current location information, driving path and the amount of snowmelt spread in real time, and compares it with the preset snowmelt spreading amount threshold to ensure the appropriate spreading amount.

[0039] The specific remote monitoring and adjustment functions of this embodiment can be based on the remote operation unit continuously monitoring the instructions sent by the user through the handheld terminal, including driving control instructions such as pause, acceleration, deceleration, steering, etc., snow melting agent spreading amount adjustment instructions and spreading range adjustment instructions.

[0040] When executing remote instructions, the remote operation unit controls the driving of the AGV and the spreading of the snow-melting agent according to the received instructions, thereby achieving real-time adjustment and optimization of the snow-melting process.

[0041] When the AGV completes the snow melting task according to the planned path and achieves the preset snow melting effect, the system confirms that the task is completed. The various data during the task execution, such as the driving path, the amount of snow melting agent spread, and the task time, are compiled into a report and fed back to the user's handheld terminal or host computer through the remote operation unit.

[0042] On the basis of the above embodiments, in order to further improve the reliability of the AGV vehicle-mounted snow melting device provided in the above embodiments, as an implementable method, in one embodiment, according to the characteristics and functions of the current AGV vehicle-mounted snow melting device, such as Figure 2 Provides an overall schematic diagram of the AGV vehicle-mounted snow melting device. Figure 3 A schematic diagram of part of the device. Figure 4 A schematic diagram of the rear of the device.

[0043] In an exemplary embodiment, the AGV on-board snow melting device also includes: an AGV container loading platform 1, an AGV on-board spreader device is installed at the rear end of the AGV container loading platform 1; the AGV on-board spreader device is provided with a bracket 3, and a snow melting agent storage box 2 is installed on the upper end of the bracket 3; a funnel 4 is installed at the lower end of the bracket 3, and the snow melting agent storage box 2 is connected to the funnel 4; a spreading device 5 is installed at the bottom end of the funnel 4, and the spreading device 5 is connected to the driving device 6.

[0044] In this embodiment, a de-icing agent reserve sensor is installed inside the de-icing agent storage box 2; an electric-controlled valve is provided at the outlet of the funnel 4; the remote operation unit is respectively connected to the de-icing agent reserve sensor and the electric-controlled valve, obtains the remaining capacity of the de-icing agent inside the de-icing agent storage box 2, and sends it to the handheld terminal, and receives the electric-controlled valve control instructions sent by the user through the handheld terminal to control the de-icing agent to enter the spreading device; the remote operation unit is also connected to the driving device 6, receives the driving control instructions sent by the user through the handheld terminal, and changes the spreading range of the spreading device 5 by adjusting the rotation speed of the driving device 6.

[0045] In this embodiment, the electric control valve can limit the snow melting agent from entering the spreading device. The driving device is composed of a driving motor to drive the spreading device to work. The driving device changes the effective spreading range of the spreader by adjusting the speed. Five gears are set according to the speed of the driving device and the effective spreading range of the spreader. The speed of the driving device and the effective spreading range of the spreader are increased step by step from the 1st gear to the 5th gear, and can be adjusted and controlled by the remote operating system.

[0046] According to the embodiment of the present application, the AGV vehicle-mounted snow melting device can also include a wireless communication unit, an audio and video input unit, a user input unit, a sensing unit, a display unit, a memory, an interface unit, a controller, etc. to realize the functions of each unit. However, it should be understood that it is not required to implement all the components shown. More or fewer components can be implemented alternatively.

[0047] The wireless Internet access technology of the wireless communication unit here may include wireless local area network (Wi-Fi, WLAN, Wireless Local Area Networks), wireless broadband (Wibro), World Interoperability for Microwave Access (Wimax), High Speed ​​Downlink Packet Access (HSDPA, High Speed ​​Downlink Packet Access), etc.

[0048] The display unit can display information processed in the AGV on-board snow melting device.

[0049] The controller may be implemented using at least one of an application specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a processor, a controller, a microcontroller, a microprocessor, and an electronic unit designed to perform the functions described herein, and in some cases, such an implementation may be implemented in a controller. For software implementation, implementations such as processes or functions may be implemented with separate software modules that allow execution of at least one function or operation. The software code may be implemented by a software application (or program) written in any appropriate programming language, and the software code may be stored in a memory and executed by a controller.

[0050] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0051] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] The following is an embodiment of the AGV vehicle-mounted snow melting method provided in the embodiments of the present disclosure. This method and the AGV vehicle-mounted snow melting devices of the above-mentioned embodiments belong to the same inventive concept. For details not fully described in the embodiment of the AGV vehicle-mounted snow melting method, reference can be made to the embodiments of the above-mentioned AGV vehicle-mounted snow melting devices.

[0053] Methods include: Define vehicle coordinate information, AGV spreader gear information, spreading range information, and update snow melting agent spreading map information in real time; Plan the AGV snow-melting route based on the starting point and destination of the snowmelt; Control the operation of the AGV according to the snow melting path of the AGV; Record the actual location information and driving path information of the AGV, as well as the amount of deicing agent spread and the threshold value of the deicing agent spread; Receive driving control instructions sent by users through handheld terminals, control the amount of snow melting agent spread, and adjust the spreading range.

[0054] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0055] In the process of the above-mentioned AGV vehicle-mounted snow melting method, the de-icing agent spreading map is combined with the actual operation area of ​​the automated terminal AGV as the basis, and the area is segmented and divided into multiple characteristic areas. The de-icing agent distribution is assigned, and the assignment of the passing characteristic area is updated in real time according to the actual driving trajectory of the AGV and the spreading gear of the automatic de-icing agent spreading device. The de-icing agent spreading map can set the de-icing agent spreading threshold of the specified characteristic area by the remote operating system, and define the upper limit of the de-icing agent spreading in the area. At the same time, the de-icing agent spreading map can set the effective time of de-icing agent spreading according to the snowfall at the terminal and the use characteristics of the de-icing agent, and correct the de-icing agent spreading value of the map characteristic area.

[0056] The present application can plan the vehicle's driving route: determine whether the AGV is manually intervened, and the AGV will give priority to executing the manual path planning instructions; determine whether the AGV needs electricity or snow-melting agent replenishment based on the vehicle's own operating status, and plan the vehicle's supply driving route; based on the snow-melting agent spreading map, compare and calculate the snow-melting agent spreading value of the characteristic area near the current vehicle position, and give priority to planning the vehicle's snow-melting agent spreading driving route for areas with lower snow-melting agent spreading amounts.

[0057] The remote operation system of the present invention is composed of an AGV operation map and an operation unit. The AGV operation map displays the characteristic area and layout of the deicing agent spreading, and the operation map displays the current coordinate position and driving path of the AGV in real time. The system operation unit includes functions such as the setting of the gear position of the spreading device, the manual driving path dispatching, the setting of the threshold value of the deicing agent spreading in the characteristic area, the effective time of the deicing agent, and the setting of the supply station, and assists the AGV path planning unit in planning the vehicle driving path.

[0058] In some embodiments of the present application, the constructed deicing agent spreading map unit is based on the map of the actual operating area of ​​the AGV, and is divided into multiple characteristic areas of the same size and area, and the width of each characteristic area is the width of the AGV operating lane. According to the actual driving trajectory of the AGV and the spreading gear of the automatic deicing agent spreading device, the assignment of the passed characteristic area is updated in real time. The deicing agent spreading map can be set by the remote operating system to specify the deicing agent spreading threshold of the characteristic area, and the upper limit of the deicing agent spreading in the area is delineated. At the same time, the deicing agent spreading map can set the effective time of deicing agent spreading according to the snowfall at the terminal and the use characteristics of the deicing agent, and correct the deicing agent spreading value of the map characteristic area.

[0059] Furthermore, as a refinement and expansion of the specific implementation of the above embodiment, in order to fully illustrate the specific implementation process of this embodiment, a specific AGV vehicle-mounted snow melting method is also provided. The calculation principle of the snow melting agent spreading map unit described in this embodiment is as follows: Figure 5 and Figure 6 As shown, the specific assignment calculation principle is as follows: Define the boundary points of the AGV operation area and set a to be the width of the spread map unit. is the deicing agent spreading value of each map feature unit, i and j are the column number and row number of the map feature unit respectively.

[0060] Define the four endpoints according to the preset order: Z ij (1) Z ij (2) Z ij (3) Z ij (4), the endpoint coordinates are: .

[0061] In an exemplary embodiment, the following steps are used to assign values ​​to each map unit according to the endpoint coordinates of each map unit and the current driving coordinates of the AGV: 1. Assign values ​​to some map units based on the current driving direction of the AGV.

[0062] (1) Traveling along the positive X-axis: Map unit endpoint Z ij (1) and Z ij (2) The X coordinate is greater than the X coordinate of the rear center point of the AGV, and the deicing agent spreading value is the deicing agent spreading value at the previous moment; (2) Travel in the opposite direction along the X axis: Map unit endpoint Z ij (3) and Z ij (4) The X coordinate is less than the X coordinate of the rear center point of the AGV, and the deicing agent spreading value is the deicing agent spreading value at the previous moment; (3) Traveling along the positive Y axis: Map unit endpoint Z ij (2) and Z ij (3) The Y coordinate is greater than the Y coordinate of the rear center point of the AGV, and the deicing agent spreading value is the deicing agent spreading value at the previous moment; (4) Travel in the opposite direction along the Y axis: Map unit endpoint Z ij (1) and Z ij The Y coordinate of (4) is less than the Y coordinate of the center point of the rear of the AGV, and the deicing agent spreading value is the deicing agent spreading value at the previous moment, that is: .

[0063] 2. Assign values ​​to some unassigned map units in step 1 based on the AGV endpoint distance.

[0064] (1) Calculate the distance from each endpoint of each feature area to the center point of the rear of the AGV: ; in, =1,2,3,4; respectively represent the endpoints of the feature area.

[0065] (2) According to the distance from the endpoint of the feature area to the center point of the rear of the AGV, define the distance feature matrix of each feature area: ; Among them, when hour, =1; when hour, =0.

[0066] (3) Assign the deicing agent spreading value to the characteristic area according to the distance feature matrix: when hour, ; when hour, .

[0067] 3. When When , calculate the snow-melting agent spreading area in the characteristic area.

[0068] (1) When the feature matrix is When the snow melting agent spreading area in the characteristic area for: , (2) When the feature matrix is When the snow melting agent spreading area in the characteristic area for: , (3) When the feature matrix is When the snow melting agent spreading area in the characteristic area for: , (4) When the feature matrix is When the snow melting agent spreading area in the characteristic area for: .

[0069] 4. Assign values ​​to the above unassigned map units according to the snow-melting agent spreading area in the characteristic area.

[0070] when hour, ; when hour, .

[0071] In the formula, is the total area of ​​the characteristic region.

[0072] 5. According to the effective time of the de-icing agent, the de-icing agent spreading value in the characteristic area shall be corrected.

[0073] (1) Calculate the snow-melting agent spreading time in the characteristic area: , In the formula, is the snow-melting agent spreading time in the ijth characteristic area, For the current moment, It is the initial value of the effective action time of snow-melting agent spreading in the nth characteristic area.

[0074] (2) Correct the snow-melting agent spreading value in the characteristic area.

[0075] When the deicing agent spreading time in the characteristic area is greater than the maximum effective time of the deicing agent, that is, : .

[0076] (3) Update the initial value of the effective action time of snow-melting agent spreading in the characteristic area.

[0077] When the deicing agent spreading action time in the characteristic area is greater than the maximum effective time of the deicing agent, and the deicing agent spreading value in the characteristic area is corrected, the initial value of the effective action time of the deicing agent spreading in the characteristic area is updated: .

[0078] According to the embodiment of the present application, the AGV de-icing agent spreading path planning algorithm proposed in the present application, the specific device path planning principle is as follows Figure 5 Steps shown: Step S51: Determine whether there is manual intervention in the AGV driving path planning unit.

[0079] Step S511: If the AGV driving path instruction is manually issued, the navigation system will give priority to executing the manual driving instruction.

[0080] Step S52: Determine whether the onboard deicing agent reserve of the AGV is sufficient. The onboard deicing agent replenishment threshold is associated with the current driving position of the AGV. The threshold should be sufficient for the AGV to spread the deicing agent from the current position to the deicing agent replenishment position.

[0081] Step S521: If the onboard deicing agent reserve of the AGV is lower than the onboard deicing agent replenishment threshold, the AGV driving path planning unit automatically jumps to the deicing agent filling driving path, and the end point of the driving path is the deicing agent replenishment point, and the onboard deicing agent is replenished.

[0082] Step S53: during the operation of the AGV vehicle-mounted deicing agent spreader, the characteristic area with the minimum deicing agent spreading value is determined. According to the deicing agent spreading map, the characteristic area with the minimum deicing agent spreading value is located, and the characteristic area is preset as the end point of the AGV driving path.

[0083] Step S54: Determine the distance between the end point of the preset AGV driving path in step S53 and the current vehicle position. Set the AGV path distance difference threshold. When the distance between the end point of the preset AGV driving path and the current vehicle position is less than the path distance difference threshold, jump to step S55. Otherwise, cancel the preset AGV driving path, return to step S53, exclude the current preset AGV driving path end point, and reselect the preset AGV driving path end point.

[0084] Step S55: Determine the difference between the end point of the preset AGV driving path in step S54 and the threshold value of the deicing agent in the characteristic area. The vehicle management system can set the deicing agent spreading amount threshold of each characteristic area of ​​the deicing agent spreading map according to the lane application frequency. When the deicing agent spreading value of the characteristic area at the end point of the preset AGV driving path is less than the deicing agent spreading amount threshold of the area, jump to step S56. Otherwise, cancel the preset AGV driving path, return to step S53, exclude the current preset AGV driving path end point, and reselect the preset AGV driving path end point.

[0085] Step S56: Determine the AGV driving direction. If there are multiple preset AGV driving path endpoints that simultaneously meet steps S53-S55, the AGV is preferentially selected to travel along the X-axis (the long axis direction of the AGV driving area), and the driving path with multiple preset AGV driving path endpoints adjacent to each other is preferentially selected.

[0086] Step S57: The navigation system executes the AGV vehicle-mounted snow-melting agent spreading driving route.

[0087] According to the embodiments of the present application, the method can make the spreading of snow-melting agent on snow-covered and ice-covered roads in the AGV operation area of ​​the automated terminal more efficient and intelligent. The AGV vehicle-mounted spreader is used to automatically plan the snow-melting agent spreading path, replace manual operations, solve the potential safety hazards of manual snow and ice removal at the terminal, and realize the parallel operation of terminal operations and snow and ice removal operations, thereby improving the efficiency of automated terminal operations.

[0088] This application can achieve scientific spreading of deicing agent in the AGV operation area. A deicing agent spreading map is built to display the deicing agent spreading amount in the AGV operation area in real time and accurately. According to the actual situation of the automated terminal, the spreader gear is switched, the effective spreading range of the spreader is adjusted, and the deicing agent spreading amount threshold of the specified area can be set remotely to make the deicing agent spreading more uniform.

[0089] The present invention can realize accurate planning of AGV spreading path. According to the snow-melting agent spreading map of the AGV operation area and the vehicle operation status, the spreading path and power and snow-melting agent supply path of the vehicle-mounted spreader AGV are accurately planned, so that the AGV can drive to the area where the snow-melting agent needs to be laid in a timely and accurate manner, achieving the ideal snow and ice removal effect.

[0090] The AGV vehicle-mounted snow melting method involved in this application is a combination of the units and algorithm steps of each example described in the embodiments disclosed herein, and can be implemented by 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 terms of function in the above description. Whether these functions are performed 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.

[0091] Those skilled in the art will appreciate that the various aspects of the AGV snow melting method involved in this application can be implemented as a system, method or program product. Therefore, various aspects of the present disclosure can be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which can be collectively referred to as "circuit", "module" or "system".

[0092] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An AGV vehicle-mounted snow melting device, characterized in that: include: Path planning information input unit, AGV power supply unit, snow melting agent spreading map unit, remote operation unit, AGV path planning unit and AGV navigation unit; The path planning information input unit is used to provide coordinate information, AGV spreader gear information, spreading range information to the deicing agent spreading map unit, and update the deicing agent spreading map information in real time; The AGV path planning unit is used to plan the AGV snow melting path according to the starting point and destination of the snow melting; The AGV navigation unit is used to control the operation of the AGV according to the AGV driving snow melting path; The deicing agent spreading map unit is used to record the actual position information and the driving path information, and also to record the deicing agent spreading amount and the deicing agent spreading amount threshold; The remote operation unit is used to receive driving control instructions sent by the user through the handheld terminal, control the amount of snow melting agent spread, and adjust the spreading range; The AGV power supply unit is used to provide electrical energy to the device.

2. The AGV vehicle-mounted snow melting device according to claim 1, characterized in that: It also includes: an AGV container loading platform (1), wherein an AGV vehicle-mounted spreader device is installed at the rear end of the AGV container loading platform (1); The AGV vehicle-mounted spreader device is provided with a bracket (3), and a snow-melting agent storage box (2) is installed on the upper end of the bracket (3); A funnel (4) is installed at the lower end of the bracket (3), and the snow melting agent storage box (2) is connected to the funnel (4); A spreading device (5) is installed at the bottom end of the funnel (4), and the spreading device (5) is connected to a driving device (6).

3. The AGV vehicle-mounted snow melting device according to claim 2, characterized in that: A deicing agent storage sensor is installed inside the deicing agent storage tank (2); An electrically controlled valve is provided at the outlet of the funnel (4); The remote operation unit is connected to the deicing agent storage sensor and the electric control valve respectively, obtains the remaining deicing agent capacity in the deicing agent storage tank (2), and sends it to the handheld terminal, and receives the electric control valve control command sent by the user through the handheld terminal, and controls the deicing agent to enter the spreading device; The remote operation unit is also connected to the driving device (6) to receive a driving control instruction sent by a user via a handheld terminal, and to change the spreading range of the spreading device (5) by adjusting the rotation speed of the driving device (6).

4. An AGV vehicle-mounted snow melting method, characterized in that: The method adopts the AGV vehicle-mounted snow melting device as described in any one of claims 1 to 3; the method comprises: Define vehicle coordinate information, AGV spreader gear information, spreading range information, and update snow melting agent spreading map information in real time; Plan the AGV snow-melting route based on the starting point and destination of the snowmelt; Control the operation of the AGV according to the snow melting path of the AGV; Record the actual location information and driving path information of the AGV, as well as the amount of deicing agent spread and the threshold value of the deicing agent spread; Receive driving control instructions sent by users through handheld terminals, control the amount of snow melting agent spread, and adjust the spreading range.

5. The AGV vehicle-mounted snow melting method according to claim 4, characterized in that: The method also includes: defining the boundary point of the AGV operation area, setting a as the width of the spreading map unit, A ij is the deicing agent spreading value of each map feature unit, i and j are the column and row numbers of the map feature unit respectively; Define the four endpoints according to the preset order: Z ij (1) Z ij (2) Z ij (3) Z ij (4), the endpoint coordinates are: 。 6. The AGV vehicle-mounted snow melting method according to claim 5, characterized in that: In this method, the following steps are used to assign values ​​to each map unit according to the endpoint coordinates of each map unit and the current driving coordinates of the AGV: Assign values ​​to map units based on the current driving direction of the AGV; Travel along the positive X axis: map unit endpoint Z ij (1) and Z ij (2) Based on the X coordinate being greater than the X coordinate of the rear center point of the AGV, the deicing agent spreading value is the deicing agent spreading value at the previous moment; Travel in the opposite direction along the X axis: map unit endpoint Z ij (3) and Z ij (4) Based on the X coordinate being less than the X coordinate of the rear center point of the AGV, the deicing agent spreading value is the deicing agent spreading value at the previous moment; Travel along the positive Y axis: map unit endpoint Z ij (2) and Z ij (3) Based on the Y coordinate being greater than the Y coordinate of the rear center point of the AGV, the deicing agent spreading value is the deicing agent spreading value at the previous moment; Travel in the opposite direction along the Y axis: map unit endpoint Z ij (1) and Z ij (4) Based on the fact that the Y coordinate is less than the Y coordinate of the rear center point of the AGV, the deicing agent spreading value is the deicing agent spreading value at the previous moment, that is: 。 7. The AGV vehicle-mounted snow melting method according to claim 6, characterized in that: In the method, the unassigned map units are assigned values ​​based on the AGV endpoint distance. The assignment method includes: calculating the distance from each endpoint in the feature area to the center point of the rear of the AGV: ； in, =1,2,3,4; respectively represent the endpoints of the feature area; According to the distance from the endpoint of the feature area to the center point of the rear of the AGV, the distance feature matrix of each feature area is defined: ； Among them, when hour, =1; when hour, =0; Assign snowmelt spreading values ​​to feature areas based on the distance feature matrix: when hour, ; when hour, .

8. The AGV vehicle-mounted snow melting method according to claim 7, characterized in that: In the method, When the feature matrix is When the snow melting agent spreading area in the characteristic area for: ， When the feature matrix is When the snow melting agent spreading area in the characteristic area for: ， When the feature matrix is When the snow melting agent spreading area in the characteristic area for: ， When the feature matrix is When the snow melting agent spreading area in the characteristic area for: 。 9. The AGV vehicle-mounted snow melting method according to claim 4, characterized in that: The method also calculates the deicing agent spreading time in the characteristic area: ， In the formula, is the snow-melting agent spreading time in the ijth characteristic area, For the current moment, is the initial value of the effective action time of snow-melting agent spreading in the nth characteristic area; In this method, when the spreading time of the deicing agent in the characteristic area is greater than the maximum effective time of the deicing agent, that is, : ； When the deicing agent spreading action time in the characteristic area is greater than the maximum effective time of the deicing agent, and the deicing agent spreading value in the characteristic area is corrected, the initial value of the effective action time of the deicing agent spreading in the characteristic area is updated: 。 10. The AGV vehicle-mounted snow melting method according to claim 4, characterized in that: The AGV de-icing agent spreading path planning algorithm in the method includes the following steps: Step S51: setting the AGV to automatic mode; Step S52: determining whether the amount of deicing agent in the deicing agent storage tank is greater than a vehicle-mounted deicing agent replenishment threshold; If the deicing agent storage tank has a deicing agent reserve lower than the on-board deicing agent replenishment threshold, the AGV path planning unit automatically jumps to the deicing agent filling driving path, and the end point of the driving path is the deicing agent replenishment point, where the on-board deicing agent is replenished; Step S53: locating the minimum characteristic area of ​​the de-icing agent spreading value according to the de-icing agent spreading map, and presetting the minimum characteristic area of ​​the de-icing agent spreading value as the end point of the AGV driving path; Step S54: obtaining the distance between the end point of the preset AGV driving path and the current AGV; Set the AGV path distance difference threshold. When the distance between the preset AGV driving path end point and the current vehicle position is less than the path distance difference threshold, jump to step S55. Otherwise, the preset AGV driving path is canceled, and the process returns to step S53, where the current preset AGV driving path endpoint is excluded and the preset AGV driving path endpoint is reselected; Step S55: determining the difference between the end point of the AGV driving path preset in step S54 and the snow melting agent threshold value of the characteristic area; According to the lane application frequency, the de-icing agent spreading amount threshold for each characteristic area of ​​the de-icing agent spreading map is set; When the deicing agent spreading value of the characteristic area at the end point of the preset AGV driving path is less than the deicing agent spreading amount threshold of the area, jump to step S56; Otherwise, the preset AGV driving path is canceled, and the process returns to step S53, where the current preset AGV driving path endpoint is excluded and the preset AGV driving path endpoint is reselected; Step S56: Determine the driving direction of the AGV; If there are multiple preset AGV driving path endpoints that simultaneously meet steps S53 to S55, the AGV is preferentially selected to travel along the long axis direction of the AGV driving area, and a driving path where multiple preset AGV driving path endpoints are adjacently connected is selected; Step S57: The navigation system executes the AGV vehicle-mounted snow-melting agent spreading driving route.

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