Travel control method, device and equipment of automatic guided vehicle and storage medium

Abstract

The application relates to the technical field of path planning, and discloses a driving control method, device and equipment of an automatic guided vehicle and a storage medium. Firstly, a path node set through which the automatic guided vehicle reaches a target node from an initial node is planned, then the initial orientation of the automatic guided vehicle and the path attribute of a topological map are combined, the target action that needs to be executed by the automatic guided vehicle when reaching each path node is analyzed, the vehicle head orientation is adjusted, and the automatic guided vehicle drives to the next path node. In this way, dynamic path planning of the magnetic navigation automatic guided vehicle can be realized, the driving path and the executed action do not need to be set in advance, the application scenario is wider, and the working efficiency of the automatic guided vehicle and the flexibility of use are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of path planning, in particular to a driving control method, device and equipment of an automated guided vehicle (AGV) and a storage medium. BACKGROUND

[0002] An AGV (Automated Guided Vehicle) is a kind of transportation equipment capable of automatically driving along a specified path, and can be guided to drive through electromagnetic induction, laser navigation and other ways.

[0003] Traditional AGV path planning algorithms such as Dijkstra algorithm and A* algorithm all regard AGV as a mass point during operation, without considering the driving mode of AGV, i.e. the walking actions that can be actually performed by AGV. Such path planning mode is applicable to AGVs of laser navigation, two-dimensional code navigation and inertial navigation, because these types of AGVs can detect their own position and heading during operation, and then determine whether to move forward, backward or turn according to the path points given by the path planning algorithm.

[0004] However, a magnetic navigation AGV only knows whether it is on a magnetic strip and whether it has scanned a ground path node such as an RFID card during operation, and cannot know its specific coordinate position and heading. Therefore, it cannot determine the action to be performed only by the path points given by the path planning algorithm, and cannot realize dynamic path planning and AGV navigation. Installing a position or heading sensor on the AGV will also increase the structural complexity of the control system, and the operation and maintenance costs are high. Therefore, it is generally necessary to set and save the path and path node actions of the magnetic navigation AGV in advance, and call them out for use when needed, and the magnetic navigation AGV needs to return to a specified parking point to wait for a new task after completing a task, which greatly reduces the flexibility and work efficiency of the magnetic navigation AGV. SUMMARY

[0005] Therefore, the present application provides a driving control method, device and equipment of an AGV, and a storage medium, to solve the problem that the existing magnetic navigation AGV path planning needs to set the driving path and path node actions in advance, which reduces the flexibility and work efficiency of the magnetic navigation AGV.

[0006] In a first aspect, the present application provides a driving control method of an AGV, which comprises:

[0007] obtaining a topological map and an initial node of the AGV, an initial orientation of a vehicle head and a target node;

[0008] Determine a path node set of the automatic guided vehicle from the initial node to the target node in the topological map;

[0009] According to the initial orientation and the path attribute of the topological map, determine a target action to be performed by the automatic guided vehicle at each path node, the target action being used to adjust the orientation of the vehicle head of the automatic guided vehicle;

[0010] According to the path node set and the target action corresponding to each path node, control the automatic guided vehicle to travel to the target node.

[0011] Beneficial effects: The application first plans a path node set of the automatic guided vehicle from the initial node to the target node, and then combines the initial orientation of the automatic guided vehicle and the path attribute of the topological map to analyze the target action to be performed by the automatic guided vehicle when reaching each path node, so as to adjust the orientation of the vehicle head and then travel to the next path node. In this way, dynamic path planning of the magnetic navigation automatic guided vehicle can be realized, the travel path and the execution action do not need to be set in advance, the application scenarios are more extensive, and the working efficiency and the flexibility of use of the automatic guided vehicle can be improved.

[0012] In some optional embodiments, according to the initial orientation and the path attribute of the topological map, determining the target action to be performed by the automatic guided vehicle at each path node comprises:

[0013] For each path node in the path node set, the following operations are performed:

[0014] Determine the orientation of the vehicle head at the current path node; wherein if the current path node is the initial node, the orientation of the vehicle head at the current path node is the initial orientation;

[0015] According to the path attribute of the topological map, determine the path type and the path direction of the path segment between the current path node and the next path node; wherein the path type is a straight path or a circular arc path;

[0016] According to the orientation of the vehicle head and the path direction, and according to a target calculation mode corresponding to the path type, determine a preliminary orientation of the vehicle head and the target action to be performed by the automatic guided vehicle at the current path node; wherein the preliminary orientation of the vehicle head is the orientation of the vehicle head at the next path node.

[0017] Beneficial effects: The application determines which target action needs to be performed by the automatic guided vehicle for each path node, in combination with the current orientation of the vehicle head of the path node, the path type and the path direction of the path segment to be traveled, so as to adjust the orientation of the vehicle head to an angle consistent with the path direction, so that the automatic guided vehicle can travel to the next path node along the corresponding path segment, dynamic path planning is realized, and the working efficiency of the automatic guided vehicle is improved.

[0018] In some optional embodiments, when the path type of the path segment is a straight path, the preliminary vehicle heading and the target action to be performed by the automated guided vehicle at the current path node are determined according to the vehicle heading and the path direction and in a target calculation mode corresponding to the path type, including:

[0019] numerically converting the vehicle heading and the path direction to obtain a vehicle heading value and a path direction value, and calculating a difference between the vehicle heading value and the path direction value;

[0020] obtaining a target action corresponding to the difference between the vehicle heading value and the path direction value according to a preset first mapping relationship; wherein the target action is one of the following: advancing, retreating, left rotating, right rotating, and not performing an action;

[0021] determining the preliminary vehicle heading according to the type of the target action, the vehicle heading, and the path direction.

[0022] Beneficial effects: The present application determines the target action corresponding to the difference between the vehicle heading value and the path direction value by calculating the difference between the current vehicle heading and the path direction of the automated guided vehicle and combining the first mapping relationship, so that the automated guided vehicle performs the target action to adjust the vehicle heading to an angle consistent with the path direction, and then can drive along the corresponding path segment to the next path node, thereby realizing dynamic path planning.

[0023] In some optional embodiments, the preliminary vehicle heading is determined according to the type of the target action, the vehicle heading, and the path direction, including:

[0024] if the target action is detected as left rotation or right rotation, the path direction is taken as the preliminary vehicle heading;

[0025] if the target action is not detected as left rotation or right rotation, the vehicle heading is taken as the preliminary vehicle heading.

[0026] Beneficial effects: When it is detected that the automated guided vehicle needs to perform a rotation action to adjust the current vehicle heading, the path direction of the corresponding path segment is taken as the preliminary vehicle heading, i.e. the vehicle heading when the automated guided vehicle drives to the next path node, otherwise the current vehicle heading is taken as the preliminary vehicle heading, which is convenient for entering the next recursive process to determine the target action to be performed at the next path node.

[0027] In some optional embodiments, when the path type of the path segment is a circular arc path, the preliminary vehicle heading and the target action to be performed by the automated guided vehicle at the current path node are determined according to the vehicle heading and the path direction and in a target calculation mode corresponding to the path type, including:

[0028] the target action to be performed by the automated guided vehicle at the current path node is determined as not performing an action.

[0029] The vehicle head orientation value and the path direction value are obtained by converting the vehicle head orientation and the path direction into numerical values, and the sum of the vehicle head orientation value and the path direction value is calculated;

[0030] According to the second mapping relationship, a preliminary vehicle head orientation corresponding to the sum of the direction values is obtained.

[0031] Beneficial effects: When the automatic guided vehicle is about to travel along the circular arc path, no action needs to be performed. According to the sum of the current vehicle head orientation value and the path direction value of the corresponding circular arc path segment, and further according to the second mapping relationship, the vehicle head orientation after the automatic guided vehicle travels along the corresponding path segment, i.e. the preliminary vehicle head orientation, is determined, which facilitates entering the next recursive process, thereby determining the target action required to be performed by the next path node.

[0032] In some optional embodiments, the path node set in which the automatic guided vehicle travels from the initial node to the target node in the topological map is determined, including:

[0033] According to the topological map, the initial node and the target node, path planning is performed to obtain a plurality of travel paths;

[0034] The weight of each travel path is calculated according to the path attribute of the topological map, and the target travel path is selected from the plurality of travel paths based on the weight;

[0035] According to the path nodes of the target travel path, a path node set arranged in sequence is obtained.

[0036] Beneficial effects: The target travel path of the automatic guided vehicle from the initial node to the target node is determined through path planning and path selection, which is beneficial to saving transportation time and improving work efficiency. Then, the order in which the automatic guided vehicle needs to pass through the path nodes is analyzed, and a path node set arranged in sequence is obtained, so that the automatic guided vehicle can adjust the orientation of the vehicle head at the corresponding path node, thereby changing the travel direction.

[0037] In some optional embodiments, the automatic guided vehicle is controlled to travel to the target node according to the path node set and the target action corresponding to each path node, including:

[0038] The path node set and the target action corresponding to each path node are sent to the automatic guided vehicle, so that the automatic guided vehicle travels to each path node in sequence according to the path node set, and performs the corresponding target action after traveling to each path node.

[0039] Beneficial effects: the application combines target actions with path nodes, and issues to an automatic guided vehicle, the automatic guided vehicle executes corresponding target actions to adjust the vehicle head orientation after reaching a path node according to the planned path, and then drives to the next path node, so as to realize dynamic path planning of the automatic guided vehicle.

[0040] In a second aspect, the application provides a driving control device of an automatic guided vehicle, which comprises:

[0041] an acquisition module, configured to acquire a topological map and an initial node, an initial orientation of a vehicle head and a target node of the automatic guided vehicle;

[0042] a first processing module, configured to determine a path node set of the automatic guided vehicle driving from the initial node to the target node in the topological map;

[0043] a second processing module, configured to determine a target action to be executed by the automatic guided vehicle at each path node according to the initial orientation and path attributes of the topological map, the target action being used to adjust the vehicle head orientation of the automatic guided vehicle;

[0044] a third processing module, configured to control the automatic guided vehicle to drive to the target node according to the path node set and the target action corresponding to each path node.

[0045] In a third aspect, the application provides a computer device, which comprises a memory and a processor, the memory and the processor are communicatively connected, the memory stores computer instructions, and the processor executes the computer instructions, thereby executing the driving control method of the automatic guided vehicle according to the first aspect or any one of the corresponding embodiments.

[0046] In a fourth aspect, the application provides a computer readable storage medium, which stores computer instructions, and the computer instructions are used to make a computer execute the driving control method of the automatic guided vehicle according to the first aspect or any one of the corresponding embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the specific embodiments of the application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0048] Figure 1 is a flowchart of the driving control method of the automatic guided vehicle according to the embodiments of the application;

[0049] Figure 2is a flowchart of another travel control method of an automated guided vehicle according to an embodiment of the present application;

[0050] Figure 3 is a schematic diagram of a path segment according to an embodiment of the present application;

[0051] Figure 4 is a flowchart of another travel control method of an automated guided vehicle according to an embodiment of the present application;

[0052] Figure 5 is a schematic diagram of a topological map according to an embodiment of the present application;

[0053] Figure 6 is a structural block diagram of a travel control device of an automated guided vehicle according to an embodiment of the present application;

[0054] Figure 7 is a schematic diagram of a hardware structure of a computer device according to an embodiment of the present application. DETAILED DESCRIPTION

[0055] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0056] Traditional path planning algorithms such as Dijkstra algorithm, A* algorithm and the like path planning methods can be applied to laser navigation, two-dimensional code navigation and inertial navigation AGVs, because these navigation type AGVs can detect their own position and heading at runtime. However, the magnetic navigation AGV only knows whether it is on the magnetic strip and whether it has scanned the ground path node such as RFID card at runtime, and thus cannot perform turning, advancing, retreating and the like actions only through the path points given by the path planning algorithm.

[0057] At present, the path and path node actions of the magnetic navigation AGV need to be set and saved in advance, and are called out for use when needed, and the magnetic navigation AGV needs to return to the specified parking point to wait for a new task after completing a task, which greatly reduces the flexibility and work efficiency of the magnetic navigation AGV.

[0058] Therefore, the embodiment of the present application provides a driving control method of an AGV, which firstly plans a path node set through which the AGV reaches a target node from an initial node, and then analyzes a target action that needs to be performed by the AGV when reaching each path node in combination with an initial orientation of the AGV and path attributes of the topological map, such as path type and path direction, so as to adjust the orientation of the vehicle head and then drive to the next path node. In this way, dynamic planning of the path of the magnetic navigation AGV can be realized, and the driving path and the executed action of the AGV do not need to be preset in advance, which is beneficial to improve the working efficiency and flexibility of the magnetic navigation AGV.

[0059] According to the embodiment of the present application, a driving control method of an AGV is provided, and it should be noted that the steps shown in the flowchart can be executed in a computer system such as a group of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0060] In the embodiment, a driving control method of an AGV is provided, which can be used for a computer device for magnetic navigation AGV planning, such as a mobile phone, a computer, etc. Figure 1 The flowchart of the driving control method of the AGV according to the embodiment of the present application is shown in FIG. 1, which includes the following steps: Figure 1

[0061] In step S101, a topological map and an initial node of an AGV, an initial orientation of a vehicle head and a target node are acquired.

[0062] Specifically, the topological map is extracted according to the park environment in which the AGV works, and the embodiment of the present application plans a path based on the topological map. There are a plurality of path nodes in the topological map, and the path nodes are connected by path segments to form the topological map. In the present application, the path segment of the topological map has a direction attribute in addition to basic attributes (including start and end points and weight), which is used to represent the path direction of the path segment. That is, the topological map in the embodiment is a directed graph in which each edge has only one direction. For example, there is an edge from node A to node B, which means that A can reach B, and if there is an actual path segment from B to A, a new edge from B to A needs to be set.

[0063] ​In some optional embodiments, when determining the starting point required for path planning, the initial node where the magnetic navigation AGV is located can be determined by acquiring the RFID card read by the AGV. The RFID card is a smart card that stores and transmits data by using radio frequency identification technology. When the RFID card enters the magnetic field range of the AGV, the antenna on the card will receive the radio frequency signal emitted by the AGV. Through the principle of electromagnetic induction, the RFID card activates itself by using the energy of the radio frequency signal and sends the identification data of the path node stored in itself to the AGV, which then uploads it to the device for path planning. In addition, the target node that the AGV needs to reach can be determined according to the task performed by the AGV.

[0064] Step S102, determining a set of path nodes through which the AGV travels from the initial node to the target node in the topological map.

[0065] Specifically, after obtaining the initial node, the target node, and the topological map of the AGV, a set of path nodes through which the AGV travels from the initial node to the target node is calculated by using a conventional path planning algorithm such as the A* algorithm or the Dijkstra algorithm. This path planning process does not need to consider the orientation of the AGV, i.e., the action that the AGV needs to perform, and only regards the AGV as a mass point for path planning.

[0066] Step S103, determining the target action that the AGV needs to perform at each path node according to the initial orientation and the path attribute of the topological map, the target action being used to adjust the orientation of the vehicle head of the AGV.

[0067] Specifically, the AGV travels in a direction consistent with the orientation of the vehicle head. If the path direction of the path segment that the AGV is about to travel is inconsistent with the orientation of the vehicle head at that time, it is difficult for the AGV to adjust the orientation of the vehicle head by itself because the AGV itself does not have a heading perception function. Therefore, a series of walking actions that can be performed by the AGV are set according to the driving mode characteristics of the AGV, and these actions are mainly used in combination with the path nodes to enable the AGV to adjust the orientation of the vehicle head and facilitate travel to the next path node.

[0068] Step S104, controlling the AGV to travel to the target node according to the set of path nodes and the target action corresponding to each path node.

[0069] Specifically, the set of path nodes and the target action corresponding to each path node are sent to the AGV, so that the AGV travels to each path node in sequence according to the set of path nodes and performs the corresponding target action after traveling to each path node.

[0070] The application combines the target action with the path node, and issues to the AGV, so that the AGV travels to a path node according to the planned path, performs the corresponding target action to adjust the heading of the vehicle, and then travels to the next path node, thereby realizing the dynamic path planning of the AGV.

[0071] The driving control method of the automatic guided vehicle provided in the embodiment firstly plans a path node set through which the automatic guided vehicle travels from an initial node to a target node, and then analyzes the target action that needs to be performed by the automatic guided vehicle when reaching each path node to adjust the heading of the vehicle and then travel to the next path node in combination with the initial orientation of the automatic guided vehicle and the path attribute of the topological map. In this way, the dynamic path planning of the magnetic navigation automatic guided vehicle can be realized, the driving path and the execution action do not need to be set in advance, the application scenarios are more extensive, and the working efficiency and the flexibility of use of the automatic guided vehicle can be improved.

[0072] In the embodiment, a driving control method of an automatic guided vehicle is provided, which can be used for a computer device such as a mobile phone, a computer and the like for magnetic navigation AGV planning, Figure 2 is a flowchart of the driving control method of the automatic guided vehicle according to the embodiment of the application, as shown in Figure 2 , and the flowchart includes the following steps:

[0073] In step S201, the topological map and the initial node, the initial orientation of the vehicle head and the target node of the automatic guided vehicle are acquired. For details, refer to step S101 of the embodiment shown in Figure 1 , which will not be repeated here.

[0074] In step S202, the path node set through which the automatic guided vehicle travels from the initial node to the target node in the topological map is determined.

[0075] Specifically, step S202 includes:

[0076] In step S2021, path planning is performed according to the topological map, the initial node and the target node to obtain a plurality of driving paths.

[0077] Specifically, the A* algorithm or the Dijkstra algorithm can be used for path planning to obtain a plurality of driving paths, and the detailed calculation process can refer to the specific description of the related technology, which will not be repeated here.

[0078] In step S2022, the weight of each driving path is calculated according to the path attribute of the topological map, and the target driving path is selected from the plurality of driving paths based on the weight.

[0079] Specifically, each path segment of the topological map has a weight attribute, which can be set according to the length of the path segment, the path type and the like, each path segment in the driving path is weighted and summed to obtain the score of each driving path, and the driving path with the maximum score is taken as the target driving path.

[0080] In step S2023, a set of path nodes arranged in sequence is obtained according to the path nodes of the target driving path.

[0081] Specifically, the order in which the AGV needs to pass through the path nodes is determined according to the path direction of the path segment of the target driving path, and a set of path nodes arranged in sequence is obtained.

[0082] The application determines the target driving path of the AGV from the initial node to the target node through path planning and path screening, which is beneficial to save transportation time and improve work efficiency. Then the order in which the AGV needs to pass through the path nodes is analyzed, and a set of path nodes arranged in sequence is obtained, which facilitates the AGV car to adjust the orientation of the vehicle head at the corresponding path node, so as to change the driving direction.

[0083] In step S203, the target action to be performed by the automatic guided vehicle at each path node is determined according to the initial orientation and the path attribute of the topological map, and the target action is used to adjust the orientation of the vehicle head of the automatic guided vehicle.

[0084] Specifically, for each path node in the set of path nodes, the above step S203 includes:

[0085] In step S2031, the orientation of the vehicle head at the current path node is determined; wherein if the current path node is the initial node, the orientation of the vehicle head at the current path node is the initial orientation.

[0086] Specifically, due to the limitation of specification and design efficiency, the track map of the AGV working environment is relatively regular, and the track map is usually composed of circular arc paths and straight line paths. When drawing the topological map, a corresponding path direction is added to each edge according to the actual situation. For example, as shown in Figure 3 For straight line paths, the path direction has four types, namely east, south, west and north, and the corresponding numerical values (in degrees) are 0 / 360, 90, 180 and 270 / -90 respectively. For circular arc paths (quarter circle), the path direction has left and right, and the corresponding numerical values are-90 and 90.

[0087] Correspondingly, the setting of the orientation of the vehicle head of the AGV should be consistent with the setting of the path segment, so that the difference between the direction values and the sum of the direction values in the subsequent calculation can be ensured to be consistent with the actual meaning. For example, as shown in Figure 3The path direction corresponds to the AGV head orientation, which is shown in Table 1 as follows:

[0088] Table 1: AGV head orientation and its corresponding numerical value

[0089]

[0090]

[0091] In the embodiment, the path node on the topological map has attributes such as "AGV head orientation", "AGV preliminary head orientation", "target action performed by the node", and the values of these attributes are not fixed but dynamically assigned according to the planning method of the application. When determining the target action and preliminary head orientation of each path node, the initial node needs to be recursively determined, and the head orientation of the initial node is the initial orientation, which can be pre-set or follow the previously recorded and stored head orientation.

[0092] Step S2032: According to the path attributes of the topological map, the path type and path direction of the path segment between the current path node and the next path node are determined.

[0093] In some optional embodiments, referring again to Figure 3 , the path type of the path segment mainly includes straight line path and circular arc path, and the path direction of the straight line path has four types, which are east, south, west, and north, and the corresponding numerical values are 0 / 360, 90, 180, and 270 / -90, respectively. The path direction of the circular arc path has two types, which are left and right, and the corresponding numerical values are -90 and 90, respectively.

[0094] Step S2033: According to the head orientation and the path direction, and according to the target calculation method corresponding to the path type, the preliminary head orientation and the target action to be performed by the AGV at the current path node are determined; wherein the preliminary head orientation is the head orientation at the next path node.

[0095] In some optional embodiments, when the path type of the path segment is a straight line path, the above step S2033 includes:

[0096] Step a1: Numerical conversion is performed on the head orientation and the path direction to obtain the head orientation value and the path direction value, and the difference between the direction values of the head orientation value and the path direction value is calculated.

[0097] For example, according to the corresponding relationship shown in Table 1, the numerical value corresponding to the head orientation is determined to obtain the head orientation value; according to the corresponding relationship shown in Figure 3 , the path direction value corresponding to the path direction is obtained, and then the difference between the direction values of the head orientation value and the path direction value is calculated.

[0098] Step a2, obtaining a target action corresponding to the difference between the direction values according to a preset first mapping relationship.

[0099] In some optional embodiments, referring back to Figure 3 , a series of walking actions executable by the AGV are set according to the driving mode characteristics of the AGV itself and the map characteristics, which are mainly used in combination with the path nodes and issued to the AGV for execution. In this embodiment, a double steering wheel driven AGV is taken as an example, and according to the characteristics of the double steering wheel driving, the walking actions executable by the AGV are set as shown in Table 2:

[0100] Table 2: List of walking actions executable by the AGV

[0101] Number Action 0 None 1 Forward 2 Backward 3 Left rotation 4 Right rotation

[0102] As can be seen from Table 2 above, the target action of the AGV is one of the following: forward, backward, left rotation, right rotation, and no action. Further, according to the first mapping relationship, the target action corresponding to the difference between the direction values is obtained, and the first mapping relationship is shown in Table 3 as follows:

[0103] Table 3: Correspondence between the difference between the direction values and the action executed by the AGV

[0104] Difference Action 0 Forward 90 Right rotation -90 Left rotation 180 Backward -180 Backward

[0105] Step a3, determining a preliminary heading according to the type of the target action, the heading of the vehicle and the path direction. In some optional embodiments, referring back to Figure 3 , if it is detected that the target action is left rotation or right rotation, the path direction is taken as the preliminary heading, and if it is not detected that the target action is left rotation or right rotation, the heading of the vehicle is taken as the preliminary heading.

[0106] When it is detected that the AGV needs to execute a rotation action to adjust the current heading of the vehicle, the path direction of the corresponding path segment is taken as the preliminary heading, i.e. the heading of the vehicle when the AGV travels to the next path node, otherwise the current heading of the vehicle is taken as the preliminary heading, which is convenient for entering the next recursive process to determine the target action to be executed by the next path node.

[0107] In the embodiments of the present application, for each path node, the difference between the current heading of the AGV and the path direction is calculated, and the target action corresponding to the difference between the direction values is determined in combination with the first mapping relationship, so that the AGV executes the target action to adjust the heading of the vehicle to an angle consistent with the path direction, and then can travel along the corresponding path segment to the next path node, thereby realizing dynamic path planning.

[0108] In some optional embodiments, when the path type of the path segment is the arc path, the step S2033 comprises:

[0109] The step b1 determines that the target action to be performed by the AGV at the current path node is no action.

[0110] Exemplarily, referring again to Figure 3 , when the AGV travels on the arc path, the AGV can travel along the corresponding path segment without performing the action due to the influence of the arc of the path, that is, if the path type of the path segment is the arc path, the action of the current path node is "none".

[0111] The step b2 converts the heading of the vehicle and the path direction into numerical values to obtain the heading value of the vehicle and the path direction value, and calculates the sum of the direction values between the heading value of the vehicle and the path direction value.

[0112] Exemplarily, referring again to Figure 3 and Table 1, the heading value of the vehicle and the path direction value are obtained by querying, and the sum of the direction values is calculated.

[0113] The step b3 obtains the preliminary heading of the vehicle corresponding to the sum of the direction values according to the preset second mapping relationship.

[0114] Exemplarily, the second mapping relationship is the reverse mapping of the heading of the vehicle and the numerical value corresponding relationship shown in Table 1, and the sum of the direction values represents the heading of the vehicle after the AGV travels along the corresponding path segment, that is, the preliminary heading of the vehicle can be obtained by inversely looking up the heading of the vehicle corresponding to the sum of the direction values according to Table 2.

[0115] The AGV does not need to perform the action to adjust the heading of the vehicle when it is about to travel along the arc path. Moreover, according to the current heading value of the vehicle and the sum of the path direction values of the corresponding arc path segment, and further according to the second mapping relationship, the heading of the vehicle after the AGV travels along the corresponding path segment, that is, the preliminary heading of the vehicle, is determined, so as to facilitate entering the next recursive process, thereby determining the target action to be performed by the next path node.

[0116] It should be noted that the target action, the mapping relationship between the difference in direction values and the target action, and the like exemplified in the present embodiment are only examples, and it is easily conceivable that in other embodiments, the topological map can be more complex, for example, it can also include diagonal path segments such as northeast, southeast, northwest, and southwest, and the heading of the AGV can also include northeast, southeast, northwest, and southwest on the basis of the original heading, as long as it corresponds to the path direction of the path segment one by one. Further, corresponding target actions can be set according to the path direction and the heading of the vehicle, for example, left turn 45 degrees and right turn 45 degrees can be added, as long as all turning possibilities can be covered, and the present embodiment is not limited thereto.

[0117] In the embodiment of the present application, for each path node, in combination with the current vehicle head orientation of the path node, the path type and the path direction of the path segment to be traveled, it is determined which target action needs to be performed by the AGV to adjust the vehicle head orientation to an angle consistent with the path direction, so as to ensure that the AGV can travel along the corresponding path segment to the next path node, thereby realizing dynamic path planning and improving the working efficiency of the AGV.

[0118] In step S204, the automatic guided vehicle is controlled to travel to the target node according to the path node set and the target action corresponding to each path node. For details, please refer to Figure 1 The step S104 of the embodiment shown will not be repeated here.

[0119] The automatic guided vehicle travel control method provided in the embodiment describes the dynamic path planning process of the magnetic navigation AGV, can solve the problem that the traditional path planning algorithm cannot be directly applied to the magnetic navigation AGV, realizes dynamic planning of the path of the magnetic navigation AGV, and is conducive to improving the working efficiency and flexibility of use of the magnetic navigation AGV.

[0120] In the following, the path setting and the magnetic navigation AGV shown in Figure 3 are taken as examples, and the automatic guided vehicle travel control method of the present application is described in detail in combination with a specific application example.

[0121] As shown in Figure 4 , first, the initial orientation and the initial node of the AGV need to be known, and then the path node set from the initial node of the AGV to the target node is calculated by a conventional path planning algorithm such as A*, Dijkstra, etc. This process does not need to consider the AGV orientation and the action to be performed, and only regards the AGV as a mass point. Then the path node set is traversed in order, and the steps are as follows:

[0122] Step 1, the current path node is the initial node of the AGV, and the initial orientation of the AGV is taken as the AGV vehicle head orientation of this node;

[0123] Step 2, the current path node is neither the initial node of the AGV nor the target node, and the AGV preliminary vehicle head orientation of the previous path node is taken as the AGV vehicle head orientation of the current path node;

[0124] Step 3, the next path node of the current path node is found in the map to find the corresponding path segment, and the path type of the path segment is determined. If the path type is a circular arc path, go to step 4, otherwise go to step 5;

[0125] Step 4, the path segment is a circular arc path, the AGV target action of the current path node is set to "no action", and the AGV preliminary vehicle head orientation value of the current path node is calculated:

[0126] AGV prepared head orientation value = AGV head orientation value + arc path segment direction value

[0127] After obtaining the AGV prepared head orientation value, the corresponding head orientation is searched according to Table 1, and the AGV prepared head orientation of the current path node is set as the corresponding head orientation.

[0128] In step 5, the path segment is a straight path, the difference between the AGV head orientation of the current path node and the path segment direction value is calculated, the corresponding AGV target action is searched according to the difference between the direction values (Table 3), and the target action of the current path node is assigned. Then, it is judged whether the target action of the current path node is "left rotation" or "right rotation", if yes, the AGV prepared head orientation of the current path node is set as the direction of the path segment, if not, the AGV prepared head orientation of the current path node is set as the same as the AGV head orientation of the current path node.

[0129] The above steps are repeated until the target node is traversed, when the AGV actually walks to the target node according to the planned path, the AGV orientation at this time can be used as a reference for the next path planning calculation.

[0130] For Figure 5 Taking the topological map shown in Fig. 1 as an example, assuming that the initial node of the AGV is 1 and the initial orientation is east, the path planning can be obtained by the method described in the above process as follows:

[0131] Table 4

[0132] Node AGV orientation AGV prepared orientation Node action 1 East East Forward 2 East South Right rotation 3 South East Left rotation 4 East North None 5 North North None 6 North —— None

[0133] The present application plans a path based on a topological map, adds "east, south, west, north, left, right" and the like directions to each edge of the topological map, only needs to set the initial orientation of the AGV head (east, south, west, north in the real environment) at initialization, and can plan the path node and the action to be performed by the AGV at the node according to the map, so that the AGV can realize navigation. Meanwhile, the present application can calculate the head orientation of the AGV at each path node, and record the current orientation of the AGV when the AGV reaches the path node, which is used as the basis for the next path planning, so that the initial orientation of the AGV does not need to be set multiple times.

[0134] In the embodiment, a driving control device of the automatic guided vehicle is also provided, which is used to realize the above embodiment and preferred embodiment, and has been described above. As used below, the term "module" can be a combination of software and / or hardware that realizes a predetermined function. Although the device described in the following embodiment is preferably realized in software, the realization of hardware, or a combination of software and hardware, is also possible and conceived.

[0135] The embodiment provides a travel control device of an automatic guided vehicle, which comprises the following steps of: Figure 6

[0136] The acquisition module 601 is configured to acquire a topological map, an initial node of the automatic guided vehicle, an initial orientation of a vehicle head, and a target node.

[0137] The first processing module 602 is configured to determine a path node set of the automatic guided vehicle from the initial node to the target node in the topological map.

[0138] The second processing module 603 is configured to determine a target action to be performed by the automatic guided vehicle at each path node according to the initial orientation and a path attribute of the topological map, the target action being used for adjusting the orientation of the vehicle head.

[0139] The third processing module 604 is configured to control the automatic guided vehicle to travel to the target node according to the path node set and the target action corresponding to each path node.

[0140] In some optional embodiments, the first processing module 602 is further configured to:

[0141] perform path planning according to the topological map, the initial node, and the target node to obtain a plurality of travel paths;

[0142] calculate a weight of each travel path according to the path attribute of the topological map, and select a target travel path from the plurality of travel paths based on the weight;

[0143] obtain the path node set in sequence according to path nodes of the target travel path.

[0144] In some optional embodiments, the second processing module 603 is further configured to:

[0145] perform the following operations for each path node in the path node set:

[0146] determine the orientation of the vehicle head at the current path node; wherein if the current path node is the initial node, the orientation of the vehicle head at the current path node is the initial orientation;

[0147] determine a path type and a path direction of a path segment between the current path node and a next path node according to the path attribute of the topological map; wherein the path type is a straight path or a circular arc path;

[0148] determine a preliminary orientation of the vehicle head and the target action to be performed by the automatic guided vehicle at the current path node according to the orientation of the vehicle head and the path direction, and according to a target calculation mode corresponding to the path type; wherein the preliminary orientation of the vehicle head is the orientation of the vehicle head at the next path node. ​

[0149] In some optional embodiments, when the path type of the path segment is a straight path, the second processing module 603 is further configured to:

[0150] convert the vehicle heading and the path direction into numerical values to obtain a vehicle heading value and a path direction value, and calculate a difference between the vehicle heading value and the path direction value;

[0151] obtain a target action corresponding to the difference between the direction values according to a preset first mapping relationship; wherein the target action is one of the following: advancing, retreating, left rotating, right rotating, and not performing an action;

[0152] determine a preliminary vehicle heading according to the type of the target action, the vehicle heading, and the path direction.

[0153] In some optional embodiments, the second processing module 603 is further configured to:

[0154] if the target action is detected to be left rotating or right rotating, the path direction is taken as the preliminary vehicle heading;

[0155] if the target action is not detected to be left rotating or right rotating, the vehicle heading is taken as the preliminary vehicle heading.

[0156] In some optional embodiments, when the path type of the path segment is a circular arc path, the second processing module 603 is further configured to:

[0157] determine that the target action to be performed by the automated guided vehicle at the current path node is not performing an action;

[0158] convert the vehicle heading and the path direction into numerical values to obtain a vehicle heading value and a path direction value, and calculate a sum of the vehicle heading value and the path direction value;

[0159] obtain a preliminary vehicle heading corresponding to the sum of the direction values according to a preset second mapping relationship.

[0160] In some optional embodiments, the third processing module 604 is further configured to:

[0161] send the set of path nodes and the target action corresponding to each path node to the automated guided vehicle, so that the automated guided vehicle travels to each path node in sequence according to the set of path nodes, and performs the corresponding target action after traveling to each path node.

[0162] Further function descriptions of the above-mentioned various modules and units are the same as those of the above-mentioned corresponding embodiments, which will not be repeated here.

[0163] In this embodiment, the driving control device of the automated guided vehicle is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0164] This invention also provides a computer device having the above-described features. Figure 6 The driving control device of the automated guided vehicle shown.

[0165] Please see Figure 7 , Figure 7 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 7 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 7 Take a processor 10 as an example.

[0166] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0167] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0168] The memory 20 can include a program storage area and a data storage area, where the program storage area can store an operating system, application programs required for at least one function, and the data storage area can store data created according to the use of the computer device, etc. In addition, the memory 20 can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some alternative embodiments, the memory 20 can optionally include a memory disposed remotely from the processor 10, which can be connected to the computer device through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0169] The memory 20 can include a volatile memory, such as a random access memory, and can also include a non-volatile memory, such as a flash memory, a hard disk, or a solid state disk, and can also include a combination of the above-mentioned types of memories.

[0170] The computer device also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30, and the output device 40 can be connected by a bus or other means, Figure 7 The connection by the bus is taken as an example.

[0171] The input device 30 can receive inputted digital or character information, and generate key signal inputs related to the user settings and function controls of the computer device, such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointing stick, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 can include a display device, an auxiliary lighting device (e.g., an LED), a tactile feedback device (e.g., a vibration motor), etc. The display device includes, but is not limited to, a liquid crystal display, a light-emitting diode, a display, and a plasma display. In some alternative embodiments, the display device can be a touch screen.

[0172] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0173] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0174] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A travel control method of an automated guided vehicle, characterized by, The automatic guided vehicle itself does not have a navigation perception function, and the method comprises: acquiring a topology map, an initial node of the automatic guided vehicle, an initial orientation of a vehicle head, and a target node; determining a path node set of the automatic guided vehicle from the initial node to the target node in the topology map; wherein the topology map is a directed graph in which each edge has only one direction; determining a target action to be performed by the automatic guided vehicle at each path node according to the initial orientation and the path attribute of the topology map, the target action being used to adjust the orientation of the vehicle head of the automatic guided vehicle; controlling the automatic guided vehicle to travel to the target node according to the path node set and the target action corresponding to each path node; the determining of the target action to be performed by the automatic guided vehicle at each path node according to the initial orientation and the path attribute of the topology map comprises: for each path node in the path node set, the following operations are performed: determining the orientation of the vehicle head at the current path node; wherein if the current path node is the initial node, the orientation of the vehicle head at the current path node is the initial orientation; determining the path type and the path direction of the path segment between the current path node and the next path node according to the path attribute of the topology map; wherein the path type is a straight path or a circular arc path; determining the preliminary orientation of the vehicle head and the target action to be performed by the automatic guided vehicle at the current path node according to the orientation of the vehicle head and the path direction and according to a target calculation mode corresponding to the path type; wherein the preliminary orientation of the vehicle head is the orientation of the vehicle head at the next path node.

2. The method of claim 1, wherein, when the path type of the path segment is a straight path, the determining of the preliminary orientation of the vehicle head and the target action to be performed by the automatic guided vehicle at the current path node according to the orientation of the vehicle head and the path direction and according to the target calculation mode corresponding to the path type comprises: numerically converting the orientation of the vehicle head and the path direction to obtain a vehicle head orientation value and a path direction value, and calculating a difference between the vehicle head orientation value and the path direction value; obtaining the target action corresponding to the difference between the vehicle head orientation value and the path direction value according to a preset first mapping relationship; wherein the target action is one of the following: forward movement, backward movement, left rotation, right rotation, and no action; determining the preliminary orientation of the vehicle head according to the type of the target action, the orientation of the vehicle head, and the path direction.

3. The method of claim 2, wherein, the determining of the preliminary orientation of the vehicle head according to the type of the target action, the orientation of the vehicle head, and the path direction comprises: if it is detected that the target action is left rotation or right rotation, the path direction is taken as the preliminary orientation of the vehicle head; if it is not detected that the target action is left rotation or right rotation, the orientation of the vehicle head is taken as the preliminary orientation of the vehicle head.

4. The method of claim 1, wherein, when the path type of the path segment is a circular arc path, the determining of the preliminary orientation of the vehicle head and the target action to be performed by the automatic guided vehicle at the current path node according to the orientation of the vehicle head and the path direction and according to the target calculation mode corresponding to the path type comprises: determining that the target action to be performed by the automatic guided vehicle at the current path node is no action; numerically converting the orientation of the vehicle head and the path direction to obtain a vehicle head orientation value and a path direction value, and calculating a sum of the vehicle head orientation value and the path direction value; According to the preset second mapping relationship, a preliminary vehicle head direction corresponding to the sum of the direction values is obtained.

5. The method according to any one of claims 1 to 4, characterized in that, The method comprises the following steps: According to the topology map, the initial node and the target node, a plurality of driving paths are planned. According to the path attribute of the topology map, the weight of each driving path is calculated, and the target driving path is selected from the plurality of driving paths based on the weight. According to the path nodes of the target driving path, a path node set arranged in sequence is obtained.

6. The method according to any one of claims 1-4, characterized in that, The method comprises the following steps: The path node set and the target action corresponding to each path node are sent to the AGV, so that the AGV drives to each path node in sequence according to the path node set, and performs the corresponding target action after driving to each path node.

7. A driving control device for an automated guided vehicle, characterized in that, The AGV itself does not have a heading perception function, and the device comprises: An acquisition module is configured to acquire the topology map, the initial node of the AGV, the initial orientation of the vehicle head and the target node. A first processing module is configured to determine a path node set of the AGV driving from the initial node to the target node in the topology map; wherein the topology map is a directed graph in which each edge has only one direction. A second processing module is configured to determine a target action to be performed by the AGV at each path node according to the initial orientation and the path attribute of the topology map, the target action being used to adjust the orientation of the vehicle head of the AGV. A third processing module is configured to control the AGV to drive to the target node according to the path node set and the target action corresponding to each path node. The second processing module is further configured to: For each path node in the path node set, the following operations are performed: Determine the orientation of the vehicle head at the current path node; wherein if the current path node is the initial node, the orientation of the vehicle head at the current path node is the initial orientation. According to the path attribute of the topology map, the path type and the path direction of the path segment between the current path node and the next path node are determined; wherein the path type is a straight path or a circular arc path. According to the orientation of the vehicle head and the path direction, and according to the target calculation method corresponding to the path type, a preliminary vehicle head direction and a target action to be performed by the AGV at the current path node are determined; wherein the preliminary vehicle head direction is the orientation of the vehicle head at the next path node.

8. A computer device, comprising: The device comprises: A memory and a processor, which are communicatively connected, the memory stores computer instructions, and the processor executes the computer instructions to perform the driving control method of the AGV.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, which are used to make the computer execute the driving control method of the AGV.

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