AGV docking method and device and storage medium

Abstract

The invention provides an AGV docking method and device and a storage medium, and the method comprises the steps: a scheduling system controls a target AGV and at least one docking AGV to run from a standby area to a corresponding docking preparation point according to a generated AGV docking instruction; and the docking AGV determines a docking path according to the identified specific mark and continues to run along the docking path until effective pose data of the target AGV is detected, and attitude adjustment is performed according to the effective pose data so as to realize docking with the target AGV. According to the technical scheme provided by the embodiment of the invention, automatic docking between the docking AGV and the target AGV can be realized, and automatic unlocking between the docking AGV and the target AGV can also be realized, so that the docking efficiency, the unlocking efficiency and the intelligent degree of the AGV docking system are improved.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to an AGV docking method, device and storage medium. Background Art

[0002] With the continuous development of automation technology, Automated Guided Vehicle (AGV) technology has been gradually applied to all aspects of life. In the actual application of AGV, AGV usually completes the product transfer task independently, but when transferring large products, multiple vehicles need to be docked to achieve linkage transfer. In related technologies, the degree of automation of AGV docking methods is low, resulting in low docking efficiency.

[0003] During the driving process of AGV, the vehicle usually obtains the distance between itself and surrounding objects through laser ranging sensors to realize distance perception in the external environment; it obtains image information of the external environment through visual positioning sensors to realize position perception and posture perception in the external environment, providing support for the vehicle's subsequent decision-making planning. Summary of the invention

[0004] In view of the above problems, an embodiment of the present invention provides a method for solving the problem that the AGV docking method in the prior art has a low degree of automation, resulting in low docking efficiency.

[0005] In a first aspect, an embodiment of the present invention provides an AGV docking method, which is applied to an AGV docking system, wherein the AGV docking system includes a scheduling system, a target AGV, and at least one docking AGV; the working area of ​​the AGV docking system includes a standby area and a docking area, and the docking area is provided with a plurality of docking preparation points; the method includes: the scheduling system controls the target AGV and the at least one docking AGV to travel from the standby area to the corresponding docking preparation points respectively according to the generated AGV docking instruction;

[0006] The docking AGV determines a docking path according to the identified specific mark, and continues to travel along the docking path until valid posture data of the target AGV is detected, and then performs posture adjustment according to the valid posture data to achieve docking with the target AGV.

[0007] In a possible implementation, the docking preparation point includes a first docking preparation point and a second docking preparation point;

[0008] The dispatching system controls the target AGV and the at least one docking AGV to travel from the standby area to the corresponding docking preparation point respectively according to the generated AGV docking instruction, including:

[0009] The dispatching system controls the target AGV to travel from the standby area to the first docking preparation point along the navigation path according to the generated AGV docking instruction through indoor positioning; after the target AGV arrives at the first docking preparation point, the dispatching system controls at least one docking AGV to travel from the standby area to the corresponding second docking preparation point along the navigation path through the indoor positioning method.

[0010] In a possible implementation, each AGV in the AGV docking system is provided with a latch at the front and a socket matched with the latch at the rear.

[0011] In a possible implementation, the performing posture adjustment according to the valid posture data to achieve docking with the target AGV includes:

[0012] Determine the relative position deviation and relative posture deviation between the docking AGV and the target AGV according to the effective posture data;

[0013] Adjusting the attitude angle according to the relative attitude deviation to eliminate the relative attitude deviation;

[0014] The vehicle continues to travel according to the relative position deviation until the latch is connected to the socket of the target AGV; or the socket is connected to the latch of the target AGV to achieve docking with the target AGV.

[0015] In a possible implementation, the method further includes:

[0016] The dispatching system controls the target AGV and the at least one docking AGV to travel from the docking area to the standby area respectively according to the generated AGV unlocking instruction.

[0017] In a possible implementation manner, the specific mark includes a code band mark.

[0018] In a second aspect, an embodiment of the present invention provides an AGV docking device, the AGV docking device is installed on a docking AGV, and the AGV docking device includes:

[0019] A laser ranging sensor is used to detect the position deviation, pitch attitude deviation and heading attitude deviation between the docking AGV and the target AGV in the front-to-back direction during the AGV docking process;

[0020] The visual positioning sensor is used to detect the position deviation in the up-down direction, the position deviation in the left-right direction and the rolling posture deviation between the docking AGV and the target AGV during the AGV docking process.

[0021] In a possible implementation, the laser ranging sensor includes an upper left laser ranging sensor, a lower left laser ranging sensor, an upper right laser ranging sensor, and a lower right laser ranging sensor.

[0022] In a possible implementation, the vision positioning sensor includes a left vision positioning sensor, a right vision positioning sensor, and a bottom vision positioning sensor.

[0023] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the AGV docking method as described in the first aspect or any possible implementation of the first aspect.

[0024] In the technical solution provided by the embodiment of the present invention, both the automatic docking between the docking AGV and the target AGV and the automatic unlocking between the docking AGV and the target AGV can be realized, thereby improving the docking efficiency, unlocking efficiency and intelligence level of the AGV docking system.

[0025] In the embodiment of the present invention, the AGV docking device is equipped with a high-precision laser ranging sensor and a visual positioning sensor, which can obtain high-precision effective posture data, thereby enabling high-precision posture control, achieving precise docking between vehicles, and improving the docking efficiency of the AGV docking system. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of a working area of ​​an AGV docking system provided in an embodiment of the present invention.

[0027] Figure 2 The present invention provides a flowchart of an AGV docking method.

[0028] Figure 3 A schematic diagram of a docking process of an AGV docking system provided in an embodiment of the present invention.

[0029] Figure 4 A schematic diagram of a docking process of another AGV docking system provided in an embodiment of the present invention.

[0030] Figure 5 A schematic diagram of a docking process of another AGV docking system provided in an embodiment of the present invention.

[0031] Figure 6 A schematic diagram of the structure of a docking AGV provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the present invention clearer and more understandable, the present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. 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.

[0033] In the embodiment of the present invention, the AGV docking system includes a scheduling system, a target AGV and at least one docking AGV. Next, the AGV docking process is introduced in conjunction with the working scenario of the AGV docking system.

[0034] Figure 1 A schematic diagram of a working area of ​​an AGV docking system provided by an embodiment of the present invention, such as Figure 1 As shown, the working area of ​​the AGV docking system includes a standby area and a docking area. The standby area is provided with multiple standby points, each of which can park an AGV. The docking area is provided with multiple docking preparation points, each of which can park an AGV.

[0035] like Figure 1 As shown, the working area of ​​the AGV docking system also includes a working area. The working area includes a single-vehicle working area and a multi-vehicle working area. The single-vehicle working area is provided with multiple single-vehicle working points, and the multi-vehicle working area is provided with multiple multi-vehicle working points. Each single-vehicle working point can accommodate one AGV to work, and each multi-vehicle working point can accommodate multiple AGVs to work. When the AGV performs a single-vehicle task, it works at the single-vehicle working point; when multiple AGVs jointly perform a multi-vehicle task, multiple AGVs work at the multi-vehicle working points.

[0036] Figure 2 A flowchart of an AGV docking method provided by an embodiment of the present invention is shown in FIG. Figure 2 As shown, the method includes:

[0037] Step 101: The dispatching system controls the target AGV and at least one docking AGV to travel from the standby area to the corresponding docking preparation point respectively according to the generated AGV docking instruction.

[0038] In this step, the docking preparation point includes a first docking preparation point and a second docking preparation point. The dispatching system controls the target AGV and the docking AGV to perform the docking task according to the generated AGV docking instruction. Through the indoor positioning method, the target AGV is controlled to travel from the standby area to the first docking preparation point along the navigation path; after the target AGV arrives at the first docking preparation point, at least one docking AGV is controlled to travel from the standby area to the corresponding second docking preparation point along the navigation path through the indoor positioning method. For example, the indoor positioning method includes the Simultaneous Localization and Mapping (SLAM) method, the Ultra-Wide Band (UWB) method, or other indoor positioning methods that can meet the navigation path accuracy requirements.

[0039] Figure 3 A schematic diagram of a docking process of an AGV docking system provided by an embodiment of the present invention, such as Figure 3 As shown, the AGV docking system includes a target AGV and two docking AGVs, the two AGVs are the first docking AGV and the second docking AGV. Among them, the vehicle number of the first docking AGV is ①, the vehicle number of the target AGV is ②, and the vehicle number of the second docking AGV is ③. When the AGVs in the AGV docking system are not performing tasks, they are on standby at the standby point. The target AGV, the first docking AGV and the second docking AGV are parked at the first standby point, the second standby point and the third standby point in the standby area respectively. At this time, the scheduling system first controls the target AGV to arrive at the first docking preparation point, and then controls the first docking AGV and the second docking AGV to arrive at their respective corresponding second docking preparation points.

[0040] like Figure 3 As shown in the figure, the path with green lines is the navigation path. The navigation path is the main path of the working area and does not need to be laid on site. The distance accuracy of the navigation path is within ±20mm, and the angle accuracy is within ±1° to meet the accuracy requirements of the navigation path.

[0041] Step 102: The docking AGV determines a docking path according to the identified specific mark, and continues to travel along the docking path until valid posture data of the target AGV is detected, and then performs posture adjustment according to the valid posture data to achieve docking with the target AGV.

[0042] Figure 4 A schematic diagram of another docking process of an AGV docking system provided by an embodiment of the present invention is shown in FIG. Figure 4 As shown, the target AGV is located at the first docking preparation point, and the first docking AGV and the second docking AGV are respectively located at their corresponding second docking preparation points. At this time, there is still a distance between the first docking AGV and the second docking AGV and the target AGV.

[0043] In this step, the docking AGV is equipped with an AGV docking device, and the specific mark includes a code belt mark. The docking AGV determines the docking path through the code belt mark recognized by the AGV docking device. Figure 4 As shown in the figure, the path with red line color is the docking path.

[0044] In an embodiment of the present invention, the AGV docking device can detect the valid posture data of the target AGV only when the target AGV is within the detection range of the AGV docking device. When the AGV docking device detects the valid posture data of the target AGV, the docking AGV reaches the precise docking point. When the docking AGV and the target AGV are docked, the docking AGV reaches the docking completion point. In other words, the precise docking point is the position point where the docking AGV is located when the docking AGV detects the valid posture data of the target AGV, and the docking completion point is the position point where the docking AGV is located when the docking AGV and the target AGV are successfully docked.

[0045] In an embodiment of the present invention, each AGV in the AGV docking system is provided with a latch in front and a socket adapted to the latch in the rear. Performing posture adjustment according to the effective posture data to achieve docking with the target AGV includes: determining the relative position deviation and relative posture deviation between the docking AGV and the target AGV according to the effective posture data; adjusting the posture angle according to the relative posture deviation to eliminate the relative posture deviation; continuing to drive according to the relative position deviation until the latch is connected to the socket of the target AGV; or, the socket is connected to the latch of the target AGV to achieve docking with the target AGV. Among them, the posture angle includes at least one of the pitch angle, the heading angle and the roll angle. The relative position deviation includes the position deviation between the docking AGV and the target AGV in the front-to-back direction, the position deviation in the up-down direction and the position deviation in the left-to-right direction, and the relative posture deviation includes the pitch posture deviation, the heading posture deviation and the roll posture deviation between the docking AGV and the target AGV. The pitch attitude deviation is used to indicate the deviation between the pitch angle of the docking AGV and the target AGV, the heading attitude deviation is used to indicate the deviation between the heading angle of the docking AGV and the target AGV, and the roll attitude deviation is used to indicate the deviation between the roll angle of the docking AGV and the target AGV.

[0046] Figure 5 A schematic diagram of another docking process of an AGV docking system provided by an embodiment of the present invention is shown in FIG. Figure 5As shown, the first docking AGV and the second docking AGV reach their respective corresponding docking completion points. The black connecting line between the first docking AGV and the target AGV indicates that the pin of the first docking AGV is connected to the socket of the target AGV, and the black connecting line between the second docking AGV and the target AGV indicates that the socket of the second docking AGV is connected to the pin of the target AGV, thereby achieving accurate docking with the target AGV.

[0047] In an embodiment of the present invention, after step 102, that is, after the docking task is completed, the scheduling system controls the target AGV and at least one docking AGV to travel from the docking area to the standby area respectively according to the generated AGV unlocking instruction. Specifically, the docking AGV starts to travel along the unlocking direction from the docking completion point until it reaches the precise docking point when no valid data of the target AGV is detected; the docking AGV determines the return path according to the identified specific mark, continues to travel along the return path, and arrives at the docking preparation point; the scheduling system controls the target AGV and the docking AGV to travel from the corresponding docking preparation point to the corresponding standby point respectively. Among them, the unlocking direction is the direction of controlling the unlocking of the target AGV and the docking AGV, that is, the direction in which the latch is disconnected from the socket of the target AGV, or the direction in which the socket is disconnected from the latch of the target AGV.

[0048] In the embodiment of the present invention, the AGV docking process is divided into three stages. The first stage is the stage in which the target AGV and the docking AGV respectively drive from the standby point to the corresponding docking preparation point, the second stage is the stage in which the docking AGV drives from the docking preparation point to the precise docking point, and the third stage is the stage in which the docking AGV drives from the precise docking point to the docking completion point. In the three stages of AGV docking, automatic operation can be achieved, which improves the docking efficiency and intelligence of the AGV docking system.

[0049] In the embodiment of the present invention, the AGV unlocking process is also divided into three stages. The first stage is the stage where the docking AGV drives from the docking completion point to the precision docking point, the second stage is the stage where the docking AGV drives from the precision docking point to the docking preparation point, and the third stage is the stage where the target AGV and the docking AGV drive from the corresponding docking preparation points to the standby area. In the three stages of AGV unlocking, automatic operation can be achieved, which improves the unlocking efficiency and intelligence of the AGV docking system.

[0050] In the technical solution provided by the embodiment of the present invention, both the automatic docking between the docking AGV and the target AGV and the automatic unlocking between the docking AGV and the target AGV can be realized, thereby improving the docking efficiency, unlocking efficiency and intelligence level of the AGV docking system.

[0051] In the embodiment of the present invention, the AGV docking device is equipped with a high-precision laser ranging sensor and a visual positioning sensor, which can obtain high-precision effective posture data, thereby enabling high-precision posture control, achieving precise docking between vehicles, and improving the docking efficiency of the AGV docking system.

[0052] Figure 6 A schematic diagram of a docking AGV provided by an embodiment of the present invention is shown in FIG. Figure 6 As shown, the docking AGV includes an AGV body 1 and an AGV docking device 2, and the AGV docking device 2 is installed on the AGV body 1. The AGV docking device 2 includes four laser ranging sensors and three visual positioning sensors. Among them, the four laser ranging sensors are respectively an upper left laser ranging sensor 21, a lower left laser ranging sensor 22, an upper right laser ranging sensor 23, and a lower right laser ranging sensor 24; the three visual positioning sensors are respectively a left visual positioning sensor 25, a right visual positioning sensor 26, and a bottom visual positioning sensor 27. Specifically, the upper left laser ranging sensor 21, the lower left laser ranging sensor 22, and the left visual positioning sensor 25 are installed on the left side of the AGV body 1; the upper right laser ranging sensor 23, the lower right laser ranging sensor 24, and the right visual positioning sensor 26 are installed on the right side of the AGV body 1.

[0053] In the embodiment of the present invention, the upper left laser ranging sensor 21, the lower left laser ranging sensor 22, the upper right laser ranging sensor 23 and the lower right laser ranging sensor 24 are respectively used to detect the position deviation, pitch attitude deviation and heading attitude deviation between the upper left, lower left, upper right and lower right of the docking AGV and the target AGV in the front and rear directions.

[0054] In the embodiment of the present invention, the left visual positioning sensor 25 and the right visual positioning sensor 26 are used to detect the posture of the docking AGV and the position deviation of the target AGV in the up-down direction, the position deviation in the left-right direction and the rolling posture deviation.

[0055] In the embodiment of the present invention, the bottom visual positioning sensor 27 is used to identify a specific mark. At this time, the docking AGV can determine the docking path according to the identified specific mark and continue to travel along the docking path.

[0056] In the embodiment of the present invention, the AGV docking device 2 is equipped with a high-precision laser distance sensor and a visual positioning sensor, so that the docking AGV can achieve high-precision posture control. In other words, the docking AGV can approach the target AGV with an approximately accurate posture and achieve precise docking with the target AGV. Through the efficient operation of the AGV docking device, the accuracy and success rate of AGV docking are improved.

[0057] In the embodiment of the present invention, the docking AGV further includes a latch 3 and a socket 4 (not shown in the figure), the latch 3 includes two latches, and correspondingly, the socket 4 includes two sockets. The height of the latch 3 is higher than the height of the AGV docking device 2, so as to facilitate connection with the socket of the target AGV.

[0058] In the technical solution provided by the embodiment of the present invention, both the automatic docking between the docking AGV and the target AGV and the automatic unlocking between the docking AGV and the target AGV can be realized, thereby improving the docking efficiency, unlocking efficiency and intelligence level of the AGV docking system.

[0059] In the embodiment of the present invention, the AGV docking device is equipped with a high-precision laser ranging sensor and a visual positioning sensor, which can obtain high-precision effective posture data, thereby enabling high-precision posture control, achieving precise docking between vehicles, and improving the docking efficiency of the AGV docking system.

[0060] An embodiment of the present invention provides a computer-readable storage medium, which includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the steps of the embodiment of the above-mentioned AGV docking method. For a specific description, please refer to the embodiment of the above-mentioned AGV docking method.

[0061] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An AGV docking method, characterized in that: Applied to an AGV docking system, the AGV docking system includes a dispatching system, a target AGV and at least one docking AGV; The working area of ​​the AGV docking system includes a standby area and a docking area, and the docking area is provided with a plurality of docking preparation points; the method includes: The dispatching system controls the target AGV and the at least one docking AGV to travel from the standby area to the corresponding docking preparation point respectively according to the generated AGV docking instruction; The docking AGV determines a docking path according to the identified specific mark, and continues to travel along the docking path until valid posture data of the target AGV is detected, and then performs posture adjustment according to the valid posture data to achieve docking with the target AGV.

2. The method according to claim 1, characterized in that The docking preparation point includes a first docking preparation point and a second docking preparation point; The dispatching system controls the target AGV and the at least one docking AGV to travel from the standby area to the corresponding docking preparation point respectively according to the generated AGV docking instruction, including: The dispatching system controls the target AGV to travel from the standby area to the first docking preparation point along the navigation path according to the generated AGV docking instruction through indoor positioning; after the target AGV arrives at the first docking preparation point, the dispatching system controls at least one docking AGV to travel from the standby area to the corresponding second docking preparation point along the navigation path through the indoor positioning method.

3. The method according to claim 1, characterized in that Each AGV in the AGV docking system is provided with a latch at the front and a socket matched with the latch at the rear.

4. The method according to claim 3, characterized in that The performing posture adjustment according to the effective posture data to achieve docking with the target AGV includes: Determine the relative position deviation and relative posture deviation between the docking AGV and the target AGV according to the effective posture data; Adjusting the attitude angle according to the relative attitude deviation to eliminate the relative attitude deviation; The vehicle continues to travel according to the relative position deviation until the latch is connected to the socket of the target AGV; or the socket is connected to the latch of the target AGV to achieve docking with the target AGV.

5. The method according to claim 1, characterized in that The method further comprises: The dispatching system controls the target AGV and the at least one docking AGV to travel from the docking area to the standby area respectively according to the generated AGV unlocking instruction.

6. The method according to claim 1, characterized in that The specific mark includes a code band mark.

7. An AGV docking device, characterized in that: The AGV docking device is installed on the docking AGV, and the AGV docking device includes: A laser ranging sensor is used to detect the position deviation, pitch attitude deviation and heading attitude deviation between the docking AGV and the target AGV in the front-to-back direction during the AGV docking process; The visual positioning sensor is used to detect the position deviation in the up-down direction, the position deviation in the left-right direction and the rolling posture deviation between the docking AGV and the target AGV during the AGV docking process.

8. The AGV docking device according to claim 7, characterized in that: The laser distance measuring sensor comprises an upper left laser distance measuring sensor, a lower left laser distance measuring sensor, an upper right laser distance measuring sensor and a lower right laser distance measuring sensor.

9. The AGV docking device according to claim 7, characterized in that: The visual positioning sensor includes a left visual positioning sensor, a right visual positioning sensor and a bottom visual positioning sensor.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the AGV docking method according to any one of claims 1 to 6.

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