Synchronous control method, system, intelligent terminal and storage medium for AGV equipment

Abstract

The present application relates to a synchronous control method, system, intelligent terminal, and storage medium for AGV equipment, and relates to the field of intelligent transportation. The method includes: obtaining current speed information and current position information of an AGV equipment cluster, where the AGV equipment cluster includes at least two AGV equipment; obtaining the device clock of each AGV equipment in the AGV equipment cluster; obtaining a clock error based on the master station clock and the device clock; synchronizing the clocks of each AGV equipment in the AGV equipment cluster based on the clock error; generating movement information based on the current speed information and current position information in response to obtaining a clock synchronization completion signal, the movement information including execution time, movement speed, and movement path; and sending the movement information to the AGV equipment cluster. The present application has the effect of improving the synchronization accuracy of AGV equipment.

Description

Technical Field

[0001] The present application relates to the field of intelligent transportation, and in particular to a synchronous control method, system, intelligent terminal and storage medium for AGV equipment. Background Art

[0002] AGV (Automated Guided Vehicle) is an unmanned intelligent transport device that uses an automatic navigation system (such as laser, magnetic stripe, vision or SLAM technology) to achieve unmanned driving. It is widely used in manufacturing, logistics warehousing, medical and other fields.

[0003] The relevant technology will monitor the position, speed and task status of each AGV device in real time, and send control instructions to the AGV device based on the position and speed, so that the AGV device can move along a specific path.

[0004] Regarding the above-mentioned related technologies, since different AGV devices have different built-in clocks, deviations may occur when different AGV devices perform tasks, resulting in low synchronization accuracy of the AGV devices. Summary of the Invention

[0005] In order to improve the synchronization accuracy of AGV equipment, the present application provides a synchronization control method, system, intelligent terminal and storage medium for AGV equipment.

[0006] In a first aspect, the present application provides a synchronous control method for AGV equipment, which adopts the following technical solution:

[0007] A synchronous control method for AGV equipment, comprising:

[0008] Obtaining current speed information and current position information of an AGV device cluster, wherein the AGV device cluster includes at least two AGV devices;

[0009] Obtain the device clock of each AGV device in the AGV device cluster;

[0010] Obtaining a clock error based on the master station clock and the device clock;

[0011] Performing clock synchronization on each AGV device in the AGV device cluster according to the clock error;

[0012] In response to acquiring a clock synchronization completion signal, generating movement information according to the current speed information and the current position information, the movement information including an execution time, a movement speed, and a movement path;

[0013] The movement information is sent to the AGV device cluster.

[0014] By adopting the above technical solution, after obtaining the movement information of the AGV device, the device clock of the AGV device will also be obtained, and the movement information will be updated using the clock error between the master station clock and the device clock, thereby avoiding the influence of the clock error on the synchronization of the AGV device and improving the synchronization accuracy of the AGV device.

[0015] Optionally, generating an initial moving path according to the synchronization position and the current position information;

[0016] Predicting the movement of the AGV device based on the initial movement path and the current speed information;

[0017] Determine whether there is a collision between AGV devices based on the movement situation;

[0018] If not, outputting the current speed information and the initial moving path as the moving information;

[0019] If so, determine the first AGV device and the second AGV device that caused the collision;

[0020] Obtain a first initial moving path corresponding to the first AGV device and a second initial moving path corresponding to the second AGV device;

[0021] Determine a target AGV device from the first AGV device and the second AGV device according to the first initial moving path and the second initial moving path;

[0022] Updating the current speed information of the target AGV device to obtain updated speed information;

[0023] The updated speed information and the initial movement path are output as the movement information.

[0024] By adopting the above technical solution, the collision phenomenon between AGV devices is predicted, and the first AGV device and the second AGV device that cause the collision phenomenon are determined. After determining the target AGV device among the first AGV device and the second AGV device, the relevant control method of the target AGV device is updated to ensure that there is no collision between the AGV devices and improve the synchronization accuracy of the AGV device control.

[0025] Optionally, obtaining a collision position between the first AGV device and the second AGV device;

[0026] determining a first path intersection point on the first initial movement path and a second path intersection point on the second initial movement path;

[0027] Determine, from the first path intersections, a first target path intersection closest to the collision position according to the moving direction of the first AGV device, and calculate a first distance from the collision position to the first target path intersection;

[0028] Determine, from the second path intersections, a second target path intersection closest to the collision position according to the moving direction of the second AGV device, and calculate a second distance from the collision position to the second target path intersection;

[0029] Taking the maximum value of the first distance and the second distance;

[0030] If the maximum value is greater than the preset distance threshold, the AGV device corresponding to the maximum value is used as the target AGV device;

[0031] If the maximum value is not greater than the preset distance threshold, the target AGV device is determined based on the first target path intersection point and the second target path intersection point.

[0032] By adopting the above technical solution, by obtaining the initial path intersection of the two AGVs in real time and calculating their distance to the collision location, potential conflict points can be identified in advance to avoid actual collisions. In addition, the path of the target AGV device can be adjusted, and the other AGV device can maintain the original path, reducing the overall computing load of the system.

[0033] Optionally, obtaining a collision time between the first AGV device and the second AGV device;

[0034] Obtaining a first hypothetical collision time of the first target path intersection point and a second hypothetical collision time of the second target path intersection point;

[0035] Obtaining a first collision speed according to the first distance, the collision time, and the first hypothetical collision time;

[0036] Obtaining a second collision speed according to the second distance, the collision time, and the second hypothetical collision time;

[0037] The AGV device corresponding to the larger value of the first collision speed and the second collision speed is taken as the target AGV device.

[0038] By adopting the above technical solution, after determining the first collision speed and the second collision speed, the AGV device corresponding to the larger value of the first collision speed and the second collision speed is taken as the target AGV device. This allows the target AGV device to maintain a faster speed after adjustment, thereby improving the movement efficiency and synchronization efficiency of the AGV device.

[0039] Optionally, determining a target collision speed corresponding to the target AGV device;

[0040] Obtaining an updated speed according to the current speed information and the target collision speed;

[0041] The update speed is updated to the update speed information.

[0042] By adopting the above technical solution, the speed information is updated according to the current speed information of the target AGV device and the target collision speed, so that the updated speed information can ensure that no collision occurs between AGV devices, thereby improving the synchronization accuracy.

[0043] Optionally, detecting communication quality parameters of the AGV device cluster;

[0044] Selecting a problematic AGV device according to the communication quality parameter, wherein the communication quality parameter of the problematic AGV device is less than a preset communication quality parameter threshold;

[0045] Determine, in the AGV device cluster, a guide AGV device closest to the problem AGV device;

[0046] A follow instruction is sent to the problem AGV device, where the follow instruction is used to guide the problem AGV device to follow the guide AGV device.

[0047] By adopting the above technical solution, when the communication quality of the problem AGV device is poor, a follow instruction is sent to the problem AGV device, so that the problem AGV device follows the guiding AGV device to move, ensuring that the problem AGV device can also operate synchronously when the communication quality is poor.

[0048] Optionally, determining candidate collision positions of the problem AGV device and candidate collision AGV devices based on the movement information of the guiding AGV device;

[0049] In response to monitoring that the distance between the problem AGV device and the candidate collision location is less than a preset distance threshold, sending a pause instruction to the leading AGV device;

[0050] In response to monitoring that the candidate collision AGV device moves away from the candidate collision position, an activity instruction is sent to the leading AGV device.

[0051] By adopting the above technical solution, the movement of the problem AGV device is indirectly guided according to the position of the problem AGV device and the position of the candidate collision AGV device, thereby preventing the problem AGV device from colliding with other AGV devices and ensuring the synchronous operation of the problem AGV device.

[0052] In a second aspect, the present application provides a synchronous control system for AGV equipment, which adopts the following technical solutions:

[0053] A synchronous control system for AGV equipment, comprising:

[0054] Acquisition module, used to obtain current speed information, current position information, device clock and master station clock;

[0055] A memory, used to store a program of the synchronous control method of the AGV device;

[0056] The program in the memory can be loaded and executed by the processor to implement the synchronous control method of the AGV device.

[0057] By adopting the above technical solution, after obtaining the movement information of the AGV device, the device clock of the AGV device will also be obtained, and the movement information will be updated using the clock error between the master station clock and the device clock, thereby avoiding the influence of the clock error on the synchronization of the AGV device and improving the synchronization accuracy of the AGV device.

[0058] In a third aspect, the present application provides a smart terminal that adopts the following technical solution:

[0059] An intelligent terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute any of the above-mentioned synchronous control methods for AGV equipment.

[0060] In a fourth aspect, the present application provides a computer storage medium capable of storing corresponding programs, which has the characteristics of facilitating the improvement of the synchronization accuracy of AGV equipment, and adopts the following technical solutions:

[0061] A computer-readable storage medium stores a computer program that can be loaded by a processor and executed by any of the above-mentioned synchronous control methods for AGV equipment.

[0062] In summary, this application includes at least one of the following beneficial technical effects:

[0063] 1. After obtaining the movement information of the AGV device, the device clock of the AGV device is also obtained, and the clock error between the master station clock and the device clock is used to update the movement information, thereby avoiding the impact of the clock error on the synchronization of the AGV device and improving the synchronization accuracy of the AGV device;

[0064] 2. Predict collisions between AGVs and identify the first and second AGVs that will cause the collision. After determining the target AGV, update the control methods for the target AGV to prevent collisions between AGVs and improve the synchronization accuracy of AGV control.

[0065] 3. By obtaining the initial path intersection of the two AGVs in real time and calculating their distance to the collision location, potential conflict points can be identified in advance to avoid actual collisions. In addition, the path of the target AGV device can be adjusted while the other AGV device can maintain the original path, reducing the overall computing load of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 This is an implementation scenario of a synchronous control method for AGV equipment disclosed in an embodiment of the present application.

[0067] Figure 2 This is a flow chart of a synchronous control method for AGV equipment disclosed in an embodiment of the present application.

[0068] Figure 3 This is a flow chart of a method for outputting mobile information disclosed in an embodiment of the present application.

[0069] Figure 4 It is a flow chart of a method 1 for determining a target AGV device disclosed in an embodiment of the present application.

[0070] Figure 5 This is a flow chart of a second method for determining a target AGV device disclosed in an embodiment of the present application.

[0071] Figure 6 This is a flow chart of a speed updating method disclosed in an embodiment of the present application.

[0072] Figure 7 This is a flow chart of a first guiding method for an AGV device disclosed in an embodiment of the present application.

[0073] Figure 8 This is a flow chart of a second guiding method for an AGV device disclosed in an embodiment of the present application.

[0074] Figure 9 This is a structural diagram of a synchronous control system of an AGV device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0075] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1 To the attached Figure 9It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0076] The embodiment of the present application discloses an implementation scenario of a synchronous control method for AGV equipment. Figure 1 The system includes: a scheduling layer 11, an edge layer 12 and a field layer 13.

[0077] The scheduling layer 11 is used to publish execution tasks of AGV devices and is responsible for resource allocation and task scheduling. For example, the scheduling layer 11 publishes synchronous operation tasks of AGV devices and sends the synchronous operation tasks to the edge layer 12.

[0078] The edge layer 12 is used to execute the synchronization algorithm of the AGV equipment and dynamically adjust and control it according to the real-time data of the AGV equipment. Exemplarily, the edge layer 12 includes an edge controller.

[0079] The field layer 13 is responsible for the immediate response and data processing of the AGV equipment. Further, the field layer 13 will issue control instructions to the AGV equipment.

[0080] In some embodiments, the AGV device in the field layer 13 and the edge controller in the edge layer 12 are communicatively connected via 5G technology, and the AGV device and the edge controller use 5G timing technology for clock synchronization.

[0081] The embodiment of the present application discloses a synchronous control method for AGV equipment. Figure 2 , the method comprising:

[0082] Step S201: obtaining current speed information and current position information of an AGV device cluster, where the AGV device cluster includes at least two AGV devices.

[0083] The AGV cluster reports current speed and location information to the edge controller. The current speed information indicates the AGV's speed and acceleration, while the current location information indicates the AGV's location. Furthermore, the current speed and location information reported by the AGV are associated with the same timestamp, which indicates when the current speed and location information were collected.

[0084] Optionally, the AGV device reports its current speed and location information to the edge controller in real time. Alternatively, the AGV device reports its current speed and location information to the edge controller at preset intervals.

[0085] Step S202: Obtain the device clock of each AGV device in the AGV device cluster.

[0086] Optionally, the edge controller sends a clock request to each AGV in the AGV cluster. After receiving the clock request, the AGV reports its own device clock to the edge controller.

[0087] Optionally, the AGV device reports the device clock to the edge controller once every preset period.

[0088] Step S203: Obtain a clock error based on the master station clock and the device clock.

[0089] The master clock is the system clock used by the edge controller.

[0090] Clock error is used to indicate the difference between the master clock and the device clock.

[0091] Optionally, when the AGV reports its device clock to the edge controller, it also provides the edge controller with a first transmit timestamp indicating when the device clock was transmitted. Upon receiving the device clock, the edge controller records the first receive timestamp. The edge controller can use this first transmit timestamp and the first receive timestamp to calculate the clock error between the edge controller and the AGV.

[0092] Furthermore, after the AGV sends its device clock, after a preset delay, it sends a message to the edge controller containing a second send timestamp, which indicates the time the message was sent. The edge controller records the second receive timestamp of the received message. Based on the difference between the second send timestamp, the second receive timestamp, and the clock error, the edge controller determines the path delay between the edge controller and the AGV.

[0093] Step S204: Synchronize the clocks of the various AGV devices in the AGV device cluster according to the clock error.

[0094] For example, for an AGV in an AGV cluster, after obtaining the clock error between its device clock and the master station clock, the edge controller generates clock synchronization information based on the clock error. The clock synchronization information includes how the AGV adjusts its own device clock. The edge controller then sends the clock synchronization information to the AGV, allowing the AGV to adjust its own device clock based on the clock synchronization information. For example, if the device clock of an AGV is 3 seconds slower than the system clock, the clock synchronization information may instruct the AGV to set its clock 3 seconds faster to synchronize the device clock with the master station clock.

[0095] Step S205: In response to obtaining the clock synchronization completion signal, generating movement information according to the current speed information and the current position information, the movement information including the execution time, movement speed and movement path.

[0096] The edge controller generates a clock synchronization completion signal only when the device clocks of all AGVs in the AGV cluster are synchronized with the master clock. Furthermore, the AGVs in the AGV cluster continuously provide their own device clocks to the edge controller. In step S204, each AGV's device clock is synchronized, thus continuously synchronizing the AGVs' device clocks.

[0097] The moving speed represents the speed adjustment method of the AGV device, and the execution time refers to the time when the AGV device executes the speed adjustment method, which enables the AGV device to reach the synchronization position through the moving path at the synchronization time. The method for calculating the moving speed and execution time can be completed using a preset computer program / algorithm.

[0098] Step S206: Send movement information to the AGV device cluster.

[0099] After receiving the movement information, the AGV device extracts the movement speed and movement path from the movement information. The AGV device adjusts its own speed according to the movement speed and moves according to the movement path.

[0100] By adopting the above technical solution, after obtaining the movement information of the AGV device, the device clock of the AGV device will also be obtained, and the movement information will be updated using the clock error between the master station clock and the device clock, thereby avoiding the influence of the clock error on the synchronization of the AGV device and improving the synchronization accuracy of the AGV device.

[0101] In the following examples, due to Figure 1 The solution of the embodiment shown is carried out in real time, so it is necessary to Figure 1 The embodiment shown is repeated. When processing the movement of the AGV device for the second time and thereafter, when the movement information is already known, it is also necessary to consider whether some AGV devices will collide with each other and avoid the phenomenon of AGV devices colliding. Therefore, the embodiment of the present application discloses a method for outputting movement information. Figure 3 , the method comprising:

[0102] Step S301: Generate an initial moving path according to the synchronization position and current position information.

[0103] Optionally, the area where the AGV is located is gridded. A first grid containing the synchronized position and a second grid containing the current position information are determined. A rectangular area is formed with the first and second grids as the diagonal vertices of a rectangle. A path is planned within the rectangular area based on the first and second grids, ensuring that the path does not pass through obstacles within the rectangular area, thereby obtaining an initial movement path.

[0104] Step S302: predicting the movement of the AGV device based on the initial movement path and current speed information.

[0105] Movement status is used to indicate how the AGV's position changes over time. For example, the movement status indicates that the AGV is at position A at 12:00 and at position B at 12:00.

[0106] Optionally, based on the initial moving path and current speed information of each AGV device, a situation in which the AGV device moves along the initial moving path according to the current speed information is simulated to obtain a movement situation.

[0107] Step S303: Determine whether there is a collision between AGV devices based on the movement situation.

[0108] A collision occurs when the distance between at least two AGVs at the same time is less than the preset safety distance. Optionally, the safety distance is a preset empirical value, which technicians can adjust based on actual needs. Optionally, the safety distance is positively correlated with the speed of the AGVs.

[0109] If yes, execute steps S305 to S309;

[0110] If not, execute step S304.

[0111] Step S304: If not, the current speed information and the initial moving path are output as movement information.

[0112] After determining that there is no collision between the AGV devices, it means that the AGV devices can move according to the current speed information and the initial moving path. Therefore, the current speed information and the initial moving path are output as movement information.

[0113] Step S305: If so, determine the first AGV device and the second AGV device that have collided.

[0114] After determining that there is a collision between AGVs, it is necessary to adjust the speed or movement path of the AGV. If the movement path of the AGV is adjusted, it may affect the movement of other AGVs. Therefore, the embodiment of the present application adopts the method of adjusting the speed of the AGV to avoid collisions between AGVs.

[0115] It should be noted that there may be more AGV devices that may cause collisions. The embodiment of the present application only uses the example of the AGV devices that may cause collisions including the first AGV device and the second AGV device for description.

[0116] Step S306: Acquire a first initial moving path corresponding to the first AGV device and a second initial moving path corresponding to the second AGV device.

[0117] The first initial moving path refers to the initial moving path of the first AGV device, and the second initial moving path refers to the initial moving path of the second AGV device.

[0118] Step S307: Determine a target AGV device from the first AGV device and the second AGV device according to the first initial moving path and the second initial moving path.

[0119] The target AGV device refers to the AGV device whose moving speed needs to be adjusted.

[0120] Step S308: Update the current speed information of the target AGV device to obtain updated speed information.

[0121] Optionally, a current speed corresponding to the current speed information of the target AGV device is obtained. The difference between the current speed and a preset speed difference is calculated to obtain an updated speed, where the preset speed difference is related to the current speed. Updated speed information is obtained based on the updated speed.

[0122] Furthermore, a preset speed difference value corresponding to the current speed is determined from a preset speed mapping library. The speed mapping library is obtained by technicians through repeated experiments of adjusting the preset speed difference value when the current speed is fixed.

[0123] Step S309: Output the updated speed information and the initial moving path as movement information.

[0124] By adopting the above technical solution, the collision phenomenon between AGV devices is predicted, and the first AGV device and the second AGV device that cause the collision phenomenon are determined. After determining the target AGV device among the first AGV device and the second AGV device, the relevant control method of the target AGV device is updated to ensure that there is no collision between the AGV devices and improve the synchronization accuracy of the AGV device control.

[0125] In the following embodiment, when determining the target AGV device from the first AGV device and the second AGV device, the appropriate AGV device can be selected based on the initial movement paths of the two to reduce the impact of a bunch of other AGV devices. Therefore, the embodiment of the present application discloses a method for determining the target AGV device. Figure 4 , the method comprising:

[0126] Step S401: Acquire the collision position of the first AGV device and the second AGV device.

[0127] The collision position refers to the position where the first AGV device and the second AGV device collide.

[0128] Step S402: determining a first path intersection point on the first initial moving path and a second path intersection point on the second initial moving path.

[0129] The first path intersection refers to the intersection of the first initial movement path and the initial movement paths of other AGVs. The second path intersection refers to the intersection of the first initial movement path and the initial movement paths of other AGVs. It should be noted that the first and second path intersections are considered only from the perspective of the intersection of the initial movement paths and do not need to take into account the movement of the AGVs.

[0130] If there is an intersection on the initial movement paths of the two AGVs, there is a possibility of a collision between the two AGVs. However, the two AGVs did not collide because they passed the intersection at different times. However, in the subsequent steps of this embodiment, the speed of the AGVs needs to be adjusted, which may cause the two AGVs to collide.

[0131] Step S403: Determine a first target path intersection point closest to the collision position from the first path intersection points according to the moving direction of the first AGV device, and calculate a first distance from the collision position to the first target path intersection point.

[0132] The direction in which the first target path intersection points to the collision position is the moving direction of the first AGV device.

[0133] The first distance refers to the distance from the collision position on the first initial moving path to the intersection point of the first target path.

[0134] Step S404: Determine a second target path intersection point closest to the collision position from the second path intersection points according to the moving direction of the second AGV device, and calculate a second distance from the collision position to the second target path intersection point.

[0135] The direction in which the second target path intersection points to the collision position is the moving direction of the second AGV device.

[0136] The second distance refers to the distance from the collision position on the second initial moving path to the intersection point of the second target path.

[0137] Step S405: Take the maximum value of the first distance and the second distance.

[0138] Step S406: If the maximum value is greater than the preset distance threshold, the AGV device corresponding to the maximum value is used as the target AGV device.

[0139] The preset distance threshold is a preset empirical value, and technicians can adjust the specific value of the preset distance threshold according to actual needs.

[0140] If the maximum value is greater than the preset distance threshold, the AGV corresponding to the maximum value is farther from the collision location. The closer the AGV's path intersection is to the collision location, the more difficult it is to control its speed when passing the collision location when the AGV's speed changes, and the greater the impact of the path intersection on the collision location. If the maximum value is greater than the preset distance threshold, the impact of the path intersection on the collision location is negligible, so the AGV corresponding to the maximum value is selected as the target AGV.

[0141] Step S407: If the maximum value is not greater than the preset distance threshold, the target AGV device is determined based on the first target path intersection point and the second target path intersection point.

[0142] If the maximum value is not greater than the preset distance threshold, it means that the path intersection points corresponding to the first AGV device and the second AGV device are too close to the collision position, and it is necessary to further select a target AGV device.

[0143] By adopting the above technical solution, by obtaining the initial path intersection of the two AGVs in real time and calculating their distance to the collision location, potential conflict points can be identified in advance to avoid actual collisions. In addition, the path of the target AGV device can be adjusted, and the other AGV device can maintain the original path, reducing the overall computing load of the system.

[0144] In the following embodiment, when the maximum value is not greater than the preset distance threshold, it is necessary to select the target AGV device according to the collision speed of the AGV device. Therefore, the embodiment of the present application discloses a second method for determining the target AGV device. Figure 5 , the method comprising:

[0145] Step S501: Acquire the collision time between the first AGV device and the second AGV device.

[0146] The collision time refers to the time when the first AGV device and the second AGV device collide.

[0147] Step S502: Obtain a first hypothetical collision time of a first target path intersection point and a second hypothetical collision time of a second target path intersection point.

[0148] Optionally, a first collision AGV corresponding to the first target path intersection is determined, and the time when the first collision AGV arrives at the first target path intersection is obtained based on the movement path and speed information of the first collision AGV, thereby obtaining the first hypothetical collision time.

[0149] Optionally, a second collision AGV corresponding to the second target path intersection is determined, and the time when the second collision AGV reaches the second target path intersection is obtained based on the movement path and speed information of the second collision AGV, thereby obtaining the second hypothetical collision time.

[0150] The first hypothetical collision time refers to the time when the first collision AGV device reaches the first target path intersection.

[0151] The second hypothetical collision time refers to the time when the second collision AGV device reaches the second target path intersection.

[0152] Step S503: Obtain a first collision speed according to the first distance, the collision time and the first hypothetical collision time.

[0153] Optionally, a difference between the collision time and the first hypothetical collision time is calculated to obtain a first time difference, and a ratio of the first distance to the first time difference is calculated to obtain a first collision speed.

[0154] Step S504: Obtain a second collision speed according to the second distance, the collision time and the second hypothetical collision time.

[0155] Optionally, a difference between the collision time and the second hypothetical collision time is calculated to obtain a second time difference, and a ratio of the second distance to the second time difference is calculated to obtain a second collision speed.

[0156] Step S505: The AGV device corresponding to the larger value of the first collision speed and the second collision speed is selected as the target AGV device.

[0157] In the embodiment of the present application, the AGV device corresponding to the larger value of the first collision speed and the second collision speed is taken as the target AGV device, so that the speed change of the target AGV device is as small as possible, ensuring that the target AGV device can maintain a faster speed.

[0158] By adopting the above technical solution, after determining the first collision speed and the second collision speed, the AGV device corresponding to the larger value of the first collision speed and the second collision speed is taken as the target AGV device. This allows the target AGV device to maintain a faster speed after adjustment, thereby improving the movement efficiency and synchronization efficiency of the AGV device.

[0159] In the following embodiment, a method for updating AGV equipment will be provided to ensure that the AGV equipment does not collide. Therefore, the embodiment of the present application discloses a speed update method. Figure 6 , the method comprising:

[0160] Step S601: Determine a target collision speed corresponding to a target AGV device.

[0161] The target collision speed refers to the speed at which the target AGV device collides.

[0162] Step S602: Obtain an updated speed based on the current speed information and the target collision speed.

[0163] Exemplarily, when the difference between the speed corresponding to the current speed information and the target collision speed is less than a preset speed difference threshold, the speed corresponding to the current speed information is updated to obtain an updated speed such that the difference between the updated speed and the target collision speed is not less than the preset speed difference threshold. When the difference between the speed corresponding to the current speed information and the target collision speed is not less than the preset speed difference threshold, the speed corresponding to the current speed information is used as the updated speed.

[0164] Step S603: Update the update speed to the update speed information.

[0165] The update speed is updated to the update speed information so that the AGV device can move at the speed corresponding to the update speed information.

[0166] By adopting the above technical solution, the speed information is updated according to the current speed information of the target AGV device and the target collision speed, so that the updated speed information can ensure that no collision occurs between AGV devices, thereby improving the synchronization accuracy.

[0167] In the following embodiments, for AGV equipment, it is necessary to ensure that the communication connection between the edge controller and the AGV equipment is stable and good. If the communication quality between the AGV equipment and the edge controller is poor, relevant processing is required to ensure the normal movement of the AGV equipment. Therefore, the embodiment of the present application discloses a guiding method for AGV equipment. Figure 7 , the method comprising:

[0168] Step S701: Detect the communication quality parameters of the AGV device cluster.

[0169] Communication quality parameters include transmission performance parameters, delay parameters, signal quality parameters, and network reliability parameters. For example, transmission performance parameters include at least one of bit error rate, packet loss rate, throughput, and bandwidth. Delay parameters include at least one of latency, jitter, and synchronization accuracy. Signal quality parameters include at least one of signal-to-noise ratio, carrier-to-interference ratio, and modulation error rate. Network reliability parameters include at least one of network availability, MTBF (mean time between failures), and MTTR (mean time to repair).

[0170] Step S702: Select a problematic AGV device according to the communication quality parameter, where the communication quality parameter of the problematic AGV device is less than a preset communication quality parameter threshold.

[0171] The communication quality parameter threshold is a preset empirical value, and technical personnel can adjust the specific value of the communication quality parameter threshold according to actual needs.

[0172] Optionally, when the communication quality parameters include at least two different types of parameters, the communication quality parameters need to be normalized and then weighted. For example, in the case where the communication quality parameters include a first communication quality parameter and a second communication quality parameter of different types, the first communication quality parameter is normalized and mapped to a preset interval to obtain a first normalized parameter. The second communication quality parameter is normalized and mapped to a preset interval to obtain a second normalized parameter. The first and second normalized parameters are weighted to obtain a comprehensive communication quality parameter. The comprehensive communication quality parameter is then compared with a preset communication quality parameter threshold to identify the problematic AGV device.

[0173] Step S703: Determine the guide AGV device closest to the problem AGV device in the AGV device cluster.

[0174] Optionally, the moving direction of the problem AGV device is obtained. In the moving direction, the AGV device closest to the problem AGV device is determined from the AGV device cluster to obtain the guiding AGV device.

[0175] Step S704: Send a follow instruction to the problem AGV device, where the follow instruction is used to guide the problem AGV device to follow the guide AGV device.

[0176] Optionally, a guidance instruction is sent to the guiding AGV device, where the guidance instruction is used to instruct the guiding AGV device to guide the problem AGV device.

[0177] Furthermore, after the problem AGV device receives the following instruction, the problem AGV device will determine the leading AGV device based on the following instruction, and the problem AGV device will follow the movement of the leading AGV device.

[0178] By adopting the above technical solution, when the communication quality of the problem AGV device is poor, a follow instruction is sent to the problem AGV device, so that the problem AGV device follows the guiding AGV device to move, ensuring that the problem AGV device can also operate synchronously when the communication quality is poor.

[0179] In the following embodiment, during the movement of the problem AGV device, it is necessary to control and guide the AGV device based on the position of the problem AGV device, and indirectly guide the movement of the problem AGV device. Therefore, the embodiment of the present application discloses a second method for guiding the AGV device. Figure 8 , the method comprising:

[0180] Step S801: Determine candidate collision positions of the problem AGV and candidate collision AGVs based on movement information of the guiding AGV.

[0181] Since the problem AGV device moves following the guide AGV device, the movement status of the problem AGV device can be indirectly judged by the movement status of the guide AGV device during the movement of the problem AGV device.

[0182] For example, the movement of the guiding AGV is determined based on the movement information of the guiding AGV. The movement of the guiding AGV is converted into the movement of the problem AGV based on the distance between the guiding AGV and the problem AGV. Based on the movement of the problem AGV, candidate collision locations of the problem AGV and candidate collision AGVs are obtained.

[0183] Step S802: In response to monitoring that the distance between the problem AGV device and the candidate collision location is less than a preset distance threshold, a pause instruction is sent to the leading AGV device.

[0184] The preset distance threshold is a preset empirical value, and technicians can adjust the specific value of the preset distance threshold according to actual needs.

[0185] The pause command is used to instruct the AGV device to stop moving.

[0186] In this embodiment, the position and speed of the guide AGV are obtained. When the distance between the guide AGV and the candidate collision location is detected to be less than a preset monitoring distance threshold, the position of the problem AGV is calculated based on the position of the guide AGV. Furthermore, the distance between the problem AGV and the candidate collision location is calculated.

[0187] Step S803: In response to monitoring that the candidate collision AGV device is moving away from the candidate collision position, an activity instruction is sent to the leading AGV device.

[0188] The activity instruction is used to instruct the candidate collision AGV device to start moving.

[0189] When it is detected that the candidate collision AGV device is far away from the candidate collision position, it means that the candidate collision AGV device and the problem AGV device have been staggered in space and the two will not collide.

[0190] By adopting the above technical solution, the movement of the problem AGV device is indirectly guided according to the position of the problem AGV device and the position of the candidate collision AGV device, thereby preventing the problem AGV device from colliding with other AGV devices and ensuring the synchronous operation of the problem AGV device.

[0191] Based on the same inventive concept, the present application embodiment provides a synchronous control system for AGV equipment, please refer to Figure 9 , the system comprises:

[0192] Acquisition module 901, used to obtain current speed information, current position information, device clock and master station clock;

[0193] Memory 902, used to store a program of a synchronous control method for AGV equipment;

[0194] Processor 903, the program in the memory can be loaded and executed by the processor to implement the synchronous control method of the AGV device.

[0195] By adopting the above technical solution, after obtaining the movement information of the AGV device, the device clock of the AGV device will also be obtained, and the movement information will be updated using the clock error between the master station clock and the device clock, thereby avoiding the influence of the clock error on the synchronization of the AGV device and improving the synchronization accuracy of the AGV device.

[0196] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0197] An embodiment of the present application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed by a synchronous control method for an AGV device.

[0198] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0199] Based on the same inventive concept, an embodiment of the present application provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute a synchronous control method for an AGV device.

[0200] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0201] The above are all preferred embodiments of the present application and are not intended to limit the scope of protection of this application. Unless otherwise specified, any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features. In other words, unless otherwise specified, each feature is merely an example of a series of equivalent or similar features.

Claims

1. A synchronous control method for AGV equipment, characterized in that: The method comprises: Obtaining current speed information and current position information of an AGV device cluster, wherein the AGV device cluster includes at least two AGV devices; Obtain the device clock of each AGV device in the AGV device cluster; Obtaining a clock error based on the master station clock and the device clock; Performing clock synchronization on each AGV device in the AGV device cluster according to the clock error; In response to acquiring a clock synchronization completion signal, generating movement information according to the current speed information and the current position information, the movement information including an execution time, a movement speed, and a movement path; Sending the movement information to the AGV equipment cluster; generating an initial moving path according to the synchronization position and the current position information; Predicting the movement of the AGV device based on the initial movement path and the current speed information; Determine whether there is a collision between AGV devices based on the movement situation; If not, outputting the current speed information and the initial moving path as the moving information; If so, determine the first AGV device and the second AGV device that caused the collision; Obtain a first initial moving path corresponding to the first AGV device and a second initial moving path corresponding to the second AGV device; Determine a target AGV device from the first AGV device and the second AGV device according to the first initial moving path and the second initial moving path; Updating the current speed information of the target AGV device to obtain updated speed information; outputting the updated speed information and the initial moving path as the movement information; The step of determining a target AGV device from the first AGV device and the second AGV device according to the first initial moving path and the second initial moving path includes: Obtaining a collision position between the first AGV device and the second AGV device; determining a first path intersection point on the first initial movement path and a second path intersection point on the second initial movement path; Determine, from the first path intersections, a first target path intersection closest to the collision position according to the moving direction of the first AGV device, and calculate a first distance from the collision position to the first target path intersection; Determine, from the second path intersections, a second target path intersection closest to the collision position according to the moving direction of the second AGV device, and calculate a second distance from the collision position to the second target path intersection; Taking the maximum value of the first distance and the second distance; If the maximum value is greater than the preset distance threshold, the AGV device corresponding to the maximum value is used as the target AGV device; If the maximum value is not greater than the preset distance threshold, the target AGV device is determined based on the first target path intersection point and the second target path intersection point.

2. The synchronous control method of AGV equipment according to claim 1, characterized in that: The determining the target AGV device based on the first target path intersection point and the second target path intersection point includes: Obtaining the collision time between the first AGV device and the second AGV device; Obtaining a first hypothetical collision time of the first target path intersection point and a second hypothetical collision time of the second target path intersection point; Obtaining a first collision speed according to the first distance, the collision time, and the first hypothetical collision time; Obtaining a second collision speed according to the second distance, the collision time, and the second hypothetical collision time; The AGV device corresponding to the larger value of the first collision speed and the second collision speed is taken as the target AGV device.

3. The synchronous control method of AGV equipment according to claim 1, characterized in that: The updating of the current speed information of the target AGV device to obtain updated speed information includes: Determine a target collision speed corresponding to the target AGV device; Obtaining an updated speed according to the current speed information and the target collision speed; The update speed is updated to the update speed information.

4. The synchronous control method of AGV equipment according to claim 1, characterized in that: The method further comprises: Detecting communication quality parameters of the AGV device cluster; Selecting a problematic AGV device according to the communication quality parameter, wherein the communication quality parameter of the problematic AGV device is less than a preset communication quality parameter threshold; Determine, in the AGV device cluster, a guide AGV device closest to the problem AGV device; A follow instruction is sent to the problem AGV device, where the follow instruction is used to guide the problem AGV device to follow the guide AGV device.

5. The synchronous control method of AGV equipment according to claim 4, characterized in that: The method further comprises: Determining candidate collision positions of the problem AGV device and candidate collision AGV devices based on the movement information of the guiding AGV device; In response to monitoring that the distance between the problem AGV device and the candidate collision location is less than a preset distance threshold, sending a pause instruction to the leading AGV device; In response to monitoring that the candidate collision AGV device moves away from the candidate collision position, an activity instruction is sent to the leading AGV device.

6. A synchronous control system for AGV equipment, characterized in that: The system is used to execute the synchronous control method of the AGV equipment according to any one of claims 1 to 5, comprising: Acquisition module, used to obtain current speed information, current position information, device clock and master station clock; A memory, used to store a program of the synchronous control method of the AGV device; The program in the memory can be loaded and executed by the processor to implement the synchronous control method of the AGV device.

7. An intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute the synchronous control method of the AGV equipment according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that The computer program is stored which can be loaded by a processor and executes the synchronous control method of the AGV equipment according to any one of claims 1 to 5.

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