An amr path planning and navigation method and system applied to silk spool conveying

Abstract

The application relates to an AMR path planning and navigation method and system applied to silk spool conveying, in the technical scheme, by considering electric quantity, task quantity, working state and task level, optimal conditions for completing a task are ensured for the selected target AMR, and resource utilization is improved. Regional division and node traversal are adopted, calculation complexity is reduced, and global path search efficiency is improved. In the regional path adjustment process, the obstacle distribution is considered in real time, so that the AMR can flexibly cope with the complex and changeable workshop environment. By introducing the taboo space rule, the AMR is prevented from falling into a backtracking or round-trip path, and the path stability and task completion rate are improved. In conclusion, the technical scheme can significantly improve the automation degree, obstacle avoidance capability and conveying efficiency of the silk spool conveying in a complex chemical fiber workshop environment.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of silk spool conveying, and in particular to an AMR path planning and navigation method and system applied to silk spool conveying. BACKGROUND

[0002] Falling silk refers to a process in which a full spool of a spun yarn is unloaded (fallen) from a spinning reel and transferred to a designated position on a fiber production line. This action includes both the full spool of the spun yarn being separated from the spinning reel (unwinding) and the silk spool being transported to a shelf, a trolley, or a storage area by a manual or automatic device.

[0003] In the falling silk process, the silk spool is transported to a shelf, a trolley, or a storage area by an automatic device, which is usually achieved by an AGV (Automated Guided Vehicle). However, the AGV cannot automatically avoid obstacles, and the environment in the falling silk workshop is usually very complex, with personnel moving around and randomly placing silk-loaded vehicles, which makes it difficult for the AGV to truly efficiently and intelligently achieve the silk spool conveying task. SUMMARY

[0004] To at least partially overcome the problem that the silk spool conveying by the AGV in the related art cannot automatically avoid obstacles and cannot efficiently and intelligently achieve the silk spool conveying task, the application provides an AMR path planning and navigation method and system applied to silk spool conveying.

[0005] The scheme of the application is as follows:

[0006] According to a first aspect of an embodiment of the application, an AMR path planning and navigation method applied to silk spool conveying is provided, which comprises the following steps:

[0007] receiving a silk spool conveying request sent by a spinning reel; the silk spool conveying request comprising a spinning reel position, a silk spool storage shelf, and a to-be-conveyed silk spool specification;

[0008] setting the spinning reel position as a path starting point, setting the silk spool storage shelf as a path ending point, and determining a task level according to the to-be-conveyed silk spool specification; obtaining current information of all AMRs (Autonomous Mobile Robots), including positions, power levels, task queues, and working states;

[0009] based on a pre-set scheduling rule, determining a target AMR from all AMRs according to the path starting point, the path ending point, the task level, and the current information of all AMRs, and issuing a silk spool conveying task to the target AMR;

[0010] dividing the workshop into a plurality of matrix areas, and setting the workshop devices and fixed obstacles in the matrix areas as nodes;

[0011] traversing nodes between the path start point and the path end point, outputting all feasible paths, and determining a path with the least number of nodes among the all feasible paths as an inter-region target path;

[0012] causing the target AMR to perform a spool conveying task according to the inter-region target path;

[0013] after the target AMR moves from a previous matrix region to a current matrix region, determining an obstacle in the current matrix region, adjusting a portion of the inter-region target path in the current matrix region according to a position of the obstacle, and generating an intra-region target path;

[0014] determining whether the intra-region target path meets a condition for adding a taboo space;

[0015] if the condition is not met, maintaining the intra-region target path, and if the condition is met, adding a taboo space in the current matrix region and determining whether there is a taboo point in the intra-region target path;

[0016] if there is a taboo point, re-generating the intra-region target path according to positions of the obstacle and the taboo space in the current matrix region until there is no taboo point in the intra-region target path;

[0017] causing the target AMR to perform a spool conveying task according to the intra-region target path in the current matrix region.

[0018] Preferably, the target AMR is determined from all AMRs, comprising:

[0019] selecting, as a preliminary selected AMR, an AMR with a power higher than a first preset power threshold, a number of tasks in a task queue less than a preset task quantity threshold, an operating state being idle, and a bearable level meeting a task level, from all AMRs;

[0020] if the preliminary selected AMR is multiple, determining a preliminary selected AMR closest to the path start point as the target AMR.

[0021] Preferably, after the spool conveying task is issued to the target AMR, the method further comprises:

[0022] calculating a real-time position of the target AMR dynamically by a UWB base station and a positioning algorithm deployed in a workshop.

[0023] Preferably, the traversing nodes between the path start point and the path end point comprises:

[0024] taking the path start point or the path end point as a root node;

[0025] starting from the root node, marking the root node as visited;

[0026] sequentially accessing unvisited neighbor nodes of the root node and marking the neighbor nodes as visited during the accessing process;

[0027] when the arrived node no longer has unvisited neighbor nodes, performing backtracking to a previous node and continuing to traverse other unvisited neighbor nodes of the previous node;

[0028] repeating the above steps until all nodes are visited;

[0029] wherein the traversal of the nodes is determined according to any one of the following rules:

[0030] proximity priority based on geometric distance; or

[0031] fixed scanning based on topological order.

[0032] Preferably, the obstacles in the current matrix region are determined, and the part of the inter-region target path in the current matrix region is adjusted according to the position of the obstacles to generate the intra-region target path, including:

[0033] applying an initial disturbance at the starting point position to generate a wave source;

[0034] iteratively updating the wave equation in the grid environment to calculate the wave amplitude of each grid point, wherein the grid points where the obstacles are located are skipped for updating;

[0035] when it is detected that the wave amplitude of the target point exceeds a preset threshold, triggering path backtracking;

[0036] in the path backtracking process, starting from the target point, sequentially selecting the node with the maximum wave amplitude among the adjacent nodes as the next backtracking node until backtracking to the starting point, and obtaining the path from the starting point to the target point as the intra-region target path.

[0037] Preferably, in the intra-region path planning process, when any one of the following conditions is met, it is judged that the condition for adding a taboo space is met:

[0038] detecting that a continuous straight row formed by the obstacles is blocked;

[0039] the straight-line distance between the target point and the current node is less than a preset space step but the path is blocked by a temporary dynamic obstacle;

[0040] a repeated backtracking or round-trip path segment occurs;

[0041] the wave propagation result appears to converge and stagnate in a non-target region.

[0042] Preferably, the method further comprises:

[0043] receiving the filament tip visual image sent by the target AMR in real time after arriving at the path starting point;

[0044] adjusting the pose of the target AMR according to the target spooling port visual image, and placing the spool by the mechanical arm of the target AMR;

[0045] acquiring pressure sensor data of the target AMR, and determining whether the spooling is completed according to the pressure sensor data of the target AMR;

[0046] after the spooling is completed, making the target AMR perform a spool conveying task according to the inter-region target path.

[0047] Preferably, the method further comprises:

[0048] receiving a target rack visual image sent by the target AMR in real time after reaching the path end point;

[0049] adjusting the pose of the target AMR according to the target rack visual image, and placing the spool to the target storage layer by the mechanical arm of the target AMR;

[0050] acquiring pressure sensor data of the target storage layer, and determining whether the placing is completed according to the pressure sensor data of the target storage layer;

[0051] after the placing is completed, removing the current spool conveying task from the task list of the target AMR, and making the target AMR move to the nearest standby area;

[0052] recording the completion of the current spool conveying task and the number of the target AMR.

[0053] Preferably, the method further comprises:

[0054] monitoring the power and communication state of all AMRs in real time;

[0055] when the power of the AMR is lower than a second preset power threshold, scheduling to a charging pile for charging;

[0056] when the communication of the AMR fails, starting the local visual obstacle avoidance system of the AMR for offline obstacle avoidance.

[0057] According to a second aspect of the embodiments of the present application, an AMR path planning and navigation system applied to spool conveying is provided, comprising:

[0058] a processor and a memory;

[0059] the processor and the memory are connected through a communication bus:

[0060] wherein the processor is configured to call and execute the program stored in the memory;

[0061] The memory is configured to store a program, and the program is configured to at least implement the AMR path planning and navigation method applied to the yarn package conveying according to any one of the preceding embodiments

[0062] The technical solution provided in the application can have the following beneficial effects:

[0063] In the technical solution, the selected target AMR is ensured to have the optimal condition for completing the task by considering the power, task amount, working state and task level, and the resource utilization is improved. The calculation complexity is reduced and the global path search efficiency is improved by using the region division and node traversal. The obstacle distribution is considered in real time during the path adjustment in the region, so that the AMR can flexibly cope with the complex and changeable workshop environment. The AMR is prevented from falling into a backtracking or round-trip path by introducing the taboo space rule, and the path stability and task completion rate are improved. In summary, the technical solution can significantly improve the automation degree, obstacle avoidance ability and conveying efficiency of the yarn package conveying in the complex chemical fiber workshop environment.

[0064] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the application. BRIEF DESCRIPTION OF DRAWINGS

[0065] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the application and serve to explain the principles of the application together with the specification.

[0066] Figure 1 is a flowchart of an AMR path planning and navigation method applied to yarn package conveying provided by an embodiment of the application;

[0067] Figure 2 is a structural schematic diagram of an AMR path planning and navigation system applied to yarn package conveying provided by an embodiment of the application.

[0068] Reference signs: processor-21; memory-22. DETAILED DESCRIPTION

[0069] The exemplary embodiments will be described in detail herein with reference to the attached drawings. In the following description, the same numbers are used to designate the same elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all the embodiments consistent with the application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the application, as detailed in the appended claims.

[0070] Embodiment One

[0071] Figure 1is a flowchart of an AMR path planning and navigation method applied to yarn spool conveying provided by an embodiment of the present application, referring to Figure 1 An AMR path planning and navigation method applied to yarn spool conveying, comprising:

[0072] S101: receiving a yarn spool conveying request sent by a doffer winder; the yarn spool conveying request comprising: a doffer winder position, a yarn spool storage rack, and a to-be-conveyed yarn spool specification;

[0073] The AMR control system receives the yarn spool conveying request sent by the doffer winder. The yarn spool conveying request contains the current position of the doffer winder, the position of the target yarn spool storage rack, and the specification information of the to-be-conveyed yarn spool. Through this information, the starting point, the ending point, and the task level requirement of the conveying task can be determined.

[0074] S102: setting the doffer winder position as the path starting point, setting the yarn spool storage rack as the path ending point, and determining the task level according to the to-be-conveyed yarn spool specification; obtaining the current information of all AMRs, including: position, power, task queue, and working state;

[0075] The system sets the doffer winder position as the path starting point and the target rack position as the path ending point. The task level is determined according to the specification of the to-be-conveyed yarn spool, which is used as the basis for subsequent AMR scheduling.

[0076] S103: based on the pre-set scheduling rules, determining the target AMR from all AMRs according to the path starting point, the path ending point, the task level, and the current information of all AMRs, and issuing the yarn spool conveying task to the target AMR;

[0077] The system obtains the current state information of all AMRs, including their positions, power, task queues, and working states. Based on the pre-set scheduling rules, the path starting point, the path ending point, the task level, and the states of all AMRs are considered comprehensively to determine the most suitable target AMR from all AMRs, and issue the yarn spool conveying task to the target AMR.

[0078] S104: dividing the workshop into multiple matrix areas, and setting the workshop equipment and fixed obstacles in the matrix areas as nodes;

[0079] To reduce the search complexity of the complex workshop map, the system divides the workshop environment into multiple matrix areas, and sets the equipment and fixed obstacles (i.e. obstacles that do not move in non-special cases, such as support columns) in the matrix areas as path nodes. The system performs node traversal between the path starting point and the ending point to obtain all feasible paths, and selects the path with the least number of nodes as the inter-regional target path. The target AMR performs cross-regional yarn spool conveying according to the inter-regional target path.

[0080] S105: traverse the nodes between the path start point and the path end point, output all feasible paths, and determine the path with the least number of nodes in all feasible paths as the inter-regional target path;

[0081] S106: make the target AMR perform the spool conveying task according to the inter-regional target path;

[0082] S107: after the target AMR moves from the previous matrix region to the current matrix region, determine the obstacles in the current matrix region, adjust the part of the inter-regional target path in the current matrix region according to the positions of the obstacles, and generate an intra-regional target path;

[0083] When the target AMR enters the current matrix region from the previous matrix region, the system detects the positions of the dynamic obstacles in the region in real time, and adjusts the local part of the original inter-regional target path based on the positions of the obstacles, thereby generating an intra-regional target path that adapts to the current environment.

[0084] S108: determine whether the intra-regional target path meets the condition for adding a taboo space;

[0085] S109: if the condition is not met, maintain the intra-regional target path; if the condition is met, add a taboo space in the current matrix region, and determine whether there is a taboo point in the intra-regional target path;

[0086] S110: if there is a taboo point, regenerate the intra-regional target path according to the positions of the obstacles and the taboo space in the current matrix region, until there is no taboo point in the intra-regional target path;

[0087] During the execution of the intra-regional path planning process, the system further determines whether a taboo space needs to be introduced. If the determination condition is met, a taboo space is marked in the current matrix region, and it is determined whether the path contains a taboo point; if there is a taboo point, the intra-regional target path is regenerated in combination with the positions of the obstacles and the taboo space, until there is no taboo point in the path.

[0088] S111: make the target AMR perform the spool conveying task according to the intra-regional target path in the current matrix region.

[0089] Finally, the target AMR completes the intelligent obstacle avoidance conveying task of the spool from the start point to the end point according to the inter-regional target path and the dynamically adjusted intra-regional target path.

[0090] The technical solution considers the power, task quantity, working state and task level to ensure that the selected target AMR has the optimal condition to complete the task and improves the resource utilization. The regional division and node traversal are adopted to reduce the calculation complexity and improve the global path search efficiency. The obstacle distribution is considered in real time in the path adjustment process in the region, so that the AMR can flexibly cope with the complex and variable workshop environment. The taboo space rule is introduced to avoid the AMR from falling into the backtracking or round-trip path, and the path stability and task completion rate are improved. In summary, the technical solution can significantly improve the automation degree, obstacle avoidance ability and transportation efficiency of the silk spool transportation in the complex chemical fiber workshop environment.

[0091] Embodiment two

[0092] It should be noted that the target AMR is determined in all AMRs, including:

[0093] AMRs with the power higher than the first preset power threshold, the number of tasks in the task queue less than the preset task quantity threshold, the working state being idle, and the loadable level meeting the task level are selected as the preliminary selected AMRs.

[0094] If the preliminary selected AMRs are multiple, the preliminary selected AMR closest to the starting point of the path is determined as the target AMR.

[0095] After the system receives the silk spool transportation request, all AMRs in the available state are first screened. The screening conditions include:

[0096] Power constraint: the power needs to be higher than the first preset power threshold, so that the target AMR can complete the entire silk spool transportation task without stopping due to insufficient power.

[0097] Task queue constraint: the number of tasks in the task queue is less than the preset task quantity threshold, so as to ensure that the target AMR can execute the newly added silk spool transportation task in time and avoid task backlog.

[0098] Working state constraint: the current working state needs to be idle, i.e. not occupied by other tasks.

[0099] Load capacity constraint: according to the specifications of the silk spool, the AMR with the corresponding load level is matched to ensure the safety and stability during transportation.

[0100] The AMRs meeting the above conditions are selected as the preliminary selected AMRs.

[0101] If the number of preliminary selected AMRs is more than one, the system further sorts the preliminary selected AMRs according to the distance between the preliminary selected AMRs and the starting point of the path, and selects the preliminary selected AMR closest to the starting point of the path as the final target AMR. This way can minimize the AMR empty running distance and shorten the overall time of executing the task.

[0102] After the system determines the target AMR, the spindle transport task is immediately issued to the target AMR, and the target AMR performs the transport operation according to the subsequent path planning and navigation method.

[0103] Embodiment Three

[0104] It should be noted that after the spindle transport task is issued to the target AMR, the method further includes:

[0105] The real-time position of the target AMR is dynamically calculated by the UWB base station deployed in the workshop and the positioning algorithm.

[0106] A plurality of UWB (Ultra Wide Band) base stations are pre-deployed in the workshop environment. The UWB base stations are distributed in the main path area of the workshop, forming a positioning network covering the entire workshop.

[0107] When the target AMR performs the spindle transport task, the positioning module inside the target AMR interacts with the UWB base station and periodically sends positioning signals to the base station. The UWB base station calculates the relative position of the target AMR according to the time difference of arrival (TDOA) of the received signals.

[0108] The system dynamically calculates the real-time position of the target AMR in the workshop based on the signal data provided by the UWB base station, combined with the positioning algorithm (such as Kalman filter algorithm or particle filter algorithm). The positioning result is used to guide the subsequent path tracking and dynamic adjustment.

[0109] Embodiment Four

[0110] It should be noted that traversing the nodes between the path starting point and the path ending point includes:

[0111] Taking the path starting point or the path ending point as the root node;

[0112] Starting from the root node, the root node is marked as visited;

[0113] Visiting the unvisited neighbor nodes of the root node in turn, and marking the neighbor nodes as visited during the visiting process;

[0114] When the arrived node no longer has unvisited neighbor nodes, backtracking to the previous node is performed, and other unvisited neighbor nodes of the previous node are continued to be traversed;

[0115] Repeat the above steps until all nodes are visited;

[0116] Wherein, the traversal of the nodes is determined according to any one of the following rules:

[0117] Proximity priority based on geometric distance; or

[0118] Fixed scanning based on topological order.

[0119] In this embodiment, a depth-first search algorithm is used to traverse the nodes between the path starting point and the path ending point to generate the inter-regional target path. The depth-first search algorithm is an algorithm for traversing or searching a tree or graph. The algorithm explores each branch of the data structure recursively or using a stack until the target node is found or the entire data structure is traversed.

[0120] The depth-first search algorithm ensures that all nodes are traversed and potential feasible paths are not missed through backtracking mechanism and neighbor node marking.

[0121] In this embodiment, two traversal rules based on geometric distance and topological order are provided, and the balance between efficiency and stability can be selected according to task requirements.

[0122] The near-first rule can significantly shorten the traversal time and is suitable for quickly generating paths in dynamic environments; the topological order rule improves the determinacy of the algorithm and is suitable for use in scenarios with high path repeatability requirements.

[0123] Embodiment five

[0124] It should be noted that the obstacles in the current matrix region are determined, the part of the inter-regional target path in the current matrix region is adjusted according to the position of the obstacle, and the intra-regional target path is generated, including:

[0125] Applying an initial disturbance at the starting point position to generate a wave source;

[0126] Iteratively updating the wave equation in the grid environment to calculate the wave amplitude of each grid point, wherein the grid points occupied by the obstacles are skipped for updating;

[0127] When the wave amplitude of the target point is detected to exceed a preset threshold, path backtracking is triggered;

[0128] In the path backtracking process, from the target point, the node with the maximum wave amplitude in the adjacent nodes is selected as the next backtracking node in turn until the starting point is reached, and the path from the starting point to the target point is obtained as the intra-regional target path.

[0129] The matrix region has high environmental change frequency, large personnel flow, frequent replacement and movement of obstacles, at this time, in order to adapt to the dynamically changing environment, the water wave simulation algorithm is used in this technical solution to re-plan the path of the AMR in the matrix region.

[0130] Specifically:

[0131] The system applies an initial disturbance at the start position of the path to simulate the wave propagation process and generate a wave source. The wave source serves as the starting point of the path search, driving the path to gradually expand in the grid environment.

[0132] In the grid matrix area environment, the system iteratively updates each grid point based on the wave equation and calculates the wave amplitude value of each grid point.

[0133] For grid points where obstacles are located, the system skips the update operation, which is equivalent to forming a reflection or blocking area in the wave propagation.

[0134] Non-obstacle grid points normally propagate waves and gradually spread to the entire area.

[0135] When the wave amplitude value of the target point position is detected to exceed the preset threshold, the system determines that the wave has reached the target point and triggers the path backtracking process.

[0136] Starting from the target point, the system selects the node with the maximum wave amplitude value in the adjacent nodes as the next backtracking node, and includes the node in the path.

[0137] The path backtracking continues according to this rule until it backtracks to the starting position.

[0138] The backtracking result is the optimal path from the starting point to the target point, which is the target path in the area.

[0139] Example six

[0140] It should be noted that during the path planning process in the area, when any of the following conditions is met, it is determined that the condition for adding a taboo space is met:

[0141] Continuous straight-line blocking formed by obstacles is detected;

[0142] The straight-line distance between the target point and the current node is less than the preset space step, but the path is blocked by a temporary dynamic obstacle;

[0143] Repeated backtracking or round-trip path segments occur;

[0144] The wave propagation result appears to converge and stagnate in a non-target area.

[0145] Due to the complexity of the winding workshop, a row of silk carrying vehicles may block the route. At this time, the optimal path obtained by using the water wave simulation algorithm will cause the AMR to return to the original path, resulting in a local optimum. At the same time, if there is a moving obstacle at the target point, the best solution should be to wait in place. If only the water wave simulation algorithm is used, a local optimal phenomenon of detour or wandering in place will occur. In order to avoid the above problems, the tabu search algorithm is also added in the technical solution to solve the local optimal problem. When a straight row of long line obstacles appears or the optimal path is a straight line to the target point and is less than a certain space step, the backtracking path is set as a tabu space, which can avoid the above local optimal situation.

[0146] In the process of regional path planning, in order to ensure the stability and effectiveness of the path, when any of the following conditions is met, the system determines that the condition of adding a tabu space is met:

[0147] 1) Continuous blocking detection

[0148] During the wave propagation or node traversal process, if the system detects that the obstacles form a continuous straight-line blocking (for example, the channel is blocked by multiple devices arranged in parallel), it is determined that the existing path is not feasible, and at this time a tabu space needs to be added around the blocking area to avoid repeated attempts to invalid paths.

[0149] 2) Dynamic obstacle blocking

[0150] When the straight-line distance between the target point and the current node is less than the preset space step, but the path is temporarily blocked by a dynamic obstacle (such as a person or a moving silk carrying vehicle), the system determines that there is a path limitation. At this time, a tabu space is temporarily added at the position of the dynamic obstacle to prevent the path search from being trapped in invalid waiting or frequent recalculation.

[0151] 3) Repeated backtracking or round-trip path

[0152] During path search or execution, if the AMR repeatedly backtracks or appears a round-trip path segment in the same area, it indicates that the existing path has a logical trap. At this time, the system automatically marks the repeated area as a tabu space, forcing the path search to avoid such areas, thereby improving execution efficiency.

[0153] 4) Wave convergence stagnation

[0154] If the wave propagation result appears convergence or stagnation in a non-target area, i.e. the wave energy cannot continue to spread, the system judges that the area is a low-efficiency or dead-zone path, which is included in the tabu space to avoid subsequent path backtracking into a no-solution state.

[0155] After marking the forbidden space, the system further detects whether the target path in the region contains forbidden points; if it does, the target path in the region is regenerated in combination with the positions of the obstacles and the forbidden space until there are no forbidden points in the path.

[0156] Embodiment Seven

[0157] It should be noted that the method further comprises:

[0158] Receiving a visual image of the yarn receiving port sent by the target AMR in real time after reaching the start point of the path;

[0159] Adjusting the pose of the target AMR according to the visual image of the yarn receiving port, and taking the yarn through the mechanical arm of the target AMR;

[0160] Obtaining pressure sensor data of the target AMR, and determining whether the yarn taking is completed according to the pressure sensor data of the target AMR;

[0161] After the yarn taking is completed, the target AMR performs the spool conveying task according to the inter-regional target path.

[0162] After reaching the start point of the path (i.e., the position of the doffing winder), the target AMR calls the visual recognition module carried thereby to obtain a visual image of the yarn receiving port of the doffing winder in real time. Through image recognition techniques (such as edge detection, feature point recognition, and depth matching), the actual spatial position and pose of the yarn receiving port are obtained.

[0163] According to the pose information in the visual image of the yarn receiving port, the system calculates the relative position deviation between the target AMR vehicle body and the yarn receiving port. The target AMR adjusts the position and angle through the driving wheels and the auxiliary positioning module to ensure that it is in the optimal operating position for taking the yarn.

[0164] After the adjustment is completed, the mechanical arm of the target AMR is started, extends to the yarn receiving port according to the preset motion trajectory, and performs the yarn taking operation to unload the full spool from the winder.

[0165] During the yarn taking process performed by the mechanical arm, the system obtains pressure sensor data on the mechanical arm or the bearing platform of the target AMR in real time. By monitoring the change in the pressure value, it is determined whether the spool has been successfully grabbed and fixed.

[0166] When the pressure value reaches the preset stable range, the system confirms that the yarn taking is completed.

[0167] If the pressure value is abnormal (e.g., too small or too large), the system triggers a readjustment or alarm mechanism to avoid the spool from falling or being damaged.

[0168] After confirming that the yarn taking is completed, the system controls the target AMR to continue performing the spool conveying task according to the inter-regional target path and the intra-regional target path.

[0169] Embodiment Eight

[0170] It should be noted that the method further comprises:

[0171] receiving a target shelf visual image sent by the target AMR in real time after reaching the path endpoint;

[0172] adjusting the pose of the target AMR according to the target shelf visual image, and placing the spool to the target storage layer through the mechanical arm of the target AMR;

[0173] obtaining pressure sensor data of the target storage layer, and determining whether the placement is completed according to the pressure sensor data of the target storage layer;

[0174] after the placement is completed, removing the current spool transportation task from the task list of the target AMR, and moving the target AMR to the nearest standby area;

[0175] recording the completion of the current spool transportation task and the number of the target AMR.

[0176] After the target AMR reaches the path endpoint (i.e., the spool storage shelf position), it calls its visual recognition module to obtain the visual image of the target shelf in real time. Through image recognition algorithms (such as marker point detection, layer position recognition, and three-dimensional pose estimation), the actual position of the target shelf and the specific coordinates of the target storage layer are recognized.

[0177] According to the visual recognition result, the system calculates the relative pose deviation between the target AMR and the target shelf. The target AMR adjusts the position and angle of the vehicle body through the autonomous navigation system to ensure that the mechanical arm can be aligned with the target storage layer.

[0178] After the adjustment is completed, the mechanical arm of the target AMR extends to the target storage layer according to the preset motion trajectory, and slowly places the spool at the specified position of the layer.

[0179] During the spool placement process, the system obtains the pressure sensor data on the target storage layer in real time. By comparing the changes of the pressure values, it is determined whether the spool is placed correctly.

[0180] When the pressure value of the target storage layer reaches the preset range, the system confirms that the placement is completed.

[0181] If the pressure value is abnormal (such as not changing or exceeding the range), the system triggers the readjustment or alarm mechanism to avoid spool placement failure.

[0182] After confirming that the spool placement is completed, the system removes the current spool transportation task from the task list of the target AMR, and controls the target AMR to move to the nearest standby area.

[0183] At the same time, the system records the completion of this spool transportation task and the number of the target AMR for subsequent scheduling and statistical analysis.

[0184] Embodiment Nine

[0185] It should be noted that the method further comprises:

[0186] Real-time monitoring of the power and communication status of all AMRs;

[0187] When the power of the AMR is lower than the second preset power threshold, it is scheduled to a charging pile for charging;

[0188] When the communication of the AMR fails, the local visual obstacle avoidance system of the AMR is started for offline obstacle avoidance.

[0189] The system monitors the power and communication status of all AMRs in real time through the scheduling platform of the workshop. Each AMR periodically uploads its current battery power and wireless communication link status for unified management by the system.

[0190] When it is detected that the power of a certain AMR is lower than the second preset power threshold, the system immediately removes the AMR from the schedulable queue and schedules it to the nearest charging pile for automatic charging. After charging is completed, the AMR reenters the schedulable queue and participates in subsequent spool transportation tasks.

[0191] When it is detected that the communication status of a certain AMR is abnormal (for example, communication interruption or serious signal attenuation with the scheduling platform), the system determines that the AMR cannot temporarily receive central instructions. At this time, the system starts the local visual obstacle avoidance system of the AMR, so that it still has basic autonomous obstacle avoidance and safe parking capability in offline state, to avoid affecting personnel and equipment in the workshop.

[0192] When the AMR resumes normal communication, the system reenters it into the scheduling network and decides whether to continue executing the original task or to enter the standby area, to ensure the continuity and safety of the task scheduling process.

[0193] Embodiment Ten

[0194] An AMR path planning and navigation system applied to spool transportation, with reference to Figure 2 , comprising:

[0195] A processor 21 and a memory 22;

[0196] The processor 21 and the memory 22 are connected through a communication bus:

[0197] Among them, the processor 21 is used to call and execute the program stored in the memory 22;

[0198] The memory 22 is configured to store a program, which is used at least to execute the AMR path planning and navigation method applied to the silk spool conveying as in any one of the above embodiments.

[0199] It can be understood that the same or similar parts in the above embodiments can be mutually referred to, and the content not described in detail in some embodiments can be referred to the same or similar content in other embodiments.

[0200] It should be noted that in the description of the present application, the terms "first", "second" and the like are used only for the purpose of description and should not be understood as indicating or implying relative importance. In addition, in the description of the present application, unless otherwise specified, the meaning of "a plurality of" is at least two.

[0201] Any process or method descriptions in flow charts or described elsewhere herein can be understood as representing one or more steps in a set of steps performed by one or more computers, and that the set of steps can produce a result. Preferred embodiments of the present application can include additional or fewer steps or processes or can combine two or more processes described in whole or in part in a single process. The disclosure of processes presented herein can be understood as representing a selection of one or more processes from a larger set of processes, and that the set of processes can produce a result. Preferred embodiments of the present application can include additional or fewer processes or can combine two or more processes described in whole or in part in a single process.

[0202] It should be understood that parts of the present application can be realized in hardware, software, firmware or a combination thereof. In the above embodiments, a plurality of steps or methods can be realized by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if realized in hardware, and as in another embodiment, it can be realized by any one or a combination of the following technologies known in the art: discrete logic circuit with logic gate circuit for implementing logic functions on data signals, application specific integrated circuit with suitable combination logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA) and the like.

[0203] Those skilled in the art of the present technology can understand that all or part of the steps carried out by the above-mentioned embodiment method can be completed by a program instructing the relevant hardware, and the program can be stored in a computer readable storage medium. The program, when executed, includes one or a combination of the steps of the method embodiment.

[0204] In addition, each of the function units in each embodiment of the present application can be integrated in one processing module, or each unit can be physically present separately, or two or more units can be integrated in one module. The integrated module can be realized in the form of hardware, or in the form of a software function module. When the integrated module is realized in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0205] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0206] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0207] Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. An AMR path planning and navigation method applied to silk spool transportation, characterized in that, The method comprises the following steps: receiving a yarn spool conveying request sent by a winding machine; the yarn spool conveying request comprises: winding machine position, yarn spool storage rack, and yarn spool specification to be conveyed; setting the winding machine position as the starting point of the path, the yarn spool storage rack as the end point of the path, and determining the task level according to the yarn spool specification to be conveyed; acquiring the current information of all AMRs, including: position, power, task queue, and working state; based on the preset scheduling rules, determining the target AMR from all AMRs according to the starting point of the path, the end point of the path, the task level, and the current information of all AMRs, and issuing a yarn spool conveying task to the target AMR; dividing the workshop into multiple matrix areas, and setting the workshop equipment and fixed obstacles in the matrix areas as nodes; traversing the nodes between the starting point of the path and the end point of the path, outputting all feasible paths, and determining the path with the least number of nodes from all feasible paths as the inter-regional target path; making the target AMR execute the yarn spool conveying task according to the inter-regional target path; after the target AMR moves from the previous matrix area to the current matrix area, determining the obstacles in the current matrix area, adjusting the part of the inter-regional target path in the current matrix area according to the positions of the obstacles, and generating the intra-regional target path; judging whether the intra-regional target path meets the condition for adding a taboo space; if not, maintaining the intra-regional target path; if yes, adding a taboo space in the current matrix area, and judging whether there is a taboo point in the intra-regional target path; if there is a taboo point, re-generating the intra-regional target path according to the positions of the obstacles and the taboo space in the current matrix area until there is no taboo point in the intra-regional target path; making the target AMR execute the yarn spool conveying task according to the intra-regional target path in the current matrix area; wherein, during the intra-regional path planning process, when any of the following conditions is met, it is judged that the condition for adding a taboo space is met: detecting that the continuous straight row formed by the obstacles is blocked; the straight-line distance between the target point and the current node is less than the preset space step length, but the path is blocked by a temporary dynamic obstacle; a path segment with repeated backtracking or round trip appears; 2. The method of claim 1, wherein, the fluctuation propagation result appears convergence stagnation in a non-target area. determining the target AMR from all AMRs, comprising: selecting AMRs with power higher than a first preset power threshold, the number of tasks in the task queue less than a preset task quantity threshold, the working state being idle, and the loadable level meeting the task level as the preliminary selected AMRs; 3. The method of claim 1, wherein, if there are multiple preliminary selected AMRs, determining the preliminary selected AMR closest to the starting point of the path as the target AMR. after issuing the yarn spool conveying task to the target AMR, the method further comprises:

4. The method of claim 1, wherein, dynamically calculating the real-time position of the target AMR by the UWB base station and the positioning algorithm deployed in the workshop. traversing the nodes between the starting point of the path and the end point of the path, comprising: taking the starting point of the path or the end point of the path as the root node; starting from the root node, marking the root node as visited; visiting the unvisited neighbor nodes of the root node in turn, and marking the neighbor nodes as visited during the visiting process; When the arrived node no longer has unvisited neighbor nodes, backtracking to the previous node is performed, and other unvisited neighbor nodes of the previous node are continuously traversed; The above steps are repeated until all nodes are visited; Wherein, the traversal of the nodes is determined according to any one of the following rules: Proximity priority based on geometric distance; or Fixed scanning based on topological order.

5. The method of claim 1, wherein, Determine the obstacles in the current matrix region, adjust the part of the inter-region target path in the current matrix region according to the position of the obstacles, and generate the intra-region target path, comprising: Applying an initial disturbance at the starting point position to generate a wave source; Iteratively updating the wave equation in the grid environment to calculate the wave amplitude of each grid point, wherein the grid points where the obstacles are located are skipped for updating; When it is detected that the wave amplitude of the target point exceeds a preset threshold, triggering path backtracking; In the path backtracking process, from the target point, the node with the maximum wave amplitude in the adjacent nodes is selected as the next backtracking node in turn until the starting point is reached, and the path from the starting point to the target point is obtained as the intra-region target path.

6. The method of claim 1, wherein, The method further comprises: Receiving a filament receiving port visual image sent by the target AMR in real time after reaching the path starting point; Adjusting the pose of the target AMR according to the filament receiving port visual image, and taking the filament through the mechanical arm of the target AMR; Obtaining pressure sensor data of the target AMR, and determining whether the filament taking is completed according to the pressure sensor data of the target AMR; After the filament taking is completed, the target AMR is caused to perform a spool conveying task according to the inter-region target path.

7. The method of claim 1, wherein, The method further comprises: Receiving a target shelf visual image sent by the target AMR in real time after reaching the path ending point; Adjusting the pose of the target AMR according to the target shelf visual image, and placing the spool to the target storage layer through the mechanical arm of the target AMR; Obtaining pressure sensor data of the target storage layer, and determining whether the placement is completed according to the pressure sensor data of the target storage layer; After the placement is completed, the current spool conveying task is removed from the task list of the target AMR, and the target AMR is moved to the nearest standby area; Recording the completion of the current spool conveying task and the number of the target AMR.

8. The method of claim 1, wherein, The method further comprises: Real-time monitoring of the power and communication state of all AMRs; When the power of the AMR is lower than a second preset power threshold, scheduling to a charging pile for charging; When the communication of the AMR fails, starting the local visual obstacle avoidance system of the AMR for offline obstacle avoidance.

9. An AMR path planning and navigation system applied to silk spool transportation, characterized in that, Comprise: A processor and a memory; The processor and the memory are connected through a communication bus: Wherein, the processor is used to call and execute the program stored in the memory; The memory is used to store a program, and the program is used to execute at least one of the application of the AMR path planning and navigation method for spool conveying according to any one of claims 1-8.

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