Hull part polishing collaborative scheduling method and device for dynamic path planning

Abstract

The invention discloses a ship part polishing collaborative scheduling method and device for dynamic path planning, and belongs to the technical field of ship part machining. According to the invention, the grid map is generated through the working area information of the polishing work station, and a clear and accurate path planning basis can be provided for the automated guided vehicle; then a part transportation task and a part transportation path are determined on the basis of the real-time tray hopper state of the polishing work station and the grid map, and it is ensured that the part transportation task and the part transportation path can meet the actual requirements of ship body part polishing; then, an obstacle avoidance area is dynamically generated based on a part transportation task of the automatic guided vehicle, and frequent obstacle collision caused by a fixed safety distance is avoided; by collecting the real-time obstacle information and adjusting the part transportation path, smooth transportation of the automatic guided transport vehicle can be effectively ensured, the part transportation efficiency and stability of the automatic guided transport vehicle are improved, and therefore the grinding efficiency of the ship body parts is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of ship part processing, and particularly relates to a ship body part polishing collaborative scheduling method and device based on dynamic path planning. BACKGROUND

[0002] With the continuous development of ship manufacturing technology, the current ship is large and complex, and the ship manufacturing process is also complex. In the ship manufacturing process, a large number of ship body parts with complex structures and different sizes need to be polished. In the traditional mode, manual transportation is used, and workers need to manually transport the hoppers containing the ship body parts that need to be polished to the polishing station. This method has the problem of low polishing efficiency. With the development of intelligent manufacturing in Jiangsu and Zhejiang, automated guided vehicles (AGVs) have gradually replaced manual transportation.

[0003] In the current AGV scheme, the transportation route of the AGV is planned in the polishing area of the ship body part, and then multiple AGVs are controlled to transport the ship body parts that need to be polished and the ship body parts that have been polished, so as to realize seamless connection polishing of the ship body parts. Although this scheme can improve the efficiency compared with manual transportation, there are many uncertain and changing obstacles in the polishing area, such as moving equipment, temporarily stacked goods, or other AGVs. If the ship body parts are transported along a fixed transportation route, the AGVs will be frequently blocked in actual transportation, which seriously affects the polishing efficiency of the ship body parts. In addition, the obstacle recognition of the current AGV mostly uses a fixed safety distance, but the ship body part transportation task is complex and diverse, which also hinders the transportation of the AGV and reduces the polishing efficiency of the ship body parts. Therefore, there is an urgent need for a ship body part polishing collaborative scheduling method and device based on dynamic path planning to solve the defects of the prior art. SUMMARY

[0004] The application aims to provide a ship body part polishing collaborative scheduling method and device based on dynamic path planning to solve the above technical problems and improve the polishing efficiency of the ship body parts.

[0005] To solve the above technical problems, the application embodiment provides a ship body part polishing collaborative scheduling method based on dynamic path planning, which comprises:

[0006] Obtain the work area information of the polishing workstation, and generate a grid map of the polishing workstation based on the work area information;

[0007] acquire a real-time tray hopper state of the polishing workstation, and determine a part transportation task and a part transportation path of each automated guided vehicle in the polishing workstation based on the real-time tray hopper state and a grid map;

[0008] determine an obstacle avoidance area of each automated guided vehicle based on the part transportation task of each automated guided vehicle;

[0009] drive each automated guided vehicle to execute a corresponding part transportation task based on the part transportation path, and acquire real-time obstacle information of each automated guided vehicle based on a preset obstacle detection algorithm during execution of the part transportation task;

[0010] adjust the part transportation path based on the real-time obstacle information and the obstacle avoidance area of each automated guided vehicle until the automated guided vehicle completes the corresponding part transportation task.

[0011] It can be understood that the grid map generated based on the work area information of the polishing workstation can provide clear and accurate path planning basis for the automated guided vehicle, so that the automated guided vehicle can orderly run in a complex work area. Then, the part transportation task and the part transportation path are determined based on the real-time tray hopper state and the grid map of the polishing workstation, so that the part transportation task and the part transportation path can meet the actual needs of the ship part polishing, and the accuracy of the part transportation task and the part transportation path is improved. Then, the obstacle avoidance area is dynamically generated based on the part transportation task of the automated guided vehicle, so that the frequent obstacle collision caused by the fixed safety distance is avoided. By acquiring the real-time obstacle information and adjusting the part transportation path, the transportation of the automated guided vehicle can be effectively ensured, the obstacle collision is reduced, the part transportation efficiency and stability of the automated guided vehicle are improved, and the ship part polishing work can be continuously and stably performed, so that the polishing efficiency of the ship part is improved.

[0012] As a preferred solution, the acquiring of the real-time tray hopper state of the polishing workstation and the determining of the part transportation task and the part transportation path of each automated guided vehicle in the polishing workstation based on the real-time tray hopper state and the grid map comprises:

[0013] acquire a real-time tray hopper state of the polishing workstation, and determine a part transportation task and a part transportation path of each automated guided vehicle in the polishing workstation based on the real-time tray hopper state and a grid map;

[0014] generate a feeding transportation task when the semi-finished product incoming material buffer area real-time tray hopper state is a preset first state and the feeding area real-time tray hopper state is a preset second state;

[0015] when the real-time tray hopper state of the finished product buffer area is a preset third state and the real-time tray hopper state of the semi-finished product incoming material buffer area is a preset fourth state, a carrier transportation task is generated;

[0016] when the real-time tray hopper state of the finished product buffer area is a preset third state and the real-time tray hopper state of the semi-finished product incoming material buffer area is a preset fourth state, a carrier transportation task is generated;

[0017] Based on the feeding transportation task, the discharging transportation task and the carrier transportation task, the part transportation task of each automatic guided vehicle in the polishing workstation is determined;

[0018] The real-time position of each automatic guided vehicle is obtained, and the part transportation path of each automatic guided vehicle is generated in combination with the part transportation task and the grid map.

[0019] The preferred scheme is based on the real-time tray state of the semi-finished product buffer area, the feeding area, the discharging area and the finished product buffer area, dynamically generates the feeding, discharging and carrier transportation tasks, which can cover the whole process of ship part polishing, ensures that the part transportation task and the part transportation path can meet the actual needs of ship part polishing; the real-time position, the part transportation task and the grid map are used to generate the part transportation path, which ensures that the automatic guided vehicle can quickly reach the target position in a more reasonable way when executing the part transportation task, so that the ship parts can be timely and efficiently transferred between the various areas of the polishing workstation, thereby improving the polishing efficiency of the ship parts.

[0020] As a preferred scheme, the real-time position of each automatic guided vehicle is obtained, and the part transportation path of each automatic guided vehicle is generated in combination with the part transportation task and the grid map, including:

[0021] The real-time position of each automatic guided vehicle is obtained;

[0022] Based on the part transportation task of each automatic guided vehicle, the target position of each automatic guided vehicle is determined;

[0023] Based on the target position and the real-time position of each automatic guided vehicle, the target position node and the real-time position node of the automatic guided vehicle in the grid map are determined;

[0024] Based on the target position node and the real-time position node, the grid map is solved with the minimum sum of path node intervals as the target, and the path node set of each automatic guided vehicle is obtained;

[0025] Based on the path node set of each automatic guided vehicle, the part transportation path of each automatic guided vehicle is determined.

[0026] The preferred scheme obtains the target position node and the real-time position node in the grid map through the target position and the real-time position, and the sum of the interval of the path nodes is minimized as the target, so that the part transportation path can be shorter, the automatic guided vehicle transportation distance and time are reduced, the polishing of the ship parts can be efficiently carried out, and the polishing efficiency of the ship parts is improved.

[0027] As a preferred scheme, the obstacle avoidance area of each automatic guided vehicle is determined based on the part transportation task of each automatic guided vehicle, comprising:

[0028] The general carrier transportation condition of each automatic guided vehicle is determined based on the part transportation task of each automatic guided vehicle.

[0029] The size information of each automatic guided vehicle and the general carrier size information are obtained.

[0030] When the general carrier transportation condition is no general carrier, the vehicle contour data of each automatic guided vehicle is determined based on the size information of each automatic guided vehicle, and the obstacle avoidance area of each automatic guided vehicle is determined in combination with the preset safety distance.

[0031] When the general carrier transportation condition is with general carrier, the vehicle contour data of each automatic guided vehicle is determined based on the size information of each automatic guided vehicle, and the carrier contour data is determined based on the general carrier size information.

[0032] The vehicle contour data and the carrier contour data of each automatic guided vehicle are determined based on the vehicle contour data and the carrier contour data, and the obstacle avoidance area of each automatic guided vehicle is determined in combination with the preset safety distance.

[0033] The preferred scheme dynamically determines the obstacle avoidance area based on the general carrier transportation condition of the automatic guided vehicle and the size information of the automatic guided vehicle, which can adaptively and accurately customize appropriate obstacle avoidance range for each automatic guided vehicle, avoid reducing transportation efficiency or safety accidents caused by too large or too small obstacle avoidance range, and effectively avoid obstacles in complex working conditions, reduce collision risk, ensure smooth execution of the part transportation task, and improve the polishing efficiency of the ship parts.

[0034] As a preferred scheme, the part transportation path is used to drive each automatic guided vehicle to execute the corresponding part transportation task, and in the process of executing the part transportation task, the real-time obstacle information of each automatic guided vehicle is collected based on a preset obstacle detection algorithm, comprising:

[0035] Based on the part transportation path, each of the automatic guided transport vehicles is driven to perform a corresponding part transportation task;

[0036] During the part transportation task execution of each of the automatic guided transport vehicles, a plurality of environment point cloud data of the automatic guided transport vehicle is determined based on a preset laser scanning method;

[0037] The plurality of environment point cloud data of the automatic guided transport vehicle is preprocessed to construct an environment object contour of the automatic guided transport vehicle;

[0038] Based on a preset perception library algorithm, the environment map of the automatic guided transport vehicle is constructed in combination with the environment point cloud data;

[0039] Based on the environment object contour and the environment map, real-time obstacle information of the automatic guided transport vehicle is determined.

[0040] The preferred scheme obtains environment point cloud data by a preset laser scanning method, thereby constructing an environment object contour, and constructs an environment map by a preset perception library algorithm, thereby being able to obtain real-time obstacle information around the automatic guided transport vehicle in real time and accurately, avoiding transportation interruption or delay caused by obstacles, ensuring the continuity of part transportation, thereby improving the turnover efficiency of ship body parts in the polishing process, and further improving the polishing efficiency of the ship body parts.

[0041] As a preferred scheme, the part transportation path is adjusted based on the real-time obstacle information and the obstacle avoidance area of each of the automatic guided transport vehicles until the corresponding part transportation task of the automatic guided transport vehicle is completed, including:

[0042] Based on the real-time obstacle information and the obstacle avoidance area of each of the automatic guided transport vehicles, the safety obstacle avoidance condition of each of the automatic guided transport vehicles is determined;

[0043] When the safety obstacle avoidance condition of the automatic guided transport vehicle is that safety obstacle avoidance needs to be performed, the automatic guided transport vehicle is driven to stop moving based on a preset obstacle avoidance priority order, and the duration of stopping moving is recorded;

[0044] When the duration of stopping moving exceeds a preset time threshold, the real-time position and the target position of the automatic guided transport vehicle are obtained, and the real-time part transportation path of the automatic guided transport vehicle is determined in combination with the grid map;

[0045] The real-time part transportation path is taken as the part transportation path of the automatic guided transport vehicle to complete the adjustment of the part transportation path;

[0046] Based on the adjusted part transportation path, the automatic guided vehicle is driven to continue to perform the corresponding part transportation task until the automatic guided vehicle completes the corresponding part transportation task.

[0047] The preferred scheme determines a safe obstacle avoidance condition through real-time obstacle information and an obstacle avoidance area, and stops the movement of the automatic guided vehicle in combination with an obstacle avoidance priority order, and then re-plans a part transportation path when the duration of the stopped movement exceeds a preset time threshold, which can avoid long-time stopped transportation and delay of the hull part transportation, reduce the influence of obstacles on the hull part transportation, and guarantee the efficiency of the hull part transportation, thereby improving the polishing efficiency of the hull part.

[0048] Correspondingly, the embodiment of the present application provides a hull part polishing collaborative scheduling device with dynamic path planning, comprising: a grid map construction module, a transportation task and path determination module, an obstacle avoidance area construction module, a real-time obstacle information acquisition module and a dynamic path planning module.

[0049] The grid map construction module is used to acquire the working area information of the polishing workstation, and generate a grid map of the polishing workstation based on the working area information;

[0050] The transportation task and path determination module is used to acquire the real-time tray hopper state of the polishing workstation, and determine the part transportation task and part transportation path of each automatic guided vehicle in the polishing workstation based on the real-time tray hopper state and the grid map;

[0051] The obstacle avoidance area construction module is used to determine the obstacle avoidance area of each automatic guided vehicle based on the part transportation task of each automatic guided vehicle;

[0052] The real-time obstacle information acquisition module is used to drive each automatic guided vehicle to perform the corresponding part transportation task based on the part transportation path, and acquire the real-time obstacle information of each automatic guided vehicle based on a preset obstacle detection algorithm during the execution of the part transportation task;

[0053] The dynamic path planning module is used to adjust the part transportation path based on the real-time obstacle information and the obstacle avoidance area of each automatic guided vehicle until the automatic guided vehicle completes the corresponding part transportation task.

[0054] As a preferred scheme, the transportation task and path determination module comprises a transportation task and path determination unit.

[0055] The transportation task and path determination unit is configured to acquire real-time tray hopper states of the polishing workstations, the real-time tray hopper states including: a semi-finished product incoming material buffer area real-time tray hopper state, a feeding area real-time tray hopper state, a discharging area real-time tray hopper state, and a finished product buffer area real-time tray hopper state;

[0056] When the semi-finished product incoming material buffer area real-time tray hopper state is a preset first state, and the feeding area real-time tray hopper state is a preset second state, a feeding transportation task is generated.

[0057] When the finished product buffer area real-time tray hopper state is a preset third state, and the semi-finished product incoming material buffer area real-time tray hopper state is a preset fourth state, a carrier transportation task is generated.

[0058] When the discharging area real-time tray hopper state is a preset fifth state, and the finished product buffer area real-time tray hopper state is a preset fourth state, a discharging transportation task is generated.

[0059] Based on the feeding transportation task, the discharging transportation task, and the carrier transportation task, a part transportation task of each automated guided vehicle in the polishing workstations is determined.

[0060] Real-time positions of each of the automated guided vehicles are acquired, and a part transportation path of each of the automated guided vehicles is generated in combination with the part transportation task and a grid map.

[0061] As a preferred solution, the transportation task and path determination unit includes a part transportation path determination subunit.

[0062] The part transportation path determination subunit is configured to acquire real-time positions of each of the automated guided vehicles.

[0063] Based on the part transportation task of each of the automated guided vehicles, a target position of each of the automated guided vehicles is determined.

[0064] Based on the target position and the real-time position of each of the automated guided vehicles, a target position node and a real-time position node of the automated guided vehicle in the grid map are determined.

[0065] Based on the target position node and the real-time position node, the grid map is solved to obtain a path node set of each of the automated guided vehicles, with the objective of minimizing the total distance between path nodes.

[0066] Based on the path node set of each of the automated guided vehicles, a part transportation path of each of the automated guided vehicles is determined.

[0067] As a preferred solution, the obstacle avoidance area construction module includes an obstacle avoidance area construction unit.

[0068] The obstacle avoidance area construction unit is configured to determine a general carrier transportation condition of each of the automated guided transport vehicles based on the part transportation task of each of the automated guided transport vehicles.

[0069] The size information of each of the automated guided transport vehicles and the general carrier size information are acquired.

[0070] When the general carrier transportation condition is no general carrier, the vehicle contour data of each of the automated guided transport vehicles is determined based on the size information of each of the automated guided transport vehicles, and the obstacle avoidance area of each of the automated guided transport vehicles is determined in combination with a preset safety distance.

[0071] When the general carrier transportation condition is a general carrier, the vehicle contour data is determined based on the size information of each of the automated guided transport vehicles, and the carrier contour data is determined based on the general carrier size information.

[0072] The vehicle contour data and the carrier contour data are used to determine the vehicle contour data of each of the automated guided transport vehicles, and the obstacle avoidance area of each of the automated guided transport vehicles is determined in combination with a preset safety distance.

[0073] It can be understood that the device generates a grid map of the working area of the polishing workstation, which can provide a clear and accurate path planning basis for the automated guided transport vehicle, so that it can run in order in a complex working area. Then, the part transportation task and the part transportation path are determined based on the real-time tray hopper state of the polishing workstation and the grid map, so that the part transportation task and the part transportation path can meet the actual needs of the ship part polishing, and the accuracy of the part transportation task and the part transportation path is improved. Then, the obstacle avoidance area is dynamically generated based on the part transportation task of the automated guided transport vehicle, so as to avoid frequent obstacle collisions caused by a fixed safety distance. By collecting real-time obstacle information and adjusting the part transportation path, the transportation of the automated guided transport vehicle can be effectively ensured, the obstacle collision is reduced, the part transportation efficiency and stability of the automated guided transport vehicle are improved, and the ship part polishing work can be continuously and stably carried out, so as to improve the polishing efficiency of the ship part. BRIEF DESCRIPTION OF DRAWINGS

[0074] Figure 1 A step flow chart of a dynamic path planning ship part polishing collaborative scheduling method provided by the embodiment of the present application;

[0075] Figure 2 A schematic diagram of a grid map provided by the embodiment of the present application;

[0076] Figure 3 A structural schematic diagram of a dynamic path planning ship part polishing collaborative scheduling device provided by the embodiment of the present application. DETAILED DESCRIPTION

[0077] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0078] Embodiment one

[0079] Please refer to Figure 1 , Figure 1 A step flow chart of a dynamic path planning ship body part polishing collaborative scheduling method provided by the embodiment of the present application, comprising steps S101 to S105.

[0080] Step S101: Obtain the work area information of the polishing workstation, and generate the grid map of the polishing workstation based on the work area information.

[0081] It should be noted that the current polishing workstation usually includes a plurality of different polishing devices and a plurality of automatic guided vehicles, and different work areas are provided to ensure that the ship body part polishing work can be continuously and uninterruptedly executed. Specifically, the polishing devices include automatic guided vehicles, polishing robots, grabbing robots, work platforms, tool clamps, automatic tool changers, general carriers, tray hoppers, etc. The polishing robot selects the corresponding tool for polishing according to different ship body parts, the grabbing robot uses the tool clamp to grab the ship body part from the tray hopper on the general carrier; the tray hopper is used to carry the ship body part; the general carrier is used to carry the tray hopper; the automatic guided vehicle is used to transport the general carrier, thereby realizing the circulation of the ship body part in different work areas. In addition, the polishing workstation is also equipped with an automatic guided vehicle scheduling system, which is used to allocate part transportation tasks and plan part transportation paths for the automatic guided vehicle, and drive the movement or stop of the automatic guided vehicle. The automatic guided vehicle uses omnidirectional drive, can perform forward, backward and rotation operations, and supports multi-level power threshold control, and can automatically charge at the charging station when the power is low.

[0082] The working area is generally divided into a polishing area, a charging station, a feeding area, a discharging area, a semi-finished product incoming material buffer area and a finished product buffer area; the polishing area is a working area for polishing ship body parts by polishing robots, grabbing robots, work platforms and other polishing equipment; the semi-finished product incoming material buffer area is used to store ship body parts that need to be polished, and the feeding area is also used to store ship body parts that need to be polished, but the ship body parts in the feeding area will be gradually grabbed by the grabbing robot and then polished by the polishing robot; and the discharging area is used to temporarily store the ship body parts polished by the polishing robot; the ship body parts in the discharging area will be transported to the finished product buffer area, which is used to store the ship body parts that have been polished; the charging station is used to charge the automated guided vehicles;

[0083] Further, the feeding area, the discharging area and the semi-finished product incoming material buffer area are usually provided with general carrier placement positions for storing general carriers, and the feeding area, the discharging area and the semi-finished product incoming material buffer area of the embodiment are each provided with three general carriers; the size of the general carrier is 2150mmx1700mmx502mm; and the general carrier can place a tray hopper with a length of 2000mm and a width of 1200mm or 1500mm;

[0084] In particular, the size of the general carrier and the tray hopper is not limited in the embodiment, but is only used for illustration; in the actual polishing process of the ship body parts, the size of the general carrier and the tray hopper can be changed according to actual needs.

[0085] In an optional embodiment, please refer to Figure 2 , Figure 2 a schematic diagram of a grid map provided by the embodiment of the application; the working area information of the polishing workstation is obtained, and a grid map of the polishing workstation is generated based on the working area information; specifically, as shown in Figure 2 , it is assumed that the working area information includes three feeding areas, three discharging areas, one finished product buffer area and one semi-finished product incoming material buffer area; the position coordinates of the three feeding areas, the three discharging areas, the one finished product buffer area and the one semi-finished product incoming material buffer area are obtained; the position two-dimensional code corresponding to each working area is generated according to the position coordinates, and the position two-dimensional code is mapped to the automated guided vehicle scheduling system, each working area is taken as a node, and a grid map is constructed; as shown in Figure 2As shown in the figure, the dashed boxes therein mark that they are the loading area, the unloading area, the finished product buffer area or the semi-finished product buffer area; in these working areas, the rectangular patterns mark the storage points of the hull parts in the working areas; in particular, in the polishing work station, the polishing area is generally arranged in the middle of the loading area and the unloading area, so that a coherent process of loading, polishing and unloading can be formed, but in the polishing area, polishing is generally performed by the polishing equipment, and the movement of the automated guided vehicle is not involved; therefore, in the example of the grid map provided in this embodiment, the polishing area is not depicted; in addition, based on the actual layout of the polishing work station, the positions of the loading area, the unloading area, the finished product buffer area and the semi-finished product buffer area are also different, and therefore the grid map is also different.

[0086] Further, based on the position coordinates of the working areas, a plurality of path nodes are arranged between the working areas, and the position two-dimensional codes of the path nodes are acquired, and the position two-dimensional codes of the path nodes are also mapped into the automated guided vehicle scheduling system, so as to generate the path nodes in the grid map; the path nodes are used to represent the paths between two working areas, such as Figure 2 As shown in the figure, the circles in the figure represent the path nodes, and through the connection of the path nodes, the paths between different working areas can be constructed; the arrows represent the connection directions between different working areas.

[0087] In an optional embodiment, the position two-dimensional codes of each working area and path node are arranged on the ground at the positions of the corresponding working areas, and the current working area and path node can be identified by scanning the position two-dimensional codes; the positioning two-dimensional code is also arranged at the bottom center of the general carrier, and the positioning two-dimensional code is used to realize the positioning between the automated guided vehicle and the general carrier when the automated guided vehicle transports the general carrier.

[0088] Step S102: acquiring the real-time tray hopper state of the polishing work station, and determining the part transportation task and the part transportation path of each automated guided vehicle in the polishing work station based on the real-time tray hopper state and the grid map.

[0089] In this embodiment, the acquisition of the real-time tray hopper state of the polishing work station and the determination of the part transportation task and the part transportation path of each automated guided vehicle in the polishing work station based on the real-time tray hopper state and the grid map include:

[0090] The real-time tray hopper state of the polishing work station includes: the real-time tray hopper state of the semi-finished product buffer area, the real-time tray hopper state of the loading area, the real-time tray hopper state of the unloading area and the real-time tray hopper state of the finished product buffer area;

[0091] When the real-time tray hopper state of the semi-finished product incoming material buffer area is a preset first state, and the real-time tray hopper state of the feeding area is a preset second state, a feeding transport task is generated;

[0092] When the real-time tray hopper state of the finished product buffer area is a preset third state, and the real-time tray hopper state of the semi-finished product incoming material buffer area is a preset fourth state, a carrier transport task is generated;

[0093] When the real-time tray hopper state of the discharging area is a preset fifth state, and the real-time tray hopper state of the finished product buffer area is a preset fourth state, a discharging transport task is generated;

[0094] Based on the feeding transport task, the discharging transport task and the carrier transport task, a part transport task of each automatic guided vehicle in the polishing workstation is determined;

[0095] The real-time position of each automatic guided vehicle is obtained, and a part transport path of each automatic guided vehicle is generated in combination with the part transport task and a grid map.

[0096] It should be noted that the photoelectric sensor is a device for detecting the presence or absence of an object by emitting a light beam. When the target object interrupts or reflects the light beam, the internal light receiver will convert the light signal into an electrical signal, thereby non-contact detecting the existence, distance or surface characteristics of the object. The 3D camera is a device capable of capturing depth information and three-dimensional spatial coordinates of an object, and is widely used in robot navigation, three-dimensional mapping, AR / VR, industrial detection and biometric recognition fields. The gravity sensor detects the existence of an object by sensing the small deformation of the platform caused by weight changes, and then causes the internal strain resistance value to change, and then outputs an electrical signal proportional to the weight through a Wheatstone bridge, thereby realizing non-visual, high-reliability detection of the existence of an object.

[0097] In an optional embodiment, the preset first state is that there is a general carrier and a tray hopper, and the tray hopper has materials; the preset second state is that there is a general carrier and a tray hopper, and the tray hopper has no materials; the preset third state is that there is a general carrier and no tray hopper; the preset fourth state is that there is no general carrier and no tray hopper; and the preset fifth state is that there is a general carrier and a tray hopper, and the tray hopper is full of materials;

[0098] Further, the real-time tray hopper state can be completed through cooperation with sensors. Specifically, two groups of photoelectric sensors are installed in the tray hopper placement area of the semi-finished product incoming material buffer area and the finished product buffer area. The presence or absence of the general carrier and the tray hopper in the tray hopper placement area of the semi-finished product incoming material buffer area and the finished product buffer area is detected through the photoelectric sensor. A 3D camera is installed in the loading area, and a 3D camera is installed in the polishing area, and a gravity sensor is installed on the work platform in the polishing area, so as to judge the real-time tray hopper state of the loading area and the real-time tray hopper state of the unloading area.

[0099] Specifically, since the semi-finished product incoming buffer area and the finished product buffer area are the interaction areas of the workers and the polishing workstations; in the semi-finished product incoming buffer area, the workers will place the tray containing the ship body parts that need to be polished on the general carrier, that is, at this time, the first state; and the automated guided vehicle will transport the tray containing the ship body parts that need to be polished to the loading area through the general carrier, that is, at this time, there is no general carrier and no tray, which is the fourth state; the existence or nonexistence of the general carrier and the tray in the semi-finished product incoming buffer area is sensed by the photoelectric sensor, and the real-time tray state of the semi-finished product incoming buffer area can be obtained; and in the finished product buffer area, if there is no general carrier and no tray at this time, it indicates that the finished product buffer area can accommodate the tray containing the polished ship body parts and the general carrier, that is, at this time, the fourth state; and when the automated guided vehicle transports the tray containing the polished ship body parts to the finished product buffer area through the general carrier, the workers will then transport the tray containing the polished ship body parts to other ship production and manufacturing links, so that at this time, the finished product buffer area has the general carrier but no tray, that is, the third state; the existence or nonexistence of the general carrier and the tray in the finished product buffer area is sensed by the photoelectric sensor, and the real-time tray state of the finished product buffer area can be obtained; the loading area, the polishing area, and the unloading area form a coherent and coordinated work flow, in which the ship body parts that need to be polished in the tray of the loading area will be sent to the polishing area by the corresponding polishing equipment for polishing, and after polishing, the ship body parts will be sent to the tray in the unloading area by the corresponding polishing equipment; therefore, the loading area is scanned and identified by the 3D camera, and if it meets the general carrier and the tray, and the tray has no material, that is, the real-time state of the tray in the loading area is the second state, at this time, it indicates that the ship body parts that need to be polished in the tray in the loading area have all been sent to the polishing area for polishing; and the tray in the unloading area will begin to accept the polished ship body parts, as the ship body parts that need to be polished in the tray in the loading area are gradually polished, the polished ship body parts in the tray in the unloading area gradually increase, at this time, the tray in the unloading area gradually transitions from having material to being full, and when the 3D camera of the loading area identifies that the last ship body part that needs to be polished in the tray in the loading area has been sent to the polishing area, the 3D camera and the gravity sensor of the polishing area will detect the state of the last ship body part that needs to be polished, and when the last ship body part that needs to be polished is polished and delivered to the tray in the unloading area, at this time, it is determined that the ship body parts that need to be polished in the tray in the loading area have all been polished and placed in the tray in the unloading area, that is, the tray in the unloading area changes from having material to being full, at this time, the real-time tray state of the unloading area is that there is a general carrier and a tray, and the tray is full, that is, the fifth state.

[0100] It should be noted that the combination of 3D camera, gravity sensor and photoelectric sensor is used for detecting the tray state of the tray in the embodiment. The skilled in the art can replace other detection devices and other detection methods according to actual needs, and the embodiment does not make too many limitations on this.

[0101] In an optional embodiment, when the real-time tray state of the semi-finished product incoming buffer area is that there is a general carrier and a tray, and the tray has materials; and the real-time tray state of the feeding area is that there is a general carrier and a tray, and the tray has no materials, it indicates that the feeding area lacks ship body parts to be polished, and the semi-finished product incoming buffer area has ship body parts to be polished. At this time, a feeding transport task is generated, and the feeding transport task requires the automated guided vehicle to move to the semi-finished product incoming buffer area to transport the tray with materials and the general carrier to the feeding area lacking the ship body parts to be polished.

[0102] When the real-time tray state of the finished product buffer area is that there is a general carrier and no tray, and the real-time tray state of the semi-finished product incoming buffer area is that there is no general carrier and no tray, it indicates that the finished product buffer area has the ship body parts polished, which has been taken away (this process is a general process of polishing ship body parts, and generally, a forklift is used to transport the tray to other processes of ship manufacturing, and the embodiment does not make too many repetitions). The semi-finished product incoming buffer area has no general carrier and no tray, so it is necessary to transport the general carrier in the finished product buffer area to the semi-finished product incoming buffer area, so that the staff can place the tray with the ship body parts to be polished on the general carrier. That is, a carrier transport task is generated at this time, and the carrier transport task requires the automated guided vehicle to move to the finished product buffer area to transport the general carrier to the semi-finished product incoming buffer area.

[0103] When the real-time tray state of the discharging area is that there is a general carrier and a tray, and the tray is full of materials (i.e., the fifth state), and the real-time tray state of the finished product buffer area is that there is no general carrier and no tray (i.e., the fourth state), it indicates that the tray and the general carrier in the discharging area meet the requirements of being transported to the finished product buffer area, and the finished product buffer area can have a spare position to accommodate the general carrier and the tray. Therefore, a discharging transport task is generated at this time; the discharging transport task requires the automated guided vehicle to move to the discharging area to transport the tray in the discharging area to the finished product buffer area through the general carrier.

[0104] In an optional embodiment, based on the feeding transport task, the discharging transport task and the carrier transport task, an idle automated guided vehicle is selected to assign the task. The general principle of assigning the task is the principle of proximity, that is, the idle automated guided vehicle closer to the destination of the task is preferred. In particular, the embodiment does not limit the principle of task assignment, and the skilled in the art can select other assignment standards according to actual needs.

[0105] The embodiment is based on the real-time tray state of the semi-finished product buffer area, the feeding area, the discharging area and the finished product buffer area, dynamically generates the feeding, discharging and carrier transportation tasks, can cover the whole process of the ship part polishing, ensures that the part transportation task and the part transportation path can meet the actual needs of the ship part polishing; generates the part transportation path based on the real-time position, the part transportation task and the grid map, ensures that the automatic guided vehicle can quickly reach the target position in a more reasonable way when executing the part transportation task, so that the ship parts can be timely and efficiently transferred between the various areas of the polishing workstation, thereby improving the polishing efficiency of the ship parts.

[0106] In the embodiment, the real-time position of each automatic guided vehicle is acquired, and the part transportation path of each automatic guided vehicle is generated in combination with the part transportation task and the grid map, including:

[0107] The real-time position of each automatic guided vehicle is acquired;

[0108] The target position of each automatic guided vehicle is determined based on the part transportation task of each automatic guided vehicle;

[0109] The target position node and the real-time position node of the automatic guided vehicle in the grid map are determined based on the target position and the real-time position of each automatic guided vehicle;

[0110] The grid map is solved based on the target position node and the real-time position node, so as to obtain the path node set of each automatic guided vehicle, with the sum of the path node intervals being minimized as the target;

[0111] The part transportation path of each automatic guided vehicle is determined based on the path node set of each automatic guided vehicle.

[0112] In an optional embodiment, different part transportation tasks have different target positions, for example, the target positions of the feeding transportation task have two, i.e., the semi-finished product feeding buffer area and the feeding area; the target positions of the discharging transportation task have two, i.e., the discharging area and the finished product buffer area; the target positions of the carrier transportation task have two, i.e., the finished product buffer area and the semi-finished product feeding buffer area; based on the difference of the part transportation task, the target positions of each part transportation task also have different reaching sequences;

[0113] Further, the real-time position of the automatic guided vehicle is acquired, specifically, a visual scanning system is installed in the automatic guided vehicle, and the real-time position of the automatic guided vehicle can be known by scanning the position two-dimensional code deployed on the ground;

[0114] After the real-time position is acquired, the corresponding target position node and real-time position node in the grid map are found in combination with the target position, and then a path node set of each of the automatic guided transport vehicles is obtained by using a path solving algorithm to solve the grid map with the minimum sum of path node intervals as the target, that is, with the shortest length of the part transport path as the target.

[0115] It should be noted that the path solving algorithm can use an ant colony algorithm or a Dijkstra algorithm; wherein the Dijkstra algorithm (Dijkstra's Algorithm) is a classic algorithm for finding the shortest path from a single vertex to all other vertices. The ant colony algorithm (Ant Colony Optimization) is a probabilistic meta-heuristic optimization algorithm that simulates the foraging behavior of ants in nature.

[0116] The embodiment obtains the target position node and the real-time position node in the grid map through the target position and the real-time position, and solves the grid map with the minimum sum of path node intervals as the target, so that the part transport path can be shorter, the transport distance and time of the automatic guided transport vehicle are reduced, the polishing of the ship parts can be efficiently performed, and the polishing efficiency of the ship parts is improved.

[0117] Step S103: determining an obstacle avoidance area of each of the automatic guided transport vehicles based on the part transport task of each of the automatic guided transport vehicles.

[0118] In the embodiment, the determination of the obstacle avoidance area of each of the automatic guided transport vehicles based on the part transport task of each of the automatic guided transport vehicles comprises:

[0119] determining a general carrier transport condition of each of the automatic guided transport vehicles based on the part transport task of each of the automatic guided transport vehicles;

[0120] acquiring size information of each of the automatic guided transport vehicles and general carrier size information;

[0121] when the general carrier transport condition is no general carrier, determining vehicle contour data of each of the automatic guided transport vehicles based on the size information of each of the automatic guided transport vehicles, and determining the obstacle avoidance area of each of the automatic guided transport vehicles in combination with a preset safety distance;

[0122] when the general carrier transport condition is a general carrier, determining vehicle contour data based on the size information of each of the automatic guided transport vehicles, and determining carrier contour data based on the general carrier size information;

[0123] Determine the outer contour data of each automated guided vehicle based on the vehicle outer contour data and the carrier outer contour data, and determine the obstacle avoidance area of each automated guided vehicle in combination with a preset safety distance.

[0124] In an optional embodiment, since the tray hopper needs a general carrier as a carrier for transportation, and the size of the tray hopper is smaller than the general carrier, only whether the automated guided vehicle carries the general carrier needs to be considered; and the same size of obstacle has different influences on different sizes of general carriers and automated guided vehicles; therefore, when considering the obstacle avoidance area of the automated guided vehicle, whether the general carrier is considered needs to be considered;

[0125] Further, obtain the size information of each automated guided vehicle and the size information of the general carrier; when the general carrier transportation condition is no general carrier, take the center point of the vehicle body of the automated guided vehicle as the origin, the positive direction of the X axis as the direction of the vehicle head, and the positive direction of the Y axis as the left direction of the vehicle head to construct the coordinate system of the automated guided vehicle; based on the size information of the automated guided vehicle, determine the farthest distances of the automated guided vehicle in the positive direction of the X axis, the negative direction of the X axis, the positive direction of the Y axis, and the negative direction of the Y axis, and based on the farthest distances in the four directions, the rectangle surrounded is recorded as the outer contour of the automated guided vehicle; the farthest distances in the four directions are recorded as the outer contour data of the automated guided vehicle; then set the safety distance as 0.1 meters, add the safety distance to the farthest distances in the four directions respectively, and the rectangle surrounded after the addition is recorded as the obstacle avoidance area of the automated guided vehicle;

[0126] When the general carrier transport condition is that there is a general carrier, the general carrier is loaded on the automated guided vehicle at this time, and the general carrier has a positioning two-dimensional code. Through the positioning two-dimensional code, the relative relationship between the general carrier and the automated guided vehicle can be adjusted to ensure that the general carrier and the automated guided vehicle share a same coordinate system origin and coordinate axes are aligned (since the matching and alignment of the general carrier and the automated guided vehicle in the transportation of the ship body parts are a routine process, this embodiment will not be described in detail here). At this time, the coordinate system of the automated guided vehicle is constructed, and the maximum distances of the automated guided vehicle in the positive direction of the X-axis, the negative direction of the X-axis, the positive direction of the Y-axis, and the negative direction of the Y-axis are determined based on the size information of the automated guided vehicle. Based on the maximum distances in the four directions, a rectangle formed by the four directions is recorded as vehicle outer contour data. Based on the size information of the general carrier, the maximum distances of the general carrier in the positive direction of the X-axis, the negative direction of the X-axis, the positive direction of the Y-axis, and the negative direction of the Y-axis are determined. Based on the maximum distances in the four directions, a rectangle formed by the four directions is recorded as carrier outer contour data. The maximum distances of the vehicle outer contour data and the carrier outer contour data in the four directions are compared, and the maximum values in the four directions are taken. A rectangle formed by the four directions is recorded as the outer contour data of the automated guided vehicle. Then, a safety distance of 0.1 meters is set, and the safety distance is added to the outer contour data. A rectangle formed after the addition is recorded as the obstacle avoidance area of the automated guided vehicle.

[0127] The embodiment dynamically determines the obstacle avoidance area based on the general carrier transport condition of the automated guided vehicle and the size information of the automated guided vehicle, can adaptively and accurately customize a suitable obstacle avoidance range for each automated guided vehicle, avoids reduced transportation efficiency or safety accidents caused by an excessively large or small obstacle avoidance range, can effectively avoid obstacles in a complex working environment, reduces the risk of collision, ensures smooth execution of the part transportation task, and improves the polishing efficiency of the ship body parts.

[0128] Step S104: based on the part transportation path, driving each of the automated guided vehicles to execute a corresponding part transportation task, and in the process of executing the part transportation task, collecting real-time obstacle information of each of the automated guided vehicles based on a preset obstacle detection algorithm.

[0129] In the embodiment, based on the part transportation path, driving each of the automated guided vehicles to execute a corresponding part transportation task, and in the process of executing the part transportation task, collecting real-time obstacle information of each of the automated guided vehicles based on a preset obstacle detection algorithm, includes:

[0130] Based on the part transportation path, driving each of the automated guided vehicles to execute a corresponding part transportation task;

[0131] In the process of executing the part transportation task of each automatic guided vehicle, a plurality of environment point cloud data of the automatic guided vehicle is determined based on a preset laser scanning method.

[0132] The plurality of environment point cloud data of the automatic guided vehicle is preprocessed to construct an environment object contour of the automatic guided vehicle.

[0133] Based on a preset perception library algorithm, the environment map of the automatic guided vehicle is constructed in combination with the environment point cloud data.

[0134] Based on the environment object contour and the environment map, real-time obstacle information of the automatic guided vehicle is determined.

[0135] It should be noted that the laser scanning method is a general term for a technology that uses a laser beam to perform high-speed and high-precision point-like ranging on an object or an environment, and quickly acquires a large number of three-dimensional coordinate points (referred to as point cloud) on the surface by systematically moving the scanning line or scanning surface. The definition of the laser SLAM algorithm (Simultaneous Localization and Mapping) is that a mobile robot continuously observes the surrounding environment through the laser radar carried by itself in an unknown and non-prior map environment, estimates its own motion trajectory (positioning) at the same time, and incrementally constructs a consistent map of the environment (mapping) according to the observation data.

[0136] In an optional embodiment, a laser scanning device is configured on the automatic guided vehicle, which scans the environment point cloud data around the automatic guided vehicle; then the environment point cloud data is subjected to wavelet function filtering processing, and then K-means method is used for clustering processing to obtain a plurality of clustered environment point clouds; the clustered environment point clouds are sequentially connected to obtain the environment object contour of the automatic guided vehicle; then the perception library algorithm is set as the laser SLAM algorithm (Simultaneous Localization and Mapping), and the environment map of the automatic guided vehicle is generated through the perception library algorithm and the environment point cloud data; the essence of the environment map is also a grid map; then the environment object contour is compared to determine the minimum distance of the obstacle from the automatic guided vehicle as the obstacle distance; then the environment map and the grid map are compared to determine the type of the obstacle of the automatic guided vehicle; the comparison between the environment map and the grid map can use methods such as Deep Learning Methods, Kalman Filter Tracking, A Algorithm with Grid Map; then the minimum distance of the obstacle from the automatic guided vehicle and the type of the obstacle are taken as the real-time obstacle information of the automatic guided vehicle.

[0137] The embodiment obtains environment point cloud data by a preset laser scanning method, constructs an environment object contour, and constructs an environment map by a preset perception library algorithm, so that real-time obstacle information around the automated guided vehicle can be obtained in real time and accurately, transportation interruption or delay caused by obstacles is avoided, the continuity of part transportation is ensured, the turnover efficiency of the ship body parts in the polishing process is improved, and the polishing efficiency of the ship body parts is improved.

[0138] Step S105: adjusting the part transportation path based on the real-time obstacle information and the obstacle avoidance area of each automated guided vehicle until the automated guided vehicle completes the corresponding part transportation task.

[0139] In the embodiment, the adjustment of the part transportation path based on the real-time obstacle information and the obstacle avoidance area of each automated guided vehicle until the automated guided vehicle completes the corresponding part transportation task comprises:

[0140] Based on the real-time obstacle information and the obstacle avoidance area of each automated guided vehicle, the safety obstacle avoidance condition of each automated guided vehicle is determined.

[0141] When the safety obstacle avoidance condition of the automated guided vehicle is to perform safety obstacle avoidance, the automated guided vehicle is driven to stop moving based on a preset obstacle avoidance priority order, and the duration of stopping moving is recorded.

[0142] When the duration of stopping moving exceeds a preset time threshold, the real-time position and the target position of the automated guided vehicle are obtained, and the real-time part transportation path of the automated guided vehicle is determined in combination with the grid map.

[0143] The real-time part transportation path is taken as the part transportation path of the automated guided vehicle to complete the adjustment of the part transportation path.

[0144] Based on the adjusted part transportation path, the automated guided vehicle is driven to continue to perform the corresponding part transportation task until the automated guided vehicle completes the corresponding part transportation task.

[0145] In an optional embodiment, if the minimum distance between the obstacle in the real-time obstacle information and the automated guided vehicle is within the obstacle avoidance area of the automated guided vehicle, the safety obstacle avoidance condition is to perform safety obstacle avoidance, otherwise the safety obstacle avoidance condition is not to perform safety obstacle avoidance.

[0146] When the safety obstacle avoidance condition is not to perform safety obstacle avoidance, the movement of the automated guided vehicle is still maintained.

[0147] When the safety obstacle avoidance condition is that safety obstacle avoidance needs to be performed, the movement of the automated guided vehicle is stopped based on the obstacle avoidance priority order, and the duration of the stopped movement is recorded; then a preset time threshold is set to 10 seconds; after the duration of the stopped movement exceeds 10 seconds, the real-time position and the target position of the automated guided vehicle are reacquired, the path is recalculated in combination with the grid map, and the real-time part transportation path of the automated guided vehicle can be obtained by referring to the part transportation path solving process described above, so as to obtain the real-time part transportation path of the automated guided vehicle; the real-time part transportation path of the automated guided vehicle is taken as the part transportation path; then the automated guided vehicle is driven to continue to perform the corresponding part transportation task, and the real-time obstacle information and the part transportation path are continuously updated until the automated guided vehicle completes the corresponding part transportation task;

[0148] Further, if the obstacle type is other automated guided vehicles, the obstacle avoidance priority order is: the automated guided vehicle that does not perform the part transportation task avoids the automated guided vehicle that is performing the part transportation task; the automated guided vehicle without the general carrier avoids the automated guided vehicle with the general carrier; when the automated guided vehicle carries the general carrier, the automated guided vehicle with a short part transportation path avoids the automated guided vehicle with a long part transportation path; if the obstacle type is not other automated guided vehicles, the automated guided vehicle sends an alarm information to the automated guided vehicle scheduling system.

[0149] In an optional embodiment, the polishing workstation is further provided with a control center, which is used to generate various control signals to control the automated guided vehicle scheduling system, the polishing robot and other equipment; further, the various facilities in the polishing workstation use the HTTP protocol (HyperText Transfer Protocol) for data interaction; temporary stopping points are arranged in the loading area and the unloading area, so that the automated guided vehicle can temporarily stop when it arrives in advance; further, the dynamic path planning hull part polishing collaborative scheduling method proposed in this embodiment describes the part polishing whole process of the polishing workstation, as follows:

[0150] Firstly, the tray containing the ship body parts to be polished is placed on the general carrier in the semi-finished material buffer area by artificial forklift, at this time the photoelectric sensor in the semi-finished material buffer area senses the tray, updates the real-time tray state of the semi-finished material buffer area as having a general carrier and a tray, and the tray has material, and updates this information to the control center; when the loading area scans the real-time tray state of the loading area as having a general carrier and a tray, and the tray has no material, the information is also updated to the control center; in the control center, the loading transportation task is generated, and the loading transportation task is assigned to the automatic guided vehicle, which is marked as the first automatic guided vehicle here; at this time, the first automatic guided vehicle will move to the semi-finished material buffer area with a general carrier and a tray, and the tray has material based on the contents of steps S103 to S105 in the ship body part polishing collaborative scheduling method of the dynamic path planning described above, at this time the first automatic guided vehicle loads the general carrier and the tray, and moves to the loading area without a general carrier and with a tray, and the tray has no material, at this time the first automatic guided vehicle will stop at the temporary parking point of the loading area; at the same time, the automatic guided vehicle scheduling system will schedule another automatic guided vehicle, which is marked as the second automatic guided vehicle, and the second automatic guided vehicle will also enter the temporary parking point of the loading area; then the control center generates the loading area access signal, at this time the polishing workstation closes the grating (the function of the grating is safety alarm), the second automatic guided vehicle carries out the tray without material and the general carrier in the loading area, and stops at the temporary parking point of the loading area, then the first automatic guided vehicle moves the general carrier and the tray to the loading area, and then moves to the bottom of the general carrier in the unloading area (at this time the general carrier in the unloading area also has a tray, but the tray has no material, which can be transported to the unloading area by setting an additional automatic guided vehicle to transport the general carrier and the tray without material), waits for other equipment of the polishing workstation to polish the ship body parts in the loading area; when the polishing equipment in the polishing area of the polishing workstation finishes polishing the ship body parts in the loading area, and the last ship body part to be polished is delivered to the tray in the unloading area, the real-time tray state of the unloading area is that there is a general carrier and a tray, and the tray is full of material, while the real-time tray state of the finished product buffer area is that there is no general carrier and no tray; the control center generates the unloading transportation task, at this time the first automatic guided vehicle is controlled to load the general carrier and the tray in the unloading area, and is transported to the finished product buffer area, and the second automatic guided vehicle carries the tray without material and the general carrier back to the loading area (at this time, a new automatic guided vehicle can be set to carry the general carrier and the tray in the loading area out)When the real-time tray state of the finished product buffer area is that there is a general carrier and no tray, and the real-time tray state of the semi-finished product incoming material buffer area is that there is no general carrier and no tray, the control center dispatches the first automatic guided vehicle or the second automatic guided vehicle, which can also be other automatic guided vehicles, to move the general carrier in the finished product buffer area to the semi-finished product incoming material buffer area, and then the worker uses the forklift to place the tray with the ship body part that needs to be polished on the general carrier in the semi-finished product incoming material buffer area; the above process is repeated to realize the cooperative scheduling and continuous polishing of the ship body part at the polishing workstation; it should be noted that the movement of the automatic guided vehicle is based on the contents of steps S103 to S105 in the above-described dynamic path planning ship body part polishing cooperative scheduling method.

[0151] The embodiment determines the safe obstacle avoidance condition through real-time obstacle information and an obstacle avoidance area, stops the movement of the automatic guided vehicle in combination with the obstacle avoidance priority order, and then re-plans the part transportation path when the duration of the stopped movement exceeds the preset time threshold, which can avoid the delay of the ship body part transportation caused by the long-time stopped transportation, reduce the influence of the obstacle on the ship body part transportation, and ensure the efficiency of the ship body part transportation, thereby improving the polishing efficiency of the ship body part.

[0152] Embodiment two

[0153] Please refer to Figure 3 , Figure 3 A structure diagram of a dynamic path planning ship body part polishing cooperative scheduling device provided by the embodiment of the application, comprising: a grid map construction module 201, a transportation task and path determination module 202, an obstacle avoidance area construction module 203, a real-time obstacle information acquisition module 204, and a dynamic path planning module 205.

[0154] The grid map construction module 201 is configured to obtain the working area information of the polishing workstation and generate a grid map of the polishing workstation based on the working area information.

[0155] The transportation task and path determination module 202 is configured to obtain the real-time tray state of the polishing workstation, and determine the part transportation task and part transportation path of each automatic guided vehicle in the polishing workstation based on the real-time tray state and the grid map.

[0156] The obstacle avoidance area construction module 203 is configured to determine the obstacle avoidance area of each automatic guided vehicle based on the part transportation task of each automatic guided vehicle.

[0157] The real-time obstacle information collection module 204 is configured to drive each of the AGVs to perform a corresponding part transportation task based on the part transportation path, and collect real-time obstacle information of each of the AGVs based on a preset obstacle detection algorithm during the execution of the part transportation task.

[0158] The dynamic path planning module 205 is configured to adjust the part transportation path based on the real-time obstacle information of each of the AGVs and the obstacle avoidance area until the AGVs complete the corresponding part transportation task.

[0159] In this embodiment, the transportation task and path determination module 202 includes a transportation task and path determination unit.

[0160] The transportation task and path determination unit is configured to obtain real-time tray hopper states of the polishing workstations, the real-time tray hopper states including a semi-finished product incoming material buffer area real-time tray hopper state, a feeding area real-time tray hopper state, a discharging area real-time tray hopper state, and a finished product buffer area real-time tray hopper state.

[0161] When the semi-finished product incoming material buffer area real-time tray hopper state is a preset first state and the feeding area real-time tray hopper state is a preset second state, a feeding transportation task is generated.

[0162] When the finished product buffer area real-time tray hopper state is a preset third state and the semi-finished product incoming material buffer area real-time tray hopper state is a preset fourth state, a carrier transportation task is generated.

[0163] When the discharging area real-time tray hopper state is a preset fifth state and the finished product buffer area real-time tray hopper state is a preset fourth state, a discharging transportation task is generated.

[0164] Based on the feeding transportation task, the discharging transportation task, and the carrier transportation task, the part transportation task of each of the AGVs in the polishing workstations is determined.

[0165] The real-time position of each of the AGVs is obtained, and the part transportation path of each of the AGVs is generated based on the part transportation task and a grid map.

[0166] In this embodiment, the transportation task and path determination unit includes a part transportation path determination subunit.

[0167] The part transportation path determination subunit is configured to obtain the real-time position of each of the AGVs.

[0168] Based on the part transportation task of each of the AGVs, the target position of each of the AGVs is determined.

[0169] determine a target position node and a real-time position node of the automated guided vehicle in the grid map based on the target position and the real-time position of each of the automated guided vehicles;

[0170] solve the grid map to obtain a path node set of each of the automated guided vehicles based on the target position node and the real-time position node, with the objective of minimizing the sum of the interval of the path nodes;

[0171] determine a part transportation path of each of the automated guided vehicles based on the path node set of each of the automated guided vehicles.

[0172] In this embodiment, the obstacle avoidance area construction module 203 comprises an obstacle avoidance area construction unit.

[0173] The obstacle avoidance area construction unit is configured to determine a general carrier transportation condition of each of the automated guided vehicles based on the part transportation task of each of the automated guided vehicles.

[0174] acquire size information of each of the automated guided vehicles and general carrier size information;

[0175] When the general carrier transportation condition is no general carrier, determine vehicle outer contour data of each of the automated guided vehicles based on the size information of each of the automated guided vehicles, and determine an obstacle avoidance area of each of the automated guided vehicles in combination with a preset safety distance;

[0176] When the general carrier transportation condition is a general carrier, determine vehicle outer contour data of each of the automated guided vehicles based on the size information of each of the automated guided vehicles, and determine carrier outer contour data based on the general carrier size information;

[0177] determine vehicle outer contour data of each of the automated guided vehicles based on the vehicle outer contour data and the carrier outer contour data, and determine an obstacle avoidance area of each of the automated guided vehicles in combination with a preset safety distance.

[0178] In this embodiment, the real-time obstacle information acquisition module 204 comprises a real-time obstacle information acquisition unit.

[0179] The real-time obstacle information acquisition unit is configured to drive each of the automated guided vehicles to perform a corresponding part transportation task based on the part transportation path.

[0180] During the execution of the part transportation task of each of the automated guided vehicles, determine a plurality of environment point cloud data of the automated guided vehicle based on a preset laser scanning method.

[0181] Preprocess a plurality of environment point cloud data of the automated guided vehicle, and construct an environment object contour of the automated guided vehicle;

[0182] Based on a preset perception library algorithm, combine the environment point cloud data, and construct an environment map of the automated guided vehicle;

[0183] Based on the environment object contour and the environment map, determine real-time obstacle information of the automated guided vehicle.

[0184] In the embodiment, the dynamic path planning module 205 comprises a dynamic path planning unit.

[0185] The dynamic path planning unit is configured to determine a safe obstacle avoidance condition of each automated guided vehicle based on real-time obstacle information and an obstacle avoidance area of each automated guided vehicle.

[0186] When the safe obstacle avoidance condition of the automated guided vehicle is to perform safe obstacle avoidance, drive the automated guided vehicle to stop moving based on a preset obstacle avoidance priority order, and record a stop moving duration;

[0187] When the stop moving duration exceeds a preset time threshold, acquire a real-time position and a target position of the automated guided vehicle, combine the grid map, and determine a real-time part transportation path of the automated guided vehicle;

[0188] Take the real-time part transportation path as a part transportation path of the automated guided vehicle to complete adjustment of the part transportation path;

[0189] Based on the adjusted part transportation path, drive the automated guided vehicle to continue to perform a corresponding part transportation task until the automated guided vehicle completes the corresponding part transportation task.

[0190] The work area information of the polishing work station is used to generate a grid map, which can provide a clear and accurate path planning basis for the automatic guided vehicle, so that the automatic guided vehicle can run orderly in a complex work area; then, the part transportation task and the part transportation path are determined based on the real-time tray hopper state of the polishing work station and the grid map, so that the part transportation task and the part transportation path can meet the actual needs of the ship part polishing, and the accuracy of the part transportation task and the part transportation path is improved; then, the obstacle avoidance area is dynamically generated based on the part transportation task of the automatic guided vehicle, so that the frequent obstacle collision caused by the fixed safety distance is avoided; by collecting real-time obstacle information and adjusting the part transportation path, the transportation of the automatic guided vehicle can be effectively ensured, the obstacle collision is reduced, the part transportation efficiency and stability of the automatic guided vehicle are improved, and the ship part polishing work can be continuously and stably carried out, so that the polishing efficiency of the ship part is improved.

[0191] In summary, the work area information of the polishing work station is used to generate a grid map, which can provide a clear and accurate path planning basis for the automatic guided vehicle, so that the automatic guided vehicle can run orderly in a complex work area; then, the part transportation task and the part transportation path are determined based on the real-time tray hopper state of the polishing work station and the grid map, so that the part transportation task and the part transportation path can meet the actual needs of the ship part polishing, and the accuracy of the part transportation task and the part transportation path is improved; then, the obstacle avoidance area is dynamically generated based on the part transportation task of the automatic guided vehicle, so that the frequent obstacle collision caused by the fixed safety distance is avoided; by collecting real-time obstacle information and adjusting the part transportation path, the transportation of the automatic guided vehicle can be effectively ensured, the obstacle collision is reduced, the part transportation efficiency and stability of the automatic guided vehicle are improved, and the ship part polishing work can be continuously and stably carried out, so that the polishing efficiency of the ship part is improved.

[0192] The above-described specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present application, and it should be understood that the above-described specific embodiments are only specific embodiments of the present application and are not used to limit the protection scope of the present application. It is particularly pointed out that any modification, equivalent replacement, improvement, etc. made by those skilled in the art within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A collaborative scheduling method for grinding ship hull parts using dynamic path planning, characterized in that, include: Obtain the working area information of the polishing workstation, and generate a grid map of the polishing workstation based on the working area information; The real-time pallet bucket status of the grinding workstation is obtained, and based on the real-time pallet bucket status and the grid map, the parts transportation task and parts transportation path of each automated guided vehicle in the grinding workstation are determined. Based on the parts transportation task of each of the automated guided vehicles, the obstacle avoidance zone of each of the automated guided vehicles is determined; Based on the parts transportation path, each of the automated guided vehicles is driven to perform the corresponding parts transportation task, and during the execution of the parts transportation task, real-time obstacle information of each automated guided vehicle is collected based on a preset obstacle detection algorithm; Based on the real-time obstacle information and obstacle avoidance area of ​​each automated guided vehicle, the part transportation path is adjusted until the automated guided vehicle completes the corresponding part transportation task.

2. The method for collaborative scheduling of hull component grinding based on dynamic path planning as described in claim 1, characterized in that, The process of acquiring the real-time pallet bucket status of the grinding workstation and determining the parts transport task and route for each automated guided vehicle (AGV) in the grinding workstation based on the real-time pallet bucket status and the grid map includes: The real-time status of the pallet hoppers in the grinding workstation is obtained, including the real-time status of the pallet hoppers in the semi-finished product buffer area, the real-time status of the pallet hoppers in the loading area, the real-time status of the pallet hoppers in the unloading area, and the real-time status of the pallet hoppers in the finished product buffer area. When the real-time pallet bucket status of the semi-finished product receiving buffer area is a preset first state and the real-time pallet bucket status of the loading area is a preset second state, a loading and transportation task is generated. When the real-time pallet bucket status of the finished product buffer area is a preset third state and the real-time pallet bucket status of the semi-finished product incoming material buffer area is a preset fourth state, a vehicle transportation task is generated. When the real-time pallet bucket status of the unloading area is the preset fifth state and the real-time pallet bucket status of the finished product buffer area is the preset fourth state, an unloading and transportation task is generated. Based on the loading and unloading transportation tasks and the vehicle transportation tasks, the parts transportation tasks of each automated guided vehicle in the grinding workstation are determined. The real-time location of each automated guided vehicle (AGV) is obtained, and a parts transportation path for each AAV is generated by combining the parts transportation task and the grid map.

3. The method for collaborative scheduling of hull component grinding based on dynamic path planning as described in claim 2, characterized in that, The step of obtaining the real-time location of each automated guided vehicle (AGV) and generating a parts transportation path for each AGV, in conjunction with the parts transportation task and the grid map, includes: Obtain the real-time location of each of the automated guided vehicles; Based on the parts transportation task of each of the automated guided vehicles, determine the target location of each of the automated guided vehicles; Based on the target location and real-time location of each of the automated guided vehicles, the target location node and real-time location node of the automated guided vehicle in the grid map are determined; Based on the target location node and the real-time location node, with the goal of minimizing the total spacing of the path nodes, the grid map is solved to obtain the path node set for each of the automated guided vehicles. Based on the set of path nodes for each of the automated guided vehicles (AGVs), the parts transportation path for each AGV is determined.

4. The method for collaborative scheduling of hull component grinding based on dynamic path planning as described in claim 1, characterized in that, The step of determining the obstacle avoidance zone for each automated guided vehicle (AGV) based on its parts transport task includes: Based on the parts transportation task of each of the automated guided vehicles, determine the general vehicle transportation situation of each of the automated guided vehicles; Obtain the size information of each of the automated guided vehicles and the general vehicle size information; When there is no general vehicle for transportation, the outer contour data of each automated guided vehicle is determined based on the size information of each vehicle, and the obstacle avoidance area of ​​each vehicle is determined in combination with the preset safety distance. When the general vehicle transportation situation is that there is a general vehicle, the vehicle outer contour data is determined based on the size information of each of the automated guided vehicles, and the vehicle outer contour data is determined based on the size information of the general vehicle. The outer contour data of each automated guided vehicle (AGV) is determined based on the vehicle outer contour data and the vehicle outer contour data, and the obstacle avoidance zone of each AAV is determined in combination with the preset safety distance.

5. The method for collaborative scheduling of hull component grinding based on dynamic path planning as described in claim 1, characterized in that, Based on the parts transport path, each automated guided vehicle (AGV) is driven to perform a corresponding parts transport task. During the execution of the parts transport task, real-time obstacle information of each AGV is collected based on a preset obstacle detection algorithm, including: Based on the parts transportation route, each of the automated guided vehicles is driven to perform the corresponding parts transportation task. During the execution of each parts transportation task of the automated guided vehicle, several environmental point cloud data of the automated guided vehicle are determined based on a preset laser scanning method; Several environmental point cloud data of the automated guided vehicle are preprocessed to construct the environmental object contours of the automated guided vehicle. Based on a preset perception library algorithm and combined with the environmental point cloud data, an environmental map of the automated guided transport vehicle is constructed. Based on the outlines of the environmental objects and the environmental map, the real-time obstacle information of the automated guided vehicle is determined.

6. The method for collaborative scheduling of hull component grinding based on dynamic path planning as described in claim 5, characterized in that, The step of adjusting the parts transport path based on the real-time obstacle information and obstacle avoidance area of ​​each automated guided vehicle (AGV) until the AGV completes the corresponding parts transport task includes: Based on the real-time obstacle information and obstacle avoidance area of ​​each of the automated guided vehicles, the safe obstacle avoidance status of each of the automated guided vehicles is determined; When the obstacle avoidance situation of the automated guided vehicle requires obstacle avoidance, the automated guided vehicle is driven to stop moving based on a preset obstacle avoidance priority order, and the duration of the stop is recorded. When the duration of the stopped movement exceeds a preset time threshold, the real-time position and target position of the automated guided vehicle are obtained, and the real-time parts transportation path of the automated guided vehicle is determined in conjunction with the grid map. The real-time parts transport path is used as the parts transport path of the automated guided vehicle to complete the adjustment of the parts transport path; Based on the adjusted parts transport path, the automated guided vehicle is driven to continue performing the corresponding parts transport task until the automated guided vehicle completes the corresponding parts transport task.

7. A dynamic path planning-based collaborative scheduling device for grinding ship hull parts, characterized in that, include: The module includes a grid map construction module, a transportation task and path determination module, an obstacle avoidance zone construction module, a real-time obstacle information acquisition module, and a dynamic path planning module. The grid map construction module is used to obtain the working area information of the grinding workstation and generate a grid map of the grinding workstation based on the working area information. The transportation task and route determination module is used to obtain the real-time pallet bucket status of the grinding workstation, and based on the real-time pallet bucket status and grid map, determine the parts transportation task and parts transportation route of each automated guided vehicle in the grinding workstation. The obstacle avoidance area construction module is used to determine the obstacle avoidance area of ​​each automated guided vehicle based on the parts transportation task of each automated guided vehicle; The real-time obstacle information acquisition module is used to drive each of the automated guided vehicles to perform the corresponding part transportation task based on the part transportation path, and to collect the real-time obstacle information of each of the automated guided vehicles based on a preset obstacle detection algorithm during the part transportation task execution. The dynamic path planning module is used to adjust the part transportation path based on the real-time obstacle information and obstacle avoidance area of ​​each automated guided vehicle until the automated guided vehicle completes the corresponding part transportation task.

8. The dynamic path planning collaborative scheduling device for grinding ship parts as described in claim 7, characterized in that, The transportation task and route determination module includes: a transportation task and route determination unit; The transportation task and route determination unit is used to obtain the real-time pallet status of the grinding workstation. The real-time pallet status includes: the real-time pallet status of the semi-finished material buffer area, the real-time pallet status of the loading area, the real-time pallet status of the unloading area, and the real-time pallet status of the finished product buffer area. When the real-time pallet bucket status of the semi-finished product receiving buffer area is a preset first state and the real-time pallet bucket status of the loading area is a preset second state, a loading and transportation task is generated. When the real-time pallet bucket status of the finished product buffer area is a preset third state and the real-time pallet bucket status of the semi-finished product incoming material buffer area is a preset fourth state, a vehicle transportation task is generated. When the real-time pallet bucket status of the unloading area is the preset fifth state and the real-time pallet bucket status of the finished product buffer area is the preset fourth state, an unloading and transportation task is generated. Based on the loading and unloading transportation tasks and the vehicle transportation tasks, the parts transportation tasks of each automated guided vehicle in the grinding workstation are determined. The real-time location of each automated guided vehicle (AGV) is obtained, and a parts transportation path for each AAV is generated by combining the parts transportation task and the grid map.

9. The dynamic path planning collaborative scheduling device for grinding ship parts as described in claim 8, characterized in that, The transportation task and route determination unit includes: a parts transportation route determination subunit; The parts transport path determination subunit is used to obtain the real-time location of each of the automated guided vehicles; Based on the parts transportation task of each of the automated guided vehicles, determine the target location of each of the automated guided vehicles; Based on the target location and real-time location of each of the automated guided vehicles, the target location node and real-time location node of the automated guided vehicle in the grid map are determined; Based on the target location node and the real-time location node, with the goal of minimizing the total spacing of the path nodes, the grid map is solved to obtain the path node set for each of the automated guided vehicles. Based on the set of path nodes for each of the automated guided vehicles (AGVs), the parts transportation path for each AGV is determined.

10. The dynamic path planning collaborative scheduling device for grinding ship parts as described in claim 8, characterized in that, The obstacle avoidance area construction module includes: an obstacle avoidance area construction unit; The obstacle avoidance area construction unit is used to determine the general vehicle transportation status of each automated guided vehicle based on the parts transportation task of each automated guided vehicle; Obtain the size information of each of the automated guided vehicles and the general vehicle size information; When there is no general vehicle for transportation, the outer contour data of each automated guided vehicle is determined based on the size information of each vehicle, and the obstacle avoidance area of ​​each vehicle is determined in combination with the preset safety distance. When the general vehicle transportation situation is that there is a general vehicle, the vehicle outer contour data is determined based on the size information of each of the automated guided vehicles, and the vehicle outer contour data is determined based on the size information of the general vehicle. The outer contour data of each automated guided vehicle (AGV) is determined based on the vehicle outer contour data and the vehicle outer contour data, and the obstacle avoidance zone of each AAV is determined in combination with the preset safety distance.

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