A control method, equipment and medium for an AGV sorting vehicle

Abstract

This invention discloses a control method, device, and medium for AGV (Automated Guided Vehicle) picking vehicles. The method includes: when a picking vehicle is offline, identifying a vehicle to be processed from the remaining picking vehicles, wherein the vehicle to be processed intersects with the remaining movement trajectory of the offline picking vehicle; adjusting a first dimension of the bounding box of the offline picking vehicle based on a first time taken for the vehicle to be processed to reach the intersection, resulting in a second dimension of the bounding box; the first dimension being smaller than the second dimension; determining a second position of the offline picking vehicle after the first movement time based on its first speed and first position when offline; defining a target area based on the second dimension and the second position of the bounding box; the center point of the target area being the second position, with a size equal to the second dimension; and controlling the vehicle to be processed to avoid the intersection or modify its remaining movement trajectory when the intersection falls into the target area. This invention improves the working efficiency of picking vehicles to a certain extent.

Description

Technical Field

[0001] This invention relates to the field of sorting vehicle control, and more particularly to a control method, equipment and medium for an AGV sorting vehicle. Background Technology

[0002] The existing control methods for AGV picking vehicles typically involve online communication between the monitoring host and the AGV picking vehicles to plan and schedule paths for each online AGV picking vehicle, ensuring that there are no path conflicts between them. However, when an AGV picking vehicle goes offline, the monitoring host can no longer control it. Therefore, once the offline AGV picking vehicle confirms that it has lost contact with the monitoring host, it stops its current work and returns to the initial base station or goes directly to the preset maintenance base station to wait for maintenance. As a result, the working efficiency of AGV picking vehicles under this control method is low. Summary of the Invention

[0003] This invention provides a control method, device, and medium for AGV sorting vehicles to solve the problem of low vehicle working efficiency in existing AGV sorting vehicle control methods.

[0004] This invention provides a control method for an AGV (Automated Guided Vehicle) picking cart, the control method comprising:

[0005] Step 100: When a certain AGV sorting vehicle goes offline, determine the vehicle to be processed from the remaining AGV sorting vehicles. The remaining motion trajectory of the vehicle to be processed intersects with the remaining motion trajectory of the offline AGV sorting vehicle.

[0006] Step 200: Based on the first time taken for the vehicle to be processed to move to the intersection position, adjust the first size of the enclosure of the offline AGV picking vehicle to obtain the second size of the enclosure; the first size is smaller than the second size; the first size is the size of the enclosure of the offline AGV picking vehicle when it is offline;

[0007] Step 300: Based on the first speed and first position of the offline AGV sorting vehicle when it is offline, determine the second position of the offline AGV sorting vehicle after the first duration of movement;

[0008] Step 400: Determine the target area based on the second dimension and the second position of the bounding box; the center point of the target area is the second position, and the size is the second dimension;

[0009] Step 500: When the intersection position falls into the target area, control the vehicle to be processed to perform an avoidance operation or modify the remaining trajectory of the vehicle to be processed.

[0010] The aforementioned AGV picking vehicle control method, after determining that there is an intersection between the remaining motion trajectory of the vehicle to be processed and the remaining motion trajectory of the offline AGV picking vehicle, calculates the second size of the enclosure box and the second position of the offline AGV picking vehicle after the first time by combining multiple parameters such as the first time the vehicle to be processed moves to the intersection, the first size of the enclosure box of the offline AGV picking vehicle, and the second position of the offline AGV picking vehicle after the first time. Based on this, the target area of ​​the offline AGV picking vehicle after the first time along the remaining motion trajectory is reasonably determined. Then, it is determined whether the intersection is within the target area. If it is, it indicates that there is an encounter fault. Then, the corresponding vehicle to be processed is controlled to avoid the fault or the remaining motion trajectory of the vehicle to be processed is modified. This can ensure that the work of the AGV picking vehicle can continue after it goes offline without having to return to the base station, thus improving the working efficiency of the AGV picking vehicle to a certain extent. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a flowchart of a control method for an AGV sorting vehicle according to an embodiment of the present invention. Detailed Implementation

[0013] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0014] In one embodiment, such as Figure 1 As shown, a control method for an AGV picking vehicle is provided, including the following steps:

[0015] Step 100: When a certain AGV sorting vehicle goes offline, determine the vehicle to be processed from the remaining AGV sorting vehicles. The remaining motion trajectory of the vehicle to be processed intersects with the remaining motion trajectory of the offline AGV sorting vehicle.

[0016] Among them, AGV picking vehicles are logistics automation equipment based on automated guided vehicles (AGVs), integrating cargo picking, precise positioning, and dynamic handling functions. They can be applied to scenarios such as warehousing, e-commerce sorting, and manufacturing workshops. Typically, vehicles need to maintain online communication with the monitoring host to enable the host to control the routes of each vehicle. Therefore, the monitoring host needs to determine the vehicle's status as offline or online at preset intervals. An offline AGV picking vehicle is one that the monitoring host cannot communicate with for N1 consecutive preset intervals, while an online AGV picking vehicle is one that the monitoring host can communicate with for N2 consecutive preset intervals. N1 and N2 are positive integers and can be the same or different, depending on the actual situation.

[0017] When a vehicle fails to communicate online with the monitoring host for N1 consecutive preset time intervals, the vehicle is determined to be offline. Therefore, the offline AGV picking vehicle continues to move along the remaining trajectory at a preset speed until it reaches the target location. The remaining trajectory of the AGV picking vehicle is the trajectory remaining after traveling part of the target trajectory. The target trajectory refers to the trajectory received by the vehicle from the monitoring host when it was online. This trajectory includes information such as the starting position, target position, route, and speed, allowing the vehicle to clearly start from the starting position and move to the target location according to the preset route and speed.

[0018] The steps for determining whether the remaining motion trajectory of the vehicle to be processed intersects with the remaining motion trajectory of the offline AGV sorting vehicle include: obtaining the set of coordinates of the remaining motion trajectory of the vehicle to be processed and the set of coordinates of the remaining motion trajectory of the offline AGV sorting vehicle; comparing whether there are the same coordinates in the sets of coordinates of the remaining motion trajectory of the vehicle to be processed and the offline AGV sorting vehicle; if so, it is determined that there is an intersection position, and the same coordinates are the coordinates of the intersection position.

[0019] Step 200: Based on the first time taken for the vehicle to be processed to move to the intersection position, adjust the first size of the enclosure of the offline AGV picking vehicle to obtain the second size of the enclosure; the first size is smaller than the second size; the first size is the size of the enclosure of the offline AGV picking vehicle when it is offline.

[0020] The step of determining the first time interval for the vehicle to move to the intersection position includes: calculating the ratio between the distance the vehicle to move from its current position to the intersection position and the speed of the vehicle to be processed, thus obtaining the first time interval. The current position refers to the position of the vehicle to be processed when the AGV sorting vehicle is offline; the distance between the current position and the intersection position can be obtained using their coordinates. Since the vehicle to be processed moves at a constant speed, its speed is pre-set and known.

[0021] The bounding box of an AGV sorting vehicle refers to the geometric boundary that completely encloses the AGV sorting vehicle. This geometric boundary can be rectangular or cubic, but in this embodiment, only the planar dimensions are used. That is, when the bounding box is represented by a rectangle, its dimensions are the length and width of the rectangle; when the bounding box is represented by a cube, its dimensions are the length and width of the cube, without using the height parameter. In other words, adjusting the first dimension of the bounding box so that the adjusted second dimension is larger than the first dimension means that the length of the second dimension is greater than the length of the first dimension, and / or the width of the second dimension is greater than the width of the first dimension. For example, the adjusted second dimension can have a length greater than the length of the first dimension, and a width equal to the width of the first dimension.

[0022] In this embodiment, the adjustment of the first size of the enclosure box of the offline AGV picking vehicle is based on: substituting the first time taken for the vehicle to move to the intersection position into the relationship function a=f(t) (where a is the correction coefficient, f is the relationship function, and t is the first time) to calculate the correction coefficient. Then, multiplying this correction coefficient by the length or width of the first size yields the length or width of the second size, thereby determining the second size of the enclosure box. For example, the relationship function a=f(t) can be a linear function or other functions that make the time positively correlated with the correction coefficient.

[0023] Step 300: Based on the first speed and first position of the offline AGV sorting vehicle when it is offline, determine the second position of the offline AGV sorting vehicle after the first duration of movement.

[0024] Specifically, the travel distance can be obtained by multiplying the first speed and the first duration of the offline AGV sorting vehicle when it is offline. Then, based on the first position on the remaining motion trajectory of the offline AGV sorting vehicle and the previously determined travel distance, the second position on the remaining motion trajectory of the online AGV sorting vehicle can be determined.

[0025] Step 400: Determine the target area based on the second size and the second position of the bounding box; the center point of the target area is the second position, and the size is the second size.

[0026] The target area is a rectangular region defined by the second dimension and second position of the bounding box. The center point of this rectangular region is the second position, and the dimension of the rectangular region is the second dimension. Furthermore, the longer side of this rectangular region is parallel to the vehicle's direction of travel, and the shorter side is perpendicular to the vehicle's direction of travel.

[0027] In this step, the target area is equivalent to adding a size increment to the original bounding box's first size. The reason for adding the size increment is that after the AGV sorting vehicle goes offline, during its continued operation, the AGV sorting vehicle may not move at a constant initial speed due to reasons such as vehicle slippage, human movement, or obstruction. Even if it is moving at a constant speed, it may deviate from the initially set movement trajectory due to the aforementioned reasons, requiring the AGV sorting vehicle to adjust back to the correct movement trajectory, thus increasing the movement time. Therefore, it is necessary to satisfy the requirement that the longer the offline time of the offline AGV sorting vehicle, the larger the size increment, and thus the larger the target area.

[0028] Step 500: When the intersection position falls into the target area, control the vehicle to be processed to perform an avoidance operation or modify the remaining trajectory of the vehicle to be processed.

[0029] Specifically, by comparing the horizontal and vertical coordinates of the intersection with the maximum and minimum horizontal and vertical coordinates of the target area, it can be determined whether the intersection falls into the target area. When the intersection falls into the target area, it is determined that there is a collision. Therefore, the monitoring host issues a control command to control the vehicle to be processed to avoid the collision or modify the remaining movement trajectory of the vehicle to be processed, so as to avoid the collision between the vehicle to be processed and the offline AGV picking vehicle.

[0030] The AGV picking vehicle control method in this embodiment determines the intersection between the remaining trajectory of the vehicle to be processed and the remaining trajectory of the offline AGV picking vehicle. It then calculates the second size of the bounding box and the second position of the offline AGV picking vehicle after determining multiple parameters, such as the first time the vehicle to be processed has moved to the intersection, the first size of the bounding box of the offline AGV picking vehicle, and the second position of the offline AGV picking vehicle after the first time. Based on these calculations, it reasonably determines the target area for the offline AGV picking vehicle to continue moving along its remaining trajectory for the first time. Next, it checks whether the intersection is within the target area. If it is, it indicates an encounter fault, and the corresponding vehicle to be processed is controlled to avoid the intersection or its remaining trajectory is modified. This ensures that the AGV picking vehicle can continue its work after going offline without having to return to the base station, thus improving its efficiency to some extent. It should be noted that in practical applications, the above control method is suitable for situations with a small number of offline AGV picking vehicles. When the number of offline AGV picking vehicles is large, it will affect the overall work efficiency.

[0031] In one embodiment, step 200 includes:

[0032] Step 201: Calculate the first ratio between the first time the vehicle to be processed moves to the intersection position and the first preset time;

[0033] The step of determining the first duration of the vehicle to be processed moving to the intersection position includes: calculating the ratio between the distance the vehicle to be processed moves from its current position to the intersection position and the speed of the vehicle to be processed, to obtain the first duration.

[0034] The first preset duration is the maximum time the vehicle takes to travel within this trajectory when it normally travels to the intersection position. This trajectory is the movement of the vehicle from its current position when the offline AGV sorting vehicle goes offline to the intersection position.

[0035] Step 202: Obtain the first size increment based on the first ratio and the first size of the enclosure box of the offline AGV picking vehicle;

[0036] The first dimension includes length and width. Multiplying the first ratio by the length and / or width of the first dimension yields the length increment and / or width increment. The length increment is the product of the first ratio and the length of the first dimension, and the width increment is the product of the first ratio and the width of the first dimension. Therefore, the first dimension increment includes the length increment and / or width increment.

[0037] Step 203: Obtain the second dimension of the enclosure box based on the first dimension increment and the first dimension.

[0038] The second dimension of the bounding box can be obtained by calculating the first dimension increment and the sum of the first dimensions. The first dimension increment can be set according to specific needs to determine the second dimension. For example, when it is not necessary to increase the width of the bounding box, only the length increment can be set. That is, the first dimension increment only includes the length increment and does not include the width increment or the width increment is zero. Therefore, the length of the second dimension is the sum of the length of the first dimension and the length increment, and the width of the second dimension is equal to the width of the first dimension.

[0039] When the length and width of the bounding box need to be increased simultaneously, the first dimension increment includes the length increment and the width increment, the length of the second dimension is the sum of the length of the first dimension and the length increment, and the width of the second dimension is the sum of the width of the first dimension and the width increment.

[0040] The control method for the AGV picking vehicle in this embodiment adjusts the first size of the vehicle's enclosure box using a first size increment. This results in a larger second size of the enclosure box as the AGV picking vehicle is offline for a longer period of time. Consequently, the target area after the offline AGV picking vehicle continues to move along the remaining motion trajectory for a first period of time is larger. Then, it is determined whether the intersection position is within the target area. This method improves the reliability of determining encounter faults and is more conducive to accurately controlling the corresponding vehicles to be processed for avoidance or modifying the remaining motion trajectory of the vehicles to be processed.

[0041] In one embodiment, step 200 includes:

[0042] Step 2010: Calculate the first time it takes for the vehicle to move to the intersection position;

[0043] The first duration can be obtained by calculating the ratio between the distance the vehicle to be processed moves from its current position when the AGV sorting vehicle goes offline and the intersection position, and the speed of the vehicle to be processed.

[0044] Step 2020: Obtain the first motion trajectory of the offline AGV sorting vehicle within the first time period;

[0045] Specifically, based on the first position of the offline AGV sorting vehicle when it is offline, and combined with the product of the AGV sorting vehicle's speed and the first duration, the first motion trajectory starting from the first position can be determined in the remaining motion trajectory of the AGV sorting vehicle.

[0046] Step 2030: Divide the first motion trajectory into N segments of the second motion trajectory. Each segment of the second motion trajectory corresponds to a division area on the map. Each division area corresponds to a second preset duration. N is a positive integer greater than 1.

[0047] The reason for dividing the first motion trajectory into N segments is that the first motion trajectory of the vehicle passes through multiple division areas on the map. However, the theoretical maximum time (i.e. the second preset time) for the vehicle to pass through different division areas can be the same or different. When the theoretical maximum time for the vehicle to pass through different division areas is different, it is necessary to calculate a size increment corresponding to each segment of the second motion trajectory of the vehicle in subsequent steps.

[0048] Step 2040: Calculate the second ratio of the third duration of the offline AGV sorting vehicle passing through each of the second motion trajectories to the second preset duration of the division area corresponding to the trajectory;

[0049] The third duration of each second motion trajectory can be obtained by comparing the distance of each second motion trajectory segment with the vehicle's current speed. This allows for the calculation of the ratio of the third duration of N second motion trajectories to a second preset duration. This second ratio satisfies the following constraints:

[0050]

[0051] in, For the i-th second ratio, For the i-th third duration, The second preset time is the time corresponding to the divided area traversed by the i-th segment of the second motion trajectory, where i ranges from 1 to N. This ratio can be equal to 1, greater than 1, or less than 1. The third time is the time corresponding to the divided area traversed by the i-th segment of the second motion trajectory. When the second ratio is greater than the i-th second preset duration, the second ratio is greater than 1; when the third duration of the division area traversed by the i-th segment of the vehicle's second motion trajectory. When the second ratio is less than the i-th second preset duration, the second ratio is less than 1; when the third duration of the division area traversed by the i-th segment of the vehicle's second motion trajectory... When the second ratio equals the i-th second preset duration, the second ratio equals 1.

[0052] Step 2050: Obtain the second size increment based on the second ratio and the first size of the enclosure box of the offline AGV picking vehicle;

[0053] The second ratio is positively correlated with the second dimensional increment. For example, the second ratio and the second dimensional increment satisfy the following constraint relationship:

[0054]

[0055] In the formula, For the i-th second size increment, For the i-th second ratio, i takes values ​​from 1 to N. Let L be a preset coefficient, representing the first dimension of the bounding box of the offline AGV picking vehicle, which can be either length or width. When both the length and width of the first dimension of the bounding box need to be adjusted simultaneously, the calculated i-th second dimension increment includes both the i-th length increment and the i-th width increment. When only the length of the first dimension of the bounding box needs to be adjusted, the calculated i-th second dimension increment includes only the i-th length increment.

[0056] Step 2060: Obtain the second dimension of the bounding box based on all the second dimension increments and the first dimension.

[0057] The second dimension of the bounding box can be obtained by summing N second dimension increments with the first dimension. When both the length and width of the first dimension of the bounding box need to be adjusted simultaneously, the length of the second dimension is obtained by summing the length increments of the N second dimension increments with the length of the first dimension, and the width of the second dimension is obtained by summing the width increments of the N second dimension increments with the width of the first dimension. When only the length of the first dimension needs to be adjusted, the length of the second dimension can be obtained by summing the lengths of the N second dimension increments with the length of the first dimension, and the width of the second dimension should be equal to the width of the first dimension.

[0058] The control method of the AGV sorting vehicle in this embodiment divides the first motion trajectory of the offline AGV sorting vehicle within the first time period into N segments of the second motion trajectory. Then, it calculates the second ratio between the third time of the AGV sorting vehicle passing through each segment of the second motion trajectory and the second preset time of the segmented area corresponding to that trajectory. The N second ratios are used to determine N size increments, and these N size increments are used to adjust the first size of the bounding box. The resulting second size is superimposed with N size increments, which can effectively represent the target area after the offline AGV sorting vehicle continues to move along the remaining motion trajectory through the N segmented areas.

[0059] In one embodiment, after controlling the vehicle to be processed to perform avoidance processing or modify the driving route of the vehicle to be processed, the control method further includes:

[0060] Step 600: When the monitoring device detects the current position and current time of the offline AGV picking vehicle, the current position is taken as the offline position of the offline AGV picking vehicle, and the current time is taken as the offline time of the offline AGV picking vehicle; then return to execute steps 100 to 500.

[0061] The monitoring equipment can be cameras installed at specific locations in each divided area, or cameras installed on each online AGV picking vehicle. By taking pictures to obtain the current position and time of the offline AGV picking vehicle, the current position is used as the offline position of the AGV picking vehicle and the process returns to steps 100 to 500. The process then predicts again whether there will be a collision between the vehicles to be processed at overlapping positions and the offline AGV picking vehicles. If so, the corresponding vehicles to be processed are controlled to avoid the collision or modify their movement trajectory to avoid encountering the offline AGV picking vehicles.

[0062] In one embodiment, the target region includes the maximum x-coordinate, minimum x-coordinate, maximum y-coordinate, and minimum y-coordinate of the bounding box; step 500 includes:

[0063] When the x-coordinate of the intersection position is between the maximum x-coordinate and the minimum x-coordinate, and the y-coordinate of the intersection position is between the maximum y-coordinate and the minimum y-coordinate, the vehicle to be processed is controlled to perform an avoidance maneuver or the remaining trajectory of the vehicle to be processed is modified.

[0064] The target area is characterized by the maximum and minimum x-coordinates, maximum and minimum y-coordinates of the bounding box. The x-coordinates and y-coordinates of the intersection position are compared with the parameters included in the target area to determine whether there will be an encounter conflict between the vehicle to be processed at the intersection position and the offline AGV picking vehicle.

[0065] For example, when the x-coordinate of the intersection position is greater than or equal to the minimum x-coordinate and less than or equal to the maximum x-coordinate, and the y-coordinate of the intersection position is greater than or equal to the minimum y-coordinate and less than or equal to the maximum y-coordinate, it is determined that a collision will occur between the vehicle to be processed at the intersection position and the offline AGV picking vehicle. In this case, the vehicle to be processed will be controlled to avoid the collision or the remaining movement trajectory of the vehicle to be processed will be modified to avoid the collision.

[0066] In one embodiment, the target region includes the set of grid cells occupied by the bounding box in a grid map; step 500 includes:

[0067] When the intersection position occupies a grid in the grid map, the system controls the vehicle to be processed to perform an avoidance maneuver or modifies the remaining trajectory of the vehicle to be processed.

[0068] The target area can be represented by the set of grids occupied by the bounding box of the offline AGV picking vehicle in the grid map. By determining whether the grids occupied by the intersection position in the grid map are in the set of grids, it can be determined whether there will be an encounter conflict between the vehicle to be processed with the offline AGV picking vehicle and the vehicle with the intersection position.

[0069] For example, when the grid cell occupied by the intersecting position in the grid map is within the set of grid cells in the target area, it is determined that a collision will occur between the vehicle to be processed with the intersecting position and the offline AGV picking vehicle. Therefore, the vehicle to be processed will be controlled to avoid the collision or its remaining trajectory will be modified to prevent the collision. When the grid cell occupied by the intersecting position in the grid map is not within the set of grid cells in the target area, it is determined that a collision will not occur between the vehicle to be processed with the offline AGV picking vehicle, and therefore, there is no need to control the vehicle to be processed to avoid the collision or modify its remaining trajectory.

[0070] In one embodiment, in step 2030, the second preset durations corresponding to the N divided regions are not completely the same or are completely different.

[0071] The statement that the second preset durations corresponding to the N defined regions are not entirely the same means that there are some instances where the second preset durations are partially the same, i.e., some regions have the same second preset duration, while others have different second preset durations. Conversely, the statement that the second preset durations corresponding to the N defined regions are completely different means that the second preset duration for each region is different from the second preset durations for all other regions. This method of setting the second preset durations takes into account the actual conditions of different regions. For example, some regions may have smooth traffic flow, resulting in a shorter theoretical maximum time for vehicles to pass through them; while other regions may have obstacles, narrow passages, etc., requiring vehicles to slow down, resulting in a longer theoretical maximum time. By setting different second preset durations according to the characteristics of different divided areas, the second ratio of the third duration of the vehicle passing through each segment of the second motion trajectory to the second preset duration can be calculated more accurately. This allows for a more precise determination of the second size increment, ultimately yielding a second size that more accurately represents the target area after the offline AGV picking vehicle continues to move along the remaining motion trajectory through the N divided areas. This makes the judgment of encounter faults more reliable, thereby more effectively controlling the vehicles to be processed to avoid or modify their remaining motion trajectory, ensuring the normal operation and efficiency of the AGV picking vehicle.

[0072] In one embodiment, step 300 includes:

[0073] Step 301: Based on the first speed and the first duration of the offline AGV sorting vehicle when it is offline, obtain the travel distance of the offline AGV sorting vehicle after it goes offline;

[0074] The calculation of travel distance is based on a fundamental physical formula: distance equals speed multiplied by time. In practical applications, the first speed can be obtained in real time through the onboard sensors of the AGV sorting vehicle, while the first time is the time it takes for the vehicle to be processed to reach the intersection position, calculated in the previous steps. This calculated travel distance accurately reflects the distance the AGV sorting vehicle may travel within the first time period after going offline.

[0075] Step 302: Based on the travel distance, the first position of the offline AGV sorting vehicle when it is offline, and the remaining movement trajectory of the offline AGV sorting vehicle, determine the second position of the offline AGV sorting vehicle after the first movement time.

[0076] The second position is determined by combining the travel distance, the first position, and the remaining trajectory. First, the first position is the location of the AGV picking vehicle when it goes offline, which can be accurately obtained through a positioning system. The remaining trajectory is the pre-planned subsequent travel path of the AGV picking vehicle. Starting from the first position, the second position is determined based on the travel distance along the remaining trajectory. For example, if the remaining trajectory is a straight line, the corresponding point on this line can be directly found as the second position based on the travel distance; if the remaining trajectory is a curve, more complex geometric calculations or path tracking algorithms are needed to determine the second position.

[0077] In this embodiment, determining the second position of the offline AGV picking vehicle after the first movement time is of great significance. It can further assist in determining whether a collision will occur between the vehicle to be processed and the offline AGV picking vehicle. Comparing the second position with the intersection position, if the two are close together or there is a possibility of overlap, then it is necessary to carefully control the vehicle to be processed to avoid the collision or modify its route to ensure the stable operation of the AGV picking vehicle system. At the same time, determining the second position also provides an important basis for subsequent scheduling and management of the AGV picking vehicle, making the operation of the entire logistics warehousing system more efficient and orderly.

[0078] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0079] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the control method for the AGV picking vehicle described in the above embodiment, for example... Figure 1 Steps 100 to 500 shown are omitted here to avoid repetition.

[0080] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When executed by a processor, the computer program implements the control method of the AGV picking vehicle in the above embodiment, for example... Figure 1 Steps 100 to 500 shown are omitted here to avoid repetition.

[0081] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0082] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0083] While specific embodiments of the invention have been described in detail by way of example, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of the invention. Those skilled in the art should also understand that various modifications can be made to the embodiments without departing from the scope and spirit of the invention. The scope of this invention is defined by the appended claims.

Claims

1. A control method for an AGV sorting vehicle, characterized in that, The control method includes: Step 100: When a certain AGV sorting vehicle goes offline, determine the vehicle to be processed from the remaining AGV sorting vehicles. The remaining motion trajectory of the vehicle to be processed intersects with the remaining motion trajectory of the offline AGV sorting vehicle. Step 200: Based on the first time taken for the vehicle to be processed to move to the intersection position, adjust the first size of the enclosure of the offline AGV picking vehicle to obtain the second size of the enclosure; the first size is smaller than the second size; the first size is the size of the enclosure of the offline AGV picking vehicle when it is offline; Step 300: Based on the first speed and first position of the offline AGV sorting vehicle when it is offline, determine the second position of the offline AGV sorting vehicle after the first duration of movement; Step 400: Determine the target area based on the second dimension and the second position of the bounding box; the center point of the target area is the second position, and the size is the second dimension; Step 500: When the intersection position falls into the target area, control the vehicle to be processed to perform an avoidance operation or modify the remaining trajectory of the vehicle to be processed.

2. The control method according to claim 1, characterized in that, Step 200 includes: Step 201: Calculate the first ratio between the first time the vehicle to be processed moves to the intersection position and the first preset time; Step 202: Obtain the first size increment based on the first ratio and the first size of the enclosure box of the offline AGV picking vehicle; Step 203: Obtain the second dimension of the enclosure box based on the first dimension increment and the first dimension.

3. The control method according to claim 1, characterized in that, Step 200 includes: Step 2010: Calculate the first time it takes for the vehicle to move to the intersection position; Step 2020: Obtain the first motion trajectory of the offline AGV sorting vehicle within the first time period; Step 2030: Divide the first motion trajectory into N segments of the second motion trajectory. Each segment of the second motion trajectory corresponds to a division area on the map. Each division area corresponds to a second preset duration. N is a positive integer greater than 1. Step 2040: Calculate the second ratio of the third duration of the offline AGV sorting vehicle passing through each of the second motion trajectories to the second preset duration of the division area corresponding to the trajectory; Step 2050: Obtain the second size increment based on the second ratio and the first size of the enclosure box of the offline AGV picking vehicle; Step 2060: Obtain the second dimension of the bounding box based on all the second dimension increments and the first dimension.

4. The control method according to claim 1, characterized in that, After controlling the vehicle to be processed to perform avoidance maneuvers or modify the driving route of the vehicle to be processed, the control method further includes: Step 600: When the current position and current time of the offline AGV sorting vehicle are detected by the monitoring equipment, the current position is taken as the offline position of the offline AGV sorting vehicle, and the current time is taken as the offline time of the offline AGV sorting vehicle. Return to steps 100 through 500.

5. The control method according to claim 1, characterized in that, The target region includes the maximum x-coordinate, minimum x-coordinate, maximum y-coordinate, and minimum y-coordinate of the bounding box; Step 500 includes: When the x-coordinate of the intersection position is between the maximum x-coordinate and the minimum x-coordinate, and the y-coordinate of the intersection position is between the maximum y-coordinate and the minimum y-coordinate, the vehicle to be processed is controlled to perform an avoidance maneuver or the remaining trajectory of the vehicle to be processed is modified.

6. The control method according to claim 1, characterized in that, The target area includes the set of grid cells occupied by the bounding box in the grid map; Step 500 includes: When the intersection position occupies a grid in the grid map, the system controls the vehicle to be processed to perform an avoidance maneuver or modifies the remaining trajectory of the vehicle to be processed.

7. The control method according to claim 3, characterized in that, In step 2030, the second preset durations corresponding to the N divided regions are not completely the same or completely different.

8. The control method according to claim 1, characterized in that, Step 300 includes: Step 301: Based on the first speed and the first duration of the offline AGV sorting vehicle when it is offline, obtain the travel distance of the offline AGV sorting vehicle after it goes offline; Step 302: Based on the travel distance, the first position of the offline AGV sorting vehicle when it is offline, and the remaining movement trajectory of the offline AGV sorting vehicle, determine the second position of the offline AGV sorting vehicle after the first movement time.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the control method according to any one of claims 1 to 8.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the control method according to any one of claims 1 to 8.

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