Obstacle avoidance control method of autonomous guidance vehicle

Abstract

The invention discloses an obstacle avoidance control method of an autonomous guide vehicle. The method comprises the steps that in the running process of the autonomous guide vehicle, obstacle detection is carried out, and a detection result is obtained; when the detection result shows that the obstacle exists on the running line of the autonomous guidance vehicle, the current running speed of the autonomous guidance vehicle is obtained; according to the current running speed, the acceleration increasing time of the autonomous guide vehicle in the first stage and the uniform deceleration time of the autonomous guide vehicle in the second stage are determined; in the first stage, the acceleration change rate of the autonomous guidance vehicle is adjusted according to the acceleration increasing time, so that the acceleration of the autonomous guidance vehicle is increased to the maximum deceleration; and in the second stage, the autonomous guided vehicle is controlled to perform uniform deceleration from the maximum deceleration according to the uniform deceleration time until the lowest preset speed or the target stop distance is reached. The technical problems that the service life of equipment is shortened, goods are displaced or toppled over and the reliability is low due to the fact that mechanical impact generated when the autonomous guide vehicle suddenly stops is large in the related technology are solved.

Description

Technical Field

[0001] This invention relates to the field of automated production technology, and more specifically, to an obstacle avoidance control method for an autonomous guided vehicle. Background Technology

[0002] Autonomous Guided Vehicles (AGVs), as a key component of modern industrial automation, are widely used in logistics, manufacturing, and other industries to improve work efficiency and production safety. Existing AGV obstacle avoidance systems largely rely on emergency stops or simple linear deceleration strategies to handle emergencies after obstacle detection. However, these traditional techniques have significant technical drawbacks:

[0003] 1) Emergency stop method: Although the emergency stop mechanism can quickly reduce the speed of the AGV, the maximum braking force applied in a short period of time will cause severe mechanical impact. This will not only shorten the service life of the AGV, but may also cause the cargo on the vehicle to shift or even tip over, especially when traveling at high speed.

[0004] 2) Linear deceleration: The sudden change in deceleration during startup can generate unnecessary impact forces. Furthermore, in practical applications, this mode often struggles to achieve precise stopping within a limited distance. Especially when the AGV is at low speed, traditional algorithms tend to result in longer braking distances. Conversely, when the AGV is running at high speed, it is difficult to guarantee timely stopping within a safe range. This issue limits the flexibility and safety of AGVs in intensive operating environments.

[0005] 3) Distance control accuracy: Whether it is emergency stop or linear deceleration, traditional algorithms lack precision in braking distance control at different speeds. Especially at low speeds, due to the inherent characteristics of control parameters, AGVs often need a longer time to come to a complete stop. At high speeds, premature deceleration commands may prevent AGVs from fully utilizing their dynamic performance to complete efficient obstacle avoidance actions within a safe distance.

[0006] There is currently no effective solution to the above problems. Summary of the Invention

[0007] This invention provides an obstacle avoidance control method for an autonomous guided vehicle, which at least solves the technical problem in the related art that the mechanical impact generated by the autonomous guided vehicle during emergency stops is relatively large, which can easily lead to shortened equipment lifespan, cargo displacement or tipping, and low reliability.

[0008] According to one aspect of the present invention, an obstacle avoidance control method for an autonomous guided vehicle is provided, comprising: performing obstacle detection during the operation of the autonomous guided vehicle to obtain an obstacle detection result; when the obstacle detection result indicates that an obstacle exists on the operating path of the autonomous guided vehicle, acquiring the current operating speed of the autonomous guided vehicle; determining, based on the current operating speed, a first stage of acceleration increase time and a second stage of uniform deceleration time for the autonomous guided vehicle, wherein the first stage is a deceleration increase stage of the autonomous guided vehicle and the second stage is a uniform deceleration stage of the autonomous guided vehicle; adjusting the acceleration change rate of the autonomous guided vehicle according to the acceleration increase time in the first stage to increase the acceleration of the autonomous guided vehicle to a maximum deceleration; and controlling the autonomous guided vehicle to uniformly decelerate from the maximum deceleration according to the uniform deceleration time in the second stage until a minimum preset speed or a target stopping distance is reached.

[0009] Optionally, during the operation of the autonomous guided vehicle, obstacle detection is performed to obtain obstacle detection results, including: after determining that the autonomous guided vehicle has started, triggering the sensors installed on the autonomous guided vehicle to start, so as to collect environmental information on the operating route; and performing obstacle detection based on the environmental information to obtain the obstacle detection results.

[0010] Optionally, after obtaining the current operating speed of the autonomous guided vehicle, the obstacle avoidance control method includes: determining the minimum preset speed or the target stopping distance based on the current operating speed.

[0011] Optionally, determining the acceleration increase time in the first stage and the uniform deceleration time in the second stage for the autonomous guided vehicle based on the current operating speed includes: obtaining the maximum deceleration; and determining the acceleration increase time based on the maximum deceleration and the current operating speed using a first formula, wherein the first formula is: , This indicates the time it takes for the acceleration to increase. This indicates the current operating speed. The maximum deceleration is represented; the uniform deceleration time is determined by a second formula based on the maximum deceleration and the current operating speed, wherein the second formula is: , This represents the uniform deceleration time.

[0012] Optionally, adjusting the rate of change of acceleration of the autonomous guided vehicle according to the acceleration increase time in the first stage, so that the acceleration of the autonomous guided vehicle increases to the maximum deceleration, includes: adjusting the rate of change of acceleration according to the maximum deceleration and the acceleration increase time using a third formula, wherein the third formula is: , This represents the rate of change of acceleration.

[0013] Optionally, in the first stage, the first acceleration of the autonomous guided vehicle is calculated using a fourth formula, wherein the fourth formula is: , Indicates the current duration. The first acceleration is represented by [formula missing]. In the second stage, the second acceleration of the autonomous guided vehicle is calculated using a fifth formula, wherein the fifth formula is: - , This indicates the second acceleration.

[0014] Optionally, in the second stage, the first speed of the autonomous guided vehicle is calculated using a sixth formula, wherein the sixth formula is: , Indicates the current duration. The first speed is represented by [formula missing]. In the second stage, the second speed of the autonomous guided vehicle is calculated using a seventh formula, wherein the seventh formula is: , This indicates the second speed. .

[0015] Optionally, the obstacle avoidance control method further includes: when the autonomous guided vehicle reaches the third stage, determining the third acceleration of the autonomous guided vehicle in the third stage using an eighth formula, based on the maximum deceleration, the acceleration increase time, and the uniform deceleration time, wherein the third stage is the stage in which the speed of the autonomous guided vehicle decreases to zero, and the eighth formula is: , The third acceleration is indicated; the operating speed of the autonomous guided vehicle in the third stage is determined based on the third acceleration; the operating speed is sent to the autonomous guided vehicle so that the autonomous guided vehicle operates at the operating speed.

[0016] According to another aspect of the present invention, an obstacle avoidance control device for an autonomous guided vehicle is also provided, comprising: a detection unit, configured to detect obstacles during the operation of the autonomous guided vehicle and obtain obstacle detection results; an acquisition unit, configured to acquire the current operating speed of the autonomous guided vehicle when the obstacle detection results indicate that there is an obstacle on the operating path of the autonomous guided vehicle; a first determination unit, configured to determine, based on the current operating speed, a first stage acceleration increase time and a second stage uniform deceleration time of the autonomous guided vehicle, wherein the first stage is a deceleration increase stage of the autonomous guided vehicle and the second stage is a uniform deceleration stage of the autonomous guided vehicle; an adjustment unit, configured to adjust the acceleration change rate of the autonomous guided vehicle according to the acceleration increase time in the first stage, so that the acceleration of the autonomous guided vehicle increases to a maximum deceleration; and a control unit, configured to control the autonomous guided vehicle to uniformly decelerate from the maximum deceleration according to the uniform deceleration time in the second stage until a minimum preset speed or a target stopping distance is reached.

[0017] Optionally, the detection unit includes: a triggering module, used to trigger the sensors installed on the autonomous guided vehicle to start after determining that the autonomous guided vehicle has started, so as to collect environmental information on the running route; and a detection module, used to perform obstacle detection based on the environmental information to obtain the obstacle detection result.

[0018] Optionally, the obstacle avoidance control device includes: a second determining unit, configured to determine the minimum preset speed or the target stopping distance based on the current operating speed of the autonomous guided vehicle after acquiring the current operating speed of the vehicle.

[0019] Optionally, the first determining unit includes: an acquisition module, configured to acquire the maximum deceleration; and a first determining module, configured to determine the acceleration increase time based on the maximum deceleration and the current running speed using a first formula, wherein the first formula is: , This indicates the time it takes for the acceleration to increase. This indicates the current operating speed. The maximum deceleration is represented by the second determining module, which is used to determine the uniform deceleration time based on the maximum deceleration and the current operating speed using a second formula, wherein the second formula is: , This represents the uniform deceleration time.

[0020] Optionally, the adjustment unit includes: an adjustment module, configured to adjust the rate of change of acceleration according to the maximum deceleration and the acceleration increase time using a third formula, wherein the third formula is: , This represents the rate of change of acceleration.

[0021] Optionally, in the first stage, the first acceleration of the autonomous guided vehicle is calculated using a fourth formula, wherein the fourth formula is: , Indicates the current duration. The first acceleration is represented by [formula missing]. In the second stage, the second acceleration of the autonomous guided vehicle is calculated using a fifth formula, wherein the fifth formula is: - , This indicates the second acceleration.

[0022] Optionally, in the second stage, the first speed of the autonomous guided vehicle is calculated using a sixth formula, wherein the sixth formula is: , Indicates the current duration. The first speed is represented by [formula missing]. In the second stage, the second speed of the autonomous guided vehicle is calculated using a seventh formula, wherein the seventh formula is: , This indicates the second speed. .

[0023] Optionally, the obstacle avoidance control device further includes: a third determining unit, configured to, when determining that the autonomous guided vehicle has reached the third stage, determine the third acceleration of the autonomous guided vehicle in the third stage using an eighth formula, based on the maximum deceleration, the acceleration increase time, and the uniform deceleration time, wherein the third stage is the stage in which the speed of the autonomous guided vehicle decreases to zero, and the eighth formula is: , The third acceleration is indicated by a fourth determining unit, which determines the operating speed of the autonomous guided vehicle in the third stage based on the third acceleration; and a sending unit, which sends the operating speed to the autonomous guided vehicle so that the autonomous guided vehicle operates at the operating speed.

[0024] According to one aspect of the present invention, an autonomous guided vehicle is provided, wherein the autonomous guided vehicle uses the obstacle avoidance control method of the autonomous guided vehicle described in any one of the above embodiments.

[0025] According to one aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the program executes the obstacle avoidance control method of the autonomous guided vehicle as described in any one of the preceding embodiments.

[0026] According to one aspect of the present invention, a processor is provided for running a program, wherein the program executes the obstacle avoidance control method for an autonomous guided vehicle as described in any of the above embodiments.

[0027] According to one aspect of the present invention, a computer program product is provided, including computer instructions, which, when executed by a processor, perform the obstacle avoidance control method for an autonomous guided vehicle as described in any one of the above embodiments.

[0028] In this embodiment of the invention, during the operation of the autonomous guided vehicle, obstacle detection is performed to obtain obstacle detection results. When the obstacle detection results indicate that there is an obstacle on the autonomous guided vehicle's operating path, the current operating speed of the autonomous guided vehicle is obtained. Based on the current operating speed, the acceleration increase time in the first stage and the uniform deceleration time in the second stage of the autonomous guided vehicle are determined, wherein the first stage is the deceleration increase stage of the autonomous guided vehicle, and the second stage is the uniform deceleration stage of the autonomous guided vehicle. In the first stage, the acceleration change rate of the autonomous guided vehicle is adjusted according to the acceleration increase time to increase the acceleration of the autonomous guided vehicle to the maximum deceleration. In the second stage, the autonomous guided vehicle is controlled to decelerate uniformly from the maximum deceleration according to the uniform deceleration time until the minimum preset speed or target stopping distance is reached. The above technical solution achieves the goal of smoothly adjusting the acceleration of the AGV during emergency obstacle avoidance, enabling rapid response to obstacles at different speeds, and achieving precise stopping within the target distance for any initial speed of the AGV. This avoids the severe impact during sudden stops, effectively extends the service life of the AGV and its components, reduces cargo shifting or tipping caused by sudden stops or unreasonable deceleration, and improves the safety of the transportation process. Regardless of the initial speed of the AGV, the braking process can be effectively controlled, thus solving the technical problems of large mechanical impacts generated by AGVs during sudden stops, which can easily lead to shortened equipment lifespan, cargo shifting or tipping, and low reliability in related technologies. Attached Figure Description

[0029] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0030] Figure 1 This is a hardware structure block diagram of a mobile terminal for an obstacle avoidance control method for an autonomous guided vehicle according to an embodiment of the present invention.

[0031] Figure 2 This is a flowchart of an obstacle avoidance control method for an autonomous guided vehicle according to an embodiment of the present invention;

[0032] Figure 3This is a flowchart of an optional obstacle avoidance control method for an autonomous guided vehicle according to an embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of an obstacle avoidance control device for an autonomous guided vehicle according to an embodiment of the present invention.

[0034] The above figures include the following reference numerals:

[0035] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. Detailed Implementation

[0036] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. 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 should fall within the scope of protection of the present invention.

[0037] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0038] As described in the background section, related technologies suffer from significant mechanical impacts during emergency stops of autonomous guided vehicles (AGVs), leading to shortened equipment lifespan, cargo displacement or tipping, and low reliability. To address these issues, this invention proposes a general algorithm based on an S-curve, aiming to overcome the challenge of balancing low-speed high precision with high-speed rapid response in existing obstacle avoidance technologies. This enables efficient, stable, and safe operation of AGVs during obstacle avoidance. The algorithm optimizes the relationship between speed and braking time by introducing a nonlinear mapping relationship, ensuring precise stopping within the target distance regardless of the AGV's initial speed. It also considers jerk adjustment to enhance control smoothness and response speed, thus providing a more advanced solution for AGV obstacle avoidance and significantly improving its performance in practical applications.

[0039] That is, the embodiments of the present invention provide an obstacle avoidance control method and device for an autonomous guided vehicle, an autonomous guided vehicle, a computer-readable storage medium, a processor, and a computer program product.

[0040] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0041] The methods and embodiments provided in this invention can be executed on a mobile terminal, a computer terminal, or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for an obstacle avoidance control method for an autonomous guided vehicle according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0042] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the obstacle avoidance control method of the autonomous guided vehicle in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0043] Example 1

[0044] According to an embodiment of the present invention, an obstacle avoidance control method for an autonomous guided vehicle is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0045] Figure 2 This is a flowchart of an obstacle avoidance control method for an autonomous guided vehicle according to an embodiment of the present invention, such as... Figure 2 As shown, the method includes the following steps:

[0046] Step S202: During the operation of the autonomous guided vehicle, obstacle detection is performed to obtain the obstacle detection results.

[0047] In this embodiment, this step is fundamental to the entire obstacle avoidance control method and involves real-time monitoring of the surrounding environment during the operation of the autonomous guided vehicle (AGV) to identify potential obstacles.

[0048] Obstacle detection during the operation of Autonomous Guided Vehicles (AGVs) is achieved through various onboard sensor systems, such as lidar, ultrasonic sensors, and cameras, which continuously monitor the environment surrounding the AGV. These sensors can capture information such as the presence, location, shape, and direction of movement of obstacles. When the sensors receive signals from obstacles, the data is processed and analyzed in real time to determine the precise location of the obstacle and its potential threat level.

[0049] By implementing this control method, AGVs can achieve real-time obstacle perception, ensuring safe operation in complex environments. The accuracy of obstacle detection results directly affects the effectiveness of obstacle avoidance strategies; therefore, efficient execution of this step can significantly improve the obstacle avoidance capabilities of AGVs and the overall safety level of operation. In industrial automation environments, AGV routes often need to traverse busy production areas, and fast and accurate obstacle detection allows AGVs to adjust their routes in a timely manner, avoiding collisions with fixed or moving obstacles, reducing the risk of production interruptions, and improving production efficiency.

[0050] Step S204: When the obstacle detection result indicates that there is an obstacle on the autonomous guided vehicle's operating path, obtain the current operating speed of the autonomous guided vehicle.

[0051] In this embodiment, the AGV uses When the AGV travels at its initial velocity and encounters an obstacle, its acceleration is... express.

[0052] This method is based on a real-time speed feedback control mechanism. After sensors installed on the AGV (such as LiDAR, ultrasonic sensors, or vision systems) detect obstacles, these sensors transmit the obstacle's position information to the AGV's control system in real time. Simultaneously, the control system reads the AGV's real-time speed information, as different speeds require different response strategies and calculation parameters to ensure safe and efficient obstacle avoidance. For example, at high speeds, the AGV needs a longer deceleration distance and time to avoid collisions, while at low speeds, a shorter deceleration distance can be used.

[0053] Implementing this control method enables more precise and intelligent obstacle avoidance control. Adjusting the obstacle avoidance strategy based on the current speed significantly reduces mechanical impact during obstacle avoidance, preventing equipment wear and cargo damage caused by sudden stops and extending the AGV's service life. Simultaneously, by accurately calculating deceleration time and distance, the AGV can smoothly decelerate and stop within a safe distance, regardless of whether it is at high or low speed, improving its flexibility and safety in complex working environments.

[0054] Step S206: Determine the acceleration increase time in the first stage and the uniform deceleration time in the second stage of the autonomous guided vehicle based on the current operating speed. The first stage is the deceleration increase stage of the autonomous guided vehicle, and the second stage is the uniform deceleration stage of the autonomous guided vehicle.

[0055] In this embodiment, the time for the first stage (deceleration increase stage) is calculated as follows: The second stage (uniform deceleration stage) lasts for [duration]. , , .

[0056] This method dynamically calculates the emergency braking strategy of an autonomous guided vehicle (AGV) when encountering obstacles based on the AGV's current operating speed. This strategy consists of two main phases: the first phase is the deceleration increase phase, where the AGV begins its obstacle avoidance response, gradually increasing its deceleration until it reaches a pre-set maximum deceleration; the second phase is the uniform deceleration phase, where the AGV decelerates at a constant maximum deceleration until it comes to a safe stop or reaches the required minimum preset speed. The calculation of these two phases—the acceleration increase time and the uniform deceleration time—is achieved by analyzing the AGV's instantaneous speed, the required deceleration distance, and pre-set safety parameters (such as the maximum deceleration).

[0057] By implementing this control method, Autonomous Guided Vehicles (AGVs) can achieve more refined and intelligent obstacle avoidance control. First, it significantly improves the AGV's responsiveness when facing sudden obstacles, allowing the vehicle to flexibly adjust its deceleration plan based on its current speed, avoiding the negative impacts of simple abrupt stops. In high-speed operation scenarios, this method ensures the AGV has sufficient time to decelerate smoothly, avoiding cargo instability or equipment damage caused by sudden stops; while in low-speed operation, it can quickly adjust to a safe state, reducing waiting time and improving operational continuity. Second, this method, through scientific calculation of the time distribution of the first and second stages, makes the entire deceleration process smoother, reducing sudden stress on the AGV's mechanical system and helping to extend the service life of the vehicle and its critical components.

[0058] In step S208, the acceleration change rate of the autonomous guided vehicle is adjusted according to the acceleration increase time in the first stage so that the acceleration of the autonomous guided vehicle increases to the maximum deceleration.

[0059] In this embodiment, the acceleration ranges from 0 to The rate of change is: Set a range for the value of j to prevent j from being too large and affecting vehicle safety and cargo stability. When At that time, acceleration ,speed Target stopping distance t represents the current duration.

[0060] This method involves the initial acceleration control phase, or deceleration increase phase, during the emergency braking process of an AGV after detecting an obstacle. In this phase, the AGV's control system dynamically adjusts the AGV's acceleration rate of change based on the acceleration increase time calculated in the previous step, thus gradually increasing the AGV's deceleration until it reaches the preset maximum deceleration. This process essentially involves fine-tuning of vehicle dynamics, avoiding abrupt deceleration through a nonlinear control strategy, and ensuring a smooth transition during deceleration. The adjustment of the acceleration rate of change is based on the relationship between the AGV's current operating speed and the maximum allowable deceleration, as well as the time requirement to reach the maximum deceleration. This nonlinear mapping ensures that regardless of the AGV's initial speed, its deceleration smoothly increases to its maximum value within the first phase without excessive mechanical shock. This is achieved by adjusting the braking force and time allocation, reflecting the time-speed-acceleration coordination principle in control theory.

[0061] By implementing this control method, a smooth transition and efficient response of the AGV during emergency braking were achieved. The core effect of this control strategy is to significantly reduce mechanical impact during obstacle avoidance maneuvers, extend the service life of the AGV and its onboard equipment, and reduce maintenance costs.

[0062] In step S210, in the second stage, the autonomous guided vehicle is controlled to decelerate uniformly from the maximum deceleration according to the uniform deceleration time until the minimum preset speed or target stopping distance is reached.

[0063] In this embodiment, when At that time, acceleration ,speed ,in, Target stopping distance .

[0064] This method is based on the kinematic principle of constant acceleration, meaning that during the emergency obstacle avoidance phase after obstacle detection, the autonomous guided vehicle (AGV) decelerates at its maximum speed. The vehicle decelerates uniformly until it reaches the minimum preset speed or the target stopping distance. In the second stage, the uniform deceleration stage... The AGV's control system will calculate the uniform deceleration time. The AGV continuously decelerates at its maximum deceleration rate. This mechanism ensures that the AGV can quickly decelerate to a safe state, avoiding collisions with obstacles. During this phase, the acceleration remains constant, and the AGV's deceleration equals its maximum deceleration rate. This allows the AGV to decelerate at a controllable rate within a known time, thus completing deceleration or stopping within a predetermined distance without causing damage to the vehicle or cargo.

[0065] By implementing this control method, the AGV's reaction speed and obstacle avoidance safety when facing obstacles are significantly enhanced. Through uniform deceleration at a constant maximum deceleration, the AGV can quickly adjust to a preset minimum speed or come to a complete stop within a safe distance. This greatly reduces mechanical shock and cargo instability caused by sudden stops, thereby extending the AGV's service life and ensuring the safety of cargo transportation.

[0066] As described above, in this embodiment, during the operation of the autonomous guided vehicle (AVR), obstacle detection is performed to obtain obstacle detection results. When the obstacle detection results indicate the presence of an obstacle on the AVR's operating path, the current operating speed of the AVR is obtained. Based on the current operating speed, the acceleration increase time in the first stage and the uniform deceleration time in the second stage of the AVR are determined, wherein the first stage is the deceleration increase stage of the AVR, and the second stage is the uniform deceleration stage of the AVR. In the first stage, the acceleration change rate of the AVR is adjusted according to the acceleration increase time to increase the AVR to the maximum deceleration. In the second stage... The segment-controlled autonomous guided vehicle (AGV) decelerates uniformly from its maximum deceleration time until it reaches the minimum preset speed or target stopping distance. This allows the AGV to smoothly adjust its acceleration during emergency obstacle avoidance, responding quickly to obstacles at different speeds. For any initial speed of the AGV, it can achieve precise stopping within the target distance, thus avoiding severe impacts during sudden stops, effectively extending the service life of the AGV and its components, reducing cargo shifting or tipping caused by sudden stops or unreasonable deceleration, and improving the safety of the transportation process. Regardless of the AGV's initial speed, the braking process can be effectively controlled.

[0067] Therefore, the technical solution provided by the above embodiments of the present invention solves the technical problem in the related art that the mechanical impact generated by the autonomous guided vehicle during emergency stop is relatively large, which can easily lead to shortened equipment life and cargo displacement or tipping, resulting in low reliability.

[0068] For example, the following tests measured the maximum deceleration, total time, actual braking distance, number of braking steps, and average deceleration for four different initial velocities (0.8 m / s, 1.2 m / s, 1.5 m / s, and 2.0 m / s). Specifically, when the initial velocity was 0.8 m / s, the braking parameters were: maximum acceleration = 8.00 m / s².2 Total time = 0.350s, actual braking distance: 0.50000m, number of braking steps: 35 (time step 0.01s), average deceleration: 2.29m / s² 2 At an initial test velocity of 1.2 m / s, the braking parameters were: maximum acceleration = 8.00 m / s². 2 Total time = 0.420s, actual braking distance: 0.50000m, number of braking steps: 42 (time step 0.01s), average deceleration: 2.86m / s² 2 At an initial test velocity of 1.5 m / s, the braking parameters were: maximum acceleration = 8.00 m / s². 2 Total time = 0.500s, actual braking distance: 0.50000m, number of braking steps: 50 (time step 0.01s), average deceleration: 3.00m / s² 2 At an initial test velocity of 2.0 m / s, the braking parameters were: maximum acceleration = 8.00 m / s². 2 Total time: 0.650s; Actual braking distance: 0.50000m; Number of braking steps: 65 (time step 0.01s); Average deceleration: 3.08m / s² 2 The results show that the technical solution provided by the embodiments of the present invention can ensure that the AGV can accurately stop at the target distance (0.5 meters) at any initial speed, with fast error convergence speed, meeting the requirements of real-time control. Ensuring that the AGV can accurately stop within the target distance of 0.5 meters at any initial speed overcomes the problem in the prior art where the braking distance is too long at low speeds and it is difficult to stop in time within a safe distance at high speeds, achieving refined and consistent braking distance control. During obstacle avoidance, the error between the AGV's braking distance and the target distance can converge quickly, meaning the AGV can quickly adjust its speed to a safe stopping state. This indicates that the control algorithm's response speed and adaptability at different speeds are significantly improved, meeting the requirements of real-time control and ensuring that the AGV can react quickly when facing obstacles to avoid collisions.

[0069] According to the above embodiments of the present invention, during the operation of the autonomous guided vehicle, obstacle detection is performed to obtain obstacle detection results, including: after determining that the autonomous guided vehicle has started, triggering the sensors installed on the autonomous guided vehicle to start, so as to collect environmental information on the operating route; and performing obstacle detection based on the environmental information to obtain obstacle detection results.

[0070] In this embodiment, the obstacle detection process is integrated into the operation control loop of the autonomous guided vehicle (AGV) to achieve real-time, efficient and intelligent environmental perception.

[0071] This method is based on real-time environmental perception and data processing technology. After the AGV starts operating, its sensors (such as lidar, ultrasonic sensors, and cameras) are activated, continuously scanning and collecting data about the surrounding environment, including but not limited to the distance, shape, and dynamic information of obstacles. The information collected by the sensors is then transmitted to the AGV's central control system, where software algorithms analyze and process the environmental information to identify potential obstacles. The activation of the sensors and continuous data acquisition ensure that the AGV can monitor its operating path in real time, promptly detect potential obstacles, and provide accurate data support for subsequent obstacle avoidance control strategies.

[0072] By implementing this control method, the safety and reliability of AGVs in complex working environments are significantly improved. In practical applications, this effect is reflected in the AGV's ability to monitor dynamic changes ahead in real time. Even when operating at high speeds or under changing ambient light and weather conditions, it can accurately determine the position and movement trend of obstacles, thus providing real-time and accurate information for formulating obstacle avoidance strategies.

[0073] According to the above embodiments of the present invention, after obtaining the current operating speed of the autonomous guided vehicle, the obstacle avoidance control method includes: determining a minimum preset speed or a target stopping distance based on the current operating speed.

[0074] In this embodiment, the dynamic control process of deceleration until stopping has three stages: acceleration increase stage (stage one), uniform deceleration stage (stage two), and deceleration decrease stage (stage three).

[0075] This method uses the AGV's current operating speed as input and, through a preset algorithm or rules, determines the minimum safe speed the AGV should reach when facing obstacles, or the shortest distance required to ensure a safe stop. The minimum preset speed is typically used to ensure the AGV maintains sufficient stability and control during deceleration to a stop, preventing loss of directional control due to excessive speed or cargo displacement due to inertia. The target stopping distance is the minimum distance that can be safely decelerated to a stop, calculated kinematically based on the AGV's instantaneous speed and maximum deceleration, ensuring no collisions occur during obstacle avoidance.

[0076] By implementing this control method, the safety of AGVs during obstacle avoidance is improved. It ensures that regardless of whether the AGV is operating at high or low speed, it can decelerate within a safe range, avoiding sudden stops and impacts caused by improper speed, thus protecting the mechanical structure of the AGV and the stability of the cargo. Secondly, it optimizes the obstacle avoidance efficiency of AGVs, enabling them to decelerate within the shortest possible time and distance, reducing unnecessary waiting and detours, and improving production efficiency.

[0077] According to the above embodiments of the present invention, determining the acceleration increase time in the first stage and the uniform deceleration time in the second stage of the autonomous guided vehicle based on the current operating speed includes: obtaining the maximum deceleration; and determining the acceleration increase time based on the maximum deceleration and the current operating speed using a first formula, wherein the first formula is: , This indicates that acceleration increases over time. Indicates the current running speed. This represents the maximum deceleration; the uniform deceleration time is determined using the second formula, based on the maximum deceleration and the current operating speed. The second formula is: , This represents the time of uniform deceleration.

[0078] In this embodiment, when When less than 0, forced It equals 0, then recalculate. , In fact hour, ; hour, ; At that time, take ,so It will not be less than 0.

[0079] The core of this method lies in using the AGV's speed and a pre-set maximum deceleration as input parameters. It dynamically calculates the acceleration increase time and uniform deceleration time using a first formula and a second formula, thereby ensuring that the AGV's deceleration process is both safe and effective. The first formula describes the deceleration increase phase, i.e., the increase from 0 to the maximum deceleration. Time required This formula takes into account the current operating speed of the AGV. and the maximum allowable deceleration The second formula is used to determine the uniform deceleration time in the second stage. During this phase, the AGV decelerates at a constant maximum speed. Decelerate until the minimum preset speed or target stopping distance is reached.

[0080] By implementing this control method, the AGV can smoothly increase its deceleration to its maximum value based on its current speed, and then decelerate uniformly until it stops. This process significantly reduces the impact caused by sudden stops or improper deceleration, protects the mechanical structure of the AGV and the goods it carries, avoids the risk of equipment damage or goods displacement, and enhances the safety and reliability of the AGV in industrial automation environments.

[0081] According to the above embodiments of the present invention, adjusting the rate of change of acceleration of the autonomous guided vehicle based on the acceleration increase time in the first stage, so that the acceleration of the autonomous guided vehicle increases to the maximum deceleration, includes: adjusting the rate of change of acceleration based on the maximum deceleration and the acceleration increase time using a third formula, wherein the third formula is: , This represents the rate of change of acceleration.

[0082] In this embodiment, This indicates that the acceleration of the AGV increases by 1 / 2 every unit of time t. The value, until the acceleration reaches .

[0083] The core of this method lies in controlling the value of j, that is, the change in acceleration per unit time, to ensure that the AGV's acceleration can smoothly increase from 0 to... This avoids shocks caused by excessively rapid changes in acceleration. The setting of the acceleration change rate j takes into account the relationship between the AGV's initial speed and the maximum deceleration required, ensuring a gradual and smooth deceleration process, reducing impact on the AGV's mechanical structure and the cargo, and improving the controllability and safety of the deceleration process.

[0084] By implementing this control method, the operational safety and stability of AGVs have been significantly improved. Specifically, regardless of the AGV's initial speed, the system can accurately calculate the value of j to gradually increase the AGV's acceleration to a_max. This avoids mechanical damage and cargo instability that may result from sudden stops, protects the AGV's mechanical structure and cargo safety, reduces the potential risk of equipment and cargo damage, and improves the AGV's operational safety in complex environments.

[0085] Optionally, in the first stage, the first acceleration of the autonomous guided vehicle is calculated using the fourth formula, which is: , Indicates the current duration. This represents the first acceleration; in the second stage, the second acceleration of the autonomous guided vehicle is calculated using the fifth formula, which is: - , This indicates the second acceleration.

[0086] Optionally, in the second stage, the first speed of the autonomous guided vehicle is calculated using the sixth formula, which is: , Indicates the current duration. The first velocity represents the initial velocity; in the second stage, the second velocity of the autonomous guided vehicle is calculated using the seventh formula, which is: , Indicates the second speed. .

[0087] According to the above embodiments of the present invention, the obstacle avoidance control method further includes: when it is determined that the autonomous guided vehicle has reached the third stage, determining the third acceleration of the autonomous guided vehicle in the third stage using an eighth formula based on the maximum deceleration, the acceleration increase time, and the uniform deceleration time, wherein the third stage is the stage in which the speed of the autonomous guided vehicle decreases to zero, and the eighth formula is: , The third acceleration is indicated; the operating speed of the autonomous guided vehicle in the third stage is determined based on the third acceleration; the operating speed is sent to the autonomous guided vehicle so that the autonomous guided vehicle operates at the operating speed.

[0088] In this embodiment, the third stage, ,speed ,in, The displacement in the third stage is: The acceleration expression for stage 3, at the beginning of stage 3. The acceleration is - Then it increases linearly (the algebraic value increases, i.e., the absolute value decreases) to 0, with a slope of (Because of time) From the inside It changes to 0, so the rate of change is However, it can also be written as: ,in Finally, the total time .

[0089] This method aims to ensure that the AGV can smoothly decelerate to a complete stop, avoiding the potential impact on the AGV and goods that a sudden stop could cause. Formula 8 is used to calculate the acceleration change in the third stage. The formula reflects how the acceleration gradually decreases from the maximum deceleration as the AGV approaches a stop. The process of reducing the speed to zero ensures a smooth transition during deceleration. This strategy utilizes the kinetic energy accumulated by the AGV in the first two stages, and through precise control of acceleration changes, enables the AGV to decelerate to a stop with minimal impact, thereby protecting the AGV's structure and the safety of the cargo.

[0090] By implementing this control method, the smoothness and safety of the AGV during the third-stage deceleration to stop process are significantly improved. By ensuring that the acceleration gradually decreases to zero in the third stage, the AGV can smoothly decelerate from the maximum deceleration to a complete stop. This process avoids the strong mechanical shock that may be caused by sudden stopping, protects the AGV structure from damage, and avoids instability of goods caused by sudden stops.

[0091] Figure 3This is a flowchart of an optional obstacle avoidance control method for an autonomous guided vehicle according to an embodiment of the present invention, such as... Figure 3 As shown, the AGV speed adjustment process is completed in three stages. First, the jerk is calculated from the initial speed. Then, the travel speed for each stage is calculated based on the jerk until the calculated travel speed is zero, at which point the process stops. By gradually increasing the deceleration (i.e., the rate of change of acceleration) in the first stage, rather than suddenly applying the maximum deceleration, the mechanical impact on the AGV itself during the initial deceleration can be effectively reduced, avoiding equipment damage or cargo instability caused by abrupt deceleration. The uniform deceleration process in the second stage allows the AGV to maintain a relatively stable period at the maximum deceleration, which helps to precisely control the AGV's braking distance and ensure that it comes to a complete stop within the predetermined safety range, improving the overall safety during obstacle avoidance. After reaching the maximum deceleration in the second stage, the speed is gradually reduced to zero in the third stage. This stage is designed to ensure that the AGV can complete deceleration and stop in the shortest possible time, reducing the total time required for obstacle avoidance, thereby improving the AGV's working efficiency and flexibility. The three-stage algorithm design takes into account the different initial velocities of the AGV. By dynamically adjusting the acceleration increase time, uniform deceleration time, and parameters of the final deceleration stage, it ensures that the AGV can efficiently and safely complete obstacle avoidance and deceleration regardless of its speed, thus increasing the adaptability and practicality of the control algorithm.

[0092] As can be seen from the above, the technical solution provided by the above embodiments of the present invention establishes a nonlinear mapping relationship between speed and braking time, ensuring fast response at low speeds and sufficient deceleration at high speeds. Physical constraints ensure that the algorithm meets the braking distance requirements and adaptive adjustment of jerk at any speed, achieving the best balance between smoothness and response speed.

[0093] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0094] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of this application.

[0095] Example 2

[0096] According to embodiments of the present invention, an obstacle avoidance control device for an autonomous guided vehicle that implements the obstacle avoidance control method described above is also provided. Figure 4 This is a schematic diagram of an obstacle avoidance control device for an autonomous guided vehicle according to an embodiment of the present invention, as shown below. Figure 4 As shown, the device includes: a detection unit 401, an acquisition unit 403, a first determination unit 405, an adjustment unit 407, and a control unit 409. The device will now be described in detail.

[0097] The detection unit 401 is used to detect obstacles during the operation of the autonomous guided vehicle and obtain the obstacle detection results.

[0098] The acquisition unit 403 is used to acquire the current operating speed of the autonomous guided vehicle when the obstacle detection result indicates that there is an obstacle on the operating path of the autonomous guided vehicle.

[0099] The first determining unit 405 is used to determine the acceleration increase time of the autonomous guided vehicle in the first stage and the uniform deceleration time in the second stage based on the current operating speed. The first stage is the deceleration increase stage of the autonomous guided vehicle, and the second stage is the uniform deceleration stage of the autonomous guided vehicle.

[0100] The adjustment unit 407 is used to adjust the rate of change of acceleration of the autonomous guided vehicle according to the acceleration increase time in the first stage, so that the acceleration of the autonomous guided vehicle increases to the maximum deceleration.

[0101] Control unit 409 is used to control the autonomous guided vehicle to decelerate uniformly from the maximum deceleration according to the uniform deceleration time in the second stage until the minimum preset speed or target stopping distance is reached.

[0102] It should be noted that the detection unit 401, acquisition unit 403, first determination unit 405, adjustment unit 407 and control unit 409 mentioned above correspond to steps S202 to S210 in the above embodiments. The five units and the corresponding steps implement the same instances and application scenarios, but are not limited to the content disclosed in the above embodiments.

[0103] As can be seen from the above, in the scheme described in the above embodiments of the present invention, a detection unit is used to detect obstacles during the operation of the autonomous guided vehicle and obtain obstacle detection results; an acquisition unit is used to acquire the current operating speed of the autonomous guided vehicle when the obstacle detection results indicate that there is an obstacle on the operating path of the autonomous guided vehicle; a first determining unit is used to determine the acceleration increase time of the autonomous guided vehicle in the first stage and the uniform deceleration time in the second stage based on the current operating speed, wherein the first stage is the deceleration increase stage of the autonomous guided vehicle and the second stage is the uniform deceleration stage of the autonomous guided vehicle; an adjustment unit is used to adjust the acceleration change rate of the autonomous guided vehicle according to the acceleration increase time in the first stage so that the acceleration of the autonomous guided vehicle increases to the maximum deceleration; and a control unit is used to control the autonomous guided vehicle to perform uniform deceleration from the maximum deceleration according to the uniform deceleration time in the second stage until the minimum preset speed or target stopping distance is reached. The above solution achieves the goal of smoothly adjusting the acceleration of the AGV during emergency obstacle avoidance, enabling rapid response to obstacles at different speeds, and achieving precise stopping within the target distance for any initial speed of the AGV. This avoids the severe impact during sudden stops, effectively extends the service life of the AGV and its components, reduces cargo shifting or tipping caused by sudden stops or unreasonable deceleration, and improves the safety of the transportation process. Regardless of the initial speed of the AGV, the braking process can be effectively controlled, thus solving the technical problems of large mechanical impacts generated by AGVs during sudden stops, which can easily lead to shortened equipment lifespan, cargo shifting or tipping, and low reliability in related technologies.

[0104] Optionally, the detection unit includes: a triggering module, used to trigger the sensors installed on the autonomous guided vehicle to start after determining that the autonomous guided vehicle has started, so as to collect environmental information on the operating route; and a detection module, used to perform obstacle detection based on the environmental information to obtain obstacle detection results.

[0105] Optionally, the obstacle avoidance control device includes: a second determining unit, used to determine a minimum preset speed or target stopping distance based on the current operating speed of the autonomous guided vehicle after acquiring the current operating speed.

[0106] Optionally, the first determining unit includes: an acquisition module for acquiring the maximum deceleration; and a first determining module for determining the acceleration increase time based on the maximum deceleration and the current running speed using a first formula, wherein the first formula is: , This indicates that acceleration increases over time. Indicates the current running speed. The first module represents the maximum deceleration; the second module determines the uniform deceleration time based on the maximum deceleration and the current running speed using a second formula, wherein the second formula is: , This represents the time of uniform deceleration.

[0107] Optionally, the adjustment unit includes: an adjustment module for adjusting the rate of change of acceleration based on the maximum deceleration and the acceleration increase time using a third formula, wherein the third formula is: , This represents the rate of change of acceleration.

[0108] Optionally, in the first stage, the first acceleration of the autonomous guided vehicle is calculated using the fourth formula, which is: , Indicates the current duration. This represents the first acceleration; in the second stage, the second acceleration of the autonomous guided vehicle is calculated using the fifth formula, which is: - , This indicates the second acceleration.

[0109] Optionally, in the second stage, the first speed of the autonomous guided vehicle is calculated using the sixth formula, which is: , Indicates the current duration. The first velocity represents the initial velocity; in the second stage, the second velocity of the autonomous guided vehicle is calculated using the seventh formula, which is: , Indicates the second speed. .

[0110] Optionally, the obstacle avoidance control device further includes: a third determining unit, used to determine the third acceleration of the autonomous guided vehicle in the third stage by using an eighth formula, based on the maximum deceleration, the acceleration increase time, and the uniform deceleration time, when the autonomous guided vehicle is determined to have reached the third stage. The third stage is the stage where the speed of the autonomous guided vehicle decreases to zero. The eighth formula is: , The third acceleration is indicated by the fourth determining unit, which is used to determine the operating speed of the autonomous guided vehicle in the third stage based on the third acceleration; the transmitting unit is used to transmit the operating speed to the autonomous guided vehicle so that the autonomous guided vehicle operates at the operating speed.

[0111] According to one aspect of the present invention, an autonomous guided vehicle is provided, which uses the obstacle avoidance control method of any of the above-described autonomous guided vehicles.

[0112] According to one aspect of the present invention, a processor is provided for running a program, wherein the program executes the obstacle avoidance control method of the autonomous guided vehicle described above.

[0113] According to one aspect of the present invention, a computer program product is provided, including computer instructions, which, when executed by a processor, perform an obstacle avoidance control method for an autonomous guided vehicle as described above.

[0114] According to one aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the program executes the obstacle avoidance control method of the autonomous guided vehicle described in any of the above.

[0115] Optionally, in this embodiment, the computer-readable storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any communication device in a group of communication devices.

[0116] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: during the operation of the autonomous guided vehicle, obstacle detection is performed to obtain obstacle detection results; when the obstacle detection results indicate that there is an obstacle on the operating path of the autonomous guided vehicle, the current operating speed of the autonomous guided vehicle is obtained; based on the current operating speed, the acceleration increase time of the autonomous guided vehicle in the first stage and the uniform deceleration time in the second stage are determined, wherein the first stage is the deceleration increase stage of the autonomous guided vehicle and the second stage is the uniform deceleration stage of the autonomous guided vehicle; in the first stage, the acceleration change rate of the autonomous guided vehicle is adjusted according to the acceleration increase time to increase the acceleration of the autonomous guided vehicle to the maximum deceleration; in the second stage, the autonomous guided vehicle is controlled to decelerate uniformly from the maximum deceleration according to the uniform deceleration time until the minimum preset speed or target stopping distance is reached.

[0117] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: after determining that the autonomous guided vehicle is started, triggering the sensors installed on the autonomous guided vehicle to start in order to collect environmental information on the running route; and performing obstacle detection based on the environmental information to obtain obstacle detection results.

[0118] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: determining a minimum preset speed or target stopping distance based on the current running speed.

[0119] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: obtaining the maximum deceleration; determining the acceleration increase time based on the maximum deceleration and the current running speed using a first formula, wherein the first formula is: , This indicates that acceleration increases over time. Indicates the current running speed. This represents the maximum deceleration; the uniform deceleration time is determined using the second formula, based on the maximum deceleration and the current operating speed. The second formula is: , This represents the time of uniform deceleration.

[0120] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: adjusting the rate of change of acceleration based on the maximum deceleration and the acceleration increase time using a third formula, wherein the third formula is: , This represents the rate of change of acceleration.

[0121] Optionally, in the first stage, the first acceleration of the autonomous guided vehicle is calculated using the fourth formula, which is: , Indicates the current duration. This represents the first acceleration; in the second stage, the second acceleration of the autonomous guided vehicle is calculated using the fifth formula, which is: - , This indicates the second acceleration.

[0122] Optionally, in the second stage, the first speed of the autonomous guided vehicle is calculated using the sixth formula, which is: , Indicates the current duration. The first velocity represents the initial velocity; in the second stage, the second velocity of the autonomous guided vehicle is calculated using the seventh formula, which is: , Indicates the second speed. .

[0123] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: when it is determined that the autonomous guided vehicle has reached the third stage, the third acceleration of the autonomous guided vehicle in the third stage is determined by the eighth formula based on the maximum deceleration, the acceleration increase time, and the uniform deceleration time, wherein the third stage is the stage in which the speed of the autonomous guided vehicle decreases to zero, and the eighth formula is: , The third acceleration is indicated; the operating speed of the autonomous guided vehicle in the third stage is determined based on the third acceleration; the operating speed is sent to the autonomous guided vehicle so that the autonomous guided vehicle operates at the operating speed.

[0124] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0125] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

[0126] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0127] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0128] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0129] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0130] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An obstacle avoidance control method for an autonomous guided vehicle, characterized in that, include: During the operation of the autonomous guided vehicle, obstacle detection is performed, and obstacle detection results are obtained; When the obstacle detection result indicates that there is an obstacle on the operating path of the autonomous guided vehicle, the current operating speed of the autonomous guided vehicle is obtained; The acceleration increase time in the first stage and the uniform deceleration time in the second stage of the autonomous guided vehicle are determined based on the current operating speed, wherein the first stage is the deceleration increase stage of the autonomous guided vehicle and the second stage is the uniform deceleration stage of the autonomous guided vehicle. In the first stage, the rate of change of acceleration of the autonomous guided vehicle is adjusted according to the acceleration increase time so that the acceleration of the autonomous guided vehicle increases to the maximum deceleration. In the second stage, the autonomous guided vehicle is controlled to decelerate uniformly from the maximum deceleration according to the uniform deceleration time until the minimum preset speed or target stopping distance is reached.

2. The obstacle avoidance control method for an autonomous guided vehicle according to claim 1, characterized in that, During the operation of the autonomous guided vehicle, obstacle detection is performed, and the obstacle detection results are obtained, including: After the autonomous guided vehicle is started, the sensors installed on the autonomous guided vehicle are triggered to collect environmental information on the operating route. Obstacle detection is performed based on the environmental information to obtain the obstacle detection results.

3. The obstacle avoidance control method for an autonomous guided vehicle according to claim 1, characterized in that, After obtaining the current operating speed of the autonomous guided vehicle, the obstacle avoidance control method includes: The minimum preset speed or the target stopping distance is determined based on the current operating speed.

4. The obstacle avoidance control method for an autonomous guided vehicle according to claim 1, characterized in that, The determination of the acceleration increase time in the first stage and the uniform deceleration time in the second stage of the autonomous guided vehicle based on the current operating speed includes: Obtain the maximum deceleration; The acceleration increase time is determined using a first formula based on the maximum deceleration and the current operating speed, wherein the first formula is: , This indicates the time it takes for the acceleration to increase. This indicates the current operating speed. This indicates the maximum deceleration; The uniform deceleration time is determined using a second formula based on the maximum deceleration and the current operating speed, wherein the second formula is: , This represents the uniform deceleration time.

5. The obstacle avoidance control method for an autonomous guided vehicle according to claim 1, characterized in that, In the first stage, adjusting the rate of change of acceleration of the autonomous guided vehicle based on the acceleration increase time to increase the acceleration of the autonomous guided vehicle to the maximum deceleration includes: The rate of change of acceleration is adjusted based on the maximum deceleration and the acceleration increase time using a third formula, wherein the third formula is: , This represents the rate of change of acceleration.

6. The obstacle avoidance control method for an autonomous guided vehicle according to claim 1, characterized in that, In the first stage, the first acceleration of the autonomous guided vehicle is calculated using a fourth formula, wherein the fourth formula is: , Indicates the current duration. The first acceleration is represented by [formula missing]. In the second stage, the second acceleration of the autonomous guided vehicle is calculated using a fifth formula, wherein the fifth formula is: - , This indicates the second acceleration.

7. The obstacle avoidance control method for an autonomous guided vehicle according to claim 1, characterized in that, In the second stage, the first speed of the autonomous guided vehicle is calculated using a sixth formula, wherein the sixth formula is: , Indicates the current duration. The first speed is represented by [formula missing]. In the second stage, the second speed of the autonomous guided vehicle is calculated using a seventh formula, wherein the seventh formula is: , This indicates the second speed. .

8. The obstacle avoidance control method for an autonomous guided vehicle according to claim 1, characterized in that, The obstacle avoidance control method also includes: When the autonomous guided vehicle reaches the third stage of operation, the third acceleration of the autonomous guided vehicle in the third stage is determined by the eighth formula based on the maximum deceleration, the acceleration increase time, and the uniform deceleration time. The third stage is the stage where the speed of the autonomous guided vehicle decreases to zero. The eighth formula is: , This refers to the third acceleration; The operating speed of the autonomous guided vehicle in the third stage is determined based on the third acceleration. The operating speed is sent to the autonomous guided vehicle so that the autonomous guided vehicle operates at the operating speed.

9. An obstacle avoidance control device for an autonomous guided vehicle, characterized in that, include: The detection unit is used to detect obstacles during the operation of the autonomous guided vehicle and obtain the obstacle detection results; The acquisition unit is used to acquire the current operating speed of the autonomous guided vehicle when the obstacle detection result indicates that there is an obstacle on the operating path of the autonomous guided vehicle; The first determining unit is used to determine the acceleration increase time of the autonomous guided vehicle in the first stage and the uniform deceleration time in the second stage based on the current operating speed, wherein the first stage is the deceleration increase stage of the autonomous guided vehicle and the second stage is the uniform deceleration stage of the autonomous guided vehicle. An adjustment unit is used to adjust the rate of change of acceleration of the autonomous guided vehicle in the first stage according to the acceleration increase time, so that the acceleration of the autonomous guided vehicle increases to the maximum deceleration. The control unit is used to control the autonomous guided vehicle to decelerate uniformly from the maximum deceleration according to the uniform deceleration time in the second stage until the minimum preset speed or target stopping distance is reached.

10. An autonomous guided vehicle, characterized in that, The autonomous guided vehicle uses the obstacle avoidance control method of the autonomous guided vehicle according to any one of claims 1 to 8.

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