Multi-tiered AGV-based automated parking system Anti-collision detection method and system, device, and medium
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- CSCEC SMART PARKING TECH CO LTD
- Filing Date
- 2025-01-23
- Publication Date
- 2026-06-11
Smart Images
Figure CN2025074220_11062026_PF_FP_ABST
Abstract
Description
AGV-type automated parking system collision avoidance detection methods, systems, equipment and media
[0001] This application is based on and claims priority to Chinese Patent Application No. 202411765158.8, filed on December 4, 2024, the entire contents of which are incorporated herein by reference. Technical Field
[0002] This application relates to the field of intelligent parking garage technology, and in particular to an AGV-type three-dimensional parking garage anti-collision detection method, system, equipment and medium. Background Technology
[0003] With the rapid popularization and development of automobiles, the supply of urban parking spaces is severely insufficient, and the demand for parking spaces is increasing. AGV-type automated parking garages have been widely used due to their high space utilization and automated operation characteristics.
[0004] However, the operating environment in AGV-based automated parking systems is complex and variable, including parking spaces of varying heights, narrow passageways, and frequent door opening and closing operations. These factors easily lead to collisions between AGVs waiting to exit or enter the parking system. Furthermore, traditional collision avoidance detection methods often suffer from limitations in detection scope and limited detection methods, making them ill-suited to the complex and varied operating environment of automated parking systems. Therefore, how to perform comprehensive collision avoidance detection for vehicles waiting to exit or enter AGV-based automated parking systems is a pressing technical problem that needs to be solved. Application content
[0005] This application provides a collision avoidance detection method, system, equipment, and medium for AGV-type automated parking garages, aiming to solve the problem that existing technologies cannot perform comprehensive collision avoidance detection on vehicles waiting to leave or enter AGV-type automated parking garages.
[0006] In a first aspect, embodiments of this application provide an AGV-type automated parking system collision avoidance detection method, applied to an AGV-type automated parking system collision avoidance detection system. The system includes a terminal, a scheduling system, and multiple AGV vehicles. The terminal is connected to the scheduling system and also to the multiple AGV vehicles. The scheduling system is connected to the multiple AGV vehicles. The method includes:
[0007] If the terminal detects that the travel path area of an AGV in the garage passage overlaps with the protection area of any other AGV among the multiple AGVs, it generates an anti-collision command and sends the anti-collision command to the scheduling system.
[0008] The scheduling system receives the anti-collision command and controls the AGV to perform anti-collision operations according to the anti-collision command;
[0009] For the AGV vehicle that travels to the target vehicle hall, the AGV vehicle obtains the position of the vehicle hall door and the position of the micro-lifting structure in the target vehicle hall, and analyzes whether the position of the vehicle hall door and the position of the micro-lifting structure are in the preset position, and obtains the analysis result;
[0010] If the analysis result indicates that both the position of the vehicle hall door and the position of the micro-lifting structure are in the preset position, then the AGV will perform the operation of entering the target vehicle hall.
[0011] For the AGV vehicle that has driven to the target parking space, if the AGV vehicle receives a high-level storage board instruction, it will detect whether there is a vehicle-carrying board in the target parking space and the parking space below the target parking space according to the high-level storage board instruction, and obtain a first detection result.
[0012] If the first detection result indicates that neither the target parking space nor the parking space below the target parking space has a vehicle-carrying platform, then the AGV will perform a high-level storage operation.
[0013] Secondly, this application provides an AGV-type three-dimensional parking garage anti-collision detection system. The system includes a terminal, a scheduling system, and multiple AGV vehicles. The terminal is connected to the scheduling system and also to the multiple AGV vehicles. The scheduling system is connected to the multiple AGV vehicles.
[0014] The terminal is configured to generate an anti-collision command and send the anti-collision command to the scheduling system if it detects that the driving path area of an AGV vehicle in the garage passage overlaps with the protection area of any other AGV vehicle among the multiple AGV vehicles (excluding the AGV vehicle itself).
[0015] The scheduling system is used to receive the anti-collision command and control the AGV to perform anti-collision operations according to the anti-collision command;
[0016] For the AGV trolley that travels to the target vehicle hall, the position of the vehicle hall door and the position of the micro-lifting structure are obtained, and the position of the vehicle hall door and the position of the micro-lifting structure are analyzed to determine whether they are in the preset position, and the analysis results are obtained.
[0017] The AGV is also configured to perform an operation to enter the target vehicle hall if the analysis result indicates that both the position of the vehicle hall door and the position of the micro-lifting structure are at the preset position.
[0018] For the AGV vehicle that has driven to the target parking space, if a high-level storage board instruction is received, it is also used to detect whether there is a vehicle-carrying board in the target parking space and the parking space below the target parking space according to the high-level storage board instruction, and obtain a first detection result.
[0019] The AGV is also configured to perform a high-level storage operation if the first detection result indicates that neither the target parking space nor the parking space below the target parking space has a vehicle-carrying platform.
[0020] Thirdly, embodiments of this application also provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the AGV-type automated parking system anti-collision detection method as described in the first aspect.
[0021] Fourthly, embodiments of this application also provide a storage medium, wherein the storage medium stores a computer program, the computer program including program instructions, and the program instructions, when executed by a processor, cause the processor to execute the AGV-type automated parking system anti-collision detection method described in the first aspect.
[0022] This application provides an AGV-type automated parking garage anti-collision detection method, system, device, and medium, including: if a terminal detects that the travel path area of an AGV in the garage passage overlaps with the protection area of any other AGV, it generates an anti-collision command; the scheduling system receives the anti-collision command and controls the AGV to perform anti-collision operations; for the AGV traveling to the target parking hall, it analyzes whether the position of the parking hall door and the position of the micro-lifting structure are in preset positions; if so, it performs an entry operation into the parking hall; for the AGV traveling to the target parking space, if it receives a high-level storage command, it detects whether there is a vehicle-carrying platform in the target parking space and the parking space below the target parking space; if not, it performs a high-level storage operation; thereby indirectly realizing all-round anti-collision detection for vehicles to be exited or entered, thereby improving the safety of garage operation. Attached Figure Description
[0023] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0024] Figure 1 is a flowchart illustrating the anti-collision detection method for AGV-type automated parking garages provided in this application embodiment;
[0025] Figure 2 is a schematic block diagram of the AGV-type automated parking system collision avoidance detection system provided in the embodiment of this application;
[0026] Figure 3 is a schematic block diagram of the computer device provided in an embodiment of this application. Detailed Implementation
[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0028] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.
[0029] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.
[0030] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.
[0031] To better understand the technical solution of this application, the terminals involved are described in detail below. This application describes the technical solution from the perspectives of both the sending end and the server.
[0032] Please refer to Figure 1, which is a flowchart illustrating the AGV-type automated parking system collision avoidance detection method provided in this embodiment. The AGV-type automated parking system collision avoidance detection method is applied to an AGV-type automated parking system collision avoidance detection system. The AGV-type automated parking system collision avoidance detection system includes a terminal, a scheduling system, and multiple AGV vehicles. The terminal is connected to the scheduling system and also to the multiple AGV vehicles. The scheduling system is connected to the multiple AGV vehicles.
[0033] As shown in Figure 1, the method includes steps S110 to S160.
[0034] S110. If the terminal detects that the driving path area of an AGV in the garage passage overlaps with the protection area of any other AGV among the multiple AGVs, it generates an anti-collision command and sends the anti-collision command to the scheduling system.
[0035] In this embodiment, regardless of whether an AGV is used for retrieving, storing, or other operations, collisions between AGVs are possible as long as they are traveling in the garage aisle. Therefore, to avoid collisions, the terminal monitors whether the travel path of each AGV traveling in the garage aisle overlaps with the protection areas of other AGVs (excluding the AGV itself) to obtain monitoring results. If the monitoring results indicate that the AGV's travel path overlaps with the protection areas of other AGVs, it indicates that a collision is likely. In this case, the terminal generates an anti-collision command and sends it to the scheduling system so that the scheduling system can subsequently implement traffic control for the AGVs.
[0036] In one embodiment, each of the plurality of AGVs includes a laser scanner; prior to generating the anti-collision command, the process includes:
[0037] For each AGV, the AGV controls the corresponding laser scanner to emit a laser beam, calculates the distance and angle between the laser beam and the reflective column in the garage, obtains measurement data, and sends the measurement data to the terminal;
[0038] The terminal calculates the measurement data based on a preset algorithm to obtain the coordinate position of the AGV in the garage map;
[0039] The terminal obtains the size information corresponding to the AGV from the local database, and performs region drawing on the coordinate position based on the preset region drawing strategy and the size information to obtain the protection region corresponding to the AGV, and sends the protection region to the scheduling system and the AGV.
[0040] In this embodiment, to obtain the protection zone for each AGV, before the terminal generates an anti-collision command, each AGV first controls a laser scanner to emit a laser beam and calculates the angle and distance between the laser beam and the reflective pillars in the garage to obtain measurement data. This measurement data is then sent to the terminal, which calculates the coordinates of each AGV on the garage map. The terminal is equipped with drawing software. The reflective pillars in the garage are safety facilities used for warning and collision prevention. These pillars are typically generated using reflective materials. To facilitate the acquisition of reflective pillars, the garage in this embodiment is equipped with a sufficiently dense array of reflective materials to generate multiple reflective pillars. Then, the terminal performs area drawing based on a preset area drawing strategy and size information to obtain the protection zone corresponding to each AGV. The size information includes the length and width of the AGV. Specifically, the terminal determines the center point coordinates of each AGV based on the coordinate position; and expands the size based on the center point coordinates and the AGV size to obtain the expanded AGV size; and draws the center point coordinates and the expanded AGV size to obtain the protection area of each AGV.
[0041] For example, if the AGV is 5 meters long and 2 meters wide, after the size is expanded, the protection area of the AGV will be expanded to 5.2 meters in length and 2.2 meters in width, based on the coordinates of the center point.
[0042] Therefore, in the above embodiment, by drawing a protection area for each AGV, the risk of collision between AGVs is minimized, thereby improving the stability and reliability of the system.
[0043] In one embodiment, prior to obtaining the measurement data, the process includes:
[0044] The terminal responds to the coordinate origin determination command and determines the garage coordinate origin according to the coordinate origin determination command;
[0045] The terminal acquires map drawing instructions and sends the map drawing instructions to the target AGV among the multiple AGV vehicles;
[0046] The target AGV moves in the garage according to the map drawing instructions and controls the laser scanner to scan the reflective pillars in the garage to obtain scan data, and sends the scan data to the terminal;
[0047] The terminal constructs the garage map based on the garage coordinate origin and the scan data.
[0048] In this embodiment, to facilitate subsequent calculation of the coordinate position of each AGV, the terminal responds to the coordinate origin determination command and determines the garage coordinate origin on the drawing software according to the coordinate origin determination command. After determining the garage coordinate origin, the terminal obtains a map drawing command and sends the map drawing command to the scheduling system. After the scheduling system sends the map drawing command to the target AGV, the target AGV moves in the garage according to a preset path and controls the laser scanner to scan the reflective pillars in the garage according to the map drawing command to obtain scan data. Among them, the reflective pillars are fixed feature points in the garage. The laser scanning can mark the positions of these feature points and accurately calculate the relative position and distance between the AGV and the reflective pillars, thereby facilitating the construction of the overall layout and outline of the garage. Therefore, after sending the scan data to the terminal, the terminal can construct a two-dimensional map of the garage based on the garage coordinate origin and the scan data.
[0049] S120. The scheduling system receives the anti-collision command and controls the AGV to perform anti-collision operation according to the anti-collision command.
[0050] In this embodiment, after receiving the anti-collision command sent by the terminal, the scheduling system controls the AGV to perform anti-collision operations according to the anti-collision command; wherein, the anti-collision operations include stopping operations and changing the driving path, thereby preventing collisions between AGVs through advance prevention.
[0051] S130. For the AGV vehicle that has traveled to the target vehicle hall, the AGV vehicle obtains the position of the vehicle hall door and the position of the micro-lifting structure in the target vehicle hall, and analyzes whether the position of the vehicle hall door and the position of the micro-lifting structure are in the preset position, and obtains the analysis result.
[0052] In this embodiment, each AGV needs to travel to the micro-lifting structure in the parking hall to transport the target vehicle during the parking or retrieval operation. To improve the efficiency of parking or retrieval in a multi-level parking garage, multiple parking halls and multiple micro-lifting structures are typically installed. This design can easily lead to multiple parking halls, multiple micro-lifting structures, and multiple AGVs operating simultaneously. Therefore, to ensure that each AGV does not collide with the interior doors of multiple parking halls or the multiple micro-lifting structures during the parking or retrieval operation, for each AGV traveling to the target parking hall, the AGV first obtains the position of the interior door and the position of the micro-lifting structure of the target parking hall, and analyzes whether these positions are in preset positions to ensure that the interior door is open or allows passage, and that the micro-lifting structure is in a position that does not obstruct the AGV's passage.
[0053] More specifically, the system also includes an electrical control system connected to the multiple AGVs, which includes a door controller, a slotted power-off switch, and a PLC controller. Before the AGV acquires the position of the interior door and the position of the micro-lifting structure in the target vehicle hall, the system includes:
[0054] The PLC controller in the electrical control system uses the door controller to collect the position of the vehicle hall door and uses the slotted power-off switch to collect the position of the micro-lifting structure.
[0055] The PLC controller in the electrical control system sends the position of the vehicle hall door and the position of the micro-lifting structure to the AGV trolley.
[0056] In this embodiment, to obtain the positions of the vehicle hall doors and the micro-lifting structure in the target vehicle hall, the system further includes an electrical control system. This electrical control system includes a door controller, a slotted power-off switch, and a PLC controller. Both the door controller and the slotted power-off switch are connected to the PLC controller. Specifically, the vehicle hall door positions are acquired via communication with the door controller, and the micro-lifting structure positions are acquired via the slotted power-off switch. The acquired vehicle hall door positions and micro-lifting structure positions are then fed back to the PLC controller of the electrical control system. The PLC controller communicates with the controller of the AGV (Automated Guided Vehicle) via the TCP protocol, thereby sending the vehicle hall door positions and the micro-lifting structure positions to the AGV.
[0057] S140. If the analysis result indicates that the position of the vehicle hall door and the position of the micro-lifting structure are both in the preset position, then the AGV vehicle will perform the operation of entering the target vehicle hall.
[0058] In this embodiment, after obtaining the analysis results, when the analysis results indicate that both the position of the inner door of the vehicle hall and the position of the micro-lifting structure are in the preset positions, the AGV vehicle obtains the permission to enter the target vehicle hall and begins to execute the operation of entering the target vehicle hall, thereby moving the target vehicle in the target vehicle hall to the garage or moving the target vehicle in the garage to the target vehicle hall; when the analysis results indicate that the position of the inner door of the vehicle hall and / or the position of the micro-lifting structure are not in the preset positions, the AGV vehicle does not obtain the permission to enter the target vehicle hall and triggers an alarm or waits for an instruction, thereby ensuring that the AGV vehicle does not collide with the inner door of the vehicle hall and the micro-lifting structure.
[0059] S150. For the AGV vehicle that has driven to the target parking space, if the AGV vehicle receives a high-level storage board instruction, it will detect whether there is a vehicle-carrying board in the target parking space and the parking space below the target parking space according to the high-level storage board instruction, and obtain a first detection result.
[0060] In this embodiment, the AGV-type automated parking garage has multiple parking spaces. Therefore, during the process of storing or retrieving a target vehicle, to prevent collisions between the AGV and the vehicle carrier, each AGV that has reached the target parking space first checks whether there is a vehicle carrier in the target parking space and the parking space below it when it receives a high-level storage instruction. This ensures that there is no vehicle carrier in the target parking space and the parking space below it before proceeding with the subsequent storage to a higher level. The detection of whether there is a vehicle carrier in the target parking space and the parking space below it is mainly done by using a laser rangefinder installed at each corner of each AGV. This laser rangefinder can measure with a 5-meter range and a 10-meter range. The 5-meter range is used to detect whether there is a vehicle carrier when the parking space is in a low position, and the 10-meter range is used to detect whether there is a vehicle carrier when the parking space is in a high position. Furthermore, when the AGV receives a high-position vehicle retrieval command, it checks whether there is a vehicle carrier plate in the parking space below the target parking space according to the command, obtaining a fourth detection result. If the fourth detection result indicates that there is no vehicle carrier plate in the parking space below the target parking space, the AGV performs a high-position vehicle retrieval operation. Thus, through the above embodiment, the AGV can avoid collisions with vehicle carrier plates during the process of storing or retrieving a target vehicle from the target parking space.
[0061] S160. If the first detection result indicates that neither the target parking space nor the parking space below the target parking space has a vehicle-carrying platform, then the AGV performs a high-level storage operation.
[0062] In this embodiment, after detecting whether there is a vehicle carrier plate in the target parking space and the parking space below the target parking space according to the high-position vehicle storage instruction, if it is detected that there is no vehicle carrier plate in the target parking space and the parking space below the target parking space, it means that the AGV trolley is not in a collision with the vehicle carrier plate. At this time, the AGV trolley can perform the operation of storing the target vehicle on the AGV trolley into the target parking space as the high position.
[0063] In one embodiment, the method further includes:
[0064] For the AGV vehicle that has driven to the target parking space, if the AGV vehicle receives a low-level storage board instruction, it will detect whether there is a vehicle-carrying board in the target parking space according to the low-level storage board instruction and obtain a second detection result.
[0065] If the second detection result indicates that the target parking space does not have a vehicle carrier, the AGV will perform a low-level storage operation.
[0066] In this embodiment, for the case of an AGV traveling to a target parking space, when the AGV receives a low-level storage instruction, it first checks whether there is a vehicle carrier plate in the target parking space according to the low-level storage instruction to ensure that there is no vehicle carrier plate in the target parking space, so as to avoid the AGV colliding with the vehicle carrier plate, and then performs the subsequent operation of storing the vehicle in the target parking space; if it is detected that there is no vehicle carrier plate in the target parking space, the AGV directly performs the operation of storing the target vehicle in the target parking space.
[0067] In one embodiment, the method further includes:
[0068] For the AGV that has driven to the target parking space, if the AGV receives a channel storage instruction, it will detect whether there is a vehicle-carrying plate in the target channel according to the channel storage instruction and obtain a third detection result.
[0069] If the third detection result indicates that there is no vehicle carrier plate in the target channel, the AGV will perform a channel storage operation.
[0070] In this embodiment, the garage passage can be configured as a double-layered passage, with the upper passage used for parking vehicles and the lower passage used for AGV vehicle travel. Therefore, for the case of an AGV vehicle traveling to the target passage, when the AGV vehicle receives a passage parking instruction, it first checks whether there is a vehicle carrier plate in the target passage according to the passage parking instruction to ensure that there is no vehicle carrier plate in the target passage, so as to avoid the AGV vehicle colliding with the vehicle carrier plate in the passage. If it is detected that there is no vehicle carrier plate in the target passage, the AGV vehicle directly performs the operation of parking the target vehicle into the target passage.
[0071] In one embodiment, the system further includes a storage mechanism and an electrical control system, wherein the plurality of AGV trolleys are connected to the electrical control system, and the electrical control system is connected to the storage mechanism; the method further includes:
[0072] If the AGV receives a storage instruction from the storage mechanism, it obtains the storage information corresponding to the storage mechanism from the electrical control system, and detects whether there is a vehicle-carrying plate in the target storage layer in the storage information according to the storage instruction from the storage mechanism, and obtains a third detection result.
[0073] If the third detection result indicates that the target storage layer in the storage information does not have a vehicle-carrying plate, then the AGV will perform a storage operation using the storage mechanism.
[0074] In this embodiment, the AGV-type automated parking system for collision avoidance further includes a storage mechanism and an electrical control system. Each of the multiple AGVs is connected to the storage mechanism via the electrical control system. Specifically, when an AGV receives a storage instruction from the storage mechanism, it obtains the storage information corresponding to the storage mechanism from the electrical control system via a wireless network. This storage information includes storage information for each layer of the storage mechanism. Furthermore, the storage instruction includes the number of storage layers. The AGV can use the number of storage layers in the storage instruction to determine the target storage layer in the storage information and detect whether the target storage layer has a vehicle-carrying plate. If the target storage layer has no vehicle-carrying plate, the AGV performs the storage operation. If the target storage layer has a vehicle-carrying plate, the AGV generates an alarm to prevent collisions between the vehicle-carrying plates in the storage mechanism.
[0075] In one embodiment, the method further includes:
[0076] The terminal draws the garage map based on a preset obstacle avoidance strategy to obtain an obstacle avoidance area, and sends the obstacle avoidance area to the scheduling system and the multiple AGVs; wherein, the obstacle avoidance area includes a deceleration area and a stopping area;
[0077] When any one of the multiple AGV vehicles travels to the deceleration area, the scheduling system controls the AGV vehicle to decelerate to a first preset speed.
[0078] When any one of the multiple AGVs reaches the stopping area, the scheduling system controls that AGV to stop.
[0079] In this embodiment, to avoid collisions between AGVs, an obstacle avoidance zone can be drawn on the garage map for each AGV traveling in the garage aisle. Specifically, the terminal draws the garage map based on a preset obstacle avoidance strategy to obtain the obstacle avoidance zone; the obstacle avoidance zone is typically set in areas such as forks and curves. After obtaining the obstacle avoidance zone, it is sent to the scheduling system and the multiple AGVs so that the scheduling system and the multiple AGVs can subsequently perform corresponding operations based on the obstacle avoidance zone; the obstacle avoidance zone may include a deceleration zone, a stopping zone, and a warning zone. Specifically, when any one of the multiple AGVs reaches the deceleration zone, the scheduling system controls that AGV to decelerate to a first preset speed; when any one of the multiple AGVs reaches the stop zone, the scheduling system controls that AGV to stop; and when any one of the multiple AGVs reaches the warning zone, the scheduling system controls that AGV to decelerate to a second preset speed; wherein the first preset speed is less than the second preset speed; the obstacle avoidance lengths of the warning zone, the deceleration zone, and the stop zone decrease sequentially; thereby, by setting obstacle avoidance zones, collisions between AGVs are prevented.
[0080] As can be seen from the above technical solutions, this application indirectly achieves all-round anti-collision detection for vehicles to be exited or entered by performing anti-collision detection on the vehicle bodies of AGVs during the driving process, the AGVs traveling to the target parking space and the vehicle platform, and the AGVs traveling to the target parking hall and the garage door and micro-lifting structure, thereby improving the safety of garage operation.
[0081] Figure 2 is a schematic block diagram of the AGV-type automated parking system collision avoidance detection system provided in an embodiment of this application. As shown in Figure 2, this application also provides an AGV-type automated parking system collision avoidance detection system 100, which includes a terminal 110, a scheduling system 120, and multiple AGV vehicles 130. The terminal 110 is connected to the scheduling system 120 and also to the multiple AGV vehicles 130, and the scheduling system 120 is connected to the multiple AGV vehicles 130.
[0082] The terminal 110 is configured to generate an anti-collision command and send the anti-collision command to the scheduling system 120 if it detects that the driving path area of an AGV vehicle 130 in the garage passage overlaps with the protection area of any other AGV vehicle 130 among the multiple AGV vehicles 130.
[0083] The scheduling system 120 is used to receive the anti-collision command and control the AGV 130 to perform anti-collision operations according to the anti-collision command.
[0084] For the AGV trolley 130 that travels to the target vehicle hall, it is used to obtain the position of the vehicle hall door and the position of the micro-lifting structure in the target vehicle hall, and to analyze whether the position of the vehicle hall door and the position of the micro-lifting structure are in the preset position, and to obtain the analysis result.
[0085] The AGV 130 is also configured to perform an operation to enter the target vehicle hall if the analysis result indicates that the position of the vehicle hall door and the position of the micro-lifting structure are both in the preset position.
[0086] For the AGV 130 that has driven to the target parking space, it is also used to detect whether there is a vehicle platform in the target parking space and the parking space below the target parking space if a high-level parking instruction is received, and to obtain a first detection result.
[0087] The AGV 130 is also used to perform a high-level vehicle storage operation if the first detection result is that neither the target parking space nor the parking space below the target parking space has a vehicle platform.
[0088] In some embodiments, each of the plurality of AGV vehicles 130 includes a laser scanner 131; prior to generating the anti-collision command, the following is included:
[0089] For each AGV trolley 130, the AGV trolley 130 is used to control the corresponding laser scanner 131 to emit a laser beam, calculate the distance and angle between the laser beam and the reflective column in the garage, obtain measurement data, and send the measurement data to the terminal 110;
[0090] The terminal 110 is used to calculate the measurement data based on a preset algorithm to obtain the coordinate position of the AGV 130 in the garage map;
[0091] The terminal 110 is also used to obtain the size information corresponding to the AGV 130 from the local database, and to draw the coordinate position based on the preset area drawing strategy and the size information to obtain the protection area corresponding to the AGV 130, and to send the protection area to the scheduling system 120 and the AGV 130.
[0092] In some embodiments, prior to obtaining the measurement data, the process includes:
[0093] The terminal 110 is used to respond to the coordinate origin determination command and determine the coordinate origin of the garage according to the coordinate origin determination command;
[0094] The terminal 110 is used to acquire map drawing instructions and send the map drawing instructions to the target AGV 130 among the multiple AGV 130s;
[0095] The target AGV 130 is used to move in the garage according to the map drawing instructions, and control the laser scanner to scan the reflective columns in the garage to obtain scanning data, and send the scanning data to the terminal 130;
[0096] The terminal 130 is used to construct the garage map based on the garage coordinate origin and the scan data.
[0097] In some embodiments, the system further includes:
[0098] The terminal 130 is used to draw the garage map based on a preset obstacle avoidance strategy to obtain an obstacle avoidance area, and send the obstacle avoidance area to the scheduling system 120 and the multiple AGV vehicles 130; wherein, the obstacle avoidance area includes a deceleration area and a stopping area;
[0099] When any one of the multiple AGV vehicles 130 travels to the deceleration area, the scheduling system 120 is used to control any one of the AGV vehicles 130 to decelerate to a first preset speed.
[0100] When any one of the multiple AGV vehicles 130 travels to the stopping area, the scheduling system 120 is also used to control any one of the AGV vehicles 130 to stop traveling.
[0101] In some embodiments, the system further includes:
[0102] For the AGV 130 that has driven to the target parking space, if a low-level storage board instruction is received, it is used to detect whether there is a vehicle-carrying board in the target parking space according to the low-level storage board instruction, and obtain a second detection result.
[0103] If the second detection result indicates that the target parking space does not have a vehicle carrier, then the AGV 130 is used to perform a low-level vehicle carrier storage operation.
[0104] In some embodiments, the system further includes:
[0105] For the AGV 130 that has driven to the target parking space, if a channel storage instruction is received, it is used to detect whether there is a vehicle-carrying plate in the target channel according to the channel storage instruction and obtain a third detection result.
[0106] If the third detection result indicates that there is no vehicle carrier plate in the target channel, then the AGV trolley 130 is used to perform the channel storage operation.
[0107] In some embodiments, the system further includes a storage mechanism 150 and an electrical control system 140, wherein the plurality of AGV trolleys 130 are connected to the electrical control system 140, and the electrical control system 140 is connected to the storage mechanism 150. The method further includes:
[0108] The AGV trolley 130 is also used to, if it receives a storage instruction from the storage mechanism, obtain storage information corresponding to the storage mechanism 150 from the electrical control system 140, and detect whether there is a vehicle-carrying plate in the target storage layer of the storage information according to the storage instruction from the storage mechanism, and obtain a third detection result.
[0109] If the third detection result indicates that the target storage layer in the storage information does not have a vehicle-carrying plate, then the AGV 130 performs a storage operation using the storage mechanism.
[0110] It should be noted that those skilled in the art can clearly understand that the specific implementation process of the above-mentioned AGV-type three-dimensional parking garage anti-collision detection system can be referred to the corresponding description in the foregoing method embodiments. For the sake of convenience and brevity, it will not be repeated here.
[0111] The aforementioned AGV-type automated parking system collision avoidance detection system can be implemented as a computer program, which can run on the computer device shown in Figure 3.
[0112] Please refer to Figure 3, which is a schematic block diagram of a computer device provided in an embodiment of this application. The computer device 500 is a server, which can be a standalone server or a server cluster composed of multiple servers. The computer device 500 can also be a transmitter, which can be an electronic device with communication functions such as a smartphone, tablet, laptop, desktop computer, personal digital assistant, or wearable device.
[0113] Referring to Figure 3, the computer device 500 includes a processor 502, a memory, and a network interface 505 connected via a system bus 501. The memory may include a storage medium 503 and internal memory 504.
[0114] The storage medium 503 can store an operating system 5031 and a computer program 5032. When the computer program 5032 is executed, it enables the processor 502 to perform an AGV-type automated parking system collision avoidance detection method.
[0115] The processor 502 provides computing and control capabilities to support the operation of the entire computer device 500.
[0116] The internal memory 504 provides an environment for the operation of the computer program 5032 in the storage medium 503. When the computer program 5032 is executed by the processor 502, the processor 502 can execute the AGV-type three-dimensional parking garage anti-collision detection method.
[0117] The network interface 505 is used for network communication, such as providing data information transmission. Those skilled in the art will understand that the structure shown in Figure 3 is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device 500 to which the present application is applied. A specific computer device 500 may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.
[0118] The processor 502 is used to run a computer program 5032 stored in a memory to implement the AGV-type three-dimensional parking garage anti-collision detection method disclosed in the embodiments of this application.
[0119] Those skilled in the art will understand that the embodiments of the computer device shown in FIG3 do not constitute a limitation on the specific configuration of the computer device. In other embodiments, the computer device may include more or fewer components than shown, or combine certain components, or have different component arrangements. For example, in some embodiments, the computer device may include only a memory and a processor. In such embodiments, the structure and function of the memory and processor are consistent with those shown in FIG3, and will not be described again here.
[0120] It should be understood that in the embodiments of this application, the processor 502 may be a central processing unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.
[0121] In another embodiment of this application, a computer-readable storage medium is provided. This computer-readable storage medium may be a non-volatile computer-readable storage medium. The computer-readable storage medium stores a computer program, wherein when executed by a processor, the computer program implements the AGV-type automated parking system collision avoidance detection method disclosed in the embodiments of this application.
[0122] Those skilled in the art will readily understand that, for the sake of convenience and brevity, the specific working processes of the devices, systems, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.
[0123] In the embodiments provided in this application, it should be understood that the disclosed devices, systems, and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Units with the same function may be grouped into one unit. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, systems, or units, or it may be an electrical, mechanical, or other form of connection.
[0124] 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 network units. Some or all of the units can be selected to achieve the purpose of the embodiments of this application, depending on actual needs.
[0125] Furthermore, the functional units in the various embodiments of this application 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.
[0126] 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 storage medium. Based on this understanding, the technical solution of this application, 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 described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), magnetic disks, or optical disks.
[0127] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. An AGV type stereo garage anti-collision detection method, applied to an AGV type stereo garage anti-collision detection system, the system comprising a terminal, a dispatching system and a plurality of AGV cars, the terminal being connected with the dispatching system and also connected with the plurality of AGV cars, the dispatching system being connected with the plurality of AGV cars, characterized in that, The method includes: If the terminal detects that the travel path area of an AGV in the garage passage overlaps with the protection area of any other AGV among the multiple AGVs, it generates an anti-collision command and sends the anti-collision command to the scheduling system. The scheduling system receives the anti-collision command and controls the AGV to perform anti-collision operations according to the anti-collision command; For the AGV vehicle that travels to the target vehicle hall, the AGV vehicle obtains the position of the vehicle hall door and the position of the micro-lifting structure in the target vehicle hall, and analyzes whether the position of the vehicle hall door and the position of the micro-lifting structure are in the preset position, and obtains the analysis result; If the analysis result indicates that both the position of the vehicle hall door and the position of the micro-lifting structure are in the preset position, then the AGV will perform the operation of entering the target vehicle hall. For the AGV vehicle that has driven to the target parking space, if the AGV vehicle receives a high-level storage board instruction, it will detect whether there is a vehicle-carrying board in the target parking space and the parking space below the target parking space according to the high-level storage board instruction, and obtain a first detection result. If the first detection result indicates that neither the target parking space nor the parking space below the target parking space has a vehicle-carrying platform, then the AGV will perform a high-level storage operation.
2. The AGV-based stereo garage anti-collision detection method according to claim 1, characterized in that, Each of the multiple AGV vehicles includes a laser scanner; prior to generating the anti-collision command, the following is included: For each AGV, the AGV controls the corresponding laser scanner to emit a laser beam, calculates the distance and angle between the laser beam and the reflective column in the garage, obtains measurement data, and sends the measurement data to the terminal; The terminal calculates the measurement data based on a preset algorithm to obtain the coordinate position of the AGV in the garage map; The terminal obtains the size information corresponding to the AGV from the local database, and performs region drawing on the coordinate position based on the preset region drawing strategy and the size information to obtain the protection region corresponding to the AGV, and sends the protection region to the scheduling system and the AGV.
3. The AGV-based stereo garage anti-collision detection method according to claim 2, characterized in that, Before obtaining the measurement data, the following are included: The terminal responds to the coordinate origin determination command and determines the garage coordinate origin according to the coordinate origin determination command; The terminal acquires map drawing instructions and sends the map drawing instructions to the target AGV among the multiple AGV vehicles; The target AGV moves in the garage according to the map drawing instructions and controls the laser scanner to scan the reflective pillars in the garage to obtain scan data, and sends the scan data to the terminal; The terminal constructs the garage map based on the garage coordinate origin and the scan data.
4. The AGV-based stereo garage anti-collision detection method according to claim 2, characterized in that, The method further includes: The terminal draws the garage map based on a preset obstacle avoidance strategy to obtain an obstacle avoidance area, and sends the obstacle avoidance area to the scheduling system and the multiple AGVs; wherein, the obstacle avoidance area includes a deceleration area and a stopping area; When any one of the multiple AGV vehicles travels to the deceleration area, the scheduling system controls the AGV vehicle to decelerate to a first preset speed. When any one of the multiple AGVs reaches the stopping area, the scheduling system controls that AGV to stop.
5. The AGV-based stereo garage anti-collision detection method according to claim 1, characterized in that, The method further includes: For the AGV vehicle that has driven to the target parking space, if the AGV vehicle receives a low-level storage board instruction, it will detect whether there is a vehicle-carrying board in the target parking space according to the low-level storage board instruction and obtain a second detection result. If the second detection result indicates that the target parking space does not have a vehicle carrier, the AGV will perform a low-level storage operation.
6. The AGV-based stereo garage anti-collision detection method according to claim 5, characterized in that, The method further includes: If the AGV receives a channel storage instruction, it will detect whether there is a vehicle-carrying plate in the target channel according to the channel storage instruction and obtain a third detection result. If the third detection result indicates that there is no vehicle carrier plate in the target channel, the AGV will perform a channel storage operation.
7. The AGV-based stereo garage anti-collision detection method according to claim 5, characterized in that, The system further includes a storage mechanism and an electrical control system, wherein the multiple AGV trolleys are connected to the electrical control system, and the electrical control system is connected to the storage mechanism; the method further includes: If the AGV receives a storage instruction from the storage mechanism, it obtains the storage information corresponding to the storage mechanism from the electrical control system, and detects whether there is a vehicle-carrying plate in the target storage layer in the storage information according to the storage instruction from the storage mechanism, and obtains a third detection result. If the third detection result indicates that the target storage layer in the storage information does not have a vehicle-carrying plate, then the AGV will perform a storage operation using the storage mechanism.
8. An AGV type stereo garage anti-collision detection system, characterized in that, The system includes a terminal, a scheduling system, and multiple AGVs. The terminal is connected to the scheduling system and also to the multiple AGVs. The scheduling system is connected to the multiple AGVs. The terminal is configured to generate an anti-collision command and send the anti-collision command to the scheduling system if it detects that the driving path area of an AGV vehicle in the garage passage overlaps with the protection area of any other AGV vehicle among the multiple AGV vehicles (excluding the AGV vehicle itself). The scheduling system is used to receive the anti-collision command and control the AGV to perform anti-collision operations according to the anti-collision command; For the AGV trolley that travels to the target vehicle hall, the position of the vehicle hall door and the position of the micro-lifting structure are obtained, and the position of the vehicle hall door and the position of the micro-lifting structure are analyzed to determine whether they are in the preset position, and the analysis results are obtained. The AGV is also configured to perform an entry into the target vehicle hall if the analysis result indicates that both the position of the vehicle hall door and the position of the micro-lifting structure are at the preset position. For the AGV vehicle that has driven to the target parking space, if a high-level storage instruction is received, it is also used to detect whether there is a vehicle-carrying plate in the target parking space and the parking space below the target parking space according to the high-level storage instruction, and obtain a first detection result. The AGV is also used to perform a high-position storage operation if the first detection result indicates that neither the target parking space nor the parking space below the target parking space has a loading plate.
9. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the AGV-based anti-collision detection method of the multi-level garage according to any one of claims 1-7 when executing the computer program.
10. A storage medium, characterized by The storage medium stores a computer program, and the computer program includes program instructions which, when executed by a processor, cause the processor to execute the AGV-based anti-collision detection method of the multi-level garage according to any one of claims 1-7.