CN112965473A - Navigation server, automatic guided vehicle and route navigation method and system thereof - Google Patents
Navigation server, automatic guided vehicle and route navigation method and system thereof Download PDFInfo
- Publication number
- CN112965473A CN112965473A CN201911184477.9A CN201911184477A CN112965473A CN 112965473 A CN112965473 A CN 112965473A CN 201911184477 A CN201911184477 A CN 201911184477A CN 112965473 A CN112965473 A CN 112965473A
- Authority
- CN
- China
- Prior art keywords
- agv
- navigation
- target
- route
- coding information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 49
- 230000000007 visual effect Effects 0.000 claims abstract description 61
- 238000004590 computer program Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 2
- 238000012216 screening Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
Abstract
The application discloses a navigation server, an automatic guided vehicle and a route navigation method and system thereof, wherein the method comprises the following steps: acquiring a work instruction, creating a navigation route corresponding to the work instruction according to the work instruction, and controlling a display unit on the navigation route to generate corresponding visual coding information to obtain a target coding string; determining a target AGV for executing the task corresponding to the work instruction from all AGVs; acquiring visual coding information obtained after the target AGV identifies a display unit on a current position area of the target AGV, and acquiring real-time coding information; and comparing the target coding string with the real-time coding information in real time to control the target AGV to walk along the navigation route. Therefore, the AGV navigation method and the AGV navigation system are used for navigating based on the coding strings formed by the display units on the navigation route, and the AGV can be effectively navigated.
Description
Technical Field
The invention relates to the technical field of Automatic Guided Vehicle (AGV) navigation, in particular to a navigation server, an AGV and a route navigation method and system thereof.
Background
An AGV is an automatic guide device that can travel along a predetermined guide path and has safety protection and various transfer functions.
At present, many enterprises are researching and developing various AGVs applied to different fields, and in the process, how to realize the navigation of the AGVs is generally concerned by people and needs to be further solved.
Disclosure of Invention
In view of the above, the present invention provides a navigation server, an automatic guided vehicle, and a method and a system for navigating a route of the automatic guided vehicle, which can effectively navigate an AGV. The specific scheme is as follows:
in a first aspect, the invention discloses an automatic guided vehicle route navigation method, which is applied to a navigation server and comprises the following steps:
acquiring a work instruction, creating a navigation route corresponding to the work instruction according to the work instruction, and controlling a display unit on the navigation route to generate corresponding visual coding information to obtain a target coding string;
determining a target AGV for executing the task corresponding to the work instruction from all AGVs;
acquiring visual coding information obtained after the target AGV identifies a display unit on a current position area of the target AGV, and acquiring real-time coding information;
and comparing the target coding string with the real-time coding information in real time to control the target AGV to walk along the navigation route.
Preferably, the visual coding information includes any one or more of color characteristic information, flicker frequency characteristic information, display brightness characteristic information and display area size characteristic information.
Preferably, the creating a navigation route corresponding to the work instruction according to the work instruction includes:
analyzing the working instruction, acquiring start-stop position information, a working area electronic map and occupied route information on the current working area electronic map corresponding to the working instruction, and creating a navigation route corresponding to the working instruction based on a route planning principle of avoiding collision.
Preferably, the determining, from all AGVs, a target AGV for executing a task corresponding to the work instruction includes:
and determining a target AGV for executing the new task from all the AGVs according to the current position of each AGV, the task load of each AGV to be executed task and the initial position of the navigation route.
Preferably, the comparing the target encoded string and the real-time encoded information in real time to control the target AGV to travel along the navigation route includes:
determining the traveling direction of the target AGV by comparing the target coding string with the real-time coding information in real time;
determining the walking speed of the target AGV according to the urgency degree of the task currently being executed by each AGV and the current position of each AGV and based on a walking speed determination principle of avoiding collision;
and controlling the target AGV to walk along the navigation route according to the walking direction and the walking speed.
Preferably, determining the current location of any AGV includes:
acquiring visual coding information obtained by identifying the display unit on the current position area of the AGV by the AGV, and comparing the visual coding information with visual coding information generated by all display units in the current factory area to obtain the position of the AGV in the current factory area;
or acquiring the current position of the AGV detected by a position sensor carried by the AGV;
or acquiring pressure data sent by the AGV; the pressure data are detected by a pressure sensor which is located below the AGV and is installed on the ground of a factory floor in advance; and determining the current position of the AGV according to the pressure sensor identification number carried in the pressure data.
In a second aspect, the present invention discloses an AGV route navigation method, which is applied to AGVs and includes:
identifying visual coding information generated by a display unit on a current position area to obtain real-time coding information;
sending the real-time coding information to a navigation server;
after the new task is distributed, responding to a navigation control instruction sent by the navigation server so as to walk along a navigation route corresponding to the new task;
the navigation control instruction is a control instruction generated by the navigation server after real-time comparison of a target coding string and the real-time coding information, and the target coding string is visual coding information generated by the navigation server controlling a display unit on the navigation route.
In a third aspect, the present invention discloses a navigation server, comprising a processor and a memory; wherein the processor, when executing the computer program stored in the memory, implements the steps of:
acquiring a work instruction, creating a navigation route corresponding to the work instruction according to the work instruction, and controlling a display unit on the navigation route to generate corresponding visual coding information to obtain a target coding string;
determining a target AGV for executing the task corresponding to the work instruction from all AGVs;
acquiring visual coding information obtained after the target AGV identifies a display unit on a current position area of the target AGV, and acquiring real-time coding information;
and comparing the target coding string with the real-time coding information in real time to control the target AGV to walk along the navigation route.
In a fourth aspect, the present invention discloses an AGV, comprising a visual recognition device, a walking component, a processor and a memory; wherein the processor, when executing the computer program stored in the memory, implements the steps of:
identifying visual coding information generated by a display unit on a current position area through the visual identification device to obtain real-time coding information;
sending the real-time coding information to a navigation server;
after the new task is distributed, the walking component is used for responding to a navigation control instruction sent by the navigation server so as to walk along a navigation route corresponding to the new task;
the navigation control instruction is a control instruction generated by the navigation server after real-time comparison of a target coding string and the real-time coding information, and the target coding string is visual coding information generated by the navigation server controlling a display unit on the navigation route.
In a fifth aspect, the present invention discloses an AGV route guidance system, including:
the navigation server and AGV disclosed previously;
and the display unit is arranged in the factory area and can generate corresponding visual coding information under the control of the navigation server.
Therefore, after the corresponding navigation route is established for the new task, the display unit on the navigation route is controlled to generate the corresponding visual coding information to form the target coding string, and the target AGV executing the new task is determined, wherein the target AGV can identify the display unit on the position area of the target AGV, after the real-time coding information identified by the target AGV is obtained, the target coding string and the real-time coding information are compared in real time, and then the target AGV is controlled to travel along the navigation route based on the real-time comparison result, so that the purpose of navigating the AGV is achieved. That is, the present invention can effectively navigate the AGV based on the code string formed by the display unit on the navigation route.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flowchart of an AGV route navigation method according to an embodiment of the present invention;
FIG. 2 is a diagram of an array of display units on a particular AGV travel area;
FIG. 3 is a diagram of a code string under multitasking;
FIG. 4 is a flowchart of a specific AGV route navigation method according to an embodiment of the present invention;
FIG. 5 is a flowchart of another AGV route navigation method according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses an AGV route navigation method, which is applied to a navigation server and comprises the following steps:
step S11: and acquiring a work instruction, creating a navigation route corresponding to the work instruction according to the work instruction, and controlling a display unit on the navigation route to generate corresponding visual coding information to obtain a target coding string.
It should be noted that in the present embodiment, an array of display units including a large number of display units is provided on the traveling area of the AGVs, and each AGV is provided with a corresponding recognition device for recognizing the visually encoded information generated by the display unit. The display unit in this embodiment may be a display unit capable of displaying different visually encoded information in a controlled state, such as an LED lamp, an OLED lamp, or the like.
It is understood that the work orders in this embodiment correspond to corresponding tasks, and different tasks correspond to different navigation routes, where any two adjacent display units on each navigation route may be adjacent in the horizontal direction, may also be adjacent in the vertical direction, and of course, may also be adjacent in the diagonal direction.
In this embodiment, the visually encoded information may specifically include, but is not limited to, any one or more of color characteristic information, flicker frequency characteristic information, display brightness characteristic information, and display area size characteristic information. For example, the display unit on the navigation route may be controlled to display in a specific color, or the display unit on the navigation route may be controlled to display in a specific flashing frequency, or the display unit on the navigation route may be controlled to display in a specific display brightness, or even the display unit on the navigation route may be controlled to display according to a specific display area. The recognition device on any AGV of this embodiment can determine whether a display unit is the display unit that the AGV needs to find by sensing the visual code information generated by that display unit.
In this embodiment, the navigation route corresponding to each task has a corresponding start position and end position. In addition, in this embodiment, the navigation route may be preferentially planned for the task based on the route planning principle for avoiding the collision, and further, the navigation route may be finally confirmed based on the route planning principle for reducing the length of the navigation route under the condition that the route planning principle for avoiding the collision is satisfied. For example, assuming that 3 different navigation routes can be determined for a new task based on a route planning principle for avoiding collision, then a navigation route with the shortest navigation route length can be screened out from the 3 different navigation routes as a final navigation route based on a route planning principle for reducing the navigation route length.
In addition, the navigation server in this embodiment may be a conventional physical server, and certainly, in order to ensure that the server has sufficient performance, the navigation server in this embodiment may also be a cloud server.
Step S12: and determining a target AGV used for executing the task corresponding to the work instruction from all AGVs.
In this embodiment, a current task load of the AGVs is specifically used as a screening index to screen out an AGV with the lightest current task load from all the AGVs as a target AGV, and a distance value between the current position of the AGV and the start position of the navigation route corresponding to the new task is also used as a screening index to screen out an AGV closest to the start position from all the AGVs as a target AGV.
Step S13: and acquiring visual coding information obtained after the target AGV identifies the display unit on the current position area of the target AGV, so as to obtain real-time coding information.
In this embodiment, the AGV can recognize the visual code information generated by the display unit in the area where the AGV is currently located by its own recognition device. The process of identifying, by the AGV through its own identification device, the visual coding information generated by the display unit in the area where the AGV is currently located may specifically include: the AGV identifies visual coding information generated by a display unit which is within a preset distance range from the position of the AGV through an identification device of the AGV, wherein the preset distance range can be set according to actual conditions.
For example, referring to fig. 2, fig. 2 is a display unit array diagram on a specific AGV traveling area, each display unit is provided with a corresponding number, and assuming that the current position of an AGV is the display unit No. 24, the AGV can identify, by its own identification device, the visual coding information generated by the display units No. 16, 17, 18, 23, 25, 30, 31 and 32 located around the display unit No. 24, so as to obtain corresponding real-time coding information.
It should be noted that, when the recognition device on the AGV of this embodiment recognizes the display unit on the current position area of the AGV, in addition to recognizing all the display units on the current position area, in this embodiment, in order to reduce the burden of the recognition task and improve the recognition efficiency, in the process of the AGV traveling in real time, a part of the display units that the AGV may reach next may be determined from all the display units on the current position area according to the current AGV traveling direction, and only the part of the display units needs to be recognized subsequently. Specifically, the present embodiment may identify the display unit on the current location area and located on the side of the current direction of travel of the AGV. For example, it is assumed in fig. 2 that there is one encoding string, and the corresponding navigation direction is specifically: the display unit No. 01 → the display unit No. 09 → the display unit No. 10 → the display unit No. 11 → the display unit No. 19 → the display unit No. 20 → the display unit No. 14, and assuming that the AGV is currently traveling to the position where the display unit No. 10 is located, the recognition device on the AGV can specifically recognize the display units No. 03, No. 04, No. 11, No. 18 and No. 17 located on the side where the current traveling direction is located at this time, and similarly, when the AGB is traveling to the position where the display unit No. 19 is located, the recognition device on the AGV can specifically recognize the display units No. 13, No. 20, No. 27, No. 26 and No. 25 located on the side where the current traveling direction is located at this time.
In addition, it should be noted that, the recognition device installed on the AGV in this embodiment may specifically be an image pickup device with a machine vision algorithm, and the image pickup device may recognize the visual coding information generated by the display unit on the AGV walking area.
In this embodiment, the installation positions and the installation numbers of the recognition devices on the AGVs can be determined according to actual conditions, and the recognition device on the AGV can recognize the visual coding information of the display unit on the position area where the AGV is located according to the corresponding determination principle.
Further, it is further noted that the shooting direction of the image pickup apparatus on the AGV in the present embodiment may be stationary with respect to the AGV main body. Of course, in order to effectively reduce the number of image pickup apparatuses mounted on each AGV, image pickup apparatuses whose shooting directions can be flexibly adjusted may be used, and such image pickup apparatuses are preferentially mounted at positions where the shooting angles of view on the AGVs are not blocked or where the blocked ranges are relatively small.
Step S14: and comparing the target coding string with the real-time coding information in real time to control the target AGV to walk along the navigation route.
In this embodiment, the target AGV is controlled to navigate according to the comparison result between the target encoding string and the real-time encoding information currently identified by the target AGV. It can be understood that, in the process of performing navigation control on the target AGV, the connection lines obtained after all the display units passed by the target AGV are sequentially connected with each other are consistent with the navigation route corresponding to the target encoding string, and in the process of performing navigation control on the target AGV once, the target AGV is prohibited from repeatedly passing through the same display unit for many times, that is, when the target AGV passes through one display unit in the navigation process once, the target AGV is prohibited from passing through the display unit again in the subsequent process of this navigation.
In this embodiment, there are likely to be a plurality of tasks being processed at the same time, and it can be understood that there are different visual code information between a plurality of code strings corresponding to the plurality of tasks, and when there is an overlapping area between different code strings due to the presence of intersection, if the identification device on the AGV cannot identify the overlapping area, the identification device on the AGV cannot accurately and completely identify the different code strings, and therefore, this embodiment may further include: if a plurality of code strings which are mutually crossed and overlapped exist, determining a corresponding cross and overlap area; and controlling the display unit corresponding to the cross overlapping area to display according to a preset display rule so that the display unit generates visual coding information different from other display units on the plurality of coding strings. Specifically, the display unit corresponding to the cross overlap region may be controlled to generate any one or more of color characteristic information, flicker frequency characteristic information, display brightness characteristic information, and display area size characteristic information, which are different from those of the other display units on the plurality of encoding strings.
For example, referring to fig. 3, fig. 3 is a schematic diagram of a code string under multiple tasks, wherein the visual code information in the code string corresponding to task 1, task 2 and task 3 is respectively red, green and blue in sequence, due to the cross-overlapping of task 1, task 2 and task 3, in order to avoid the failure to accurately and completely identify different code strings, it is ensured that the visually encoded information generated by the display unit corresponding to the cross-over overlap region is different from the visually encoded information of the corresponding encoded string, for example, as shown in fig. 3, the display states of the display units corresponding to the cross-overlapped areas may be unified to display white by default, and thus, when the AGV corresponding to task 1 recognizes that the adjacent display unit that has not been used displays red or white, it can be determined that the display unit is located at a position that the AGV needs to reach next. Similarly, when the AGV corresponding to task 2 recognizes that the adjacent display unit that has not been used displays green or white, it can be determined that the position of the display unit is the position that the AGV needs to reach next. Of course, except that the display states of the display units corresponding to the cross overlap region may be unified and default to display white, this embodiment may also avoid that different encoding strings cannot be accurately and completely identified by controlling the display units corresponding to the cross overlap region to display different display states at different times, for example, for two encoding strings corresponding to task 1 and task 2 in fig. 3, the display units on the cross overlap region between the two encoding strings may be controlled to respectively display red and green in turn at different times.
It is understood that, after determining the target AGV executing the new task and before the controlling target AGV walks along the navigation route created in step S11, the present embodiment needs to make the target AGV move from the current position to the start position corresponding to the new task, so that the target AGV starts executing the new task from the start position.
In this embodiment, in order to move the target AGV from the current position to the start position corresponding to the new task, different manners may be adopted. In a specific embodiment, a target AGV may be transported from a current position to an initial position corresponding to a new task in a manual transportation manner; in another specific implementation, in order to reduce labor cost and improve efficiency, in this embodiment, a corresponding navigation route may also be created according to the current position of the target AGV and the start position corresponding to the new task, and the display unit is controlled to generate a corresponding encoding string, and then the target AGV is controlled to automatically travel to the start position corresponding to the new task under the guidance of the encoding string; in another embodiment, in order to reduce labor cost and improve efficiency, and avoid increasing the busy degree of AGVs within the display unit array, the present embodiment may also utilize a transport vehicle for transporting AGVs that autonomously travels on a fixed route outside the edge of the display unit array to transport the target AGV from the current position to the start position corresponding to the new task.
Therefore, after a corresponding navigation route is created for a new task, the display unit on the navigation route is controlled to generate corresponding visual coding information to form a target coding string, and a target AGV executing the new task is determined, wherein the target AGV can identify the display unit on a position area where the target AGV is located, after real-time coding information identified by the target AGV is obtained, the target coding string and the real-time coding information are compared in real time, and then the target AGV is controlled to travel along the navigation route based on the real-time comparison result, so that the purpose of navigating the AGV is achieved. That is, the embodiment of the present invention can effectively navigate the AGV based on the coding string formed by the display unit on the navigation route.
Referring to fig. 4, an embodiment of the present invention discloses a specific AGV route navigation method, which is applied to a navigation server, and specifically includes:
step S21: and acquiring a working instruction, analyzing the working instruction, acquiring start-stop position information corresponding to the working instruction, a working area electronic map and occupied route information on the current working area electronic map, and creating a navigation route corresponding to the working instruction based on a route planning principle of avoiding collision.
In this embodiment, a navigation route is preferentially created for the new task based on a route planning principle for avoiding collision, and in this process, the route is created specifically according to the start-stop position information of the new task, the electronic map of the working area, and the occupied route information on the electronic map of the current working area. If the number of the created navigation routes is more than one when the navigation routes are created for the new task based on the route planning principle of avoiding collision, then one of the navigation routes can be randomly selected from the navigation routes as the final navigation route, and of course, the navigation route with the shortest route distance can be selected from the navigation routes as the final navigation route based on the route planning principle of reducing the length of the navigation route. In addition, in this embodiment, the route information occupied on the electronic map of the current working area may specifically include route information occupied by other AGVs and/or human bodies and/or other objects on the electronic map of the current working area.
Step S22: and controlling a display unit on the navigation route to generate corresponding visual coding information to obtain a target coding string.
For details of the step S22, reference may be made to corresponding contents disclosed in the foregoing embodiments, and details are not repeated here.
Step S23: and determining a target AGV for executing the new task from all the AGVs according to the current position of each AGV, the task load of each AGV to be executed task and the initial position of the navigation route.
Specifically, in this embodiment, an AGV with the lightest task load may be selected from all AGVs according to the task load of each AGV to execute the task at present, and then an AGV corresponding to the minimum value of the distance values may be selected from the selected AGVs with the lightest task load as the target AGV according to the distance value between the current position of each AGV and the start position of the navigation route.
Step S24: and acquiring visual coding information obtained after the target AGV identifies the display unit on the current position area of the target AGV, so as to obtain real-time coding information.
For details of the step S24, reference may be made to corresponding contents disclosed in the foregoing embodiments, and details are not repeated here.
Step S25: and determining the traveling direction of the target AGV by comparing the target coding string with the real-time coding information in real time.
That is, by comparing the target encoding string and the real-time encoding information in real time, it can be determined to which display unit the target AGV needs to move next, and according to the position of the display unit and the position of the current target AGV, the next traveling direction of the target AGV can be determined.
Step S26: and determining the walking speed of the target AGV according to the urgency degree of the task currently executed by each AGV and the current position of each AGV and based on a walking speed determination principle of avoiding collision.
In this embodiment, if a task currently being executed by an AGV is relatively urgent, the AGV may be assigned a larger weight, where the larger the weight is, it indicates that the AGV can set a larger traveling speed, and on this basis, to avoid collision, the traveling speed of each AGV needs to be finally determined in real time according to the current position of each AGV and based on a principle of avoiding collision.
It is understood that the determined walking speed may be a fixed value, or a dynamically changing value, for example, the walking speed may be increased or decreased, or the walking speed may be changed to zero and maintained for a period of time and then increased.
Step S27: and controlling the target AGV to walk along the navigation route according to the walking direction and the walking speed.
That is, after the traveling direction and the traveling speed of the target AGV are obtained, the target AGV can be subjected to navigation control according to the two parameters, so that the target AGV can travel along the corresponding navigation route, and the probability of collision with other AGVs around can be effectively reduced.
Further, in order to improve the navigation accuracy, before controlling the target AGV to travel along the navigation route according to the travel direction and the travel speed, the present embodiment may further include: and acquiring a current actual speed parameter sent by the target AGV, and then carrying out optimization adjustment on the walking direction and the walking speed according to the current actual speed parameter.
Further, as can be seen from the above, in both step S23 and step S26, it is necessary to use the parameter of the current position of the AGV. To determine the current position of any AGV, the present embodiment may specifically determine in three ways. Wherein the content of the first and second substances,
the first determination method is as follows: and acquiring the visual coding information obtained after the AGV identifies the display unit on the area where the AGV is located at the present position, and comparing the visual coding information with the visual coding information generated by all the display units in the present factory area to obtain the position of the AGV in the present factory area.
The second determination method is as follows: and acquiring the current position of the AGV detected by a position sensor carried by the AGV.
The third determination method is as follows: acquiring pressure data sent by the AGV; the pressure data are detected by a pressure sensor which is located below the AGV and is installed on the ground of a factory floor in advance; and determining the current position of the AGV according to the pressure sensor identification number carried in the pressure data.
The first determination mode does not need extra hardware cost and is low in cost, the second determination mode and the third determination mode need specific sensors, and although the hardware cost is higher than that of the first determination mode, the first determination mode has the advantages of being simple in algorithm and the like.
Referring to fig. 5, an embodiment of the present invention further discloses an AGV route navigation method, which is applied to AGVs and includes:
step S31: identifying visual coding information generated by a display unit on a current position area to obtain real-time coding information;
step S32: sending the real-time coding information to a navigation server;
step S33: after the new task is distributed, responding to a navigation control instruction sent by the navigation server so as to walk along a navigation route corresponding to the new task;
the navigation control instruction is a control instruction generated by the navigation server after real-time comparison of a target coding string and the real-time coding information, and the target coding string is visual coding information generated by the navigation server controlling a display unit on the navigation route.
For specific contents of the identification process of the visual coding information, the creation process of the navigation route, the generation process of the target coding string, and the comparison process between the target coding string and the real-time coding information, reference may be made to corresponding contents disclosed in the foregoing embodiments, and details are not repeated herein.
Correspondingly, the embodiment of the invention also discloses a navigation server, which comprises a processor and a memory; wherein the processor, when executing the computer program stored in the memory, implements the steps of:
acquiring a work instruction, creating a navigation route corresponding to the work instruction according to the work instruction, and controlling a display unit on the navigation route to generate corresponding visual coding information to obtain a target coding string; determining a target AGV for executing the task corresponding to the work instruction from all AGVs; acquiring visual coding information obtained after the target AGV identifies a display unit on a current position area of the target AGV, and acquiring real-time coding information; and comparing the target coding string with the real-time coding information in real time to control the target AGV to walk along the navigation route.
For more specific processes of the above steps, reference may be made to corresponding contents disclosed in the foregoing embodiments, and details are not repeated here.
Correspondingly, the embodiment of the invention also discloses an AGV, which comprises a visual identification device, a walking part, a processor and a memory; wherein the processor, when executing the computer program stored in the memory, implements the steps of:
identifying visual coding information generated by a display unit on a current position area through the visual identification device to obtain real-time coding information; sending the real-time coding information to a navigation server; after the new task is distributed, the walking component is used for responding to a navigation control instruction sent by the navigation server so as to walk along a navigation route corresponding to the new task;
the navigation control instruction is a control instruction generated by the navigation server after real-time comparison of a target coding string and the real-time coding information, and the target coding string is visual coding information generated by the navigation server controlling a display unit on the navigation route.
Further, an embodiment of the present invention further discloses an AGV route navigation system, including:
the navigation server disclosed in the foregoing embodiment and the AGV disclosed in the foregoing embodiment;
and the display unit is arranged in the factory area and can generate corresponding visual coding information under the control of the navigation server.
It should be noted that, in this embodiment, a display unit array including a plurality of display units may be preferentially laid on the ground of the AGV factory, where the display unit in this embodiment may specifically be a display unit capable of displaying different visual code information under a controlled state, such as an LED lamp, an OLED lamp, and the like.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The navigation server, the automated guided vehicle, the route navigation method thereof and the system thereof provided by the invention are described in detail, a specific example is applied in the text to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. An Automated Guided Vehicle (AGV) route navigation method applied to a navigation server includes:
acquiring a work instruction, creating a navigation route corresponding to the work instruction according to the work instruction, and controlling a display unit on the navigation route to generate corresponding visual coding information to obtain a target coding string;
determining a target AGV for executing the task corresponding to the work instruction from all AGVs;
acquiring visual coding information obtained after the target AGV identifies a display unit on a current position area of the target AGV, and acquiring real-time coding information;
and comparing the target coding string with the real-time coding information in real time to control the target AGV to walk along the navigation route.
2. The AGV route guidance method of claim 1, wherein the visually encoded information includes any one or more of color characteristic information, flicker frequency characteristic information, display brightness characteristic information, and display area size characteristic information.
3. The AGV route navigation method according to claim 1, wherein said creating a navigation route corresponding to said work order according to said work order comprises:
analyzing the working instruction, acquiring start-stop position information, a working area electronic map and occupied route information on the current working area electronic map corresponding to the working instruction, and creating a navigation route corresponding to the working instruction based on a route planning principle of avoiding collision.
4. The AGV route guidance method according to claim 1, wherein said determining a target AGV for executing the task corresponding to the work instruction from all AGVs includes:
and determining a target AGV for executing the new task from all the AGVs according to the current position of each AGV, the task load of each AGV to be executed task and the initial position of the navigation route.
5. The AGV route guidance method of claim 1, wherein said comparing the target encoded string with the real-time encoded information in real-time to control the AGV to travel along the guidance route comprises:
determining the traveling direction of the target AGV by comparing the target coding string with the real-time coding information in real time;
determining the walking speed of the target AGV according to the urgency degree of the task currently being executed by each AGV and the current position of each AGV and based on a walking speed determination principle of avoiding collision;
and controlling the target AGV to walk along the navigation route according to the walking direction and the walking speed.
6. The AGV route navigation method of claim 4 or 5, wherein determining the current position of any AGV comprises:
acquiring visual coding information obtained by identifying the display unit on the current position area of the AGV by the AGV, and comparing the visual coding information with visual coding information generated by all display units in the current factory area to obtain the position of the AGV in the current factory area;
or acquiring the current position of the AGV detected by a position sensor carried by the AGV;
or acquiring pressure data sent by the AGV; the pressure data are detected by a pressure sensor which is located below the AGV and is installed on the ground of a factory floor in advance; and determining the current position of the AGV according to the pressure sensor identification number carried in the pressure data.
7. An AGV route navigation method is applied to an AGV and comprises the following steps:
identifying visual coding information generated by a display unit on a current position area to obtain real-time coding information;
sending the real-time coding information to a navigation server;
after the new task is distributed, responding to a navigation control instruction sent by the navigation server so as to walk along a navigation route corresponding to the new task;
the navigation control instruction is a control instruction generated by the navigation server after real-time comparison of a target coding string and the real-time coding information, and the target coding string is visual coding information generated by the navigation server controlling a display unit on the navigation route.
8. A navigation server comprising a processor and a memory; wherein the processor, when executing the computer program stored in the memory, implements the steps of:
acquiring a work instruction, creating a navigation route corresponding to the work instruction according to the work instruction, and controlling a display unit on the navigation route to generate corresponding visual coding information to obtain a target coding string;
determining a target AGV for executing the task corresponding to the work instruction from all AGVs;
acquiring visual coding information obtained after the target AGV identifies a display unit on a current position area of the target AGV, and acquiring real-time coding information;
and comparing the target coding string with the real-time coding information in real time to control the target AGV to walk along the navigation route.
9. An AGV comprising a visual recognition device, a walking member, a processor, and a memory; wherein the processor, when executing the computer program stored in the memory, implements the steps of:
identifying visual coding information generated by a display unit on a current position area through the visual identification device to obtain real-time coding information;
sending the real-time coding information to a navigation server;
after the new task is distributed, the walking component is used for responding to a navigation control instruction sent by the navigation server so as to walk along a navigation route corresponding to the new task;
the navigation control instruction is a control instruction generated by the navigation server after real-time comparison of a target coding string and the real-time coding information, and the target coding string is visual coding information generated by the navigation server controlling a display unit on the navigation route.
10. An AGV route navigation system, comprising:
the navigation server of claim 8;
the AGV of claim 9;
and the display unit is arranged in the factory area and can generate corresponding visual coding information under the control of the navigation server.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911184477.9A CN112965473A (en) | 2019-11-27 | 2019-11-27 | Navigation server, automatic guided vehicle and route navigation method and system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911184477.9A CN112965473A (en) | 2019-11-27 | 2019-11-27 | Navigation server, automatic guided vehicle and route navigation method and system thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112965473A true CN112965473A (en) | 2021-06-15 |
Family
ID=76270719
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911184477.9A Pending CN112965473A (en) | 2019-11-27 | 2019-11-27 | Navigation server, automatic guided vehicle and route navigation method and system thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112965473A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114035580A (en) * | 2021-11-15 | 2022-02-11 | 珠海格力智能装备有限公司 | AGV control method and device, storage medium, processor and AGV equipment |
| CN116485292A (en) * | 2023-04-06 | 2023-07-25 | 宝驷智慧物流(珠海)有限公司 | Method, device, equipment and medium for controlling transportation equipment based on task code |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102901948A (en) * | 2012-11-05 | 2013-01-30 | 北京半导体照明科技促进中心 | Indoor positioning device and system |
| CN104154925A (en) * | 2014-08-25 | 2014-11-19 | 正量电子科技（苏州）有限公司 | Guidance navigation method based on radio frequency identification |
| CN105865458A (en) * | 2016-06-20 | 2016-08-17 | 中国地质大学（武汉） | LED indoor positioning navigation method and positioning navigation system |
| CN106895836A (en) * | 2015-12-17 | 2017-06-27 | 腾讯科技（深圳）有限公司 | Indoor navigation method and device |
| CN108196552A (en) * | 2018-02-11 | 2018-06-22 | 成都兴联宜科技有限公司 | A kind of GPS vision navigation systems of intelligent carriage |
| CN108388245A (en) * | 2018-01-26 | 2018-08-10 | 温州大学瓯江学院 | A kind of AGV trolleies indoor positioning navigation system and its control method |
| CN108931982A (en) * | 2018-09-04 | 2018-12-04 | 赵凯雅 | Vision navigation system and method for robot moving equipment |
| CN109612480A (en) * | 2018-11-16 | 2019-04-12 | 湖北文理学院 | A kind of automatic guided vehicle control method, apparatus and system |
| CN110018633A (en) * | 2018-12-14 | 2019-07-16 | 华南理工大学 | A kind of two-dimensional encoded design method positioned for AGV with navigation |
| CN110415533A (en) * | 2019-07-05 | 2019-11-05 | 广州小鹏汽车科技有限公司 | A kind of vehicle driving bootstrap technique and system |
-
2019
- 2019-11-27 CN CN201911184477.9A patent/CN112965473A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102901948A (en) * | 2012-11-05 | 2013-01-30 | 北京半导体照明科技促进中心 | Indoor positioning device and system |
| CN104154925A (en) * | 2014-08-25 | 2014-11-19 | 正量电子科技（苏州）有限公司 | Guidance navigation method based on radio frequency identification |
| CN106895836A (en) * | 2015-12-17 | 2017-06-27 | 腾讯科技（深圳）有限公司 | Indoor navigation method and device |
| CN105865458A (en) * | 2016-06-20 | 2016-08-17 | 中国地质大学（武汉） | LED indoor positioning navigation method and positioning navigation system |
| CN108388245A (en) * | 2018-01-26 | 2018-08-10 | 温州大学瓯江学院 | A kind of AGV trolleies indoor positioning navigation system and its control method |
| CN108196552A (en) * | 2018-02-11 | 2018-06-22 | 成都兴联宜科技有限公司 | A kind of GPS vision navigation systems of intelligent carriage |
| CN108931982A (en) * | 2018-09-04 | 2018-12-04 | 赵凯雅 | Vision navigation system and method for robot moving equipment |
| CN109612480A (en) * | 2018-11-16 | 2019-04-12 | 湖北文理学院 | A kind of automatic guided vehicle control method, apparatus and system |
| CN110018633A (en) * | 2018-12-14 | 2019-07-16 | 华南理工大学 | A kind of two-dimensional encoded design method positioned for AGV with navigation |
| CN110415533A (en) * | 2019-07-05 | 2019-11-05 | 广州小鹏汽车科技有限公司 | A kind of vehicle driving bootstrap technique and system |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114035580A (en) * | 2021-11-15 | 2022-02-11 | 珠海格力智能装备有限公司 | AGV control method and device, storage medium, processor and AGV equipment |
| CN114035580B (en) * | 2021-11-15 | 2024-04-19 | 珠海格力智能装备有限公司 | AGV control method, AGV control device, storage medium, processor and AGV equipment |
| CN116485292A (en) * | 2023-04-06 | 2023-07-25 | 宝驷智慧物流(珠海)有限公司 | Method, device, equipment and medium for controlling transportation equipment based on task code |
| CN116485292B (en) * | 2023-04-06 | 2024-03-12 | 宝驷智慧物流(珠海)有限公司 | Method, device, equipment and medium for controlling transportation equipment based on task code |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111426326B (en) | Navigation method, device, equipment, system and storage medium | |
| CN109863513B (en) | Neural network system for autonomous vehicle control | |
| US10983529B2 (en) | Method and system for providing data for a first and second trajectory | |
| US20200276710A1 (en) | System for communicating and using traffic analysis in a space with moving obstacles | |
| CN105182981B (en) | Robot traveling method, control system and server | |
| EP3950235B1 (en) | Self-propelled robot path planning method, self-propelled robot and storage medium | |
| JP2019145175A (en) | Output device, map information storage device, automatic driving control device, output method, program, and storage medium | |
| US20200307554A1 (en) | Systems and methods for parking a vehicle | |
| CN105094130A (en) | AGV (Automatic Guided Vehicle) navigation method and device constructed by laser guidance map | |
| CN112394725B (en) | Prediction and reaction field of view based planning for autopilot | |
| CN112965473A (en) | Navigation server, automatic guided vehicle and route navigation method and system thereof | |
| CN110986945B (en) | Local navigation method and system based on semantic altitude map | |
| KR102562994B1 (en) | Method, apparatus and computer program for generating map including driving route of vehicle | |
| CN106092085A (en) | Air navigation aid and device | |
| JP2020126634A (en) | Method and apparatus for detecting emergency vehicle in real time and planning travel route for accommodating situation which may be caused by emergency vehicle | |
| US11768499B2 (en) | Method for generating intersection point pattern recognition model using sensor data of mobile robot and intersection point pattern recognition system | |
| US11499833B2 (en) | Inferring lane boundaries via high speed vehicle telemetry | |
| CN113158779B (en) | Walking method, walking device and computer storage medium | |
| CN116724214A (en) | Method and system for generating a lane-level map of a region of interest for navigation of an autonomous vehicle | |
| KR102368082B1 (en) | Autonomous driving control method of a Robot and System therefor | |
| CN112506187A (en) | Mobile robot monitoring method and device and storage medium | |
| CN115962787A (en) | Map updating method, map updating apparatus, map automatic driving control method, map automatic driving control apparatus, map automatic driving control medium, and vehicle | |
| CN114415678B (en) | Robot path planning method and device, robot and storage medium | |
| US11460843B2 (en) | Parallelized tree-based decision scheme for autonomous vehicle | |
| Chatzina et al. | Route planning and navigation aid for Blind and Visually Impaired People |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |