CN113671953A - AGV obstacle avoidance system and method based on VR technology - Google Patents
AGV obstacle avoidance system and method based on VR technology Download PDFInfo
- Publication number
- CN113671953A CN113671953A CN202110876666.3A CN202110876666A CN113671953A CN 113671953 A CN113671953 A CN 113671953A CN 202110876666 A CN202110876666 A CN 202110876666A CN 113671953 A CN113671953 A CN 113671953A
- Authority
- CN
- China
- Prior art keywords
- agv
- module
- live
- data processing
- control terminal
- 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 50
- 238000005516 engineering process Methods 0.000 title claims abstract description 38
- 238000012545 processing Methods 0.000 claims abstract description 48
- 239000011521 glass Substances 0.000 claims abstract description 44
- 238000012544 monitoring process Methods 0.000 claims abstract description 8
- 230000004888 barrier function Effects 0.000 claims description 20
- 238000007726 management method Methods 0.000 claims description 18
- 238000004891 communication Methods 0.000 claims description 12
- 238000004519 manufacturing process Methods 0.000 claims description 8
- 230000002159 abnormal effect Effects 0.000 claims description 7
- 238000012546 transfer Methods 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 4
- 238000013459 approach Methods 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000007499 fusion processing Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000002093 peripheral effect Effects 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses an AGV obstacle avoidance system and method based on VR technology, the system includes: the system comprises an AGV, a data processing center, a logistics centralized control terminal, VR glasses and a VR handle, wherein a camera audio module is arranged on the AGV and used for collecting live pictures of the AGV in the field during the moving process of the AGV; the data processing center is used for scheduling the traveling path of the AGV trolley, receiving and processing the scene live pictures and uploading the scene live pictures to the logistics centralized control terminal; the logistics centralized control terminal is used for monitoring a live scene picture and issuing a remote obstacle avoidance instruction to the data processing center; the VR glasses are used for displaying live images of real scenes; the VR handle is used for collecting control operation of a user so as to remotely control the AGV according to a live image. According to the invention, through the VR technology, when the AGV trolley is blocked in traveling and the moving of the obstacle cannot be or is inconvenient to clear in a short period, the obstacle avoidance path of the AGV is temporarily planned in a remote way, so that the normal logistics order can be efficiently recovered, and the method is easy to realize.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an AGV obstacle avoidance system and method based on VR technology.
Background
The AGV is an automatic guided transport vehicle, belongs to modern intelligent logistics equipment, is mainly used for unmanned goods handling, and is widely applied to an automatic logistics system along with the gradual progress of logistics technology. In the process of AGV advancing, when the AGV cannot advance due to obstruction, the AGV can only wait in situ, a large number of AGV waiting processes are in a silent state, if the AGV advancing obstruction is caused by the fact that personnel stand and pass, the influence on the AGV basically does not exist, but if the AGV advancing obstruction is caused by non-biological obstruction, a control operator in logistics does not find the AGV in time, or the obstacle clearing difficulty is large, the AGV can only wait for a long time, and the production efficiency and the production order are influenced. In extreme cases, in order to restore normal logistics order, the AGV traveling path needs to be rebuilt again integrally, and the process is complicated, long in time consumption and large in investment.
Therefore, an AGV obstacle avoidance system and method based on VR technology are needed.
Disclosure of Invention
The invention aims to provide an AGV obstacle avoidance system and method based on VR technology, which are used for solving the problems in the prior art, and can quickly construct an AGV obstacle avoidance path and restore the normal logistics order of the AGV.
The invention provides an AGV obstacle avoidance system based on VR technology, which comprises:
AGV dolly, data processing center, commodity circulation centralized control terminal, VR glasses and VR handle, the AGV dolly with data processing center communication connection, data processing center with commodity circulation centralized control terminal communication connection, the VR glasses with commodity circulation centralized control terminal communication connection, wherein:
the AGV trolley is provided with a camera audio module and is used for collecting a live picture of the AGV trolley in the advancing process of the AGV trolley;
the data processing center is used for scheduling a traveling path of the AGV trolley, receiving and processing the live pictures acquired by the camera audio module, and uploading the live pictures to the logistics centralized control terminal;
the logistics centralized control terminal is used for monitoring the live scene pictures uploaded by the data processing center, and issuing a remote obstacle avoidance instruction to the data processing center if the existence of obstacles which cannot be removed in a short time is confirmed;
the VR glasses are used for responding to the remote obstacle avoidance instruction and displaying live images of real scenes according to the live pictures;
the VR handle is used for collecting control operation of a user, so that the AGV trolley can be remotely controlled according to the live image.
As above AGV keeps away barrier system based on VR technique, wherein, preferably, be provided with AP antenna and AGV navigation laser module on the AGV dolly, wherein:
the AP antenna is mounted on the AGV and used for realizing communication connection between the AGV and the data processing center;
the AGV navigation laser module is used for guiding the AGV to travel along a preset path.
The AGV obstacle avoidance system based on VR technology as described above, wherein the camera audio module preferably includes a plurality of cameras for simultaneously capturing live pictures in a plurality of directions.
The AGV obstacle avoidance system based on VR technology as described above, wherein preferably, an electronic gyroscope is built in the AGV for recording direction information of the AGV; the AGV dolly is including being used for the drive a plurality of walking motors of AGV dolly, be provided with rotary encoder on the walking motor for gather the rotational speed information of walking motor, in order to obtain the distance information of AGV dolly.
As above AGV obstacle avoidance system based on VR technique, wherein, preferably, data processing center includes storage management module, warehouse control module, wireless signal receiving and dispatching processing module, audio and video processing module, AGV motion information collection control module and database, wherein:
the warehouse management module is used for performing warehouse entry management, warehouse exit management, material correspondence, inventory checking, virtual warehouse management and inventory statistics on goods;
the warehouse control module is used for coordinating the operation of each logistics device;
the wireless signal receiving and transmitting processing module is used for wirelessly receiving and transmitting data;
the audio and video processing module is used for fusing audio information and video information in the live scene picture acquired by the camera shooting audio module to obtain panoramic audio and video information and sending the panoramic audio and video information to the VR glasses;
the AGV movement information collection control module is used for receiving direction information sent by the electronic gyroscope and distance information sent by the rotary encoder, and sending the direction information and the distance information to the VR glasses, so that a user can remotely control the AGV by using the VR handle according to the live image, the direction information and the distance information;
the database is used for storing the path information of the AGV.
The invention also provides an AGV obstacle avoidance method based on the VR technology, which comprises the following steps:
acquiring a live picture of the AGV in the process of going through a camera audio module arranged on the AGV;
scheduling a traveling path of the AGV through a data processing center, receiving and processing the live scene pictures acquired by the camera audio module, and uploading the live scene pictures to a logistics centralized control terminal;
monitoring the live scene picture through a logistics centralized control terminal, and issuing a remote obstacle avoidance instruction to a data processing center if the existence of obstacles which cannot be removed in a short time is confirmed;
according to the live scene picture, live images of a real scene are displayed through VR glasses, control operation of a user is collected through a VR handle, and the AGV trolley is remotely controlled according to the live image.
The AGV obstacle avoidance method based on VR technology as described above, where preferably, the scheduling, by a data processing center, a travel path of the AGV cart, receiving and processing the live-action picture collected by the camera audio module, and uploading the live-action picture to a logistics centralized control terminal includes:
the data processing center receives a production scheduling instruction through the storage management module;
responding to the production scheduling instruction, issuing an operation instruction to the AGV through a warehouse control module according to a preset scheduling strategy, wherein the operation instruction comprises a logistics starting point, a logistics end point and a preset path;
responding to the operation instruction, and enabling the AGV to travel along a preset path according to the AGV navigation laser module;
receiving the live pictures sent by the AGV through an AP antenna through a wireless signal transceiving processing module;
the audio information and the video information in the live scene picture collected by the camera shooting audio module are fused through an audio and video processing module to obtain panoramic audio and video information, and the panoramic audio and video information is sent to the VR glasses;
and sending the panoramic audio and video information to the logistics centralized control terminal through a wireless signal transceiving processing module.
The AGV obstacle avoidance method based on VR technology as described above, where preferably, the monitoring of the live scene picture by the logistics centralized control terminal, and issuing a remote obstacle avoidance instruction to the data processing center if it is determined that there is an obstacle that cannot be cleared in a short time, specifically include:
in the process of moving the AGV trolley, when the camera audio module detects that an obstacle appears on the moving path of the AGV trolley, the AGV trolley automatically stops to avoid, and the camera audio module automatically broadcasts preset audio to prompt avoidance;
sending an AGV trolley stopping signal to a warehouse control module through the AP antenna and the wireless signal receiving and sending processing module so that the warehouse control module starts to wait for timing;
when the waiting time exceeds a preset waiting time threshold value, uploading the live scene picture acquired by the camera audio module to a logistics centralized control terminal through the AP antenna and the wireless signal transceiving processing module;
the logistics centralized control terminal judges whether the barrier is abnormally intruded by people or not according to the uploaded live scene picture, if so, the logistics centralized control terminal sends an abnormal intrusion broadcasting instruction to the camera audio module through the wireless signal transceiving processing module so that the camera audio module broadcasts a preset abnormal intrusion audio frequency to remind avoidance, if the reminding is invalid, the logistics centralized control terminal carries out on-site treatment, if not, the logistics centralized control terminal determines that the barrier which cannot be cleared in a short time exists, and sends a remote barrier avoiding instruction to the data processing center.
The AGV obstacle avoidance method based on VR technology as described above, where preferably, the displaying a live image of a real scene through VR glasses according to the live image, and collecting a control operation of a user through a VR handle to remotely control the AGV according to the live image specifically includes:
according to the live image displayed by the VR glasses, an operator operates the VR handle at the logistics centralized control terminal to control the AGV to avoid the obstacle and generate an avoiding path;
when the barrier is not cleared, the subsequent AGV trolley runs according to the avoiding path;
and after the barrier is cleared, the subsequent AGV trolley runs according to a preset path.
As above, according to the AGV obstacle avoidance method based on VR technology, preferably, according to the live image displayed by VR glasses, an operator operates a VR handle at a logistics centralized control terminal to control an AGV to avoid an obstacle and generate an avoidance path, specifically including:
manually sending a manual control obstacle avoidance instruction to the data processing center so that the warehouse control module transfers the control right of the AGV in the blocked state to manual work;
authorized operators wear VR glasses, hold the VR handle to carry out manual remote control to avoid obstacles, and the live images displayed to the operators by the VR glasses are kept synchronous with the live images returned by the camera audio module through the AP antenna and the wireless signal receiving and transmitting processing module;
when an operator operates the AGV trolley to travel through the VR handle and break away from a preset path, the AGV movement information collecting and controlling module of the data processing center carries out real-time processing on angle information recorded through an electronic gyroscope arranged in the AGV trolley and distance information recorded through a rotary encoder arranged in a walking motor of the AGV trolley so as to calculate and record an avoidance path, wherein the angle information and the distance information are received through the AP antenna and the wireless signal transceiving processing module;
when the AGV is guided to approach the preset path manually, an AGV motion information collecting and controlling module of the data processing center calculates the real-time position of the AGV according to the electronic gyroscope and the rotary encoder, and pushes the deflection distance and the deflection angle of the AGV relative to the preset path to an operator through VR glasses, so that the operator can switch the AGV back to the preset path according to the deflection distance and the deflection angle by operating a VR handle;
when the warehouse control module confirms that the AGV trolley returns to the preset path according to the AGV navigation laser module, the wireless signal receiving and transmitting processing module and the VR glasses are used for pushing an end manual obstacle avoidance request to an operator, so that the operator can transfer the control right of the AGV trolley to the warehouse control module through the logistics centralized control terminal, the AGV trolley is restored to the normal running state and continues to run along the preset path,
when the barrier is not cleared away, subsequent AGV trolleys run according to the avoiding path, and the method specifically comprises the following steps:
when the AGV trolleys are in the same area and the obstacle is detected again, the data processing center does not prompt any more, automatically regulates and controls the AGV trolleys in the blocked state to bypass along the avoiding path,
after the barrier is clear away, subsequent AGV dolly specifically includes according to the operation of predetermineeing the route:
after the obstacles are manually cleared, an operator issues an evasion path clearing instruction to a warehouse control module of the data processing center through the logistics centralized control terminal, so that the data processing center automatically clears the evasion path, and the AGV continues to travel according to the preset path.
The invention provides an AGV obstacle avoidance system and method based on VR technology, through VR technology, when the AGV trolley is blocked in traveling and the moving of an obstacle cannot be or is inconvenient to remove in a short period, an AGV obstacle avoidance path is temporarily planned in a remote mode, normal logistics order can be recovered efficiently, and the system and method are easy to achieve.
Drawings
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the accompanying drawings, in which:
FIG. 1 is a block diagram of an AGV obstacle avoidance system based on VR technology according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of AGV obstacle avoidance provided by the present invention;
fig. 3 is a flowchart of an AGV obstacle avoidance method based on VR technology according to an embodiment of the present invention.
Description of reference numerals:
100-AGV Trolley 101-AP antenna 102-AGV navigation laser module
103-camera audio module 200-data processing center 300-VR glasses
400-VR handle 501-Preset Path 502-avoidance Path
700-obstacle
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the disclosure, its application, or uses. The present disclosure may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments are to be construed as merely illustrative, and not as limitative, unless specifically stated otherwise.
As used in this disclosure, "first", "second": and the like, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element preceding the word covers the element listed after the word, and does not exclude the possibility that other elements are also covered. "upper", "lower", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
In the present disclosure, when a specific component is described as being located between a first component and a second component, there may or may not be intervening components between the specific component and the first component or the second component. When it is described that a specific component is connected to other components, the specific component may be directly connected to the other components without having an intervening component, or may be directly connected to the other components without having an intervening component.
All terms (including technical or scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
As shown in fig. 1, an embodiment of the present invention provides an AGV obstacle avoidance system based on VR technology, which includes: AGV dolly 100, data processing center 200, commodity circulation centralized control terminal (not shown), VR glasses 300 and VR handle 400, AGV dolly 100 with data processing center 200 communication connection, data processing center 200 with commodity circulation centralized control terminal communication connection, VR glasses 300 with commodity circulation centralized control terminal communication connection, wherein:
the AGV trolley 100 is provided with a camera shooting audio module 103, and is used for collecting live pictures of the AGV trolley 100 in the process of moving the AGV trolley 100;
the data processing center 200 is configured to schedule a travel path of the AGV cart 100, receive and process the live image acquired by the camera audio module 103, and upload the live image to the logistics centralized control terminal;
the logistics centralized control terminal is used for monitoring the live scene picture uploaded by the data processing center 200, and issuing a remote obstacle avoidance instruction to the data processing center 200 if the existence of the obstacle 700 which can not be cleared in a short time is confirmed;
the VR glasses 300 are used for responding to the remote obstacle avoidance instruction and displaying live images of real scenes according to the live pictures;
the VR handle 400 is used to collect user control operations to remotely control the AGV 100 from the live view.
Illustratively, the control operations of the user collected by VR handle 400 include acceleration, deceleration, forward, steering, reverse, etc., and the present invention is not limited thereto.
Wherein, be provided with AP antenna 101 and AGV navigation laser module 102 on AGV dolly 100, wherein:
the AP antenna 101 is mounted on the AGV 100, and is used for realizing communication connection between the AGV 100 and the data processing center 200;
the AGV navigation laser module 102 is used to guide the AGV cart 100 to travel along a predetermined path.
Further, the camera audio module 103 includes a plurality of cameras for simultaneously capturing live-action pictures in a plurality of directions.
Further, an electronic gyroscope is arranged in the AGV 100 and used for recording the direction information of the AGV 100. Furthermore, the AGV dolly 100 includes a plurality of walking motors that are used for driving the AGV dolly 100, be provided with rotary encoder on the walking motor for gather the rotational speed information of walking motor, in order to obtain the distance information of AGV dolly 100.
Further, the data processing center 200 includes a warehouse management module, a warehouse control module, a wireless signal transceiving processing module, an audio/video processing module, an AGV motion information collection control module and a database, wherein:
the warehouse management module is used for performing warehouse entry management, warehouse exit management, material correspondence, inventory checking, virtual warehouse management and inventory statistics on goods;
the warehouse control module is used for coordinating the operation of each logistics device;
the wireless signal receiving and transmitting processing module is used for wirelessly receiving and transmitting data;
the audio and video processing module is configured to perform fusion processing on the audio information and the video information in the live scene picture acquired by the camera audio module 103 to obtain panoramic audio and video information, and send the panoramic audio and video information to the VR glasses 300;
the AGV motion information collection and control module is configured to receive direction information sent by the electronic gyroscope and distance information sent by the rotary encoder, and send the direction information and the distance information to the VR glasses 300, so that a user can remotely control the AGV cart 100 by using the VR handle 400 according to the live image, the direction information, and the distance information;
the database is used to store the path information for the AGV carts 100.
According to the AGV obstacle avoidance system based on the VR technology, provided by the embodiment of the invention, when the AGV trolley is blocked in traveling and cannot or is inconvenient to remove obstacles in a short period, the AGV obstacle avoidance path is temporarily planned in a remote mode through the VR technology, so that the normal logistics order can be efficiently recovered, and the system is light and convenient and is easy to realize.
Further, as shown in fig. 3, the present invention further provides an AGV obstacle avoidance method based on VR technology, which specifically includes the following steps in an actual implementation process:
and step S1, acquiring a live scene picture of the AGV 100 in the process of going through the camera shooting audio module 103 arranged on the AGV 100.
The camera audio module 103 includes a plurality of cameras for simultaneously capturing live-action pictures in a plurality of directions.
And step S2, scheduling the travel path of the AGV trolley 100 through the data processing center 200, receiving and processing the live scene pictures acquired by the camera audio module 103, and uploading the live scene pictures to the logistics centralized control terminal.
In an embodiment of the AGV obstacle avoidance method based on VR technology, the step S2 may specifically include:
step S21, the data processing center 200 receives the production scheduling command through the warehouse management module.
And step S22, responding to the production scheduling instruction, and issuing an operation instruction to the AGV 100 through the warehouse control module according to a preset scheduling strategy, wherein the operation instruction comprises a logistics starting point, a logistics end point and a preset path.
The logistics starting point can be, for example, a delivery station, and the logistics ending point can be, for example, a receiving station.
And step S23, responding to the operation instruction, the AGV 100 travels along a preset path according to the AGV navigation laser module 102.
Step S24, receiving the live scene picture sent by the AGV 100 through the AP antenna 101 by the wireless signal transceiving module.
Step S25, the audio information and the video information in the live scene picture collected by the camera audio module 103 are fused by the audio/video processing module to obtain panoramic audio/video information, and the panoramic audio/video information is sent to the VR glasses 300.
Because the operating personnel sees from VR glasses 300 be panorama audio and video information, the operating personnel of being convenient for know in real time and master AGV dolly 100 peripheral actual state, avoid when manually controlling VR handle 400, cause unusual collision, the clash accident because of the vision blind area and take place, guarantee the security that manually operation VR handle 400 kept away the barrier furthest.
And step S26, sending the panoramic audio and video information to the logistics centralized control terminal through a wireless signal transceiving processing module.
And step S3, monitoring the live scene picture through the logistics centralized control terminal, and issuing a remote obstacle avoidance instruction to the data processing center 200 if the existence of the obstacle 700 which can not be cleared in a short time is confirmed.
In an embodiment of the AGV obstacle avoidance method based on VR technology, the step S3 may specifically include:
step S31, in the process of the AGV trolley 100 moving, when the camera shooting audio module 103 detects that the obstacle 700 appears on the moving path of the AGV trolley 100, the AGV trolley 100 automatically stops and avoids, and the camera shooting audio module 103 automatically broadcasts a preset audio to prompt the avoidance.
And step S32, sending an AGV trolley stopping signal to the warehouse control module through the AP antenna 101 and the wireless signal transceiving processing module, so that the warehouse control module starts waiting for timing.
And step S33, when the waiting time exceeds a preset waiting time threshold, uploading the live scene picture acquired by the camera audio module 103 to a logistics centralized control terminal through the AP antenna 101 and the wireless signal transceiving processing module.
Step S34, the logistics centralized control terminal judges whether the barrier 700 is a person abnormal intrusion according to the uploaded live scene picture, if so, the logistics centralized control terminal sends an abnormal intrusion broadcasting instruction to the camera audio module 103 through the wireless signal transceiving processing module so that the camera audio module 103 broadcasts a preset abnormal intrusion audio frequency to remind avoidance, if the reminding is invalid, the logistics centralized control terminal carries out on-site treatment, if not, the logistics centralized control terminal determines that the barrier 700 which cannot be cleared in a short time exists, and sends a remote barrier avoiding instruction to the data processing center 200.
And step S4, displaying a live image of a real scene through VR glasses 300 according to the live image, and collecting control operation of a user through a VR handle 400 so as to remotely control the AGV 100 according to the live image.
In an embodiment of the AGV obstacle avoidance method based on VR technology, the step S4 may specifically include:
and step S41, according to the live images displayed by the VR glasses 300, an operator controls the AGV trolley 100 to avoid obstacles by operating the VR handle 400 at the logistics centralized control terminal, and an avoiding path is generated.
In an embodiment of the AGV obstacle avoidance method based on VR technology, the step S41 may specifically include:
step S411, manually issuing a manual control obstacle avoidance instruction to the data processing center 200, so that the warehouse control module hands over the control right of the AGV 100 in the blocked state to the manual work.
Step S412, an authorized operator wears the VR glasses 300, holds the VR handle 400 for manual remote control to avoid obstacles, and synchronizes the live image displayed by the VR glasses 300 to the operator with the live image returned by the camera audio module 103 through the AP antenna 101 and the wireless signal transceiving processing module.
Step S413, when the operator operates the AGV cart 100 through the VR handle 400 to travel away from the preset path 501, the AGV motion information collection control module of the data processing center 200 processes the angle information recorded through the electronic gyroscope disposed in the AGV cart 100 and the distance information recorded by the rotary encoder disposed in the traveling motor of the AGV cart 100 in real time to calculate and record the avoidance path 502, wherein the angle information and the distance information are received through the AP antenna 101 and the wireless signal transceiving processing module.
Step S414, when the AGV 100 is guided to approach the preset path manually, the AGV movement information collection control module of the data processing center 200 calculates the real-time position of the AGV 100 according to the electronic gyroscope and the rotary encoder, and pushes the deviation distance and the deviation angle of the AGV 100 relative to the preset path to the operator through the VR glasses 300, so that the operator can switch the AGV 100 back to the preset path 501 according to the deviation distance and the deviation angle by operating the VR handle 400.
Step S415, when the warehouse control module confirms that the AGV car 100 returns to the preset path 501 according to the AGV navigation laser module, the wireless signal receiving and sending processing module and the VR glasses 300 send an end manual obstacle avoidance request to an operator, so that the operator can transfer the control right of the AGV car 100 to the warehouse control module through a logistics centralized control terminal, so that the AGV car 100 is restored to a normal running state and continues to run along the preset path 501.
In step S42, when the obstacle 700 is not cleared, the subsequent AGV cart 100 travels along the avoidance path 502.
Specifically, when the AGV carts 100 are in the same area and the obstacle 700 is detected again, the data processing center 200 does not prompt any more, and automatically controls the AGV carts 100 in the blocked state to bypass along the avoidance path.
Step S43, after the obstacle 700 is cleared, the subsequent AGV carts 100 follow the predetermined path 501.
Specifically, after the obstacle 700 is manually cleared, an operator issues an avoidance path clearing instruction to the warehouse control module of the data processing center 200 through the logistics centralized control terminal, so that the data processing center 200 automatically clears the avoidance path 502, and the AGV cart 100 continues to travel according to the preset path 501.
According to the AGV obstacle avoidance method based on the VR technology, provided by the embodiment of the invention, when the AGV trolley is blocked in traveling and the obstacle cannot be removed or is inconvenient to remove in a short period, the AGV obstacle avoidance path is temporarily planned in a remote mode through the VR technology, so that the normal logistics order can be efficiently recovered, and the system is light and convenient and is easy to realize.
Thus, various embodiments of the present disclosure have been described in detail. Some details that are well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.
Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the foregoing examples are for purposes of illustration only and are not intended to limit the scope of the present disclosure. It will be understood by those skilled in the art that various changes may be made in the above embodiments or equivalents may be substituted for elements thereof without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.
Claims (10)
1. The utility model provides a AGV keeps away barrier system based on VR technique which characterized in that includes:
AGV dolly, data processing center, commodity circulation centralized control terminal, VR glasses and VR handle, the AGV dolly with data processing center communication connection, data processing center with commodity circulation centralized control terminal communication connection, the VR glasses with commodity circulation centralized control terminal communication connection, wherein:
the AGV trolley is provided with a camera audio module and is used for collecting a live picture of the AGV trolley in the advancing process of the AGV trolley;
the data processing center is used for scheduling a traveling path of the AGV trolley, receiving and processing the live pictures acquired by the camera audio module, and uploading the live pictures to the logistics centralized control terminal;
the logistics centralized control terminal is used for monitoring the live scene pictures uploaded by the data processing center, and issuing a remote obstacle avoidance instruction to the data processing center if the existence of obstacles which cannot be removed in a short time is confirmed;
the VR glasses are used for responding to the remote obstacle avoidance instruction and displaying live images of real scenes according to the live pictures;
the VR handle is used for collecting control operation of a user, so that the AGV trolley can be remotely controlled according to the live image.
2. The VR technology based AGV obstacle avoidance system of claim 1, wherein an AP antenna and an AGV navigation laser module are disposed on the AGV car, wherein:
the AP antenna is mounted on the AGV and used for realizing communication connection between the AGV and the data processing center;
the AGV navigation laser module is used for guiding the AGV to travel along a preset path.
3. The VR technology based AGV obstacle avoidance system of claim 1, wherein the camera audio module includes multiple cameras for simultaneously capturing live pictures in multiple directions.
4. The VR technology based AGV obstacle avoidance system of claim 3, wherein an electronic gyroscope is built in the AGV for recording direction information of the AGV; the AGV dolly is including being used for the drive a plurality of walking motors of AGV dolly, be provided with rotary encoder on the walking motor for gather the rotational speed information of walking motor, in order to obtain the distance information of AGV dolly.
5. The VR technology based AGV obstacle avoidance system of claim 4, wherein the data processing center includes a warehouse management module, a warehouse control module, a wireless signal transceiving processing module, an audio/video processing module, an AGV movement information collection control module and a database, wherein:
the warehouse management module is used for performing warehouse entry management, warehouse exit management, material correspondence, inventory checking, virtual warehouse management and inventory statistics on goods;
the warehouse control module is used for coordinating the operation of each logistics device;
the wireless signal receiving and transmitting processing module is used for wirelessly receiving and transmitting data;
the audio and video processing module is used for fusing audio information and video information in the live scene picture acquired by the camera shooting audio module to obtain panoramic audio and video information and sending the panoramic audio and video information to the VR glasses;
the AGV movement information collection control module is used for receiving direction information sent by the electronic gyroscope and distance information sent by the rotary encoder, and sending the direction information and the distance information to the VR glasses, so that a user can remotely control the AGV by using the VR handle according to the live image, the direction information and the distance information;
the database is used for storing the path information of the AGV.
6. An AGV obstacle avoidance method using VR technology in accordance with any of claims 1-5, comprising:
acquiring a live picture of the AGV in the process of going through a camera audio module arranged on the AGV;
scheduling a traveling path of the AGV through a data processing center, receiving and processing the live scene pictures acquired by the camera audio module, and uploading the live scene pictures to a logistics centralized control terminal;
monitoring the live scene picture through a logistics centralized control terminal, and issuing a remote obstacle avoidance instruction to a data processing center if the existence of obstacles which cannot be removed in a short time is confirmed;
according to the live scene picture, live images of a real scene are displayed through VR glasses, control operation of a user is collected through a VR handle, and the AGV trolley is remotely controlled according to the live image.
7. The AGV obstacle avoidance method based on VR technology of claim 6, wherein said dispatching the travel path of the AGV via the data processing center, receiving and processing the live pictures collected by the camera audio module, and uploading the live pictures to the logistics centralized control terminal includes:
the data processing center receives a production scheduling instruction through the storage management module;
responding to the production scheduling instruction, issuing an operation instruction to the AGV through a warehouse control module according to a preset scheduling strategy, wherein the operation instruction comprises a logistics starting point, a logistics end point and a preset path;
responding to the operation instruction, and enabling the AGV to travel along a preset path according to the AGV navigation laser module;
receiving the live pictures sent by the AGV through an AP antenna through a wireless signal transceiving processing module;
the audio information and the video information in the live scene picture collected by the camera shooting audio module are fused through an audio and video processing module to obtain panoramic audio and video information, and the panoramic audio and video information is sent to the VR glasses;
and sending the panoramic audio and video information to the logistics centralized control terminal through a wireless signal transceiving processing module.
8. The AGV obstacle avoidance method based on VR technique of claim 7, wherein the logistics centralized control terminal monitors the live scene picture, and if it is determined that there is an obstacle that cannot be cleared in a short time, a remote obstacle avoidance instruction is issued to the data processing center, specifically including:
in the process of moving the AGV trolley, when the camera audio module detects that an obstacle appears on the moving path of the AGV trolley, the AGV trolley automatically stops to avoid, and the camera audio module automatically broadcasts preset audio to prompt avoidance;
sending an AGV trolley stopping signal to a warehouse control module through the AP antenna and the wireless signal receiving and sending processing module so that the warehouse control module starts to wait for timing;
when the waiting time exceeds a preset waiting time threshold value, uploading the live scene picture acquired by the camera audio module to a logistics centralized control terminal through the AP antenna and the wireless signal transceiving processing module;
the logistics centralized control terminal judges whether the barrier is abnormally intruded by people or not according to the uploaded live scene picture, if so, the logistics centralized control terminal sends an abnormal intrusion broadcasting instruction to the camera audio module through the wireless signal transceiving processing module so that the camera audio module broadcasts a preset abnormal intrusion audio frequency to remind avoidance, if the reminding is invalid, the logistics centralized control terminal carries out on-site treatment, if not, the logistics centralized control terminal determines that the barrier which cannot be cleared in a short time exists, and sends a remote barrier avoiding instruction to the data processing center.
9. The AGV obstacle avoidance method based on VR technology of claim 8, wherein the displaying of the live image of the real scene through VR glasses according to the live image, and the collecting of the control operation of the user through a VR handle are performed to remotely control the AGV according to the live image, specifically comprising:
according to the live image displayed by the VR glasses, an operator operates the VR handle at the logistics centralized control terminal to control the AGV to avoid the obstacle and generate an avoiding path;
when the barrier is not cleared, the subsequent AGV trolley runs according to the avoiding path;
and after the barrier is cleared, the subsequent AGV trolley runs according to a preset path.
10. The AGV obstacle avoidance method based on VR technology of claim 9, wherein according to the live image displayed by VR glasses, an operator controls the AGV to avoid an obstacle by operating a VR handle at the logistics centralized control terminal, and generates an avoidance path, specifically comprising:
manually sending a manual control obstacle avoidance instruction to the data processing center so that the warehouse control module transfers the control right of the AGV in the blocked state to manual work;
authorized operators wear VR glasses, hold the VR handle to carry out manual remote control to avoid obstacles, and the live images displayed to the operators by the VR glasses are kept synchronous with the live images returned by the camera audio module through the AP antenna and the wireless signal receiving and transmitting processing module;
when an operator operates the AGV trolley to travel through the VR handle and break away from a preset path, the AGV movement information collecting and controlling module of the data processing center carries out real-time processing on angle information recorded through an electronic gyroscope arranged in the AGV trolley and distance information recorded through a rotary encoder arranged in a walking motor of the AGV trolley so as to calculate and record an avoidance path, wherein the angle information and the distance information are received through the AP antenna and the wireless signal transceiving processing module;
when the AGV is guided to approach the preset path manually, an AGV motion information collecting and controlling module of the data processing center calculates the real-time position of the AGV according to the electronic gyroscope and the rotary encoder, and pushes the deflection distance and the deflection angle of the AGV relative to the preset path to an operator through VR glasses, so that the operator can switch the AGV back to the preset path according to the deflection distance and the deflection angle by operating a VR handle;
when the warehouse control module confirms that the AGV trolley returns to the preset path according to the AGV navigation laser module, the wireless signal receiving and transmitting processing module and the VR glasses are used for pushing an end manual obstacle avoidance request to an operator, so that the operator can transfer the control right of the AGV trolley to the warehouse control module through the logistics centralized control terminal, the AGV trolley is restored to the normal running state and continues to run along the preset path,
when the barrier is not cleared away, subsequent AGV trolleys run according to the avoiding path, and the method specifically comprises the following steps:
when the AGV trolleys are in the same area and the obstacle is detected again, the data processing center does not prompt any more, automatically regulates and controls the AGV trolleys in the blocked state to bypass along the avoiding path,
after the barrier is clear away, subsequent AGV dolly specifically includes according to the operation of predetermineeing the route:
after the obstacles are manually cleared, an operator issues an evasion path clearing instruction to a warehouse control module of the data processing center through the logistics centralized control terminal, so that the data processing center automatically clears the evasion path, and the AGV continues to travel according to the preset path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110876666.3A CN113671953A (en) | 2021-07-31 | 2021-07-31 | AGV obstacle avoidance system and method based on VR technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110876666.3A CN113671953A (en) | 2021-07-31 | 2021-07-31 | AGV obstacle avoidance system and method based on VR technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113671953A true CN113671953A (en) | 2021-11-19 |
Family
ID=78540927
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110876666.3A Pending CN113671953A (en) | 2021-07-31 | 2021-07-31 | AGV obstacle avoidance system and method based on VR technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113671953A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116223117A (en) * | 2023-05-08 | 2023-06-06 | 国网浙江省电力有限公司宁波供电公司 | Transformer oil remote collection method, device and storage medium based on virtual reality |
| CN117590855A (en) * | 2024-01-18 | 2024-02-23 | 运易通科技有限公司 | VR remote control system and commodity circulation transfer robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR980001628A (en) * | 1996-06-19 | 1998-03-30 | 김광호 | Tracking Control Circuit of Unmanned Vehicles |
| CN105893928A (en) * | 2015-12-21 | 2016-08-24 | 乐视致新电子科技（天津）有限公司 | Virtual reality device and obstacle avoidance method provided by virtual reality device |
| CN108015786A (en) * | 2018-01-02 | 2018-05-11 | 苏州晨本智能科技有限公司 | A kind of automatic inspection robot based on automatic obstacle-avoiding technology and VR technologies |
| CN109032128A (en) * | 2018-06-13 | 2018-12-18 | 江南大学 | The triangle formation control method of the discrete non-particle system of more AGV |
| CN110182514A (en) * | 2019-05-14 | 2019-08-30 | 盐城品迅智能科技服务有限公司 | A kind of intelligent material conveying equipment Automatic Track Finding guiding vehicle and autonomous tracing in intelligent vehicle |
| CN211267652U (en) * | 2019-09-16 | 2020-08-18 | 沈阳航空航天大学 | Control device of autonomous operation crawler spreader |
| KR102187438B1 (en) * | 2019-10-28 | 2020-12-08 | 동명대학교산학협력단 | Cold chain Operating System Based on Virtual Reality and Augmented Reality |
| CN112327871A (en) * | 2020-11-19 | 2021-02-05 | 上海电机学院 | Intelligent trolley, self-obstacle avoidance method thereof and remote control obstacle avoidance method |
-
2021
- 2021-07-31 CN CN202110876666.3A patent/CN113671953A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR980001628A (en) * | 1996-06-19 | 1998-03-30 | 김광호 | Tracking Control Circuit of Unmanned Vehicles |
| CN105893928A (en) * | 2015-12-21 | 2016-08-24 | 乐视致新电子科技（天津）有限公司 | Virtual reality device and obstacle avoidance method provided by virtual reality device |
| CN108015786A (en) * | 2018-01-02 | 2018-05-11 | 苏州晨本智能科技有限公司 | A kind of automatic inspection robot based on automatic obstacle-avoiding technology and VR technologies |
| CN109032128A (en) * | 2018-06-13 | 2018-12-18 | 江南大学 | The triangle formation control method of the discrete non-particle system of more AGV |
| CN110182514A (en) * | 2019-05-14 | 2019-08-30 | 盐城品迅智能科技服务有限公司 | A kind of intelligent material conveying equipment Automatic Track Finding guiding vehicle and autonomous tracing in intelligent vehicle |
| CN211267652U (en) * | 2019-09-16 | 2020-08-18 | 沈阳航空航天大学 | Control device of autonomous operation crawler spreader |
| KR102187438B1 (en) * | 2019-10-28 | 2020-12-08 | 동명대학교산학협력단 | Cold chain Operating System Based on Virtual Reality and Augmented Reality |
| CN112327871A (en) * | 2020-11-19 | 2021-02-05 | 上海电机学院 | Intelligent trolley, self-obstacle avoidance method thereof and remote control obstacle avoidance method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116223117A (en) * | 2023-05-08 | 2023-06-06 | 国网浙江省电力有限公司宁波供电公司 | Transformer oil remote collection method, device and storage medium based on virtual reality |
| CN117590855A (en) * | 2024-01-18 | 2024-02-23 | 运易通科技有限公司 | VR remote control system and commodity circulation transfer robot |
| CN117590855B (en) * | 2024-01-18 | 2024-05-17 | 运易通科技有限公司 | VR remote control system and commodity circulation transfer robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113671953A (en) | AGV obstacle avoidance system and method based on VR technology | |
| US20210311476A1 (en) | Patrol robot and patrol robot management system | |
| US11400919B2 (en) | Vehicle vision system with autonomous parking function | |
| US8977409B2 (en) | Apparatus and method for unmanned surveillance, and robot control device for unmanned surveillance | |
| CN109961633B (en) | Information collection system and server device | |
| US20050071046A1 (en) | Surveillance system and surveillance robot | |
| CN203870474U (en) | Automatic navigation patrol robot for visual monitoring | |
| CN104050729A (en) | System and Method for Gathering Video Data Related to Operation of an Autonomous Industrial Vehicle | |
| JP7070116B2 (en) | Remote monitoring system | |
| CN108544912A (en) | Four-wheel differentia all-terrain mobile robot control system and its control method | |
| JP7070115B2 (en) | Remote monitoring system | |
| CN114115296B (en) | Intelligent inspection and early warning system and method for key area | |
| KR102088409B1 (en) | Automatic shunting control system and method thereof | |
| CN106791617B (en) | Farm machinery wireless video control loop and its video switching method | |
| CN115016456A (en) | Scheduling method and scheduling system for multi-robot combined inspection | |
| JP6846698B2 (en) | Monitoring device | |
| CN113542926B (en) | 5G parallel driving system based on Sharing-Smart unmanned sweeper and control method | |
| JP2009301175A (en) | Monitoring method | |
| JP2021002835A (en) | Monitoring system and monitoring method | |
| KR20180038871A (en) | Robot for airport and method thereof | |
| JPH09115088A (en) | Monitor system for inside tunnel | |
| CN212887693U (en) | Intelligent robot garage | |
| CN205584339U (en) | A low -cost panoramic video system that is used for remote -controlled robot or unmanned car | |
| CN115237113A (en) | Method for robot navigation, robot system and storage medium | |
| JP4934315B2 (en) | Monitoring system, mobile robot and control device constituting the system |
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 |