WO2022116649A1

WO2022116649A1 - Control method and apparatus for carrying device, carrying device, and storage medium

Info

Publication number: WO2022116649A1
Application number: PCT/CN2021/119465
Authority: WO
Inventors: 张文君; 范小军
Original assignee: 北京旷视机器人技术有限公司
Priority date: 2020-12-04
Filing date: 2021-09-18
Publication date: 2022-06-09
Also published as: CN112731920A

Abstract

A control method and apparatus for a carrying device, a carrying device, and a storage medium, relating to the technical field of obstacle avoidance. The method comprises: upon detecting at least one obstacle is present in the traveling direction of a carrying device, determining the positional relationship between a target obstacle in the at least one obstacle and a first obstacle avoidance detection area as well as a second obstacle avoidance detection area (S110); and determining obstacle avoidance parameters of the carrying device on the basis of the positional relationship (S120).

Description

搬运设备的控制方法、装置、搬运设备及存储介质Control method, device, conveying device, and storage medium for conveying equipment

相关申请的交叉引用CROSS-REFERENCE TO RELATED APPLICATIONS

本申请要求于2020年12月04日提交中国专利局的申请号为2020114147882、名称为“搬运设备的控制方法、装置、搬运设备及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese Patent Application No. 2020114147882 and entitled "Control Method, Device, Handling Equipment and Storage Medium for Handling Equipment" filed with the China Patent Office on December 04, 2020, the entire contents of which are by reference Incorporated in this application.

技术领域technical field

本申请涉及避障技术领域，具体而言，涉及一种搬运设备的控制方法、装置、搬运设备及存储介质。The present application relates to the technical field of obstacle avoidance, and in particular, to a control method, device, transportation device and storage medium for handling equipment.

背景技术Background technique

目前如智能机器人、自动导引运输车(Automated Guided Vehicle，AGV)等具有搬运功能的设备大量应用在物流仓储等领域，特别是AGV，能够按照规定的导引路线行驶，具有安全保护以及各种移载功能。At present, equipment with handling functions such as intelligent robots and automated guided vehicles (AGVs) are widely used in logistics and warehousing and other fields, especially AGVs, which can travel according to the specified guiding route, with safety protection and various transfer function.

目前，一些搬运设备可具有自主导航技术，如AGV可自主执行一部分搬运、牵引货物的任务，在搬运设备自主导航执行任务时，为了确保搬运设备的通行安全，障碍物的探测与防碰撞是重要的一环。At present, some handling equipment can have autonomous navigation technology. For example, AGV can autonomously perform part of the tasks of handling and towing goods. When handling equipment autonomously navigates and performs tasks, in order to ensure the safety of handling equipment, obstacle detection and anti-collision are important. a ring.

目前搬运设备防撞策略的处理方式一般是探测到在一定距离内有障碍物时，进行相应的减速处理，但是这种方式可能使得搬运设备在距离障碍物较远的距离即减速或停止，影响搬运设备的运行效率。At present, the handling method of handling equipment anti-collision strategy is generally to perform corresponding deceleration processing when an obstacle is detected within a certain distance, but this method may cause the handling equipment to decelerate or stop at a long distance from the obstacle, which affects the Operational efficiency of handling equipment.

发明内容SUMMARY OF THE INVENTION

本申请实施例提供了一种搬运设备的控制方法、装置、搬运设备及存储介质，用以改善现有技术中的避障处理方式影响AGV的运行效率的问题。Embodiments of the present application provide a control method, device, handling device, and storage medium for handling equipment, so as to improve the problem that the obstacle avoidance processing method in the prior art affects the operation efficiency of the AGV.

本申请的一些实施例提供了一种搬运设备的控制方法，所述方法可以包括：当检测到搬运设备的运行方向上存在至少一个障碍物时，确定所述至少一个障碍物中的目标障碍物与第一避障检测区域和第二避障检测区域之间的位置关系，其中，所述第一避障检测区域和所述第二避障检测区域在所述搬运设备的运行方向上，所述第二避障检测区域位于所述第一避障检测区域的外侧；基于所述位置关系确定所述搬运设备的避障参数。Some embodiments of the present application provide a method for controlling a handling device, the method may include: when it is detected that there is at least one obstacle in the running direction of the handling device, determining a target obstacle in the at least one obstacle The positional relationship between the first obstacle avoidance detection area and the second obstacle avoidance detection area, wherein the first obstacle avoidance detection area and the second obstacle avoidance detection area are in the running direction of the conveying equipment, so The second obstacle avoidance detection area is located outside the first obstacle avoidance detection area; an obstacle avoidance parameter of the conveying device is determined based on the positional relationship.

在上述实现过程中，通过确定搬运设备通行前方不同的避障检测区域，根据障碍物与两个避障检测区域之间的位置关系来确定搬运设备的避障参数，从而可更加合理规划搬运设备的避障参数，使得搬运设备可以在距离障碍物前的合理位置处停止前进，在确保搬运的运行安全的同时也提高了搬运设备的运行效率。In the above implementation process, by determining different obstacle avoidance detection areas in front of the transportation equipment, and determining the obstacle avoidance parameters of the transportation equipment according to the positional relationship between the obstacle and the two obstacle avoidance detection areas, the transportation equipment can be more reasonably planned. The improved obstacle avoidance parameters enable the handling equipment to stop at a reasonable position before the obstacle, which not only ensures the safe operation of the handling, but also improves the operating efficiency of the handling equipment.

可选地，所述避障参数可以包括所述搬运设备的停止位置与所述目标障碍物之间的避障距离；所述基于所述位置关系确定所述搬运设备的避障参数，可以包括：Optionally, the obstacle avoidance parameter may include an obstacle avoidance distance between the stop position of the handling equipment and the target obstacle; and the determination of the obstacle avoidance parameter of the handling equipment based on the positional relationship may include :

当所述位置关系表明所述目标障碍物在所述第一避障检测区域内时，确定所述搬运设备的停止位置与所述目标障碍物之间的第一避障距离；When the positional relationship indicates that the target obstacle is within the first obstacle avoidance detection area, determining a first obstacle avoidance distance between the stop position of the conveying device and the target obstacle;

当所述位置关系表明所述目标障碍物在所述第二避障检测区域内时，确定所述搬运设备的停止位置与所述目标障碍物之间的第二避障距离；When the positional relationship indicates that the target obstacle is within the second obstacle avoidance detection area, determining a second obstacle avoidance distance between the stop position of the transport equipment and the target obstacle;

其中，所述第一避障距离大于所述第二避障距离。Wherein, the first obstacle avoidance distance is greater than the second obstacle avoidance distance.

在上述实现过程中，由于第二避障检测区域内的障碍物相比于第一避障检测区域内的障碍物对搬运设备的安全威胁更小，所以，当障碍物在第一避障检测区域时，其避障距离大于障碍物在第二避障检测区域时的避障距离，这样障碍物在第一避障检测区域内时搬运设备可以在距离障碍物较远处停止，而障碍物在第二避障检测区域时搬运设备可以在距离障碍物较近的地方停止，从而基于避障检测区域的不同而选择不同的避障距离，提高了搬运设备的运行效率。In the above implementation process, since the obstacles in the second obstacle avoidance detection area are less threatening to the safety of the handling equipment than the obstacles in the first obstacle avoidance detection area, when the obstacles are detected in the first obstacle avoidance detection area area, the obstacle avoidance distance is greater than the obstacle avoidance distance when the obstacle is in the second obstacle avoidance detection area, so that when the obstacle is in the first obstacle avoidance detection area, the handling equipment can stop far away from the obstacle, and the obstacle In the second obstacle avoidance detection area, the handling equipment can stop near the obstacle, so that different obstacle avoidance distances can be selected based on different obstacle avoidance detection areas, which improves the operation efficiency of the handling equipment.

可选地，所述方法还可以包括：Optionally, the method may also include:

获取所述至少一个障碍物中每个障碍物与所述搬运设备之间的距离；obtaining the distance between each of the at least one obstacle and the handling device;

根据各障碍物与所述搬运设备之间的距离，从所述至少一个障碍物中确定所述目标障碍物。The target obstacle is determined from the at least one obstacle according to the distance between each obstacle and the handling device.

在上述实现过程中，在障碍物有多个时，根据距离确定出一个作为参考的目标障碍物，这样可以目标障碍物为参考来规划避障参数，以确保搬运设备不会与任何一个障碍物相撞。In the above implementation process, when there are multiple obstacles, a target obstacle as a reference is determined according to the distance, so that the target obstacle can be used as a reference to plan obstacle avoidance parameters to ensure that the handling equipment will not interact with any obstacle. collide.

根据所述避障参数确定所述搬运设备的行驶参数，所述行驶参数包括行驶速度曲线和/或减速度。如此可更好地规划搬运设备的行驶参数，以提高搬运设备的运行效率。The driving parameters of the handling device are determined according to the obstacle avoidance parameters, and the driving parameters include a driving speed curve and/or a deceleration. In this way, the traveling parameters of the handling equipment can be better planned, so as to improve the operation efficiency of the handling equipment.

可选地，所述避障参数可以包括所述搬运设备的停止位置与所述目标障碍物之间的避障距离，所述行驶参数包括行驶速度曲线；所述根据所述避障参数确定所述搬运设备的行驶参数，可以包括：Optionally, the obstacle avoidance parameter may include an obstacle avoidance distance between the stop position of the handling device and the target obstacle, and the travel parameter includes a travel speed curve; the determination of the obstacle avoidance parameter according to the obstacle avoidance parameter The driving parameters of the handling equipment can include:

根据所述搬运设备与所述目标障碍物之间的距离以及所述避障距离，确定所述搬运设备距离所述停止位置的减速距离；According to the distance between the conveying device and the target obstacle and the obstacle avoidance distance, determine the deceleration distance of the conveying device from the stop position;

获取所述搬运设备的当前速度、当前加速度以及最大加速度；Obtain the current speed, current acceleration and maximum acceleration of the handling equipment;

根据所述减速距离、所述当前速度、所述当前加速度以及所述最大加速度，通过S形速度规划算法确定所述搬运设备的行驶速度曲线。According to the deceleration distance, the current speed, the current acceleration, and the maximum acceleration, a travel speed curve of the handling equipment is determined through an S-shaped speed planning algorithm.

在上述实现过程中，通过获取搬运设备的减速距离、当前速度、当前加速度以及最大加速度，进而可通过S形速度规划算法来更好的规划搬运设备的行驶速度曲线，使得搬运设备在减速距离内按照合理的速度行驶，提高搬运设备的运行效率。In the above implementation process, by obtaining the deceleration distance, current speed, current acceleration and maximum acceleration of the handling equipment, the S-shaped speed planning algorithm can be used to better plan the traveling speed curve of the handling equipment, so that the handling equipment is within the deceleration distance. Drive at a reasonable speed to improve the operating efficiency of the handling equipment.

可选地，所述避障参数可以包括所述搬运设备的停止位置与所述目标障碍物之间的避障距离，所述行驶参数包括减速度；所述根据所述避障参数确定所述搬运设备的行驶参数，可以包括：Optionally, the obstacle avoidance parameter may include an obstacle avoidance distance between the stop position of the handling equipment and the target obstacle, and the travel parameter includes deceleration; the determining the obstacle avoidance parameter according to the obstacle avoidance parameter. The driving parameters of the handling equipment, which can include:

获取所述搬运设备的当前速度；Obtain the current speed of the handling equipment;

根据所述当前速度以及所述减速距离，确定所述减速度。The deceleration is determined according to the current speed and the deceleration distance.

在上述实现过程中，通过根据减速距离以及当前速度确定搬运设备的减速度，从而可合理规划搬运设备的行驶速度。In the above implementation process, by determining the deceleration of the handling equipment according to the deceleration distance and the current speed, the traveling speed of the handling equipment can be reasonably planned.

可选地，所述第一避障检测区域可以为矩形，所述第二避障检测区域可以为所述第一避障检测区域的长边对应的***区域。Optionally, the first obstacle avoidance detection area may be a rectangle, and the second obstacle avoidance detection area may be a peripheral area corresponding to a long side of the first obstacle avoidance detection area.

可选地，所述第一避障检测区域可以为半圆形，所述第二避障检测区域可以为围绕所述第一避障检测区域的半圆环形区域。Optionally, the first obstacle avoidance detection area may be a semicircle, and the second obstacle avoidance detection area may be a semicircular annular area surrounding the first obstacle avoidance detection area.

可选地，还可以包括：Optionally, it can also include:

实时获取所述目标障碍物的位置信息，并根据所述目标障碍物的位置信息判断所述避障参数是否发生变更；Obtain the position information of the target obstacle in real time, and judge whether the obstacle avoidance parameter has changed according to the position information of the target obstacle;

当所述避障参数发生变更时，根据变更后的避障参数确定所述搬运设备的行驶参数。When the obstacle avoidance parameters are changed, the driving parameters of the transport equipment are determined according to the changed obstacle avoidance parameters.

在上述实现过程中，根据目标障碍物的位置信息来实时判断避障参数是否发生变更，以及时更新搬运设备的行驶参数，使得确保避障即使出现误报的情况也不会导致搬运设备停止不运行的情况，在提升了避障精度的同时也确保了避障安全。In the above implementation process, it is judged in real time whether the obstacle avoidance parameters have changed according to the position information of the target obstacle, and the driving parameters of the handling equipment are updated in time, so as to ensure that even if there is a false alarm in the obstacle avoidance, the handling equipment will not stop. During operation, the obstacle avoidance accuracy is improved while the obstacle avoidance safety is ensured.

当所述至少一个障碍物满足第一目标条件时，确定所述搬运设备的运行方向上不存在目标障碍物，并控制所述搬运设备正常行驶，其中，所述第一目标条件可以包括：所述至少一个障碍物不在所述第一避障检测区域并且也不在所述第二避障检测区域内；或者距离所述搬运设备最近的障碍物与所述搬运设备之间的距离超过目标距离。使得搬运设备无需停止而是继续前进，从而确保搬运设备的有效运行。When the at least one obstacle satisfies the first target condition, it is determined that there is no target obstacle in the running direction of the handling equipment, and the handling equipment is controlled to travel normally, wherein the first target condition may include: The at least one obstacle is not in the first obstacle avoidance detection area nor in the second obstacle avoidance detection area; or the distance between the obstacle closest to the handling device and the handling device exceeds the target distance. The handling equipment does not need to stop but continues to move forward, thereby ensuring the effective operation of the handling equipment.

可选地，所述第二避障检测区域可以沿所述搬运设备的运行方向设置，位于所述第一避障检测区域的两侧。此可便于划分不同危险程度的避障检测区域。Optionally, the second obstacle avoidance detection area may be set along the running direction of the conveying equipment, and located on both sides of the first obstacle avoidance detection area. This can facilitate the division of obstacle avoidance detection areas with different levels of danger.

可选地，所述第一避障检测区域和所述第二避障检测区域的大小可以根据所述搬运设备的状态确定，其中，所述搬运设备的状态包括空载状态或载货状态。Optionally, the sizes of the first obstacle avoidance detection area and the second obstacle avoidance detection area may be determined according to the state of the handling device, wherein the state of the handling device includes an empty state or a loaded state.

可选地，所述根据所述位置关系确定所述搬运设备的避障参数，可以包括：Optionally, the determining the obstacle avoidance parameter of the handling equipment according to the positional relationship may include:

获取所述目标障碍物与目标位置之间的目标距离，所述目标位置位于所述第一避障检测区域内或所述第二避障检测区域内，所述目标位置为所述搬运设备要到达的位置；Obtain the target distance between the target obstacle and the target position, the target position is located in the first obstacle avoidance detection area or the second obstacle avoidance detection area, and the target position is required by the handling equipment. the position reached;

根据所述目标距离确定所述搬运设备的避障参数。The obstacle avoidance parameter of the handling equipment is determined according to the target distance.

在上述实现过程中，通过获取目标障碍物与目标位置之间的目标距离来确定搬运设备的避障参数，以避免搬运设备在运行到目标位置之前就与障碍物相撞的情况。In the above implementation process, the obstacle avoidance parameters of the handling equipment are determined by obtaining the target distance between the target obstacle and the target position, so as to avoid the situation that the handling equipment collides with the obstacle before running to the target position.

可选地，所述避障参数可以包括所述搬运设备的停止位置与所述目标障碍物之间的避障距离，所述避障距离大于所述目标距离。如此可使得搬运设备在到达目标位置前就停车，以避免与障碍物相撞。Optionally, the obstacle avoidance parameter may include an obstacle avoidance distance between the stop position of the handling device and the target obstacle, and the obstacle avoidance distance is greater than the target distance. This allows the handling equipment to stop before reaching the target location to avoid collisions with obstacles.

当所述目标障碍物与所述目标位置之间的目标距离满足第二目标条件时，确定所述目标障碍物为非障碍物，并控制所述搬运设备正常行驶，其中，所述第二目标条件可以包括：所述目标距离大于目标阈值；或者所述目标距离大于所述目标避障检测区域的宽度。使得搬运设备可以在到达目标位置之前继续行驶，无需停止，从而确保搬运设备的有效运行。When the target distance between the target obstacle and the target position satisfies the second target condition, determine that the target obstacle is a non-obstruction, and control the transport equipment to drive normally, wherein the second target The conditions may include: the target distance is greater than a target threshold; or the target distance is greater than the width of the target obstacle avoidance detection area. This enables the handling equipment to continue driving without stopping before reaching the target position, thereby ensuring the efficient operation of the handling equipment.

本申请的一些实施例提供了一种搬运设备的控制装置，所述装置可以包括：Some embodiments of the present application provide a control device for handling equipment, the device may include:

位置关系确定模块，被配置成用于当检测到搬运设备的运行方向上存在至少一个障碍物时，确定所述至少一个障碍物中的目标障碍物与第一避障检测区域和第二避障检测区域之间的位置关系，其中，所述第一避障检测区域和所述第二避障检测区域在所述搬运设备的运行方向上，所述第二避障检测区域在所述第一避障检测区域的外侧；a position relationship determination module configured to, when detecting that there is at least one obstacle in the running direction of the handling equipment, determine the target obstacle in the at least one obstacle and the first obstacle avoidance detection area and the second obstacle avoidance The positional relationship between detection areas, wherein the first obstacle avoidance detection area and the second obstacle avoidance detection area are in the running direction of the conveying equipment, and the second obstacle avoidance detection area is in the first obstacle avoidance detection area. Outside the obstacle avoidance detection area;

避障参数确定模块，被配置成用于基于所述位置关系确定所述搬运设备的避障参数。An obstacle avoidance parameter determination module is configured to determine obstacle avoidance parameters of the handling equipment based on the positional relationship.

可选地，所述避障参数可以包括所述搬运设备的停止位置与所述目标障碍物之间的避障距离；所述避障参数确定模块，被配置成用于当所述位置关系为所述目标障碍物在所述第一避障检测区域内，确定所述搬运设备的停止位置与所述目标障碍物之间的第一避障距离；当所述位置关系为所述目标障碍物在所述第二避障检测区域内，确定所述搬运设备的停止位置与所述目标障碍物之间的第二避障距离；其中，所述第一避障距离大于所述第二避障距离。Optionally, the obstacle avoidance parameter may include an obstacle avoidance distance between the stop position of the handling equipment and the target obstacle; the obstacle avoidance parameter determination module is configured to be used when the positional relationship is The target obstacle is in the first obstacle avoidance detection area, and the first obstacle avoidance distance between the stop position of the conveying equipment and the target obstacle is determined; when the positional relationship is the target obstacle In the second obstacle avoidance detection area, a second obstacle avoidance distance between the stop position of the conveying equipment and the target obstacle is determined; wherein the first obstacle avoidance distance is greater than the second obstacle avoidance distance distance.

可选地，所述装置还可以包括：Optionally, the device may also include:

障碍物确定模块，被配置成用于获取所述至少一个障碍物中每个障碍物与所述搬运设备之间的距离；根据各障碍物与所述搬运设备之间的距离，从所述至少一个障碍物中确定所述目标障碍物。The obstacle determination module is configured to obtain the distance between each obstacle in the at least one obstacle and the conveying device; according to the distance between each obstacle and the conveying device, from the at least one obstacle The target obstacle is identified in an obstacle.

行驶参数确定模块，被配置成用于根据所述避障参数确定所述搬运设备的行驶参数，所述行驶参数包括行驶速度曲线和/或减速度。A travel parameter determination module configured to determine travel parameters of the handling device according to the obstacle avoidance parameters, the travel parameters including a travel speed curve and/or deceleration.

可选地，所述避障参数可以包括所述搬运设备的停止位置与所述目标障碍物之间的避障距离，所述行驶参数确定模块，被配置成用于根据所述搬运设备与所述目标障碍物之间的距离以及所述避障距离，确定所述搬运设备距离所述停止位置的减速距离；获取所述搬运设备的当前速度、当前加速度以及最大加速度；根据所述减速距离、所述当前速度、所述当前加速度以及所述最大加速度，通过S形速度规划算法确定所述搬运设备的行驶速度曲线。Optionally, the obstacle avoidance parameter may include an obstacle avoidance distance between the stop position of the handling device and the target obstacle, and the driving parameter determination module is configured to The distance between the target obstacles and the obstacle avoidance distance, determine the deceleration distance of the transport device from the stop position; obtain the current speed, current acceleration and maximum acceleration of the transport device; According to the deceleration distance, The current speed, the current acceleration and the maximum acceleration are determined by the S-shaped speed planning algorithm to determine the travel speed curve of the handling equipment.

可选地，所述避障参数可以包括所述搬运设备的停止位置与所述目标障碍物之间的避障距离，所述行驶参数确定模块，被配置成用于根据所述搬运设备与所述目标障碍物之间的距离以及所述避障距离，确定所述搬运设备距离所述停止位置的减速距离；获取所述搬运设备的当前速度；根据所述当前速度以及所述减速距离，确定所述减速度。Optionally, the obstacle avoidance parameter may include an obstacle avoidance distance between the stop position of the handling device and the target obstacle, and the driving parameter determination module is configured to The distance between the target obstacles and the obstacle avoidance distance, determine the deceleration distance of the transport equipment from the stop position; obtain the current speed of the transport equipment; According to the current speed and the deceleration distance, determine the deceleration.

可选地，所述行驶参数确定模块可以被配置成用于实时获取所述目标障碍物的位置信息，并根据所述目标障碍物的位置信息判断所述避障参数是否发生变更；当所述避障参数变更时，根据变更后的避障参数确定所述搬运设备的行驶参数。Optionally, the driving parameter determination module may be configured to acquire the position information of the target obstacle in real time, and determine whether the obstacle avoidance parameter has changed according to the position information of the target obstacle; When the obstacle avoidance parameters are changed, the driving parameters of the transport equipment are determined according to the changed obstacle avoidance parameters.

控制模块，被配置成用于当所述至少一个障碍物满足第一目标条件时，确定所述搬运设备的运行方向上不存在目标障碍物，并控制所述搬运设备正常行驶。The control module is configured to, when the at least one obstacle satisfies the first target condition, determine that there is no target obstacle in the running direction of the handling device, and control the handling device to drive normally.

可选地，所述第二避障检测区域可以沿所述搬运设备在所述第一避障检测区域中的运行方向的两侧设置。Optionally, the second obstacle avoidance detection area may be provided along both sides of the running direction of the handling equipment in the first obstacle avoidance detection area.

可选地，所述避障参数确定模块还可以被配置成用于获取所述目标障碍物与目标位置之间的目标距离，所述目标位置位于所述第一避障检测区域内或所述第二避障检测区域内，所述目标位置为所述搬运设备要到达的位置；根据所述目标距离确定所述搬运设备的避障参数。Optionally, the obstacle avoidance parameter determination module may also be configured to obtain a target distance between the target obstacle and a target position, where the target position is located within the first obstacle avoidance detection area or the In the second obstacle avoidance detection area, the target position is the position to be reached by the transport device; and the obstacle avoidance parameter of the transport device is determined according to the target distance.

可选地，所述避障参数可以包括所述搬运设备的停止位置与所述目标障碍物之间的避障距离，所述避障距离大于所述目标距离。Optionally, the obstacle avoidance parameter may include an obstacle avoidance distance between the stop position of the handling device and the target obstacle, and the obstacle avoidance distance is greater than the target distance.

控制模块，被配置成用于当所述目标障碍物与所述目标位置之间的目标距离满足第二目标条件时，确定所述目标障碍物为非障碍物，并控制所述搬运设备正常行驶。a control module, configured to determine that the target obstacle is a non-obstruction when the target distance between the target obstacle and the target position satisfies a second target condition, and control the handling equipment to drive normally .

本申请的一些实施例提供了一种搬运设备，包括处理器以及存储器，所述存储器存储有计算机可读取指令，当所述计算机可读取指令由所述处理器执行时，运行如上述本申请的一些实施例提供的所述方法中的步骤。Some embodiments of the present application provide a handling device, including a processor and a memory, where the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the above-mentioned present invention is executed. Some embodiments of the application provide steps in the method.

本申请的一些实施例提供了一种可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时运行如上述本申请的一些实施例提供的所述方法中的步骤。Some embodiments of the present application provide a readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, executes the steps in the methods provided by some of the above-mentioned embodiments of the present application.

本申请的一些实施例提供了一种计算机程序产品，所述计算机程序产品包括计算机程序，所述计算机程序被处理器执行时实现本申请的一些实施提供的所述的方法。Some embodiments of the present application provide a computer program product comprising a computer program that, when executed by a processor, implements the methods provided by some embodiments of the present application.

本申请的其他特征和优点将在随后的说明书阐述，并且，部分地从说明书中变得显而易见，或者通过实施本申请实施例了解。本申请的目的和其他优点可通过在所写的说明书、权利要求书、以及附图中所特别指出的结构来实现和获得。Other features and advantages of the present application will be set forth in the description which follows, and, in part, will be apparent from the description, or may be learned by practice of the embodiments of the present application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description, claims, and drawings.

附图说明Description of drawings

为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, therefore It should not be regarded as a limitation of the scope. For those of ordinary skill in the art, other related drawings can also be obtained from these drawings without any creative effort.

图1为本申请实施例提供的一种用于执行搬运设备的控制方法的搬运设备的结构示意图；FIG. 1 is a schematic structural diagram of a handling device for executing a control method for a handling device provided by an embodiment of the present application;

图2为本申请实施例提供的一种搬运设备的控制方法的流程图；2 is a flowchart of a method for controlling a handling device provided by an embodiment of the present application;

图3为本申请实施例提供的一种避障检测区域的示意图；3 is a schematic diagram of an obstacle avoidance detection area provided by an embodiment of the present application;

图4为本申请实施例提供的一种避障距离的示意图；4 is a schematic diagram of an obstacle avoidance distance provided by an embodiment of the present application;

图5为本申请实施例提供的一种针对目标位置外的障碍物的检测示意图；FIG. 5 is a schematic diagram of detecting an obstacle outside a target position according to an embodiment of the present application;

图6为本申请实施例提供的一种搬运设备的控制装置的结构框图。FIG. 6 is a structural block diagram of a control device of a handling equipment provided by an embodiment of the present application.

具体实施方式Detailed ways

下面将结合本申请实施例中附图，对本申请实施例中的技术方案进行清楚、完整地描述。The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application.

本申请实施例提供一种搬运设备的控制方法，该方法可以通过确定搬运设备通行前方不同的避障检测区域，根据障碍物与两个避障检测区域之间的位置关系来确定搬运设备的避障参数，从而可更加合理规划搬运设备的避障参数，使得搬运设备可在距离障碍物前的合理位置处停止前进，在确保搬运的运行安全的同时也提高了搬运设备的运行效率。An embodiment of the present application provides a method for controlling a handling device. The method can determine the avoidance detection area of the handling device according to the positional relationship between the obstacle and the two obstacle avoidance detection areas by determining different obstacle avoidance detection areas in front of the handling device. Therefore, the obstacle avoidance parameters of the handling equipment can be more reasonably planned, so that the handling equipment can stop at a reasonable position before the obstacle, which not only ensures the safe operation of the handling, but also improves the operating efficiency of the handling equipment.

请参照图1，图1为本申请实施例提供的一种用于执行搬运设备的控制方法的搬运设备的结构示意图，所述搬运设备可以包括：至少一个处理器110，例如CPU；至少一个通信接口120；至少一个存储器130和至少一个通信总线140。其中，通信总线140可以用于实现这些组件直接的连接通信。其中，本申请实施例中设备的通信接口120可以用于与其他节点设备进行信令或数据的通信。存储器130可以是高速RAM存储器，也可以是非易失性的存储器(non-volatile memory)，例如至少一个磁盘存储器。存储器130可选的还可以是至少一个位于远离前述处理器的存储装置。存储器130中可以存储有计算机可读取指令，当所述计算机可读取指令由所述处理器110执行时，搬运设备可以执行下述图2所示方法过程，例如，存储器130可用于存储障碍物与第二避障检测区域以及第一避障检测区域之间的位置关系，处理器110可用于根据位置关系确定搬运设备的避障参数。Please refer to FIG. 1. FIG. 1 is a schematic structural diagram of a handling device for executing a control method for handling equipment according to an embodiment of the present application. The handling device may include: at least one processor 110, such as a CPU; at least one communication Interface 120 ; at least one memory 130 and at least one communication bus 140 . Among them, the communication bus 140 can be used to realize the direct connection and communication of these components. The communication interface 120 of the device in the embodiment of the present application may be used for signaling or data communication with other node devices. The memory 130 may be a high-speed RAM memory, or a non-volatile memory, such as at least one disk memory. The memory 130 may optionally also be at least one storage device located remotely from the aforementioned processor. Computer-readable instructions may be stored in the memory 130. When the computer-readable instructions are executed by the processor 110, the handling device may execute the following method process shown in FIG. 2. For example, the memory 130 may be used to store obstacles. The positional relationship between the object and the second obstacle avoidance detection area and the first obstacle avoidance detection area, the processor 110 may be used to determine the obstacle avoidance parameter of the handling equipment according to the positional relationship.

在一些实施例中，本申请实施例中所描述的搬运设备可以是具有各种功能的AGV，例如，举升AGV、滚筒AGV、皮带式的AGV的等，搬运设备还可以是叉车(比如箱式仓储机器人)，或其他智能机器人等，甚至还可以是四向穿梭车，也即，搬运设备可以是指任何能搬运货物的设备即可。In some embodiments, the handling equipment described in the embodiments of the present application may be AGVs with various functions, for example, a lifting AGV, a roller AGV, a belt-type AGV, etc., and the handling equipment may also be a forklift (such as a box storage robot), or other intelligent robots, etc., or even a four-way shuttle, that is, the handling equipment can refer to any equipment that can handle goods.

在搬运设备为AGV时，其可以还包括有其他硬件，如车体、顶举货物的货架等，车体内可设置上述的处理器110、存储器130、通信接口120、通信总线140等器件，当然，车体内还可以包含有电池、电机等其他用于保证AGV运行的器件，在此不详细说明。为了便于理解，在介绍下述实施例时，以搬运设备为AGV为例进行说明。When the handling equipment is an AGV, it may also include other hardware, such as a vehicle body, a shelf for lifting goods, etc. The above-mentioned processor 110, memory 130, communication interface 120, communication bus 140 and other devices can be installed in the vehicle body. Of course, , the vehicle body may also contain batteries, motors and other devices used to ensure the operation of the AGV, which will not be described in detail here. For ease of understanding, when introducing the following embodiments, the handling equipment is an AGV as an example for description.

搬运设备中还可设置有激光雷达、超声传感器、红外传感器等可用于探测搬运设备周围的障碍物的传感器，这样搬运设备可实时探测到避障检测区域内是否有障碍物，进而在有障碍物时可提前采取相应的处理措施进行避障处理，以确保搬运设备运行过程中的安全。The handling equipment can also be equipped with lidar, ultrasonic sensors, infrared sensors and other sensors that can be used to detect obstacles around the handling equipment, so that the handling equipment can detect in real time whether there are obstacles in the obstacle avoidance detection area, and then in the presence of obstacles. Corresponding measures can be taken in advance to avoid obstacles in order to ensure the safety of the handling equipment during the operation.

可以理解，图1所示的结构仅为示意，所述搬运设备还可包括比图1中所示更多或者更少的组件，或者具有与图1所示不同的配置。图1中所示的各组件可以采用硬件、软件或其组合实现。It can be understood that the structure shown in FIG. 1 is only for illustration, and the handling equipment may further include more or less components than those shown in FIG. 1 , or have different configurations than those shown in FIG. 1 . Each component shown in FIG. 1 may be implemented in hardware, software, or a combination thereof.

请参照图2，图2为本申请实施例提供的一种搬运设备的控制方法的流程图，该方法包括如下步骤：Please refer to FIG. 2 , which is a flowchart of a method for controlling a handling device provided by an embodiment of the present application. The method includes the following steps:

步骤S110：当检测到搬运设备的运行方向上存在至少一个障碍物时，确定所述至少一个障碍物中的目标障碍物与第一避障检测区域和第二避障检测区域之间的位置关系。Step S110: When it is detected that there is at least one obstacle in the running direction of the handling equipment, determine the positional relationship between the target obstacle in the at least one obstacle and the first obstacle avoidance detection area and the second obstacle avoidance detection area .

为了确保AGV的运行安全，需要对AGV前方是否存在障碍物进行实时检测。而为了对障碍物进行有效检测，避免对障碍物的误检(如在距离AGV前方很远处检测到障碍物时AGV也进行避障处理)，可以设置合理的障碍物检测区域，即避障检测区域，以对避障检测区域内的障碍物进行检测。In order to ensure the safe operation of the AGV, it is necessary to detect whether there are obstacles in front of the AGV in real time. In order to effectively detect obstacles and avoid false detection of obstacles (for example, the AGV also performs obstacle avoidance processing when an obstacle is detected far away from the front of the AGV), a reasonable obstacle detection area can be set, that is, obstacle avoidance Detection area to detect obstacles in the obstacle avoidance detection area.

其中，避障检测区域可包括第二避障检测区域和第一避障检测区域，第二避障检测区域在第一避障检测区域的外侧，这两个避障检测区域均在AGV的激光雷达的激光扫描区域内。第一避障检测区域的范围可以预先设置，如第一避障检测区域为矩形时，可以设置其矩形区域的长宽，而第二避障检测区域可以是指第一避障检测区域的长边对应的***区域，这种情况下第二避障检测区域可以包括两个长方形区域，其长方形区域的长边可以与第一避障检测区域的长边相等(当然，实际情况下也可以不等，可按照需求灵活设置)，其长方形区域的短边也可以根据实际情况设置。如图3所示为一种实施方式中的第一避障检测区域与第二避障检测区域的示意图。此时，第二避障检测区域为S ₂，第一避障检测区域为S ₁；第二避障检测区域的宽度为w _out，则第一避障检测区域的宽度可以为2*w _out。在一些实施例中，第二避障检测区域还可以包括第一避障检测区域远离AGV的短边对应的***区域。 The obstacle avoidance detection area may include a second obstacle avoidance detection area and a first obstacle avoidance detection area, the second obstacle avoidance detection area is outside the first obstacle avoidance detection area, and the two obstacle avoidance detection areas are both located in the laser beam of the AGV within the laser scanning area of the radar. The range of the first obstacle avoidance detection area can be preset. For example, when the first obstacle avoidance detection area is a rectangle, the length and width of the rectangular area can be set, and the second obstacle avoidance detection area can refer to the length of the first obstacle avoidance detection area. In this case, the second obstacle avoidance detection area may include two rectangular areas, and the long sides of the rectangular areas may be equal to the long sides of the first obstacle avoidance detection area. etc., which can be flexibly set according to requirements), and the short side of the rectangular area can also be set according to the actual situation. FIG. 3 is a schematic diagram of a first obstacle avoidance detection area and a second obstacle avoidance detection area in an embodiment. At this time, the second obstacle avoidance detection area is S ₂ , the first obstacle avoidance detection area is S ₁ ; the width of the second obstacle avoidance detection area is w _out , and the width of the first obstacle avoidance detection area may be 2*w _out . In some embodiments, the second obstacle avoidance detection area may further include a peripheral area corresponding to the short side of the first obstacle avoidance detection area away from the AGV.

或者，在第一避障检测区域为半圆形时，其第二避障检测区域可以为围绕第一避障检测区域的半圆环形区域，可以理解地，第二避障检测区域并不是完全包围第一避障检测区域，而是指第一避障检测区域中除靠近AGV的一边的其他***区域，即第二避障检测区域可以部分包裹第一避障检测区域。可以理解地，对于第一避障检测区域以及第二避障检测区域的大小和形状可以根据实际需求进行设置，上述仅为举例，在实际应用中，第二避障检测区域和第一避障检测区域还可以设置为其他形状和大小，如三角形、多边形等。Alternatively, when the first obstacle avoidance detection area is a semicircle, the second obstacle avoidance detection area may be a semicircular annular area surrounding the first obstacle avoidance detection area. It is understood that the second obstacle avoidance detection area does not completely surround the first obstacle avoidance detection area. The first obstacle avoidance detection area refers to other peripheral areas in the first obstacle avoidance detection area except for the side close to the AGV, that is, the second obstacle avoidance detection area may partially wrap the first obstacle avoidance detection area. It can be understood that the size and shape of the first obstacle avoidance detection area and the second obstacle avoidance detection area can be set according to actual needs. The above is only an example. In practical applications, the second obstacle avoidance detection area and the first obstacle avoidance detection area. The detection area can also be set to other shapes and sizes, such as triangles, polygons, etc.

在第二避障检测区域在第一避障检测区域的外侧的情况还可以是指：第二避障检测区域沿搬运设备的运行方向设置，位于所述第一避障检测区域的两侧，如图3中位于第一避障检测区域的长边的两侧。在第一避障检测区域为其他形状时，其第二避障检测区域可以包括两个子区域，子区域分别设置在如图3所示的第一避障检测区域的上侧和下侧，本申请实施例对此不作限定。When the second obstacle avoidance detection area is outside the first obstacle avoidance detection area, it may also mean that the second obstacle avoidance detection area is arranged along the running direction of the conveying equipment, and is located on both sides of the first obstacle avoidance detection area, As shown in FIG. 3 , they are located on both sides of the long side of the first obstacle avoidance detection area. When the first obstacle avoidance detection area has other shapes, the second obstacle avoidance detection area may include two sub-areas, and the sub-areas are respectively arranged on the upper side and the lower side of the first obstacle avoidance detection area as shown in FIG. 3 . This is not limited in the application examples.

在另一些实施方式中，上述的避障检测区域的宽度可以根据AGV自身的宽度或者AGV顶举货物时货物的宽度(其一般是指货物通行所需的宽度)来确定的。In other embodiments, the width of the above-mentioned obstacle avoidance detection area may be determined according to the width of the AGV itself or the width of the cargo when the AGV lifts the cargo (which generally refers to the width required for the passage of the cargo).

举例来说，在AGV处于空载状态时，表示AGV没有顶举货物，此时避障检测区域的宽度可以大于或等于AGV自身的宽度，如AGV自身的宽度为1米，则避障检测区域的宽度(即第一避障检测区域与第二避障检测区域的宽度之和，或者仅是第一避障检测区域的宽度)可以为1米或2米等。若避障检测区域的宽度若为1米，预先设定第一避障检测区域的宽度为0.8米，由于第二避障检测区域为两个，所以每个第二避障检测区域的宽度可以设置为大于或等于0.1米。For example, when the AGV is in an unloaded state, it means that the AGV does not lift the cargo. At this time, the width of the obstacle avoidance detection area can be greater than or equal to the width of the AGV itself. If the width of the AGV itself is 1 meter, the obstacle avoidance detection area is The width of (that is, the sum of the widths of the first obstacle avoidance detection area and the second obstacle avoidance detection area, or only the width of the first obstacle avoidance detection area) may be 1 meter or 2 meters, etc. If the width of the obstacle avoidance detection area is 1 meter, the width of the first obstacle avoidance detection area is preset to 0.8 meters. Since there are two second obstacle avoidance detection areas, the width of each second obstacle avoidance detection area can be Set to greater than or equal to 0.1 meters.

在AGV处于顶举货物状态时，可以获取货物的宽度，则其避障检测区域的宽度可以大于或等于货物的宽度，这种情况下，第一避障检测区域的宽度可以等于AGV自身的宽度，或者也可以是预先设定的，这样即可确定第二避障检测区域的宽度。When the AGV is in the state of lifting the cargo, the width of the cargo can be obtained, and the width of the obstacle avoidance detection area can be greater than or equal to the width of the cargo. In this case, the width of the first obstacle avoidance detection area can be equal to the width of the AGV itself , or it can be preset, so that the width of the second obstacle avoidance detection area can be determined.

当然，第一避障检测区域和第二避障检测区域的宽度和长度可以根据实际需求设置即可，如图3中避障检测区域的宽度为w _f，其长度为d _l。其中，x方向即为搬运设备的运行方向。 Of course, the width and length of the first obstacle avoidance detection area and the second obstacle avoidance detection area can be set according to actual requirements. As shown in FIG. 3 , the width of the obstacle avoidance detection area is w _f and its length is d _l . Among them, the x direction is the running direction of the handling equipment.

由于AGV在空载状态或顶举货物状态下其通行所占的区域大小不同，如AGV在顶举货物状态下，由于货物的体积较大，所以，可能通行需要较大的区域，而AGV在空载状态下时，其通行所需的区域较小，所以，可以根据AGV的不同状态来确定避障检测区域的大小，从而可以合理设置第一避障检测区域以及第二避障检测区域的大小。Because the size of the area occupied by the AGV in the empty state or in the state of lifting the cargo is different, for example, when the AGV is in the state of lifting the cargo, due to the large volume of the cargo, it may require a larger area for passage, while the AGV is in the state of lifting the cargo. In the no-load state, the area required for its passage is small, so the size of the obstacle avoidance detection area can be determined according to the different states of the AGV, so that the first obstacle avoidance detection area and the second obstacle avoidance detection area can be reasonably set. size.

其中，在一些实施方式中，可以通过AGV上安装的激光雷达进行障碍物扫描，如激光雷达实时对激光扫描区域发射激光，通过获得的反射信号来判断是否存在障碍物。可以理解地，激光在遇到障碍物后会反射信号，激光雷达接收到反射信号后即可认为前方存在障碍物。而为了实现对障碍物的准确检测，激光雷达可以通过探测障碍物获得对应的点云极坐标，然后将点云极坐标转换为相对于AGV的平面直角坐标后，会根据障碍物形成最小的连续的直线扫码点个数是否超出阈值来判定是否为障碍物，如形成的最小连续的直线扫码点个数大于某个阈值(如10)时，则确定前方存在障碍物。Among them, in some embodiments, obstacle scanning can be performed by the lidar installed on the AGV, for example, the lidar emits laser light to the laser scanning area in real time, and the obtained reflected signal is used to determine whether there is an obstacle. Understandably, the laser will reflect the signal when it encounters an obstacle, and the lidar can think that there is an obstacle ahead after receiving the reflected signal. In order to achieve accurate detection of obstacles, lidar can obtain the corresponding polar coordinates of the point cloud by detecting the obstacles, and then convert the polar coordinates of the point cloud to the plane rectangular coordinates relative to the AGV, and form the smallest continuous according to the obstacles. Whether it is an obstacle is determined by whether the number of straight-line scan points exceeds the threshold. If the number of minimum continuous straight-line scan points formed is greater than a certain threshold (such as 10), it is determined that there is an obstacle ahead.

可以理解地，可以设定激光雷达的扫描区域(如激光扫描角度θ)，从而可确定激光扫描区域内是否存在障碍物，在检测到存在至少一个障碍物时，确定其中的目标障碍物与第一避障检测区域和第二避障检测区域之间的位置关系。It can be understood that the scanning area of the lidar (such as the laser scanning angle θ) can be set, so as to determine whether there are obstacles in the laser scanning area, and when at least one obstacle is detected, determine the target obstacle and the first obstacle. The positional relationship between the first obstacle avoidance detection area and the second obstacle avoidance detection area.

其中，在障碍物为一个时，目标障碍物即为该障碍物，若障碍物为两个或两个以上时，目标障碍物可以是指距离AGV较近的一个障碍物。其确定目标障碍物的方式可以为：获取每个障碍物与搬运设备之间的距离，然后可以根据各障碍物与搬运设备之间的距离，从至少一个障碍物中确定目标障碍物。Among them, when there is one obstacle, the target obstacle is the obstacle, and if there are two or more obstacles, the target obstacle may refer to an obstacle that is closer to the AGV. The method for determining the target obstacle may be: obtaining the distance between each obstacle and the handling device, and then determining the target obstacle from at least one obstacle according to the distance between each obstacle and the handling device.

如选择距离搬运设备最近的障碍物作为目标障碍物，当然，若存在有两个障碍物与搬运设备的距离相同，且与搬运设备距离最近，则可从这两个障碍物中选择任意一个障碍物作为目标障碍物，或者若这两个障碍物有其中一个障碍物在第一避障检测区域内，则可将在第一避障检测区域内的障碍物作为目标障碍物。For example, if the obstacle closest to the handling equipment is selected as the target obstacle, of course, if there are two obstacles with the same distance from the handling equipment and the closest distance to the handling equipment, any obstacle can be selected from the two obstacles The obstacle is used as the target obstacle, or if one of the two obstacles is in the first obstacle avoidance detection area, the obstacle in the first obstacle avoidance detection area can be used as the target obstacle.

例如，若有其中一个障碍物在第一避障检测区域内，其中另一个障碍物在第二避障检测区域内，此时可比较AGV当前位置与每个障碍物之间的距离，若第一避障检测区域内的障碍物与AGV距离较近，则将该第一避障检测区域内的障碍物作为目标障碍物，若第二避障检测区域内的障碍物与AGV距离较近，则将该第二避障检测区域内的障碍物作为目标障碍物。For example, if one of the obstacles is in the first obstacle avoidance detection area, and the other obstacle is in the second obstacle avoidance detection area, the distance between the current position of the AGV and each obstacle can be compared. An obstacle in the obstacle avoidance detection area is closer to the AGV, then the obstacle in the first obstacle avoidance detection area is used as the target obstacle. If the obstacle in the second obstacle avoidance detection area is closer to the AGV, Then the obstacle in the second obstacle avoidance detection area is taken as the target obstacle.

上述的位置关系可为目标障碍物在第一避障检测区域、目标障碍物在第二避障检测区域内，或者目标障碍物均不在两个避障检测区域内。The above positional relationship may be that the target obstacle is in the first obstacle avoidance detection area, the target obstacle is in the second obstacle avoidance detection area, or neither of the target obstacles is in the two obstacle avoidance detection areas.

步骤S120：基于所述位置关系确定所述搬运设备的避障参数。Step S120: Determine an obstacle avoidance parameter of the handling equipment based on the positional relationship.

可以理解地，若检测到避障检测区域内存在障碍物时，为了避免AGV与障碍物相撞，应该采取相应的避障措施进行避障处理，如减速或者在对应位置处停止前进等。在本申请实施例中，其避障措施可以为按照一定的加速度进行减速，然后可在距离障碍物一定距离时停止。所以，避障参数可以包括AGV的停止位置与障碍物之间的避障距离，或者是AGV的减速距离等。Understandably, if an obstacle is detected in the obstacle avoidance detection area, in order to prevent the AGV from colliding with the obstacle, corresponding obstacle avoidance measures should be taken to avoid the obstacle, such as decelerating or stopping at the corresponding position. In the embodiment of the present application, the obstacle avoidance measure may be to decelerate according to a certain acceleration, and then stop when the obstacle is a certain distance away. Therefore, the obstacle avoidance parameter may include the obstacle avoidance distance between the stop position of the AGV and the obstacle, or the deceleration distance of the AGV, etc.

由于第一避障检测区域可能是AGV通行的必经区域，所以，该第一避障检测区域内的障碍物对AGV通行的危险程度较大，而第二避障检测区域内的障碍物的危险程度相对较小一些，所以，可以根据障碍物与不同避障检测区域之间的位置关系来确定不同的避障参数。如避障参数包括上述的避障距离时，当目标障碍物在第一避障检测区域时，其避障距离应该更大，AGV需要在距离障碍物较远处停车，以确保AGV更高的安全性。当目标障碍物在第二避障检测区域时，其避障距离应该更小，允许AGV在障碍物较近的地方停车。Since the first obstacle avoidance detection area may be an area that AGVs must pass through, the obstacles in the first obstacle avoidance detection area are more dangerous to AGV passage, while the obstacles in the second obstacle avoidance detection area are more dangerous to AGVs. The degree of danger is relatively small, so different obstacle avoidance parameters can be determined according to the positional relationship between the obstacle and different obstacle avoidance detection areas. If the obstacle avoidance parameters include the above obstacle avoidance distance, when the target obstacle is in the first obstacle avoidance detection area, its obstacle avoidance distance should be larger, and the AGV needs to stop farther away from the obstacle to ensure that the AGV has a higher safety. When the target obstacle is in the second obstacle avoidance detection area, its obstacle avoidance distance should be smaller, allowing the AGV to stop near the obstacle.

例如，在一些实施方式中，若避障参数包括搬运设备的停止位置与目标障碍物之间的避障距离。则当位置关系为目标障碍物在第一避障检测区域内时，可以确定搬运设备的停止位置与目标障碍物之间的第一避障距离。当位置关系为目标障碍物在第二避障检测区域内时，可以确定搬运设备的停止位置与目标障碍物之间的第二避障距离，其中，第一避障距离大于第二避障距离。For example, in some embodiments, if the obstacle avoidance parameter includes the obstacle avoidance distance between the stop position of the handling equipment and the target obstacle. Then, when the positional relationship is that the target obstacle is within the first obstacle avoidance detection area, the first obstacle avoidance distance between the stop position of the handling equipment and the target obstacle can be determined. When the positional relationship is that the target obstacle is in the second obstacle avoidance detection area, the second obstacle avoidance distance between the stop position of the handling equipment and the target obstacle can be determined, wherein the first obstacle avoidance distance is greater than the second obstacle avoidance distance .

也就是说，若目标障碍物1在第一避障检测区域内，搬运设备的当前位置与目标障碍物1之间的距离为X1，此时其确定的第一避障距离为a1，若目标障碍物1在第二避障检测区域内，搬运设备的当前位置与目标障碍物1之间的距离也为X1，此时确定的第二避障距离为a2，则a1大于a2，表明第二避障检测区域内的障碍物相比于第一避障检测区域内的障碍物对搬运设备的安全威胁更小。这样障碍物在第一避障检测区域内时搬运设备可以在距离障碍物较远处停止，而障碍物在第二避障检测区域时搬运设备可以在距离障碍物较近的地方停止，从而基于避障检测区域的不同而选择不同的避障距离，提高了搬运设备的运行效率。That is to say, if the target obstacle 1 is in the first obstacle avoidance detection area, the distance between the current position of the handling equipment and the target obstacle 1 is X1, and the determined first obstacle avoidance distance is a1. Obstacle 1 is in the second obstacle avoidance detection area, and the distance between the current position of the handling equipment and target obstacle 1 is also X1, and the second obstacle avoidance distance determined at this time is a2, then a1 is greater than a2, indicating that the second obstacle avoidance distance is a2. Compared with the obstacles in the first obstacle avoidance detection area, the obstacles in the obstacle avoidance detection area pose less threat to the safety of the handling equipment. In this way, when the obstacle is in the first obstacle avoidance detection area, the handling equipment can stop at a distance from the obstacle, and when the obstacle is in the second obstacle avoidance detection area, the handling equipment can stop at a place closer to the obstacle, so that based on Different obstacle avoidance distances are selected for different obstacle avoidance detection areas, which improves the operation efficiency of the handling equipment.

若上述确定的目标障碍物未在任何一个避障检测区域内时，此时可认为该目标障碍物对AGV的运行不造成影响，此时可以不用采取避障措施，而是按照当前行驶状态继续行驶，在AGV的行驶过程中，可以实时检测目标障碍物与避障检测区域的位置关系，若目标障碍物在避障检测区域内时，则可以采取相应的避障措施进行避障处理，以避免AGV与目标障碍物相撞的情况发生。If the target obstacle determined above is not in any obstacle avoidance detection area, it can be considered that the target obstacle will not affect the operation of the AGV. At this time, no obstacle avoidance measures can be taken, but the current driving state can be continued. Driving, during the driving process of the AGV, the positional relationship between the target obstacle and the obstacle avoidance detection area can be detected in real time. If the target obstacle is in the obstacle avoidance detection area, corresponding obstacle avoidance measures can be taken to avoid obstacles. Avoid the situation where the AGV collides with the target obstacle.

所以，可以根据位置关系来确定对应的避障参数，如在避障参数包括AGV的停止位置与目标障碍物之间的避障距离时，可以针对目标障碍物在第一避障检测区域内的情况预先设置一个避障距离，针对目标障碍物在第二避障检测区域内的情况也可预先设置一个避障距离，这样如果任意一个目标障碍物在避障检测区域时，则可以确定相应的避障距离。然后AGV可基于当前位置与目标障碍物之间的距离来确定需减速的减速距离，从而可规划相应的减速度，以确保AGV在目标障碍物前停车。Therefore, the corresponding obstacle avoidance parameters can be determined according to the positional relationship. For example, when the obstacle avoidance parameters include the obstacle avoidance distance between the stop position of the AGV and the target obstacle, the obstacle avoidance parameters of the target obstacle in the first obstacle avoidance detection area can be determined. An obstacle avoidance distance can be preset in the situation, and an obstacle avoidance distance can also be preset for the situation that the target obstacle is in the second obstacle avoidance detection area, so that if any target obstacle is in the obstacle avoidance detection area, the corresponding obstacle can be determined. Obstacle avoidance distance. Then the AGV can determine the deceleration distance to be decelerated based on the distance between the current position and the target obstacle, so that the corresponding deceleration can be planned to ensure that the AGV stops before the target obstacle.

为了便于理解，下面举例说明如何获得避障参数。For ease of understanding, the following example illustrates how to obtain obstacle avoidance parameters.

如图4所示，若在激光扫描区域内存在有两个障碍物，图4中A点为第二避障检测区域内的障碍物A，B点为第一避障检测区域内的障碍物B，此时AGV可以通过激光雷达获取AGV与障碍物B之间的第一距离d _in，以及获取AGV与障碍物A之间的第二距离d _out。 As shown in Figure 4, if there are two obstacles in the laser scanning area, point A in Figure 4 is the obstacle A in the second obstacle avoidance detection area, and point B is the obstacle in the first obstacle avoidance detection area B. At this time, the AGV can obtain the first distance d _in between the AGV and the obstacle B, and obtain the second distance d _out between the AGV and the obstacle A through the lidar.

若此时第二距离小于第一距离，则障碍物A作为目标障碍物。在获得两个距离后，为了避免AGV与两个障碍物相撞，在一些实施方式中，可获取第一距离d _in与第二距离d _out之间的平均距离，然后根据平均距离来确定AGV的避障距离，如取平均距离的一半作为AGV的停止位置与障碍物A之间的避障距离，如平均距离为5米，则避障距离为2.5米，表示障碍物A距离AGV停止位置的距离(当然若此时获得的避障距离大于第一距离时，则认为该避障距离无效，可继续取该避障距离的一半作为最终的避障距离)。 If the second distance is smaller than the first distance at this time, the obstacle A is used as the target obstacle. After the two distances are obtained, in order to prevent the AGV from colliding with the two obstacles, in some embodiments, the average distance between the first distance d _in and the second distance d _out can be obtained, and then the AGV is determined according to the average distance For example, take half of the average distance as the obstacle avoidance distance between the stop position of the AGV and the obstacle A. If the average distance is 5 meters, the obstacle avoidance distance is 2.5 meters, which means that the obstacle A is away from the AGV stop position. (Of course, if the obstacle avoidance distance obtained at this time is greater than the first distance, the obstacle avoidance distance is considered invalid, and half of the obstacle avoidance distance can continue to be taken as the final obstacle avoidance distance).

或者也可以预先设置不同的目标距离范围内对应的避障距离，如目标距离范围区间表示为(0，5]米，其对应的避障距离为2.5米，在目标距离范围表示为(5，10]，其对应的避障距离为3米，按照该方式，在上述获得平均距离后，可查找平均距离所属的目标距离范围，从而可确定对应的避障距离，而在避障距离大于AGV的当前位置与目标障碍物之间的距离时，此时也可以将避障距离乘以预设系数来获得最终的避障距离。Alternatively, the corresponding obstacle avoidance distances within different target distance ranges can also be preset. For example, the target distance range range is expressed as (0, 5] meters, and the corresponding obstacle avoidance distance is 2.5 meters, and the target distance range is expressed as (5, 10], the corresponding obstacle avoidance distance is 3 meters. According to this method, after the above average distance is obtained, the target distance range to which the average distance belongs can be found, so that the corresponding obstacle avoidance distance can be determined, and when the obstacle avoidance distance is greater than the AGV When the distance between the current position and the target obstacle is , the final obstacle avoidance distance can also be obtained by multiplying the obstacle avoidance distance by a preset coefficient.

另外，避障参数除了包括上述的避障距离外，还可以包括搬运设备的行驶距离，如图4所示，若第二距离d _out为6米，根据上述方式获得的避障距离l _stop为3米，则搬运设备的行驶距离l _brake为3米，即表示AGV还需行驶3米后停车，其停止位置如图4中的y _stop，此时，AGV可根据该距离进行减速规划，以确保AGV可在行驶3米后停车在位置y _stop处。 In addition, the obstacle avoidance parameter may include, in addition to the above obstacle avoidance distance, the travel distance of the handling equipment. As shown in FIG. 4 , if the second distance d _out is 6 meters, the obstacle avoidance distance l _stop obtained according to the above method is: 3 meters, then the driving distance _lbrake of the handling equipment is 3 meters, which means that the AGV needs to travel 3 meters before stopping, and its stop position is as shown in y _stop in Figure 4. At this time, the AGV can decelerate according to this distance. Make sure that the AGV can stop at the position y _stop after driving 3 meters.

上述基于位置关系确定避障参数的过程中，其避障距离可以根据避障检测区域的不同而预先设置，而在其他实施方式中，还可以根据位置关系以及搬运设备的当前位置与目标障碍物的距离来确定避障参数。In the above process of determining the obstacle avoidance parameters based on the positional relationship, the obstacle avoidance distance can be preset according to the difference of the obstacle avoidance detection area, and in other embodiments, it can also be based on the positional relationship and the current position of the handling equipment and the target obstacle. distance to determine the obstacle avoidance parameters.

如上述举例，在第二距离d _out小于第一距离d _in时，此时认为第二避障检测区域内的障碍物A距离AGV较近，则障碍物A为目标障碍物，此时可以第二距离为依据规划避障距离，如上述举例中，查找第二距离所属的目标距离范围，即可获得对应的避障距离，如第二距离d _out为8米，则其对应的避障距离为3米，表示AGV需在距离障碍物A前3米的位置停车，则AGV还需行驶的距离为5米。如此，AGV可以5米为依据作为减速规划。同样地，若障碍物A在第一避障检测区域时，其获得的第一距离若为8米，可以通过第一距离所属的目标距离范围，获得对应的避障距离，如第一距离为8米对应的避障距离为4米。 As the above example, when the second distance d _out is smaller than the first distance d _in , it is considered that the obstacle A in the second obstacle avoidance detection area is relatively close to the AGV, and the obstacle A is the target obstacle. The second distance is based on the planned obstacle avoidance distance. For example, in the above example, find the target distance range to which the second distance belongs, and then the corresponding obstacle avoidance distance can be obtained. If the second distance d _out is 8 meters, the corresponding obstacle avoidance distance It is 3 meters, which means that the AGV needs to stop 3 meters before the obstacle A, and the AGV needs to travel a distance of 5 meters. In this way, the AGV can be used as a deceleration plan based on 5 meters. Similarly, if obstacle A is in the first obstacle avoidance detection area, if the obtained first distance is 8 meters, the corresponding obstacle avoidance distance can be obtained through the target distance range to which the first distance belongs. For example, the first distance is The obstacle avoidance distance corresponding to 8 meters is 4 meters.

也就是说，针对障碍物在不同的避障检测区域内时，其设置目标距离范围对应的避障距离可以不同，使得在同样的距离范围内，处于第一避障检测区域内的障碍物对应的避障距离大于处于第二避障检测区域内的障碍物对应的避障距离，如此可使得搬运设备在距离第一避障检测区域内的障碍物的较远处停车，以确保更高的安全性。That is to say, when the obstacle is in different obstacle avoidance detection areas, the obstacle avoidance distance corresponding to the set target distance range can be different, so that within the same distance range, the obstacle in the first obstacle avoidance detection area corresponds to The obstacle avoidance distance is greater than the obstacle avoidance distance corresponding to the obstacle in the second obstacle avoidance detection area, so that the handling equipment can be parked farther away from the obstacle in the first obstacle avoidance detection area to ensure a higher safety.

或者，在第一距离较小时，则表示第一避障检测区域内的障碍物B距离AGV较近，此时AGV的危险程度更高，则AGV需在距离AGV较远的地方停车，避障距离也可以是第一距离乘以预设值获得的距离，如预设值为0.6。针对第二距离较小时，也可以按此方式计算避障距离，由于第二避障检测区域内的障碍物对AGV的危险程度较低一些，所以，针对第二距离设置的预设值可相对小一些，如为0.4等，这样可将第二距离乘以预设值即可获得避障距离。Or, when the first distance is small, it means that the obstacle B in the first obstacle avoidance detection area is closer to the AGV. At this time, the AGV is more dangerous, and the AGV needs to stop at a place far away from the AGV to avoid obstacles. The distance may also be a distance obtained by multiplying the first distance by a preset value, for example, the preset value is 0.6. When the second distance is small, the obstacle avoidance distance can also be calculated in this way. Since the obstacles in the second obstacle avoidance detection area are less dangerous to the AGV, the preset value set for the second distance can be relatively If it is smaller, such as 0.4, etc., the obstacle avoidance distance can be obtained by multiplying the second distance by the preset value.

在一些实施方式中，在上述确定出避障参数后，为了提高搬运设备的运行效率，还可以根据避障参数确定搬运设备的行驶参数，该行驶参数可以包括行驶速度曲线和/或减速度。In some embodiments, after the obstacle avoidance parameters are determined above, in order to improve the operation efficiency of the handling equipment, the travel parameters of the handling equipment may also be determined according to the obstacle avoidance parameters, and the travel parameters may include a travel speed curve and/or deceleration.

如在避障参数包括搬运设备的停止位置与目标障碍物之间的避障距离时，可以根据搬运设备与目标障碍物之间的距离以及避障距离，确定搬运设备距离停止位置的减速距离，然后获取搬运设备的当前速度、当前加速度以及最大加速度，再根据减速距离、当前速度、当前加速度以及最大加速度，通过S形速度规划算法确定搬运设备的行驶速度曲线。For example, when the obstacle avoidance parameter includes the obstacle avoidance distance between the stop position of the handling equipment and the target obstacle, the deceleration distance of the handling equipment from the stop position can be determined according to the distance between the handling equipment and the target obstacle and the obstacle avoidance distance. Then obtain the current speed, current acceleration and maximum acceleration of the handling equipment, and then determine the traveling speed curve of the handling equipment through the S-shaped speed planning algorithm according to the deceleration distance, current speed, current acceleration and maximum acceleration.

在确定AGV的避障距离后，即可确定AGV从当前位置距离停止位置处的减速距离，即减速距离等于AGV的当前位置与目标障碍物之间的距离减去避障距离的差值。AGV的当前速度、当前加速度可通过安装在AGV上的传感器来检测获得，AGV的最大加速度可以从预先对AGV的相关配置参数中获得。AGV可按照该减速距离、AGV此时的当前速度、当前加速度以及AGV的最大加速度等信息，通过S形速度规划算法来规划AGV的行驶速度曲线，以使得AGV刚好在距离障碍物前避障距离的位置处停车，从而达到避障停车的安全。After the obstacle avoidance distance of the AGV is determined, the deceleration distance of the AGV from the current position to the stop position can be determined, that is, the deceleration distance is equal to the difference between the distance between the current position of the AGV and the target obstacle minus the obstacle avoidance distance. The current speed and current acceleration of the AGV can be detected by the sensors installed on the AGV, and the maximum acceleration of the AGV can be obtained from the relevant configuration parameters of the AGV in advance. The AGV can plan the driving speed curve of the AGV through the S-shaped speed planning algorithm according to the deceleration distance, the current speed of the AGV at this time, the current acceleration and the maximum acceleration of the AGV, so that the AGV can avoid the obstacle just before the obstacle. Parking at the location, so as to achieve the safety of obstacle avoidance parking.

其中，通过S形速度规划算法规划行驶速度曲线的具体实现方式可参照现有技术中的相关实现过程，在此不详细描述。在获得行驶速度曲线后，AGV可按照行驶速度曲线进行行驶，使得AGV可以刚好行驶减速距离后在停止位置停车，相比于在检测到障碍物后马上开始减速行驶的方式，可有效提高AGV的运行效率。Wherein, for the specific implementation manner of planning the traveling speed curve through the S-shaped speed planning algorithm, reference may be made to the relevant implementation process in the prior art, which will not be described in detail here. After obtaining the driving speed curve, the AGV can drive according to the driving speed curve, so that the AGV can stop at the stop position after just driving the deceleration distance. operation efficiency.

在一些实施方式中，获得减速度的方式可以如下：根据搬运设备与目标障碍物之间的距离以及避障距离，确定搬运设备距离停止位置的减速距离，然后获取搬运设备的当前速度，根据当前速度以及减速距离，确定对应的减速度。In some embodiments, the manner of obtaining the deceleration may be as follows: according to the distance between the handling equipment and the target obstacle and the obstacle avoidance distance, determine the deceleration distance of the handling equipment from the stop position, and then obtain the current speed of the handling equipment, according to the current speed of the handling equipment. Speed and deceleration distance to determine the corresponding deceleration.

在获得减速距离、搬运设备的当前速度后，可以通过以下公式来计算减速度：After obtaining the deceleration distance and the current speed of the handling equipment, the deceleration can be calculated by the following formula:

a＝(0-v ²)/(2s)； a=(0-v ² )/(2s);

其中，a即为减速度，s为减速距离，v为当前速度。Among them, a is the deceleration, s is the deceleration distance, and v is the current speed.

而AGV针对障碍物的检测可以为实时检测，则AGV可以实时获取目标障碍物的位置信息，并根据目标障碍物的位置信息判断避障参数是否发生变更，当避障参数变更时，根据变更后的避障参数确定搬运设备的行驶参数。The detection of obstacles by AGV can be real-time detection, then the AGV can obtain the position information of the target obstacle in real time, and judge whether the obstacle avoidance parameters have changed according to the position information of the target obstacle. The obstacle avoidance parameters determine the driving parameters of the handling equipment.

也就是说，AGV在基于当前规划的行驶参数行驶时，在行驶过程中可以实时检测目标障碍物是否被移动，若目标障碍物的位置发生了变化，则可以重新确定目标障碍物与上述的两个避障检测区域之间的位置关系，也可以重新计算获得避障参数，然后可以根据避障参数重新按照上述方式计算行驶参数。That is to say, when the AGV is driving based on the currently planned driving parameters, it can detect whether the target obstacle is moved in real time during the driving process. If the position of the target obstacle changes, the target obstacle and the above two can be re-determined. The positional relationship between the obstacle avoidance detection areas can also be recalculated to obtain obstacle avoidance parameters, and then the driving parameters can be recalculated in the above manner according to the obstacle avoidance parameters.

若AGV在减停之前检测到目标障碍物已经被移出避障检测区域内，即目标障碍物已经不在当前的避障检测区域内了，则AGV可按照设定加速度恢复到目标速度，如原始行驶速度，然后可以继续检测障碍物，若又重新检测到障碍物时，则可再次按照上述方式确定避障参数，然后可以按照避障参数来确定AGV的行驶参数。If the AGV detects that the target obstacle has been moved out of the obstacle avoidance detection area before decelerating, that is, the target obstacle is no longer in the current obstacle avoidance detection area, the AGV can return to the target speed according to the set acceleration, such as the original driving If the obstacle is detected again, the obstacle avoidance parameters can be determined according to the above method again, and then the driving parameters of the AGV can be determined according to the obstacle avoidance parameters.

在上述实现过程中，通过实时检测目标障碍物的位置信息，可以根据目标障碍物的位置信息来实时判断避障参数是否发生变更，以及时更新搬运设备的行驶参数，使得确保避障即使出现误报的情况也不会导致搬运设备停止不运行的情况，因此，在提升了避障精度的同时也确保了避障安全。In the above implementation process, by detecting the position information of the target obstacle in real time, it is possible to judge whether the obstacle avoidance parameters have changed in real time according to the position information of the target obstacle, and update the driving parameters of the handling equipment in time, so as to ensure that even if there is an error in obstacle avoidance The reported situation will not cause the handling equipment to stop and not operate. Therefore, the obstacle avoidance accuracy is improved and the obstacle avoidance safety is also ensured.

在一些实施方式中，当上面检测到的至少一个障碍物满足第一目标条件时，确定搬运设备的运行方向上不存在目标障碍物，并控制搬运设备的正常行驶，这样可使得搬运设备无需停止而是继续前进，从而确保搬运设备的有效运行。In some embodiments, when at least one obstacle detected above satisfies the first target condition, it is determined that there is no target obstacle in the running direction of the handling equipment, and the handling equipment is controlled to run normally, so that the handling equipment does not need to stop Instead, move on to ensure the efficient operation of your handling equipment.

在这里，第一目标条件可以包括：至少一个障碍物不在第一避障检测区域，也不在第二避障检测区域内，也就是至少一个障碍物在避障检测区域外，或者第一目标条件也可以包括距离搬运设备最近的障碍物与搬运设备之间的距离超过目标距离，这种情况下表示障碍物距离搬运设备较远，则不进行避障处理。Here, the first target condition may include: at least one obstacle is not in the first obstacle avoidance detection area nor in the second obstacle avoidance detection area, that is, at least one obstacle is outside the obstacle avoidance detection area, or the first target condition It can also include that the distance between the obstacle closest to the handling equipment and the handling equipment exceeds the target distance. In this case, it means that the obstacle is far away from the handling equipment, and no obstacle avoidance processing is performed.

可以理解地，第一目标条件还可以根据实际需求设置其他条件，如还可以包括至少一个障碍物在离搬运设备要达到的目标位置的很远处(如障碍物距离目标位置超过一定距离，而搬运设备到达目标位置的过程中不会与障碍物相撞)。搬运设备在运行过程中，可以实时对障碍物进行检测，在障碍物满足上述的第一目标条件时，则继续行驶，在障碍物不满足上述第一目标条件时，则可根据障碍物与两个避障检测区域的位置关系来确定相应的避障参数，从而进行避障处理。It can be understood that the first target condition can also set other conditions according to actual needs, for example, it can also include that at least one obstacle is far away from the target position to be reached by the handling equipment (for example, the obstacle is more than a certain distance from the target position, and The handling equipment will not collide with obstacles in the process of reaching the target position). During the operation of the handling equipment, the obstacle can be detected in real time. When the obstacle meets the above-mentioned first target condition, it will continue to drive. When the obstacle does not meet the above-mentioned first target condition, it can be based on the obstacle and two The position relationship of each obstacle avoidance detection area is used to determine the corresponding obstacle avoidance parameters, so as to perform obstacle avoidance processing.

但是，在一些情况中，对于AGV需到达的目标位置(如终点位置)也处于避障检测区域内时，而若针对目标位置外的障碍物也按照上述方式进行避障处理，可能会使得AGV的运行效率较低(如障碍物可能在距离目标位置较远处，而根据上述方式确定避障距离，使得AGV可能在距离目标位置前较远的地方就停车了)，所以，针对这种情况，还可以通过以下方式来确定搬运设备的避障参数：However, in some cases, when the target position (such as the end position) that the AGV needs to reach is also within the obstacle avoidance detection area, and if the obstacle avoidance processing is also performed in the above-mentioned manner for the obstacles outside the target position, the AGV may be caused. The operating efficiency of the AGV is low (for example, the obstacle may be far away from the target position, and the obstacle avoidance distance is determined according to the above method, so that the AGV may stop far away from the target position), so for this situation , the obstacle avoidance parameters of the handling equipment can also be determined in the following ways:

获取目标障碍物与目标位置之间的目标距离，然后根据目标距离来确定搬运设备的避障参数，该目标位置位于第一避障检测区域内或第二避障检测区域内，其为搬运设备要到达的位置。Obtain the target distance between the target obstacle and the target position, and then determine the obstacle avoidance parameters of the handling equipment according to the target distance. The target position is located in the first obstacle avoidance detection area or the second obstacle avoidance detection area, which is the handling equipment the location to be reached.

其中，若目标障碍物位于搬运设备与目标位置之间，则对于避障参数的获取方式和对应的避障处理方式也可以按照上述实施例所描述的方式类似，而若目标障碍物位于搬运设备与目标位置之外，即目标障碍物在目标位置之后，搬运设备需先经过目标位置再经过目标障碍物，这种情况下，如果目标障碍物距离目标位置很近时，则为了提高搬运设备的安全性，避免搬运设备与目标障碍物相撞，也应控制搬运设备在到达目标位置前停止。Wherein, if the target obstacle is located between the handling equipment and the target position, the acquisition method of the obstacle avoidance parameters and the corresponding obstacle avoidance processing method can also be similar to those described in the above embodiments, and if the target obstacle is located in the handling equipment In addition to the target position, that is, after the target obstacle is at the target position, the handling equipment needs to pass the target position and then the target obstacle. In this case, if the target obstacle is very close to the target position, in order to improve the handling equipment. Safety, avoid the collision of the handling equipment with the target obstacle, and control the handling equipment to stop before reaching the target position.

为了更好地确定避障参数，还可以先确定目标障碍物与目标位置之间的一个位置关系，如将目标位置后的一个区域作为目标避障检测区域，然后获取目标障碍物是否在目标避障检测区域内，若是，则认为目标障碍物距离目标位置较近，反之，则距离目标位置较远。In order to better determine the obstacle avoidance parameters, you can also first determine a positional relationship between the target obstacle and the target position, such as taking an area behind the target position as the target obstacle avoidance detection area, and then obtain whether the target obstacle is in the target avoidance area. If it is in the obstacle detection area, it is considered that the target obstacle is closer to the target position, otherwise, it is farther away from the target position.

举例来说，如图5所示，图5中所示的矩形区域为由第一避障检测区域以及第二避障检测区域所组成的避障检测区域，在该避障检测区域内存在障碍物1和障碍物2，由于障碍物1距离AGV最近，则障碍物1为目标障碍物，而此时AGV需到达的目标位置在该避障检测区域内。For example, as shown in FIG. 5 , the rectangular area shown in FIG. 5 is an obstacle avoidance detection area composed of a first obstacle avoidance detection area and a second obstacle avoidance detection area, and an obstacle exists in the obstacle avoidance detection area Obstacle 1 and Obstacle 2. Since Obstacle 1 is the closest to the AGV, Obstacle 1 is the target obstacle, and the target position that the AGV needs to reach at this time is within the obstacle avoidance detection area.

其中，确定对应的目标避障检测区域的方式可以为：如基于目标位置所在的位置点划定一直线，该直线与AGV的前进方向垂直，以预设宽度(如图5中的d _reach)确定另一条直线，该直线与目标位置所在的直线平行，两条直线与避障检测区域所围成的区域即为目标避障检测区域，此时目标避障检测区域内的任一位置与搬运设备的当前位置之间的距离大于目标位置与搬运设备的当前位置之间的距离，表示目标避障检测区域在目标位置之后，AGV要到达目标避障检测区域需经过目标位置所在的区域。 Among them, the method of determining the corresponding target obstacle avoidance detection area may be: for example, a straight line is drawn based on the position point where the target position is located, and the straight line is perpendicular to the advancing direction of the AGV, with a preset width (d _reach in Figure 5 ) Determine another straight line, which is parallel to the straight line where the target position is located, and the area enclosed by the two straight lines and the obstacle avoidance detection area is the target obstacle avoidance detection area. The distance between the current position of the equipment is greater than the distance between the target position and the current position of the handling equipment, indicating that the target obstacle avoidance detection area is after the target position, and the AGV needs to pass the area where the target position is located to reach the target obstacle avoidance detection area.

若目标障碍物在目标避障检测区域内，如图5中的障碍物1，即目标障碍物在目标避障检测区域内，表示目标障碍物可能距离目标位置较近，为了确保AGV到达目标位置时不会与目标障碍物相撞，则还可以预留一定的距离，使得AGV在距离目标位置前的一定位置处停车。此时可获取预先设定的避障参数，如避障参数包括避障距离，其避障距离应大于目标位置与目标障碍物之间的距离，如避障距离为目标避障检测区域的宽度d _reach加上或乘以一个预设值，预设值可以根据实际需求灵活取值，如取3米等。 If the target obstacle is in the target obstacle avoidance detection area, such as obstacle 1 in Figure 5, that is, the target obstacle is in the target obstacle avoidance detection area, indicating that the target obstacle may be closer to the target position. In order to ensure that the AGV reaches the target position If it will not collide with the target obstacle, a certain distance can also be reserved so that the AGV can stop at a certain position before the target position. At this time, the preset obstacle avoidance parameters can be obtained. For example, the obstacle avoidance parameters include the obstacle avoidance distance, and the obstacle avoidance distance should be greater than the distance between the target position and the target obstacle. For example, the obstacle avoidance distance is the width of the target obstacle avoidance detection area. d _reach is added or multiplied by a preset value. The preset value can be flexibly selected according to actual needs, such as 3 meters.

或者，也可以根据目标障碍物与目标位置之间的目标距离，根据目标距离来确定搬运设备的避障参数。Alternatively, the obstacle avoidance parameter of the conveying equipment can also be determined according to the target distance between the target obstacle and the target position.

其根据目标距离来确定避障距离的方式与上述类似，例如，如目标距离为1米，预设值设置为1.2，则避障距离为目标距离乘以1.2，即避障距离为1.2米，表示AGV需要在距离目标障碍物前1.2米处的位置停车，即AGV在距离目标位置0.2米处停车。当然，AGV在行驶到停止位置的过程中，可以实时检测目标障碍物是否已被移走，若被移走，则AGV继续行驶到目标位置即可。The method of determining the obstacle avoidance distance according to the target distance is similar to the above. For example, if the target distance is 1 meter and the preset value is set to 1.2, the obstacle avoidance distance is the target distance multiplied by 1.2, that is, the obstacle avoidance distance is 1.2 meters. It means that the AGV needs to stop at a position 1.2 meters in front of the target obstacle, that is, the AGV stops at a distance of 0.2 meters from the target position. Of course, when the AGV travels to the stop position, it can detect in real time whether the target obstacle has been removed. If it is removed, the AGV can continue to travel to the target position.

例如，图5中，障碍物1在目标避障检测区域内，则可根据障碍物1与目标位置之间的目标距离来确定避障距离，此时避障距离应大于目标距离，从而可使得搬运设备在到达目标位置前停止前进，以避免与障碍物1相撞。而由于障碍物2位于目标避障检测区域外，所以其距离AGV的目标位置较远，此时，可不认为该障碍物2对AGV的安全造成威胁，所以，若在检测到障碍物1不在目标避障检测区域内时，则可控制搬运设备继续行驶到目标位置即可。For example, in Figure 5, if obstacle 1 is in the target obstacle avoidance detection area, the obstacle avoidance distance can be determined according to the target distance between obstacle 1 and the target position. At this time, the obstacle avoidance distance should be greater than the target distance, so that the The handling equipment stops before reaching the target position to avoid collision with obstacle 1. Since the obstacle 2 is located outside the target obstacle avoidance detection area, it is far from the target position of the AGV. At this time, it is not considered that the obstacle 2 poses a threat to the safety of the AGV. Therefore, if it is detected that the obstacle 1 is not on the target When it is within the obstacle avoidance detection area, the handling equipment can be controlled to continue driving to the target position.

在上述实现过程中，可以根据障碍物与目标位置之间的目标距离来确定避障参数，从而可使得搬运设备在到达目标位置前停止前进，以避免搬运设备在运行到目标位置时可能与障碍物相撞的情况。In the above implementation process, the obstacle avoidance parameters can be determined according to the target distance between the obstacle and the target position, so that the handling equipment can stop moving forward before reaching the target position, so as to avoid the possibility that the handling equipment may collide with obstacles when running to the target position. case of collision.

在一些实施方式中，当目标障碍物与目标位置之间的目标距离满足第二目标条件时，确定目标障碍物为非障碍物，并控制搬运设备正常行驶，这样可使得搬运设备可以在到达目标位置之前继续行驶，无需停止，从而确保搬运设备的有效运行。In some embodiments, when the target distance between the target obstacle and the target position satisfies the second target condition, it is determined that the target obstacle is not an obstacle, and the handling equipment is controlled to drive normally, so that the handling equipment can reach the target Continue to travel without stopping, ensuring efficient operation of the handling equipment.

在这里，第二目标条件可以包括目标距离大于目标阈值，或者是目标距离大于上述的目标避障检测区域的宽度，这种情况下，表示目标障碍物距离目标位置较远，不会对搬运设备的运行安全造成威胁，则可以控制搬运设备正常行驶到目标位置。Here, the second target condition may include that the target distance is greater than the target threshold, or the target distance is greater than the width of the above-mentioned target obstacle avoidance detection area. In this case, it means that the target obstacle is far from the target position and will not affect the handling equipment. If the operation safety is threatened, the handling equipment can be controlled to drive to the target position normally.

这里需要说明的是，这里所说的目标障碍物是指目标位置之后的障碍物，即不是位于搬运设备与目标位置之间的障碍物。It should be noted here that the target obstacle mentioned here refers to the obstacle after the target position, that is, not the obstacle located between the transport equipment and the target position.

在上述实施例中，通过对避障检测区域进行分层划分，即划分为第二避障检测区域和第一避障检测区域，从而可使得不同等级的避障检测区域的避障减速策略不同(即第二避障检测区域和第一避障检测区域对应的避障距离不同，根据避障距离可确定不同的行驶参数)，如障碍物在第二避障检测区域内时，AGV减速可以慢一些，AGV可在距离障碍物更近的地方停车即可，障碍物在第一避障检测区域内时，AGV减速可以更快一些，使得AGV可在距离障碍物更远的地方停车。AGV在停车之前可以实时进行障碍物检测，在检测到障碍物被移走后，即可恢复原始行驶状态继续行驶。而在AGV要到达目标位置时，对于障碍物的检测距离可缩小(如检测目标障碍物是否在目标避障检测区域内)，如即检测到目标位置外一定距离的区域是否存在障碍物，针对这种情况可进行特殊避障处理，这样可确保AGV到达目标位置不会与障碍物碰撞，提高了AGV的运行安全。In the above embodiment, the obstacle avoidance detection area is divided into layers, namely, the second obstacle avoidance detection area and the first obstacle avoidance detection area, so that the obstacle avoidance and deceleration strategies of different levels of obstacle avoidance detection areas can be different. (That is, the obstacle avoidance distances corresponding to the second obstacle avoidance detection area and the first obstacle avoidance detection area are different, and different driving parameters can be determined according to the obstacle avoidance distance.) For example, when the obstacle is in the second obstacle avoidance detection area, the AGV can decelerate. Slower, the AGV can stop closer to the obstacle. When the obstacle is in the first obstacle avoidance detection area, the AGV can decelerate faster, so that the AGV can park farther away from the obstacle. The AGV can perform obstacle detection in real time before stopping, and after detecting that the obstacle has been removed, it can resume the original driving state and continue driving. When the AGV is about to reach the target position, the detection distance for obstacles can be reduced (such as detecting whether the target obstacle is within the target obstacle avoidance detection area), such as detecting whether there are obstacles in a certain distance outside the target position. In this case, special obstacle avoidance processing can be performed, which can ensure that the AGV will not collide with obstacles when it reaches the target position, which improves the operation safety of the AGV.

请参照图6，图6为本申请实施例提供的一种搬运设备的控制装置200，该装置200可以是搬运设备上的模块、程序段或代码。应理解，该装置200与上述图2方法实施例对应，能够执行图2方法实施例涉及的各个步骤，该装置200具体的功能可以参见上文中的描述，为避免重复，此处适当省略详细描述。Please refer to FIG. 6 . FIG. 6 is a control device 200 of a handling device provided by an embodiment of the present application. The device 200 may be a module, a program segment, or a code on the handling device. It should be understood that the apparatus 200 corresponds to the above-mentioned method embodiment of FIG. 2 , and can perform various steps involved in the method embodiment of FIG. 2 , and the specific functions of the apparatus 200 may refer to the above description. To avoid repetition, the detailed description is appropriately omitted here. .

可选地，所述装置200可以包括：Optionally, the apparatus 200 may include:

位置关系确定模块210，被配置成用于当检测到搬运设备的运行方向上存在至少一个障碍物时，确定所述至少一个障碍物中的目标障碍物与第一避障检测区域和第二避障检测区域之间的位置关系，其中，所述第一避障检测区域和所述第二避障检测区域在所述搬运设备的运行方向上，所述第二避障检测区域在所述第一避障检测区域的外侧；The position relationship determination module 210 is configured to, when detecting that there is at least one obstacle in the running direction of the handling equipment, determine the target obstacle in the at least one obstacle and the first obstacle avoidance detection area and the second avoidance detection area The positional relationship between the obstacle detection areas, wherein the first obstacle avoidance detection area and the second obstacle avoidance detection area are in the running direction of the conveying equipment, and the second obstacle avoidance detection area is in the first obstacle avoidance detection area. 1. The outer side of the obstacle avoidance detection area;

避障参数确定模块220，被配置成用于基于所述位置关系确定所述搬运设备的避障参数。The obstacle avoidance parameter determination module 220 is configured to determine obstacle avoidance parameters of the handling equipment based on the positional relationship.

可选地，所述避障参数可以包括所述搬运设备的停止位置与所述目标障碍物之间的避障距离；所述避障参数确定模块220，被配置成用于当所述位置关系为所述目标障碍物在所述第一避障检测区域内，确定所述搬运设备的停止位置与所述目标障碍物之间的第一避障距离；当所述位置关系为所述目标障碍物在所述第二避障检测区域内，确定所述搬运设备的停止位置与所述目标障碍物之间的第二避障距离；其中，所述第一避障距离大于所述第二避障距离。Optionally, the obstacle avoidance parameter may include an obstacle avoidance distance between the stop position of the handling equipment and the target obstacle; the obstacle avoidance parameter determination module 220 is configured to be used when the positional relationship is For the target obstacle to be in the first obstacle avoidance detection area, determine the first obstacle avoidance distance between the stop position of the conveying equipment and the target obstacle; when the positional relationship is the target obstacle If the object is in the second obstacle avoidance detection area, determine the second obstacle avoidance distance between the stop position of the conveying equipment and the target obstacle; wherein, the first obstacle avoidance distance is greater than the second obstacle avoidance distance obstacle distance.

可选地，所述装置200还可以包括：Optionally, the apparatus 200 may further include:

可选地，所述行驶参数确定模块，被配置成用于实时获取所述目标障碍物的位置信息，并根据所述目标障碍物的位置信息判断所述避障参数是否发生变更；当所述避障参数变更时，根据变更后的避障参数确定所述搬运设备的行驶参数。Optionally, the driving parameter determination module is configured to acquire the position information of the target obstacle in real time, and determine whether the obstacle avoidance parameter has changed according to the position information of the target obstacle; When the obstacle avoidance parameters are changed, the driving parameters of the transport equipment are determined according to the changed obstacle avoidance parameters.

可选地，所述第二避障检测区域沿所述搬运设备在所述第一避障检测区域中的运行方向的两侧设置。Optionally, the second obstacle avoidance detection area is provided along both sides of a running direction of the conveying device in the first obstacle avoidance detection area.

可选地，所述避障参数确定模块220，还可以被配置成用于获取所述目标障碍物与目标位置之间的目标距离，所述目标位置位于所述第一避障检测区域内或所述第二避障检测区域内，所述目标位置为所述搬运设备要到达的位置；根据所述目标距离确定所述搬运设备的避障参数。Optionally, the obstacle avoidance parameter determination module 220 may also be configured to obtain a target distance between the target obstacle and a target position, where the target position is located in the first obstacle avoidance detection area or In the second obstacle avoidance detection area, the target position is the position to be reached by the handling device; and the obstacle avoidance parameter of the handling device is determined according to the target distance.

需要说明的是，本领域技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再重复描述。It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the device described above may refer to the corresponding process in the foregoing method embodiments, and the description will not be repeated here.

本申请实施例提供一种可读存储介质，所述计算机程序被处理器执行时，执行如图2所示方法实施例中搬运设备所执行的方法过程。An embodiment of the present application provides a readable storage medium. When the computer program is executed by a processor, the method process performed by the handling device in the method embodiment shown in FIG. 2 is executed.

本实施例公开一种计算机程序产品，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，计算机能够执行上述各方法实施例所提供的方法，例如，包括：当检测到搬运设备的运行方向上存在至少一个障碍物时，确定所述至少一个障碍物中的目标障碍物与第一避障检测区域和第二避障检测区域之间的位置关系，其中，所述第一避障检测区域和所述第二避障检测区域在所述搬运设备的运行方向上，所述第二避障检测区域在所述第一避障检测区域的外侧；基于所述位置关系确定所述搬运设备的避障参数。This embodiment discloses a computer program product, the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by a computer, the computer program The methods provided by the above method embodiments can be implemented, for example, including: when it is detected that there is at least one obstacle in the running direction of the handling equipment, determining the target obstacle in the at least one obstacle and the first obstacle avoidance detection The positional relationship between the area and the second obstacle avoidance detection area, wherein the first obstacle avoidance detection area and the second obstacle avoidance detection area are in the running direction of the conveying equipment, and the second obstacle avoidance detection area The area is outside the first obstacle avoidance detection area; and the obstacle avoidance parameter of the handling device is determined based on the positional relationship.

综上所述，本申请实施例提供一种搬运设备的控制方法、装置、搬运设备及存储介质，通过确定搬运设备通行前方不同的避障检测区域，根据障碍物与两个避障检测区域之间的位置关系来确定搬运设备的避障参数，从而可更加合理规划搬运设备的避障参数，使得搬运设备可以在距离障碍物前的合理位置处停止前进，在确保搬运的运行安全的同时也提高了搬运设备的运行效率。To sum up, the embodiments of the present application provide a control method, device, handling device, and storage medium for handling equipment. The obstacle avoidance parameters of the handling equipment can be determined based on the positional relationship between them, so that the obstacle avoidance parameters of the handling equipment can be more reasonably planned, so that the handling equipment can stop at a reasonable position before the obstacle, which ensures the safe operation of the handling equipment. Improve the operating efficiency of the handling equipment.

在本申请所提供的实施例中，应该理解到，所揭露装置和方法，可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，又例如，多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些通信接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。In the embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some communication interfaces, indirect coupling or communication connection of devices or units, which may be in electrical, mechanical or other forms.

另外，作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。In addition, units described as separate components may or may not be physically separated, and components shown as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

再者，在本申请各个实施例中的各功能模块可以集成在一起形成一个独立的部分，也可以是各个模块单独存在，也可以两个或两个以上模块集成形成一个独立的部分。Furthermore, each functional module in each embodiment of the present application may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.

在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。In this document, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such existence between these entities or operations. The actual relationship or sequence.

以上所述仅为本申请的实施例而已，并不用于限制本申请的保护范围，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。The above descriptions are merely examples of the present application, and are not intended to limit the protection scope of the present application. For those skilled in the art, various modifications and changes may be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

工业实用性Industrial Applicability

本申请提供了一种搬运设备的控制方法、装置、搬运设备及存储介质，涉及避障技术领域。该方法包括：当检测到搬运设备的运行方向上存在至少一个障碍物时，确定所述至少一个障碍物中的目标障碍物与第一避障检测区域和第二避障检测区域之间的位置关系；基于位置关系确定搬运设备的避障参数。该方案通过确定搬运设备通行前方不同的避障检测区域，根据障碍物与两个避障检测区域之间的位置关系来确定搬运设备的避障参数，从而可更加合理规划搬运设备的避障参数，使得搬运设备可以在距离障碍物前的合理位置处停止前进，在确保搬运的运行安全的同时也提高了搬运设备的运行效率。The application provides a control method, device, and storage medium for handling equipment, and relates to the technical field of obstacle avoidance. The method includes: when it is detected that there is at least one obstacle in the running direction of the handling equipment, determining a position between a target obstacle in the at least one obstacle and a first obstacle avoidance detection area and a second obstacle avoidance detection area relationship; determine the obstacle avoidance parameters of the handling equipment based on the position relationship. This solution determines the obstacle avoidance parameters of the handling equipment by determining different obstacle avoidance detection areas in front of the handling equipment, and determines the obstacle avoidance parameters of the handling equipment according to the positional relationship between the obstacle and the two obstacle avoidance detection areas, so that the obstacle avoidance parameters of the handling equipment can be more reasonably planned. , so that the handling equipment can stop at a reasonable position before the obstacle, which not only ensures the safe operation of the handling, but also improves the operating efficiency of the handling equipment.

此外，可以理解的是，本申请的搬运设备的控制方法、装置、搬运设备及存储介质是可以重现的，并且可以用在多种工业应用中。例如，本申请的搬运设备的控制方法、装置、搬运设备及存储介质可以用于具有自主导航技术的任何设备。In addition, it can be understood that the control method, device, handling equipment and storage medium of the handling equipment of the present application are reproducible and can be used in various industrial applications. For example, the control method, device, handling device and storage medium for handling equipment of the present application can be used for any equipment with autonomous navigation technology.

Claims

一种搬运设备的控制方法，其特征在于，所述方法包括：A control method for handling equipment, characterized in that the method comprises:

当检测到搬运设备的运行方向上存在至少一个障碍物时，确定所述至少一个障碍物中的目标障碍物与第一避障检测区域和第二避障检测区域之间的位置关系，其中，所述第一避障检测区域和所述第二避障检测区域在所述搬运设备的运行方向上，所述第二避障检测区域位于所述第一避障检测区域的外侧；When it is detected that there is at least one obstacle in the running direction of the handling equipment, the positional relationship between the target obstacle in the at least one obstacle and the first obstacle avoidance detection area and the second obstacle avoidance detection area is determined, wherein, The first obstacle avoidance detection area and the second obstacle avoidance detection area are in the running direction of the conveying equipment, and the second obstacle avoidance detection area is located outside the first obstacle avoidance detection area;

基于所述位置关系确定所述搬运设备的避障参数。An obstacle avoidance parameter of the handling device is determined based on the positional relationship.
根据权利要求1所述的方法，其特征在于，所述避障参数包括所述搬运设备的停止位置与所述目标障碍物之间的避障距离；所述基于所述位置关系确定所述搬运设备的避障参数，包括：The method according to claim 1, wherein the obstacle avoidance parameter comprises an obstacle avoidance distance between a stop position of the handling equipment and the target obstacle; and the handling is determined based on the positional relationship. Obstacle avoidance parameters of the device, including:

当所述位置关系表明所述目标障碍物在所述第一避障检测区域内时，确定所述搬运设备的停止位置与所述目标障碍物之间的第一避障距离；When the positional relationship indicates that the target obstacle is within the first obstacle avoidance detection area, determining a first obstacle avoidance distance between the stop position of the conveying device and the target obstacle;

当所述位置关系表明所述目标障碍物在所述第二避障检测区域内时，确定所述搬运设备的停止位置与所述目标障碍物之间的第二避障距离；When the positional relationship indicates that the target obstacle is within the second obstacle avoidance detection area, determining a second obstacle avoidance distance between the stop position of the transport equipment and the target obstacle;

其中，所述第一避障距离大于所述第二避障距离。Wherein, the first obstacle avoidance distance is greater than the second obstacle avoidance distance.
根据权利要求1或2所述的方法，其特征在于，所述方法还包括：The method according to claim 1 or 2, wherein the method further comprises:

获取所述至少一个障碍物中每个障碍物与所述搬运设备之间的距离；obtaining the distance between each of the at least one obstacle and the handling device;

根据各障碍物与所述搬运设备之间的距离，从所述至少一个障碍物中确定所述目标障碍物。The target obstacle is determined from the at least one obstacle according to the distance between each obstacle and the handling device.
根据权利要求1-3中任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-3, wherein the method further comprises:

根据所述避障参数确定所述搬运设备的行驶参数，所述行驶参数包括行驶速度曲线和/或减速度。The driving parameters of the handling device are determined according to the obstacle avoidance parameters, and the driving parameters include a driving speed curve and/or a deceleration.
根据权利要求4所述的方法，其特征在于，所述避障参数包括所述搬运设备的停止位置与所述目标障碍物之间的避障距离，所述行驶参数包括行驶速度曲线；The method according to claim 4, wherein the obstacle avoidance parameter includes an obstacle avoidance distance between the stop position of the handling equipment and the target obstacle, and the travel parameter includes a travel speed curve;

所述根据所述避障参数确定所述搬运设备的行驶参数，包括：The determining of the driving parameters of the handling equipment according to the obstacle avoidance parameters includes:

根据所述搬运设备与所述目标障碍物之间的距离以及所述避障距离，确定所述搬运设备距离所述停止位置的减速距离；According to the distance between the conveying device and the target obstacle and the obstacle avoidance distance, determine the deceleration distance of the conveying device from the stop position;

获取所述搬运设备的当前速度、当前加速度以及最大加速度；Obtain the current speed, current acceleration and maximum acceleration of the handling equipment;

根据所述减速距离、所述当前速度、所述当前加速度以及所述最大加速度，通过S形速度规划算法确定所述搬运设备的行驶速度曲线。According to the deceleration distance, the current speed, the current acceleration, and the maximum acceleration, a travel speed curve of the handling equipment is determined through an S-shaped speed planning algorithm.
根据权利要求4所述的方法，其特征在于，所述避障参数包括所述搬运设备的停止位置与所述目标障碍物之间的避障距离，所述行驶参数包括减速度；The method according to claim 4, wherein the obstacle avoidance parameter includes an obstacle avoidance distance between the stop position of the handling equipment and the target obstacle, and the travel parameter includes deceleration;

所述根据所述避障参数确定所述搬运设备的行驶参数，包括：The determining of the driving parameters of the handling equipment according to the obstacle avoidance parameters includes:

根据所述搬运设备与所述目标障碍物之间的距离以及所述避障距离，确定所述搬运设备距离所述停止位置的减速距离；According to the distance between the conveying device and the target obstacle and the obstacle avoidance distance, determine the deceleration distance of the conveying device from the stop position;

获取所述搬运设备的当前速度；Obtain the current speed of the handling equipment;

根据所述当前速度以及所述减速距离，确定所述减速度。The deceleration is determined according to the current speed and the deceleration distance.
根据权利要求1至6中任一项所述的方法，其特征在于，所述第一避障检测区域为矩形，所述第二避障检测区域为所述第一避障检测区域的长边对应的***区域。The method according to any one of claims 1 to 6, wherein the first obstacle avoidance detection area is a rectangle, and the second obstacle avoidance detection area is a long side of the first obstacle avoidance detection area the corresponding peripheral area.
根据权利要求1至6中任一项所述的方法，其特征在于，所述第一避障检测区域为半圆形，所述第二避障检测区域为围绕所述第一避障检测区域的半圆环形区域。The method according to any one of claims 1 to 6, wherein the first obstacle avoidance detection area is a semicircle, and the second obstacle avoidance detection area is around the first obstacle avoidance detection area semi-circular area.
根据权利要求5至8中任一项所述的方法，其特征在于，还包括：The method according to any one of claims 5 to 8, further comprising:

实时获取所述目标障碍物的位置信息，并根据所述目标障碍物的位置信息判断所述避障参数是否发生变更；Obtain the position information of the target obstacle in real time, and judge whether the obstacle avoidance parameter has changed according to the position information of the target obstacle;

当所述避障参数发生变更时，根据变更后的避障参数确定所述搬运设备的行驶参数。When the obstacle avoidance parameters are changed, the driving parameters of the transport equipment are determined according to the changed obstacle avoidance parameters.
根据权利要求1-9中任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-9, wherein the method further comprises:

当所述至少一个障碍物满足第一目标条件时，确定所述搬运设备的运行方向上不存在目标障碍物，并控制所述搬运设备正常行驶，其中，所述第一目标条件包括：所述至少一个障碍物不在所述第一避障检测区域并且也不在所述第二避障检测区域内；或者距离所述搬运设备最近的障碍物与所述搬运设备之间的距离超过目标距离。When the at least one obstacle satisfies the first target condition, it is determined that there is no target obstacle in the running direction of the handling equipment, and the handling equipment is controlled to drive normally, wherein the first target condition includes: the At least one obstacle is not in the first obstacle avoidance detection area nor in the second obstacle avoidance detection area; or the distance between the obstacle closest to the handling device and the handling device exceeds the target distance.
根据权利要求1-10中任一项所述的方法，其特征在于，所述第二避障检测区域沿所述搬运设备的运行方向设置，位于所述第一避障检测区域的两侧。The method according to any one of claims 1-10, wherein the second obstacle avoidance detection area is arranged along the running direction of the conveying equipment, and is located on both sides of the first obstacle avoidance detection area.
根据权利要求1-11中任一项所述的方法，其特征在于，所述第一避障检测区域和所述第二避障检测区域的大小根据所述搬运设备的状态确定，其中，所述搬运设备的状态包括空载状态或载货状态。The method according to any one of claims 1-11, wherein the sizes of the first obstacle avoidance detection area and the second obstacle avoidance detection area are determined according to the state of the conveying equipment, wherein the The state of the handling equipment includes an empty state or a loaded state.
根据权利要求1-12中任一项所述的方法，其特征在于，所述根据所述位置关系确定所述搬运设备的避障参数，包括：The method according to any one of claims 1-12, wherein the determining the obstacle avoidance parameter of the handling equipment according to the positional relationship comprises:

获取所述目标障碍物与目标位置之间的目标距离，所述目标位置位于所述第一避障检测区域内或所述第二避障检测区域内，所述目标位置为所述搬运设备要到达的位置；Obtain the target distance between the target obstacle and the target position, the target position is located in the first obstacle avoidance detection area or the second obstacle avoidance detection area, and the target position is required by the handling equipment. the position reached;

根据所述目标距离确定所述搬运设备的避障参数。The obstacle avoidance parameter of the handling equipment is determined according to the target distance.
根据权利要求13所述的方法，其特征在于，所述避障参数包括所述搬运设备的停止位置与所述目标障碍物之间的避障距离，所述避障距离大于所述目标距离。The method according to claim 13, wherein the obstacle avoidance parameter comprises an obstacle avoidance distance between the stop position of the handling equipment and the target obstacle, and the obstacle avoidance distance is greater than the target distance.
根据权利要求13或14所述的方法，其特征在于，所述方法还包括：The method according to claim 13 or 14, wherein the method further comprises:

当所述目标障碍物与所述目标位置之间的目标距离满足第二目标条件时，确定所述目标障碍物为非障碍物，并控制所述搬运设备正常行驶，其中，所述第二目标条件包括：所述目标距离大于目标阈值；或者所述目标距离大于所述目标避障检测区域的宽度。When the target distance between the target obstacle and the target position satisfies the second target condition, determine that the target obstacle is a non-obstruction, and control the transport equipment to drive normally, wherein the second target The conditions include: the target distance is greater than a target threshold; or the target distance is greater than the width of the target obstacle avoidance detection area.
一种搬运设备的控制装置，其特征在于，所述装置包括：A control device for handling equipment, characterized in that the device comprises:

位置关系确定模块，被配置成用于当检测到搬运设备的运行方向上存在至少一个障碍物时，确定所述至少一个障碍物中的目标障碍物与第一避障检测区域和第二避障检测区域之间的位置关系，其中，所述第一避障检测区域和所述第二避障检测区域在所述搬运设备的运行方向上，所述第二避障检测区域在所述第一避障检测区域的外侧；a position relationship determination module configured to, when detecting that there is at least one obstacle in the running direction of the handling equipment, determine the target obstacle in the at least one obstacle and the first obstacle avoidance detection area and the second obstacle avoidance The positional relationship between detection areas, wherein the first obstacle avoidance detection area and the second obstacle avoidance detection area are in the running direction of the conveying equipment, and the second obstacle avoidance detection area is in the first obstacle avoidance detection area. Outside the obstacle avoidance detection area;

避障参数确定模块，被配置成用于基于所述位置关系确定所述搬运设备的避障参数。An obstacle avoidance parameter determination module is configured to determine obstacle avoidance parameters of the handling equipment based on the positional relationship.
一种搬运设备，其特征在于，包括处理器以及存储器，所述存储器存储有计算机可读取指令，当所述计算机可读取指令由所述处理器执行时，运行如权利要求1-15中任一项所述的方法。A handling device, characterized in that it includes a processor and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the operation is as described in claims 1-15. The method of any one.
一种可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时运行如权利要求1-15中任一项所述的方法。A readable storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the method according to any one of claims 1-15 is executed.
一种计算机程序产品，其特征在于，所述计算机程序产品包括计算机程序，所述计算机程序被处理器执行时实现如权利要求1至15中任一项所述的方法。A computer program product, characterized in that the computer program product comprises a computer program, which implements the method according to any one of claims 1 to 15 when the computer program is executed by a processor.