CN115129068B - Intelligent positioning navigation system based on AGV forklift - Google Patents
Intelligent positioning navigation system based on AGV forklift Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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Abstract
The invention relates to the technical field of intelligent warehouses, in particular to an intelligent positioning navigation system based on an AGV forklift, wherein in the process of transporting goods by a forklift through a control execution module, if an obstacle appears in the process of executing the goods transportation, a scene analysis unit of a navigation module analyzes the obstacle, and if necessary, a path planning unit of the navigation module adjusts the transportation path of the transported goods; when the adjustment of the cargo transportation path is completed, a scene analysis unit of the navigation module judges whether the obstacle is a newly added map scene, and updates related data of a map scene storage unit and a navigation path storage unit when the newly added map scene is determined; in the process of placing goods at the goods placing position by the forklift, when the control execution module judges that the goods placing position has obstacles, the alarm is triggered, and the working efficiency of transporting goods by the AGV forklift is improved.
Description
Technical Field
The invention relates to the technical field of intelligent warehouses, in particular to an intelligent positioning navigation system based on an AGV forklift.
Background
The large-scale storage supermarket is complete in goods type, and the price is substantial, and a great deal of convenience is brought to the shopper, and most of the lower parts of the goods display and goods storage modes are adopted to be located in goods display, the upper parts of the goods display and goods storage modes are integrated goods shelves for goods storage, and the integrated goods shelves are integrated with the convenience of goods display and goods storage maintenance, but the clearance between the goods shelves of the storage supermarket is dense, so that when goods are transported between the goods shelves through a forklift, the moving range of the forklift is limited, and a large amount of manpower input is required to be consumed.
Chinese patent publication No.: CN114418043A discloses a dangerous chemical in-out warehouse carrying method, system, equipment and medium based on an AGV forklift. In one embodiment, the method comprises: transmitting the warehouse-in and warehouse-out request and the warehouse-out and warehouse-in information to a warehouse management system; the warehouse management system receives the warehouse entry and exit request and corresponding warehouse entry and exit information and generates a warehouse entry and exit carrying task instruction; sending the warehouse-in and warehouse-out carrying task instruction to an RCS cargo transportation path planning system; the RCS cargo transportation path planning system receives the warehouse entry and exit carrying task instruction and generates a warehouse entry and exit carrying route; and the AGV forklift transports the materials according to the warehousing and ex-warehousing carrying route and feeds the carrying result back to the warehouse management system. Therefore, the method can be used for quickly positioning and searching the goods, the speed of the materials entering and exiting the warehouse is increased, the warehouse storage amount is greatly increased, however, a large lifting space still exists in the process of acquiring and processing unknown scene information, so that the generation of unknown obstacles caused by slight scene changes can possibly influence the working efficiency of overall goods transportation.
Therefore, the dangerous chemical in-out warehouse transportation method based on the AGV forklift has the following problems: when the AGV forklift carries out goods transportation, when encountering unknown obstacles outside a scene map, the AGV forklift lacks the capability of corresponding recognition and goods transportation path adjustment, and reduces the working efficiency of the AGV forklift in the goods transportation process in the obstacle avoidance processing process.
Disclosure of Invention
Therefore, the invention provides an intelligent positioning navigation system based on an AGV forklift, which is used for solving the problems of low obstacle avoidance efficiency and low fault tolerance rate of goods transportation information in the prior art for navigating unknown obstacles of goods transportation paths.
In order to achieve the purpose, the intelligent positioning navigation system based on the AGV forklift comprises a positioning control module, a positioning control module and a navigation control module, wherein the positioning control module is used for controlling the positioning control module to control the positioning control module;
the scene acquisition device is used for acquiring scene information when the AGV forklift executes the goods transportation path;
the navigation module comprises a map scene storage unit for storing map scene information, a path planning unit connected with the map scene storage unit and used for planning the point-to-point goods transportation path of the AGV forklift according to the map scene, and a scene analysis unit connected with the map scene storage unit and the scene acquisition device and used for analyzing the scene information when the goods transportation path is executed;
the freight storage module comprises a goods shelf layout unit for storing all goods shelf layout information in a map scene and a goods shelf navigation unit which is connected with the goods shelf layout unit and used for positioning the placement position through the goods shelf layout information;
the control execution module is respectively connected with the navigation module and the freight storage module and is used for controlling an AGV forklift to transport cargos according to the cargo transport path planned by the navigation module during cargo transport and controlling the AGV forklift to place cargos when the cargo transport process is finished;
the scene analysis unit judges whether the current cargo transportation path is adjusted or not according to the scene analysis unit when finding the obstacle in the cargo transportation process, when the cargo transportation path is determined to be adjusted, the path planning unit adjusts the current cargo transportation path, and when the determination is completed, the control execution module judges the reasonability of the adjusted cargo transportation path.
Further, the control execution module is also connected with a weighing device, when the path planning unit determines the goods transportation path of the AGV forklift, the control execution module obtains the weight of the goods as Ws, calculates a transportation power value Ds according to the weight of the goods Ws, sets Ds = Ws multiplied by alpha, wherein alpha is a power consumption coefficient, and determines whether to adjust the speed of the AGV forklift or not according to the comparison between the transportation power value Ds and a preset transportation power value;
wherein the control execution module is provided with a first transportation power value Ds1, a second transportation power value Ds2, a first speed regulating coefficient K1 and a second speed regulating coefficient K2, wherein Ds1 is more than Ds2, K1 is more than 1.2 and more than K2 is more than 1.5,
if Ds is less than Ds1, the control execution module judges that the speed of the AGV forklift is not adjusted;
if Ds1 is not more than Ds < Ds2, the control execution module judges that the first speed adjustment coefficient K1 is adopted to adjust the speed of the AGV forklift;
and if Ds2 is not more than Ds, the control execution module judges that the second speed adjustment coefficient K2 is adopted to adjust the speed of the AGV forklift.
Further, the scene analysis unit determines whether the obstacle is a scene element in the map scene according to the analysis result of the map scene information stored in the map scene storage unit when the obstacle is judged to be in front,
if the obstacle is a scene element in the map scene, the scene analysisThe method comprises the steps that a unit obtains a first transverse floor area S1 of an obstacle, if the obstacle is not a scene element in a map scene, a scene analysis unit judges the form of the obstacle, if the form of the obstacle is in an integral state, a scene analysis unit obtains a second transverse floor area S2 of the obstacle, if the form of the obstacle is in a scattered state, a scene analysis unit obtains a third transverse floor area S3 of the obstacle, the comparison is carried out between the third transverse floor area S3 and a preset transverse floor area S0, an area ratio P is calculated, and P =isset
Where i =1,2,3.
Further, the navigation module also comprises a temporary scene storage unit which is connected with the scene analysis unit and used for storing the obstacle information of the non-map scene, when the scene analysis unit determines that the area ratio is finished, whether the current cargo transportation path is adjusted or not is determined according to the comparison result of the area ratio P of the obstacle and the preset area ratio P0,
if P is less than or equal to P0, the scene analysis unit judges that the current cargo transportation path does not need to be adjusted, performs conventional obstacle avoidance bypassing processing through a path planning unit, and stores the obstacle information into the temporary scene storage unit;
and if P is more than P0, the scene analysis unit judges that the current cargo transportation path needs to be adjusted.
Further, when the scene analysis unit determines that the current cargo transportation path needs to be adjusted, the path planning unit obtains all the alternative cargo transportation paths, the scene analysis unit obtains the frequency proportion of the temporary obstacle scenes in each alternative cargo transportation path according to the temporary obstacle scene analysis stored in the temporary scene storage unit, and selects the alternative cargo transportation path with the minimum frequency proportion of the temporary obstacle scenes in the alternative cargo transportation paths and the shortest length as the adjusted cargo transportation path.
Further, when the path planning unit determines that the adjustment of the goods transportation path is completed, the control execution module acquires the goods transportation paths of all the AGV forklifts executing the task, calculates the coincidence rate Q1 of the goods transportation paths of all the AGV forklifts executing the task and the adjusted goods transportation path, and determines whether the adjusted goods transportation path is reasonable or not by comparing the coincidence rate Q1 of the first path with the coincidence rate Qa1 of the first adjusted path;
if Q1 is not more than Qa1, the control execution module judges that the adjusted goods transportation path is reasonable, and takes the adjusted goods transportation path as the goods transportation path of the AGV forklift for executing the current task to execute the subsequent task;
and if Q1 is more than Qa1, the control execution module judges that the adjusted cargo transportation path is unreasonable.
Further, when the control execution module determines that the adjusted cargo transportation path is not reasonable, the control execution module acquires the cargo transportation paths of the remaining tasks of all the AGV forklifts executing the tasks, calculates the coincidence rate Q2 of the cargo transportation paths of the remaining tasks of all the AGV forklifts executing the tasks and the adjusted cargo transportation path, compares the coincidence rate Q2 of the second cargo path with the coincidence rate Qa2 of the second adjusted path to determine whether the adjusted cargo transportation path is reasonable or not, and sets Qa2 to be less than Qa1;
if Q2 is less than or equal to Qa2, the control execution module judges that the adjusted goods transportation path is reasonable, and takes the adjusted goods transportation path as the goods transportation path of the AGV forklift for executing the current task to execute the subsequent task;
and if Q2 is larger than Qa2, the control execution module judges that the adjusted cargo transportation path is unreasonable.
Further, the control execution module obtains a path with the shortest remaining cargo transportation path in the AGV forklifts executing all tasks when determining that the adjusted cargo transportation path is unreasonable, obtains all repeated intersection positions Pi through analyzing the adjusted cargo transportation path and the path with the shortest remaining cargo transportation path in the AGV forklifts executing all tasks, obtains a time Tai when the AGV forklifts adjusting the cargo transmission path reach each repeated intersection position Pi according to the repeated intersection positions Pi, and obtains a time Tbi when the AGV forklifts executing all tasks with the shortest remaining cargo transportation path reach each repeated intersection position Pi, sets a time difference value Tdi when the AGV forklifts reaching each repeated intersection position with the shortest remaining cargo transportation path in the AGV forklifts executing all tasks, sets a time difference value of i =1,2,3 and … n, wherein n is the number of the repeated intersection positions, calculates the time difference value Tdi when the adjusted cargo transportation path reaches each repeated intersection position and the AGV when the AGV executing all tasks with the shortest remaining cargo transportation path reaches each repeated intersection position in the AGV, and determines a travel speed adjustment coefficient of the AGV at each repeated intersection position of the AGV when setting a cargo transportation path is unreasonable;
a third driving speed regulating coefficient K3 and a fourth driving speed regulating coefficient K4 are set, a first preset time difference value T1 and a second preset time difference value T2 are set, K3 is more than 0.5 and less than K4 and less than 0.8, and T1 is more than T2.
The navigation module further comprises a navigation path storage unit which is connected with the path planning unit and used for storing or updating the finished goods transportation path, after the control execution module determines that the goods transportation task is finished, the scene analysis unit acquires the occurrence frequency U of the current obstacle, and determines whether the obstacle is a newly added map scene element or not by comparing the occurrence frequency U with the preset occurrence frequency U0 of the obstacle;
if the U is larger than or equal to U0, the obstacle is judged to be a newly added map scene element, the scene information of the obstacle is updated to a map scene storage unit, and the path planning unit stores or updates the adjusted cargo transportation path to the navigation path storage unit;
and if U is less than U0, judging that the barrier is not a map scene change element.
Furthermore, the control execution module is connected with an infrared distance measuring device, when the AGV fork truck reaches a goods shelf corresponding to a specified transportation place, the goods storage module acquires goods shelf position coordinates of a goods placing position according to a goods shelf navigation unit, the control execution module acquires the front end distance depth L of the AGV goods and the goods shelf placing position through the infrared distance measuring device before controlling the AGV fork truck to finish placing the goods on the goods shelf, and meanwhile, whether the goods placing position has an obstacle is judged by comparing the front end distance depth L of the AGV fork truck goods and goods shelf placing position with the preset front end distance depth L0 of the AGV fork truck goods and goods shelf placing position;
if L is less than or equal to L0, judging that the goods can be placed, and placing the goods on a goods shelf placing position by an AGV forklift;
if L is larger than L0, the goods placing position is judged to have a placing position obstacle, and at the moment, the alarm device is triggered to alarm.
Compared with the prior art, the navigation module has the beneficial effects that when the unknown obstacle in front is judged, the scene analysis unit of the navigation module calculates the area ratio of the obstacle according to the shape of the obstacle and the transverse floor area, and determines whether to adjust the current goods transportation path, so that unnecessary adjustment of the whole goods transportation path is avoided, and the obstacle avoidance efficiency of the AGV forklift intelligent positioning navigation system is improved.
Furthermore, when the scene analysis unit of the navigation module judges that the unknown obstacle exists, the navigation module can judge and analyze whether the obstacle is a scene element in a map scene, and if the obstacle is the scene element, the navigation module directly acquires form and volume information of the corresponding scene element, so that the obstacle analysis efficiency is improved.
Furthermore, the scene analysis unit of the navigation module of the invention acquires all alternative cargo transportation paths when the current cargo transportation path needs to be adjusted, and selects the cargo transportation path with the minimum proportion of temporary obstacle scenes and the shortest path length as the adjusted cargo transportation path according to the proportion of temporary obstacle scenes in the alternative cargo transportation paths acquired by the scene analysis unit, thereby improving the efficiency of adjusting the cargo transportation path.
Further, when the path planning unit determines the adjusted cargo transportation path, the control execution module acquires the task cargo transportation paths of all the AGV forklifts executing the task, calculates the coincidence rate of the task cargo transportation paths of all the AGV forklifts executing the task and the cargo transportation path of the adjusted cargo transportation path, and determines whether the adjusted cargo transportation path is reasonable or not by comparing the coincidence rate of the cargo transportation path with the coincidence rate of the cargo transportation path after adjustment, thereby ensuring the accuracy of the adjusted cargo transportation path.
Further, when the adjusted goods transportation path is still not reasonable, the control execution module acquires all the remaining goods transportation paths of the AGV forklift which is executing the task according to the control execution module, calculates the path coincidence rate of all the remaining goods transportation paths of the AGV forklift which is executing the task and the adjusted goods transportation path, and determines whether the adjusted goods transportation path is reasonable or not by comparing the path coincidence rate with the adjusted path coincidence rate, so that the accuracy of the adjusted goods transportation path is further ensured.
Furthermore, when the control execution module determines that the adjusted goods transportation path is unreasonable, the task goods transportation path with the shortest remaining goods transportation path in all the execution tasks is obtained, all the repeated crossing positions are obtained through analysis of the adjusted goods transportation path and the goods transportation path with the shortest remaining goods transportation path in all the execution tasks, and the driving speed adjusting coefficient of the AGV approaching each repeated crossing position is determined through calculating the time difference between the time when the adjusted goods transportation path reaches each repeated crossing position and the time when the AGV reaches each repeated crossing position, so that the safety of goods transportation path planning is guaranteed, and meanwhile, the working efficiency of avoiding obstacles which face unknown obstacles in the goods transportation process is improved.
Furthermore, the temporary scene storage unit provided by the invention can store the elements outside the map scene when the scene analysis unit determines that the unknown barrier is the elements outside the map scene, determine whether the barrier is the map scene change element according to the occurrence rate of the barrier when the barrier meets the barrier again at the same position, update the scene information of the barrier to the map scene storage unit if the barrier is determined to be the map scene change element, and simultaneously store or update the adjusted cargo transportation path to the navigation path storage unit, thereby realizing effective determination and automatic update of the elements outside the map scene and improving the efficiency of map scene information management.
Furthermore, before the AGV forklift is controlled to complete placement of goods on the goods shelf, the control execution module obtains the depths of the goods of the AGV forklift and the goods shelf placement position through the infrared distance measuring device, compares the depths with the depths of the goods shelf placement position, judges whether the goods placement position has a placement position obstacle or not, and triggers an alarm when the goods placement position has the placement position obstacle, so that necessary extrusion damage of the stored goods is avoided.
Drawings
FIG. 1 is a block diagram of an AGV fork truck-based intelligent positioning navigation system according to the present invention;
FIG. 2 is a structural block diagram of a navigation module of the AGV fork truck-based intelligent positioning navigation system according to the present invention;
FIG. 3 is a block diagram of a freight storage module of the AGV-based intelligent positioning navigation system according to the present invention;
FIG. 4 is a block diagram of a control execution module of the AGV fork truck-based intelligent positioning navigation system according to the present invention.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and do not delimit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1-4, fig. 1 is a block diagram illustrating an intelligent positioning and navigation system based on an AGV forklift according to an embodiment of the present invention; FIG. 2 is a block diagram of a navigation module of the AGV forklift-based intelligent positioning navigation system according to the embodiment of the present invention; FIG. 3 is a block diagram of a freight storage module of an AGV fork truck-based intelligent positioning navigation system according to an embodiment of the present invention; fig. 4 is a block diagram of a control execution module of an intelligent positioning and navigation system based on an AGV forklift according to an embodiment of the present invention.
An intelligent positioning navigation system based on an AGV forklift comprises;
the scene acquisition device is used for acquiring scene information when the AGV forklift executes the goods transportation path; the navigation module comprises a map scene storage unit for storing map scene information, a path planning unit which is connected with the map scene storage unit and used for planning the point-to-point goods transportation path of the AGV according to the map scene, and a scene analysis unit which is connected with the map scene storage unit and the scene acquisition device and used for analyzing the scene information when the goods transportation path is executed; the freight storage module comprises a shelf layout unit for storing layout information of all shelves in a map scene, and a shelf navigation unit connected with the shelf layout unit and used for positioning the placement position through the shelf layout information;
the control execution module is respectively connected with the navigation module and the freight storage module and is used for controlling an AGV forklift to transport cargos according to the cargo transport path planned by the navigation module during cargo transport and controlling the AGV forklift to place cargos when the cargo transport process is finished;
the scene analysis unit judges whether the current cargo transportation path is adjusted or not according to the scene analysis unit when finding the obstacle in the cargo transportation process, when the cargo transportation path is determined to be adjusted, the path planning unit adjusts the current cargo transportation path, and when the determination is completed, the control execution module judges the reasonability of the adjusted cargo transportation path.
Specifically, the control execution module is connected with a weighing device, when the path planning unit determines a cargo transportation path of the AGV forklift, the control execution module obtains the weight of the cargo as Ws, calculates a transportation power value Ds according to the weight of the cargo, sets Ds = Ws × α, wherein α is a power consumption coefficient, the power consumption coefficient is a relation ratio of the weight of the cargo and the transportation power required by the forklift, and determines whether to adjust the speed of the AGV forklift according to the transportation power value Ds and the preset transportation power;
wherein the control execution module is provided with a first transportation power value Ds1, a second transportation power value Ds2, a first speed regulating coefficient K1 and a second speed regulating coefficient K2, wherein Ds1 is more than Ds2, K1 is more than 1.2 and more than K2 is more than 1.5,
if Ds is less than Ds1, the control execution module judges that the speed of the AGV forklift is not adjusted;
if Ds1 is not more than Ds < Ds2, the control execution module judges that the first speed adjustment coefficient K1 is adopted to adjust the speed of the AGV forklift;
and if Ds2 is not more than Ds, the control execution module judges that the second speed adjustment coefficient K2 is adopted to adjust the speed of the AGV forklift.
Specifically, the scene analysis unit determines whether an obstacle is a scene element in the map scene according to the analysis result of the map scene information stored in the map scene storage unit when the obstacle is determined to be in front,
if the obstacle is a scene element in a map scene, the scene analysis unit acquires a first transverse floor area S1 of the obstacle, if the obstacle is not the scene element in the map scene, the scene analysis unit judges the form of the obstacle, if the form of the obstacle is in an integral state, the scene analysis unit acquires a second transverse floor area S2 of the obstacle, if the form of the obstacle is in a scattered state, the scene analysis unit acquires a third transverse floor area S3 of the obstacle, the comparison is carried out between the third transverse floor area S3 and a preset transverse floor area S0, an area ratio P is calculated, and P =is set
Where i =1,2,3.
Specifically, the preset transverse floor area S0 is the maximum transverse floor area of the road that can be occupied by the obstacle preset according to the width of the road occupied by the forklift, and the calculated area ratio P is used for calculating the proportion relation between the transverse floor area of the obstacle and the preset transverse floor area S0, so as to further judge whether the remaining maximum transverse floor area after the obstacle is occupied meets the requirement of the forklift for running.
Specifically, the navigation module further comprises a temporary scene storage unit which is connected with the scene analysis unit and used for storing obstacle information of a non-map scene, when the scene analysis unit determines that the area ratio is finished, whether the current cargo transportation path is adjusted or not is determined according to a comparison result of the area ratio P of the obstacles and a preset area ratio P0,
if P is less than or equal to P0, the scene analysis unit judges that the current cargo transportation path does not need to be adjusted, performs conventional obstacle avoidance bypassing processing through a path planning unit, and stores the obstacle information into the temporary scene storage unit;
and if P is larger than P0, the scene analysis unit judges that the current cargo transportation path needs to be adjusted.
Specifically, when the scene analysis unit determines that the current cargo transportation path needs to be adjusted, the path planning unit acquires all the alternative cargo transportation paths, the scene analysis unit analyzes and acquires the frequency proportion of temporary obstacle scenes in each alternative cargo transportation path according to the temporary obstacle scenes stored in the temporary scene storage unit, and selects the alternative cargo transportation path with the minimum frequency proportion of the temporary obstacle scenes in the alternative cargo transportation paths and the shortest length as the adjusted cargo transportation path.
Specifically, when the path planning unit determines that the adjustment of the goods transportation path is completed, the control execution module acquires the goods transportation paths of all the AGV forklifts executing the task, calculates the first path coincidence rate Q1 of the goods transportation paths of all the AGV forklifts executing the task and the adjusted goods transportation path, and determines whether the adjusted goods transportation path is reasonable or not by comparing the first path coincidence rate Q1 with the first adjusted path coincidence rate Qa1;
if Q1 is not more than Qa1, the control execution module judges that the adjusted goods transportation path is reasonable, and takes the adjusted goods transportation path as the goods transportation path of the AGV forklift for executing the current task to execute the subsequent task;
and if Q1 is larger than Qa1, the control execution module judges that the adjusted cargo transportation path is unreasonable.
Specifically, when the control execution module determines that the adjusted goods transportation path is unreasonable, the control execution module acquires the goods transportation paths of the remaining tasks of all the AGV forklifts executing the tasks, calculates the coincidence rate Q2 of the goods transportation paths of the remaining tasks of all the AGV forklifts executing the tasks and the adjusted goods transportation path, compares the coincidence rate Q2 of the second goods path with the coincidence rate Qa2 of the second adjusted path, determines whether the adjusted goods transportation path is reasonable or not, and sets Qa2 to be less than Qa1;
if Q2 is less than or equal to Qa2, the control execution module judges that the adjusted goods transportation path is reasonable, and takes the adjusted goods transportation path as the goods transportation path of the AGV forklift which executes the current task to execute the subsequent task;
and if Q2 is larger than Qa2, the control execution module judges that the adjusted cargo transportation path is unreasonable.
Specifically, when the adjusted goods transportation path is determined to be unreasonable, the control execution module acquires a path with the shortest remaining goods transportation path in the AGV forklifts executing all tasks, analyzes the adjusted goods transportation path and the path with the shortest remaining goods transportation path in the AGV forklifts executing all tasks to acquire all repeated crossing positions Pi, acquires the time Tai when the AGV forklifts adjusting the goods transmission path reach each repeated crossing position Pi and the time Tbi when the AGV forklifts executing all tasks with the shortest remaining goods transportation path reach each repeated crossing position Pi according to the repeated crossing positions Pi, sets a time difference Tdi between the adjusted goods transportation path and the AGV forklifts executing all tasks to reach each repeated crossing position, sets the time Tdi between the adjusted goods transportation path and each repeated crossing position Tft, and determines the speed adjustment coefficient of the AGV forklifts running at each repeated crossing position by setting Tdi = Tai-Tbi and comparing the time difference between the adjusted goods transportation path and the preset time Tdi;
a third driving speed regulating coefficient K3 and a fourth driving speed regulating coefficient K4 are set, a first preset time difference value T1 and a second preset time difference value T2 are set, K3 is more than 0.5 and K4 is less than 0.8, and T1 is more than T2.
Specifically, the navigation module further comprises a navigation path storage unit connected with the path planning unit and used for storing or updating the finished goods transportation path, after the control execution module determines that the goods transportation task is finished, the scene analysis unit acquires the occurrence frequency U of the current obstacle, and determines whether the obstacle is a newly added map scene element or not by comparing the occurrence frequency U with the preset occurrence frequency U0 of the obstacle;
if the U is larger than or equal to U0, the obstacle is judged to be a newly added map scene element, the scene information of the obstacle is updated to a map scene storage unit, and the path planning unit stores or updates the adjusted cargo transportation path to the navigation path storage unit;
and if U is less than U0, judging that the barrier is not a map scene change element.
Specifically, the control execution module is connected with an infrared distance measuring device, and a preferable scheme is adopted, the infrared distance measuring device used in the embodiment is an infrared distance measuring instrument, when the AGV forklift reaches a goods shelf corresponding to a specified transportation place, the goods storage module acquires goods shelf position coordinates of a goods placement position according to a goods shelf navigation unit, the control execution module acquires the front end distance depth L of the AGV forklift goods and the goods shelf placement position through the infrared distance measuring device before the AGV forklift is controlled to finish the placement of the goods on the goods shelf, and meanwhile, whether the goods placement position has an obstacle is judged by comparing the preset front end distance depth L of the AGV forklift goods and the goods shelf placement position with the preset front end distance depth L0 of the AGV forklift goods and the goods placement position;
if L is less than or equal to L0, judging that the goods can be placed, and placing the goods on a goods shelf placing position by an AGV forklift;
if L is larger than L0, the goods placing position is judged to have a placing position obstacle, and at the moment, the alarm device is triggered to alarm.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can be within the protection scope of the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. An intelligent positioning navigation system based on an AGV forklift is characterized by comprising;
the scene acquisition device is used for acquiring scene information when the AGV forklift executes the goods transportation path;
the navigation module comprises a map scene storage unit for storing map scene information, a path planning unit which is connected with the map scene storage unit and used for planning the point-to-point goods transportation path of the AGV according to the map scene, and a scene analysis unit which is connected with the map scene storage unit and the scene acquisition device and used for analyzing the scene information when the goods transportation path is executed;
the freight storage module comprises a shelf layout unit for storing layout information of all shelves in a map scene, and a shelf navigation unit connected with the shelf layout unit and used for positioning the placement position through the shelf layout information;
the control execution module is respectively connected with the navigation module and the freight storage module and is used for controlling the AGV forklift to transport cargos according to the cargo transport path planned by the navigation module during cargo transport and controlling the AGV forklift to place cargos during the completion of the cargo transport process;
when finding obstacles in the process of cargo transportation, the scene analysis unit judges whether to adjust the current cargo transportation path according to the scene analysis unit, when the cargo transportation path is determined to be adjusted, the path planning unit adjusts the current cargo transportation path, and when the determination is completed, the control execution module judges the reasonability of the adjusted cargo transportation path;
the control execution module is also connected with a weighing device, when the path planning unit determines the goods transportation path of the AGV forklift, the control execution module obtains the weight of the goods as Ws, calculates a transportation power value Ds according to the weight of the goods Ws, sets Ds = Ws multiplied by alpha, wherein alpha is a power consumption coefficient, and determines whether to adjust the speed of the AGV forklift or not according to the comparison of the transportation power value Ds and a preset transportation power value;
wherein the control execution module is provided with a first transportation power value Ds1, a second transportation power value Ds2, a first speed regulating coefficient K1 and a second speed regulating coefficient K2, wherein Ds1 is more than Ds2, K1 is more than 1.2 and more than K2 is more than 1.5,
if Ds is less than Ds1, the control execution module judges that the speed of the AGV forklift is not adjusted;
if Ds1 is not more than Ds < Ds2, the control execution module judges that a first speed adjustment coefficient K1 is adopted to adjust the speed of the AGV forklift;
if Ds2 is less than or equal to Ds, the control execution module judges that the second speed adjustment coefficient K2 is adopted to adjust the speed of the AGV forklift;
when judging that the front part has the obstacle, the scene analysis unit determines whether the obstacle is a scene element in the map scene according to the analysis result of the map scene information stored in the map scene storage unit,
if the obstacle is a scene element in a map scene, the scene analysis unit acquires a first transverse floor area S1 of the obstacle, if the obstacle is not the scene element in the map scene, the scene analysis unit judges the form of the obstacle, if the form of the obstacle is in an integral state, the scene analysis unit acquires a second transverse floor area S2 of the obstacle, if the form of the obstacle is in a scattered state, the scene analysis unit acquires a third transverse floor area S3 of the obstacle, the comparison is carried out between the third transverse floor area S3 and a preset transverse floor area S0, an area ratio P is calculated, and P =is set
Wherein i =1,2,3;
the navigation module also comprises a temporary scene storage unit which is connected with the scene analysis unit and is used for storing the obstacle information of the non-map scene, when the scene analysis unit determines that the area ratio is finished, whether the current cargo transportation path is adjusted or not is determined according to the comparison result of the area ratio P of the obstacle and the preset area ratio P0,
if P is less than or equal to P0, the scene analysis unit judges that the current cargo transportation path does not need to be adjusted, performs conventional obstacle avoidance bypassing processing through a path planning unit, and stores the obstacle information into the temporary scene storage unit;
if P is more than P0, the scene analysis unit judges that the current cargo transportation path needs to be adjusted;
when the scene analysis unit judges that the current cargo transportation path needs to be adjusted, the path planning unit acquires all alternative cargo transportation paths, the scene analysis unit analyzes and acquires the frequency proportion of temporary obstacle scenes in each alternative cargo transportation path according to the temporary obstacle scenes stored in the temporary scene storage unit, and selects the alternative cargo transportation path with the minimum frequency proportion of the temporary obstacle scenes in the alternative cargo transportation paths and the shortest length as the adjusted cargo transportation path;
when the path planning unit determines that the adjustment of the goods transportation path is completed, the control execution module acquires the goods transportation paths of all AGV forklifts executing tasks, calculates the first path coincidence rate Q1 of the goods transportation paths of all AGV forklifts executing tasks and the adjusted goods transportation path, and determines whether the adjusted goods transportation path is reasonable or not by comparing the first path coincidence rate Q1 with the first adjusted path coincidence rate Qa1;
if Q1 is not more than Qa1, the control execution module judges that the adjusted goods transportation path is reasonable, and takes the adjusted goods transportation path as the goods transportation path of the AGV forklift for executing the current task to execute the subsequent task;
if Q1 is more than Qa1, the control execution module judges that the adjusted cargo transportation path is unreasonable;
when the control execution module determines that the adjusted goods transportation path is unreasonable, the control execution module acquires the goods transportation paths of the remaining tasks of all AGV forklifts executing the tasks, calculates the coincidence rate Q2 of the goods transportation paths of the remaining tasks of all AGV forklifts executing the tasks and the adjusted goods transportation path, compares the coincidence rate Q2 of the second goods path with the coincidence rate Qa2 of the second adjusted path to determine whether the adjusted goods transportation path is reasonable or not, and sets Qa2 to be less than Qa1;
if Q2 is less than or equal to Qa2, the control execution module judges that the adjusted goods transportation path is reasonable, and takes the adjusted goods transportation path as the goods transportation path of the AGV forklift for executing the current task to execute the subsequent task;
if Q2 is more than Qa2, the control execution module judges that the adjusted cargo transportation path is unreasonable;
the control execution module obtains the shortest path of the residual goods transportation path in the AGV forklifts executing all tasks when the adjusted goods transportation path is determined to be unreasonable, obtains all repeated crossing positions Pi by analyzing the shortest path of the residual goods transportation path in the AGV forklifts executing all tasks, obtains the time Tai of the AGV forklifts adjusting the goods transportation path to reach each repeated crossing position Pi and the time Tbi of the AGV forklifts executing all tasks with the shortest residual goods transportation path to reach each repeated crossing position Pi according to the repeated crossing positions Pi, sets the time difference Tdi of i =1,2,3 and … n, wherein n is the number of the repeated crossing positions, calculates the time difference of the adjusted goods transportation path to reach each repeated crossing position and the AGV with the shortest residual goods transportation path in the AGV forklifts executing all tasks to reach each repeated crossing position, and determines the speed adjustment coefficient of the AGV running at each repeated crossing position of the transport path through setting Tdi = Tai-Tbi;
a third driving speed regulating coefficient K3 and a fourth driving speed regulating coefficient K4 are set, a first preset time difference value T1 and a second preset time difference value T2 are set, K3 is more than 0.5 and less than K4 and less than 0.8, and T1 is more than T2.
2. The AGV forklift-based intelligent positioning navigation system of claim 1, wherein the navigation module further comprises a navigation path storage unit connected with the path planning unit and used for storing or updating a finished goods transportation path, after the control execution module determines that the goods transportation task is finished, the scene analysis unit obtains the occurrence frequency U of the current obstacle, and determines whether the obstacle is a newly added map scene element by comparing the occurrence frequency U with the preset occurrence frequency U0 of the obstacle;
if the U is larger than or equal to U0, the obstacle is judged to be a newly added map scene element, the scene information of the obstacle is updated to a map scene storage unit, and the path planning unit stores or updates the adjusted cargo transportation path to the navigation path storage unit;
and if U is less than U0, judging that the barrier is not a map scene change element.
3. The AGV fork truck-based intelligent positioning navigation system of claim 2,
the control execution module is connected with an infrared distance measuring device, when the AGV forklift reaches a goods shelf corresponding to a specified transportation place, the goods storage module acquires goods shelf position coordinates of a goods placing position according to the goods shelf navigation unit, before the control execution module controls the AGV forklift to complete placing of goods on the goods shelf, the front end distance depth L of the AGV forklift goods and the goods shelf placing position is acquired through the infrared distance measuring device, meanwhile, whether obstacles exist in the goods placing position is judged through comparing the front end distance depth L of the AGV forklift goods and the goods shelf placing position with the preset front end distance depth L0 of the AGV forklift goods and the goods shelf placing position;
if L is less than or equal to L0, judging that the goods can be placed, and placing the goods on a goods shelf placing position by an AGV forklift;
if L is larger than L0, the goods placing position is judged to have a placing position barrier, and the alarm device is triggered to alarm at the moment.
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| CN117850427B (en) * | 2024-01-10 | 2024-07-26 | 火凤凰(北京)国际艺术品物流有限公司 | Intelligent obstacle avoidance system and method based on logistics cargo handling equipment |
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