Outdoor AGV traffic avoidance method and device

Abstract

The invention discloses an AGV traffic avoidance technology applied to an outdoor environment and discloses a corresponding implementation device to achieve traffic safety avoidance between AGVs and between the AGV and social vehicles and pedestrians in the outdoor environment. The technology includes step (1) of automatically generating a path by the AGV and analyzing whether there is an overlapwith the remaining paths of other AGVs, and inserting an avoidance point before the overlapping portion; step (2) of stopping the AGV after the AGV runs to the avoidance point, continuously querying aposition state of the corresponding avoiding AGV, and accordingly determining whether an avoidance area can be entered; step (3) of pre-inserting an avoiding function point for the running AGV, and ensuring that the current AGV with a high priority runs smoothly; step (4) of adopting a mode of transforming traffic lights for the avoidance of the social vehicles and the pedestrians, adding a communication and control module, and performing active control and modification or following an indication of the traffic lights according to the priority of the AGV. A visual recognition module can alsobe added to identify passing identifiers of the traffic lights, thereby judging whether or not the traffic can pass.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to an outdoor logistics AGV traffic avoidance technology and device. technical background [0002] AGV is the English abbreviation for self-driving unmanned vehicles. It belongs to the category of mobile robots. In the past 10 years, it has been widely used at home and abroad. It is mainly used in indoor environments with simple and relatively standardized layouts. Under outdoor conditions, due to environmental It is complex and has a relatively large impact on the sensor. Generally, due to the traffic of social vehicles, the road space is tight. In most cases, it is difficult to open up a dedicated two-way channel for AGV, and the one-way channel faces complex avoidance problems. In addition When the AGV passes through the traffic intersection, how to safely avoid pedestrians and social vehicles is also a problem that needs to be solved in the current outdoor AGV schedul...

AI Technical Summary

Problems solved by technology

[0002] AGV is the English abbreviation for self-driving unmanned vehicles. It belongs to the category of mobile robots. In the past 10 years, it has been widely used at home and abroad. It is mainly used in indoor environments with simple and relatively standardized layouts. Under outdoor conditions, due to environmental It is complex and has a relatively large impact on the sensor. Generally, due to the traffic of social vehicles, the road space is tight. In most cases, it is difficult to open up a dedicated two-way channel for AGV, and the one-way channel faces complex avoidance problems. In addition When AGV passes through a traffic intersection, how to safely avoid pedestrians and social vehicles is also a problem that needs to be solved in the current outdoor AGV scheduling operation

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