AGV automatic obstacle avoiding method and system

Abstract

The invention relates to the technical field of obstacle avoiding equipment, in particular to an AGV automatic obstacle avoiding method and system. The AGV automatic obstacle avoiding method comprisesthe steps that an obstacle passing detection module and an ultrasonic distance detection module detect the real-time data of an obstacle and transmit the data to a control system; the control systemcompares the remaining width of a road except the obstacle and the width of an AGV, and controls an actuator to send an instruction to the AGV according to the comparison result; the state of the obstacle is judged by the control system according to the relative distance between the obstacle and the AGV and the traveling speed of the AGV; and the traveling route of the AGV is planned according tothe state of the obstacle and the outline of the obstacle. According to the AGV automatic obstacle avoiding method and system, different solutions are adopted according to the states of the obstacle,and operation space and resources can be saved; and when the remaining width is smaller than the width of the AGV, an alarm device can be started to draw the attention of surrounding vehicles, and theroute can be replanned to improve the efficiency for completing tasks of the AGV.

Description

technical field [0001] The present invention relates to the technical field of obstacle avoidance transportation equipment, and more specifically, relates to an AGV trolley automatic obstacle avoidance method and an obstacle avoidance system. Background technique [0002] Automated Guided Vehicle (AGV) is a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, which can drive along the prescribed guidance path, and has safety protection and transfer functions. An important feature of the AGV car is that it can plan paths and navigate autonomously, and a basic requirement for autonomous navigation is to be able to avoid obstacles. Obstacle avoidance means that the AGV car can effectively avoid obstacles according to a certain method when it senses static or dynamic obstacles that may hinder its passage through sensors during driving, according to the state information of the collected obstacles, and finally it is safe. reach the desti...

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Problems solved by technology

[0003] At present, some applicants have disclosed the local obstacle avoidance algorithm of the robot, which can ensure the accuracy of obstacle avoidance, but they have not taken different countermeasures for static obstacles and dynamic obstacles, resulting in a waste of memory and resources during the operation of the robot; Another applicant disclosed an obstacle avoidance system for an automatic driving device, which uses multi-sensor fusion technology to detect and avoid obstacles, but the automatic driving device encounters obstacles during driving, and the remaining distance on the road cannot make it pass When the situation occurs, only emergency braking can be performed, but the situation cannot be dealt with reasonably and effectively.

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