CN108983779A - A kind of AGV trolley traffic control regulation method based on path analysis - Google Patents

A kind of AGV trolley traffic control regulation method based on path analysis Download PDF

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CN108983779A
CN108983779A CN201810818161.XA CN201810818161A CN108983779A CN 108983779 A CN108983779 A CN 108983779A CN 201810818161 A CN201810818161 A CN 201810818161A CN 108983779 A CN108983779 A CN 108983779A
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agv trolley
path
agv
detection zone
trolley
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CN108983779B (en
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张魏魏
周洋洋
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Anhui Library Automation Equipment Co Ltd
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Anhui Library Automation Equipment Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
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  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a kind of, and the AGV trolley traffic control based on path analysis regulates and controls method: S1, workspace being divided into x detection zone and multiple anchor points are arranged；S2, the transport task for being issued to AGV trolley is associated with and is stored with the real time position of corresponding AGV trolley；S3, obtain each operation AGV trolley transport task number, operating path type and path length；S4, whether anchor point nearest in corresponding detection zone is entered according to number, operating path type and the AGV trolley of path length adjustment operation of the transport task of the AGV trolley of each operation.The AGV trolley that the present invention and the type and length of the emergency by analyzing each AGV trolley task and each AGV trolley return path give way come dynamic select stop, it avoids the problem that causing hidden trouble of traffic there are path overlap between multiple AGV trolleies, guarantees the smooth passage of AGV trolley in workspace.

Description

A kind of AGV trolley traffic control regulation method based on path analysis
Technical field
The present invention relates to the path AGV control technique field more particularly to a kind of AGV trolley traffic pipes based on path analysis Regulation method processed.
Background technique
Automated Guided Vehicle, abbreviation AGV, also commonly referred to as AGV trolley refer to equipped with electricity magnetically or optically Equal homing guidances device, can travel along defined guide path, the transport vehicle with safeguard protection and various transfer functions, The carrier of driver is not required in industrial application, with chargeable battery for its power resources.The traveling of existing AGV trolley The planning strategy in path is more single, and when there is multiple AGV trolley travellings in workspace, the planning strategy of driving path is single not It is able to satisfy production and living needs, not can guarantee the high-efficiency operation of AGV trolley in workspace.
Summary of the invention
Technical problems based on background technology, the AGV trolley traffic based on path analysis that the invention proposes a kind of Control regulates and controls method.
AGV trolley traffic control proposed by the present invention based on path analysis regulates and controls method, comprising the following steps:
S1, workspace is divided into x detection zone, and multiple anchor points is set for each detection zone；
The transport task that S2, the AGV trolley received into x detection zone issue, and by each transport task with it is right The real time position for the AGV trolley answered is associated with and stores；
S3, the number of transport task for obtaining the AGV trolley run in each detection zone, operating path type and Path length；
S4, according to the number of the transport task of the AGV trolley run in each detection zone, operating path type and Whether the AGV trolley of path length adjustment operation enters anchor point nearest in corresponding detection zone.
Preferably, in step S2, the real time position of the AGV trolley is the AGV trolley in locating detection zone Physical location.
Preferably, in step S3, the operating path type of the AGV trolley of the operation is specifically included:
When the number of the transport task of the AGV trolley of operation is zero, the operating path type is the AGV trolley by working as Front position is back to the first path type of departure place；
When the number of the transport task of the AGV trolley of operation be greater than zero when, the operating path type be the AGV trolley by Current location is run to the second path type of destination.
Preferably, in step S3, the path length of the AGV trolley of the operation is specifically included:
When the number of the transport task of the AGV trolley of operation is zero, the path length is the present bit of the AGV trolley Set the distance between departure place；
When the number of the transport task of the AGV trolley of operation is greater than zero, the path length is the current of the AGV trolley The distance between position and destination.
Preferably, step S4 is specifically included:
Obtain the A that linear distance in i-th of detection zone is less than pre-determined distancemA AGV trolley and AnA AGV trolley Operating path type and analyze:
As AmA AGV trolley is first path type, AnWhen a AGV trolley is the second path type, A is adjustedmIt is a AGV trolley enters anchor point nearest in i-th of detection zone；
As AmA AGV trolley is the second path type, AnWhen a AGV trolley is first path type, A is adjustednIt is a AGV trolley enters anchor point nearest in i-th of detection zone；
As AmA AGV trolley and AnWhen a AGV trolley is first path type, A is obtained respectivelymA AGV trolley With AnThe path length of a AGV trolley, is denoted as BAm、BAnIf BAm>BAn, adjust AnA AGV trolley enters i-th of detection zone Nearest anchor point in domain, if BAn>BAmWhen, adjust AmA AGV trolley enters anchor point nearest in i-th of detection zone；
As AmA AGV trolley and AnWhen a AGV trolley is the second path type, A is obtained respectivelymA AGV trolley With AnThe number of the transport task of a AGV trolley, is denoted as CAm、CAnIf CAm>CAn, adjust AnA AGV trolley enters i-th Nearest anchor point in detection zone, if CAn>CAmWhen, adjust AmA AGV trolley enters nearest in i-th of detection zone stop By point；
Wherein, 1≤i≤x, A1≤Am≤Ai, A1≤An≤Ai。
AGV trolley traffic control proposed by the present invention based on path analysis regulates and controls method, mainly solves in workspace Traffic of multiple AGV trolleies when running in same planning path is obstructed problem, and by analyzing each AGV trolley task Emergency and the type and length of each AGV trolley return path carry out dynamic select and stop the AGV trolley that gives way, avoid There are problems that path overlap between multiple AGV trolleies and cause hidden trouble of traffic, guarantees that the smooth of AGV trolley leads in workspace Row.Specifically: the present invention carries out region division to workspace first, then adopts to the traffic conditions in each cell domain Collection, analysis and regulation, ensure that the specific aim and validity of traffic control strategy；Then analysis is small at a distance of closer two AGV The path type of vehicle, and formulate and return to the strategy that the AGV trolley of starting point gives way to the AGV trolley stop of execution task, pass through Shorten the runing time of the AGV trolley of execution task to improve the working efficiency of the type AGV trolley；Further, when two AGV trolley is when returning to the path type of starting point, and formulating the shorter AGV trolley of return path length is that return path is longer The scheme that gives way of AGV trolley, make two AGV trolleies can be in relatively short time internal regression to starting point, to improve it Operational efficiency；When two AGV trolleies are the path type of execution task, the present invention further analyzes two AGV trolleies The number of transport task, and formulating the less AGV trolley of transport task number is that the more AGV trolley of transport task number is stopped The scheme to give way avoids the runing time for extending the more AGV trolley of transport task number, when being conducive to improve its execution task Conevying efficiency.In this way, the present invention executes the state of task and the characteristic of running route, dynamic from AGV trolley itself The stop that ground adjusts all AGV trolleies in workspace is given way and operating status, is guaranteeing AGV trolley steady ordered in workspace Working condition on the basis of realize Intelligentized regulating and controlling to AGV trolley traffic stability in workspace.
Detailed description of the invention
Fig. 1 is a kind of step schematic diagram of AGV trolley traffic control regulation method based on path analysis.
Specific embodiment
As shown in FIG. 1, FIG. 1 is a kind of AGV trolley traffic control regulation methods based on path analysis proposed by the present invention.
Referring to Fig.1, the AGV trolley traffic control proposed by the present invention based on path analysis regulates and controls method, including following step It is rapid:
S1, workspace is divided into x detection zone, and multiple anchor points is set for each detection zone；
By the way that workspace refinement is divided into multiple small detection zones, be conducive to improve to AGV in each detection zone The specific aim and validity that trolley actual motion state is detected.
Multiple anchor points are set and advantageously reduce the time that running AGV trolley is moved to anchor point, are conducive to improve The operational efficiency of AGV trolley.
The transport task that S2, the AGV trolley received into x detection zone issue, and by each transport task with it is right The real time position for the AGV trolley answered is associated with and stores；
In present embodiment, the real time position of the AGV trolley is the reality of the AGV trolley in locating detection zone Position；By making high accuracy positioning to AGV trolley, the precision to AGV trolley path planning can be improved.
S3, the number of transport task for obtaining the AGV trolley run in each detection zone, operating path type and Path length；
In present embodiment, the operating path type of the AGV trolley of the operation is specifically included:
When the number of the transport task of the AGV trolley of operation is zero, show that transport task is completed in the AGV trolley, It is just intended to return to one's starting point, then the operating path type is the first path that the AGV trolley is back to departure place by current location Type；
When the number of the transport task of the AGV trolley of operation is greater than zero, show that the AGV trolley is in execution transport and appoints The state of business, then the operating path type is that the AGV trolley is run by current location to the second path type of destination.
The path length of the AGV trolley of the operation specifically includes:
When the number of the transport task of the AGV trolley of operation is zero, show that transport task is completed in the AGV trolley, It is just intended to return to one's starting point, the path length is the distance between current location and departure place of the AGV trolley；
When the number of the transport task of the AGV trolley of operation is greater than zero, show that the AGV trolley is in execution transport and appoints The state of business, then the path length is the distance between current location and destination of the AGV trolley.
S4, according to the number of the transport task of the AGV trolley run in each detection zone, operating path type and Whether the AGV trolley of path length adjustment operation enters anchor point nearest in corresponding detection zone.
In present embodiment, step S4 is specifically included:
Obtain the A that linear distance in i-th of detection zone is less than pre-determined distancemA AGV trolley and AnA AGV trolley Operating path type and analyze, above-mentioned linear distance be less than pre-determined distance show the AmA AGV trolley and AnA AGV is small Vehicle is closer, and is adjusted at this time to the stop and operating status of the two AGV trolleies, and it is hidden can be effectively prevented from safety The generation of trouble:
As AmA AGV trolley is first path type, AnWhen a AGV trolley is the second path type, show AmIt is a AGV trolley is just intended to return to one's starting point, and AnA AGV trolley is under travel position, then adjusts AmA AGV trolley enters Nearest anchor point in i-th of detection zone, to save AnThe runing time of a AGV trolley；
As AmA AGV trolley is the second path type, AnWhen a AGV trolley is first path type, show AmIt is a AGV trolley is under travel position, and AnA AGV trolley is just intended to return to one's starting point, in order to reduce AmA AGV trolley Runing time adjusts AnA AGV trolley enters anchor point nearest in i-th of detection zone, to improve AmA AGV trolley Conevying efficiency；
As AmA AGV trolley and AnWhen a AGV trolley is first path type, show AmA AGV trolley and AnA AGV trolley is intended to return to one's starting point, and then needs the path length to two AGV trolleies to analyze at this time, then obtains respectively Take AmA AGV trolley and AnThe path length of a AGV trolley, is denoted as BAm、BAnIf BAm>BAn, show AmA AGV trolley Return distance be greater than AnThe return distance of a AGV trolley, to avoid AmThe further extension of a AGV trolley travelling time, Then adjust AnA AGV trolley enters anchor point nearest in i-th of detection zone, if BAn>BAmWhen, show AnA AGV is small The return distance of vehicle is greater than AmThe return distance of a AGV trolley, then adjust AmA AGV trolley enters in i-th of detection zone Nearest anchor point, avoids AnThe lasting extension of a AGV trolley travelling time；
As AmA AGV trolley and AnWhen a AGV trolley is the second path type, show AmA AGV trolley and AnA AGV trolley is under travel position, is at this time the emergency for telling two AGV trolley transport tasks, is then obtained respectively Take AmA AGV trolley and AnThe number of the transport task of a AGV trolley, is denoted as CAm、CAnIf CAm>CAn, show AmIt is a The transport task of AGV trolley is than AnThe transport task of a AGV trolley is more, to improve AmThe conevying efficiency of a AGV trolley, then Adjust AnA AGV trolley enters anchor point nearest in i-th of detection zone, if CAn>CAmWhen, show AnA AGV trolley Transport task than AmThe transport task of a AGV trolley is more, delays A to avoid stoppingnThe conevying efficiency of a AGV trolley, then Adjust AmA AGV trolley enters anchor point nearest in i-th of detection zone；
Wherein, 1≤i≤x, A1≤Am≤Ai, A1≤An≤Ai。
The AGV trolley traffic control based on path analysis that present embodiment proposes regulates and controls method, mainly solves work Traffic of multiple AGV trolleies when running in same planning path is obstructed problem in area, and by analyzing each AGV trolley The type and length of the emergency of task and each AGV trolley return path carry out dynamic select and stop the AGV trolley to give way, It avoids the problem that causing hidden trouble of traffic there are path overlap between multiple AGV trolleies, AGV trolley is smooth in guarantee workspace It is current.Specifically: present embodiment first to workspace carry out region division, then to the traffic conditions in each cell domain into Row acquisition, analysis and regulation, ensure that the specific aim and validity of traffic control strategy；Then analysis is at a distance of closer two The path type of AGV trolley, and formulate and return to the strategy that the AGV trolley of starting point gives way to the AGV trolley stop of execution task, The working efficiency of the type AGV trolley is improved by the runing time of the AGV trolley of shortening execution task；Further, when Two AGV trolleies are when returning to the path type of starting point, and formulating the shorter AGV trolley of return path length is return path The scheme that longer AGV trolley gives way makes two AGV trolleies can be in relatively short time internal regression to starting point, to mention Its high operational efficiency；When two AGV trolleies are the path type of execution task, present embodiment further analyzes two The number of the transport task of AGV trolley, and formulating the less AGV trolley of transport task number is that transport task number is more AGV trolley stops the scheme to give way, avoids the runing time for extending the more AGV trolley of transport task number, is conducive to improve It executes conevying efficiency when task.In this way, present embodiment executes the state and running route of task from AGV trolley itself Characteristic set out, the stop for dynamically adjusting all AGV trolleies in workspace is given way and operating status, is being guaranteed in workspace It is realized on the basis of the working condition of AGV trolley steady ordered and the intelligent of AGV trolley traffic stability in workspace is adjusted Control.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto, Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.

Claims (5)

1. a kind of AGV trolley traffic control based on path analysis regulates and controls method, which comprises the following steps:
S1, workspace is divided into x detection zone, and multiple anchor points is set for each detection zone；
The transport task that S2, the AGV trolley received into x detection zone issue, and by each transport task with it is corresponding The real time position of AGV trolley is associated with and stores；
S3, number, operating path type and the path for obtaining the transport task of the AGV trolley of operation in each detection zone Length；
S4, number, operating path type and path according to the transport task of the AGV trolley run in each detection zone Whether the AGV trolley of length adjustment operation enters anchor point nearest in corresponding detection zone.
2. the AGV trolley traffic control according to claim 1 based on path analysis regulates and controls method, which is characterized in that step In rapid S2, the real time position of the AGV trolley is the physical location of the AGV trolley in locating detection zone.
3. the AGV trolley traffic control according to claim 1 based on path analysis regulates and controls method, which is characterized in that step In rapid S3, the operating path type of the AGV trolley of the operation is specifically included:
When the number of the transport task of the AGV trolley of operation is zero, the operating path type is the AGV trolley by present bit Set the first path type for being back to departure place；
When the number of the transport task of the AGV trolley of operation is greater than zero, the operating path type is the AGV trolley by current Position is run to the second path type of destination.
4. the AGV trolley traffic control according to claim 3 based on path analysis regulates and controls method, which is characterized in that step In rapid S3, the path length of the AGV trolley of the operation is specifically included:
When the number of the transport task of the AGV trolley of operation is zero, the path length be the AGV trolley current location with The distance between departure place；
When the number of the transport task of the AGV trolley of operation is greater than zero, the path length is the current location of the AGV trolley The distance between destination.
5. the AGV trolley traffic control according to claim 4 based on path analysis regulates and controls method, which is characterized in that step Rapid S4 is specifically included:
Obtain the A that linear distance in i-th of detection zone is less than pre-determined distancemA AGV trolley and AnThe fortune of a AGV trolley Walking along the street diameter type is simultaneously analyzed:
As AmA AGV trolley is first path type, AnWhen a AGV trolley is the second path type, A is adjustedmA AGV Trolley enters anchor point nearest in i-th of detection zone；
As AmA AGV trolley is the second path type, AnWhen a AGV trolley is first path type, A is adjustednA AGV Trolley enters anchor point nearest in i-th of detection zone；
As AmA AGV trolley and AnWhen a AGV trolley is first path type, A is obtained respectivelymA AGV trolley and AnThe path length of a AGV trolley, is denoted as BAm、BAnIf BAm>BAn, adjust AnA AGV trolley enters in i-th of detection zone Nearest anchor point, if BAn>BAmWhen, adjust AmA AGV trolley enters anchor point nearest in i-th of detection zone；
As AmA AGV trolley and AnWhen a AGV trolley is the second path type, A is obtained respectivelymA AGV trolley and AnThe number of the transport task of a AGV trolley, is denoted as CAm、CAnIf CAm>CAn, adjust AnA AGV trolley enters i-th of detection Nearest anchor point in region, if CAn>CAmWhen, adjust AmA AGV trolley enters stop nearest in i-th of detection zone Point；
Wherein, 1≤i≤x, A1≤Am≤Ai, A1≤An≤Ai。
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