CN115185264A - Traffic control method and system - Google Patents
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- CN115185264A CN115185264A CN202210558539.3A CN202210558539A CN115185264A CN 115185264 A CN115185264 A CN 115185264A CN 202210558539 A CN202210558539 A CN 202210558539A CN 115185264 A CN115185264 A CN 115185264A
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- 238000012163 sequencing technique Methods 0.000 claims abstract description 7
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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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Abstract
The invention discloses a traffic control method and a system, comprising the following steps: sequencing the running sequence of each trolley in the trolley list; updating the occupied station list and the occupied road section list of each trolley; calculating a current path set which can be traveled by each trolley; determining the current road section of the trolley according to the path set, and judging whether all associated stations and all associated road sections of the current road section are occupied by other trolleys or not; if not, judging whether the current road section and the following section of the path have deadlock associated road sections or not; if the path is occupied, deleting all road sections before the current point of the trolley in the current path set which can be traveled; if the set of paths is empty, the waiting time of the cart is increased. The invention provides a traffic control method and a traffic control system, which control the transportation flow of an AGV system, reduce the blockage and waiting in the running process of a trolley, prevent collision or collision of the AGV and avoid deadlock.
Description
Technical Field
The embodiment of the invention relates to the technical field of robot driving, in particular to a traffic control method and system.
Background
In the process of driving a plurality of mobile robots, in order to ensure that Automatic Guided Vehicles (AGVs) do not collide with each other, a driving path of the vehicles is firstly planned, a method frequently used at the present stage is a traffic control method, and a basic principle of the traffic control is that if a trolley drives into a next road section, all associated stations and all associated road sections of the next road section cannot be occupied by other trolleys. Firstly, according to the current station and the destination of the trolley, path planning is carried out by utilizing Dijkstra algorithm, and an optimal path of each trolley is obtained.
However, in the existing traffic control algorithm, the small vehicles often collide or collide with each other during the driving process, and the locking condition sometimes occurs.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a traffic control method and system, which control the transport flow of an AGV system, reduce congestion and waiting, prevent collision or collision of the AGVs and avoid deadlock.
In a first aspect, an embodiment of the present invention provides a traffic control method, including:
s1, sequencing the running sequence of each trolley in a trolley list;
s2, updating an occupied station list and an occupied road section list of each trolley;
s3, calculating a path set which can be currently traveled by each trolley;
s4, determining the current road section of the trolley according to the path set, and judging whether all relevant stations and all relevant road sections of the current road section are occupied by other trolleys or not; if not, judging whether the current road section and the following section of the path have deadlock associated road sections or not;
s5, if the path is occupied, deleting all road sections before the current point of the trolley in the current path set which can be traveled; if the set of paths is empty, the waiting time of the cart is increased.
Optionally, the step S1 includes:
and sequencing the running sequence of each trolley according to the waiting time and the task priority of each trolley in the trolley list.
Optionally, the step S2 includes:
if the station list occupied by the trolley is empty, the occupation of the current station is added;
if the station list occupied by the trolley is not empty, releasing all stations before the current station;
and if the road section list occupied by the trolley is not empty, releasing all road sections before the current station.
Optionally, the step S3 includes:
if the trolley reaches the terminal point, the current path set which can be traveled by the trolley is empty;
if the trolley does not reach the terminal point, calculating the total distance from the current point of the trolley to the terminal point of the last section of road section in the current walkable path set, and if the total distance is greater than or equal to a set distance value, no road section is added to the current walkable path set.
Optionally, the determining the current road section of the trolley according to the path set in step S4 includes:
if the path set is empty, taking the next path section starting from the current point of the trolley as the current path section;
and if the path set is not empty, taking the next section starting from the end point of the last section of the path set as the current section.
Optionally, the step S4 of determining whether there is a deadlock-associated road segment in the current road segment and the following road segment includes:
if the relevant road section is not deadlock-free, adding the current road section into the current path set which can be traveled by the trolley, and adding the occupation of the current road section and the terminal point of the current road section;
and (4) calculating the total distance of the path which can be currently traveled by the trolley, if the total distance of the path does not exceed a set distance value, repeating the step (S4), and if not, executing the step (S5).
Optionally, the step S4 of determining whether there is a deadlock-related road segment in the current road segment and the following road segment includes:
if a certain target road section has a deadlock associated road section, judging whether associated stations and associated road sections of all road sections from the current road section to the target road section are occupied by other trolleys or not, and if the associated stations and the associated road sections are occupied, turning to the step S5;
if not, judging whether other trolleys pass through the deadlock associated road section of the target road section, if so, turning to the step S5; otherwise, the current road section is occupied to the target road section at one time, the road sections are added into the path which can be currently traveled by the trolley, the total distance of the path which can be currently traveled by the trolley is calculated again, if the total distance does not exceed the set distance value, the step S4 is repeated, and if not, the step S5 is switched to.
In a second aspect, an embodiment of the present invention provides a traffic control system, including:
the sorting module is used for sorting the running sequence of each trolley in the trolley list;
the updating module is used for updating the occupied station list and the occupied road section list of each trolley;
the path set calculation module is used for calculating the path set which can be currently traveled by each trolley;
the judging module is used for determining the current road section of the trolley according to the path set and judging whether all relevant stations and all relevant road sections of the current road section are occupied by other trolleys or not; if not, judging whether the current road section and the following section of the path have deadlock associated road sections or not;
the execution module is used for deleting all road sections before the current point of the trolley in the current walkable path set when the road sections are occupied; if the set of paths is empty, the waiting time of the trolley is increased.
In the process of carrying out traffic control on the trolleys, the invention considers the condition of possible conflict or collision in the running process of each trolley and also considers the condition of deadlock reaction in the running process of the trolleys, thereby controlling the transport flow of the system, reducing blockage and waiting, preventing the conflict or collision of the trolleys and avoiding the generation of deadlock reaction.
Drawings
Fig. 1 is a flowchart of a traffic control method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of determining a deadlock association path according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Examples
Fig. 1 is a flowchart of a traffic control method according to an embodiment of the present invention, which specifically includes the following steps:
s1, sequencing the running sequence of each trolley in the trolley list.
The Vehicle may be any type of robotic Vehicle, such as an Automated Guided Vehicle (AGV).
In this embodiment, the operation sequence of each trolley can be sequenced according to the waiting time and task priority of each trolley in the trolley list. Specifically, the carriage with longer waiting time is released earlier, and the carriage with higher task priority is released earlier.
And S2, updating the occupied station list and the occupied road section list of each trolley.
In the embodiment, if the station list occupied by the trolley is empty, the occupation of the current station is added; if the station list occupied by the trolley is not empty, releasing all stations before the current station; and if the road section list occupied by the trolley is not empty, releasing all road sections before the current station.
And S3, calculating a path set which can be currently traveled by each trolley.
The set of paths currently taken by the cart may be determined based on the current position of the cart and the position of the target site. Specifically, if the trolley reaches the terminal point, the current path that the trolley can travel is empty; if the trolley does not reach the terminal point, firstly, the current point of the trolley to the current set of the traversable paths is calculated
Total distance of last section of the middleIn order to reduce the calculation amount and improve the real-time calculation speed, a distance value S1 can be set in advance, and if the total distance is greater than or equal to the set distance value, the road section is not added to the current path set which can be traveled any more.
S4, determining the current road section of the trolley according to the path set, and judging whether all relevant stations and all relevant road sections of the current road section are occupied by other trolleys or not; and if the current road section and the following road section are not occupied, judging whether the road section of the current road section and the following road section have deadlock associated road sections.
In particular, if
Empty, the next road section from the current point of the car is the current road section path, if so
If not empty, then
The next road section from the last section of the terminal point is the current road section path.
In order to avoid collision in the normal running process of the trolley, after the current road section path of the trolley is determined, whether all the associated stations and all the associated road sections of the path are occupied by other trolleys is further judged, if the paths and all the associated road sections are not occupied, in order to avoid deadlock reaction in the running process of the trolley, whether the road section path and the following road section have deadlock associated road sections is continuously judged. Wherein, the distance of the following path can be set manually according to the actual situation.
Specifically, the method for determining the deadlock association path is as follows:
if all road sections are not deadlock associated road sections, adding the current road section path into the path which can be currently traveled by the trolley, adding the occupation of the terminal point of the road section path and the occupation of the road section path, then calculating the total distance of the path which can be currently traveled by the trolley, if the total distance does not exceed the set total distance S1 m, repeating the fourth step, otherwise, turning to the fifth step;
if a certain road section index has deadlock associated road sections, firstly judging whether associated stations and associated road sections of all road sections from the road section path to the road section index are occupied by other trolleys or not, and if the associated stations and the associated road sections are occupied, turning to the fifth step;
if the other trolleys are not occupied, judging whether the other trolleys pass through the deadlock associated road section of the current trolley road section index, namely whether all road sections possibly traveled by the other trolleys currently contain the deadlock associated road section of the road section index, and if the other trolleys pass through the deadlock associated road section of the road section index, turning to the fifth step; otherwise, the path to the index of the road section is occupied at one time, the path to the index of the road section is added into the path which can be currently traveled by the trolley, the total distance of the path which can be currently traveled by the trolley is calculated again, if the total distance does not exceed the set total distance S1 m, the fourth step is repeated, and if not, the fifth step is carried out.
Illustratively, with further reference to fig. 2, the V1 car stops at point a, the upcoming road segment is ABCDEI, and the V2 car is at point G, the upcoming route is GFEDCH. The deadlock path is C, D, E, at this time, the V1 car is about to enter the running route of the V2 car, and if planning is not performed, it is likely that the V1 car occupies a point C and the V2 car occupies a point E, so that the road sections about to be traveled by the opposite car are locked with each other, and deadlock is caused.
The vehicle V1 judges before traveling to another vehicle V2, that is, a road section to be traveled, first judges whether the path road sections A to B are occupied by other vehicles, and first waits if occupied. And if the vehicle is not occupied, judging whether other vehicles V2 can pass through the deadlock associated road section of the current vehicle V1 road section index.
The V1 trolley firstly confirms whether the V2 trolley can run to the outside of a running route of the V2 trolley (namely, point I, wherein C, D and E belong to a road section to be run by the V1 trolley), if so, the CDE is allocated to the V1 at one time, namely, the V1 trolley simultaneously occupies a CDE station and a path formed by the CDE station, if not, the V1 can only wait at point B, wait for the V2 trolley to run through point C first, and release the point C and then continue running.
That is, the V1 car must travel only when planning a section or point that is not relevant to all sections where the V2 car is about to travel, or else it must wait outside the section where the V2 car is about to travel.
In the calculation process, the surrounding rectangle of the trolley is used for calculation, namely certain expansion is carried out on the basis of the physical size of the trolley, so that the vehicles cannot collide.
S5, if the path is occupied, deleting all road sections before the current point of the trolley in the current path set which can be traveled; if the set of paths is empty, the waiting time of the cart is increased.
According to the technical scheme of the embodiment of the invention, in the process of carrying out traffic control on the trolleys, the condition of possible conflict or collision in the running process of each trolley is considered, and the condition of deadlock reaction in the running process of the trolleys is also considered, so that the transport flow of the system is controlled, the blockage and the waiting are reduced, the conflict or collision of the trolleys can be prevented, and the deadlock reaction is avoided.
On the basis of the above embodiment, the present invention also provides a traffic control system, including:
the sorting module is used for sorting the running sequence of each trolley in the trolley list;
the updating module is used for updating the occupied station list and the occupied road section list of each trolley;
the path set calculation module is used for calculating the path set which can be currently traveled by each trolley;
the judging module is used for determining the current road section of the trolley according to the path set and judging whether all the associated sites and all the associated road sections of the current road section are occupied by other trolleys or not; if not, judging whether the current road section and the following section of the path have deadlock associated road sections or not;
the execution module is used for deleting all road sections before the current point of the trolley in the current walkable path set when the road sections are occupied; if the set of paths is empty, the waiting time of the trolley is increased.
Wherein, the sorting module is specifically configured to: and sequencing the running sequence of each trolley according to the waiting time and the task priority of each trolley in the trolley list.
The update module is specifically configured to: if the station list occupied by the trolley is empty, the occupation of the current station is added;
if the station list occupied by the trolley is not empty, releasing all stations before the current station;
and if the road section list occupied by the trolley is not empty, releasing all road sections before the current station.
The path set calculation module is specifically configured to: if the trolley reaches the terminal point, the current path set which can be traveled by the trolley is empty;
if the trolley does not reach the terminal point, calculating the total distance from the current point of the trolley to the terminal point of the last section of road section in the current walkable path set, and if the total distance is greater than or equal to a set distance value, no road section is added to the current walkable path set.
The judging module is specifically used for:
if the path set is empty, taking the next path section starting from the current point of the trolley as the current path section;
and if the path set is not empty, taking the next section starting from the end point of the last section of the path set as the current section.
The judgment module is further specifically configured to:
if the relevant road section is not deadlocked, adding the current road section into a path set which can be currently traveled by the trolley, and adding the occupation of the current road section and the terminal point of the current road section;
and calculating the total distance of the path which can be currently traveled by the trolley, if the total distance of the path does not exceed a set distance value, switching to a judgment module, and otherwise, switching to an execution module.
If a certain target road section has a deadlock associated road section, judging whether associated sites and associated road sections of all road sections from the current road section to the target road section are occupied by other trolleys or not, and if so, transferring to an execution module;
if the target road section is not occupied, judging whether other trolleys pass through the deadlock associated road section of the target road section, if so, transferring to an execution module; and if the total distance does not exceed the set distance value, switching to a judging module, otherwise, switching to an executing module.
The traffic control system provided by the embodiment of the invention can execute the traffic control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (8)
1. A traffic control method, comprising:
s1, sequencing the running sequence of each trolley in a trolley list;
s2, updating an occupied station list and an occupied road section list of each trolley;
s3, calculating a path set which can be currently traveled by each trolley;
s4, determining the current road section of the trolley according to the path set, and judging whether all relevant stations and all relevant road sections of the current road section are occupied by other trolleys or not; if not, judging whether the current road section and the following path have deadlock associated road sections or not;
s5, if the path is occupied, deleting all road sections before the current point of the trolley in the current path set which can be traveled; if the set of paths is empty, the waiting time of the cart is increased.
2. The method according to claim 1, wherein the step S1 comprises:
and sequencing the running sequence of each trolley according to the waiting time and the task priority of each trolley in the trolley list.
3. The method according to claim 1, wherein the step S2 comprises:
if the station list occupied by the trolley is empty, the occupation of the current station is added;
if the station list occupied by the trolley is not empty, releasing all stations before the current station;
and if the road section list occupied by the trolley is not empty, releasing all road sections before the current station.
4. The method according to claim 1, wherein the step S3 comprises:
if the trolley reaches the terminal point, the current path set which can be traveled by the trolley is empty;
if the trolley does not reach the terminal point, the total distance from the current point of the trolley to the terminal point of the last section of road section in the current walkable path set is calculated, and if the total distance is larger than or equal to a set distance value, the road section is not added to the current walkable path set.
5. The method according to claim 1, wherein determining the current road segment of the vehicle according to the set of paths in step S4 comprises:
if the path set is empty, taking the next path section starting from the current point of the trolley as the current path section;
and if the path set is not empty, taking the next section starting from the end point of the last section of the path set as the current section.
6. The method of claim 1, wherein the step S4 of determining whether there is a deadlock-associated segment in the current segment and the following segment of the route includes: if the relevant road section is not deadlocked, adding the current road section into a path set which can be currently traveled by the trolley, and adding the occupation of the current road section and the terminal point of the current road section;
and (4) calculating the total distance of the path which can be currently traveled by the trolley, if the total distance of the path does not exceed a set distance value, repeating the step (S4), and if not, executing the step (S5).
7. The method according to claim 1, wherein the step S4 of determining whether the current road segment and the following road segment have deadlock-associated road segments comprises:
if a certain target road section has deadlock associated road sections, judging whether associated sites and associated road sections of all road sections from the current road section to the target road section are occupied by other trolleys, and if the associated sites and the associated road sections are occupied, turning to the step S5;
if not, judging whether other trolleys pass through the deadlock associated road section of the target road section, if so, turning to the step S5; if not, the current road section is occupied to the target road section at one time, the current road section and the target road section are added into the path where the trolley can currently travel, the total distance of the path where the trolley can currently travel is calculated again, if the total distance does not exceed the set distance value, the step S4 is repeated, and if not, the step S5 is switched to.
8. A traffic control system, comprising:
the sorting module is used for sorting the running sequence of each trolley in the trolley list;
the updating module is used for updating the occupied station list and the occupied road section list of each trolley;
the path set calculation module is used for calculating the path set which can be currently traveled by each trolley;
the judging module is used for determining the current road section of the trolley according to the path set and judging whether all relevant stations and all relevant road sections of the current road section are occupied by other trolleys or not; if not, judging whether the current road section and the following section of the path have deadlock associated road sections or not;
the execution module is used for deleting all road sections before the current point of the trolley in the current walkable path set when the road sections are occupied; if the set of paths is empty, the waiting time of the trolley is increased.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115981347A (en) * | 2023-03-22 | 2023-04-18 | 上海仙工智能科技有限公司 | AGV traffic control method and system |
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| CN115981347A (en) * | 2023-03-22 | 2023-04-18 | 上海仙工智能科技有限公司 | AGV traffic control method and system |
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