CN103488176B - Automatic guided vehicle dispatching method and system - Google Patents

Abstract

The invention provides a kind of automatic guided vehicle dispatching method, described method includes: obtain the traveling-position information of automatic guided vehicle；According to described traveling-position acquisition of information signal parameter information, described signal parameter information includes that controlling automatic guided vehicle accesses the binary signal parameter information of crossing and control the count signal parameter information of automatic guided vehicle access two-way street；According to described signal parameter acquisition of information semaphore information, described semaphore information at least includes Counter Value；It is scheduling according to described Counter Value.Additionally, additionally provide a kind of automatic guided vehicle dispatching patcher.Use the method can efficiently solve conflict and Deadlock, improve efficiency simultaneously.

Description

Automatic guided vehicle dispatching method and system

Technical field

The present invention relates to technical field of vehicle, particularly relate to a kind of automatic guided vehicle dispatching method and system. Background technology

Automatic guided vehicle (Automated Guided Vehicle, AGV) refers to along programme path Travel, there is the intelligent carriage of carrying and driving power.In actual utilization, it is by multiple stage homing guidance One material automatization transport system of dolly composition, the order sent according to control centre, along planning Path, from current location arrive delivery location, goods is transported to discharge location, complete goods transport Overall process, possesses the highest flexibility.Automatic guided vehicle has applied to all trades and professions, medicine, food, Automobile industry, electrical equipment assembling industry, tobacco business, container terminal etc., homing guidance can be seen everywhere The figure of dolly.

But, in utilization, Automatic Guided Vehicles System can only carry out simple traffic administration.When system has greatly When amount automatic guided vehicle or driving path are intricate, system is easy to clash and Deadlock.

Summary of the invention

Based on this, it is necessary to provide a kind of and can solve the automatic of Automatic Guided Vehicles System conflict and Deadlock Guide trolleys dispatching method.

A kind of automatic guided vehicle dispatching method, including:

Obtain the traveling-position information of automatic guided vehicle；

According to described traveling-position acquisition of information signal parameter information, described signal parameter information includes controlling certainly Dynamic guide trolleys accesses the binary signal parameter information of crossing and controls automatic guided vehicle access two-way street Count signal parameter information；

According to described signal parameter acquisition of information semaphore information, described semaphore information at least includes enumerator Value；

It is scheduling according to described Counter Value.

Wherein in an embodiment, described semaphore information also includes owner's list and/or wait person's list；

The described step according to described signal parameter acquisition of information semaphore information includes:

Obtain binary signal amount information according to described binary signal parameter information, believe according to described binary system Number amount acquisition of information binary signal amount information Counter Value；

The described step being scheduling according to described Counter Value includes:

Whether the binary counter value judging described binary signal amount information is 1, the most then will automatically lead The ID drawing dolly adds owner's list of described binary signal amount information to, and described binary signal amount is believed The binary counter value of breath subtracts 1, controls described automatic guided vehicle and travels；

If it is not, then the ID of automatic guided vehicle to be added to wait person's list of described binary signal amount information, Control described automatic guided vehicle to wait.

Wherein in an embodiment, the step that the described automatic guided vehicle of described control travels includes:

Obtain the positional information of described automatic guided vehicle, judge described homing guidance according to described positional information Whether dolly leaves crossing, and the binary counter value of the most described binary signal amount information adds 1, The ID of described automatic guided vehicle is deleted from owner's list of described binary signal amount information.

Wherein in an embodiment, described count signal parameter information also includes that entrance count signal parameter is believed Breath and outlet count signal parameter information, described semaphore information also includes maximum resource quantity, described maximum Resource quantity is that two-way street can accommodate the maximum quantity travelling automatic guided vehicle in the same direction in the same time；

The described step according to described signal parameter acquisition of information semaphore information also includes:

Entrance and outlet counting semaphore information is obtained according to entrance and outlet count signal parameter information, according to Described entrance and outlet counting semaphore acquisition of information entrance and the Counter Value of outlet semaphore information；

The described step being scheduling according to described Counter Value also includes:

Judge whether the Counter Value of described entrance count semaphore information is not equal to maximum resource quantity or described Whether the Counter Value of outlet counting semaphore information equal to 0, the most then adds the ID of automatic guided vehicle It is added to export wait person's list of counting semaphore information；

If it is not, then the ID of automatic guided vehicle to be added to the owner of described outlet counting semaphore information List, the Counter Value of described outlet counting semaphore information subtracts 1.

Wherein in an embodiment, whether the described Counter Value judging described outlet counting semaphore information Equal to 0 or whether the Counter Value of described entrance count semaphore information is not equal to the step of maximum resource quantity Before, also include:

Judge whether owner's list of described outlet counting semaphore information or wait person's list are empty, if so, Then perform whether the described Counter Value judging entrance count semaphore information is not equal to maximum resource quantity or institute Whether the Counter Value stating outlet counting semaphore information is equal to the step of 0；

Wait if it is not, then control automatic guided vehicle.

Wherein in an embodiment, owner's list of described judgement described outlet counting semaphore information or Before whether wait person's list is empty step, also include:

Judge that whether the Counter Value of described entrance count semaphore information is equal to maximum resource quantity and owner Whether list and wait person's list are sky, the most then perform described judgement described outlet counting semaphore letter Whether owner's list of breath or wait person's list are empty step；

Wait if it is not, then control automatic guided vehicle.

Wherein in an embodiment, described method also includes:

Obtaining automatic guided vehicle positional information and the entry location information of shared driving path, calculating is described certainly Dynamic guide trolleys arrives the entry position required time of described shared driving path from current location, controls described The automatic guided vehicle of required time minimum preferentially travels.

Additionally, there is a need to provide a kind of can solve the automatic of Automatic Guided Vehicles System conflict and Deadlock Guide trolleys dispatching patcher.

A kind of automatic guided vehicle dispatching patcher, including:

Traveling-position data obtaining module, for obtaining the traveling-position information of automatic guided vehicle；

Signal parameter data obtaining module, is used for according to described traveling-position acquisition of information signal parameter information, Described signal parameter information include control automatic guided vehicle access crossing binary signal parameter information and Control automatic guided vehicle and access the count signal parameter information of two-way street；

Semaphore data obtaining module, for according to described signal parameter acquisition of information semaphore information, described Semaphore information at least includes Counter Value；

Scheduler module, for being scheduling according to described Counter Value.

Wherein in an embodiment, described semaphore information also includes owner's list and/or wait person's list；

Described semaphore data obtaining module is additionally operable to obtain binary system according to described binary signal parameter information Semaphore information, according to the Counter Value of described binary signal amount acquisition of information binary signal amount information；

Described scheduler module is additionally operable to judge that whether the binary counter value of described binary signal amount information is 1。

Wherein in an embodiment, described scheduler module is additionally operable to obtain the position of described automatic guided vehicle According to described positional information, information, judges whether described automatic guided vehicle leaves crossing.

Wherein in an embodiment, described count signal parameter information includes entrance count signal parameter information And outlet count signal parameter information, described semaphore information also includes maximum resource quantity, described maximum money Source quantity is that two-way street can accommodate the maximum quantity travelling automatic guided vehicle in the same direction in the same time；

Described semaphore data obtaining module be additionally operable to according to entrance and outlet count signal parameter information obtain into Mouthful and outlet counting semaphore information, according to described entrance and outlet counting semaphore acquisition of information entrance and go out The Counter Value of mouth semaphore information；

Described scheduler module is additionally operable to judge whether the Counter Value of described entrance count semaphore information is not equal to Whether the Counter Value of maximum resource quantity or described outlet counting semaphore information is equal to 0.

Wherein in an embodiment, it is characterised in that described scheduler module is additionally operable to judge described outlet meter Whether owner's list of number semaphore information or wait person's list are empty.

Wherein in an embodiment, described scheduler module is additionally operable to judge described entrance count semaphore information Counter Value whether whether be sky equal to maximum resource quantity and owner's list and wait person's list.

Wherein in an embodiment, described system also includes:

Required time computing module, for obtaining entering of automatic guided vehicle positional information and shared driving path Mouth positional information, calculates described automatic guided vehicle and arrives the entrance of described shared driving path from current location Position required time, the automatic guided vehicle controlling described required time minimum preferentially travels.

Above-mentioned automatic guided vehicle dispatching method and system, by obtaining the traveling position of automatic guided vehicle in real time The signal parameter information of confidence breath, and then obtain the semaphore information that signal parameter information is corresponding, according to signal The Counter Value of amount information can learn that the driving path of automatic guided vehicle is the most occupied, and system is according to counting Device value carries out Real-Time Scheduling, thus solves conflict and the Deadlock of system, improves efficiency simultaneously.

Accompanying drawing explanation

Fig. 1 is the schematic flow sheet of automatic guided vehicle dispatching method in an embodiment；

Fig. 2 is the application scenarios figure of automatic guided vehicle dispatching method in an embodiment；

Fig. 3 is the application scenarios figure of automatic guided vehicle dispatching method in another embodiment；

Fig. 4 is the application scenarios figure of automatic guided vehicle dispatching method in another embodiment；

Fig. 5 is the application scenarios figure of automatic guided vehicle dispatching method in further embodiment；

Fig. 6 is the structural representation of automatic guided vehicle dispatching patcher in an embodiment.

Detailed description of the invention

Below in conjunction with specific embodiment and accompanying drawing to automatic guided vehicle dispatching method and the technical scheme of system It is described in detail, so that it is clearer.

As described in Figure 1, in one embodiment, a kind of automatic guided vehicle dispatching method, including walking as follows Rapid:

Step S102, obtains the traveling-position information of automatic guided vehicle.

In the present embodiment, traveling-position information is the real time running positional information of automatic guided vehicle.Tool Body, server receives and responds task requests, the task of task requests is according to priority arranged, by task Distribution, to idle automatic guided vehicle, distributes driving path according to A-Star algorithm, and this driving path is right The shortest path of answering of task.This driving path is sent to automatic guided vehicle corresponding to task by server, Automatic guided vehicle travels according to the driving path of distribution, and sends traveling position to server in the process of moving Other information such as confidence breath, information about power.

Step S104, according to traveling-position acquisition of information signal parameter information, signal parameter information includes controlling Binary signal parameter information and the control automatic guided vehicle of automatic guided vehicle access crossing access two-way The count signal parameter information in road.

In the present embodiment, server obtains the traveling-position information that automatic guided vehicle is current, according to this row Sail positional information and obtain the signal parameter information at this traveling-position.Further, this signal parameter information bag Include and control the binary signal parameter information of automatic guided vehicle access crossing and control automatic guided vehicle to visit Ask the count signal parameter information of two-way street.

Step S106, according to signal parameter acquisition of information semaphore information, semaphore information at least includes counting Device value.

In the present embodiment, server is believed according to the semaphore of this signal parameter information of signal parameter acquisition of information Breath, this semaphore information takies situation for represent current driving path.Further, this semaphore letter Breath at least includes Counter Value.

Step S108, is scheduling according to Counter Value.

In the present embodiment, server obtains the signal ginseng at the real time running positional information of automatic guided vehicle Number information, according to signal parameter acquisition of information semaphore information, dispatches according to the Counter Value of semaphore information Automatic guided vehicle.

In one embodiment, semaphore information may also include owner's list and/or wait person's list.Have Person's list takies the ID of the automatic guided vehicle of crossing and/or two-way street for storage, and wait person's list is used for Storage needs to wait for taking the ID of the automatic guided vehicle of crossing and/or two-way street.

Concrete, step S106 includes: obtain binary signal amount information according to binary signal parameter information, Counter Value according to binary signal amount acquisition of information binary signal amount information.

Concrete, step S108 includes: whether the binary counter value judging binary signal amount information is 1, the most then the ID of automatic guided vehicle is added to owner's list of binary signal amount information, two The binary counter value of binary signal amount information subtracts 1, controls automatic guided vehicle and travels；If it is not, then will be from The ID of dynamic guide trolleys adds wait person's list of binary signal amount information to, controls automatic guided vehicle etc. Treat.

In another embodiment, if the automatic guided vehicle of more than two arrives crossing, then by certainly simultaneously The task priority of dynamic guide trolleys travels.

Such as, as in figure 2 it is shown, automatic guided vehicle 202 arrives crossing 204, service from two-way street L4 Device obtains the binary counter value of the binary signal amount information of crossing 204.If this Counter Value is 1, Represent that this crossing is unoccupied, then send travel order to automatic guided vehicle 202, will homing guidance little The ID of car 202 adds owner's list of this binary signal amount information to, subtracts 1 by Counter Value simultaneously. If this Counter Value is not 1, representing that this crossing 204 is taken by automatic guided vehicle 206, server is sent out The Wait Order such as send to automatic guided vehicle 202, the ID of automatic guided vehicle 202 will add this binary system to Wait person's list of semaphore information, adds 1 by Counter Value simultaneously.

Further, obtain the positional information of automatic guided vehicle, judge this homing guidance according to positional information Whether dolly leaves crossing, the most then the binary counter value of binary signal amount information adds 1, should The ID of automatic guided vehicle deletes from owner's list of binary signal amount information.

Such as, as in figure 2 it is shown, automatic guided vehicle 206 rolls crossing 204 away from enters two-way street L3, clothes The binary counter value of the binary signal amount information of crossing 204 is added 1, by automatic guided vehicle by business device The ID of 206 deletes from owner's list of binary signal amount information.Now, server sends and travels order To automatic guided vehicle 202, the ID of automatic guided vehicle 202 this binary signal amount information will be added to Owner person's list, Counter Value is added 1 simultaneously.

In one embodiment, count signal parameter information includes entrance count signal parameter information and outlet meter Number signal parameter information, semaphore information also includes that maximum resource quantity, maximum resource quantity are that two-way street exists The same time can accommodate the maximum quantity travelling automatic guided vehicle in the same direction.

Concrete, step S106 also includes: according to entrance and outlet count signal parameter information obtain entrance and Outlet counting semaphore information, according to entrance and outlet counting semaphore acquisition of information entrance and outlet semaphore The Counter Value of information.

Concrete, step 108 also includes: whether judge the Counter Value of entrance count semaphore information Whether the Counter Value in maximum resource quantity or outlet counting semaphore information is equal to 0, the most then will be automatically The ID of guide trolleys adds wait person's list of outlet counting semaphore information to；If it is not, then will automatically lead The ID drawing dolly adds owner's list of outlet counting semaphore information to, exports counting semaphore information Counter Value subtract 1.

Such as, as it is shown on figure 3, automatic guided vehicle 302 arrives the entrance 304 of L3, server from L5 Traveling-position acquisition of information two-way street L3 entrance 304 according to automatic guided vehicle 302 and the meter of outlet 306 The Counter Value of number semaphore information.If the Counter Value of entrance 304 counting semaphore information is not equal to maximum Resource quantity, then it represents that two-way street L3 is taken from exporting the automatic guided vehicle 308 sailed in 306 directions, If the Counter Value of outlet counting 306 semaphore information is equal to 0, then it represents that this two-way street L3 is by from entrance The automatic guided vehicle that 304 directions are sailed into takies and takes, it is impossible to sail automatic guided vehicle again into.Now, clothes The business Wait Order such as device transmission to automatic guided vehicle 302, will the ID of automatic guided vehicle 302 add to Wait person's list of mouth 306 counting semaphore information.

Otherwise, if the Counter Value of entrance 304 counting semaphore information is equal to maximum resource quantity, then it represents that L3 is unoccupied, and server sends to travel and orders to automatic guided vehicle 302, will automatic guided vehicle 302 ID add to outlet 306 counting semaphore information owner's list, export 306 counting semaphores letter The Counter Value of breath subtracts 1.

Further, in one embodiment, before step S108, step S208 is also included: judge outlet Whether owner's list of counting semaphore information or wait person's list are empty.The most then execution step S108: Judge whether the Counter Value of entrance count semaphore information is not equal to maximum resource quantity or outlet count signal Whether the Counter Value of amount information is equal to the step of 0；Wait if it is not, then control automatic guided vehicle.

Such as, as shown in Figure 4, automatic guided vehicle 402 is attempted travelling from two-way street L2 entering two-way street L4, server judges owner's list or wait person's list of the outlet counting semaphore information of L4 outlet 406 For sky, i.e. not having automatic guided vehicle to sail L4 into from outlet 406, server sends and travels order to automatically leading Draw dolly 402, and the ID of automatic guided vehicle 402 is added to the outlet counting semaphore of L4 outlet 406 Owner's list of information.

Further, after automatic guided vehicle enters L4, server judges the outlet meter of next two-way street L6 Owner's list of number semaphore information or wait person's list are empty, the most then by automatic guided vehicle 402 ID add to L6 outlet 408 outlet counting semaphore information owner's list.

Now, if automatic guided vehicle 404 is attempted entering two-way street L6 from two-way street L8, server performs Step S108, first judges that L6 entrance 408(entrance is a relative concept, and automatic guided vehicle sails into double Be entrance to the port in road) the Counter Value of entrance count semaphore information be not equal to maximum resource quantity, And now owner's list this include the ID of automatic guided vehicle 402, then the Wait Order such as server transmission to from Dynamic guide trolleys 404.

Further, in one embodiment, before step S208, step S308 is also included: judge entrance Whether the Counter Value of counting semaphore information is equal to maximum resource quantity and owner's list and wait person's list Whether it is sky.The most then perform step S208: judge owner's list of outlet counting semaphore information Or whether wait person's list is empty；Wait if it is not, then control automatic guided vehicle.

Such as, as it is shown in figure 5, automatic guided vehicle 502 is attempted entering two-way street L4 from L1, automatically lead Draw dolly 506 to attempt from L5 through L4, finally enter L6.Server judges the counting of L4 entrance 508 The Counter Value of semaphore information is equal to maximum resource quantity, and wait person and/or owner's list are empty, then The ID of automatic guided vehicle 502 is added to the outlet counting semaphore of L4 outlet 508 and L6 outlet 510 Owner's list of information.Automatic guided vehicle 506 is attempted entering L4 failure from L5, because now L4 Owner's list of outlet 508 has the ID of automatic guided vehicle 502, i.e. automatic guided vehicle 502 has accounted for With L4.And before automatic guided vehicle 502 sails L4 into, automatic guided vehicle 504 enters from L3 L4, attempts entering L5 from L4, and now automatic guided vehicle 504 and 506 mutually occupies the road of the other side.

Therefore, when automatic guided vehicle 504 attempts entering L4 from L3, server first judges L4 entrance The Counter Value of the entrance count semaphore information of 504 whether equal to maximum resource quantity and owner's list and Whether wait person's list is sky, if, then it represents that do not exported 508 directions from L4 on two-way street L4 and sailed The automatic guided vehicle entered takies, and does not has and attempt exporting 508 directions from L4 to sail the homing guidance of L4 into little Car, server performs step S208 further；If it is not, then the Wait Order such as transmission is to automatic guided vehicle 504.

In one embodiment, also can obtain automatic guided vehicle and share entrance and the exit position of driving path Information, needed for calculating entrance and/or the exit position that automatic guided vehicle arrives shared two-way street from current location Time, the automatic guided vehicle controlling required time minimum preferentially travels.

Concrete, automatic guided vehicle arrives entrance and/or the exit position sharing driving path from current location Required time can be calculated according to equation below, i.e.

$T_j=\frac{\underset{m=u}{\overset{i}{\mathrm{\Σ}}}(\mathrm{ar}{c}_{m-1}+l_m)}{V}$

Wherein, u is the current location of automatic guided vehicle, and i is the target location of automatic guided vehicle, and arc is The distance length of crossing, l is the distance length of two-way street, and V is the average speed of automatic guided vehicle.

Such as, the shared driving path of automatic guided vehicle 1 and automatic guided vehicle 2 is { L_i,...,L_j}.Service Device obtains automatic guided vehicle 2 and arrives L_jEntrance, obtain two-way street L_jThe meter of entrance count semaphore information Number device values are not equal to maximum resource quantity and owner's list includes the ID of automatic guided vehicle 1, the most automatically Guide trolleys 1 has taken shared driving path { L_i,...,L_j}.If automatic guided vehicle 1 is at shared driving path {L_i,...,L_jUpper travel, the Wait Order such as server transmission is to automatic guided vehicle 2；If automatic guided vehicle 1 is also Not at shared driving path { L_i,...,L_jUpper traveling, server then calculates automatic guided vehicle 2 from L_jEntrance rolls away from L_iThe required time T of outlet₂, and automatic guided vehicle 1 is from current location traveling to L_iThe required time T of entrance₁。 If T₁More than T₂, server sends to travel and orders to automatic guided vehicle 2, controls automatic guided vehicle 2 and travel, By L_jThe Counter Value of outlet counting semaphore information subtracts 1, and is added to by the ID of automatic guided vehicle 2 and gather around In the person's of having list.

As shown in Figure 6, in one embodiment, a kind of automatic guided vehicle dispatching patcher, including: travel Position information acquisition module 102, signal parameter data obtaining module 104, semaphore data obtaining module 106 With scheduler module 108, wherein:

Traveling-position data obtaining module 102, for obtaining the traveling-position information of automatic guided vehicle.

In the present embodiment, traveling-position information is the real time running positional information of automatic guided vehicle.Tool Body, system receives and responds task requests, the task of task requests is according to priority arranged, task is divided Being assigned to the automatic guided vehicle of free time, distribute driving path according to A-Star algorithm, this driving path is corresponding The shortest path of task.System is by automatic guided vehicle corresponding for this driving path transmission to task, automatically Guide trolleys travels according to the driving path of distribution, and traveling-position data obtaining module 102 is for automatically leading Draw other information such as traveling-position information, information about power that obtain in dolly driving process.

Signal parameter data obtaining module 104, for according to traveling-position acquisition of information signal parameter information, letter Number parameter information include controlling automatic guided vehicle access the binary signal parameter information of crossing and control from Dynamic guide trolleys accesses the count signal parameter information of two-way street.

In the present embodiment, signal parameter data obtaining module 104 is current for obtaining automatic guided vehicle Traveling-position information, according to the signal parameter information at this this traveling-position of traveling-position acquisition of information.Enter one Step, this signal parameter information includes that controlling automatic guided vehicle accesses the binary signal parameter letter of crossing Breath and control automatic guided vehicle access the count signal parameter information of two-way street.

Semaphore data obtaining module 106, for according to signal parameter acquisition of information semaphore information, semaphore Information at least includes Counter Value.

In the present embodiment, semaphore data obtaining module 106 is for according to this letter of signal parameter acquisition of information The semaphore information of number parameter information, this semaphore information takies situation for represent current driving path. Further, this semaphore information at least includes Counter Value.

Scheduler module 108, for being scheduling according to Counter Value.

In the present embodiment, obtain the signal parameter information at the real time running positional information of automatic guided vehicle, According to signal parameter acquisition of information semaphore information, scheduler module 108 is for the counting according to semaphore information Device value scheduling automatic guided vehicle.

In one embodiment, semaphore information also includes owner's list and/or wait person's list；Owner List takies the ID of the automatic guided vehicle of crossing and/or two-way street for storage, and wait person's list is used for depositing Storage needs to wait for taking the ID of the automatic guided vehicle of crossing and/or two-way street.

Semaphore data obtaining module 106 is additionally operable to obtain binary signal according to binary signal parameter information Amount information, according to the Counter Value of binary signal amount acquisition of information binary signal amount information.

Scheduler module 108 is additionally operable to judge whether the binary counter value of binary signal amount information is 1.

Concrete, if automatic guided vehicle arrives crossing, scheduler module 108 is used for obtaining binary signal Parameter information, it is judged that whether the binary counter value of binary signal amount information is 1, the most then will be automatically The ID of guide trolleys adds owner's list of binary signal amount information, the two of binary signal amount information to System Counter value subtracts 1, controls automatic guided vehicle and travels；If it is not, then the ID of automatic guided vehicle is added It is added to wait person's list of binary signal amount information, controls automatic guided vehicle and wait.

In one embodiment, scheduler module 108 is additionally operable to obtain the positional information of automatic guided vehicle, root Judge whether automatic guided vehicle leaves crossing according to positional information.

Concrete, scheduler module 108 is for obtaining the positional information of automatic guided vehicle, according to positional information Judge whether this automatic guided vehicle leaves crossing, the most then the binary system meter of binary signal amount information Number device value adds 1, is deleted from owner's list of binary signal amount information by the ID of this automatic guided vehicle.

In one embodiment, count signal parameter information includes entrance count signal parameter information and outlet meter Number signal parameter information, semaphore information also includes that maximum resource quantity, maximum resource quantity are that two-way street exists The same time can accommodate the maximum quantity travelling automatic guided vehicle in the same direction；

Concrete, semaphore data obtaining module also 106 is for according to entrance and outlet count signal parameter letter Breath obtains entrance and outlet counting semaphore information, according to entrance and outlet counting semaphore acquisition of information entrance And the Counter Value of outlet semaphore information；

Concrete, scheduler module 108 is additionally operable to judge the Counter Value of entrance count semaphore information the most not Whether it is equal to 0 equal to the Counter Value of maximum resource quantity or outlet counting semaphore information.

In one embodiment, scheduler module 108 is additionally operable to judge the enumerator of entrance count semaphore information Whether value is not equal to whether the Counter Value of maximum resource quantity or outlet counting semaphore information is equal to 0, if It is that then the ID of automatic guided vehicle is added to wait person's list of outlet counting semaphore information；If it is not, Then the ID of automatic guided vehicle is added to owner's list of outlet counting semaphore information, outlet counting The Counter Value of semaphore information subtracts 1.

In one embodiment, scheduler module 108 is additionally operable to judge the owner of outlet counting semaphore information Whether list or wait person's list are empty.

Concrete, scheduler module 108 is for judging to export owner's list or the wait of counting semaphore information Whether person's list is empty, the most then whether perform to judge the Counter Value of entrance count semaphore information Whether the Counter Value in maximum resource quantity or outlet counting semaphore information is equal to the step of 0；If it is not, Then control automatic guided vehicle to wait.

In one embodiment, scheduler module 108 is additionally operable to judge the enumerator of entrance count semaphore information Value whether is equal to maximum resource quantity and owner's list and whether wait person's list is sky.

Concrete, scheduler module 108 is for judging whether the Counter Value of entrance count semaphore information is equal to Whether maximum resource quantity and owner's list and wait person's list are sky, the most then perform to judge outlet Whether owner's list of counting semaphore information or wait person's list are empty step；If it is not, then control certainly Dynamic guide trolleys waits.

In one embodiment, a kind of automatic guided vehicle dispatching patcher, also include:

Required time computing module, for obtaining entering of automatic guided vehicle positional information and shared driving path Mouth positional information, calculates automatic guided vehicle needed for current location arrives the entry position of shared driving path Time, the automatic guided vehicle controlling required time minimum preferentially travels.

Concrete, automatic guided vehicle arrives entrance and/or the exit position sharing driving path from current location Required time can be calculated according to equation below, i.e.

$T_j=\frac{\underset{m=u}{\overset{i}{\mathrm{\Σ}}}(\mathrm{ar}{c}_{m-1}+l_m)}{V}$

Wherein, u is the current location of automatic guided vehicle, and i is the target location of automatic guided vehicle, and arc is The distance length of crossing, l is the distance length of two-way street, and V is the average speed of automatic guided vehicle.

Above-mentioned automatic guided vehicle dispatching method and system, by obtaining the traveling position of automatic guided vehicle in real time The signal parameter information of confidence breath, and then obtain the semaphore information that signal parameter information is corresponding, according to signal The Counter Value of amount information can learn that the driving path of automatic guided vehicle is the most occupied, and system is according to counting Device value carries out Real-Time Scheduling, thus solves conflict and the Deadlock of system, improves efficiency simultaneously.

Embodiment described above only have expressed the several embodiments of the present invention, and it describes more concrete and detailed, But therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that, for this area Those of ordinary skill for, without departing from the inventive concept of the premise, it is also possible to make some deformation and Improving, these broadly fall into protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be with appended Claim is as the criterion.

Claims (12)

1. an automatic guided vehicle dispatching method, including:

Obtain the traveling-position information of automatic guided vehicle；

According to described traveling-position acquisition of information signal parameter information, described signal parameter information includes controlling certainly Dynamic guide trolleys accesses the binary signal parameter information of crossing and controls automatic guided vehicle access two-way street Count signal parameter information；

According to described signal parameter acquisition of information semaphore information, described semaphore information at least includes enumerator Value；

It is scheduling according to described Counter Value；

Described semaphore information also includes owner's list and/or wait person's list；

The described step according to described signal parameter acquisition of information semaphore information includes:

Obtain binary signal amount information according to described binary signal parameter information, believe according to described binary system Number amount acquisition of information binary signal amount information Counter Value；

The described step being scheduling according to described Counter Value includes:

Whether the binary counter value judging described binary signal amount information is 1, the most then will automatically lead The ID drawing dolly adds owner's list of described binary signal amount information to, and described binary signal amount is believed The binary counter value of breath subtracts 1, controls described automatic guided vehicle and travels；

If it is not, then the ID of automatic guided vehicle to be added to wait person's list of described binary signal amount information, Control described automatic guided vehicle to wait.

Method the most according to claim 1, it is characterised in that the described automatic guided vehicle of described control The step travelled includes:

Obtain the positional information of described automatic guided vehicle, judge described homing guidance according to described positional information Whether dolly leaves crossing, and the binary counter value of the most described binary signal amount information adds 1, The ID of described automatic guided vehicle is deleted from owner's list of described binary signal amount information.

Method the most according to claim 1, it is characterised in that described count signal parameter information also wraps Including entrance count signal parameter information and outlet count signal parameter information, described semaphore information also includes Large resource quantity, described maximum resource quantity is that two-way street can accommodate in the same time and travels homing guidance in the same direction The maximum quantity of dolly；

The described step according to described signal parameter acquisition of information semaphore information also includes:

Entrance and outlet counting semaphore information is obtained according to entrance and outlet count signal parameter information, according to Described entrance and outlet counting semaphore acquisition of information entrance and the Counter Value of outlet counting semaphore information；

The described step being scheduling according to described Counter Value also includes:

Judge whether the Counter Value of described entrance count semaphore information is not equal to maximum resource quantity or described Whether the Counter Value of outlet counting semaphore information equal to 0, the most then adds the ID of automatic guided vehicle It is added to export wait person's list of counting semaphore information；

If it is not, then the ID of automatic guided vehicle to be added to owner's row of described outlet counting semaphore information Table, the Counter Value of described outlet counting semaphore information subtracts 1.

Method the most according to claim 3, it is characterised in that described judgement described outlet count signal The Counter Value of amount information whether equal to 0 or described entrance count semaphore information Counter Value whether Before the step of maximum resource quantity, also include:

Judge whether owner's list of described outlet counting semaphore information or wait person's list are empty, if so, Then perform whether the described Counter Value judging entrance count semaphore information is not equal to maximum resource quantity or institute Whether the Counter Value stating outlet counting semaphore information is equal to the step of 0；

Wait if it is not, then control automatic guided vehicle.

Method the most according to claim 4, it is characterised in that described judgement described outlet count signal Before whether owner's list of amount information or wait person's list are empty step, also include:

Judge that whether the Counter Value of described entrance count semaphore information is equal to maximum resource quantity and owner Whether list and wait person's list are sky, the most then perform described judgement described outlet counting semaphore letter Whether owner's list of breath or wait person's list are empty step；

Wait if it is not, then control automatic guided vehicle.

6. according to the method described in any one of claim 1 to 5, it is characterised in that described method also includes:

Obtaining automatic guided vehicle positional information and the entry location information of shared driving path, calculating is described certainly Dynamic guide trolleys arrives the entry position required time of described shared driving path from current location, controls described The automatic guided vehicle of required time minimum preferentially travels.

7. an automatic guided vehicle dispatching patcher, including:

Traveling-position data obtaining module, for obtaining the traveling-position information of automatic guided vehicle；

Signal parameter data obtaining module, is used for according to described traveling-position acquisition of information signal parameter information, Described signal parameter information include control automatic guided vehicle access crossing binary signal parameter information and Control automatic guided vehicle and access the count signal parameter information of two-way street；

Semaphore data obtaining module, for according to described signal parameter acquisition of information semaphore information, described Semaphore information at least includes Counter Value；

Scheduler module, for being scheduling according to described Counter Value；

Described semaphore information also includes owner's list and/or wait person's list；

Described semaphore data obtaining module is additionally operable to obtain binary system according to described binary signal parameter information Semaphore information, according to the Counter Value of described binary signal amount acquisition of information binary signal amount information；

Described scheduler module is additionally operable to judge that whether the binary counter value of described binary signal amount information is 1, the most then the ID of automatic guided vehicle is added to owner's list of binary signal amount information, two The binary counter value of binary signal amount information subtracts 1, controls automatic guided vehicle and travels；If it is not, then will be from The ID of dynamic guide trolleys adds wait person's list of binary signal amount information to, controls automatic guided vehicle etc. Treat.

System the most according to claim 7, it is characterised in that described scheduler module is additionally operable to obtain institute State the positional information of automatic guided vehicle, according to described positional information judge described automatic guided vehicle whether from Open crossing.

System the most according to claim 7, it is characterised in that described count signal parameter information includes Entrance count signal parameter information and outlet count signal parameter information, described semaphore information also includes maximum Resource quantity, described maximum resource quantity is two-way street in the same time can accommodate that to travel homing guidance in the same direction little The maximum quantity of car；

Described semaphore data obtaining module be additionally operable to according to entrance and outlet count signal parameter information obtain into Mouthful and outlet counting semaphore information, according to described entrance and outlet counting semaphore acquisition of information entrance and go out The Counter Value of mouth counting semaphore information；

Described scheduler module is additionally operable to judge whether the Counter Value of described entrance count semaphore information is not equal to Whether the Counter Value of maximum resource quantity or described outlet counting semaphore information is equal to 0.

System the most according to claim 9, it is characterised in that described scheduler module is additionally operable to judge Whether owner's list of described outlet counting semaphore information or wait person's list are empty.

11. systems according to claim 10, it is characterised in that described scheduler module is additionally operable to judge The Counter Value of described entrance count semaphore information whether equal to maximum resource quantity and owner's list and etc. Whether the person's for the treatment of list is sky.

12. according to the system described in any one of claim 7 to 11, it is characterised in that described system is also wrapped Include:

Required time computing module, for obtaining entering of automatic guided vehicle positional information and shared driving path Mouth positional information, calculates described automatic guided vehicle and arrives the entrance of described shared driving path from current location Position required time, the automatic guided vehicle controlling described required time minimum preferentially travels.