CN104331079B - A kind of AGV traffic control system and method for control - Google Patents
A kind of AGV traffic control system and method for control Download PDFInfo
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- CN104331079B CN104331079B CN201410651318.6A CN201410651318A CN104331079B CN 104331079 B CN104331079 B CN 104331079B CN 201410651318 A CN201410651318 A CN 201410651318A CN 104331079 B CN104331079 B CN 104331079B
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Abstract
The invention discloses a kind of AGV traffic control system and method for control, it includes multiple AGV and navigation track, it also includes multiple traffic control terrestrial references, traffic control terrestrial reference includes A class terrestrial reference, B class terrestrial reference and C class terrestrial reference, it is designated as priority pass terrestrial reference to A class, B class it is designated as avoiding control terrestrial reference, be designated as to C class terrestrial reference of decontroling, traffic control terrestrial reference is arranged in the traffic control area of navigation track；AGV includes terrestrial reference recognition unit, AGV controller and AGV driver element, terrestrial reference recognition unit receives the traffic control frame that traffic control terrestrial reference sends, the output of terrestrial reference recognition unit is connected with an input of AGV controller, one output of AGV controller is connected with the input of AGV driver element, and AGV controller gives this AGV current right of possession corporeal right accordingly according to this control traffic message.Effectively solving AGV of the present invention enters the race problem producing during traffic control area at the same time；Reduce the impact to the autonomous traffic control of AGV causing because of communication delay.
Description
Technical field
The present invention relates to automatical pilot transportation vehicle traffic control field, more particularly to one kind are managed automatically for AGV traffic
System processed, and the method that traffic control is carried out to AGV.
Background technology
Automatical pilot transportation vehicle (Automated Guided Vehicle, abbreviation AGV) is in manufacturing digital plant management, flowing water
Apply widely in job shop, main to AGV traffic control at present：
1）Have and AGV signal is gathered by travel switch, photoelectric sensor, then sensor is issued a command to by control system and send out
The number of delivering letters, controls AGV to realize traffic control；
2）Constitute special AGV controller using processors such as PC or industrial computers, transported by wireless network control AGV
OK, realize traffic control；
3）AGV carries out traffic control by the mutual direction communication of wireless network.
In method 1, the quantities of the method is big, be to realize controlling by wired mode, do not enable between each AGV mutually
Communication；And, the method requires to the region of traffic control, and hardware cost is also higher；
Method 2 it be by scheduling system, the ruuning situation of AGV is scheduling；The drawbacks of the method is when scheduling system
System goes wrong, and dispatches systemic breakdown；AGV crosses and will appear from vehicle accident during intersection；And set up the hardware of scheduling system
Cost is at a relatively high.
Method 3 is a kind of efficient method with low cost, but same to AGV in traffic control form commonly used at present
When enter control zone or because the impact to traffic control for the communication delay is inconsiderate complete.
Content of the invention
It is an object of the invention to overcoming the deficiencies in the prior art, provide a kind of AGV traffic control system and method for control,
Using having priority terrestrial reference control system, and a set of rational method of control, realize to polytype traffic control area
Control, and circuit priority level has a washability, eliminates the race problem that AGV simultaneously enters control zone generation, reduces
The impact that communication delay causes.
The purpose of the present invention is achieved through the following technical solutions：A kind of AGV traffic control system, it includes multiple
Automatic guided vehicle and navigation track, it also includes multiple traffic control terrestrial references, and described traffic control terrestrial reference includes A class terrestrial reference, B
The combination of one or more of class terrestrial reference and C class terrestrial reference, is designated as to described A class priority pass terrestrial reference, described B class terrestrial reference
For avoiding control terrestrial reference, described C class ground is designated as terrestrial reference of decontroling, and traffic control terrestrial reference is arranged on the traffic pipe of the track that navigates
In region processed.
Described automatic guided vehicle includes terrestrial reference recognition unit, AGV controller and AGV driver element, and described ground identifies
Other unit receives the traffic control frame that traffic control terrestrial reference sends, and the output of terrestrial reference recognition unit is defeated with one of AGV controller
Enter to connect, an output of AGV controller is connected with the input of AGV driver element, AGV controller is assigned according to this traffic control frame
Give this automatic guided vehicle current right of possession corporeal right accordingly.
Described navigation track includes priority pass section, avoids current section and normal pass section.
Described normal pass section is the section in a bar navigation track between two adjacent C class terrestrial references.
The current section of described avoidance is to be made up of C class terrestrial reference, B class terrestrial reference and A class terrestrial reference successively in a bar navigation track
Section.
Described priority pass section is to be made up of C class terrestrial reference, A class terrestrial reference and A class terrestrial reference successively in a bar navigation track
Section.
Described traffic control area is divided into traffic areas, avoids region and is released control zone by traffic control terrestrial reference
One or more of combination.
Described traffic control frame includes terrestrial reference ID frame, control zone type frame and current road segment classification frame.
Described automatic guided vehicle also includes wireless communication module, and described wireless communication module and AGV controller connect,
For being in communication with each other with adjacent automatic guided vehicle, receive or send its current current right of possession corporeal right information.
The described current right of possession corporeal right includes forcing the right of possession corporeal right, the interim right of possession corporeal right and waits one or more of the right of possession corporeal right
Combination.
A kind of AGV traffic control method, it includes following multiple step：
S01：Distribute unique terrestrial reference ID to each traffic control terrestrial reference, and by traffic control terrestrial reference by traffic control area
Domain is divided into traffic areas, avoids region or region of decontroling, the control zone type number of setting traffic control terrestrial reference and
Current road segment classification numbering, for reminding the position of automatic guided vehicle；
S02：Automatic guided vehicle detects traffic control terrestrial reference by terrestrial reference recognition unit, if this automatic guided vehicle does not detect
To traffic control terrestrial reference, when that is, this automatic guided vehicle is in normal pass section, this automatic guided vehicle keeps original state to continue
Current；
S03：If this automatic guided vehicle detects traffic control terrestrial reference, and in the traffic control frame receiving and recognizing it and sending
Afterwards, obtain the current wait right of possession corporeal right, when that is, this automatic guided vehicle is in avoidance current section, this automatic guided vehicle is closed to traffic；
S04：If this automatic guided vehicle detects traffic control terrestrial reference, and obtain the current pressure right of possession corporeal right, that is, be in preferential
During current section, this automatic guided vehicle priority pass；
S05：If this automatic guided vehicle detects traffic control terrestrial reference, and when obtaining the current interim right of possession corporeal right, then detect it
Whether the traffic control area being located has the neighbours' automatic guided vehicle forcing right of possession corporeal right request, if wireless communication module does not receive
When the pressure right of possession corporeal right sending to neighbours' automatic guided vehicle asks broadcast singal, this automatic guided vehicle continues current.
It includes one of A class terrestrial reference control sub-step, B class terrestrial reference control sub-step and C class terrestrial reference control sub-step
Or multiple combinations；
Described A class terrestrial reference control sub-step includes following many sub-steps：
S11：When automatic guided vehicle is priority pass terrestrial reference by terrestrial reference recognition unit reading A class terrestrial reference, its AGV controls
Whether device judges this automatic guided vehicle achieved with the current pressure right of possession corporeal right, if this automatic guided vehicle has been achieved with forcing the right of possession corporeal right,
Then this automatic guided vehicle continues to run with；
S12：If this automatic guided vehicle does not obtain the pressure right of possession corporeal right, its AGV controller judges that this automatic guided vehicle is
No have been achieved with the interim right of possession corporeal right, if this automatic guided vehicle has been achieved with the interim right of possession corporeal right, this automatic guided vehicle obtain pressure
The right of possession corporeal right, it is current that AGV controller controls this automatic guided vehicle to continue；
S13：If this automatic guided vehicle does not obtain the interim right of possession corporeal right, detect whether its wireless communication module receives this
The pressure right of possession corporeal right request broadcast singal that in traffic control area, neighbours' automatic guided vehicle sends；
S14：If this wireless communication module receive pressure the right of possession corporeal right request broadcast singal, that is, this traffic control area by
Pressure occupies, then this automatic guided vehicle obtains the interim right of possession corporeal right, and AGV controller controls this automatic guided vehicle parking waiting；
S15：If this wireless communication module is not received by forcing right of possession corporeal right request broadcast singal, i.e. this traffic control area
It is not forced to occupy, then detect whether its wireless communication module receives neighbours' automatic guided vehicle in this traffic control area and send out
The interim right of possession corporeal right request broadcast singal going out；
S16：If this wireless communication module is not received by interim right of possession corporeal right request broadcast singal, i.e. this traffic control area
Do not occupied by neighbours' automatic guided vehicle, then this automatic guided vehicle obtains and forces the right of possession corporeal right, AGV controller controls this unmanned temporarily
Mover continues current；
S17：If this wireless communication module receives interim right of possession corporeal right request broadcast singal, that is, this traffic control area by
Pressure occupies, then this automatic guided vehicle passes through wireless communication module to neighbours' automatic guided vehicle broadcast pressure right of possession corporeal right request letter
Number；
S18：If within a certain period of time, wireless communication module is not received by the pressure that neighbours' automatic guided vehicle sends and occupies
Power request signal, then the right of possession corporeal right is forced in this automatic guided vehicle acquirement, and it is current that AGV controller controls this automatic guided vehicle to continue；
S19：If within a certain period of time, wireless communication module receive the pressure right of possession corporeal right that neighbours' automatic guided vehicle sends please
Seek signal, this automatic guided vehicle obtains the interim right of possession corporeal right, AGV controller controls this automatic guided vehicle parking waiting；
Described B class terrestrial reference control step includes following many sub-steps：
S21：When automatic guided vehicle reads B class terrestrial reference by terrestrial reference recognition unit and avoids control terrestrial reference, AGV controller
Whether judge this automatic guided vehicle achieved with the current pressure right of possession corporeal right, if this automatic guided vehicle has been achieved with forcing the right of possession corporeal right,
This automatic guided vehicle continues current；
S22：If this automatic guided vehicle does not obtain the pressure right of possession corporeal right, judge whether it occupies achieved with current temporarily
Power, if this automatic guided vehicle has been achieved with the interim right of possession corporeal right, this automatic guided vehicle continues current；
S23：If this automatic guided vehicle does not obtain the interim right of possession corporeal right, detect whether its wireless communication module receives by force
The right of possession corporeal right processed asks broadcast singal；
S24：If wireless communication module receives pressure right of possession corporeal right request broadcast singal, that is, this traffic control area is adjacent
Occupy automatic guided vehicle to force to occupy, then this automatic guided vehicle obtains the interim right of possession corporeal right, and parking waiting；
S25：If wireless communication module is not received by forcing right of possession corporeal right request broadcast singal, that is, this traffic control area does not have
Have and forced to occupy by neighbours' automatic guided vehicle, then detect whether its wireless communication module receives interim right of possession corporeal right request broadcast letter
Number；
S26：If wireless communication module receives interim right of possession corporeal right request broadcast singal, that is, this traffic control area is adjacent
Occupy automatic guided vehicle to occupy, then this automatic guided vehicle obtains and waits the right of possession corporeal right, and parking waiting temporarily；
S27：If wireless communication module is not received by interim right of possession corporeal right request broadcast singal, that is, this traffic control area does not have
Have and occupied by neighbours' automatic guided vehicle temporarily, then this automatic guided vehicle obtains the interim right of possession corporeal right, and continues to pass through；
Described C class terrestrial reference control step includes following many sub-steps：
S31：When automatic guided vehicle decontrols terrestrial reference by terrestrial reference recognition unit reading C class terrestrial reference, nobody removes for this
Fortune car discharges its current right of possession corporeal right, releases right of possession corporeal right signal to the neighbours' automatic guided vehicle broadcast in this traffic control area, and
Continue current.
It also includes radio request signal and processes sub-step, and described broadcast process step includes following many sub-steps：
S41：After automatic guided vehicle enters traffic control area, when this automatic guided vehicle is in running, receive neighbour
When occupying the broadcast singal that automatic guided vehicle sends, identification first judges whether this broadcast singal is to wait right of possession corporeal right request signal；
S42：If this broadcast singal is to wait for right of possession corporeal right request signal, this automatic guided vehicle preserves original state and continues fortune
OK；
S43：If rather than waiting for right of possession corporeal right request signal, identification, this broadcast singal judges whether this broadcast singal is interim
Right of possession corporeal right request signal；
S44：If this broadcast singal is interim right of possession corporeal right request signal, this automatic guided vehicle preserves original state and continues fortune
OK；
S45：If this broadcast singal is not interim right of possession corporeal right request signal, identification judges whether this broadcast singal is pressure
Right of possession corporeal right request signal；
S46：If this broadcast singal is to force right of possession corporeal right request signal, judge whether this automatic guided vehicle has been achieved with by force
The right of possession corporeal right processed；
If this automatic guided vehicle achieved with forcing the right of possession corporeal right, broadcast to neighbours' automatic guided vehicle and force by this automatic guided vehicle
Occupy information, and preserve original state and continue to run with；
If this automatic guided vehicle does not obtain the pressure right of possession corporeal right, judge whether this automatic guided vehicle has been achieved with accounting for temporarily
Have the right；
If this automatic guided vehicle is achieved with the interim right of possession corporeal right, this automatic guided vehicle parking waiting；
If this automatic guided vehicle does not obtain the interim right of possession corporeal right, this automatic guided vehicle preserves original state and continues to run with；
S47：If this broadcast singal is not to force right of possession corporeal right request signal, identification judges whether this broadcast singal is releasing
Right of possession corporeal right request signal；
If this broadcast singal is to release right of possession corporeal right request signal, judge whether this automatic guided vehicle has been achieved with pressure and account for
Have the right；
If this automatic guided vehicle achieved with forcing the right of possession corporeal right, broadcast to neighbours' automatic guided vehicle and force by this automatic guided vehicle
Occupy information, and preserve original state and continue to run with；
If this automatic guided vehicle does not obtain the pressure right of possession corporeal right, judge whether this automatic guided vehicle has been achieved with accounting for temporarily
Have the right；
If this automatic guided vehicle is achieved with the interim right of possession corporeal right, this automatic guided vehicle obtains forces the right of possession corporeal right, and starts to lead to
OK；
If this automatic guided vehicle does not obtain the interim right of possession corporeal right, judge whether this automatic guided vehicle has been achieved with wait and account for
Have the right；
If achieved with waiting the right of possession corporeal right, this automatic guided vehicle obtains the interim right of possession corporeal right to this automatic guided vehicle, and starts to lead to
OK；
If this automatic guided vehicle does not obtain the wait right of possession corporeal right, this automatic guided vehicle keeps original state to continue to run with.
The invention has the beneficial effects as follows：
（1）Effectively solving AGV enters the race problem producing during traffic control area at the same time；
（2）Reduce the impact to the autonomous traffic control of AGV causing because of communication delay.
It is contemplated that allowing multiple AGV in the case of having broadcast communication mechanism, traffic is read by terrestrial reference identification module
Control landmark information, by wireless communication module, broadcast data interaction between multiple AGV, realizes autonomous traffic control.The present invention
Method is run in multiple AGV simultaneously, on same circuit and in the control zone of intersection, can fast and effectively realize traffic
Control.The present invention is without other scheduling systems it is ensured that AGV's smoothly passes through it is possible to no dispatch the many of system
AGV environment uses, and also can use in conjunction with many AGV control system, have considerable application prospect.
Brief description
Fig. 1 is AGV traffic control system theory diagram of the present invention；
Fig. 2 is the control schematic diagram of decussation area control pattern of the present invention；
Fig. 3 is the control schematic diagram of herringbone intersection region of the present invention regulatory model；
Fig. 4 is the control schematic diagram of straight line intersection region of the present invention regulatory model；
Fig. 5 is A class terrestrial reference control flow chart of steps of the present invention；
Fig. 6 is B class terrestrial reference control flow chart of steps of the present invention；
Fig. 7 is radio request signal process step flow chart of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings technical scheme is described in further detail, but protection scope of the present invention is not limited to
Described below.
As shown in figure 1, a kind of AGV traffic control system, it includes multiple automatic guided vehicles and navigation track, and it also includes
Multiple traffic control terrestrial references, described traffic control terrestrial reference includes one or more of A class terrestrial reference, B class terrestrial reference and C class terrestrial reference
Combination, be designated as to described A class priority pass terrestrial reference, be designated as avoiding to described B class control terrestrial reference, described C class terrestrial reference
For terrestrial reference of decontroling, traffic control terrestrial reference is arranged in the traffic control area of navigation track.
Described automatic guided vehicle includes terrestrial reference recognition unit, AGV controller and AGV driver element, and described ground identifies
Other unit receives the traffic control frame that traffic control terrestrial reference sends, and the output of terrestrial reference recognition unit is defeated with one of AGV controller
Enter to connect, an output of AGV controller is connected with the input of AGV driver element, AGV controller is assigned according to this traffic control frame
Give this automatic guided vehicle current right of possession corporeal right accordingly.
Described traffic control terrestrial reference can adopt RFID terrestrial reference.Described terrestrial reference recognition unit can adopt RFID Card Reader
Device.
Described navigation track includes priority pass section, avoids current section and normal pass section.
Described normal pass section is the section in a bar navigation track between two adjacent C class terrestrial references.
The current section of described avoidance is to be made up of C class terrestrial reference, B class terrestrial reference and A class terrestrial reference successively in a bar navigation track
Section.
Described priority pass section is to be made up of C class terrestrial reference, A class terrestrial reference and A class terrestrial reference successively in a bar navigation track
Section.
Described traffic control area is divided into traffic areas, avoids region and is released control zone by traffic control terrestrial reference
One or more of combination.
Described traffic control frame includes terrestrial reference ID frame, control zone type frame and current road segment classification frame.
Described automatic guided vehicle also includes wireless communication module, and described wireless communication module and AGV controller connect,
For being in communication with each other with adjacent automatic guided vehicle, receive or send its current current right of possession corporeal right information.
Described wireless communication module can be for Zigbee wireless communication module naturally it is also possible to adopt other radio communications
Mode.
The described current right of possession corporeal right includes forcing the right of possession corporeal right, the interim right of possession corporeal right and waits one or more of the right of possession corporeal right
Combination.
There are decussation area control, the control of herringbone intersection region and three kinds of moulds of linearity region control in traffic control area
Formula.
As shown in Fig. 2 Fig. 2 is decussation area control pattern schematic diagram.Decussation area control pattern includes
Decontrol region, avoid region and three kinds of traffic areas traffic control area, include priority pass section, avoid section of passing through
With the current section in three kinds of normal pass section.
In Fig. 2, the path of horizontal direction is preferential path, including two priority pass sections and two normal pass sections,
It is followed successively by the first normal pass section, the first priority pass section, the second priority pass section and the second normal pass section, its
The distribution of traffic control terrestrial reference is followed successively by a C class terrestrial reference, an A class terrestrial reference, the 2nd A class terrestrial reference, the 3rd A class terrestrial reference, the 4th A
Class terrestrial reference and the 2nd C class terrestrial reference.
In Fig. 2, the path of vertical direction is to avoid path, avoids current section and two normal pass sections including two,
It is followed successively by the 3rd normal pass section, the current section of the first avoidance, the current section of the second avoidance and the 4th normal pass section, its
The distribution of traffic control terrestrial reference is followed successively by the 3rd C class terrestrial reference, a B class terrestrial reference, the 5th A class terrestrial reference, the 6th A class terrestrial reference, the 2nd B
Class terrestrial reference and the 4th C class terrestrial reference.
In Fig. 2, the 2nd A class terrestrial reference, the 3rd A class terrestrial reference, the 5th A class terrestrial reference and the 6th A class terrestrial reference area encompassed are logical
It is also possible to be indicated with green, the automatic guided vehicle entering this traffic areas has been achieved with the current pressure right of possession corporeal right in row region, its
He can not enter this region by AGV dolly.By color, different control zones is indicated, automatic guided vehicle can be made to lead to
Cross color to judge itself residing area type.
In Fig. 2 an A class terrestrial reference, a B class terrestrial reference, the 4th A class terrestrial reference and the 2nd B class terrestrial reference surrounded without current
The region in region be avoid region it is also possible to be indicated with yellow, enter this avoidance region automatic guided vehicle need to detect this ten
Word intersects the AGV dolly whether having priority pass in control zone, if having, this automatic guided vehicle needs parking waiting.
In Fig. 2 a C class terrestrial reference, the 3rd C class terrestrial reference, the 2nd C class terrestrial reference and the 4th C class terrestrial reference surrounded without current
Region and the region avoiding region are to decontrol region it is also possible to be indicated with redness, enter the nothing in this region of decontroling
People's mover discharges its current right of possession corporeal right, and continues current to roll this decussation control zone away from.
The traffic control terrestrial reference of the decussation control zone shown in Fig. 2 is using symmetrical structure mode it is ensured that nobody removes
Fortune car, during current, can successfully pass through completely, it is to avoid clashes during passing through.Wherein, adjacent
The distance between two traffic control terrestrial references are determined by the length of automatic guided vehicle.
As shown in figure 3, Fig. 3 is herringbone intersection region regulatory model schematic diagram.Herringbone intersection region regulatory model includes
Decontrol region, avoid region and three kinds of traffic areas traffic control area, include priority pass section, avoid section of passing through
With the current section in three kinds of normal pass section.Herringbone intersects control zone and includes left channel, right channel vertical passage, left side
Path and right channel are all and vertical passage.
In Fig. 3, left channel is to avoid path, is followed successively by the first normal pass section and first and avoids current section, avoids
In path, the distribution of traffic control terrestrial reference is followed successively by a C class terrestrial reference, a B class terrestrial reference and an A class terrestrial reference.Right channel is
Preferential path, is followed successively by the second normal pass section and the first priority pass section, and in preferential path, traffic control terrestrial reference divides
Cloth is followed successively by the 2nd C class terrestrial reference, the 2nd A class terrestrial reference and the 3rd A class terrestrial reference.Vertical passage is a combining, normal including the 3rd
Current section, is provided with the 3rd C class terrestrial reference.
The rectangular area that in Fig. 3, an A class terrestrial reference and the 3rd A class terrestrial reference are formed is traffic areas, a B class terrestrial reference and
The region without traffic areas that 2nd A class terrestrial reference is formed is to avoid region, a C class terrestrial reference, the 2nd C class terrestrial reference and the 3rd
The region without traffic areas and avoidance region that C class terrestrial reference is surrounded is region of decontroling.Herringbone intersects in regulatory model
The color marking in each region is identical with decussation regulatory model.
As shown in figure 4, Fig. 4 is linearity region regulatory model schematic diagram.This control zone includes traffic areas and releases pipe
Region processed, is made up of a C class terrestrial reference, an A class terrestrial reference, the 2nd A class terrestrial reference and the 2nd C class terrestrial reference successively.
The present invention, firstly the need of being identified to the region carrying out traffic control dividing, distributes unique ID, then to traffic pipe
Region processed carries out terrestrial reference mark, for reminding AGV position.When multiple stage AGV enters same traffic control area, sampling is a set of excellent
First pass through logic method of control, allow AGV pass through this control zone according to the priority of oneself.All AGV receive traffic control
When frame, the content all according to traffic control frame carries out corresponding data operation process.
Proposed by the present invention by the fundamental rule of logic method of control it is preferentially：
1）Traffic control area has the interim right of possession corporeal right, forces the right of possession corporeal right and wait three kinds of rights state of the right of possession corporeal right；
2）Traffic control terrestrial reference is divided into A, B, C tri- class, and A class is priority pass terrestrial reference, and B class is to avoid control terrestrial reference, and C class is
Decontrol terrestrial reference；
3）Each terrestrial reference related to traffic control comprises " terrestrial reference ID ", " control zone numbering " and " circuit " three letters
Breath.
A kind of AGV traffic control method, it includes following multiple step, i.e. basic passing rules：
S01：Distribute unique terrestrial reference ID to each traffic control terrestrial reference, and by traffic control terrestrial reference by traffic control area
Domain is divided into traffic areas, avoids region or region of decontroling, the control zone type number of setting traffic control terrestrial reference and
Current road segment classification numbering, for reminding the position of automatic guided vehicle；
S02：Automatic guided vehicle detects traffic control terrestrial reference by terrestrial reference recognition unit, if this automatic guided vehicle does not detect
To traffic control terrestrial reference, when that is, this automatic guided vehicle is in normal pass section, this automatic guided vehicle keeps original state to continue
Current；
S03：If this automatic guided vehicle detects traffic control terrestrial reference, and in the traffic control frame receiving and recognizing it and sending
Afterwards, obtain the current wait right of possession corporeal right, when that is, this automatic guided vehicle is in avoidance current section, this automatic guided vehicle is closed to traffic；
S04：If this automatic guided vehicle detects traffic control terrestrial reference, and obtain the current pressure right of possession corporeal right, that is, be in preferential
During current section, this automatic guided vehicle priority pass；
S05：If this automatic guided vehicle detects traffic control terrestrial reference, and when obtaining the current interim right of possession corporeal right, then detect it
Whether the traffic control area being located has the neighbours' automatic guided vehicle forcing right of possession corporeal right request, if wireless communication module does not receive
When the pressure right of possession corporeal right sending to neighbours' automatic guided vehicle asks broadcast singal, this automatic guided vehicle continues current.
It includes one of A class terrestrial reference control sub-step, B class terrestrial reference control sub-step and C class terrestrial reference control sub-step
Or multiple combinations.
（One）A class terrestrial reference control
As shown in figure 5, described A class terrestrial reference control sub-step includes following many sub-steps：
S11：When automatic guided vehicle is priority pass terrestrial reference by terrestrial reference recognition unit reading A class terrestrial reference, its AGV controls
Whether device judges this automatic guided vehicle achieved with the current pressure right of possession corporeal right, if this automatic guided vehicle has been achieved with forcing the right of possession corporeal right,
Then this automatic guided vehicle continues to run with；
S12：If this automatic guided vehicle does not obtain the pressure right of possession corporeal right, its AGV controller judges that this automatic guided vehicle is
No have been achieved with the interim right of possession corporeal right, if this automatic guided vehicle has been achieved with the interim right of possession corporeal right, this automatic guided vehicle obtain pressure
The right of possession corporeal right, it is current that AGV controller controls this automatic guided vehicle to continue；
S13：If this automatic guided vehicle does not obtain the interim right of possession corporeal right, detect whether its wireless communication module receives this
The pressure right of possession corporeal right request broadcast singal that in traffic control area, neighbours' automatic guided vehicle sends；
S14：If this wireless communication module receive pressure the right of possession corporeal right request broadcast singal, that is, this traffic control area by
Pressure occupies, then this automatic guided vehicle obtains the interim right of possession corporeal right, and AGV controller controls this automatic guided vehicle parking waiting；
S15：If this wireless communication module is not received by forcing right of possession corporeal right request broadcast singal, i.e. this traffic control area
It is not forced to occupy, then detect whether its wireless communication module receives neighbours' automatic guided vehicle in this traffic control area and send out
The interim right of possession corporeal right request broadcast singal going out；
S16：If this wireless communication module is not received by interim right of possession corporeal right request broadcast singal, i.e. this traffic control area
Do not occupied by neighbours' automatic guided vehicle, then this automatic guided vehicle obtains and forces the right of possession corporeal right, AGV controller controls this unmanned temporarily
Mover continues current；
S17：If this wireless communication module receives interim right of possession corporeal right request broadcast singal, that is, this traffic control area by
Pressure occupies, then this automatic guided vehicle passes through wireless communication module to neighbours' automatic guided vehicle broadcast pressure right of possession corporeal right request letter
Number；
S18：If within a certain period of time, wireless communication module is not received by the pressure that neighbours' automatic guided vehicle sends and occupies
Power request signal, then the right of possession corporeal right is forced in this automatic guided vehicle acquirement, and it is current that AGV controller controls this automatic guided vehicle to continue；
S19：If within a certain period of time, wireless communication module receive the pressure right of possession corporeal right that neighbours' automatic guided vehicle sends please
Seek signal, this automatic guided vehicle obtains the interim right of possession corporeal right, AGV controller controls this automatic guided vehicle parking waiting.
A class terrestrial reference control sub-step can be understood as：
1）This car has been achieved with forcing the right of possession corporeal right：Then this car continues to run with；
2）This car has been achieved with the interim right of possession corporeal right：Then this car obtains and forces the right of possession corporeal right；
3）This region is not forced or occupies temporarily：Then this car obtains and forces the right of possession corporeal right；
4）Other cars have been achieved with the interim right of possession corporeal right：Then this car obtains the pressure right of possession corporeal right temporarily：
A) within a certain period of time, as being set in 1 second for reducing communication delay impact, Lothrus apterus mandatory requirement, this car takes
The right of possession corporeal right must be forced, continue to run with；
B) within a certain period of time, as being set in 1 second for reducing communication delay impact, collision enforcement is had to ask, this car takes
Obtain the interim right of possession corporeal right, parking waiting；
5）Other cars have been achieved with forcing the right of possession corporeal right：This car obtains the interim right of possession corporeal right.
（Two）B class terrestrial reference control
As shown in fig. 6, described B class terrestrial reference control step includes following many sub-steps：
S21：When automatic guided vehicle reads B class terrestrial reference by terrestrial reference recognition unit and avoids control terrestrial reference, AGV controller
Whether judge this automatic guided vehicle achieved with the current pressure right of possession corporeal right, if this automatic guided vehicle has been achieved with forcing the right of possession corporeal right,
This automatic guided vehicle continues current；
S22：If this automatic guided vehicle does not obtain the pressure right of possession corporeal right, judge whether it occupies achieved with current temporarily
Power, if this automatic guided vehicle has been achieved with the interim right of possession corporeal right, this automatic guided vehicle continues current；
S23：If this automatic guided vehicle does not obtain the interim right of possession corporeal right, detect whether its wireless communication module receives by force
The right of possession corporeal right processed asks broadcast singal；
S24：If wireless communication module receives pressure right of possession corporeal right request broadcast singal, that is, this traffic control area is adjacent
Occupy automatic guided vehicle to force to occupy, then this automatic guided vehicle obtains the interim right of possession corporeal right, and parking waiting；
S25：If wireless communication module is not received by forcing right of possession corporeal right request broadcast singal, that is, this traffic control area does not have
Have and forced to occupy by neighbours' automatic guided vehicle, then detect whether its wireless communication module receives interim right of possession corporeal right request broadcast letter
Number；
S26：If wireless communication module receives interim right of possession corporeal right request broadcast singal, that is, this traffic control area is adjacent
Occupy automatic guided vehicle to occupy, then this automatic guided vehicle obtains and waits the right of possession corporeal right, and parking waiting temporarily；
S27：If wireless communication module is not received by interim right of possession corporeal right request broadcast singal, that is, this traffic control area does not have
Have and occupied by neighbours' automatic guided vehicle temporarily, then this automatic guided vehicle obtains the interim right of possession corporeal right, and continues to pass through；
B class terrestrial reference control sub-step can be understood as：
1）AGV car reads B class terrestrial reference；
2）This car has been achieved with forcing the right of possession corporeal right or the interim right of possession corporeal right, and this car continues current；
3）This car does not obtain the pressure right of possession corporeal right or the interim right of possession corporeal right：
A) this control zone is not occupied, and this car obtains the interim right of possession corporeal right in regulatory area, and passes through；
B) this control zone is occupied temporarily, and this car obtains regulatory area and waits the right of possession corporeal right, parking waiting；
C) now control zone is forced to occupy, and this car obtains the interim right of possession corporeal right in regulatory area, parking waiting.
（Three）C class terrestrial reference control
Described C class terrestrial reference control step includes following many sub-steps：
S31：When automatic guided vehicle decontrols terrestrial reference by terrestrial reference recognition unit reading C class terrestrial reference, nobody removes for this
Fortune car discharges its current right of possession corporeal right, releases right of possession corporeal right signal to the neighbours' automatic guided vehicle broadcast in this traffic control area, and
Continue current.
（Four）Radio request signal is processed
As shown in fig. 7, it also includes radio request signal processes sub-step, described broadcast process step includes following many
Sub-steps：
S41：After automatic guided vehicle enters traffic control area, when this automatic guided vehicle is in running, receive neighbour
When occupying the broadcast singal that automatic guided vehicle sends, identification first judges whether this broadcast singal is to wait right of possession corporeal right request signal；
S42：If this broadcast singal is to wait for right of possession corporeal right request signal, this automatic guided vehicle preserves original state and continues fortune
OK；
S43：If rather than waiting for right of possession corporeal right request signal, identification, this broadcast singal judges whether this broadcast singal is interim
Right of possession corporeal right request signal；
S44：If this broadcast singal is interim right of possession corporeal right request signal, this automatic guided vehicle preserves original state and continues fortune
OK；
S45：If this broadcast singal is not interim right of possession corporeal right request signal, identification judges whether this broadcast singal is pressure
Right of possession corporeal right request signal；
S46：If this broadcast singal is to force right of possession corporeal right request signal, judge whether this automatic guided vehicle has been achieved with by force
The right of possession corporeal right processed；
If this automatic guided vehicle achieved with forcing the right of possession corporeal right, broadcast to neighbours' automatic guided vehicle and force by this automatic guided vehicle
Occupy information, and preserve original state and continue to run with；
If this automatic guided vehicle does not obtain the pressure right of possession corporeal right, judge whether this automatic guided vehicle has been achieved with accounting for temporarily
Have the right；
If this automatic guided vehicle is achieved with the interim right of possession corporeal right, this automatic guided vehicle parking waiting；
If this automatic guided vehicle does not obtain the interim right of possession corporeal right, this automatic guided vehicle preserves original state and continues to run with；
S47：If this broadcast singal is not to force right of possession corporeal right request signal, identification judges whether this broadcast singal is releasing
Right of possession corporeal right request signal；
If this broadcast singal is to release right of possession corporeal right request signal, judge whether this automatic guided vehicle has been achieved with pressure and account for
Have the right；
If this automatic guided vehicle achieved with forcing the right of possession corporeal right, broadcast to neighbours' automatic guided vehicle and force by this automatic guided vehicle
Occupy information, and preserve original state and continue to run with；
If this automatic guided vehicle does not obtain the pressure right of possession corporeal right, judge whether this automatic guided vehicle has been achieved with accounting for temporarily
Have the right；
If this automatic guided vehicle is achieved with the interim right of possession corporeal right, this automatic guided vehicle obtains forces the right of possession corporeal right, and starts to lead to
OK；
If this automatic guided vehicle does not obtain the interim right of possession corporeal right, judge whether this automatic guided vehicle has been achieved with wait and account for
Have the right；
If achieved with waiting the right of possession corporeal right, this automatic guided vehicle obtains the interim right of possession corporeal right to this automatic guided vehicle, and starts to lead to
OK；
If this automatic guided vehicle does not obtain the wait right of possession corporeal right, this automatic guided vehicle keeps original state to continue to run with.
Radio request signal processes sub-step and can be regarded as：
1）AGV car receives wait right of possession corporeal right request in running：Then this car keeps original state；
2）AGV car receives interim right of possession corporeal right request in running：If this car has been achieved with interim or forces to occupy authority,
This car keeps original state to move on：
A) this car has been achieved with waiting the right of possession corporeal right：Then this car continues parking waiting；
B) this car has been achieved with the interim right of possession corporeal right：Then this car moves on, and to the interim right of possession corporeal right of surrounding broadcast；
C) this car has been achieved with forcing the right of possession corporeal right：Then this car moves on；
3）AGV car receives pressure right of possession corporeal right request in running：
A) this car has been achieved with the interim right of possession corporeal right：Then this car parking waiting；
B) this car has been achieved with forcing the right of possession corporeal right：Then this car moves on, and forces the right of possession corporeal right to surrounding broadcast；
4）The AGV car of parking waiting, when receiving pressure right of possession corporeal right release signal：
If a) this car has been achieved with the interim right of possession corporeal right, the broadcast immediately of this car obtains to be forced the right of possession corporeal right and continues to run with；
If b) this car has been achieved with waiting the right of possession corporeal right, the broadcast immediately of this car obtains the interim right of possession corporeal right and continues to run with.
It is contemplated that allowing multiple AGV in the case of having broadcast communication mechanism, traffic is read by terrestrial reference identification module
Control landmark information, by wireless communication module, broadcast data interaction between multiple AGV, realizes autonomous traffic control.The present invention
Method is run in multiple AGV simultaneously, on same circuit and in the control zone of intersection, can fast and effectively realize traffic
Control.The present invention is without other scheduling systems it is ensured that AGV's smoothly passes through it is possible to no dispatch the many of system
AGV environment uses, and also can use in conjunction with many AGV control system, have considerable application prospect.
Claims (8)
1. a kind of AGV traffic control system, it include multiple automatic guided vehicles and navigation track it is characterised in that：It also includes
Multiple traffic control terrestrial references, described traffic control terrestrial reference includes one or more of A class terrestrial reference, B class terrestrial reference and C class terrestrial reference
Combination, be designated as to described A class priority pass terrestrial reference, be designated as avoiding to described B class control terrestrial reference, described C class terrestrial reference
For terrestrial reference of decontroling, traffic control terrestrial reference is arranged in the traffic control area of navigation track；
Described navigation track includes priority pass section, avoids current section and normal pass section；Described normal pass
Section is the section in a bar navigation track between two adjacent C class terrestrial references；Described avoidance passes through section for a bar navigation rail
The section being made up of C class terrestrial reference, B class terrestrial reference and A class terrestrial reference successively in road；Described priority pass section is a bar navigation track
In the section that is made up of C class terrestrial reference, A class terrestrial reference and A class terrestrial reference successively；
Described automatic guided vehicle includes terrestrial reference recognition unit, AGV controller and AGV driver element, and described terrestrial reference identification is single
Unit receives the traffic control frame that traffic control terrestrial reference sends, and an input of the output of terrestrial reference recognition unit and AGV controller is even
Connect, an output of AGV controller is connected with the input of AGV driver element, AGV controller gives according to this traffic control frame should
The automatic guided vehicle current right of possession corporeal right accordingly.
2. a kind of AGV traffic control system according to claim 1 it is characterised in that：Described traffic control area by
Traffic control terrestrial reference is divided into traffic areas, the combination avoiding region and releasing one or more of control zone.
3. a kind of AGV traffic control system according to claim 1 it is characterised in that：Described traffic control frame includes
Terrestrial reference ID frame, control zone type frame and current road segment classification frame.
4. a kind of AGV traffic control system according to claim 1 it is characterised in that：Described automatic guided vehicle also wraps
Include wireless communication module, described wireless communication module and AGV controller connect, for carrying out phase with adjacent automatic guided vehicle
Mutual communication, receives or sends its current current right of possession corporeal right information.
5. a kind of AGV traffic control system according to claim 1 or 4 it is characterised in that：Described current right of possession corporeal right bag
Include and force the right of possession corporeal right, the interim right of possession corporeal right and the combination waiting one or more of the right of possession corporeal right.
6. a kind of AGV traffic control method it is characterised in that：It includes following multiple step：
S01：Distribute unique terrestrial reference ID to each traffic control terrestrial reference, and by traffic control terrestrial reference, traffic control area is drawn
It is divided into traffic areas, avoids region or region of decontroling, the control zone type number of traffic control terrestrial reference is set and passes through
Road segment classification is numbered, for reminding the position of automatic guided vehicle；
S02：Automatic guided vehicle detects traffic control terrestrial reference by terrestrial reference recognition unit, if this automatic guided vehicle is not detected by handing over
Siphunculus terrestrial reference, when that is, this automatic guided vehicle is in normal pass section, it is current that this automatic guided vehicle keeps original state to continue；
S03：If this automatic guided vehicle detects traffic control terrestrial reference, and after receiving and recognizing the traffic control frame that it sends,
Obtain the current wait right of possession corporeal right, when that is, this automatic guided vehicle is in avoidance current section, this automatic guided vehicle is closed to traffic；
S04：If this automatic guided vehicle detects traffic control terrestrial reference, and obtain the current pressure right of possession corporeal right, that is, be in priority pass
During section, this automatic guided vehicle priority pass；
S05：If this automatic guided vehicle detects traffic control terrestrial reference, and when obtaining the current interim right of possession corporeal right, then detect its place
Traffic control area whether have force the right of possession corporeal right request neighbours' automatic guided vehicle, if wireless communication module is not received by neighbour
When occupying the pressure right of possession corporeal right request broadcast singal that automatic guided vehicle sends, this automatic guided vehicle continues current.
7. a kind of AGV traffic control method according to claim 6 it is characterised in that：It includes A class terrestrial reference control sub-step
Suddenly, the combination of one or more of B class terrestrial reference control sub-step and C class terrestrial reference control sub-step；
Described A class terrestrial reference control sub-step includes following many sub-steps：
S11：When automatic guided vehicle is priority pass terrestrial reference by terrestrial reference recognition unit reading A class terrestrial reference, its AGV controller is sentenced
Whether break this automatic guided vehicle achieved with the current pressure right of possession corporeal right, if this automatic guided vehicle has been achieved with forcing the right of possession corporeal right, should
Automatic guided vehicle continues to run with；
S12：If this automatic guided vehicle does not obtain the pressure right of possession corporeal right, whether its AGV controller judge this automatic guided vehicle
Through obtaining the interim right of possession corporeal right, if this automatic guided vehicle has been achieved with the interim right of possession corporeal right, this automatic guided vehicle obtains pressure to be occupied
Power, it is current that AGV controller controls this automatic guided vehicle to continue；
S13：If this automatic guided vehicle does not obtain the interim right of possession corporeal right, detect whether its wireless communication module receives this traffic
The pressure right of possession corporeal right request broadcast singal that in control zone, neighbours' automatic guided vehicle sends；
S14：If this wireless communication module receives pressure right of possession corporeal right request broadcast singal, that is, this traffic control area is forced
Occupy, then this automatic guided vehicle obtains the interim right of possession corporeal right, AGV controller controls this automatic guided vehicle parking waiting；
S15：If this wireless communication module is not received by forcing right of possession corporeal right request broadcast singal, that is, this traffic control area does not have
It is forced to occupy, then detect whether its wireless communication module receives what neighbours' automatic guided vehicle in this traffic control area sent
Interim right of possession corporeal right request broadcast singal；
S16：If this wireless communication module is not received by interim right of possession corporeal right request broadcast singal, that is, this traffic control area does not have
Occupied by neighbours' automatic guided vehicle, then this automatic guided vehicle obtains and forces the right of possession corporeal right, AGV controller controls this unmanned carrying temporarily
Car continues current；
S17：If this wireless communication module receives interim right of possession corporeal right request broadcast singal, that is, this traffic control area is forced
Occupy, then this automatic guided vehicle passes through wireless communication module to neighbours' automatic guided vehicle broadcast pressure right of possession corporeal right request signal；
S18：If within a certain period of time, wireless communication module be not received by the pressure right of possession corporeal right that neighbours' automatic guided vehicle sends please
Seek signal, then this automatic guided vehicle obtains and forces the right of possession corporeal right, it is current that AGV controller controls this automatic guided vehicle to continue；
S19：If within a certain period of time, wireless communication module receives the pressure right of possession corporeal right request letter that neighbours' automatic guided vehicle sends
Number, this automatic guided vehicle obtains the interim right of possession corporeal right, and AGV controller controls this automatic guided vehicle parking waiting；
Described B class terrestrial reference control step includes following many sub-steps：
S21：When automatic guided vehicle reads B class terrestrial reference by terrestrial reference recognition unit and avoids control terrestrial reference, AGV controller judges
Whether this automatic guided vehicle is achieved with the current pressure right of possession corporeal right, if this automatic guided vehicle has been achieved with forcing the right of possession corporeal right, this is no
People's mover continues current；
S22：If this automatic guided vehicle does not obtain the pressure right of possession corporeal right, whether judge it achieved with the current interim right of possession corporeal right, if
This automatic guided vehicle has been achieved with the interim right of possession corporeal right, then this automatic guided vehicle continues to pass through；
S23：If this automatic guided vehicle does not obtain the interim right of possession corporeal right, detect whether its wireless communication module receives pressure and account for
Have the right to ask broadcast singal；
S24：If wireless communication module receives pressure right of possession corporeal right request broadcast singal, that is, this traffic control area is by neighbours no
People's mover is forced to occupy, then this automatic guided vehicle obtains the interim right of possession corporeal right, and parking waiting；
S25：If wireless communication module be not received by force the right of possession corporeal right request broadcast singal, that is, this traffic control area not by
Neighbours' automatic guided vehicle is forced to occupy, then detect whether its wireless communication module receives interim right of possession corporeal right request broadcast singal；
S26：If wireless communication module receives interim right of possession corporeal right request broadcast singal, that is, this traffic control area is by neighbours no
People's mover occupies temporarily, then this automatic guided vehicle obtains and waits the right of possession corporeal right, and parking waiting；
S27：If wireless communication module is not received by interim right of possession corporeal right request broadcast singal, that is, this traffic control area not by
Neighbours' automatic guided vehicle occupies temporarily, then this automatic guided vehicle obtains the interim right of possession corporeal right, and continues to pass through；
Described C class terrestrial reference control step includes following many sub-steps：
S31：When automatic guided vehicle decontrols terrestrial reference by terrestrial reference recognition unit reading C class terrestrial reference, this automatic guided vehicle
Discharge its current right of possession corporeal right, release right of possession corporeal right signal to the neighbours' automatic guided vehicle broadcast in this traffic control area, and continue
Current.
8. a kind of AGV traffic control method according to claim 6 it is characterised in that：It also includes radio request signal
Process sub-step, described broadcast process step includes following many sub-steps：
S41：After automatic guided vehicle enters traffic control area, when this automatic guided vehicle is in running, receive neighbours no
During the broadcast singal that people's mover sends, identification first judges whether this broadcast singal is to wait right of possession corporeal right request signal；
S42：If this broadcast singal is to wait for right of possession corporeal right request signal, this automatic guided vehicle preserves original state and continues to run with；
S43：If rather than waiting for right of possession corporeal right request signal, identification, this broadcast singal judges whether this broadcast singal is to occupy temporarily
Power request signal；
S44：If this broadcast singal is interim right of possession corporeal right request signal, this automatic guided vehicle preserves original state and continues to run with；
S45：If this broadcast singal is not interim right of possession corporeal right request signal, identification judges whether this broadcast singal is that pressure occupies
Power request signal；
S46：If this broadcast singal is to force right of possession corporeal right request signal, judge whether this automatic guided vehicle has been achieved with pressure and account for
Have the right；
If achieved with forcing the right of possession corporeal right, this automatic guided vehicle occupies this automatic guided vehicle to the broadcast pressure of neighbours' automatic guided vehicle
Information, and preserve original state and continue to run with；
If this automatic guided vehicle does not obtain the pressure right of possession corporeal right, judge whether this automatic guided vehicle has been achieved with occupying temporarily
Power；
If this automatic guided vehicle is achieved with the interim right of possession corporeal right, this automatic guided vehicle parking waiting；
If this automatic guided vehicle does not obtain the interim right of possession corporeal right, this automatic guided vehicle preserves original state and continues to run with；
S47：If this broadcast singal is not to force right of possession corporeal right request signal, identification judges whether this broadcast singal is that releasing occupies
Power request signal；
If this broadcast singal is to release right of possession corporeal right request signal, judge whether this automatic guided vehicle has been achieved with pressure and occupy
Power；
If achieved with forcing the right of possession corporeal right, this automatic guided vehicle occupies this automatic guided vehicle to the broadcast pressure of neighbours' automatic guided vehicle
Information, and preserve original state and continue to run with；
If this automatic guided vehicle does not obtain the pressure right of possession corporeal right, judge whether this automatic guided vehicle has been achieved with occupying temporarily
Power；
If this automatic guided vehicle is achieved with the interim right of possession corporeal right, this automatic guided vehicle obtains forces the right of possession corporeal right, and starts to pass through；
If this automatic guided vehicle does not obtain the interim right of possession corporeal right, judge whether this automatic guided vehicle has been achieved with wait and occupy
Power；
If achieved with waiting the right of possession corporeal right, this automatic guided vehicle obtains the interim right of possession corporeal right to this automatic guided vehicle, and starts to pass through；
If this automatic guided vehicle does not obtain the wait right of possession corporeal right, this automatic guided vehicle keeps original state to continue to run with.
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