CN105974925A - AGV trolley driving control method and system - Google Patents
AGV trolley driving control method and system Download PDFInfo
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- CN105974925A CN105974925A CN201610571795.0A CN201610571795A CN105974925A CN 105974925 A CN105974925 A CN 105974925A CN 201610571795 A CN201610571795 A CN 201610571795A CN 105974925 A CN105974925 A CN 105974925A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000004888 barrier function Effects 0.000 claims description 71
- 230000007246 mechanism Effects 0.000 claims description 5
- 230000001276 controlling effect Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000007306 functionalization reaction Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to an AGV trolley driving control method and system. The system comprises a central control unit which is used for controlling each AGV trolley. The central control unit emits a dispatching instruction to the control unit of each AGV trolley and controls movement of the AGV trolley. The AGV trolley is provided with a sensor used for detecting an obstacle. The sensor transmits the acquired obstacle signals to the control unit. The control unit performs judgments according to the obstacle signals. The control unit emits a control instruction to control movement speed of the AGV trolley. An obstacle database is established by utilizing existence time and time duration of the obstacle acquired by the sensor. The database sets an obstacle appearing threshold according to the generating location and frequency of the obstacle. When the number of appearing times of the obstacle of a certain segment is greater than or less than the set threshold, the control unit controls the speed of the trolley when the AGV trolley moves to the segment so as to ensure smooth passing of the obstacle, the conflict can be avoided, and effective operation of the whole AGV system can be ensured.
Description
Technical field
The present invention relates to AGV dolly technical field, be specifically related to control method and system that a kind of AGV dolly travels.
Background technology
AGV automatic Guided Vehicle is that one can be automatically performed goods dress in the case of dispatching patcher or manual command
Unload and carry can only transporting equipment, therefore AGV automatic Guided Vehicle be widely used in logistics sorting warehouse in, current industry
The AGV navigation control system of interior appearance is mainly by modes such as magnetic guidance, inertial guide, las er-guidance, and wherein inertia is led
Draw, the mode of las er-guidance due to external interference resistance more weak, the magnetic guidance that is far from is widely used.But it is as flexibility
The introducing of manufacture system, the production line of enterprise becomes more complicated, and the demand of material is more flexible and changeable.AGV is whole
Being placed with multiple on magnetic orbital in warehouse, advancing of many AGV is controlled, at the cross of magnetic conductance rail by the control unit of system
Crossing, the AGV dolly that the magnetic conductance rail speed of service is different, magnetic conductance rail also can exist barrier, this barrier is mainly
The pedestrian being present in warehouse or other objects moved, the barrier of above-mentioned movement is often from the operation of AGV dolly
Magnetic orbital shuttles back and forth, and when AGV dolly is when running into above-mentioned barrier, is typically difficult to be adjusted, AGV dolly and barrier
Can produce collision, therefore driving safety and the stability of the many AGV of magnetic guidance formula brings huge challenge.
Summary of the invention
It is an object of the invention to: the control method providing a kind of AGV dolly to travel and system, it is possible to AGV dolly
Traveling is adjusted, it is to avoid the conflict that the traveling of AGV dolly produces, and improves the safety and stability that many AGV travel.
For achieving the above object, the control method that AGV dolly travels the technical scheme is that
Method comprises the steps:
The control method that AGV dolly travels, method comprises the steps:
A), set up the electronic chart that AGV dolly is walked on magnetic orbital, determine the position that dolly is current；
B), on AGV dolly, be provided for the sensor of detecting obstacles thing, and record sensor detect barrier time
Between put t1；
C), when the sensor on AGV dolly detects that barrier leaves, and record sensor and detect that barrier leaves
Time point t2, calculate barrier existence time D=t2-t1；
D), record on a certain section L and when a period of time TD number of times Ct, AGV dolly of barrier occurs at this section
Between in TD through the number of times C of this section L, calculate AGV dolly and total duration T of barrier occur, set this section and occur
The frequency threshold Pf of barrier；
Then, probability P=Ct/C that this section L breaks down；There is a length of Ta=T/Ct of mean time of barrier in this section L,
As P >=Pf, then predicting in this time period TD and this section L there will be barrier, control unit sends control
System instruction is to AGV dolly, and regulates the little vehicle speed of AGV so that AGV dolly performs deceleration instruction；
As P≤Pf, then predict in this time period TD and this section L do not have barrier, AGV dolly according to
Normal speed travels；
As P=0, AGV dolly normally travels.
The present invention there is also following characteristics:
As P >=Pf, control unit sends control instruction to AGV dolly so that AGV dolly is according to speed S=Scur*P*k
Travelling, wherein Scur is that AGV dolly is finding the travel speed before barrier, and k is proportionality coefficient；So that AGV
When dolly travels near barrier, barrier has been moved off the path that AGV dolly travels.
As P≤Pf, if sensor is detected barrier or is blocked up to section, front, then according to P by broadcast reception
Situation during >=Pf travels.
For achieving the above object, the control system that AGV dolly travels the technical scheme is that
System includes the central control unit for controlling each AGV dolly, and central control unit sends dispatch command to respectively
Control unit on AGV dolly, and control the movement of AGV dolly, AGV dolly is provided with for detecting obstacles thing
Sensor, the obstacle signal of sensor acquisition sends to control unit, and control unit judges according to obstacle signal,
Control unit sends control instruction and controls the translational speed of AGV dolly.
The present invention there is also following characteristics:
Being provided with emergency stop switch on AGV dolly, described emergency stop switch is for controlling the power-off of the drive mechanism of AGV dolly
And energising.
Being provided with limit switch in the middle of the pallet fork of described AGV dolly, limit switch is for controlling the drive mechanism of AGV dolly
Power-off and energising.
Compared with prior art, the technique effect that the present invention possesses is: utilize the electronic chart that AGV dolly automatically generates,
Judge the position at AGV dolly place, then allow AGV dolly run on magnetic orbital, utilize sensor acquisition barrier
The time point existed and time span, thus set up barrier data base, database root according to the generation of barrier place,
Frequency etc., and set the threshold value that a barrier occurs, the number of times that the barrier of a certain section occurs is more or less than setting
During threshold value, when AGV dolly marches to this section, control unit controls the speed of dolly, to guarantee that barrier can be smooth
Pass through, it is to avoid produce conflict, it is ensured that effective operation of whole AGV system.
Accompanying drawing explanation
Fig. 1 is the logic diagram of the control system that AGV dolly travels；
Fig. 2 is the electronic chart schematic diagram that AGV dolly travels；
Fig. 3 is two AGV dollies view of row in the same direction；
Fig. 4 is that many AGV dollies arrive the view at same crossing at synchronization；
Fig. 5 is the view occurring in that the barrier not moved on the path of AGV trolley travelling；
Fig. 6 is the hybrid control structure figure of AGV dolly；
Fig. 7 is the system assumption diagram of AGV dolly；
Fig. 8 is the control structure figure that the centralization of AGV dolly combines with separately continence patterns.
Detailed description of the invention
In conjunction with Fig. 1 to Fig. 8, the present invention is further described:
The control method travelled first against AGV dolly, is explained in detail:
The control method that AGV dolly travels, method comprises the steps:
A), set up the electronic chart that AGV dolly 10 is walked on magnetic orbital, determine the position that dolly is current；
B), on AGV dolly 10, it is provided for the sensor 20 of detecting obstacles thing, and records sensor 20 and detect
The time point t1 of barrier；Described barrier is moveable pedestrian or article, moveable obstacle in being mainly warehouse
Thing is walked on the magnetic orbital that AGV dolly 10 runs.
C), when the sensor 20 on AGV dolly 10 detects that barrier leaves, and record sensor 20 and detect
The time point t2 that barrier leaves, calculates the existence time D=t2-t1 of barrier；
D), record on a certain section L and number of times Ct, AGV dolly 10 of barrier occur in this section at a period of time TD
Through the number of times C of this section L in time TD, calculate AGV dolly 10 and total duration T of barrier occurs, set this road
There is the frequency threshold Pf of barrier in section；Above-mentioned barrier on all of section, meets with barrier in whole warehouse
Time is respectively D1, D2, D3 ..., then there is total duration T=D1+D2+D3 of barrier in AGV dolly 10 ....
Then, probability P=Ct/C that this section L breaks down；There is a length of Ta=T/Ct of mean time of barrier in this section L,
As P >=Pf, then predicting in this time period TD and this section L there will be barrier, control unit 30 sends
Control instruction is to AGV dolly 10, and regulates AGV dolly 10 speed so that AGV dolly 10 performs deceleration instruction；
As P≤Pf, then predicting in this time period TD and this section L does not haves barrier, AGV dolly 10 is pressed
Travel according to normal speed；
As P=0, AGV dolly 10 normally travels.
Shown in Fig. 2, allow AGV dolly 10 normally travel on magnetic orbital, utilize AGV dolly 10 to automatically generate
Electronic chart, the coordinate location device that AGV dolly 10 carries can interpolate that the position at AGV dolly 10 place, AGV
The electronic chart that dolly 10 generates, it is possible to judge AGV dolly 10 specifically traveling on that paths, then allow AGV
Dolly 10 runs on magnetic orbital, and utilize the signal of sensor acquisition barrier and barrier leaves signal, and utilizes
The time point of the monitor record barrier existence carried on AGV dolly 10 and time span, thus set up barrier
Data base, database root is according to the place of the generation of barrier, frequency etc., and sets the frequency threshold that a barrier occurs
Pf, when the number of times that the barrier of a certain section occurs is more or less than the frequency threshold Pf set, AGV dolly 10 marches to
During this section, control unit 30 controls the speed of AGV dolly 10, to guarantee that barrier can pass through, it is to avoid produce
Raw conflict, it is ensured that whole AGV dolly 10 is positioned at warehouse can stable operation；
Above-mentioned barrier is probably the AGV dolly 10 of straight-line travelling itself, it is also possible to be walking on magnetic conductance rail
Pedestrian or article, or many AGV dollies 10 be positioned at position, crossroad produce conflict；
In conjunction with Fig. 3, it is that two AGV dollies 10 are gone in the same direction, but the speed of the AGV dolly 10 being located behind is more than
The AGV dolly 10 in front, the AGV dolly 10 that therefore will there is rear within the limited time catch up with the AGV in front
The situation of dolly 10, the AGV dolly 10 at rear must be held consultation with the AGV dolly 10 in front in this case,
Or the AGV dolly 10 in front adds fast speed, or AGV dolly 10 slow-down at rear, when speed regulates not
When can meet collisionless condition, the AGV dolly 10 at rear can only select parking waiting, after situation allows, is further continued for
Run.In this case actual operation mode is that first the AGV dolly 10 at rear is broadcasted operation and be obstructed information, is positioned at
Front AGV dolly 10 on same path receive information after again AGV dolly 10 with rear carry out point-to-point negotiation；
In conjunction with Fig. 4, many AGV dollies 10 arrive same crossing at synchronization, and the feelings of contention crossroad occur
Condition, AGV dolly 10 can be held consultation according to the strategy set in this case, determines and passes sequentially through the suitable of crossroad
Sequence；
Under special circumstances, originally planned in conjunction with Fig. 5, AGV dolly 10 and occur in that on path to be run and not move
Barrier, this is probably a unknown object in external environment, it is also possible to stop at there do not run other
AGV dolly 10；
If AGV dolly 10 can judge there is barrier on certain paths in advance, then need to be kept away by path planning algorithm
Open that path segments, if cannot avoid, or do not know in advance to there is such obstacle, until running to herein
Find obstacle by sensor 20, then first AGV dolly 10 expects that this is an AGV dolly 10 stopped, broadcast
Run into complaint message, it is desirable to obtain the response of front object, allow it move with release way section, if communication is come to nothing,
Then AGV dolly 10 can only select parking waiting, and broadcasts the information that obstacle cannot process, and to ipc monitor system
System this situation of Real-time Feedback, the timely unusual circumstance of system manager, and carry out the process being correlated with.
As the preferred version of the present invention, as P >=Pf, control unit 30 sends control instruction to AGV dolly 10,
AGV dolly 10 is travelled according to speed S=Scur*P*k, wherein Scur be AGV dolly 10 find barrier it
Front travel speed, k is proportionality coefficient；During so that AGV dolly 10 travels near barrier, barrier is
Leave the path that AGV dolly 10 travels.
As P≤Pf, it is simply that situation about occurring for accompanying drawing, if sensor 20 detects barrier or by broadcast
Receive section, front to block up, then travel according to situation during P >=Pf.
The control system travelled below for AGV dolly, is explained in detail:
System includes the central control unit 40 for controlling each AGV dolly 10, and central control unit 40 sends scheduling
Instruct to the control unit 30 on each AGV dolly 10, and control the movement of AGV dolly 10, AGV dolly 10 sets
Being equipped with the sensor 20 for detecting obstacles thing, the obstacle signal that sensor 20 gathers sends to control unit 30, control
Unit 30 processed judges according to obstacle signal, and control unit 30 sends control instruction and controls the movement of AGV dolly 10
Speed.
When running into the most urgent situation, AGV dolly 10 being provided with emergency stop switch, described emergency stop switch is used for controlling
The power-off of the drive mechanism of AGV dolly 10 processed and energising, emergency switch can make AGV dolly 10 quickly stop.
The problem that barrier cannot stop is encountered when loading pallet, at the pallet fork of AGV dolly 10 for AGV dolly 10
One limit switch of middle increase, to ensure the safety that AGV dolly 10 is freighted, unloaded.
Above-mentioned sensor 20 is infrared obstacle detection device, makes AGV dolly 10 have the function detection of detecting obstacles thing.
And when AGV dolly 10 occurs accident in the process of moving, finds barrier, make AGV dolly 10 to slow down
Stop, it is to avoid AGV dolly 10 strikes obstacles, thus greatly improve the safety that AGV dolly 10 travels.
Shown in Fig. 6 and Fig. 8, owing to AGV uses central control unit 40 to each AGV in flexible manufacturing system
Dolly 10 uses functionalization control, and multimachine, to central control unit 40 row multi-request circulation pattern, causes scheduling system
System produces deadlock situation and the defect of system loading increase.Therefore, control model uses centralization to tie mutually with separately self-control
The pattern closed.
Shown in Fig. 7, scheduler task issued by central control unit 40, and each AGV dolly 10 has the sense of oneself
Know system, communication system, decision system and execution system, it is possible to the extraneous circumstance perceived according to oneself, including various
Sensor obtain environmental information and communicate the information obtained, according to the decision-making of oneself with other AGV dollies 10
System, infers next step action.
Because each AGV dolly 10 in system can self carry out calculating, decision-making, therefore need not central authorities and control single
Unit 40 carries out unified calculating, analyzes work, so system generally uses distributed control structure, calculating task is divided
Stand is arrived with each AGV dolly 10, can carry out the point-to-point or letter of point-to-multipoint between each AGV dolly 10
Breath is mutual, and without the forwarding through central authorities' route, therefore communication load is also averaged.
Claims (6)
- The control method that 1.AGV dolly travels, it is characterised in that: method comprises the steps:A), set up the electronic chart that AGV dolly (10) is walked on magnetic orbital, determine the position that dolly is current；B), on AGV dolly (10), it is provided for the sensor (20) of detecting obstacles thing, and records sensor (20) The time point t1 of barrier detected；C), when the sensor (20) on AGV dolly (10) detects that barrier leaves, and sensor (20) is recorded The time point t2 that barrier leaves detected, calculate the existence time D=t2-t1 of barrier；D), record on a certain section L and occur that number of times Ct, AGV dolly (10) of barrier exists at a period of time TD Through the number of times C of this section L in this section of time TD, calculate AGV dolly (10) and total duration T of barrier occurs, if There is the frequency threshold Pf of barrier in this section fixed；Then, probability P=Ct/C that this section L breaks down；There is a length of Ta=T/Ct of mean time of barrier in this section L, As P >=Pf, then predict in this time period TD and this section L there will be barrier, control unit (30) Send control instruction to AGV dolly (10), and regulate AGV dolly (10) speed so that AGV dolly (10) is held Row deceleration instruction；As P≤Pf, then predict in this time period TD and this section L does not haves barrier, AGV dolly (10) Travel according to normal speed；As P=0, AGV dolly (10) normally travels.
- The control method that AGV dolly the most according to claim 1 travels, it is characterised in that: as P >=Pf, Control unit (30) sends control instruction to AGV dolly (10) so that AGV dolly (10) is according to speed S=Scur*P*k Travelling, wherein Scur is that AGV dolly (10) is finding the travel speed before barrier, and k is proportionality coefficient；With When AGV dolly (10) is travelled near barrier, barrier has been moved off the path that AGV dolly (10) travels.
- The control method that AGV dolly the most according to claim 1 and 2 travels, it is characterised in that: as P≤Pf Time, if sensor (20) is detected barrier or is blocked up to section, front, then according to P >=Pf by broadcast reception Time situation travel.
- The control system that 4.AGV dolly travels, it is characterised in that: system includes for controlling each AGV dolly (10) Central control unit (40), central control unit (40) sends the dispatch command control to each AGV dolly (10) Unit processed (30), and control the movement of AGV dolly (10), AGV dolly is provided with for detecting obstacles on (10) The sensor (20) of thing, the obstacle signal that sensor (20) gathers sends to control unit (30), control unit (30) Judging according to obstacle signal, control unit (30) sends control instruction and controls the translational speed of AGV dolly (10).
- The control system that AGV dolly the most according to claim 4 travels, it is characterised in that: AGV dolly (10) On be provided with emergency stop switch, described emergency stop switch is used for controlling power-off and the energising of the drive mechanism of AGV dolly (10).
- The control system that AGV dolly the most according to claim 4 travels, it is characterised in that: described AGV dolly (10) being provided with limit switch in the middle of pallet fork, limit switch is used for controlling the power-off of the drive mechanism of AGV dolly (10) And energising.
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| CN201610571795.0A CN105974925B (en) | 2016-07-19 | 2016-07-19 | The control method of AGV trolley traveling |
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Cited By (12)
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| CN109839935A (en) * | 2019-02-28 | 2019-06-04 | 华东师范大学 | The paths planning method and equipment of more AGV |
| CN110097760A (en) * | 2019-04-18 | 2019-08-06 | 襄阳风神物流有限公司 | A kind of clearance obstruction system of AGV |
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| CN111065981A (en) * | 2017-09-25 | 2020-04-24 | 日本电产新宝株式会社 | Moving body and moving body system |
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| CN111065981A (en) * | 2017-09-25 | 2020-04-24 | 日本电产新宝株式会社 | Moving body and moving body system |
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| CN109839935A (en) * | 2019-02-28 | 2019-06-04 | 华东师范大学 | The paths planning method and equipment of more AGV |
| CN110097760A (en) * | 2019-04-18 | 2019-08-06 | 襄阳风神物流有限公司 | A kind of clearance obstruction system of AGV |
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| CN112706159A (en) * | 2019-10-25 | 2021-04-27 | 山东省公安厅高速公路交通警察总队 | Robot control method and device and robot |
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Inventor after: Li Hong Inventor after: Gao Lingling Inventor before: Li Hong Inventor before: Gao Linlin |