CN107272698A - A kind of dispatch control method and system applied to many AGV cooperating operations - Google Patents
A kind of dispatch control method and system applied to many AGV cooperating operations Download PDFInfo
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- G—PHYSICS
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- 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
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Abstract
The present invention relates to a kind of dispatch control method, apparatus and system applied to many AGV cooperating operations, wherein method includes：Plan current AGV current task walking path；Whether there is conflict point on detection current task walking path, have, turn to seize judgment step；Otherwise planning is carrying out path and turns task execution step；Farthest not conflict point is found out as path, detection is carrying out to be carrying out path and do not turn task execution step for space-time, detection is carrying out path and judges whether to meet preemptive condition for space-time, is to seize, otherwise waits for preset time and turn conflict point detecting step；Control current AGV advances execution task, be carrying out path finish judge current task whether there is residual paths, be to turn conflict point detecting step, current AGV otherwise switched into idle condition.The present invention can meet many AGV without blocking, collisionless operation, it is ensured that AGV operating efficiency.
Description
Technical field
The present invention relates to the technical field of automated guided vehicle, more particularly to it is a kind of applied to many AGV cooperating operations
Dispatch control method, apparatus and system.
Background technology
AGV (Automated Guided Vehicle) is implied that " automated guided vehicle ".It is industrial 4.0 wisdom factory
Important means of transport, AGV operational efficiency largely affects whole unmanned factory's production efficiency.AGV is used as wisdom
Change the vehicles of unmanned factory, carrying workpiece transhipment task is connected to each production unit module in wisdom factory high in order
The operating of effect.Therefore, during many AGV work compounds whole factory's traffic route must efficiently, in order, safety operation.
At present, conflict if the path of current AGV planning has with other AGV paths planned, that is, there is the path overlapped
Point, then current AGV need to restart operation, or the AGV conflicted therewith after waiting the AGV completion tasks conflicted therewith in situ
Restart operation after waiting current AGV completions task in situ.This many AGV dispatch control method is substantially unreasonable, also drops
The low efficiency of many AGV cooperating operations.
The content of the invention
The technical problem to be solved in the present invention is, for the low defect of the scheduling controlling efficiency of AGV in the prior art, carries
For a kind of dispatch control method, apparatus and system applied to many AGV cooperating operations.
There is provided a kind of dispatch control method applied to many AGV cooperating operations, including following step for first aspect present invention
Suddenly：
The current task walking path of path planning step, the current AGV of planning；
Whether conflict point is had on conflict point detecting step, the detection current task walking path, and the conflict point is to work as
The path point that preceding task walking path is overlapped with the walking path of other AGV in dispatcher-controlled territory；Have, turn to seize judgment step；It is no
Then planning is carrying out path and turns task execution step；
Seize judgment step, find out farthest not conflict point as path is carrying out, it is not sky that detection, which is carrying out path,
When turn task execution step, detection is carrying out path and judges whether to meet preemptive condition for space-time, is to seize, otherwise waits for
Preset time turns conflict point detecting step；
Task execution step, the current AGV advances execution task of control, are carrying out path and finish whether judge current task
There are residual paths, be, turn conflict point detecting step and determine whether conflict using residual paths as current task walking path
Point, otherwise switches to idle condition by current AGV.
According in the dispatch control method of the present invention applied to many AGV cooperating operations, it is preferable that described to seize
Judge whether by below equation to meet preemptive condition in judgment step：
||PB-PC||≥TQ；
Wherein PBFor the conflict AGV positions conflicted with current AGV, PCFor the position of conflict point, | | PB-PC| | for punching
Prominent times of the AGV from position to conflict point position；The TQThe time of conflict point is seized for current AGV.
According in the dispatch control method of the present invention applied to many AGV cooperating operations, it is preferable that described to seize
Calculated in judgment step by below equation：
Wherein TBZFor the turning time for the AGV that conflicts, CBZBe conflict AGV to conflict point position turning quantity,For
Conflict AGV from position to the air line distance of conflict point position walking temporal summation, VBFor the speed of travel for the AGV that conflicts.
According in the dispatch control method of the present invention applied to many AGV cooperating operations, it is preferable that the task
Performing step includes：
1) control current AGV to advance and reach a new path point；
2) judge whether current new path point is the terminal for being carrying out path, is to go to step 3), otherwise goes to step
1)；
3) judge that current task whether there is residual paths, be to go to step 2) to walk residual paths as current task
Path determines whether conflict point, and current AGV otherwise is switched into idle condition.
According in the dispatch control method of the present invention applied to many AGV cooperating operations, it is preferable that described to seize
When judging and meeting preemptive condition AGV will be also preempted in judgment step run to most be preempted far away a little and by subsequent path point
Labeled as sky.
According in the dispatch control method of the present invention applied to many AGV cooperating operations, it is preferable that the path
Current AGV current task walking path is planned in planning step by below equation：
Wherein { PAWPBe current AGV current task walking path point set,It is current AGV from position
Path point set when travel time T to current task final position is minimum, PAFor current AGV positions, PAFTo be current
The position of AGV current task terminal, T=| | PA-PAF| | for current AGV from position to the position of current task terminal
Travel time, TAZFor current AGV turning time, CAZThe turning quantity of current task is completed for current AGV,For
Current AGV from position to the position walking of current task terminal air line distance temporal summation, VAFor current AGV row
Walk speed.
According in the dispatch control method of the present invention applied to many AGV cooperating operations, it is preferable that the conflict
When point detecting step has conflict point on current task walking path is detected, judge whether conflict AGV state is idle, be to advise
Mark conflict AGV avoidance task, otherwise turn to seize judgment step using farthest not conflict point as being carrying out path；Or
The judgment step of seizing is detecting that be carrying out path does not judge whether conflict AGV state is idle, is to plan for space-time
Go out conflict AGV avoidance task, otherwise judge whether to meet preemptive condition, be to seize, otherwise wait for preset time and turn punching
Bump detecting step.
Second aspect of the present invention there is provided a kind of dispatching control device applied to many AGV cooperating operations, including：
Path planning unit, the current task walking path for planning current AGV；
Collision detection unit, for detecting whether there is conflict point on the current task walking path, the conflict point is
The path point that current task walking path is overlapped with the walking path of other AGV in dispatcher-controlled territory, has, and it is single that judgement is seized in startup
Member, otherwise planning is carrying out path and starts task executing units；
Judging unit is seized, path is carrying out not for finding out farthest not conflict point as path, detection is carrying out
Start task executing units for space-time, detection is carrying out path and judges whether to meet preemptive condition for space-time, is to seize, no
Preset time is then waited, collision detection unit is again started up；
Task executing units, for controlling current AGV advances execution task, are carrying out path and finish judgement current task
With the presence or absence of residual paths, it is to start collision detection unit to determine whether residual paths as current task walking path
Conflict point, otherwise switches to idle condition by current AGV.
Third aspect present invention is there is provided a kind of Dispatching Control System applied to many AGV cooperating operations, including such as preceding institute
The dispatching control device applied to many AGV cooperating operations stated, and the multiple AGV communicated therewith.
According in the Dispatching Control System of the present invention applied to many AGV cooperating operations, it is preferable that the multiple
AGV sends location information to the dispatching control device by reading the RFID tag on ground.
Implement the dispatch control method applied to many AGV cooperating operations, the device and system of the present invention, with following beneficial
Effect：
1st, the present invention first runs to up to farthest not conflict point, can then believed according to new map after AGV detects conflict
Cease to update oneself is carrying out path, if AGV reaches that the previous point and conflict point of conflict point are not released still,
Now judge whether to seize.
2nd, further, present invention also offers it is a kind of it is preferred seize determination methods, and turning time can be combined and turned
Curved quantity and the speed of travel optimize specific Time Calculation method.
3rd, further, the present invention is when current AGV detects the AGV being at a stop on path in idle condition, to the free time
AGV selects a point recently not on current AGV walking paths as avoidance point and cooks up avoidance path so that current
AGV can be with normally travel.
Brief description of the drawings
Fig. 1 is the flow chart of the dispatch control method applied to many AGV cooperating operations according to first embodiment of the invention；
Fig. 2 is to seize scheduling schematic diagram according to the dispatch control method of the invention applied to many AGV cooperating operations；
Fig. 3 is the flow chart of the dispatch control method applied to many AGV cooperating operations according to second embodiment of the invention；
Fig. 4 is the avoidance scheduling schematic diagram applied to the dispatch control method of many AGV cooperating operations according to the present invention；
Fig. 5 is the flow chart of the dispatch control method applied to many AGV cooperating operations according to third embodiment of the invention；
Fig. 6 is the module frame of the dispatching control device applied to many AGV cooperating operations according to the preferred embodiment of the present invention
Figure；
Fig. 7 is according to intelligently adding in the dispatching control device applied to many AGV cooperating operations of the preferred embodiment of the present invention
The schematic diagram of deceleration.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained on the premise of creative work is not made, belongs to the scope of protection of the invention.
Referring to Fig. 1, being the dispatch control method applied to many AGV cooperating operations according to first embodiment of the invention
Flow chart.As shown in figure 1, the dispatch control method applied to many AGV cooperating operations that the embodiment is provided is at least including following
Step：
First, in step S101, execution route planning step plans current AGV current task walking path.Deserve
Preceding task walking path refer to current AGV from present position the walking path to the position of current task terminal.When to AGV
During distribution task, the AGV allocation rules that can be used using any this area, or the path rule used using any this area
The method of drawing plans current task walking path.In some embodiments of the invention, an arrival can be planned to current AGV
Task terminal most short path is used as current task walking path.
Preferably, current AGV current task walking path is planned in step S101 by below equation：
Wherein { PAWPBe current AGV current task walking path point set, PAWPWalked for current AGV current task
Path point,Path point when the travel time T for being current AGV from position to current task final position is minimum
Set, PAFor current AGV positions, PAFFor the position of current AGV current task terminal, T=| | PA-PAF| | it is current
AGV from position to the position of current task terminal travel time, that is to say, that the path { P of current AGV planningAwPBe
Current task walking path point set, when the time equal to current AGV from position to the position of current task terminal is minimum
Path point set.And TAZFor current AGV turning time, CAZThe turning quantity of current task is completed for current AGV,For current AGV from position to the position walking of current task terminal air line distance temporal summation.SALFor
Current AGV from position to the position walking of current task terminal each subpath air line distance, VAFor current AGV's
The speed of travel, when AGV is non-at the uniform velocity to walk, the VAThe preferably current AGV average speed of travel.
Then, collision detection step, including step S102 and step S103 are performed：
In step s 102, whether the current task walking path on have conflict point, the conflict point is current if detecting
The path point that task walking path is overlapped with the walking path of other AGV in dispatcher-controlled territory, has, and goes to step S104；Otherwise step is turned
Rapid S103.
The present invention detects on the current task walking path whether there is conflict point in the following manner：First, in order to not
Allow AGV to bump against, before AGV advance execution tasks, plan AGV walking path in advance, and by the AGV walking paths planned
On path point all mark, illustrate to collide in these path points.Then, current AGV current task is detected
Whether path point labeled on is had on walking path, if determining that the current task that the path point is current AGV is walked
The path point that path is overlapped with the walking path of other AGV in dispatcher-controlled territory.Path point herein can refer to road in dispatcher-controlled territory
The location point being manually set on road, or it is disposed with the location point of RFID tag.
In step s 103, planning is carrying out path.The definition in the path being carrying out in the present invention is：Current AGV
In the process of running, because the point in front is probably conflict point, therefore the current AGV paths for proceeding to point as far as possible are made
To be carrying out path.If there is conflict point in front, this is carrying out path to proceed to farthest from current AGV positions
The not path of the position of conflict point.If front does not have conflict point, it is to advance from current AGV positions to be carrying out path
To the path of terminal.
In step S104~S108, judgment step is seized in execution, including：
In step S104, farthest not conflict point is found out as being carrying out path.
In step S105, detection is carrying out whether path is empty, is to go to step S106, otherwise goes to step S109.
Path is carrying out in the step and then represents to have arrived at farthest not conflict point, it is necessary to carry out seizing judgement to be empty.If
Execution route does not represent then to need to turn task execution step to move on to be empty.
In step s 106, judge whether to meet preemptive condition, be to go to step S107, otherwise go to step S108.
The present invention can judge whether to seize using a variety of methods.Preferably, this is seized in judgment step by following
Formula judges whether to meet preemptive condition：
||PB-PC||≥TQ；
When meeting above-mentioned formula, judgement meets preemptive condition, is seized.When being unsatisfactory for above-mentioned formula, judge not
Meet preemptive condition.Wherein PBFor the conflict AGV positions conflicted with current AGV, PCFor the position of conflict point, | | PB-PC||
Time for conflict AGV from position to conflict point position；The TQThe time of conflict point is seized for current AGV.
In above-mentioned formula：
Wherein TBZFor the turning time for the AGV that conflicts, CBZBe conflict AGV to conflict point position turning quantity,For
Conflict AGV from position to the air line distance of conflict point position walking temporal summation, SBLFor conflict AGV from position to
The distance of each subpath of conflict point position walking, VBFor the speed of travel for the AGV that conflicts, when AGV is non-at the uniform velocity to walk, the VB
Preferably conflict AGV the average speed of travel.
In step s 107, control current AGV to advance and seize conflict point., can will be current after conflict point is seized
The residual paths of task go to step S102 and have detected whether conflict point again as current task walking path.
Preferably, step S107 will also be preempted AGV and run to being most preempted far away a little simultaneously.That is, the step
The travel commands erasing of information for being preempted in the path of the original planning of AGV " being preempted a little " to " task terminal " is fallen in rapid, because
This, which is preempted AGV and only run to, is most preempted a little far away, and no longer carries out the walking of subsequent path point.Need to wait preset time
Detect whether these points have been released again afterwards, in order to judge whether to move on.
In step S108, preset time is waited, then the residual paths of current task are regard as current task walking road
Footpath, and go to step S102 and detected whether conflict point again.
In step S109~S112, task execution step is performed, including：
In step S109, control current AGV to advance and reach a new path point.The present invention can be in advance in scheduling
On the road in region, such as on the traveling road of plant area, a RFID tag is arranged every preset distance.Arranged on AGV
RFID card reader, the signal of the RFID tag on the road of dispatcher-controlled territory is read by the RFID card reader.The step
In by being communicated with AGV the current AGV can be controlled to advance on road, and by detecting whether AGV reads one
The signal of RFID tag detects whether it reaches a new path point, if current AGV reads a new RFID mark
The signal of label, then the AGV have arrived at the corresponding path point of the RFID tag.
In step s 110, detect whether current new path point is the terminal for being carrying out path, is to go to step
S111, otherwise goes to step S109.Step S109 and step S110 purpose are that having performed current AGV is carrying out path.
In step S111, judge that current task whether there is residual paths, be to go to step S102 to make residual paths
Conflict point is determined whether for current task walking path, S112 is otherwise gone to step.If current AGV does not have in preceding step S102
When detecting conflict point, then path is carrying out for current task walking path, the terminal for being carrying out path is as predecessor
The terminal of business, therefore without residual paths, represent that the current AGV has completed current task, go to step S112 and switch it to sky
Not busy state.If current AGV detects conflict point in preceding step S102, it is carrying out the terminal in path not conflict farthest
Point, therefore current task also has residual paths, it is necessary to go to step S102 using residual paths as current task walking path, and root
Judge whether also there is conflict point in residual paths according to new cartographic information, road is carrying out so as to update oneself
Footpath.
In step S112, current AGV is switched into idle condition, represents that the current AGV has completed current task.
Referring to Fig. 2, to seize scheduling signal applied to the dispatch control method of many AGV cooperating operations according to the present invention
Figure.As shown in Fig. 2 AGV-B was from No. 4 o'clock to No. 33, point performs task, has planned path, has been followed successively by 4-5-6-7-8-9-
37-36-35-21-34-33, these path points have been labeled.Now AGV-A receives an assignment, it is necessary to from No. 18 o'clock to No. 23
Point execution task, its dispatch control method is comprised the following steps that：
1) according to circumstances planning AGV-A current task walking path is 18-19-20-21-22-23.
2) conflict point has been detected whether, because No. 21 points are labeled, therefore has judged it for conflict point.
3) find out farthest not conflict point 20 conduct and be carrying out path.Path is carrying out for 18-19-20.
4) it is not that idle running task execution step is moved on that detection, which is carrying out path,；
5) control AGV-A advances and reaches a new path point 19.
6) detect whether current new path point is the terminal for being carrying out path, is not to go to step and 5) move on,
Until reaching No. 20 path points.
7) judge that current task whether there is residual paths, due to there is residual paths 21-23, therefore by residual paths
Whether 21-23 is rejudged as current task walking path has conflict point；
8) because now AGV-B just runs to No. 8 path point, No. 21 point is still within labeled state, so inspection
Conflict point 21 is measured, farthest not conflict point is found out as path is carrying out, it is sky to be now carrying out path.
9) it is sky that detection, which is carrying out path, judges whether to meet preemptive condition, because AGV-B just runs to No. 8 tunnel
Footpath point, after being computed：
If TQ=15s, then | | PB-PC||≥TQ；
Judgement meets preemptive condition, is seized.And run the AGV-B being preempted to being most preempted a little the i.e. the 35th far away
Number path point, and be sky by succeeding marker, i.e., it is empty by the 21st labelled notation.
10) residual paths 22-23 is rejudged whether have conflict point as current task walking path, now without punching
Bump, planning is carrying out path for 22-23, advances and up to No. 23 path point, judges current task without residual paths,
Current AGV-A is switched into idle condition.
As can be seen here, other robot gear is existed when a robot marked very long one section of path in the prior art
A distant place can then cause other robot to be constantly in inactive state, wait its conflict point to be released.And being applied to for the present invention is more
The dispatch control method of AGV cooperating operations solves the problem well, and the present invention reaches farthest after AGV detects conflict
Not after conflict point, oneself can be updated according to new cartographic information is carrying out path.If being carrying out path after updating
It is still empty, illustrates that robot has arrived the previous point and conflict point of conflict point and has not been released still.This when,
Allow system to judge current AGV and take the position relationship and time relationship between the conflict AGV of this point, so as to judge whether to rob
Account for.Also, present invention also offers it is a kind of it is preferred seize determination methods, and can be further combined with turning time and turning quantity
And the speed of travel optimizes specific Time Calculation method.
Referring to Fig. 3, being the dispatch control method applied to many AGV cooperating operations according to second embodiment of the invention
Flow chart.As shown in figure 3, the second embodiment is essentially identical with first embodiment, differs only in and add avoidance algorithm, body
Present following steps：
Detect whether there is conflict point on the current task walking path in step s 102, the conflict point is as predecessor
The path point that business walking path is overlapped with the walking path of other AGV in dispatcher-controlled territory, has, goes to step S313；Otherwise go to step
S103。
In step S313, detect whether the AGV conflicted with current AGV is in idle condition, gone to step if idle
S314, otherwise goes to step S104.
In step S314, planning conflict AGV avoidance path, and control hazard AGV performs the avoidance path to avoidance
Point, so that the path point that the AGV that conflicts is taken is labeled as sky, i.e., it is unoccupied.
Then, go to step S102 and detect conflict point again, because conflict point has discharged, if now residual paths do not have
Conflict point, then will go to step S103, and normally perform task.
Conflict AGV avoidance task is cooked up in step S314 by below equation：
Wherein { PBWPFor planning conflict AGV walking path point set,It is minimum for travel time T
When path point set, that is, the road that conflict AGV walks from position to the time for avoiding point position when minimum
Footpath point set.PBFor conflict AGV positions, PDThe avoidance point that can be chosen for the AGV that conflicts in the region, that is, dispatch
In region not on current AGV walking paths, the point taken is not also marked by other AGV.And TBZFor the turning time for the AGV that conflicts, CDZFor conflict AGV to the turning quantity for avoiding point positionBe conflict AGV from position to avoid point position walking air line distance temporal summation, that is, walk each
The summation of the air line distance of subpath divided by the AGV speed of travel.SDLIt is to conflict AGV from position to an avoidance point position walking
Each cross-talk path air line distance, VBFor the speed of travel for the AGV that conflicts.Gone that is, conflict AGV is chosen by formula
Time most short avoidance point is walked as optimal and avoids point, and is cooked up most short from position to the optimal time for avoiding point
Walking path.
Referring to Fig. 4, illustrating to be dispatched according to the present invention applied to the avoidance of the dispatch control method of many AGV cooperating operations
Figure.As shown in figure 4, AGV-A was from No. 4 o'clock to No. 33, point performs task, in path planning, find path point 7-8-9 by
On AGV-B marks.Its dispatch control method is comprised the following steps that：
1) planning AGV-A current task walking path is 4-5-6-7-8-9-37-36-35-21-34-33.
2) conflict point has been detected whether, because 7-8-9 points are labeled, therefore has judged it for conflict point.
3) detection conflict AGV-B is idle condition, then plans avoidance path, keeping away for AGV-B is cooked up by above-mentioned formula
Allow a little, nearest avoidance point is No. 10 point and No. 38 point, turning time and turning quantity are considered according to above-mentioned
In the case of algorithmic formula, same path distance, the 38th point needs to turn 1 time, so time most short avoidance path is 7-8-
9-10.Control hazard AGV goes to avoidance point 10.By path point 7-8-9 labeled as sky.
4) whether there is conflict point on detection 4-5-6-7-8-9-37-36-35-21-34-33 again, due to conflict point
Release, if now residual paths do not have conflict point, AGV-A goes to No. 33 path point to perform task by normal.
As can be seen here, if be at a stop in the prior art on the path of current AGV planning, one or more is in idle condition
AGV, then current AGV can be caused to be constantly in inactive state, it is impossible to complete task.And many AGV that are applied to of the present invention cooperate
The dispatch control method of operation solves the problem well, and the present invention is detected in current AGV and is at a stop on path in the free time
During the AGV of state, a point recently not on current AGV walking paths just is selected as avoidance point to free time AGV and is planned
Go out avoidance path, after the idle AGV, which is reached, avoids point, current AGV brings into operation.
Referring to Fig. 5, being the dispatch control method applied to many AGV cooperating operations according to third embodiment of the invention
Flow chart.As shown in figure 5, the 3rd embodiment and first embodiment are essentially identical, difference is following steps：
Detection is carrying out whether path is empty in step S105, is to go to step S513, otherwise goes to step S109.Should
Path is carrying out in step and then represents that current AGV has arrived at farthest not conflict point for sky, then detects whether conflict AGV is empty
Not busy state, and whether start it and avoided.That is, the conflict AGV that the 3rd embodiment is in the way will not be carried out in advance
Planning, is planned conflict AGV again when current task AGV walkings are to conflict AGV fronts.It is mainly in view of at this section
In, the conflict AGV of the idle condition may receive new task, so not planning in advance.
In step S513, detect whether the AGV conflicted with current AGV is in idle condition, gone to step if idle
S514, otherwise goes to step S106 and judges whether to meet preemptive condition.
In step S514, planning conflict AGV avoidance path, and control hazard AGV performs the avoidance path to avoidance
Point, and the path point that the AGV that conflicts is taken is labeled as sky, i.e., it is unoccupied.
Then, go to step S102 and detect conflict point again, because conflict point has discharged, if now residual paths do not have
Conflict point, then will go to step S103, and normally perform task.
Referring to Fig. 6, being the dispatching control device applied to many AGV cooperating operations according to the preferred embodiment of the present invention
Module frame chart.As shown in fig. 6, the dispatching control device 600 includes：Path planning unit 601, collision detection unit 602, seize
Judging unit 603 and task executing units 604.
Wherein, path planning unit 601 is used for the current task walking path for planning current AGV.The current task is walked
Path refers to the walking path to the position of current task terminal from current AGV from present position.When give AGV distribution task
When, the AGV allocation rules that can be used using any this area, or the paths planning method used using any this area come
Plan current task walking path.In some embodiments of the invention, an arrival task terminal can be planned to current AGV
Most short path is used as current task walking path.Path in the operation of the path planning unit 601 execution and the inventive method
Planning step is consistent, will not be repeated here.
Collision detection unit 602 is used to detect whether there is conflict point on current task walking path, and the conflict point is to work as
The path point that preceding task walking path is overlapped with the walking path of other AGV in region, has, and judging unit 603 is seized in startup,
Otherwise planning is carrying out path and starts task executing units 604.The operation that the collision detection unit 602 is performed and the present invention
Conflict point detecting step is consistent in method, will not be repeated here.
Seizing judging unit 603 is used to find out farthest not conflict point as path is carrying out, and detects and is carrying out path
Task executing units 604 are not started for space-time, detection is carrying out path and judges whether to meet preemptive condition for space-time, is to rob
Account for, otherwise wait for preset time, be again started up collision detection unit 602.The operation for seizing the execution of judging unit 603 and this hair
Judgment step is seized in bright method consistent, will not be repeated here.
Task executing units 604 are used to control current AGV advances execution task, are carrying out path and finish judgement as predecessor
Business whether there is residual paths, be then to start collision detection unit 602 using residual paths as current task walking path to judge
Whether there is conflict point, current AGV is otherwise switched into idle condition.The operation that the task executing units 604 are performed and the present invention
Task execution step is consistent in method, will not be repeated here.
Preferably, it should can also further comprise avoiding detection list applied to the dispatching control device 600 of many AGV cooperating operations
Member.Start when collision detection unit 602 detects and has conflict point on the current task walking path and avoid detection unit.
Avoiding detection unit is used to detect whether the AGV conflicted with current AGV is in idle condition, is planned if idle
Conflict AGV avoidance path, and control hazard AGV performs the avoidance path to point is avoided, so that the path that the AGV that conflicts is taken
Point is labeled as sky, i.e., unoccupied.Then, restarting collision detection unit 602 detects conflict point again, due to conflict point
It is normal to perform task if now residual paths do not have conflict point through release.Avoid detection unit and detect conflict AGV not
In idle condition, then start and seize judging unit 603.
In preferred embodiment of the invention, for raising efficiency, the also motion to AGV carries out acceleration design, simultaneously
For the accuracy of motion, the design slowed down again.Between straight line moving route segment is note point according to path point
The ramp to stop distance of distance and AGV, the acceleration and deceleration attribute of each label point is configured in path planning.Referring to Fig. 7, example
Such as, highest gait of march is directly accelerated to from V=0, such as to the 2nd label when being advanced the 1st label point in AGV
Point is configured to V=4m/s.Two label points configuration low speed when arriving at soon, such as V=2m/s and V=1m/S.Directly
V=0 is configured to the label point of destination the 10th.
In preferred embodiment of the invention, because AGV is using magnetic stripe navigation mode, reads label point and just change speed
Degree, it is therefore desirable to which combination tag point the distance between quantity and label point sets AGV travel speed.Turned in view of AGV
When firstly the need of stop motion then it is slow turn, therefore AGV only configures the velocity amplitudes of each label point on straightway.Specifically
Ground, the velocity amplitude of each label point is configured by below equation.
Wherein, QtagFor P on pathcurTo PfinLabel point quantity (not including PcurAnd Pfin)；
|cur-Pfin| to arrive P on pathcurTo PfinAir line distance value；
If SnIt is V for AGV speednShi Suoxu braking distance threshold value, wherein n is the speed class that AGV can configure, by AGV
The configuration of itself is determined that n is max, minimum 0 to the maximum；Label point is configured using only 3 kinds of speed in the present invention, i.e. n
=1,2 and max, corresponding velocity amplitude V1、V2And Vmax, corresponding braking distance threshold value is S respectively1、S2And Smax；
PiniNumbered for the start-tag point of current straight line path；
PfinNumbered for the termination label point of current straight line path；
PcurLabel point between；
Pcur+1For PcurNext label point.
After the speed of the good each label point of configuration, when AGV detects a label point during traveling, often, identification should
The numbering of label point, and the corresponding velocity amplitude in label point position of the numbering is transferred, so as to be used as purpose speed using the velocity amplitude
AGV is controlled to advance.
The present invention further correspondingly provides a kind of Dispatching Control System applied to many AGV cooperating operations, the scheduling controlling system
System includes the dispatching control device 600 for being applied to many AGV cooperating operations as previously described, and the multiple AGV communicated therewith.It is excellent
Selection of land, the multiple AGV sends location information to dispatching control device 600 by reading the RFID tag on ground.By scheduling control
Each AGV of the United Dispatching of device 600 processed, is its distribution task and path planning, so as to control each AGV traveling execution task.
In summary, many AGV of the invention plan that shortest path gives operation AGV at Collaborative planning path, always, and
In order to avoid collision, current AGV can only proceed to the farthest point without conflict.Current AGV and conflict AGV can so be ensured
The two is non-interference in the process of moving.It is preferential once preemptive condition is met to perform after conflict point is advanced to, without etc.
Treat.Further, if it is that idle car bumper has lived road to meet conflict AGV, its active is allowed to avoid, AGV need not detour walking.
The present invention can meet many AGV without blocking, collisionless operation, and can make full use of the space of plant area, without annular around
Road is walked, and can ensure AGV operating efficiency.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (10)
1. a kind of dispatch control method applied to many AGV cooperating operations, it is characterised in that comprise the following steps：
The current task walking path of path planning step, the current AGV of planning；
Whether conflict point is had on conflict point detecting step, the detection current task walking path, and the conflict point is as predecessor
The path point that business walking path is overlapped with the walking path of other AGV in dispatcher-controlled territory, has, turns to seize judgment step, otherwise advise
Draw and be carrying out path and turn task execution step；
Seize judgment step, find out farthest not conflict point as path is carrying out, it is not space-time turn that detection, which is carrying out path,
Task execution step, detection is carrying out path and judges whether to meet preemptive condition for space-time, is to seize, otherwise waits for presetting
Time turns conflict point detecting step；
Task execution step, current AGV advances execution task is controlled, be carrying out path and finish to judge that current task whether there is
Residual paths, are to turn conflict point detecting step to determine whether conflict point using residual paths as current task walking path,
Otherwise current AGV is switched into idle condition.
2. the dispatch control method according to claim 1 applied to many AGV cooperating operations, it is characterised in that described to rob
Account in judgment step and to judge whether to meet preemptive condition by below equation：
||PB-PC||≥TQ；
Wherein PBFor the conflict AGV positions conflicted with current AGV, PCFor the position of conflict point, | | PB-PC| | for conflict AGV
Time from position to conflict point position；The TQThe time of conflict point is seized for current AGV.
3. the dispatch control method according to claim 1 applied to many AGV cooperating operations, it is characterised in that described to rob
Account in judgment step and to be calculated by below equation：
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Wherein TBZFor the turning time for the AGV that conflicts, CBZBe conflict AGV to conflict point position turning quantity,For conflict
AGV from position to the air line distance of conflict point position walking temporal summation, VBFor the speed of travel for the AGV that conflicts.
4. according to the dispatch control method according to any one of claims 1 to 3 applied to many AGV cooperating operations, its feature
It is, the task execution step includes：
1) control current AGV to advance and reach a new path point；
2) judge whether current new path point is the terminal for being carrying out path, is to go to step 3), otherwise goes to step 1)；
3) judge that current task whether there is residual paths, be to go to step 2) to regard residual paths as current task walking path
Conflict point is determined whether, current AGV is otherwise switched into idle condition.
5. according to the dispatch control method according to any one of claims 1 to 3 applied to many AGV cooperating operations, its feature
Be, it is described seize also be preempted AGV when judging and meeting preemptive condition in judgment step and run to most be preempted far away a little
And by subsequent path point labeled as sky.
6. according to the dispatch control method according to any one of claims 1 to 3 applied to many AGV cooperating operations, its feature
It is, plans current AGV current task walking path in the path planning step by below equation：
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Wherein { PAWPBe current AGV current task walking path point set,For current AGV from position to work as
Path point set when preceding task final position travel time T is minimum, PAFor current AGV positions, PAFFor working as current AGV
The position of preceding task terminal, T=| | PA-PAF| | for current AGV from position to during the walking of the position of current task terminal
Between, TAZFor current AGV turning time, CAZThe turning quantity of current task is completed for current AGV,For current AGV
From position to the position walking of current task terminal air line distance temporal summation, VAFor the current AGV speed of travel.
7. according to the dispatch control method according to any one of claims 1 to 3 applied to many AGV cooperating operations, its feature
It is：
When the conflict point detecting step has conflict point on current task walking path is detected, judging conflict AGV state is
The no free time, be the avoidance task for cooking up conflict AGV, otherwise turn to seize judgment step will farthest not conflict point as
Execution route；Or
The judgment step of seizing is detecting that be carrying out path does not judge whether conflict AGV state is idle, is then for space-time
Conflict AGV avoidance task is cooked up, otherwise judges whether to meet preemptive condition, is to seize, otherwise waits for preset time
Turn conflict point detecting step.
8. a kind of dispatching control device applied to many AGV cooperating operations, it is characterised in that including：
Path planning unit, the current task walking path for planning current AGV；
Collision detection unit, for detecting whether there is conflict point on the current task walking path, the conflict point is current
The path point that task walking path is overlapped with the walking path of other AGV in dispatcher-controlled territory, has, and judging unit is seized in startup, no
Then planning is carrying out path and starts task executing units；
Judging unit is seized, for finding out farthest not conflict point as path is carrying out, it is not sky that detection, which is carrying out path,
Shi Qidong task executing units, detection is carrying out path and judges whether to meet preemptive condition for space-time, is to seize, otherwise etc.
Preset time is treated, collision detection unit is again started up；
Task executing units, for controlling current AGV advances execution task, are carrying out path and finish whether judge current task
There are residual paths, be, start collision detection unit and determine whether conflict using residual paths as current task walking path
Point, otherwise switches to idle condition by current AGV.
9. a kind of Dispatching Control System applied to many AGV cooperating operations, it is characterised in that including according to claim 8
The dispatching control device applied to many AGV cooperating operations, and multiple AGV communicated therewith.
10. the Dispatching Control System according to claim 9 applied to many AGV cooperating operations, it is characterised in that described many
Individual AGV sends location information to the dispatching control device by reading the RFID tag on ground.
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