CN107515610B - Anticollision AGV dolly management system - Google Patents
Anticollision AGV dolly management system Download PDFInfo
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- CN107515610B CN107515610B CN201710873749.0A CN201710873749A CN107515610B CN 107515610 B CN107515610 B CN 107515610B CN 201710873749 A CN201710873749 A CN 201710873749A CN 107515610 B CN107515610 B CN 107515610B
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- 238000004891 communication Methods 0.000 claims abstract description 25
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000007726 management method Methods 0.000 description 9
- 238000001514 detection method Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
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- 206010047531 Visual acuity reduced Diseases 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
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Abstract
The invention relates to a management control technology of a transport automatic guided vehicle, and discloses an anti-collision AGV trolley management system, which comprises: the system comprises a vehicle-mounted controller, a communication module and a terminal controller; the vehicle-mounted controller is arranged inside the AGV; the terminal controller is in communication connection with the vehicle-mounted controller through a communication module; the terminal controller is in communication connection with the storage module; the terminal controller is connected with an input device, the input device inputs map information to the terminal controller, and the map information comprises one or more inlets, one or more outlets and a plurality of intersections. This anticollision AGV dolly management system plans the route of different AGV dollies in terminal control ware, avoids the collision between the AGV dolly. Because the collision is avoided through the terminal control, the workload of the anti-collision sensor is reduced, and the running safety of the AGV at the intersection is further ensured.
Description
Technical Field
The invention relates to a management control technology for transporting automatic guided vehicles, in particular to an anti-collision AGV trolley management system.
Background
An AGV (Automated Guided Vehicle) refers to a Vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path.
Among the prior art, the AGV dolly is at the in-process of going along the regulation route, causes the AGV dolly that equidirectional traveling or different routes were gone to intersect easily, perhaps when the AGV dolly is taking goods in-process at the goods point, when the vehicle passes through this goods point after, leads to the AGV dolly to think back the collision easily, influences the safety in utilization of AGV dolly. In the prior art, collision between AGV dollies is generally avoided by installing a detection sensor (an infrared sensor) and the like on the AGV dollies. But accurate detection data can be obtained, and the detection cost is higher. And the detection difficulty at the intersection is high, and the detection is inconvenient.
Therefore, in the prior art, the defects that the AGV trolley detection cost is high and the intersection detection is inconvenient exist. Easily cause the defect that AGV dolly bumps at crossing or pick up the goods point.
Disclosure of Invention
Aiming at the defects in the background technology, the technical scheme of the invention is as follows:
one aspect provides an anti-collision AGV car management system, including: the system comprises a vehicle-mounted controller, a communication module and a terminal controller;
the vehicle-mounted controller is arranged inside the AGV;
the terminal controller is in communication connection with the vehicle-mounted controller through a communication module;
the terminal controller is in communication connection with the storage module;
the terminal controller is connected with an input device, the input device inputs map information to the terminal controller, and the map information comprises one or more inlets, one or more outlets and a plurality of intersections;
each entrance is provided with at least one AGV, when the AGV is required to go to a goods taking point to take goods, the terminal controller counts the distance between the AGV at the plurality of entrances and the goods taking point, a route instruction is sent to the vehicle-mounted controller of the AGV with the minimum distance, and the vehicle-mounted controller controls the AGV to take the goods from the goods taking point along the route instruction and drives out the AGV from the map information outlet;
the terminal controller counts the time when the AGV which enters the map passes through each intersection and the time when the AGV which does not enter the map stops at the goods taking point, when the AGV which does not enter the map is ready to enter the map to take goods, the terminal controller counts the route of the AGV which does not enter the map, and calculates the time when the AGV passes through each intersection and the time when the AGV passes through the each intersection and stops at the goods taking point, wherein when the time when the AGV which does not enter the map passes through the map is the same as the intersection of the AGV which enters the map and is positioned at the intersection, or the time when the AGV which does not enter the map passes through the map takes the goods taking point is the same as the time when the AGV which does not enter the map takes the goods point is the same as the time when the AGV which does not enter;
the terminal controller sends another route instruction to the vehicle-mounted controller of the AGV which does not enter the map, and the terminal controller sends the instruction to the vehicle-mounted controller until the moment when the AGV which does not enter the map passes through each intersection and the moment when the AGV which does not enter the map stops at the goods taking point are different from the moment when the AGV which enters the map passes through each intersection and the moment when the AGV which does not enter the map stops at the goods taking point, and the vehicle-mounted controller controls the AGV which does not enter the map to enter the map according to the sent route instruction.
In a preferred embodiment, the map information has a plurality of entrances, and the terminal controller counts the frequency of use of each entrance vehicle and allocates the AGV car with finished goods delivery or the newly added AGV car to stay at different entrances according to the proportion of the frequency.
In a preferred embodiment, the terminal controller is a PC terminal.
In a preferred embodiment, the vehicle-mounted controller is a PLC or FPGA processing chip.
In a preferred embodiment, the connection mode of the communication module is a wireless internet connection mode.
One of the above technical solutions has the following beneficial effects:
according to the anti-collision AGV trolley management system, route information of an AGV driving into a map and the time when the AGV passes through each intersection and a goods taking point are counted through a terminal controller; and counting the route information of the AGV which does not drive into the map and the time when the AGV passes through each intersection and the goods taking point. The collision with the AGV path running into the map is avoided by changing the AGV path not running into the map. The defects that when the trolleys are completely prevented from colliding through sensors such as infrared induction in the prior art, the cost of the AGV trolleys is high, external environment interference is easily received, and vehicles easily collide due to poor vision of the AGV trolleys on different paths at intersections are overcome. This anticollision AGV dolly management system plans the route of different AGV dollies in terminal control ware, avoids the collision between the AGV dolly. Because the collision is avoided through the terminal control, the workload of the anti-collision sensor is reduced, and the running safety of the AGV at the intersection is further ensured.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of an anti-collision AGV car management system of the present invention;
FIG. 2 is a map information diagram of an embodiment of an anti-collision AGV car management system of the present invention;
fig. 3 is a schematic diagram of the map information when two different routes are marked in fig. 2.
The system comprises a first route information, a second route information, an entrance, an exit, an intersection, a cross point, a first route information, a first goods taking point, a second goods taking point and a third goods taking point, wherein 1, the entrance, 2, the exit, 3, the cross point, 4, the first route information, 41, the first goods.
Detailed Description
As shown in fig. 1, 2 and 3, an embodiment of the present invention provides an anti-collision AGV cart management system, comprising: the system comprises a vehicle-mounted controller, a communication module and a terminal controller;
and the vehicle-mounted controller is arranged inside the AGV. And controlling a driving device, a sensor device and the like of the vehicle to realize the running of the AGV.
And the terminal controller is in communication connection with the vehicle-mounted controller through a communication module. One end of the vehicle-mounted controller is provided with a communication module, one end of the terminal controller is provided with a communication module, and the communication modules are connected through a wireless internet.
The terminal controller is in communication connection with the storage module. In order to ensure that the terminal controller can better store map information and statistical data, one end of the terminal controller is connected with a storage module through a data line.
As shown in fig. 1 and 2, the terminal controller is connected to an input device (for example, a keyboard, a mouse, a display, etc.; data transmission may also be implemented through a data transmission interface), and the input device inputs map information to the terminal controller, where the map information includes one or more entrances 1, one or more exits 2, and a plurality of intersections 3. In general, in use, a plurality of entrances 1 and exits 2 are selected, and a plurality of intersections 3 are provided in the map, which satisfies the use in a more complicated use environment.
As shown in fig. 3, each portal 1 is provided with at least one AGV, when the AGV is required to get goods from the goods taking points, the terminal controller counts the distance between the AGV at the multiple portals 1 and the goods taking points, sends a route instruction to the onboard controller of the AGV with the smallest distance, and the onboard controller controls the AGV to get goods from the goods taking points along the route instruction and drive out from the map information outlet. For example: when the terminal controller needs to pick goods at the first goods picking point 41 or the second goods picking point 51 of the first route information 4 or the second route information 5, the terminal controller counts the distance from each entrance 1 to the goods picking point and sends the closest route to the vehicle-mounted controller, and the vehicle-mounted controller controls the AGV to pick the goods along the first route information 4 or the second route information 5 shown in the graph 3 and send the goods to the exit position.
To avoid the problem of a vehicle that enters the map later colliding with a vehicle that enters the map earlier, particularly at the intersection 3 or pick-up point. Because the running speed of the vehicle is set to be uniform motion in the system, the speed difference between the starting process and the deceleration process can be ignored. And the terminal controller counts the time when the AGV driving into the map passes through each intersection 3 and the time when the AGV stops at the goods taking point. When the AGV car which does not drive into the map is ready to enter the map for taking goods, the terminal controller counts the route of the AGV car which does not drive into the map, and calculates the time when the AGV car passes through each intersection 3 and the time when the AGV car stops at a goods taking point; when the intersection 3 of the AGV driving into the map is the same and the time at the intersection 3 is the same, or the AGV passing time of the non-driving into the map is the same as the time when the AGV passing through the driving into the map takes the goods point and stops at the time when the AGV passing through the driving into the map takes the goods point, or the AGV passing time of the driving into the map is the same as the time when the AGV passing through the non-driving into the map takes the goods point and stops at the time when the AGV passing through the non-driving into the map takes the goods point. (judging that the AGV car not driving into the map collides with the AGV car driving into the map, and the route of the subsequent vehicle needs to be adjusted to avoid collision)
To avoid vehicle collisions, the AGV cart route is adjusted without entering the map. The terminal controller sends another route instruction (according to the route length, the instruction is sequentially tried from the longest route to the shortest route) to the vehicle-mounted controller of the AGV which does not enter the map until the moment when the AGV which does not enter the map passes through each intersection 3 and the moment when the AGV which does not enter the map stops at the goods taking point are different from the moment when the AGV which enters the map passes through each intersection 3 and the moment when the AGV which does not enter the map stops at the goods taking point, the terminal controller sends the instruction to the vehicle-mounted controller, and the vehicle-mounted controller controls the AGV which does not enter the map to enter the map according to the sent route instruction.
In order to ensure that vehicles are arranged at each entrance 1 in the using process and the high-efficiency use of the vehicles is ensured, a plurality of entrances 1 are arranged on map information, a terminal controller counts the use frequency of the vehicles at each entrance 1, and AGV trolleys which finish the goods transportation or newly-added AGV trolleys are distributed at different entrances 1 according to the proportion of the frequency.
In order to facilitate the function of the terminal controller to meet the analysis of larger data volume and facilitate the input of data by workers, the terminal controller is a PC terminal.
Preferably, the vehicle-mounted controller is a PLC or FPGA processing chip.
In order to ensure the convenience of communication, ensure the smoothness of communication and adapt to the existing communication mode, the connection mode of the communication module is a wireless internet connection mode.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (5)
1. An anti-collision AGV cart management system, comprising: the system comprises a vehicle-mounted controller, a communication module and a terminal controller;
the vehicle-mounted controller is arranged inside the AGV;
the terminal controller is in communication connection with the vehicle-mounted controller through a communication module;
the terminal controller is in communication connection with the storage module;
the terminal controller is connected with an input device, the input device inputs map information to the terminal controller, and the map information comprises one or more inlets, one or more outlets and a plurality of intersections;
each entrance is provided with at least one AGV, when the AGV is required to go to a goods taking point to take goods, the terminal controller counts the distance between the AGV at the plurality of entrances and the goods taking point, a route instruction is sent to the vehicle-mounted controller of the AGV with the minimum distance, and the vehicle-mounted controller controls the AGV to take the goods from the goods taking point along the route instruction and drives out the AGV from the map information outlet;
the terminal controller counts the time when the AGV which enters the map passes through each intersection and the time when the AGV which does not enter the map stops at the goods taking point, when the AGV which does not enter the map is ready to enter the map to take goods, the terminal controller counts the route of the AGV which does not enter the map, and calculates the time when the AGV passes through each intersection and the time when the AGV passes through the each intersection and stops at the goods taking point, wherein when the time when the AGV which does not enter the map passes through the map is the same as the intersection of the AGV which enters the map and is positioned at the intersection, or the time when the AGV which does not enter the map passes through the map takes the goods taking point is the same as the time when the AGV which does not enter the map takes the goods point is the same as the time when the AGV which does not enter;
the terminal controller sends another route instruction to the vehicle-mounted controller of the AGV which does not enter the map, and the terminal controller sends the instruction to the vehicle-mounted controller until the moment when the AGV which does not enter the map passes through each intersection and the moment when the AGV which does not enter the map stops at the goods taking point are different from the moment when the AGV which enters the map passes through each intersection and the moment when the AGV which does not enter the map stops at the goods taking point, and the vehicle-mounted controller controls the AGV which does not enter the map to enter the map according to the sent route instruction.
2. The system of claim 1, wherein the map information includes a plurality of entries, and the terminal controller counts the frequency used by each entry vehicle and allocates AGV cars that have finished their shipment or newly added AGV cars to stay at different entries according to the frequency ratio.
3. The AGV car management system of claim 1 or 2, wherein the terminal controller is a PC terminal.
4. The AGV car management system of claim 1 or 2, wherein the onboard controller is a PLC or FPGA processing chip.
5. The AGV car management system of claim 1 or 2, wherein the communication module is connected via a wireless internet connection.
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| CN201710873749.0A CN107515610B (en) | 2017-09-25 | 2017-09-25 | Anticollision AGV dolly management system |
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| CN201710873749.0A CN107515610B (en) | 2017-09-25 | 2017-09-25 | Anticollision AGV dolly management system |
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| CN109144064B (en) * | 2018-08-29 | 2021-09-10 | 广州安商智能科技有限公司 | Robot path shunting control method and device |
| CN112406970B (en) * | 2020-11-27 | 2022-09-30 | 华晟（青岛）智能装备科技有限公司 | Annular rail guided vehicle anti-collision system and method |
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| JP2005225662A (en) * | 2004-02-16 | 2005-08-25 | Mitsubishi Heavy Ind Ltd | Truck monitoring control device, unmanned truck, transport system, and truck monitoring controlling method |
| EP2508956B1 (en) * | 2011-04-06 | 2013-10-30 | Kollmorgen Särö AB | A collision avoiding method and system |
| CN103150640A (en) * | 2012-02-17 | 2013-06-12 | 厦门烟草工业有限责任公司 | Compound circulating adjusting system of automatic guided vehicle (AVG) transfer carriage in automated logistics |
| CN103177596B (en) * | 2013-02-25 | 2016-01-06 | 中国科学院自动化研究所 | A kind of intersection independent control system |
| CN104007764A (en) * | 2014-06-13 | 2014-08-27 | 苏州工业园区艾吉威自动化设备有限公司 | Agv dispatching system |
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| 基于时间Petri网的集装箱码头AGV调度系统建模研究;邱跃龙 等;《武汉理工大学学报（交通科学与工程版）》;20061231;第30卷(第6期);全文 * |
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Effective date of registration: 20230109 Address after: 241000 Room 122, Block A, Wanchun Middle Road (Jiujiang Electronics Industrial Park), Jiujiang District, Wuhu City, Anhui Province Patentee after: Anhui Hongtu Robot Technology Co.,Ltd. Address before: 241000 building B11, East District, Anhui Xinwu Economic Development Zone, Wuhu County, Wuhu City, Anhui Province Patentee before: WUHU ZHIJIU ROBOT Co.,Ltd. |
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