CN107608351A - A kind of autonomous traffic control device and methods of AGV - Google Patents
A kind of autonomous traffic control device and methods of AGV Download PDFInfo
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- CN107608351A CN107608351A CN201710842302.7A CN201710842302A CN107608351A CN 107608351 A CN107608351 A CN 107608351A CN 201710842302 A CN201710842302 A CN 201710842302A CN 107608351 A CN107608351 A CN 107608351A
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Abstract
The invention discloses a kind of autonomous traffic control device and methods of AGV, and it is mainly that AGV stops first before traffic control region is entered, and is sent in its privately owned time window and apply for entry instruction for several times；If traffic control region obtains traffic control power without AGV, AGV will enter, and obtain traffic control power；If there is other AGV to obtain control right, application will be rejected, can only be in its privately owned next time window continuation application；After the AGV of acquisition traffic control power leaves, it will preferential wait enters vehicle in dequeue, and the vehicle launch being released from simultaneously obtains traffic control power；Meanwhile communication occupation problem is solved based on time window conversation mechanism, abnormal control is solved the problems, such as based on traffic control power handover mechanism.Using this method, communication success rate can be at utmost improved, prevents AGV from actively entering, and can be recovered automatically from exception, improves security and operational efficiency, the order of strengthening system.
Description
Technical field
The present invention relates to design automatical pilot transportation vehicle (AGV) field, more particularly to a kind of autonomous traffic control devices of AGV
And method.
Background technology
With the continuous improvement of industrial automatization, in the factory in modern times, warehouse or harbour, homing guidance transport
The application of car (AGV) is more and more extensive.According to specific application scenario, AGV system scale is even up to a hundred from separate unit to tens
Platform, the system road network being made up of more AGV running tracks also become increasingly complex, AGV traffic control systems be exactly in order to
Ensure safe operations of each AGV in intersection, while ensure the order and high efficiency of system operation.
At present, known AGV traffic controls method has travel switch or photoelectric door mode, central dispatch system traffic control side
Formula, close range wireless communication modes etc., wherein close range wireless communication modes are because its cost is low, and easy for construction, system is succinct
The advantages that obtain more common of application, at present using wireless near field communication realize traffic control mainly using it is following it is several it is specific just
Method：
Method a：By the way of all areas traffic control synchronizing information is shared, every AGV all areas in real-time update scene
The traffic control information in domain, carries out traffic control at any time；
Method b：Forbidden using AGV repeated broadcasts in traffic control region, the mode that outside AGV receives to judge in real time is handed over
Pipe；
Method c：State is inquired when being reached using the AGV of traffic control region exterior, outside AGV echo message is put into control
Pond is lined up, and as other AGV leave traffic control, control pond empties, and itself releases traffic control, starts；
More than several methods of control, all in the presence of it is different degrees of the drawbacks of,
The traffic control information for reliably, causing every chassis not necessarily Complete Synchronization can not be completely secured due to communicating in method a, easily
Traffic control is caused to fail；The continuous repeated broadcasts of method b easily cause traffic congestion, and the traffic control mode actively released easily causes
The competition of big probability, reliability be not high；Still there is the problem of number of communications is excessive, and error probability increases in method c, in addition still
The problem of communication traffic and inconsistent queue be present, in this case it is still possible to traffic accident occur.
The content of the invention
The shortcomings that it is an object of the invention to overcome above-mentioned prior art and deficiency, there is provided a kind of autonomous traffic controls of AGV
Device and method.
The AGV that the present invention only obtains traffic control power can pass through in traffic control region；
AGV stops before traffic control region is entered, and waits its privately owned time window to reach, is sent in its privately owned time window
It is proposed applies for that the time interval applied every time is depending on time window length for several times, after application proposes, waits application knot
Fruit；
If the region does not have other AGV to obtain traffic control power, application will not be rejected, and now AGV will be handed over
Logical control right simultaneously starts；
If the existing other AGV in the region obtain traffic control power, application will be rejected, and AGV keeps stopping, and exists side by side
Stop application, and extend its time window spacing to the integral multiple of original time window, wait next time window could Shen again
Please；
After AGV obtains traffic control power, other AGV will be rejected about entering the application in the traffic control region, and remember simultaneously
All application information of vehicles are recorded, traffic control queue is added and is ranked up；
The AGV of acquirement traffic control power, which will release that prepreerence AGV, the AGV being released from traffic control queue, to be inherited
Traffic control is weighed and started；
There is exception when traffic control authority shifts, cause traffic control deadlock, that is, any AGV waited can not be by proper solution
Remove, now after certain AGV reaches its privately owned time window, application mechanism will be restarted, rejected AGV is not handed over time-out at first
Logical control right, returns to normal condition.
The present invention is achieved through the following technical solutions：
A kind of autonomous traffic control devices of AGV, including traffic control Logical processing unit and traffic control sensing unit composition；
Traffic control sensing unit is used to obtaining and sending traffic control information, including obtains traffic control regional number, obtains other AGV systems
The control traffic message sent, and send itself traffic control information；
Traffic control Logical processing unit is used for the logical process of traffic control, including following processing module：
Traffic control application module：For sending the application information of traffic control entrance, receive and judge application result,
It is not rejected after AGV applies, traffic control application module will produce the judged result of " granting current "；When AGV Shen
It please be rejected, traffic control application module will produce the judged result of " no through traffic "；
Time synchronized module：For the system time between synchronous each AGV, the real-time clock for ensureing all AGV is same
Step, or its error is acceptable relative to the length of time window；
Processing module is weighed in traffic control：To handle the interrelated logic of traffic control power, its function includes：
Judged whether to obtain traffic control power according to application result, traffic control power is shifted when leaving traffic control region, works as friendship
After logical control right processing module gets traffic control power, start AGV and enter traffic control area；
Bottom data transceiver module：To send and receive the bottom module of external data.
A kind of autonomous traffic control methods of AGV, it comprises the following steps：
Traffic control application module sends 3~5 application informations, and each transmission time interval is sent depending on time window length
After, judge application result, send after receiving rejection instruction halfway, stop sending, and extend its time window spacing, next
Its individual privately owned time window could be applied again；
After every AGV intervals scheduled time, time synchronized instruction, time synchronized instruction are sent in its privately owned time window
Could trigger event synchronization module than the AGV of its higher priority synchronic commands sent comprising present system time, but only
Generation time synchronization action；
When traffic control application module produces the judged result of " granting current ", now AGV is obtained by traffic control authority processing module
Obtain traffic control power；
When traffic control application module produces the judged result of " no through traffic ", now AGV needs to wait until that traffic is arrived in succession
Control right, or next privately owned time window continuation application is waited, application next time obtains the judged result of " granting current ", main
It is dynamic to obtain traffic control power.
By the circulation work of above step, the traffic control device can smoothly complete autonomous traffic control, and can be different
Recover automatically in normal state.Whole system can strengthen the reliability of traffic control, order, improve the operational efficiency of system.
The present invention is had the following advantages and effect relative to prior art：
(1) time window conversation mechanism, avoid communication the line is busy, reduce competition, ensure that the broadcast communication of system is reliable, prevent because
Traffic control caused by communication mistake is abnormal；
(2) after being rejected, the mode that usage time window spacing extends reduces the traffic and Communication Jamming of system broadcasts, carries
The reliability of high system
(3) traffic control system order is realized using traffic control power handover mechanism, improves security, it is therefore prevented that because
Actively to release traffic control failure accident caused by mechanism；
(4) using traffic control power competition mechanism, when the transfer of traffic control authority occurs abnormal, after a time out, restart automatically
Application, new traffic control power winner is competed out, recovers normal order.
Brief description of the drawings
Fig. 1 is a kind of traffic control system embodiment schematic diagram of the present invention.
Fig. 2 is the theory diagram of the present invention.
Fig. 3 is into traffic control logic control flow process figure.
Fig. 4 is internal AGV traffic controls flow chart.
Fig. 5 is to leave traffic control logic control flow process figure.
Embodiment
The present invention is more specifically described in detail with reference to specific embodiment.
In Fig. 1, by a1a2, b1b2, c1c2, " # " word traffic control a region Zone1, Zone1 that d1d2 is formed include 4
Small cross traffic control region Zone2~Zone5 receives the AGV passed through on four paths, it is assumed that passes through the traffic control region
AGV ID number is respectively 1,2,3,4, wherein a1, and b1, c1, d1 is to enter traffic control point, and a2, b2, c2, d2 are then to leave traffic control
Point.The course of work of traffic control is analyzed exemplified by No. 1 car below.
When No. 1 car is close to traffic control region until during a1 points, AGV traffic controls sensing unit obtains traffic control access information, main control
Unit generates two traffic control instructions：
Into traffic control region
Traffic control is waited to release
First instruction is first carried out in controller --- into traffic control region.This instruction has following several effects：
1) vehicle is stopped；
2) traffic control data are reset；
3) order parameter is obtained --- obtain traffic control regional number；
4) traffic control state is arranged to lock-out state；
Now AGV is stopped, and then performs Article 2 instruction --- and wait traffic control to release；The condition that traffic control releases can
There are two to meet approach.Approach one is to whether there is AGV in own interrogation traffic control region, by being sent in its privately owned time window
Inquiry instruction for several times, after waiting reception time to reach, if not receiving rejection instruction, automatically terminate traffic control；Approach two comes
The traffic control sent from other AGV to itself releases instruction；The flow chart of whole process is as shown in Figure 3.
AGV it can be seen that, when AGV enters traffic control region, is stopped, until the arrival of privately owned time window, privately owned by Fig. 3
Inquiry instruction for several times is sent in time window, after reception time arrival, will determine that the traffic control power for whether obtaining the region.
In addition, during traffic control release is waited, as long as receiving the releasing traffic control signal sent from other vehicles,
AGV will release traffic control, into traffic control region.The vehicle only left from the traffic control region is possible to send traffic control and release to believe
Number.
The implementation process of time window conversation mechanism：It is assumed that in the presence of time synchronized module, every AGV system is real-time
Clock is synchronous, it is assumed that for the time quantum that distributes be that AGV number is M platforms per the N seconds, then each AGV distributed when
Between the window non-N/M seconds, calculated since t, it is as follows to distribute privately owned time window according to No. AGV_ID (1~M)：
AGV1 privately owned time window is t~t+ (N/M) 1；
AGV2 privately owned time window is t+ (N/M) 1~t+ (N/M) 2；
……………………………….
AGVN privately owned time window is t+ (N/M) (M-1)~t+N；
The like, next time window is assigned to t+2N since t+N；
Do not obtain the AGV of traffic control power only just allows session in the time window of its distribution, therefore referred to as time window
Conversation mechanism, so in each time window, only an AGV proposes traffic pipe application, can effectively avoid between each AGV
Communication contention and the communication failure that brings is taken by communication；
The implementation process of Time Synchronization Mechanism：In order to ensure the normal operation of time window conversation mechanism, it is necessary to assure each AGV
System time synchronization, ensure each AGV error of system's real-time clock within the acceptable range, at present following synchronization side
Method：
At interval of long period of time (being defined as time synchronized interval), AGV sends time synchronized instruction, is wrapped in instruction
Containing temporal information, it is other than the lower AGV of priority by triggered time synchronization action, can so ensure limit priority
AGV has highest time synchronized power, ensures that time synchronization process does not get muddled；
In a word, when AGV reaches traffic control region, application traffic control power signal can be sent, in this process, if received
Rejection instruction from traffic control interior vehicle, AGV will keep halted state, and stop sending application information, and can extend it
Time window interval to it is initial when integral multiple, until AGV completely sends inquiry message for several times, after reception time arrival, such as
Fruit does not receive any reject and instructed, and will release traffic control.After the traffic control ring off signal for being sent to itself is received, locked releasing
It is fixed, vehicle launch.
Pay attention to：When AGV is in the lock state outside traffic control region, the application signal of other cars is received, it will record application
AGV information rank.If receiving " traffic control releases instruction " for other cars, if the car of the releasing be present in itself,
Its queueing message will be deleted.
After AGV enters traffic control region, now traffic control is changed into release conditions from lock-out state, but traffic control area information is still
Retain.If now receive the traffic control signal that other cars are sent, situations below processing is classified into.
A) the traffic control signal unrelated with the region is received, will be without any processing, data are fallen out；
B) receive the traffic control from one's respective area and enter application signal, will be responded one " reject and apply " to the vehicle of application
Instruction；
According to normal logic, other traffic control signals will not be received again.
When what AGV received other cars enters inquiry message, its ID can be recorded, and be lined up, to leave traffic control area
When, the AGV preferential to highest in traffic control queue sends one " traffic control releasing " instruction, and flow chart is as shown in Figure 4.
It after AGV enters traffic control region, will continue to retain traffic control information, perform the AGV instructions or action of other non-traffic controls
Any influence is not occurred on traffic control information, only when AGV leaves traffic control region, can just remove AGV traffic control information.
When leaving traffic control region, if the AGV waited into traffic control in traffic control queue be present, " traffic control releasing " will be sent and referred to
Make to the AGV to rank the first, if receiving " back-signalling that traffic control releases ", will stop sending to release instructing, and remove all
Traffic control information, complete a traffic control process.Process is as shown in Figure 5.
As described above, the present invention can be better realized.
Embodiments of the present invention are simultaneously not restricted to the described embodiments, other any Spirit Essences without departing from the present invention
With made under principle change, modification, replacement, combine, simplification, should be equivalent substitute mode, be included in the present invention's
Within protection domain.
Claims (2)
- A kind of 1. autonomous traffic control devices of AGV, it is characterised in that：Including traffic control Logical processing unit and traffic control sensing unit group Into；Traffic control sensing unit is used to obtaining and sending traffic control information, including obtains traffic control regional number, obtains other AGV systems and sends Control traffic message, and send itself traffic control information；Traffic control Logical processing unit is used for the logical process of traffic control, including following processing module：Traffic control application module：For sending the application information of traffic control entrance, receive and judge application result, after AGV applies not It is rejected, traffic control application module will produce the judged result of " granting current "；When AGV application is rejected, traffic control application module The judged result of " no through traffic " will be produced；Time synchronized module：For the system time between synchronous each AGV, the real-time clock for ensureing all AGV be it is synchronous, Or its error is acceptable relative to the length of time window；Processing module is weighed in traffic control：To handle the interrelated logic of traffic control power, its function includes：Judged whether to obtain traffic control power according to application result, traffic control power is shifted when leaving traffic control region, when traffic pipe After system power processing module gets traffic control power, start AGV and enter traffic control area；Bottom data transceiver module：To send and receive the bottom module of external data.
- A kind of 2. autonomous traffic control methods of AGV, it is characterised in that using the autonomous traffic control devices of AGV described in claim 1 Realize, it comprises the following steps：Traffic control application module sends 3~5 application informations, and each transmission time interval is sent depending on time window length Afterwards, judge application result, send after midway receives rejection instruction, stop sending, and extend its time window spacing, it is next its Privately owned time window could be applied again；After every AGV intervals scheduled time, time synchronized instruction is sent in its privately owned time window, time synchronized instruction includes Present system time, but only could the generation of trigger event synchronization module than the AGV of its higher priority synchronic commands sent Time synchronized acts；When traffic control application module produces the judged result of " granting current ", now AGV is handed over by traffic control authority processing module Logical control right；When traffic control application module produces the judged result of " no through traffic ", now AGV needs to wait until that traffic control is arrived in succession Power, or next privately owned time window continuation application is waited, application next time obtains the judged result of " granting current ", actively obtains Obtain traffic control power.
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109324613A (en) * | 2018-09-18 | 2019-02-12 | 广东嘉腾机器人自动化有限公司 | A kind of traffic control method and device of AGV trolley |
| CN110567471A (en) * | 2019-08-09 | 2019-12-13 | 易普森智慧健康科技（深圳）有限公司 | indoor traffic control method based on position |
| CN111210640A (en) * | 2019-12-30 | 2020-05-29 | 广东嘉腾机器人自动化有限公司 | Broadcast communication-based AGV single-machine traffic management method, electronic equipment and storage medium |
| CN111487983A (en) * | 2020-06-11 | 2020-08-04 | 上海振华重工(集团)股份有限公司 | Multiple AGV scheduling method for closed type automatic logistics park |
| CN112405529A (en) * | 2020-10-30 | 2021-02-26 | 深圳优地科技有限公司 | Robot control method, robot control device, robot, and storage medium |
| CN112882462A (en) * | 2020-12-28 | 2021-06-01 | 广东嘉腾机器人自动化有限公司 | Cloud traffic management device and method thereof |
| GB202105672D0 (en) | 2021-04-21 | 2021-06-02 | Zeta Specialist Lighting Ltd | Traffic control at an intersection |
| CN113110140A (en) * | 2021-03-26 | 2021-07-13 | 苏州振畅智能科技有限公司 | Instruction synchronization system based on 5G and satellite time service and execution method |
| CN113759899A (en) * | 2021-08-12 | 2021-12-07 | 东风汽车股份有限公司 | AGV distributed automatic traffic control method |
| CN114495531A (en) * | 2021-12-17 | 2022-05-13 | 广东嘉腾机器人自动化有限公司 | AGV single machine traffic management method, electronic equipment and storage medium |
| WO2023016377A1 (en) * | 2021-08-11 | 2023-02-16 | 灵动科技（北京）有限公司 | Robot control method and apparatus, and data processing method and apparatus |
| CN117877276A (en) * | 2024-03-11 | 2024-04-12 | 天津联汇智造科技有限公司 | Method for controlling logistics traffic in factory |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109324613A (en) * | 2018-09-18 | 2019-02-12 | 广东嘉腾机器人自动化有限公司 | A kind of traffic control method and device of AGV trolley |
| CN110567471A (en) * | 2019-08-09 | 2019-12-13 | 易普森智慧健康科技（深圳）有限公司 | indoor traffic control method based on position |
| CN110567471B (en) * | 2019-08-09 | 2020-10-09 | 易普森智慧健康科技（深圳）有限公司 | Indoor traffic control method based on position |
| CN111210640A (en) * | 2019-12-30 | 2020-05-29 | 广东嘉腾机器人自动化有限公司 | Broadcast communication-based AGV single-machine traffic management method, electronic equipment and storage medium |
| CN111210640B (en) * | 2019-12-30 | 2021-12-10 | 广东嘉腾机器人自动化有限公司 | Broadcast communication-based AGV single-machine traffic management method, electronic equipment and storage medium |
| CN111487983A (en) * | 2020-06-11 | 2020-08-04 | 上海振华重工(集团)股份有限公司 | Multiple AGV scheduling method for closed type automatic logistics park |
| CN112405529A (en) * | 2020-10-30 | 2021-02-26 | 深圳优地科技有限公司 | Robot control method, robot control device, robot, and storage medium |
| CN112882462A (en) * | 2020-12-28 | 2021-06-01 | 广东嘉腾机器人自动化有限公司 | Cloud traffic management device and method thereof |
| CN113110140A (en) * | 2021-03-26 | 2021-07-13 | 苏州振畅智能科技有限公司 | Instruction synchronization system based on 5G and satellite time service and execution method |
| CN113110140B (en) * | 2021-03-26 | 2022-09-23 | 苏州振畅智能科技有限公司 | Execution method of instruction synchronization system based on 5G and satellite time service |
| GB202105672D0 (en) | 2021-04-21 | 2021-06-02 | Zeta Specialist Lighting Ltd | Traffic control at an intersection |
| GB2605991A (en) | 2021-04-21 | 2022-10-26 | Zeta Specialist Lighting Ltd | Traffic control at an intersection |
| WO2022223952A1 (en) | 2021-04-21 | 2022-10-27 | Zeta Specialist Lighting Limited | Traffic control at an intersection |
| WO2023016377A1 (en) * | 2021-08-11 | 2023-02-16 | 灵动科技（北京）有限公司 | Robot control method and apparatus, and data processing method and apparatus |
| CN113759899A (en) * | 2021-08-12 | 2021-12-07 | 东风汽车股份有限公司 | AGV distributed automatic traffic control method |
| CN113759899B (en) * | 2021-08-12 | 2023-11-21 | 东风汽车股份有限公司 | AGV distributed traffic automatic control method |
| CN114495531A (en) * | 2021-12-17 | 2022-05-13 | 广东嘉腾机器人自动化有限公司 | AGV single machine traffic management method, electronic equipment and storage medium |
| CN117877276A (en) * | 2024-03-11 | 2024-04-12 | 天津联汇智造科技有限公司 | Method for controlling logistics traffic in factory |
| CN117877276B (en) * | 2024-03-11 | 2024-05-24 | 天津联汇智造科技有限公司 | Method for controlling logistics traffic in factory |
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Application publication date: 20180119 |