CN107807640B - AGV-based traffic management method, electronic device, storage medium and system - Google Patents
AGV-based traffic management method, electronic device, storage medium and system Download PDFInfo
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- CN107807640B CN107807640B CN201711003555.1A CN201711003555A CN107807640B CN 107807640 B CN107807640 B CN 107807640B CN 201711003555 A CN201711003555 A CN 201711003555A CN 107807640 B CN107807640 B CN 107807640B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention discloses an AGV-based traffic management method, which comprises the following steps: receiving a task instruction and planning a walking path for executing the task instruction; sending a request instruction according to the walking path, wherein the request instruction requests to occupy an identification point location on the walking path, and the identification point location only allows one AGV to occupy; if an occupation success instruction is received, walking to an identification point location; and if the occupation failure instruction is received, continuing to send out the request instruction. The invention also discloses electronic equipment, a computer readable storage medium and an AGV-based traffic management system. According to the invention, the walking of the AGV is controlled through the point positions, the passing efficiency of the road is improved, and the traffic management of the AGV is realized.
Description
Technical Field
The present invention relates to the field of AGV traffic management technologies, and in particular, to an AGV-based traffic management method, an electronic device, a storage medium, and a system.
Background
AGVs mean automated guided vehicles, commonly referred to as automated guided vehicles. An AGV is a transport vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path and has various transfer functions as safety protection.
At present, more and more occasions are used for AGV, more and more types of trolleys are used, and the path is also changed from the original simple path into a complex driving path with various crossroads which are staggered. Due to the increase in the number and type of vehicles, and the increase in the complexity of the routes, various traffic control methods exist at the present stage.
The current common traffic control methods include one of the following two methods: the signal of AGV is gathered through various equipment such as installation like travel switch, photoelectric sensor, magnetic stripe ground mark, magnetic pole sensor, and the rethread control system sends the instruction and sends the signal for the sensor, controls AGV and realizes the traffic control. However, the method has a large engineering quantity for installing the equipment, realizes control in a wired mode, has certain requirements on the areas of traffic control and the abrasion degree of the equipment, cannot realize mutual communication between the AGVs, and has relatively high hardware cost.
The second step is as follows: the AGVs communicate with each other directly through a wireless network to perform traffic control. The method is low in cost, but when the AGVs enter the control area simultaneously or communication delay is caused by network errors, the whole AGV traffic system can generate errors or even be broken down.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide the AGV-based traffic management method, wherein the walking of the AGV is controlled through the point location, the passing efficiency of the road is improved, and the traffic management of the AGV is realized.
The invention also aims to provide the electronic equipment, which controls the AGV to walk through the point location, improves the road passing efficiency and realizes the traffic management of the AGV.
The invention further aims to provide a computer readable storage medium, which controls the traveling of the AGVs through the point positions, improves the road passing efficiency and realizes the traffic management of the AGVs.
The fourth purpose of the invention is to provide the AGV-based traffic management system, which controls the traveling of the AGV through the point location, improves the traffic efficiency of the road, and realizes the traffic management of the AGV.
One of the purposes of the invention is realized by adopting the following technical scheme:
the AGV-based traffic management method comprises the following steps of:
receiving an instruction, receiving a task instruction, and planning a walking path for executing the task instruction;
requesting identification point locations, sending a request instruction according to the walking path, wherein the request instruction requests to occupy the identification point locations on the walking path, and the identification point locations only allow one AGV to occupy;
and (5) occupying the identification point location, and if an occupation success instruction is received, walking to the identification point location.
Further, the method also comprises the following steps:
and continuing the request, and if receiving an occupation failure instruction, continuing to send out a request instruction.
Further, the method also comprises the following steps:
and optimizing the path, sending a path optimization request instruction according to the arrival time information, receiving the path optimization instruction, wherein the path optimization instruction is used for generating a sequence of occupying lanes, and sequentially occupying the lanes according to the sequence of occupying the lanes.
Further, the method also comprises the following steps:
requesting a lane, sending a lane occupation request instruction, wherein the lane occupation request instruction requests to occupy the lane on the walking path;
requesting direction, if receiving an occupation failure instruction, sending a driving direction request instruction which requests to occupy the driving direction of the AGV;
and controlling the AGV, and waiting at the original mark point position if the AGV receives an instruction of opposite driving direction.
Further, the lane comprises a first identification point location and a second identification point location, and the lane occupation request instruction comprises a first identification point location occupation request instruction;
the step of controlling the AGV specifically comprises: if the command with the opposite driving direction is received, waiting on the original mark point position, continuously sending a lane occupation request command until a lane occupation success command is received, and if the command with the same driving direction and the first mark point occupation success command are received, walking to the first mark point position and sending a second mark point occupation request command.
Further, the identification point locations comprise occupiable point locations and unavailable point locations, the unavailable point locations are not occupied by the AGVs, the AGVs request to occupy the unavailable point locations, and the control system sends out point location unavailable instructions.
Further, the method also comprises the following steps:
and (3) replanning: and if the point location unavailable instruction is received, replanning a second walking path for executing the task instruction, wherein the second walking path avoids the unavailable point location.
The second purpose of the invention is realized by adopting the following technical scheme:
an electronic device, comprising: a processor;
a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for performing the AGV-based traffic management method described above.
The third purpose of the invention is realized by adopting the following technical scheme:
a computer-readable storage medium having stored thereon a computer program for execution by a processor of the AGV-based traffic management method described above.
The fourth purpose of the invention is realized by adopting the following technical scheme:
an AGV-based traffic management system comprising: a control system, an AGV; the control system comprises a control map, wherein the control map comprises virtual identification point positions; the AGV sends a request to the control system, and receives and executes an instruction sent by the control system.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a traffic management method based on AGV, and also relates to an electronic device, a computer readable storage medium and a traffic management system based on AGV; the method comprises the steps that an AGV applies for an identification point position to be walked to a control system, the control system distributes the identification point position to different AGVs according to the identification point position condition applied by the AGV, and therefore the purpose of controlling the AGV is achieved, the identification point position can only be occupied by one AGV, even if obstacle sensing equipment of the AGV is abnormal, the AGV can be guaranteed not to collide with each other, and the friction risk caused when adjacent goods are simultaneously carried by two vehicles can be avoided; when only allowing the single car to pass through, provide the lane and take up the judgement to avoid AGV to block up on the lane, the current efficiency of promotion road that also can the maximize.
Drawings
FIG. 1 is a schematic flow chart of the AGV based traffic management method of the present invention;
FIG. 2 is a schematic flow chart of an AGV according to the present invention as it passes through an intersection;
FIG. 3 is a schematic diagram of the location of the identification point according to the first embodiment of the present invention;
FIG. 4 is a schematic diagram of a walking path according to the first embodiment of the present invention;
FIG. 5 is a schematic diagram of the locations of the marking points of the lanes occupied by the AGVs according to the first embodiment of the present invention;
FIG. 6 is a schematic diagram of the location of the identified points where the AGV of FIG. 5 continues to travel;
FIG. 7 is a schematic diagram of the location of the identification points according to the second embodiment of the present invention;
FIG. 8 is a schematic diagram illustrating an AGV occupying identification points in a second embodiment of the present invention;
FIG. 9 is a schematic diagram of the location of the identification points of the AGV of FIG. 8 during further travel;
FIG. 10 is a schematic diagram of the identification point location of the third embodiment of the present invention;
FIG. 11 is a schematic view of a third embodiment of the present invention;
FIG. 12 is a schematic diagram illustrating an AGV occupying identification points in a third embodiment of the present invention;
FIG. 13 is a schematic diagram of a marking location according to a fourth embodiment of the present invention;
FIG. 14 is a schematic diagram of an AGV according to a fourth embodiment of the present invention illustrating an originally planned travel path;
FIG. 15 is a schematic diagram of a fourth embodiment of the present invention showing an AGV re-planning a travel path;
FIG. 16 is a schematic diagram of adding a walking path to the walking path shown in FIG. 15;
FIG. 17 is a schematic diagram of the newly added walking path re-planning based on FIG. 16;
fig. 18 is a schematic diagram of the identification point location of the fifth embodiment of the present invention.
In the drawings: a-p, marking point locations; L1-L9, walking path; l8 '-L9', second walking path.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
The AGV-based traffic management method, as shown in fig. 1, includes the following steps:
receiving an instruction, receiving a task instruction, and planning a walking path for executing the task instruction;
requesting identification point locations, sending a request instruction according to the walking path, wherein the request instruction requests to occupy the identification point locations on the walking path, and the identification point locations only allow one AGV to occupy;
occupying the identification point location, and if an occupation success instruction is received, walking to the identification point location;
and continuing the request, and if receiving an occupation failure instruction, continuing to send out a request instruction.
For step receiving instructions, receiving the task instructions can obtain a target point for executing the task, and planning a walking path from the starting point to the target point, wherein the walking path is specifically a free path and is obtained according to a path planning algorithm.
For step request identification point locations, the control system comprises a map of an AGV working area, identification point locations are arranged in the area where the AGV can walk on the map, a plurality of identification point locations are arranged on a walking path, at the same moment, only one AGV is allowed to occupy any one identification point location, a request is sent to occupy the identification point locations on the walking path, and after the identification point locations are successfully occupied, the AGV can walk according to the walking path.
For step occupation of the identification point locations, the walking path may include identification point locations that are successfully occupied and/or identification point locations that are unsuccessfully occupied, when the AGV successfully occupies the identification point locations, an occupation success instruction sent by the control system is received, and the AGV walks according to the planned walking path and passes through the identification point locations that are successfully occupied.
For the step continuous request, because the identification point positions on the walking paths of a plurality of AGVs may coincide in a plurality of request instructions, the identification point positions only allow one AGV to occupy, and the other AGVs fail to occupy the identification point positions; when one AGV fails to occupy the identification point location, a request instruction can be continuously sent to the control system until the occupation of the identification point location is successful, for example, after the AGV which successfully occupies walks according to a walking path and passes through the identification point location, the identification point location is released, namely after the AGV no longer occupies the identification point location, the control system receives the request instruction of other AGVs, and then the other AGVs can successfully occupy the identification point location.
Wherein, the sign position only allows an AGV to occupy, can avoid AGV to collide with each other.
Meanwhile, the identification point location comprises an occupiable point location and an unavailable point location, the unavailable point location is not occupied by the AGV, the AGV requests to occupy the unavailable point location, and the control system sends out a point location unavailable instruction, namely the method further comprises the following steps:
and re-planning, if the point location unavailable instruction is received, re-planning a second walking path for executing the task instruction, wherein the second walking path avoids the unavailable point location.
The situation regarding the above-mentioned unavailable point is as follows: when equipment failure occurs on the identification point location, the identification point location is already occupied, or other unexpected conditions cause that the identification point location cannot be used immediately, and the identification point location is artificially set to be occupied, namely cannot be used; or the AGV sends a request instruction for exceeding the set time, the identification point location is considered as an unavailable point location, and the traveling path, namely the second traveling path, is re-planned according to the current starting point and the target point for executing the task as soon as possible.
Wherein, the walking route includes a plurality of lanes, and the walking route is formed by lane and lane connection, and the junction point in lane and lane is AGV's the crossing of traveling, and AGV still includes following step when crossing of traveling:
optimizing a path, acquiring running speed information and request identification point location information, obtaining time information of arriving at a running intersection according to the running speed information and the request identification point location information, sending a path optimization request instruction, receiving the path optimization instruction, wherein the path optimization instruction is used for generating a sequence of occupying lanes, and sequentially occupying the lanes according to the sequence of occupying the lanes to prevent the AGV from being blocked.
The optimization of the routes of the AGVs is explained as follows, a first AGV with short time of arriving at a driving intersection occupies a lane in advance, and a second AGV with long time of arriving at the driving intersection occupies the lane after waiting for the first AGV to occupy the lane and release the lane, so that the first AGV and the second AGV are prevented from being blocked on the lane.
When the AGV is driving at the intersection, as shown in fig. 2, the method further includes the following steps:
requesting a lane, sending a lane occupation request instruction, wherein the lane occupation request instruction requests to occupy the lane on the walking path;
requesting direction, if receiving an occupation failure instruction, sending a driving direction request instruction, and judging the driving direction occupying the AGV by the AGV direction request instruction;
and controlling the AGV, and waiting at the original mark point position if the AGV receives an instruction of opposite driving direction.
For the step request direction, if the lanes on the traveling path conflict, a traveling direction request command is sent to request to judge the traveling directions of the AGVs occupying the same lane, and the traveling directions include the same and opposite directions.
Meanwhile, the lane comprises a first mark point position and a second mark point position, and the lane occupation request instruction comprises a first mark point position occupation request instruction.
Namely, the step of controlling the AGV specifically comprises: if the command with the opposite driving direction is received, waiting at the intersection of the lane, and continuously sending a lane occupation request command, and if the command with the same driving direction and the command that the first mark point position is successfully occupied are received, walking to the first mark point position, and sending a second mark point position occupation request command.
It should be noted that, as shown in fig. 3 to 18, a hollow dot represents that the identification point is unoccupied, a full solid black dot, a right half solid black dot, and a lower half solid black dot represent that the identification point is occupied, respectively, and a dot with a cross is that the identification point is faulty and cannot be occupied; the full solid black dots, the right half solid black dots, and the lower half solid black dots are only used for distinguishing different AGVs, and the full solid arrow lines, the grid arrow lines, and the hollow arrow lines are only used for distinguishing different travel paths.
As shown in fig. 3 to 6, in a first embodiment of the present invention, AGVs are AGVs 1 and AGVs 2, as shown in fig. 3, a to h are mark points, as shown in fig. 4, a travel path L1 of an AGV1 is mark points a-b-e-f-g-h, a travel path L2 of an AGV2 is mark points c-d-e-f-g-h, and an AGV1 travels in the same direction as the AGV2, and then the steps of the traffic management method for the AGVs 1 are as follows:
receiving the instruction, the AGV1 receiving the task instruction of the control system and planning a walking path L1 for executing the task instruction;
requesting the identification point location, wherein the AGV1 sends a request instruction according to the walking path L1, and the request instruction requests to occupy the identification point location a on the walking path L1;
and (5) occupying the identification point location, and if an occupation success instruction is received, walking to the identification point location a.
As shown in fig. 5, according to the above method, when AGVs 1 sequentially occupy the mark point e, AGVs 2 occupy the mark point d, and at this time, AGVs 2 are located at the intersection and need to occupy the lane containing the mark points e, f, g, and h, where the first mark point of the lane is the mark point e, and at this time, the steps of the traffic management method for AGVs 2 are as follows:
requesting a lane, wherein the AGV2 sends a lane occupation request instruction which requests to occupy the lane containing the mark points e, f, g and h;
requesting direction, namely, the AGV2 sends a driving direction request instruction after receiving an occupation failure instruction, and the driving direction of the AGV1 is judged by the AGV direction request instruction;
and controlling the AGV, wherein the AGV2 waits at the identification point position d after receiving the instruction of the same driving direction and the identification point position e occupation failure instruction, and continues to send the identification point position e occupation request instruction until receiving the identification point position e occupation success instruction.
As shown in fig. 6, the AGV1 travels from the identification point location e to the identification point location f, at this time, the identification point location e is released, the AGV2 continues to send an identification point location e occupation request instruction, receives an identification point location e occupation success instruction, travels to the identification point location e by the AGV2, sends an identification point location f occupation request instruction, and so on, the AGV2 follows the AGV1 to sequentially pass through the identification point locations f, g, and h, thereby completing a travel path and completing a task instruction.
As shown in fig. 7-9, in a second embodiment of the present invention, the AGVs are AGVs 3 and AGVs 4, as shown in fig. 7, a-k are mark points, as shown in fig. 8, a travel path L3 of AGV3 is mark points a-b-e-f-g-h-i-j, a travel path L4 of AGV4 is mark points k-i-h-g-f-e-b-c, AGV3 and AGV4 are driven in reverse, lanes formed by mark points b, e, f, g, h, and i in the drawing are bidirectional paths, but the AGV lane only provides one row of mark points, that is, a bidirectional single lane, and the steps of the traffic management method for AGV3 are as follows:
receiving the instruction, the AGV3 receiving the task instruction of the control system and planning a walking path L3 for executing the task instruction;
requesting the identification point location, wherein the AGV3 sends a request instruction according to the walking path L3, and the request instruction requests to occupy the identification point location a on the walking path L3;
and (5) occupying the identification point location, and if an occupation success instruction is received, walking to the identification point location a.
Through the method, when the AGVs 3 occupy the mark point b in sequence, the AGVs 4 occupy the mark point k, and because the mark point b is occupied, lanes containing the mark points b, e, f, g, h and i are occupied, and at the moment, the steps of the traffic management method for the AGVs 4 are as follows:
requesting a lane, wherein the AGV4 sends a lane occupation request instruction which requests to occupy the lane containing the mark points b, e, f, g, h and i;
requesting direction, namely, the AGV4 sends a driving direction request instruction after receiving an occupation failure instruction, and the driving direction of the AGV3 is judged by the AGV direction request instruction;
and controlling the AGV, wherein the AGV4 waits at the mark point k after receiving the instruction of the opposite driving direction, and continuously sends out the lane occupation request instruction until receiving the lane occupation success instruction.
As shown in fig. 9, the AGV3 travels to the mark point j, and at this time, the mark points b, e, f, g, h, and i are released, that is, the lanes containing the mark points b, e, f, g, h, and i are released, the AGV4 receives the successful lane occupation instruction, and the AGV4 travels to the mark point i and occupies the mark points h, g, f, e, b, and c in sequence, thereby completing the travel route and completing the task instruction.
As shown in fig. 10 to 12, in a third embodiment of the present invention, the AGVs are AGVs 5, AGVs 6, and AGVs 7, as shown in fig. 10, a to k are identification points, as shown in fig. 11, a travel path L5 of the AGV5 is an identification point k-i-h-g-f-e-c-d, a travel path L6 of the AGV6 is an identification point a-c-e-f-g-h-i-j, a travel path L7 of the AGV7 is an identification point b-c-e-f-g-h-i-j, that is, the AGV5 and the AGV6 are traveling in opposite directions, and the AGV7 and the AGVs 6 and 7 are traveling in the same direction; in the figure, the lane formed by the mark points c, e, f, g, h, and i is a bidirectional path, but the lane only provides one row of mark points, i.e. the lane is a bidirectional single lane, and the steps of the traffic management method for AGVs 6 are as follows:
receiving the instruction, the AGV6 receiving the task instruction of the control system and planning a walking path L6 for executing the task instruction;
requesting the identification point location, wherein the AGV6 sends a request instruction according to the walking path L6, and the request instruction requests to occupy the identification point location a on the walking path L6;
and (5) occupying the identification point location, and if an occupation success instruction is received, walking to the identification point location a.
As shown in fig. 12, according to the above method, when AGVs 6 occupy the mark point c in sequence, AGVs 5 occupy the mark point k, AGVs 7 occupy the mark point b, and because the mark point c is occupied, lanes including the mark points c, e, f, g, h, and i are occupied, and at this time, the steps of the traffic management method for AGVs 5 are as follows:
requesting a lane, wherein the AGV5 sends a lane occupation request instruction which requests to occupy the lane containing the mark points c, e, f, g, h and i;
requesting direction, namely, the AGV5 sends a driving direction request instruction after receiving an occupation failure instruction, and the driving direction of the AGV6 is judged by the AGV direction request instruction;
and controlling the AGV, wherein the AGV5 waits at the mark point k after receiving the instruction that the driving direction of the AGV6 is the same, and continuously sends out a lane occupation request instruction until receiving a lane occupation success instruction.
The steps of the traffic management method for AGVs 7 are as follows:
requesting a lane, wherein the AGV7 sends a lane occupation request instruction which requests to occupy the lane containing the mark points c, e, f, g, h and i;
requesting direction, namely, the AGV7 sends a driving direction request instruction after receiving an occupation failure instruction, and the driving direction of the AGV6 is judged by the AGV direction request instruction;
and controlling the AGV, wherein the AGV7 waits at the mark point b after receiving the instruction of the same driving direction and the mark point c occupation failure instruction, and continues to send the mark point c occupation request instruction until receiving the mark point c occupation success instruction.
That is, the AGV6 occupies the lane in advance, sequentially occupies the mark points c, e, f, g, h, i, and j in the lane, the AGV7 sequentially occupies the mark points c, e, f, g, h, i, and j in the lane along with the AGV6, the AGV5 needs to wait at the mark point k until the AGV7 occupies the mark point j, thereby releasing the lane containing the mark points c, e, f, g, h, and i, the AGV7 receives the successful lane occupation instruction, the AGV7 travels to the mark point i, sequentially occupies the mark points h, g, f, e, c, and d, thereby completing the travel path and completing the task instruction.
Referring to fig. 13-17, in a fourth embodiment of the present invention, the AGVs are AGVs 8 and AGVs 9, as shown in fig. 13, a-p are identification points, as shown in fig. 14, a travel path L8 of an AGV8 is an identification point d-c-b-a-i-h-j, as shown in fig. 15, a second travel path L8 'of the AGV8 is an identification point b-c-e-f-g-h-j, as shown in fig. 16, a travel path L9 of an AGV9 is an identification point j-h-i-a-b-c-d, as shown in fig. 16, a second travel path L9' of the AGV9 is i-h-k-L-m-n-o-p-d, during traveling of the AGVs 8 and the AGVs 9, the identification point a is accidentally disabled, the lane marked by the mark point a cannot be used, and in the figure, the lane marked by the mark points c, e, f, g, and h is a one-way path, the steps of the traffic management method for AGVs 8 are as follows:
receiving the instruction, the AGV8 receiving the task instruction of the control system and planning a walking path L8 for executing the task instruction;
requesting the identification point location, wherein the AGV8 sends a request instruction according to the walking path L8, and the request instruction requests to occupy the identification point location d on the walking path L8;
and (5) occupying the identification point location, and if an occupation success instruction is received, walking to the identification point location d.
Through the method, when the AGVs 8 occupy the mark point b in sequence, the AGVs 8 request to occupy the mark point a, and because the mark point a cannot be occupied, the control system will send out a point unavailable instruction, and then the steps of the traffic management method for the AGVs 8 are as follows:
and (3) replanning: if the point position unavailable instruction is received, a second walking path L8' for executing the task instruction is planned again;
requesting the identification point location, wherein the AGV8 sends a request instruction according to the second walking path L8 ', and the request instruction requests to occupy the identification point location c on the second walking path L8';
and (5) occupying the identification point location, and if an occupation success instruction is received, walking to the identification point location c.
As shown in fig. 15, according to the above method, AGV8 sequentially occupies mark points c, e, f, g, h, and j, and completes the second travel path and the task instruction.
The traffic management method for the AGV9 is the same as the traffic management method for the AGV8, and the difference is that the lane formed by the mark points c, e, f, g and h is a one-way path, for the AGV9, it needs to reach the mark point d, its walking path L9 is the mark point j-h-i-a-b-c-d, but cannot pass through the path formed by the mark points j-h-g-f-e-c-d, i.e. it cannot wait for the AGV8 to release the lane at the mark point j, and under the condition that the mark point a cannot be used, its second walking path L9' is i-h-k-L-m-n-o-p-d.
Fig. 18 shows a fifth embodiment of the present invention, where a-m are identification points, and identification points k, l, and m are charging identification points, where the charging identification point only allows one AGV to charge, that is, only three AGVs are allowed to charge simultaneously in the map, at this time, if a fourth AGV needs to be charged, the fourth AGV needs to wait at the intersection identification point c, and when any AGV finishes charging and exits to the identification point a, the fourth AGV needs to enter the charging identification point, so as to perform a charging task.
In the foregoing, the fourth AGV that needs to be charged can also wait at intersection identification point location a, and when waiting for any AGV to charge and finish and quit to identification point location c, the fourth AGV that needs to be charged just can get into the identification point location that charges to carry out the task of charging.
An electronic device, a processor; a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for performing the AGV-based traffic management method described above; a computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program is executed by the processor to perform the AGV-based traffic management method described above.
An AGV-based traffic management system comprising: a control system, an AGV; the control system comprises a control map, wherein the control map comprises virtual identification point positions; the AGV sends a request to a control system, and receives and executes an instruction sent by the control system; because the definition information of the identification point locations is different, the AGV applies for the identification point locations to be walked to the control system before walking, and the control system allocates the identification point locations to different AGVs according to the identification point location condition applied by the AGV, so that the purpose of controlling the AGV is achieved.
Regarding the walking of the AGV, the SLAM technology is utilized, and the English name of the SLAM is named simulaneous localization and mapping, which means that instant positioning and map construction are performed or a map and positioning are performed simultaneously; the map used by the AGV walking corresponds to the control map of the control system, the AGV can obtain positioning information by utilizing the SLAM technology to perform positioning immediately when walking, and the positioning information is fed back to the control system, so that the technical effect that the control system controls the AGV to walk to the identification point position is achieved.
The invention provides a traffic management method based on AGV, and also relates to an electronic device, a computer readable storage medium and a traffic management system based on AGV; the method comprises the steps that an AGV applies for an identification point position to be walked to a control system, the control system distributes the identification point position to different AGVs according to the identification point position condition applied by the AGV, and therefore the purpose of controlling the AGV is achieved, the identification point position can only be occupied by one AGV, even if obstacle sensing equipment of the AGV is abnormal, the AGV can be guaranteed not to collide with each other, and the friction risk caused when adjacent goods are simultaneously carried by two vehicles can be avoided; when only allowing the single car to pass through, provide the lane and take up the judgement to avoid AGV to block up on the lane, the current efficiency of promotion road that also can the maximize.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (7)
1. The AGV-based traffic management method is characterized by comprising the following steps of:
receiving an instruction, receiving a task instruction, and planning a walking path for executing the task instruction;
requesting identification point locations, and sending a request instruction according to the walking path, wherein the request instruction requests to occupy the identification point locations on the walking path, and the identification point locations only allow one AGV to occupy;
occupying the identification point location, and if an occupation success instruction is received, walking to the identification point location;
requesting a lane, and sending a lane occupation request instruction which requests to occupy the lane on the walking path;
requesting direction, if receiving an occupation failure instruction, sending a driving direction request instruction, wherein the driving direction request instruction requests to occupy the driving direction of the AGV;
controlling the AGV, and waiting at the original identification point position if the AGV receives an instruction of opposite driving direction;
the lane comprises a first identification point location and a second identification point location, and the lane occupation request instruction comprises a first identification point location occupation request instruction;
the step of controlling the AGV specifically comprises: if the command with the opposite driving direction is received, waiting on the original mark point position, continuously sending a lane occupation request command until a lane occupation success command is received, and if the command with the same driving direction and the first mark point occupation success command are received, walking to the first mark point position and sending a second mark point occupation request command.
2. The AGV-based traffic management method of claim 1 further including the steps of:
and continuing the request, and if receiving an occupation failure instruction, continuing to send out a request instruction.
3. The AGV-based traffic management method of claim 1 further including the steps of:
and optimizing a path, sending a path optimization request instruction according to the arrival time information, receiving the path optimization instruction, wherein the path optimization instruction is used for generating a sequence of occupying lanes, and sequentially occupying the lanes according to the sequence of occupying the lanes.
4. An AGV-based traffic management method according to claim 1, characterised in that: the identification point location comprises an occupiable point location and an unavailable point location, the unavailable point location is not occupied by the AGV, the AGV requests to occupy the unavailable point location, and the control system sends out a point location unavailable instruction.
5. The AGV-based traffic management method of claim 4 further including the steps of:
and (3) replanning: and if the point location unavailable instruction is received, replanning a second walking path for executing the task instruction, wherein the second walking path avoids the unavailable point location.
6. An electronic device, characterized by comprising: a processor;
a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for carrying out the method of any one of claims 1-5.
7. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program is executed by a processor for performing the method according to any of claims 1-5.
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| CN110531747A (en) * | 2018-05-24 | 2019-12-03 | 富晋精密工业（晋城）有限公司 | Mobile robot avoids the method, apparatus and storage equipment of path conflict |
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| CN110874947B (en) * | 2018-09-04 | 2021-04-09 | 杭州海康机器人技术有限公司 | Traffic control method, device and system |
| CN109816064B (en) * | 2019-01-22 | 2023-01-17 | 上海托华机器人有限公司 | AGV traffic control method and system based on dynamic lock |
| CN110032190B (en) * | 2019-04-25 | 2022-11-18 | 上海快仓智能科技有限公司 | Vehicle control method and device |
| CN110046831A (en) * | 2019-04-25 | 2019-07-23 | 上海快仓智能科技有限公司 | Follow control method for movement and device |
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