CN108563219B - AGV avoidance method - Google Patents
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- CN108563219B CN108563219B CN201711477965.XA CN201711477965A CN108563219B CN 108563219 B CN108563219 B CN 108563219B CN 201711477965 A CN201711477965 A CN 201711477965A CN 108563219 B CN108563219 B CN 108563219B
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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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
- G05D1/0214—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 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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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
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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
- G05D1/0287—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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- 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
- G05D1/0287—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
- G05D1/0291—Fleet control
- G05D1/0293—Convoy travelling
Abstract
The invention discloses an AGV avoidance method, which is characterized in that an avoidance area is defined for each parking station of a parking area; acquiring pose data of all AGV and target stop stations; generating a dynamic avoidance area based on the avoidance area width of the target stop station; when the AGV enters a corresponding dynamic avoidance area, judging whether the dynamic avoidance area is in an occupied state or not; if the dynamic avoidance area is in an occupied state, the AGV waits in situ to avoid collision; if the dynamic avoidance area is in a non-occupied state, the AGV continues to run, occupies the dynamic avoidance area, and switches the dynamic avoidance area into an occupied state; after the AGV drives into a target stop station, the dynamic avoidance area is switched into an idle state so as to be convenient for other AGVs to use and improve the space utilization rate and the operation efficiency of the AGV; therefore, the AGV avoidance method provided by the invention not only avoids collision among the AGVs, but also improves the space utilization rate and improves the operation efficiency of the AGVs.
Description
Technical Field
The invention belongs to the technical field of AGV, and particularly relates to an AGV avoidance method.
Background
AGV receives more and more attention as high flexibility logistics equipment in modern industrial production field, and inertial navigation AGV is a relatively newer product again, compares last generation magnetic stripe navigation AGV and electromagnetic navigation AGV, and inertial navigation AGV provides the higher logistics solution of a flexible degree.
With the increasing use of inertial navigation AGVs, a serious problem is gradually revealed: the problem of efficient and free scheduling of multiple AGVs at intensive stations is solved.
When the AGV drives in or out of the stop station, the required running space is large, and particularly when the AGV backs up to be put in a warehouse, the AGV needs to firstly cross the target stop station and then turns to back. The avoidance area required for each docking station is therefore very large in order to avoid collisions during operation. However, the docking stations in this area are very dense, and it is impossible to define an independent large static avoidance area for each station, so if the avoidance control is realized by the existing avoidance method, only one avoidance area can be defined, when a plurality of AGVs need to execute tasks in this area at the same time, only one AGV can move in this area due to the avoidance control problem, and the production efficiency is seriously reduced.
Disclosure of Invention
The invention provides an AGV avoidance method, which improves the operation efficiency of the AGV.
In order to solve the technical problems, the invention adopts the following technical scheme:
an AGV avoidance method includes:
an avoidance area is defined for each parking station of the parking area;
acquiring pose data of all AGV and target stop stations;
generating a dynamic avoidance area based on the avoidance area width of the target stop station;
when the AGV enters a corresponding dynamic avoidance area, judging whether the dynamic avoidance area is in an occupied state or not;
if yes, the AGV waits in place;
if not, the AGV continues to run, occupies the dynamic avoidance area, and switches the dynamic avoidance area into an occupied state; and after the AGV drives into the target stop station, switching the dynamic avoidance area into an idle state.
Further, the generating of the dynamic avoidance area based on the avoidance area width of the target stop station specifically includes:
judging whether the width of an avoidance area of a target stop station meets the width required by the AGV when driving in;
if so, generating a dynamic avoidance area for the avoidance area of the target stop station;
and if not, generating a dynamic avoidance area for the target parking station and the avoidance areas of the adjacent parking stations.
Still further, when the AGV needs to exit the current docking station, the method further comprises the steps of:
generating a dynamic avoidance area based on the avoidance area width of the current stop station;
judging whether the dynamic avoidance area is in an occupied state or not;
if yes, the AGV waits in place;
if not, the AGV runs to occupy the dynamic avoidance area, and the dynamic avoidance area is switched to an occupied state; and when the AGV exits the dynamic avoidance area, switching the dynamic avoidance area into an idle state.
Furthermore, the generating of the dynamic avoidance area based on the avoidance area width of the current stop station specifically includes:
judging whether the width of an avoidance area of the current stop station meets the width required when the AGV drives out;
if so, generating a dynamic avoidance area for the avoidance area of the current stop station;
and if not, generating a dynamic avoidance area for the avoidance areas of the current parking station and the adjacent parking stations.
Further, when the dynamic avoidance area in the occupied state is switched to an idle state, whether the number of AGV waiting for the dynamic avoidance area is more than 1 is judged;
if so, according to a preset priority rule, the AGV with the highest priority occupies the dynamic avoidance area, switches the dynamic avoidance area into an occupied state, and continues to wait in situ.
Preferably, the avoidance area of each docking station has a pre-lock list; when the dynamic avoidance area corresponding to the AGV is in an occupied state, the AGV waits in situ and writes the serial number of the AGV into a pre-locking list of the avoidance area included in the corresponding dynamic avoidance area; when the AGV occupies the dynamic avoidance area, eliminating the serial number of the AGV in a pre-locking list; and if the number of the AGV numbers in the pre-locking list is greater than 1, judging that the number of the AGV waiting for the dynamic avoidance area is greater than 1.
Further, the method further comprises:
a plurality of queue type driving avoiding areas are arranged in the driving area at intervals;
when the AGV is a first set distance away from the boundary of the queue type driving avoiding area, judging whether the queue type driving avoiding area is in an occupied state;
if yes, the AGV waits in place;
if not, the AGV continues to run, occupies the queue type driving avoiding area, and switches the queue type driving avoiding area into an occupied state; and after the AGV exits the queue type driving avoiding area, switching the queue type driving avoiding area into an idle state.
Further, when the queue type driving avoiding area in the occupied state is switched to an idle state, whether the number of the AGV waiting for the queue type driving avoiding area is larger than 1 is judged;
if so, according to a preset priority rule, the AGV with the highest priority continues to run, occupies the queue type driving avoiding area, switches the queue type driving avoiding area into an occupied state, and continues to wait in place for other AGVs.
Still further, the method further comprises:
a static avoidance area is arranged in a route crossing area of the driving area;
when the AGV is a second set distance away from the boundary of the static avoidance area, judging whether the number of the AGV in the static avoidance area is larger than or equal to the set number or not;
if not, the AGV continues to run and enters a static avoidance area;
if yes, the AGV waits in place; detecting the number of AGV in the static avoidance area; when the number of the AGVs in the static avoidance area is smaller than the set number, judging whether the number of the AGVs waiting for the static avoidance area is larger than 1;
if so, according to a preset priority rule, the AGV with the highest priority continuously runs and enters the static avoidance area, and other AGVs continue to wait in place;
if not, waiting for the AGV in the static avoidance area to continue to run, and entering the static avoidance area.
Preferably, the width of the avoidance areas of the parking stations at the two ends of the parking area is greater than the width of the avoidance areas of other parking stations.
Compared with the prior art, the invention has the advantages and positive effects that: according to the AGV avoidance method, an avoidance area is defined for each stop station of a parking area; acquiring pose data of all AGV and target stop stations; generating a dynamic avoidance area based on the avoidance area width of the target stop station; when the AGV enters a corresponding dynamic avoidance area, judging whether the dynamic avoidance area is in an occupied state or not; if the dynamic avoidance area is in an occupied state, the AGV waits in situ to avoid collision; if the dynamic avoidance area is in a non-occupied state, the AGV continues to run, occupies the dynamic avoidance area, and switches the dynamic avoidance area into an occupied state; after the AGV drives into a target stop station, the dynamic avoidance area is switched into an idle state so as to be convenient for other AGVs to use and improve the space utilization rate and the operation efficiency of the AGV; therefore, the AGV avoidance method provided by the invention not only avoids collision among the AGVs, but also improves the space utilization rate and improves the operation efficiency of the AGVs.
Other features and advantages of the present invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
Drawings
FIG. 1 is a flow chart of one embodiment of an AGV avoidance method of the present invention;
FIG. 2 is a flow chart of yet another embodiment of an AGV avoidance method according to the present invention;
FIG. 3 is a flow chart of another embodiment of an AGV avoidance method according to the present invention;
FIG. 4 is a flow chart of yet another embodiment of an AGV avoidance method according to the present invention;
FIG. 5 is a schematic view of the parking area of FIG. 1 when no avoidance zone is defined by the parking station;
FIG. 6 is a schematic view of the parking area of FIG. 5 after a docking station defines an avoidance zone;
FIG. 7 is a schematic view of a fleet vehicle avoidance zone of the vehicle area of FIG. 5;
fig. 8 is a schematic view of a static avoidance zone of the traffic zone of fig. 5.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and examples.
Inertial navigation AGVs generally have several features: the inertial navigation AGV carries out control operation based on a virtual path, namely a global virtual map actually exists in the inertial navigation AGV, and the AGV calculates the current relative position and posture in real time through data of equipment such as a gyroscope. Once the AGV receives the task information, it is capable of off-line work. The body of the AGV is usually equipped with non-contact safety sensors such as infrared, laser, ultrasonic wave, etc.
The embodiment takes an inertial navigation AGV as an example, and explains specific steps of an avoidance method. Of course, the avoidance method of the embodiment is not limited to the inertial navigation AGV, and is also applicable to other AGVs.
The AGV avoidance method of the embodiment specifically includes the following steps, which are shown in fig. 1.
Step S11: and an avoidance area is defined for each parking station of the parking area.
The entire operational area of the AGV includes a parking area A and a travel area B, as shown in FIG. 5. The parking area a comprises a plurality of parking stations, each having a unique number, stored in a database. For example, docking station 12, docking station 200, docking station 201, … …, docking station 223, see FIG. 5.
And an independent rectangular avoidance area is defined for each docking station. The size of the avoidance area is designed according to the distance between the stop stations, and the length, the width and other data of the AGV are referred to. The avoidance area also has a unique number and is stored in the database. And binding the stop station number with the corresponding avoidance area number.
If two stop stations are arranged oppositely, a rectangular avoidance area can be defined for the two opposite stop stations, namely, the two stop stations correspond to one avoidance area, as shown in fig. 6, and a dashed rectangular frame is shown as the avoidance area. And binding the serial numbers of the two stop stations to the corresponding serial number of the same avoidance area.
For example, referring to FIG. 6, the stop stations 200 and 201 are associated with the corresponding avoidance zone A101, the stop stations 202 and 203 are associated with the corresponding avoidance zone A102, … …, and the stop stations 222 and 223 are associated with the corresponding avoidance zone A112. The docking station 12 is bound solely to the avoidance zone a100 because there is no docking station on the opposite side. In fig. 6, the center is a traffic lane of a parking area, and the two sides are parking stations.
If the three-wheel structure AGV is adopted, because the three-wheel structure AGV does not support in-situ rotation, the width of the avoidance areas divided for the stop stations at the two ends of the parking area is larger than the width of the avoidance areas of other parking stations, so that the avoidance areas can be used by calculation in advance or in a delayed manner when the AGV drives in or out of the parking area, and collision is avoided.
Step S12: and acquiring pose data of all the AGVs and target stop stations.
And monitoring the pose of all the AGVs, acquiring data such as the current position, the current direction angle and the like of the AGVs, and acquiring tasks of the AGVs, including a task starting station number, a driving path, a target stop station number and the like.
Step S13: and generating a dynamic avoidance area based on the avoidance area width of the target stop station.
And generating a dynamic avoidance area according to the length of the AGV, the running path and the avoidance area width of the target stop station so as to meet the driving space requirement of the AGV. Typically, three-wheel configuration AGVs typically use a reverse approach to the target docking station, and therefore require a relatively large amount of space.
The method specifically comprises the following steps:
step S131: and judging whether the width of the avoidance area of the target stop station meets the width required when the AGV drives in.
If yes, go to step S132: the avoidance area of the target stop station is generated into a dynamic avoidance area, namely, the space requirement that the AGV drives into the target stop station can be met only by the avoidance area of the target stop station, and the occupation of redundant areas is not needed, so that the space utilization rate and the AGV operation efficiency are improved.
If not, step S133 is executed: and generating a dynamic avoidance area for the target parking station and the avoidance areas of the adjacent parking stations. That is, the traveling demand of the AGV cannot be satisfied only by the avoidance area of the target stop station, and in order to avoid collision, the space demand that the AGV travels into the target stop station can be satisfied only by the cooperation of the avoidance area of the adjacent stop station.
That is to say, the dynamic avoidance area at least includes an avoidance area of the target stop station, and may also include an avoidance area of an adjacent stop station, and at this time, the dynamic avoidance area is a combination of a plurality of avoidance areas. For example, the dynamic avoidance area includes an avoidance area of the target stop station and avoidance areas of 2 stop stations on both sides of the target stop station, that is, includes 5 avoidance areas, and the dynamic avoidance area is a combination of 5 avoidance areas.
Step S14: when the AGV enters the corresponding dynamic avoidance area, whether the dynamic avoidance area is in an occupied state or not is judged.
In this embodiment, the dynamic avoidance region includes two states, an occupied state and an idle state. When the dynamic avoidance area comprises a plurality of avoidance areas and is a combination of the avoidance areas, and when a certain avoidance area in the combination is in an occupied state, the dynamic avoidance area is in an occupied state; the state of the dynamic avoidance zone is an idle state only if all avoidance zones in the combination are idle states.
When the AGV enters the corresponding dynamic avoidance area or when the AGV is away from the corresponding dynamic avoidance area boundary by a set distance (such as 200 mm; or 0mm, namely the AGV is located on the dynamic avoidance area boundary), judging whether the dynamic avoidance area is in an occupied state.
If not, step S15 is executed.
If yes, go to step S16.
Step S15: the AGV continues to run to occupy the dynamic avoidance area and switches the dynamic avoidance area into an occupied state because the dynamic avoidance area is in an idle state; and after the AGV drives into the target stop station, switching the dynamic avoidance area into an idle state, namely releasing the dynamic avoidance area.
Step S16: because the dynamic avoidance area is in an occupied state, the AGV waits in situ, and the collision is avoided. And, the state of the dynamic avoidance zone is detected in real time.
According to the AGV avoidance method, an avoidance area is defined for each stop station of a parking area; acquiring pose data of all AGV and target stop stations; generating a dynamic avoidance area based on the avoidance area width of the target stop station; when the AGV enters a corresponding dynamic avoidance area, judging whether the dynamic avoidance area is in an occupied state or not; if the dynamic avoidance area is in an occupied state, the AGV waits in situ to avoid collision; if the dynamic avoidance area is in a non-occupied state, the AGV continues to run, occupies the dynamic avoidance area, and switches the dynamic avoidance area into an occupied state; after the AGV drives into a target stop station, the dynamic avoidance area is switched into an idle state so as to be convenient for other AGVs to use and improve the space utilization rate and the operation efficiency of the AGV; therefore, the AGV avoidance method of the embodiment avoids collision among the AGVs, improves the space utilization rate and improves the operation efficiency of the AGVs.
According to the AGV avoidance method, the dynamic avoidance area is generated based on the avoidance area width of the target stop station, namely the dynamic avoidance area is generated when the stop requirement exists, and the dynamic avoidance area is not generated when no task stops, so that useless calculation is avoided, and the calculation efficiency is improved.
When the AGV waits in place, the state of the corresponding occupied dynamic avoidance area is detected in real time, and step S17 is executed: and judging whether the dynamic avoidance area in the occupied state is switched to an idle state or not.
If yes, go to step S18: and judging whether the number of the AGVs waiting for the dynamic avoidance area is larger than 1.
If yes, it indicates that there are a plurality of AGVs waiting for the dynamic avoidance area, then step S19 is executed: according to a preset priority rule, the AGV with the highest priority is selected from all the AGVs waiting for the dynamic avoidance area to run, the dynamic avoidance area is occupied, the dynamic avoidance area is switched to an occupied state, other AGVs continue to wait in situ, and collision caused by congestion is avoided.
If not, it means that only one AGV waits for the dynamic avoidance area, step S20 is executed: waiting for the AGV in the dynamic avoidance area to run, occupying the dynamic avoidance area, and switching the dynamic avoidance area into an occupied state.
In this embodiment, the avoidance area of each docking station has a pre-lock list; when the dynamic avoidance area corresponding to the AGV is in an occupied state, the AGV waits in situ and writes the serial number of the AGV into a pre-locking list of all avoidance areas included in the corresponding dynamic avoidance area; when the AGV occupies the dynamic avoidance area, the AGV number is eliminated from the pre-lock list. And if the number of the AGV numbers in the pre-locking list is greater than 1, judging that the number of the AGV waiting for the dynamic avoidance area is greater than 1. The design of the pre-locking list is convenient for judging the number of the AGVs waiting for the dynamic avoidance area.
That is, when the AGV needs to occupy a certain dynamic avoidance area, the number corresponding to the AGV is written into the pre-locking list of all avoidance areas included in the corresponding dynamic avoidance area; when the AGVs occupy the dynamic avoidance area, the serial numbers of the AGVs are eliminated in the pre-locking list, or all the pre-locking lists are emptied when the pose data of all the AGVs are acquired again.
Each avoidance zone includes the following attributes:
(1) and numbering of the avoidance area: the ID is an integer and is the identity ID of the avoidance area, and the ID is generally written in sequence and can be bound with the number of the stop station in the database when in use.
(2) The main account for the AGV number: is the number of the AGV that is currently fully occupying the right of way.
(3) The region position is the coordinates of the region: is a pair of plane points that identify a rectangular area, i.e., two points that are diagonal to the rectangular area.
(4) Types of access stations: inbound, outbound, empty. Marking the purpose of the AGV to occupy the area.
(5) Core index number of the avoidance zone: the serial number of the avoidance area of the target stop station when the AGV needs to enter the station, and the serial number of the avoidance area of the current stop station when the AGV needs to exit the station.
Suppose that an AGV with AGV number 1 (referred to as AGV No. 1) is executing a task and needs to enter a stop with stop number 211 in the figure, i.e. the target stop is 211; and generating a dynamic avoidance area based on the avoidance area width of the target stop station, wherein the dynamic avoidance area comprises a stop station 211 and avoidance areas of adjacent stop stations 209, 207, 213 and 215, namely the dynamic avoidance area comprises 5 avoidance areas, and the numbers of the 5 avoidance areas are A104, A105, A106, A107 and A108. When the AGV 1 enters the dynamic avoidance area, whether the dynamic avoidance area is in an occupied state or not is judged.
If the dynamic avoidance area is not in the occupied state, the AGV 1 continuously runs, the dynamic avoidance area is occupied, the attribute of the number of the main AGV in the 5 avoidance areas is set to be the AGV number 1, the dynamic avoidance area is switched to be in the occupied state, the core index numbers of the 5 avoidance areas are set to be the avoidance area number A106 corresponding to the stop station 211, and the type of the access station in the 5 avoidance areas is set to be in the inbound state. After the 1 AGV drives into the target stop station, the attribute of the main AGV number of the 5 avoidance areas is set to be null, the core index number is set to be null, and the dynamic avoidance areas are switched to be in an idle state.
And if the dynamic avoidance area is in an occupied state, the AGV No. 1 waits in situ, and the AGV numbers 1 are respectively written into pre-locking lists of 5 avoidance areas. Moreover, AGVs No. 2, No. 3, and No. 4 are also waiting for 5 avoidance areas of this dynamic avoidance area, and AGV number 2, AGV number 3, and AGV number 4 are also written into the pre-lock list of 5 avoidance areas. I.e., there are 4 AGVs waiting for the dynamic avoidance zone at this time.
When the dynamic avoidance area is switched to an idle state, according to a preset priority rule, selecting the AGV with the highest priority number 2 to occupy the dynamic avoidance area, deleting the AGV number 2 in a pre-locking list, and setting the attribute of the main AGV number as the AGV number 2. AGVs No. 1, No. 3, and No. 4 continue to wait in place.
The preset priority rule can set the priority according to the size of the AGV number, can set the priority according to the length of the waiting time, or sets the priority according to the sequence of the acquisition time of the AGV pose data.
Among the AGVs waiting for the dynamic avoidance area, some AGVs wait for all avoidance areas of the dynamic avoidance area, and some AGVs wait for part of avoidance areas (such as one avoidance area) of the dynamic avoidance area.
In this embodiment, when the AGV needs to exit from the current stop, a dynamic avoidance area also needs to be generated, and therefore, the avoidance method further includes the following steps, as shown in fig. 2.
Step S31: and generating a dynamic avoidance area based on the avoidance area width of the current stop station.
And generating a dynamic avoidance area according to the length of the AGV, the running path and the avoidance area width of the current stop station so as to meet the driving space requirement of the AGV.
The method specifically comprises the following steps:
step S311: and judging whether the width of the avoidance area of the current stop station meets the width required when the AGV exits.
If yes, go to step S312: the avoidance area of the current stop station is generated into a dynamic avoidance area, namely, the space requirement that the AGV drives out of the current stop station can be met only by the avoidance area of the current stop station, and the occupation of redundant areas is not needed, so that the space utilization rate and the AGV operation efficiency are improved.
If not, go to step S313: and generating a dynamic avoidance area for the avoidance areas of the current parking station and the adjacent parking stations. That is, the traveling demand of the AGV cannot be satisfied only by the avoidance area of the current stop station, and in order to avoid collision, the space demand that the AGV exits the current stop station can be satisfied only by the cooperation of the avoidance area of the adjacent stop station.
That is, the dynamic avoidance area includes at least an avoidance area of the current stop station, and may also include an avoidance area of an adjacent stop station.
Step S32: and judging whether the dynamic avoidance area is in an occupied state or not.
In this embodiment, the dynamic avoidance region includes two states, an occupied state and an idle state.
If not, go to step S33.
If yes, go to step S34.
Step S33: the AGV starts to run to occupy the dynamic avoidance area and switches the dynamic avoidance area into an occupied state because the dynamic avoidance area is in an idle state; when the AGV exits the dynamic avoidance area, the dynamic avoidance area is switched to an idle state, and the dynamic avoidance area is released. So that other AGVs can use the AGV, and the space utilization rate and the AGV operation efficiency are improved.
Step S34: because the dynamic avoidance area is in an occupied state, the AGV waits in situ, and the collision is avoided. And, the state of the dynamic avoidance zone is detected in real time.
By adopting the method, the collision between the AGV and other AGVs when the AGV drives away from the current stop station is avoided, the space utilization rate is improved, and the operating efficiency of the AGV is improved.
When the AGV waits in place, the state of the corresponding occupied dynamic avoidance area is detected in real time, and step S35 is executed: and judging whether the dynamic avoidance area in the occupied state is switched to an idle state or not.
If yes, go to step S36: and judging whether the number of the AGVs waiting for the dynamic avoidance area is larger than 1.
If yes, it indicates that there are a plurality of AGVs waiting for the dynamic avoidance area, then step S37 is executed: according to a preset priority rule, selecting the AGV with the highest priority from all the AGVs waiting for the dynamic avoidance area to start driving (the AGV with the highest priority may drive away from the current stop station or drive into a target stop station), occupying the dynamic avoidance area, switching the dynamic avoidance area into an occupied state, and continuing to wait in situ by other AGVs to avoid collision due to congestion.
If not, it means that only one AGV waits for the dynamic avoidance area, step S38 is executed: waiting for the AGV in the dynamic avoidance area to start driving, occupying the dynamic avoidance area, and switching the dynamic avoidance area into an occupied state.
In order to improve the operating efficiency of the AGVs in the driving area B and avoid collision, a plurality of queue type driving avoiding areas are arranged at intervals on the route in the driving area B, as shown in fig. 7, and a queue type driving avoiding area B101 is shown by a dashed rectangular frame. The queue type driving avoiding area is generally arranged on a main road of a driving area. Therefore, the avoidance method of the present embodiment further includes the following steps, which are shown in fig. 3.
Step S41: and when the AGV is away from the boundary of the queue type driving avoiding area by a first set distance, judging whether the queue type driving avoiding area is in an occupied state.
In this embodiment, the queue-type vehicle avoidance area includes two states, an occupied state and an idle state.
When the AGV is away from the boundary of the queue type driving avoiding area by a first set distance (such as 200mm or 0mm, namely the AGV is located on the boundary of the queue type driving avoiding area), judging whether the queue type driving avoiding area is in an occupied state.
If not, step S42 is executed.
If yes, go to step S43.
Step S42: the AGV continues to run to occupy the queue type driving avoiding area and switches the queue type driving avoiding area into an occupied state because the queue type driving avoiding area is in an idle state; and after the AGV exits the queue type driving avoiding area, switching the queue type driving avoiding area into an idle state.
Step S43: the AGV waits in situ because the queue type driving avoiding area is in an occupied state; avoiding collision. And the state of the queue type driving avoiding area is detected in real time.
Through the design, the running efficiency of the AGV in the running area is improved, and the collision is avoided.
When the AGV waits in place, detecting the state of an occupied queue type driving avoidance area in real time, and executing the step S44: and judging whether the queue type driving avoidance area in the occupied state is switched to an idle state or not.
If yes, go to step S45: and judging whether the number of the AGV waiting for the queue type driving avoiding area is more than 1.
If yes, it indicates that there are a plurality of AGVs waiting for the queue type driving avoidance area, then step S46 is executed: according to a preset priority rule, the AGV with the highest priority is selected from all the AGVs waiting for the queue type driving avoiding area to continuously run, the queue type driving avoiding area is occupied, the queue type driving avoiding area is switched to an occupied state, other AGVs continue to wait in situ, and collision caused by congestion is avoided.
If not, it indicates that only one AGV waits for the queue type driving avoidance area, step S47 is executed: waiting for the AGV in the queue type driving avoiding area to continue driving, occupying the queue type driving avoiding area, and switching the queue type driving avoiding area into an occupied state.
The formation type driving avoiding area is planned on one main road, two AGVs in the same direction also need to avoid, namely, a rear vehicle needs to wait for a front vehicle to leave and then enters the avoiding area, and collision is avoided.
In step S46, the priority rule set in advance sets the priority according to the length of time the AGV waits for the queue type driving avoidance area, and the higher the waiting time of the AGV, the higher the priority of the AGV.
In addition, the queue type avoidance area can be arranged on a middle traffic lane of the parking area and can be crossed with the dynamic avoidance area, but the priority of the queue type avoidance area is higher than that of the dynamic avoidance area, namely, when the queue type avoidance area is in an occupied state, the dynamic avoidance area crossed with the queue type avoidance area is also set to be in an occupied state, and the corresponding AGV is prevented from entering or leaving the dynamic avoidance area.
In a similar way, the queue type avoidance area may intersect with the static avoidance area described below, but the priority of the queue type avoidance area is higher than that of the static avoidance area, that is, when the queue type avoidance area is in an occupied state, the static avoidance area intersecting with the queue type avoidance area is also set to be in an occupied state, so that the corresponding AGV is prevented from entering or leaving the static avoidance area.
In order to improve the running efficiency of the AGVs in the route crossing area of the driving area B and avoid congestion and collision, a static avoidance area is arranged in the route crossing area of the driving area B, as shown in fig. 8, and a static avoidance area B102 is shown in a dashed rectangle. Therefore, the avoidance method of the present embodiment further includes the following steps, which are shown in fig. 4.
Step S51: and when the AGV is at a second set distance from the boundary of the static avoidance area, judging whether the number of the AGV in the static avoidance area is larger than or equal to the set number.
The second set distance is set according to actual requirements, for example, the second set distance is 200 mm. Or the second set distance is 0, namely when the AGVs are positioned on the boundary of the static avoidance area, judging whether the number of the AGVs in the static avoidance area is larger than or equal to the set number. The set number may be selected to be 2, i.e., the static avoidance zone may allow 2 AGVs to enter at the same time.
If not, it is described that the static avoidance area can accommodate the AGV at this time, step S52 is executed: and the AGV continues to run and enters a static avoidance area.
If yes, it means that the AGV cannot be accommodated in the static avoidance area, step S53 is executed: and waiting for the AGVs in situ, and detecting the number of the AGVs in the static avoidance area in real time. When the number of AGVs in the static avoidance area is smaller than the set number, step S54 is executed: and judging whether the number of the AGVs waiting for the static avoidance area is larger than 1.
If yes, it indicates that there are multiple AGVs waiting for the static avoidance area, then step S55 is executed: according to a preset priority rule, the AGV with the highest priority is selected from all the AGVs waiting for the static avoidance area to continuously run, the AGV enters the static avoidance area, and other AGVs continue to wait in situ to avoid collision caused by congestion.
If not, it means that only one AGV waits for the static avoidance area, step S56 is executed: and waiting for the AGV in the static avoidance area to continue to run and enter the static avoidance area.
By adopting the design method, the number of the AGVs entering the static avoidance area is controlled, collision is avoided, the operation efficiency of the AGVs is improved, and the design method is simple and reliable to control and high in calculation speed.
According to the AGV avoidance method, in the parking area, the dynamic avoidance area is generated based on the avoidance area width of the target parking station or the current parking station, namely the dynamic avoidance area is generated only when the parking requirement or the driving-away requirement exists, and the dynamic avoidance area is not generated when the task requirement does not exist, so that useless calculation is avoided, and the calculation efficiency is improved; when the dynamic avoidance area is in an occupied state, the AGV waits in situ, and when the dynamic avoidance area is in a non-occupied state, the AGV occupies the dynamic avoidance area, so that collision among the AGV is avoided, the space utilization rate is improved, and the avoidance efficiency and the operation efficiency of the AGV are improved; a queue type driving avoiding area is arranged on a route of a driving area, when the queue type driving avoiding area is in an occupied state, an AGV waits in situ, and when the queue type driving avoiding area is in an idle state, the AGV occupies the queue type driving avoiding area, so that collision is avoided, and the running efficiency of the AGV in the driving area is improved; a static avoidance area is arranged in a route crossing area of the driving area, the quantity of the AGV entering the static avoidance area is controlled, collision is avoided, and the running efficiency of the AGV in the driving area is improved. Therefore, the AGV avoidance method of the embodiment improves the operation efficiency of the AGV in the parking area and improves the operation efficiency of the AGV in the driving area.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (9)
1. An AGV avoidance method is characterized in that: the method comprises the following steps:
an avoidance area is defined for each parking station of the parking area;
acquiring pose data of all AGV and target stop stations;
generating a dynamic avoidance area based on the avoidance area width of the target stop station; the method specifically comprises the following steps: judging whether the width of an avoidance area of a target stop station meets the width required by the AGV when driving in; if so, generating a dynamic avoidance area for the avoidance area of the target stop station; if not, generating a dynamic avoidance area for the avoidance areas of the target parking station and the adjacent parking stations;
when the AGV enters a corresponding dynamic avoidance area, judging whether the dynamic avoidance area is in an occupied state or not;
if yes, the AGV waits in place;
if not, the AGV continues to run, occupies the dynamic avoidance area, and switches the dynamic avoidance area into an occupied state; and after the AGV drives into the target stop station, switching the dynamic avoidance area into an idle state.
2. The method of claim 1, wherein: when the AGV needs to exit the current docking station, the method further comprises the following steps:
generating a dynamic avoidance area based on the avoidance area width of the current stop station;
judging whether the dynamic avoidance area is in an occupied state or not;
if yes, the AGV waits in place;
if not, the AGV runs to occupy the dynamic avoidance area, and the dynamic avoidance area is switched to an occupied state; and when the AGV exits the dynamic avoidance area, switching the dynamic avoidance area into an idle state.
3. The method of claim 2, wherein: the generating of the dynamic avoidance area based on the avoidance area width of the current stop station specifically comprises:
judging whether the width of an avoidance area of the current stop station meets the width required when the AGV drives out;
if so, generating a dynamic avoidance area for the avoidance area of the current stop station;
and if not, generating a dynamic avoidance area for the avoidance areas of the current parking station and the adjacent parking stations.
4. The method of claim 1, wherein: when the dynamic avoidance area in the occupied state is switched to an idle state, judging whether the number of AGV waiting for the dynamic avoidance area is more than 1;
if so, according to a preset priority rule, the AGV with the highest priority occupies the dynamic avoidance area, switches the dynamic avoidance area into an occupied state, and continues to wait in situ.
5. The method of claim 4, wherein: the avoidance area of each stop station is provided with a pre-locking list;
when the dynamic avoidance area corresponding to the AGV is in an occupied state, the AGV waits in situ and writes the serial number of the AGV into a pre-locking list of the avoidance area included in the corresponding dynamic avoidance area; when the AGV occupies the dynamic avoidance area, eliminating the serial number of the AGV in a pre-locking list;
and if the number of the AGV numbers in the pre-locking list is greater than 1, judging that the number of the AGV waiting for the dynamic avoidance area is greater than 1.
6. The method of claim 1, wherein: the method further comprises the following steps:
a plurality of queue type driving avoiding areas are arranged in the driving area at intervals;
when the AGV is a first set distance away from the boundary of the queue type driving avoiding area, judging whether the queue type driving avoiding area is in an occupied state;
if yes, the AGV waits in place;
if not, the AGV continues to run, occupies the queue type driving avoiding area, and switches the queue type driving avoiding area into an occupied state; and after the AGV exits the queue type driving avoiding area, switching the queue type driving avoiding area into an idle state.
7. The method of claim 6, wherein: when the queue type driving avoiding area in the occupied state is switched to an idle state, judging whether the number of AGV waiting for the queue type driving avoiding area is larger than 1;
if so, according to a preset priority rule, the AGV with the highest priority continues to run, occupies the queue type driving avoiding area, switches the queue type driving avoiding area into an occupied state, and continues to wait in place for other AGVs.
8. The method of claim 1, wherein: the method further comprises the following steps:
a static avoidance area is arranged in a route crossing area of the driving area;
when the AGV is a second set distance away from the boundary of the static avoidance area, judging whether the number of the AGV in the static avoidance area is larger than or equal to the set number or not;
if not, the AGV continues to run and enters a static avoidance area;
if yes, the AGV waits in place; detecting the number of AGV in the static avoidance area; when the number of the AGVs in the static avoidance area is smaller than the set number, judging whether the number of the AGVs waiting for the static avoidance area is larger than 1;
if so, according to a preset priority rule, the AGV with the highest priority continuously runs and enters the static avoidance area, and other AGVs continue to wait in place;
if not, waiting for the AGV in the static avoidance area to continue to run, and entering the static avoidance area.
9. The method according to any one of claims 1 to 8, characterized in that: the width of the avoidance areas of the parking stations at the two ends of the parking area is larger than the width of the avoidance areas of other parking stations.
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| CN109985815A (en) * | 2019-04-16 | 2019-07-09 | 上海快仓智能科技有限公司 | The efficient AGV packages system distinguished based on cold and hot door |
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| CN112256010A (en) * | 2019-07-04 | 2021-01-22 | 北京京东乾石科技有限公司 | Dispatching method and device for automatic guided vehicle and storage medium |
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Address after: 215100 building 3, Tianlong science and Technology Park, No. 1, Zhufeng Road, Mudu Town, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: Suzhou Haitong Robot System Co.,Ltd. Address before: B3, 10th floor, block B, Qingdao International Innovation Park, 169 Songling Road, Laoshan District, Qingdao City, Shandong Province, 266101 Patentee before: QINGDAO HTAGV ROBOT SYSTEMS CO.,LTD. |