CN109460036A - A kind of AGV traffic control dispatching method and storage device - Google Patents
A kind of AGV traffic control dispatching method and storage device Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
AGV traffic control dispatching method and storage device disclosed by the invention, when being useful in AGV generation traffic jam, middle control Spot detection forms circulation in network path figure to two or more AGV and waits, by planning deadlock cycle AGV again or waiting the driving path of the AGV outside deadlock cycle, unlock leads to the deadlock cycle of traffic jam, avoids the blocking of more AGV.
Description
Technical field
The invention belongs to AGV traffic control technical fields, and in particular to a kind of AGV traffic control dispatching method and storage dress
It sets.
Background technique
With the demand that the raising and industrial automation of human cost are transported, AGV is increasingly becoming important remove in enterprise
Fortune tool, for can multi-faceted operation AGV, flexibility is higher, and operation conevying efficiency is high, also obtained in warehousing system compared with
To be widely applied, by introduce more AGV in storage space material or cargo carry, abandoned traditional artificial cargo
Transport realizes that unmanned automated warehousing is carried, easy to use.However, while introducing more AGV operation transports in storage space
The increase of traffic control complexity and increasing for traffic jam are also resulted in, when there is traffic jam between more AGV, can not be kept away
The case where that exempts from will appear AGV deadlock, i.e. AGV can not be travelled along original route.If unlocked not in time, it will cause more AGV's
Blocking.So effective automatic unlocking scheme is smooth for entire AGV traffic control scheduling system and lasting operation has emphatically
Big positive effect.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of scheduling AGV traffic jam, solve AGV friendship
The traffic control dispatching method and storage device of logical deadlock situation.
In order to achieve the above object, the invention adopts the following technical scheme:
A kind of AGV traffic control dispatching method, including middle control center and several AGV, in the middle control Spot detection to two with
When upper AGV forms circulation waiting in network path figure, middle control center is waited using following steps unlocking cycle.
A. middle control center determines each AGV, is formed between two or more AGV and is mutually waited, is then determined as that deadlock follows
AGV in ring stops the AGV of front whereabouts to be the AGV waited outside deadlock cycle by the AGV of deadlock cycle.
B. determine that the AGV in deadlock cycle can travel path with the presence or absence of other, if searching and the current location the AGV phase
When adjacent path point or the occupied path being connected, then shields path that the AGV is connected to the path point or this is occupied
Path, it is that other can travel path that residue, which does not shield path, then it is feasible to travel other by the AGV in middle control central plan deadlock cycle
Path is sailed, to unlock the vehicle of deadlock cycle.
If c. there is no other can travel path by the AGV in deadlock cycle, middle control center traversal is waited outside deadlock cycle
AGV with the presence or absence of other can travel path, if the path for searching the path point adjacent with the current location AGV or being connected
When occupied, then the path or the occupied path that the AGV is connected to the path point are shielded, then middle control central plan waits dead
AGV outside lock circulation, which travels other, can travel path, until there are other can travel path by the AGV in deadlock cycle, and plan
AGV driving path in deadlock cycle, unlocks the vehicle of deadlock cycle.
Compared with prior art, AGV traffic control dispatching method of the invention, middle control Spot detection to two or more AGV
It forms circulation in network path figure to wait, by planning deadlock cycle AGV again or waiting the traveling of the AGV outside deadlock cycle
Path, unlock lead to the deadlock cycle of traffic jam, avoid the blocking of more AGV.
Further, if the path of search is occupied by offline AGV, the road that the path both ends path point is connected to is shielded
Diameter；It is arranged in this way, the AGV for occupying the path is avoided to hinder again the AGV traveling of planning path in traveling to path point,
Prevent AGV from blocking again
Further, the AGV in deadlock cycle if it exists other can travel paths, weight cost is preferentially planned at middle control center
The driving path of lower AGV；It is arranged in this way, advantageously reduces the communications and transportation cost of AGV.
Further, wait deadlock cycle outside AGV if it exists other can travel paths, weight is preferentially planned at middle control center
The driving path of lower-cost AGV；It is arranged in this way, advantageously reduces the communications and transportation cost of AGV.
A kind of storage device, storage device storage is a plurality of to be executed instruction, and is controlled Spot detection in the middle and is existed to two or more AGV
It is described to execute instruction for middle control center loaded and execute following operation when forming circulation waiting in network path figure:
A. middle control center determines each AGV, is formed between two or more AGV and is mutually waited, is then determined as that deadlock follows
AGV in ring stops the AGV of front whereabouts to be the AGV waited outside deadlock cycle by the AGV of deadlock cycle.
B. determine that the AGV in deadlock cycle can travel path with the presence or absence of other, if searching and the current location the AGV phase
When adjacent path point or the occupied path being connected, then shields path that the AGV is connected to the path point or this is occupied
Path, it is that other can travel path that residue, which does not shield path, then it is feasible to travel other by the AGV in middle control central plan deadlock cycle
Path is sailed, to unlock the vehicle of deadlock cycle.
If c. there is no other can travel path by the AGV in deadlock cycle, middle control center traversal is waited outside deadlock cycle
AGV with the presence or absence of other can travel path, if the path for searching the path point adjacent with the current location AGV or being connected
When occupied, then the path or the occupied path that the AGV is connected to the path point are shielded, then middle control central plan waits dead
AGV outside lock circulation, which travels other, can travel path, until there are other can travel path by the AGV in deadlock cycle, and plan
AGV driving path in deadlock cycle, unlocks the vehicle of deadlock cycle.
Storage device of the invention, middle control Spot detection to two or more AGV form circulation in network path figure and wait,
By planning deadlock cycle AGV again or waiting the driving path of the AGV outside deadlock cycle, unlock leads to the deadlock of traffic jam
Circulation, avoids the blocking of more AGV.
Further, if the path of search is occupied by offline AGV, the road that the path both ends path point is connected to is shielded
Diameter；It is arranged in this way, the AGV for occupying the path is avoided to hinder again the AGV traveling of planning path in traveling to path point,
Prevent AGV from blocking again
Further, the AGV in deadlock cycle if it exists other can travel paths, weight cost is preferentially planned at middle control center
The driving path of lower AGV；It is arranged in this way, advantageously reduces the communications and transportation cost of AGV.
Further, wait deadlock cycle outside AGV if it exists other can travel paths, weight is preferentially planned at middle control center
The driving path of lower-cost AGV；It is arranged in this way, advantageously reduces the communications and transportation cost of AGV.
Detailed description of the invention
Fig. 1 is the flow chart of AGV traffic control dispatching method of the invention
Fig. 2 is the AGV and path schematic diagram of citing AGV traffic control dispatching method
Specific embodiment
Below in conjunction with Detailed description of the invention technical solution of the present invention:
Embodiment one:
Referring to Fig. 1, AGV traffic control dispatching method of the invention, including middle control center and several AGV, in the middle control
The heart is preferably the end PC, and the middle control center is connect with AGV wireless telecommunications, is laid with several path points in the path network of AGV, if
Between dry path point by setting it is unidirectional while or it is two-way while connect, establish path map model, distinguish in several path points
The starting point and target point of AGV traveling are chosen, AGV can reach target point by way of other path points from starting point or directly reach mesh
Punctuate, when control center detects that two or more AGV form circulation waiting in network path figure in path map in the middle, middle control
Center is waited using following steps unlocking cycle.
A. middle control center determines each AGV, is formed between two or more AGV and is mutually waited, is then determined as that deadlock follows
AGV in ring stops the AGV of front whereabouts to be the AGV waited outside deadlock cycle, specifically, the step by the AGV of deadlock cycle
Including controlling the AGV waited in front of each AGV in center search circulation waiting in a1.；A2. its front the AGV of waiting etc. is continued searching
To target；A3. step a2 is repeated, when searching the AGV repeated or the target searched is itself AGV, is stopped
Search is determined as that the waiting AGV of the circulation is the AGV in deadlock cycle if the target searched is itself AGV；If searching
Rope is then determined as that the waiting AGV of the circulation is the AGV waited outside deadlock cycle to the AGV repeated.
B. determine that the AGV in deadlock cycle can travel path with the presence or absence of other, if searching and the current location the AGV phase
When adjacent path point or the occupied path being connected, then shields path that the AGV is connected to the path point or this is occupied
Path, it is that other can travel path that residue, which does not shield path, then it is feasible to travel other by the AGV in middle control central plan deadlock cycle
Path is sailed, to unlock the vehicle of deadlock cycle.
If c. there is no other can travel path by the AGV in deadlock cycle, middle control center traversal is waited outside deadlock cycle
AGV with the presence or absence of other can travel path, if the path for searching the path point adjacent with the current location AGV or being connected
When occupied, then the path or the occupied path that the AGV is connected to the path point are shielded, then middle control central plan waits dead
AGV outside lock circulation, which travels other, can travel path, until there are other can travel path by the AGV in deadlock cycle, and plan
AGV driving path in deadlock cycle, unlocks the vehicle of deadlock cycle.If waiting the AGV outside deadlock cycle can there is no other
Driving path then passes through control center notice staff processing in alarm or feedback.
It is formed between AGV, in particular to two or more AGV in the deadlock cycle and is mutually waited, such as: AGV1
Front waits AGV2, waits AGV1 in front of AGV2, then AGV1 and AGV2 forms a deadlock cycle.For another example: being waited in front of AGV1
Wait AGV3 in front of AGV2, AGV2, AGV4 waited in front of AGV3, waits AGV1 in front of AGV4, then AGV1, AGV2, AGV3 and
AGV4 forms a closure deadlock cycle, and when any AGV in deadlock cycle changes travel route, then deadlock cycle successfully solves
Lock.AGV outside the waiting deadlock cycle refers to that front waits the vehicle of the wherein platform AGV in deadlock cycle.
In the step b and c, AGV in deadlock cycle if it exists other can travel paths, middle control center can plan wherein
AGV in one or more deadlock cycle travels other routes, that is, changes the route travelled originally, so as to unlock deadlock cycle
In AGV.When other can travel path to the AGV in deadlock cycle if it does not exist, middle control center can plan wherein one or more
Platform waits the AGV outside deadlock cycle to travel other routes, that is, changes the route travelled originally, makes wherein one in deadlock cycle
AGV makes middle control center that can plan that the AGV in the deadlock cycle travels other routes, to unlock with that can plan other routes
The deadlock cycle of AGV.
Compared with prior art, AGV traffic control dispatching method of the invention, middle control Spot detection to two or more AGV
It forms circulation in network path figure to wait, by planning deadlock cycle AGV again or waiting the traveling of the AGV outside deadlock cycle
Path, unlock lead to the deadlock cycle of traffic jam, avoid the blocking of more AGV.
The path both ends path point is shielded if the path of search is occupied by offline AGV as further preferred scheme
The path being connected to；It is arranged in this way, the AGV for occupying the path is avoided to hinder planning path again in traveling to path point
AGV traveling, prevent AGV from blocking again
Preferably, the AGV in deadlock cycle if it exists other can travel paths or wait deadlock cycle outside
AGV if it exists other can travel paths when, the driving path of the lower-cost AGV of weight is preferentially planned at middle control center, in this reality
Whether apply weight cost described in example for example refers to AGV with material rack, the AGV weight higher cost with material rack, without material rack
AGV weight cost is relatively low because the preferentially AGV of strip frame when planning again increases because the selectable range in path is big
Path cost also can be smaller, for another example load material AGV weight higher cost, cost is relatively low for unloaded AGV weight, because empty
The energy of the AGV traveling consumption of load is smaller；It is arranged in this way, advantageously reduces the communications and transportation cost of AGV.
It is exemplified below a specific performance and facilitates and understand technical solution of the present invention:
Referring to Fig. 1 and Fig. 2,6 AGV and several path points are contained in the path map, is passed through between several path points double
It is connected to side, 6 AGV are respectively AGV1, AGV2, AGV3, AGV4, AGV5 and AGV6, are located at corresponding path point
On, the travel route that the travel route that the travel route that wherein travel route of AGV1 is 1, AGV2 is 4, AGV3 is 4, AGV4 is
2, AGV5 failures, AGV6 is offline, and the path sent is that the path point in front of 13, AGV1 is occupied by AGV2, needs to wait AGV2
Leaving could advance, and the path point in front of AGV2 is occupied by AGV3, and the path point in front of AGV3 is occupied by AGV2, AGV2 and AGV3
Between mutually wait, the path point in front of AGV4 is occupied by AGV3, and needing that AGV3 is waited to leave could advance.
The vehicle waited in front of each AGV is detected at middle control center using step a and step b respectively, and using step c to AGV
Differentiated, show that AGV1 and AGV2 is that wait AGV, AGV2 and AGV3 outside deadlock cycle be AGV in deadlock cycle.Cause
This, whether the AGV that middle control center is searched in deadlock cycle first, which deposits other, can travel path, for AGV2, road adjacent thereto
Diameter point is occupied by AGV1, AGV5 and AGV3 respectively, and the above-mentioned path being connected to AGV2 is path 1,4 and path 5, therefore shields road
Diameter 1,4 and path 5, residual paths 9 are the travelable path of AGV2.For AGV3, path point adjacent thereto respectively by AGV2,
AGV4 and AGV6 is occupied, and the above-mentioned path being connected to AGV3 goes offline for path 3,4 and path 11 and AGV6, but path 13
It has been be transmitted that, the possible position AGV6 is any point on path 13, therefore shields path 3,4 and path 11-17.It is remaining
Path 10 is the travelable path of AGV3.Middle control center can choose AGV2 driving path 9 and/or AGV3 driving path 10, solution
Lock leads to the deadlock cycle of traffic jam, avoids the blocking of more AGV.
Embodiment two:
Storage device of the invention, storage device storage is a plurality of to be executed instruction, and controls Spot detection in the middle to two or more
It is described to execute instruction for middle control center loaded and execute following operation when AGV forms circulation waiting in network path figure:
A. middle control center determines each AGV, is formed between two or more AGV and is mutually waited, is then determined as that deadlock follows
AGV in ring stops the AGV of front whereabouts to be the AGV waited outside deadlock cycle, specifically, the step by the AGV of deadlock cycle
Including controlling the AGV waited in front of each AGV in center search circulation waiting in a1.；A2. its front the AGV of waiting etc. is continued searching
To target；A3. step a2 is repeated, when searching the AGV repeated or the target searched is itself AGV, is stopped
Search is determined as that the waiting AGV of the circulation is the AGV in deadlock cycle if the target searched is itself AGV；If searching
Rope is then determined as that the waiting AGV of the circulation is the AGV waited outside deadlock cycle to the AGV repeated.
B. determine that the AGV in deadlock cycle can travel path with the presence or absence of other, if searching and the current location the AGV phase
When adjacent path point or the occupied path being connected, then shields path that the AGV is connected to the path point or this is occupied
Path, it is that other can travel path that residue, which does not shield path, then it is feasible to travel other by the AGV in middle control central plan deadlock cycle
Path is sailed, to unlock the vehicle of deadlock cycle.
If c. there is no other can travel path by the AGV in deadlock cycle, middle control center traversal is waited outside deadlock cycle
AGV with the presence or absence of other can travel path, if the path for searching the path point adjacent with the current location AGV or being connected
When occupied, then the path or the occupied path that the AGV is connected to the path point are shielded, then middle control central plan waits dead
AGV outside lock circulation, which travels other, can travel path, until there are other can travel path by the AGV in deadlock cycle, and plan
AGV driving path in deadlock cycle, unlocks the vehicle of deadlock cycle.If waiting the AGV outside deadlock cycle can there is no other
Driving path then passes through control center notice staff processing in alarm or feedback.
It is formed between AGV, in particular to two or more AGV in the deadlock cycle and is mutually waited, such as: AGV1
Front waits AGV2, waits AGV1 in front of AGV2, then AGV1 and AGV2 forms a deadlock cycle.For another example: being waited in front of AGV1
Wait AGV3 in front of AGV2, AGV2, AGV4 waited in front of AGV3, waits AGV1 in front of AGV4, then AGV1, AGV2, AGV3 and
AGV4 forms a closure deadlock cycle, and when any AGV in deadlock cycle changes travel route, then deadlock cycle successfully solves
Lock.AGV outside the waiting deadlock cycle refers to that front waits the vehicle of the wherein platform AGV in deadlock cycle.
In the step b and c, AGV in deadlock cycle if it exists other can travel paths, middle control center can plan wherein
AGV in one or more deadlock cycle travels other routes, that is, changes the route travelled originally, so as to unlock deadlock cycle
In AGV.When other can travel path to the AGV in deadlock cycle if it does not exist, middle control center can plan wherein one or more
Platform waits the AGV outside deadlock cycle to travel other routes, that is, changes the route travelled originally, makes wherein one in deadlock cycle
AGV makes middle control center that can plan that the AGV in the deadlock cycle travels other routes, to unlock with that can plan other routes
The deadlock cycle of AGV.
Compared with prior art, storage device of the invention, middle control Spot detection is to two or more AGV in network path figure
Middle formation circulation waits, and by planning deadlock cycle AGV again or waiting the driving path of the AGV outside deadlock cycle, unlock is led
The deadlock cycle for causing traffic jam, avoids the blocking of more AGV.
The path both ends path point is shielded if the path of search is occupied by offline AGV as further preferred scheme
The path being connected to；It is arranged in this way, the AGV for occupying the path is avoided to hinder planning path again in traveling to path point
AGV traveling, prevent AGV from blocking again
Preferably, the AGV in deadlock cycle if it exists other can travel paths or wait deadlock cycle outside
AGV if it exists other can travel paths when, the driving path of the lower-cost AGV of weight is preferentially planned at middle control center, in this reality
Whether apply weight cost described in example for example refers to AGV with material rack, the AGV weight higher cost with material rack, without material rack
AGV weight cost is relatively low because the preferentially AGV of strip frame when planning again increases because the selectable range in path is big
Path cost also can be smaller, for another example load material AGV weight higher cost, cost is relatively low for unloaded AGV weight, because empty
The energy of the AGV traveling consumption of load is smaller；It is arranged in this way, advantageously reduces the communications and transportation cost of AGV.
According to the disclosure and teachings of the above specification, those skilled in the art in the invention can also be to above-mentioned embodiment party
Formula is changed and is modified.Therefore, the invention is not limited to the specific embodiments disclosed and described above, to of the invention
Some modifications and changes should also be as falling into the scope of the claims of the present invention.In addition, although being used in this specification
Some specific terms, these terms are merely for convenience of description, does not limit the present invention in any way.
Claims (8)
1. a kind of AGV traffic control dispatching method, including middle control center and several AGV, it is characterised in that: control Spot detection in the middle
When forming circulation waiting in network path figure to two or more AGV, middle control center is waited using following steps unlocking cycle:
A. middle control center determines each AGV, is formed between two or more AGV and is mutually waited, is then determined as in deadlock cycle
AGV, by deadlock cycle AGV stop front whereabouts AGV be waiting deadlock cycle outside AGV；
B. determine that the AGV in deadlock cycle can travel path with the presence or absence of other, if searching adjacent with the current location AGV
When path point or the occupied path being connected, then the path or the occupied path that the AGV is connected to the path point are shielded,
It is that other can travel path that residue, which does not shield path, then the AGV in middle control central plan deadlock cycle, which travels other, can travel road
Diameter, to unlock the vehicle of deadlock cycle；
If c. there is no other can travel path by the AGV in deadlock cycle, middle control center traversal waits the AGV outside deadlock cycle
It can travel path with the presence or absence of other, if the path for searching the path point adjacent with the current location AGV or being connected is occupied
Used time then shields path or the occupied path that the AGV is connected to the path point, then middle control central plan waits deadlock to follow
AGV outside ring, which travels other, can travel path, until there are other can travel path by the AGV in deadlock cycle, and plan deadlock
AGV driving path in circulation, unlocks the vehicle of deadlock cycle.
2. AGV traffic control dispatching method according to claim 1, it is characterised in that: if the path of search is by offline
AGV is occupied, then shields the path that the path both ends path point is connected to.
3. AGV traffic control dispatching method according to claim 1, it is characterised in that: the AGV in deadlock cycle is if it exists
Other can travel path, and the driving path of the lower-cost AGV of weight is preferentially planned at middle control center.
4. AGV traffic control dispatching method according to claim 1, it is characterised in that: if waiting the AGV outside deadlock cycle
There are other can travel path, and the driving path of the lower-cost AGV of weight is preferentially planned at middle control center.
5. a kind of storage device, storage device storage is a plurality of to be executed instruction, which is characterized in that controls Spot detection in the middle to two
It is described to execute instruction for middle control center loaded and execute following behaviour when the above AGV forms circulation waiting in network path figure
Make:
A. middle control center determines each AGV, is formed between two or more AGV and is mutually waited, is then determined as in deadlock cycle
AGV, by deadlock cycle AGV stop front whereabouts AGV be waiting deadlock cycle outside AGV；
B. determine that the AGV in deadlock cycle can travel path with the presence or absence of other, if searching adjacent with the current location AGV
When path point or the occupied path being connected, then the path or the occupied path that the AGV is connected to the path point are shielded,
It is that other can travel path that residue, which does not shield path, then the AGV in middle control central plan deadlock cycle, which travels other, can travel road
Diameter, to unlock the vehicle of deadlock cycle；
If c. there is no other can travel path by the AGV in deadlock cycle, middle control center traversal waits the AGV outside deadlock cycle
It can travel path with the presence or absence of other, if the path for searching the path point adjacent with the current location AGV or being connected is occupied
Used time then shields path or the occupied path that the AGV is connected to the path point, then middle control central plan waits deadlock to follow
AGV outside ring, which travels other, can travel path, until there are other can travel path by the AGV in deadlock cycle, and plan deadlock
AGV driving path in circulation, unlocks the vehicle of deadlock cycle.
6. storage device according to claim 5, it is characterised in that: if the path of search is occupied by offline AGV, shield
Cover the path that the path both ends path point is connected to.
7. storage device according to claim 5, it is characterised in that: AGV in deadlock cycle if it exists other can travel
The driving path of the lower-cost AGV of weight is preferentially planned at path, middle control center.
8. storage device according to claim 5, it is characterised in that: other can if it exists by the AGV outside waiting deadlock cycle
The driving path of the lower-cost AGV of weight is preferentially planned at driving path, middle control center.
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| CN110889918A (en) * | 2019-11-28 | 2020-03-17 | 安徽江淮汽车集团股份有限公司 | Magnetic navigation deadlock unlocking control method and device and computer readable storage medium |
| CN111026128A (en) * | 2019-12-27 | 2020-04-17 | 芜湖哈特机器人产业技术研究院有限公司 | Avoidance method of multi-laser AGV |
| CN113126603A (en) * | 2019-12-30 | 2021-07-16 | 杭州海康机器人技术有限公司 | AGV scheduling method and device |
| CN113156950A (en) * | 2021-04-20 | 2021-07-23 | 杭州壹悟科技有限公司 | Multi-robot intelligent traffic control method and device |
| US11243548B2 (en) * | 2020-01-08 | 2022-02-08 | International Business Machines Corporation | Detecting autonomous vehicles causing increased vehicle queueing |
| CN115456533A (en) * | 2022-09-15 | 2022-12-09 | 国以贤智能科技(上海)股份有限公司 | Intelligent forklift multi-vehicle dispatching system |
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