CN109814580A - Barrier-avoiding method, system, host and the storage medium of automated guided vehicle - Google Patents
Barrier-avoiding method, system, host and the storage medium of automated guided vehicle Download PDFInfo
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- CN109814580A CN109814580A CN201910266957.3A CN201910266957A CN109814580A CN 109814580 A CN109814580 A CN 109814580A CN 201910266957 A CN201910266957 A CN 201910266957A CN 109814580 A CN109814580 A CN 109814580A
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Abstract
The invention discloses a kind of barrier-avoiding method of automated guided vehicle, system, host and storage medium, the barrier-avoiding method includes that the path planning of reception automated guided vehicle requests and plans optimal path；The road section information at least one section in optimal path is extracted according to sequence is driven into, and inquires the right to use in the section whether there is or not locked；The right to use in the section is inquired or is unlocked after waiting other automated guided vehicles to pass through in planning again if locked；The right to use in the section is delivered to current automated guided vehicle if not locked, and locks the right to use in the section；Current automated guided vehicle is received by unlocking the right to use in the section after the information behind the section；Judge whether current automated guided vehicle reaches the terminal in optimum programming path, above step is repeated if not reaching home.The present invention can predict the occupancy situation in section in AGV planning path in advance, improve the operational efficiency of AGV.
Description
Technical field
The present invention relates to keeping away for automated guided vehicle (AGV) technical field more particularly to a kind of automated guided vehicle
Barrier method, system, host and storage medium.
Background technique
AGV (Automated Guided Vehicle), implies that " automated guided vehicle ", refers to equipped with electricity magnetically or optically
Etc. homing guidances device, it can be travelled along defined guide path, the fortune with safeguard protection and various transfer functions
Defeated vehicle.
The traffic control mode that existing AGV is travelled in the paths is two kinds: one is area control, a region can only
A trolley is allowed to enter the region, if there is a trolley in the region, another trolley one will be halted into the region by system
Inlet, stopping mode are halted；Another control is periodically to allow a channel to pass through as the crossroad on road
And close another channel.
Above two mode all can not predict whether have occupation due to communication or blocking in planning path in advance, lead to the fortune of AGV
Line efficiency is low.
Therefore, there are also to be developed for the prior art.
Summary of the invention
Place in view of above-mentioned deficiencies of the prior art, it is an object of the invention to propose a kind of keeping away for automated guided vehicle
Barrier method, system, host and storage medium, it is intended to the occupancy situation in section in AGV planning path can be predicted in advance, improve AGV
Operational efficiency.
To achieve the above object, this invention takes following technical schemes:
A kind of barrier-avoiding method of automated guided vehicle, applied to including control host and multiple automated guided vehicles
Path obstacle avoidance system, wherein include the following steps:
S10, the path planning for receiving automated guided vehicle request and plan optimal path；
S20 extracts the road section information at least one section in optimal path according to sequence is driven into, and inquires the section
Whether there is or not locked for the right to use；
S30 repeats step S10~S20 if locked or unlocks the road after waiting other automated guided vehicles to pass through
The right to use of section；
The right to use in the section is delivered to current automated guided vehicle by S40 if not locked, and locking should
The right to use in section；
S50 receives current automated guided vehicle by unlocking the right to use in the section after the information behind the section；
S60, judges whether current automated guided vehicle reaches the terminal in optimum programming path, if not reaching home
Then repeat step S20~S60.
Wherein, after the step S10 further include:
Whether S11, optimal path described in interpretation can reach；
S12 enters step S20 if it can reach.
Wherein, the step S30 specifically comprises the following steps:
S31 judges that can locked section be detoured；
S32 then repeats step S10~S20 as being detoured；
S33 cannot such as be detoured, then unlock the right to use in the section after waiting other automated guided vehicles to pass through.
Wherein, the optimal path is planned using dijkstra's algorithm in the step S10.
Wherein, according to the real-time using letter of 3~5 sections driven into sequence acquisition optimal path in the step S20
Breath.
The present invention also proposes a kind of path obstacle avoidance system, wherein applies above-mentioned barrier-avoiding method, including control host and more
A automated guided vehicle, in which:
Optimal path is requested and planned to the path planning that control host is used to receive automated guided vehicle, inquires optimal road
In diameter the occupancy situation in section and according to occupancy situation control automated guided vehicle operation, section in optimal path is made
It is locked or unlocked with power；
Automated guided vehicle is used to receive the control instruction of control host simultaneously to control host transmitting path planning request
It is run according to the control instruction.
The present invention also proposes a kind of control host, wherein the control host includes memory, processor and is stored in institute
The computer program executed by the processor is stated in memory and is configured as, the processor executes the computer program
When, realize above-mentioned barrier-avoiding method.
The present invention also proposes a kind of computer readable storage medium, wherein stores in the computer readable storage medium
There is computer program, the computer program, which is performed, realizes above-mentioned barrier-avoiding method.
The barrier-avoiding method of automated guided vehicle of the invention passes through the sequence that will be driven into according to automated guided vehicle
Whether the section in inquiry optimal path has locked occupancy, and carries out planning path again in advance or wait occupied path
The right to use for providing the section after unlock again allows the invention to the occupancy situation for predicting section in AGV planning path in advance,
And carry out avoidance in advance before the occupancy section that AGV enters planning path, and then improve the operational efficiency of AGV.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the flow diagram of the first embodiment of the barrier-avoiding method of automated guided vehicle of the present invention；
Fig. 2 is another flow diagram of the first embodiment of the barrier-avoiding method of automated guided vehicle of the present invention；
Fig. 3 is the flow diagram of the second embodiment of the barrier-avoiding method of automated guided vehicle of the present invention；
Fig. 4 is that the path obstacle avoidance system that the barrier-avoiding method of automated guided vehicle of the present invention is applied forms figure.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
The description for being such as related to " first ", " second " in the present invention is used for description purposes only, and should not be understood as indicating
Or it implies its relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " are defined as a result,
Feature can explicitly or implicitly include at least one of the features.
Referring to FIG. 1, Fig. 1 is the process of the barrier-avoiding method embodiment one of automated guided vehicle of the present invention, it is applied to packet
Path obstacle avoidance system containing control host 100 and multiple automated guided vehicles 200, specific path obstacle avoidance system please refer to
Fig. 4.One process of example includes the following steps:
S10, the path planning for receiving automated guided vehicle request and plan optimal path.
It controls and is connected between host 100 and automated guided vehicle 200 using wireless communication mode, such as bluetooth or WIFI
Equal wireless communication modes, automated guided vehicle 200 are received to control host transmitting path planning request, control host 100
The current location information and end point location information that the automated guided vehicle 200 is obtained after the request use systemic presupposition after allowing
Algorithmic rule at optimal path.
Preferably, the embodiment of the present invention uses dijkstra's algorithm to plan the optimal path in this step,
Dijkstra's algorithm is the algorithm of high stability in shortest path first, to guarantee the stability of obstacle avoidance system.
S20 extracts the road section information at least one section in optimal path according to sequence is driven into, and inquires the section
Whether there is or not locked for the right to use.
Controlling host 100 will be on the road optimal path Zhong Ge according to the automated guided vehicle 200 in optimal path
The sequence that Duan Xianhou drives into extracts the road section information at least one section, as the optimal path by successively drive into sequence include A,
B, tetra- sections C, D then at least extract the road section information in the section A, or take out the road section information in the section A, B, or take out A, B, C
The road section information in section.Road section information includes the start-stop coordinate in the section, and the information such as road section length, section title control host
The right to use in the section is inquired in the database of system whether there is or not locked according to road section information after the 100 acquisition road section informations,
Inquiring the section, currently whether there is or not occupied by other AGV.Enabling the present invention to be predicted in optimal path in advance in this way will drive into
Section whether there is or not occupied, control host 100 can control automated guided vehicle 200 in advance and carry out avoidance processing, avoid and hit
Vehicle and it is excessively prolonged wait, and then improve the operational efficiency of AGV in whole system.
Preferably, the embodiment of the present invention according to sequence is driven into obtains 3~5 sections in optimal path in this step
Real-time use information, can predict the occupied information in 3~5 sections in optimal path in advance in this way, and can be in advance to will sail
3~5 sections entered carry out avoidance planning, precognition and avoidance processing are carried out relative to previous section is only mentioned, so that control master
Machine 100 has more sufficient reaction time and alternative planning to control automated guided vehicle 200.Simultaneously as in advance 3~
The avoidance of the precognition in 5 sections plans so that barrier-avoiding method of the invention to signal dependence unlike the prior art is to signal
Dependence it is strong, when once in a while occur send stop signal when AGV do not receive or be delayed, AGV will not collide immediately, because
The time for having shifted to an earlier date 3~5 sections for the present invention is evaded.
S30 repeats step S10~S20 if locked or unlocks the road after waiting other automated guided vehicles to pass through
The right to use of section.
Is occupied and locked by control host 100 by other AGV if inquiring the section that will be driven into optimal path,
Then regular optimal path or wait other automated guided vehicles 200 by behind the section again, control host 100 is by the section
Use before unlock, for other AGV use, regular optimal path can make current automated guided vehicle 200 again
Can detour occupied section.
The right to use in the section is delivered to current automated guided vehicle by S40 if not locked, and locking should
The right to use in section.
It is not occupied, i.e., is led by control by other AGV if inquiring the section that will be driven into optimal path
Machine 100 unlocks, then the right to use in the section is delivered to current automated guided vehicle 200, after providing the right to use, control master
Machine 100 locks the right to use in the section, can only be used by current automated guided vehicle 200, other homing guidances transport
Vehicle 200 is not available the section, avoids the possibility of collision.The operation also for other automated guided vehicles 200 provides simultaneously
Reference in real time, so that other automated guided vehicles 200 are in the timely avoidance in the section automated guided vehicle 200.
S50 receives current automated guided vehicle by unlocking the right to use in the section after the information behind the section.
After current automated guided vehicle 200 receives the right to use in the section that control host issues, vehicle is controlled
The section is driven into, by sending information to control host 100 behind the section, control host 100 is worked as after receiving information by obtaining
The modes such as the real-time coordinates of preceding automated guided vehicle 200 judge that current automated guided vehicle 200 has confirmed that through the road
Section unlocks the right to use in the section then for other AGV use.
S60, judges whether current automated guided vehicle reaches the terminal in optimum programming path, if not reaching home
Then repeat step S20~S60.
After current automated guided vehicle 200 passes through the section, control host 100 judges current homing guidance transport
Vehicle 200 such as reaches home whether there is or not the terminal for reaching this optimal path, then terminates this stroke, if not reaching terminal,
The subsequent occupancy situation that will drive into section of optimal path is inquired, corresponding processing is then carried out, until driving into terminal.
Whether the section in sequential query optimal path that the embodiment of the present invention will be driven into according to automated guided vehicle
There is locked occupancy, and carries out planning path again in advance or provide the use in the section after waiting occupied path to unlock again
Power, allows the invention to the occupancy situation for predicting section in AGV planning path in advance, and enters accounting for for planning path in AGV
It with avoidance is carried out in advance before section, avoids and falls into a long wait caused by collision or traffic jam etc., and then improve the fortune of AGV
Line efficiency.
Meanwhile the embodiment of the present invention shifts to an earlier date since whether the section that can be inquired in advance in optimal path has locked occupy
The avoidances processing such as detoured or waited to section, accordingly even when causing to deposit signal data once in a while due to network communication etc.
Packet loss, the AGV in the embodiment of the present invention be also it is safe, phenomena such as will not colliding；And in the prior art if there is losing
Packet, AGV such as may not be halted in time and occur colliding at the safety accidents.
As shown in Fig. 2, the step S30 of the barrier-avoiding method of automated guided vehicle of the present invention specifically comprises the following steps:
S31 judges that can locked section be detoured.
S32 then repeats step S10~S20 as being detoured.
S33 cannot such as be detoured, then unlock the right to use in the section after waiting other automated guided vehicles to pass through.
When the occupied section in optimal path can detour, current automated guided vehicle 200 is directly planned again
Optimal path, avoid waiting for, and if cannot detour, other automated guided vehicles 200 waited to pass through the section.In this way
Preferential selection is detoured, and secondly selection waits, and the operational efficiency of AGV can be further improved.
With continued reference to FIG. 3, Fig. 3 is the process of the barrier-avoiding method embodiment two of automated guided vehicle of the present invention, implement
Example two and the difference of embodiment one are that embodiment two is after step S10 further include:
Whether S11, optimal path described in interpretation can reach.
S12 enters step S20 if it can reach.
I.e. whether there is or not locked for the right to use in the section in inquiry optimal path after having planned optimal path of embodiment two
Before, one has been carried out to a possibility that passage in entire path to judge in advance, if cannot reach, do not have current item
Part then terminates the trip；Subsequent step is just carried out by confirming that the optimal path has current condition.Do not have current condition
It include: that sections certain in optimal path such as cannot pass through, damage, automated guided vehicle 200 has other failures etc..In this way, energy
Improve whole system reliability of operation.
As shown in figure 4, the present invention also proposes a kind of path obstacle avoidance system, using above-mentioned barrier-avoiding method, including control master
Machine 100 and multiple automated guided vehicles 200, in which:
Optimal path is requested and planned to the path planning that control host 100 is used to receive automated guided vehicle 200, inquires
In optimal path the occupancy situation in section and according to occupancy situation control automated guided vehicle 200 operation, to optimal path
The right to use in middle section is locked or unlocked.
Automated guided vehicle 200 is used to receive control host 100 to control 100 transmitting path of host planning request
Control instruction is simultaneously run according to the control instruction.
Since the control host 100 and multiple automated guided vehicles 200 of path obstacle avoidance system of the present invention are using above-mentioned
Barrier-avoiding method enables path obstacle avoidance system of the invention to predict the occupancy situation in AGV planning path in advance, and in AGV
Avoidance is carried out before into the occupancy section of planning path in advance, and then improves the operational efficiency of AGV.
The present invention also proposes a kind of control host 100, and the control host 100 is including memory, processor and is stored in institute
The computer program executed by the processor is stated in memory and is configured as, the processor executes the computer program
When, realize above-mentioned barrier-avoiding method.Such as the barrier-avoiding method of S10-S60 step.
Illustratively, the computer program can be divided into one or more module/units, one or more
A module/unit is stored in the memory, and is executed by the processor, to complete the present invention.It is one or more
A module/unit can be the series of computation machine program instruction section that can complete specific function, and the instruction segment is for describing institute
State implementation procedure of the computer program in the asynchronous message processing terminal equipment.
The control host 100 may include, but are not limited to processor, memory.It will be understood by those skilled in the art that
Above-mentioned component be only control host 100 example, do not constitute to control host 100 restriction, may include than it is above-mentioned more
More or less component perhaps combines certain components or different components, such as control host 100 can also include input
Output equipment, network access equipment, bus etc..
Alleged processor can be central processing unit (Central Processing Unit, CPU), can also be it
His general processor, digital signal processor (Dig ital Sig na l Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
It is the control centre of the control host 100 Deng, the processor, entirely controls host using various interfaces and connection
100 various pieces.
The memory can be used for storing the computer program and/or module, and the processor is by operation or executes
Computer program in the memory and/or module are stored, and calls the data being stored in memory, described in realization
Control the various functions of host 100.The memory can mainly include storing program area and storage data area, wherein storage journey
It sequence area can application program needed for storage program area, at least one function (such as sound-playing function, image player function
Deng) etc.；Storage data area can be stored according to using created data (such as audio data, phone directory etc.) etc..In addition, storage
Device may include high-speed random access memory, can also be hard including nonvolatile memory, such as hard disk, memory, plug-in type
Disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card
(Flash Card), at least one disk memory, flush memory device or other volatile solid-state parts.
The present invention also proposes a kind of computer readable storage medium, and calculating is stored in the computer readable storage medium
Machine program, the computer program, which is performed, realizes above-mentioned barrier-avoiding method.
If the integrated module/unit of barrier-avoiding method of the invention is realized in the form of SFU software functional unit and as independence
Product when selling or using, can store in a computer readable storage medium.The computer-readable storage of the present invention
Medium specific embodiment and each embodiment of above-mentioned barrier-avoiding method are essentially identical, and details are not described herein.
It should be noted that embodiments described above is only schematical, wherein described be used as separate part description
Unit may or may not be physically separated, component shown as a unit may or may not be
Physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to the actual needs
Some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.In addition, embodiment provided by the invention is attached
In figure, the connection relationship between module indicates there is communication connection between them, specifically can be implemented as one or more communication
Bus or signal wire.Those of ordinary skill in the art can understand and implement without creative efforts.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all at this
Under the inventive concept of invention, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/use indirectly
It is included in other related technical areas in scope of patent protection of the invention.
Claims (8)
1. a kind of barrier-avoiding method of automated guided vehicle, applied to including control host and multiple automated guided vehicles
Path obstacle avoidance system, which comprises the steps of:
S10, the path planning for receiving automated guided vehicle request and plan optimal path；
S20 extracts the road section information at least one section in optimal path according to sequence is driven into, and inquires the use in the section
Whether there is or not locked for power；
S30 repeats step S10~S20 if locked or unlocks the section after waiting other automated guided vehicles to pass through
The right to use；
The right to use in the section is delivered to current automated guided vehicle if not locked, and locks the section by S40
The right to use；
S50 receives current automated guided vehicle by unlocking the right to use in the section after the information behind the section；
S60, judges whether current automated guided vehicle reaches the terminal in optimum programming path, weighs if not reaching home
Multiple step S20~S60.
2. barrier-avoiding method according to claim 1, which is characterized in that after the step S10 further include:
Whether S11, optimal path described in interpretation can reach；
S12 enters step S20 if it can reach.
3. barrier-avoiding method according to claim 1 or 2, which is characterized in that the step S30 specifically comprises the following steps:
S31 judges that can locked section be detoured；
S32 then repeats step S10~S20 as being detoured；
S33 cannot such as be detoured, then unlock the right to use in the section after waiting other automated guided vehicles to pass through.
4. barrier-avoiding method according to claim 1, which is characterized in that advised in the step S10 using dijkstra's algorithm
Draw the optimal path.
5. barrier-avoiding method according to claim 1, which is characterized in that in the step S20 according to drive into sequence obtain most
The real-time use information in 3~5 sections in shortest path.
6. a kind of path obstacle avoidance system, which is characterized in that barrier-avoiding method as described in any one in claim 1-5 is applied, including
Control host and multiple automated guided vehicles, in which:
Optimal path is requested and planned to the path planning that control host is used to receive automated guided vehicle, inquires in optimal path
The occupancy situation in section and the operation that automated guided vehicle is controlled according to occupancy situation, to the right to use in section in optimal path
It is locked or unlocked；
Automated guided vehicle is used to receive the control instruction and basis of control host to control host transmitting path planning request
The control instruction operation.
7. a kind of control host, which is characterized in that the control host includes memory, processor and is stored in the memory
In and be configured as the computer program executed by the processor, when the processor executes the computer program, realize
Barrier-avoiding method according to any one of claims 1 to 5.
8. a kind of computer readable storage medium, which is characterized in that be stored with computer in the computer readable storage medium
Program, the computer program, which is performed, realizes barrier-avoiding method according to any one of claims 1 to 5.
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