CN110275492B - Method and device for determining automatic guide transport vehicle driving path based on roadway - Google Patents
Method and device for determining automatic guide transport vehicle driving path based on roadway Download PDFInfo
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- CN110275492B CN110275492B CN201811024771.9A CN201811024771A CN110275492B CN 110275492 B CN110275492 B CN 110275492B CN 201811024771 A CN201811024771 A CN 201811024771A CN 110275492 B CN110275492 B CN 110275492B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention discloses a method and a device for determining a driving path of an automatic guided vehicle based on a roadway, and relates to the technical field of computers. One embodiment of the method comprises: determining the current roadway direction of a roadway to be traversed of an automatic guided transport vehicle; judging whether the current roadway direction is consistent with the driving direction of the automatic guided vehicle or not; if the lane to be passed is consistent with the lane to be passed, the automatic guided vehicle is counted into a passing queue of the lane to be passed; otherwise, determining that the picking point of the automatic guided vehicle is not located in the lane to be traversed, determining the lane to be traversed as a blocked lane, and planning the driving path of the automatic guided vehicle based on the blocked lane and the entrance of the current lane. The method can avoid the condition that the walking routes outside and inside the roadway are blocked, reduce the walking cost and time cost of the AGV, and further improve the production efficiency of the warehouse.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a method and a device for determining a running path of an automatic guided vehicle based on a roadway.
Background
Automatic guide transport vechicle AGV is applied to in the automatic field of storage logistics, reaches storage position through the mode that intelligence was gone and selects the point, then selects manually or selects automatically to be waited to select in the turnover case that the commodity was put on the AGV with selecting. And then, the AGV transports the turnover box to the next storage position goods picking point until the turnover box is completely picked and automatically delivered to a turnover box unloading area. In order to meet the transportation requirements, the AGV needs to walk in a roadway frequently, stays in the roadway for a certain time, and can leave after waiting for the sorting people to finish sorting. And, in the actual transport, the AGV can only turn to under the condition that the space is enough, so when the AGV is in the tunnel, generally can not turn to, can only follow the direction when getting into the tunnel and continue to move forward.
Based on the above situation, in the prior art, when determining the travel path of the AGV, the strategy for determining the travel path is as follows: only when the sorting point of the AGV is located in a certain roadway can the AGV enter the roadway, and the other situations all need to walk outside the roadway. To facilitate the AGV's reaching the picking point in the roadway and the picking job by the picker, the roadway is typically more centralized and located in a more central location, such as the 32-1-2-3-4-5-6-7-8-9 roadway, the 33-16-17-18-19-20-21-22-23-12 roadway, and the 34-24-25-26-27-28-29-30-31-14 roadway shown in FIG. 2. In the prior art, if the sorting point of the AGV is not positioned in the roadway, the AGV needs to detour around the periphery of the roadway, so that the driving efficiency is greatly reduced, and the operation cost is increased. Moreover, the AGV entering the roadway is not specifically monitored, and the entering traveling directions of the AGV are possibly inconsistent, so that a congestion phenomenon often occurs, and the production efficiency is influenced.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for determining a travel path of an automatic guided vehicle based on a roadway, which can avoid congestion of travel routes outside the roadway and inside the roadway, reduce travel cost and time cost of AGVs, and thus improve production efficiency of a warehouse.
To achieve the above object, according to an aspect of an embodiment of the present invention, there is provided a method of determining a travel path of an automatic guided vehicle based on a roadway.
The method for determining the driving path of the automatic guided vehicle based on the roadway comprises the following steps: determining the current roadway direction of a roadway to be traversed of an automatic guided transport vehicle;
judging whether the current roadway direction is consistent with the driving direction of the automatic guided vehicle or not;
if the lane to be passed is consistent with the lane to be passed, the automatic guided vehicle is counted into a passing queue of the lane to be passed; otherwise, determining that the picking point of the automatic guided vehicle is not located in the lane to be traversed, determining the lane to be traversed as a blocked lane, and planning the driving path of the automatic guided vehicle based on the blocked lane and the entrance of the current lane.
Optionally, the step of determining whether the current lane direction is consistent with the driving direction of the automatic guided vehicle includes: determining a current specified entrance of the roadway to be traversed; judging whether the initial position of the tunnel to be passed where the automatic guided vehicle is located is the current specified entrance of the tunnel to be passed; if so, the current roadway direction is consistent with the driving direction of the automatic guided vehicle; otherwise it is not consistent.
Optionally, the method further comprises: counting the number of automatic guide transport vehicles in a passing queue of each roadway; judging whether the number of the automatic guide transport vehicles in the passing queue is zero or not; and if the number of the lanes is zero, releasing the lane direction of the lane corresponding to the passing queue.
Optionally, before determining the current lane direction of the lane to be traversed of the automatic guided vehicle, the method further includes: determining an initial running path of the automatic guided vehicle based on a preset path rule; the route rule is that the travel distance is shortest or the travel time is shortest; and under the condition that the initial driving path contains the roadway to be passed, determining the initial position of the roadway to be passed where the automatic guided vehicle is located according to the initial driving path.
Optionally, after determining whether the current lane direction is consistent with the driving direction of the automatic guided vehicle, and before counting the automatic guided vehicle into the passing queue of the lane to be passed, the method further includes: determining the picking points of other automatic guided vehicles in the passing queue under the condition that the picking points of the automatic guided vehicles are not positioned in the roadway to be passed; judging whether a picking point positioned in the roadway to be traversed exists in picking points of other automatic guided vehicles, if so, determining the roadway to be traversed as a blocked roadway, and replanning a running path of the automatic guided vehicle based on the blocked roadway and the entrance of the current roadway; and otherwise, counting the automatic guided vehicle into the passing queue of the roadway to be passed.
To achieve the above object, according to another aspect of the embodiments of the present invention, there is provided an apparatus for automatically guiding a travel path of a transporter based on a roadway.
The device for determining the running path of the automatic guided vehicle based on the roadway comprises: the current roadway direction determining module is used for determining the current roadway direction of the roadway to be traversed of the automatic guided transport vehicle;
the judging module is used for judging whether the current roadway direction is consistent with the driving direction of the automatic guided vehicle or not;
the recording module is used for recording the automatic guided vehicle into a passing queue of the roadway to be passed;
and the path planning module is used for determining that the picking point of the automatic guided vehicle is not positioned in the lane to be traversed, determining the lane to be traversed as a blocked lane, and planning the driving path of the automatic guided vehicle based on the blocked lane and the entrance of the current lane.
Optionally, the determining module is further configured to determine a current specified entry of the roadway to be traversed; judging whether the initial position of the tunnel to be passed where the automatic guided vehicle is located is the current specified entrance of the tunnel to be passed; if so, the current roadway direction is consistent with the driving direction of the automatic guided vehicle; otherwise it is not consistent.
Optionally, the system further comprises a roadway direction monitoring module, which is used for counting the number of automatic guided vehicles in the passing queue of each roadway; judging whether the number of the automatic guide transport vehicles in the passing queue is zero or not; and if the number of the lanes is zero, releasing the lane direction of the lane corresponding to the passing queue.
Optionally, the system further comprises a module for determining an initial position of the roadway, and the module is used for determining an initial running path of the automatic guided vehicle based on a preset path rule; the route rule is that the travel distance is shortest or the travel time is shortest; and under the condition that the initial driving path contains the roadway to be passed, determining the initial position of the roadway to be passed where the automatic guided vehicle is located according to the initial driving path.
Optionally, the system further comprises a picking point judging module, configured to determine picking points of other automatic guided vehicles in the passing queue when the picking point of the automatic guided vehicle is not located in the to-be-passed roadway; judging whether a picking point positioned in the roadway to be traversed exists in picking points of other automatic guided vehicles, if so, determining the roadway to be traversed as a blocked roadway, and replanning a running path of the automatic guided vehicle based on the blocked roadway and the entrance of the current roadway; and otherwise, counting the automatic guided vehicle into the passing queue of the roadway to be passed.
To achieve the above object, according to still another aspect of an embodiment of the present invention, there is provided an electronic apparatus.
The electronic device of the embodiment of the invention comprises: one or more processors; a storage device for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement any of the above-described methods for determining an automated guided vehicle travel path based on a roadway.
To achieve the above object, according to a further aspect of the embodiments of the present invention, there is provided a computer readable medium having a computer program stored thereon, wherein the program is configured to implement any one of the above-mentioned methods for determining an automatic guided vehicle travel path based on a roadway when executed by a processor.
One embodiment of the above invention has the following advantages or benefits: by judging the consistency of the current roadway direction and the driving direction of the automatic guided transport vehicle, the driving strategy of efficiently and safely passing the roadway is realized. And all automatic guided vehicles which pass through the roadway are recorded in the passing queue of the automatic guided vehicles, and the roadway direction of the roadway can be controlled based on the passing queue. And then can make AGV travel on shortest, optimum route, reduce the cost of walking and the time cost of AGV to improve the production efficiency in warehouse. In addition, the situation of excessive traffic jam in the roadway and outside the roadway is effectively solved. By controlling the roadway traveling direction in the embodiment of the invention, the vehicles in different directions can be prevented from colliding in the roadway. When the roadway cannot enter, the AGV equipment directly requests other walking routes at the roadway opening, and the final destination point of driving can be reached at the fastest speed.
Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
fig. 1 is a schematic view of a main flow of a method of determining an automatic guided vehicle travel path based on a roadway according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a map of the location of an automated guided vehicle;
FIG. 3 is a schematic diagram of the main modules of an apparatus for automatically guiding a transport vehicle travel path based on roadway determination according to an embodiment of the present invention;
FIG. 4 is an exemplary system architecture diagram in which embodiments of the present invention may be employed;
fig. 5 is a schematic block diagram of a computer system suitable for use in implementing a terminal device or server of an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Fig. 1 is a schematic diagram of a main flow of a method for determining an automatic guided vehicle travel path based on a roadway according to an embodiment of the present invention, and as shown in fig. 1, the method for determining an automatic guided vehicle travel path based on a roadway according to an embodiment of the present invention mainly includes:
step S101: and determining the current roadway direction of the roadway to be passed of the automatic guide transport vehicle. The lane direction is a direction from a predetermined entrance to a predetermined exit of the lane. In the embodiment of the invention, the lane direction of each lane is not always fixed and can be updated based on the condition of the AGV passing through the lane.
Prior to step S101, an initial travel route of the automated guided vehicle may be determined based on a preset route rule, where the route rule is that the travel route is shortest or the travel time is shortest. And under the condition that the initial driving path contains the roadway to be traversed, determining the initial position (reaching the first position point of the roadway) of the roadway to be traversed where the automatic guided vehicle is located according to the initial driving path. Different from the situation that the picking point cannot pass through the roadway when the picking point is not positioned in the roadway in the prior art, the embodiment of the invention can determine the initial driving path according to the path rule with the shortest driving distance or the shortest driving time, and judge whether the roadway can be occupied or not after the initial driving path reaches the initial position of the roadway to be passed, namely judge whether the current roadway direction of the roadway is consistent with the driving direction of the automatic guided vehicle or not. And if the tunnel can be occupied, continuing to drive according to the initial driving path, otherwise, replanning the driving path based on the current position of the AGV (located at the initial position of the tunnel to be driven) and the tunnel to be driven for blocking the tunnel.
Step S102: and judging whether the current roadway direction is consistent with the driving direction of the automatic guided vehicle. If yes, go to step S103; otherwise, go to step S104. In a period of time, the tunnel direction of the tunnel is kept unchanged, and if the driving directions of all AGVs passing through the tunnel are kept consistent, the tunnel does not send congestion and collision events. Specifically, determining a current specified entrance of a roadway to be traversed; judging whether the initial position of the tunnel to be passed where the automatic guided vehicle is located is the current specified entrance of the tunnel to be passed; if so, the current roadway direction is consistent with the driving direction of the automatic guided vehicle; otherwise it is not consistent.
As can be seen from the above, in the embodiment of the present invention, the direction of the lane can be locked by locking the entrance or the exit. The entry point is used for recording the roadway direction, so that the method is applicable to warehouses in any environment, and the actual direction of vehicle walking is not considered actually.
Step S103: and counting the automatic guided vehicles into a passing queue of the roadway to be passed. The AGVs that are driving in the lane or waiting to enter the lane are recorded in the pass queue, and the AGVs that exit the lane, i.e., the AGVs exit from the exit, are deleted from the pass queue.
After judging whether the current roadway direction is consistent with the driving direction of the automatic guided vehicle or not and before the automatic guided vehicle is counted in the passing queue of the roadway to be passed, determining the picking points of other automatic guided vehicles in the passing queue under the condition that the picking point of the automatic guided vehicle is not positioned in the roadway to be passed. And judging whether a picking point positioned in a roadway to be passed exists in picking points of other automatic guided transport vehicles. If yes, determining the roadway to be traversed as a blocked roadway, and replanning the driving path of the automatic guided vehicle based on the blocked roadway and the entrance of the current roadway; otherwise, the automatic guided vehicle is counted into a passing queue of the roadway to be passed through. If the picking point is in the tunnel, the AGV stops at the position of the corresponding picking point in the tunnel to pick the goods, and the AGV bypasses the tunnel in consideration of the uncertain time of picking the goods and possibly waits for a long time. Through the process, the priority of the stopping task in the roadway and the priority of the passing task in the roadway are considered, and the efficiency of storehouse production is guaranteed while storehouse production is guaranteed.
Step S104: determining that the picking point of the automatic guided vehicle is not located in the to-be-passed roadway, determining the to-be-passed roadway as a blocked roadway, and planning the driving path of the automatic guided vehicle based on the blocked roadway and the entrance of the current roadway.
In the embodiment of the invention, the number of the automatic guided vehicles in the passing queue of each roadway can be counted at regular time or when each AGV enters or exits a roadway. Judging whether the number of the automatic guide transport vehicles in the passing queue is zero or not; and if the number of the lanes is zero, releasing the lane direction of the lane corresponding to the passing queue. After the tunnel direction of the tunnel is released, the tunnel has no fixed tunnel direction, and after an AGV reaches the tunnel subsequently, the tunnel direction of the tunnel is determined as the driving direction of the AGV, namely, the specified entrance of the tunnel is locked as the position point reached by the AGV.
According to the embodiment of the invention, the driving strategy of efficiently and safely passing the roadway is realized by judging the consistency of the current roadway direction and the driving direction of the automatic guided transport vehicle. And all automatic guided vehicles which pass through the roadway are recorded in the passing queue of the automatic guided vehicles, and the roadway direction of the roadway can be controlled based on the passing queue. And then can make AGV travel on shortest, optimum route, reduce the cost of walking and the time cost of AGV to improve the production efficiency in warehouse. In addition, the situation of excessive traffic jam in the roadway and outside the roadway is effectively solved. By controlling the roadway traveling direction in the embodiment of the invention, the vehicles in different directions can be prevented from colliding in the roadway. When the roadway cannot enter, the AGV equipment directly requests other walking routes at the roadway opening, and the final destination point of driving can be reached at the fastest speed. By using the entry point to record the direction of the roadway, the method can be applied to warehouses in any environment without actually considering the real direction of the vehicle walking. Moreover, the priority processing is carried out on the carrying and stopping tasks in the tunnel and the passing tasks in the tunnel, so that the production of the storeroom is ensured, and the production efficiency of the storeroom is also ensured.
Fig. 2 is a schematic diagram of a location map of an automated guided vehicle.
As shown in fig. 2, if the stopping point of the AGV is 78, the received picking tasks are picking point 17 (lane 2 entrance 33, exit 12) and picking point 31 (lane 3 entrance 14, exit 34), and the route to the picking point 17 obtained by the route planning of the AGV according to the prior art is 78, 123, 134, 132, 131, 130, 129, 128, 127, 126, 50, 108, 51, 33, 16, 17, and cannot pass through the lane where the picking point 17 is not located. Among the prior art, the regulation can only get into when selecting a tunnel just can get into the reason in tunnel when the AGV will get into, and the tunnel generally is a single file tunnel, and the AGV is walked the tunnel at will and can be made its shared tunnel normally select or other AGV are obstructed when transporting goods to this tunnel, very easily causes jam, the dolly is met the head, whole storage transport traffic's paralysis even between. On the other hand, the problem is not obvious when the system is implemented in a small area and the transport amount is small, but the route cost and the time cost required for the vehicle to travel become larger when the parking point at which the AGV receives the job becomes closer to the center tunnel as the map becomes larger. And when the number of AGV is too much, it is very easy to cause the walking route heat outside the roadway too high, easily causes the vehicle to concentrate, produces the condition of blocking up.
For the above example, according to the technical solution of the above embodiment of the present invention, if the lanes 33-16-17-18-19-20-21-22-23-12 are relatively congested at this time, the lanes 32-1-2-3-4-5-6-7-8-9 may be traversed, and the travel paths determined for the lanes are 78, 123, 134, 132, 133, 121, 9, 8, 7, 6, 5, 4, 3, 2, 1, 32, 108, 51, 33, 16, 17 at this time.
In the above example, if the initial travel path of the AGV is determined to be 78, 123, 134, 132, 133, 121, 9, 8, 7, 6, 5, 4, 3, 2, 1, 32, 108, 51, 33, 16, 17, after the AGV reaches the initial position of the lane to be traveled by, i.e., the position point 9, the AGV device control module invokes traffic management to occupy the lane direction and determines whether the lane direction occupation is successful. The AGV equipment controls software modules used for controlling and transporting the AGV. And simultaneously issuing a traveling instruction for transporting the AGV equipment. The traffic management is used for managing all walking routes and the congestion conditions of the walking routes in the current area. And, the reasons that the AGV cannot pass through the roadway at the road junction (failure in occupying the roadway) include: AGV in other directions exist in the roadway; the roadway memory is provided with vehicles which carry parking tasks and have current roadway parking points. The roadway is used for achieving the final transportation destination point at the fastest speed, so that the vehicles with the transportation tasks of the stopping points of the current roadway are avoided, and the optimal situation can be achieved (the vehicles at the stopping points and the stopping time are uncertain).
And when the direction of the roadway is successfully occupied, the traffic management system counts the traveling direction of the AGV equipment into the roadway and increases the number of the vehicles passing through the roadway. And when the AGV runs to the exit of the roadway, the AGV is carried to control and call traffic management to release the number of the vehicles passing through the roadway and the direction of the roadway. And the traffic management judges whether the AGV at the current exit is the last AGV in the roadway (only one AGV exists in the passing queue). And if the lane direction is released by traffic management when the last vehicle is judged, and if the lane direction is not released by traffic management when the last vehicle is judged, waiting for other AGV to reach the exit of the lane, namely continuously keeping the current lane direction of the lane. And the occupying mode of the roadway direction is that the entry point of the AGV passing through the roadway is used as the roadway direction. Only vehicles entering from the currently recorded entry point are then allowed to enter the roadway.
When the lane occupation fails, the AGV device control module requests path planning again (the starting point is a lane entry point, the end point is an original end point, and a blocked lane is added as a removal route). And returning the new route to the AGV equipment control system by the path planning. And the AGV equipment module controls to end the current running task of the AGV equipment and issues the running task of a new route. The invention optimizes the characteristics that AGV cannot steer in a roadway in order to avoid the phenomena of collision, congestion, head collision and the like due to the fact that the quantity of AGV is large and the running directions are different, and specifically comprises the following steps: when the AGV enters the roadway entrance, the AGV can inform a traffic management system to record the running direction of the AGV in the current roadway, and after the traffic pipeline records the direction of the roadway, other AGV capable of running can only enter the roadway according to the setting direction of the current roadway, so that the AGV capable of running in the same roadway in a plurality of same directions can run at the same time.
If there are vehicles traveling through the roadway in the same direction, vehicles with a transfer task at the stop point of the current roadway can enter the roadway. Ensuring that vehicles with the carrying tasks of the stop points of the current roadway enter the roadway is a precondition for ensuring the production of the storeroom.
According to the embodiment of the invention, the AGV can execute the transport task on the shortest and optimal route in a roadway passing mode, the travel cost for transporting the AGV is reduced, the time cost is reduced, and the production efficiency of the warehouse is improved. In addition, the situation of excessive traffic jam in the roadway and outside the roadway is effectively solved. By controlling the roadway traveling direction in the embodiment of the invention, the vehicles in different directions can be prevented from colliding in the roadway. By using the entry point to record the direction of the roadway, the method can be applied to warehouses in any environment without actually considering the real direction of the vehicle walking. When the roadway cannot enter, the AGV equipment directly requests other walking routes at the roadway opening, and the final destination point of driving can be reached at the fastest speed. Moreover, the priority processing is carried out on the carrying and stopping tasks in the tunnel and the passing tasks in the tunnel, so that the production of the storeroom is ensured, and the production efficiency of the storeroom is also ensured.
Fig. 3 is a schematic diagram of main modules of an apparatus for determining an automatic guided vehicle travel path based on a roadway according to an embodiment of the present invention, and as shown in fig. 3, an apparatus 300 for determining an automatic guided vehicle travel path based on a roadway according to an embodiment of the present invention includes a current roadway direction determining module 301, a judging module 302, a recording module 303, and a path planning module 304.
The current roadway direction determining module 301 is configured to determine a current roadway direction of a roadway to be traversed of the automatic guided vehicle.
The determining module 302 is configured to determine whether a current roadway direction is consistent with a driving direction of the automated guided vehicle. The judging module is also used for determining the current specified entrance of the roadway to be passed through; judging whether the initial position of the tunnel to be passed where the automatic guided vehicle is located is the current specified entrance of the tunnel to be passed; if so, the current roadway direction is consistent with the driving direction of the automatic guided vehicle; otherwise it is not consistent.
The recording module 303 is configured to count the automatic guided vehicle into a passing queue of the to-be-passed roadway. And when the judging module determines that the current roadway direction is consistent with the driving direction of the automatic guided vehicle, the recording module counts the automatic guided vehicle into the passing queue of the roadway to be passed.
The path planning module 304 is configured to determine that the picking point of the automated guided vehicle is not located in the to-be-traversed lane, determine the to-be-traversed lane as a blocked lane, and plan a driving path of the automated guided vehicle based on the blocked lane and the entrance of the current lane. And if the judging module determines that the current roadway direction is inconsistent with the driving direction of the automatic guided vehicle, the path planning module determines that the sorting point of the automatic guided vehicle is not positioned in the roadway to be passed, determines the roadway to be passed as a blocked roadway, and plans the driving path of the automatic guided vehicle based on the blocked roadway and the entrance of the current roadway.
The device for determining the running path of the automatic guided vehicle based on the roadway further comprises a roadway direction monitoring module, a lane direction monitoring module and a lane direction monitoring module, wherein the roadway direction monitoring module is used for counting the number of the automatic guided vehicles in the running queue of each roadway; and judging whether the number of the automatic guide transport vehicles in the passing queue is zero or not. And if the number of the lanes is zero, releasing the lane direction of the lane corresponding to the passing queue.
The device for determining the running path of the automatic guided vehicle based on the roadway further comprises a module for determining the initial position of the roadway, wherein the module is used for determining the initial running path of the automatic guided vehicle based on a preset path rule before the current roadway direction determining module determines the current roadway direction of the roadway to be passed of the automatic guided vehicle. The route rule is that the travel distance is shortest or the travel time is shortest. And under the condition that the initial driving path contains the roadway to be traversed, determining the initial position of the roadway to be traversed where the automatic guide transport vehicle is located according to the initial driving path.
The device for determining the running path of the automatic guided vehicle based on the roadway further comprises a picking point judging module, and the picking point judging module is used for determining picking points of other automatic guided vehicles in the passing queue under the condition that the picking point of the automatic guided vehicle is not located in the roadway to be passed after judging whether the current roadway direction is consistent with the running direction of the automatic guided vehicle and before the automatic guided vehicle is counted in the passing queue of the roadway to be passed. And judging whether the picking points of other automatic guided vehicles exist in the picking points of the roadway to be passed through. And if the lane to be traversed exists, determining the lane to be traversed as a blocked lane, and replanning the driving path of the automatic guided vehicle based on the blocked lane and the entrance of the current lane. Otherwise, the automatic guided vehicle is counted into a passing queue of the roadway to be passed through.
According to the embodiment of the invention, the AGV can execute the transport task on the shortest and optimal route in a roadway passing mode, the travel cost for transporting the AGV is reduced, the time cost is reduced, and the production efficiency of the warehouse is improved. In addition, the situation of excessive traffic jam in the roadway and outside the roadway is effectively solved. By controlling the roadway traveling direction in the embodiment of the invention, the vehicles in different directions can be prevented from colliding in the roadway. By using the entry point to record the direction of the roadway, the method can be applied to warehouses in any environment without actually considering the real direction of the vehicle walking. When the roadway cannot enter, the AGV equipment directly requests other walking routes at the roadway opening, and the final destination point of driving can be reached at the fastest speed. Moreover, the priority processing is carried out on the carrying and stopping tasks in the tunnel and the passing tasks in the tunnel, so that the production of the storeroom is ensured, and the production efficiency of the storeroom is also ensured.
Fig. 4 illustrates an exemplary system architecture 400 to which a method of determining an automated guided vehicle travel path based on a roadway or an apparatus for determining an automated guided vehicle travel path based on a roadway of an embodiment of the present invention may be applied.
As shown in fig. 4, the system architecture 400 may include terminal devices 401, 402, 403, a network 404, and a server 405. The network 404 serves as a medium for providing communication links between the terminal devices 401, 402, 403 and the server 405. Network 404 may include various types of connections, such as wire, wireless communication links, or fiber optic cables, to name a few.
A user may use terminal devices 401, 402, 403 to interact with a server 405 over a network 404 to receive or send messages or the like. The terminal devices 401, 402, 403 may have installed thereon various communication client applications, such as shopping-like applications, web browser applications, search-like applications, instant messaging tools, mailbox clients, social platform software, etc. (by way of example only).
The terminal devices 401, 402, 403 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.
The server 405 may be a server providing various services, such as a background management server (for example only) providing support for shopping websites browsed by users using the terminal devices 401, 402, 403. The background management server can analyze and process the received data such as the product information inquiry request and feed back the processing result to the terminal equipment.
It should be noted that the method for determining the travel path of the automated guided vehicle based on the roadway provided by the embodiment of the present invention is generally executed by the server 405, and accordingly, a device for determining the travel path of the automated guided vehicle based on the roadway is generally disposed in the server 405.
It should be understood that the number of terminal devices, networks, and servers in fig. 4 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
Referring now to FIG. 5, shown is a block diagram of a computer system 500 suitable for use with a terminal device implementing an embodiment of the present invention. The terminal device shown in fig. 5 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 5, the computer system 500 includes a Central Processing Unit (CPU)501 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)502 or a program loaded from a storage section 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for the operation of the system 500 are also stored. The CPU 501, ROM 502, and RAM 503 are connected to each other via a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
The following components are connected to the I/O interface 505: an input portion 506 including a keyboard, a mouse, and the like; an output portion 507 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. The driver 510 is also connected to the I/O interface 505 as necessary. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as necessary, so that a computer program read out therefrom is mounted into the storage section 508 as necessary.
In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 509, and/or installed from the removable medium 511. The computer program performs the above-described functions defined in the system of the present invention when executed by the Central Processing Unit (CPU) 501.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present invention may be implemented by software or hardware. The described modules may also be provided in a processor, which may be described as: a processor comprises a current roadway direction obtaining determining module, a judging module, a recording module and a path planning module. The names of these modules do not in some cases form a limitation on the module itself, and for example, the current lane direction determination module may also be described as a "module that determines the current lane direction of a lane to be traversed of an automated guided vehicle".
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to comprise: determining the current roadway direction of a roadway to be traversed of an automatic guided transport vehicle; judging whether the current roadway direction is consistent with the driving direction of the automatic guided vehicle; if the two types of the self-guided vehicles are consistent, the self-guided vehicles are counted in a passing queue of the roadway to be passed; otherwise, determining that the picking point of the automatic guided vehicle is not located in the roadway to be traversed, determining the roadway to be traversed as a blocked roadway, and planning the driving path of the automatic guided vehicle based on the blocked roadway and the entrance of the current roadway.
According to the embodiment of the invention, the driving strategy of efficiently and safely passing the roadway is realized by judging the consistency of the current roadway direction and the driving direction of the automatic guided transport vehicle. And all automatic guided vehicles which pass through the roadway are recorded in the passing queue of the automatic guided vehicles, and the roadway direction of the roadway can be controlled based on the passing queue. And then can make AGV travel on shortest, optimum route, reduce the cost of walking and the time cost of AGV to improve the production efficiency in warehouse. In addition, the situation of excessive traffic jam in the roadway and outside the roadway is effectively solved. By controlling the roadway traveling direction in the embodiment of the invention, the vehicles in different directions can be prevented from colliding in the roadway. When the roadway cannot enter, the AGV equipment directly requests other walking routes at the roadway opening, and the final destination point of driving can be reached at the fastest speed.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for determining a driving path of an automatic guided vehicle based on a roadway is characterized by comprising the following steps:
determining the current roadway direction of a roadway to be traversed of an automatic guided transport vehicle;
judging whether the current roadway direction is consistent with the driving direction of the automatic guided vehicle or not;
if the lane to be passed is consistent with the lane to be passed, the automatic guided vehicle is counted into a passing queue of the lane to be passed; otherwise, determining that the picking point of the automatic guided vehicle is not located in the lane to be traversed, determining the lane to be traversed as a blocked lane, and planning the driving path of the automatic guided vehicle based on the blocked lane and the entrance of the current lane;
wherein, judge whether current tunnel direction is unanimous with the direction of travel of automatic guided vehicle includes: determining a current specified entrance of the roadway to be traversed; judging whether the initial position of the tunnel to be passed where the automatic guided vehicle is located is the current specified entrance of the tunnel to be passed; if so, the current roadway direction is consistent with the driving direction of the automatic guided vehicle; otherwise it is not consistent.
2. The method of claim 1, further comprising:
counting the number of automatic guide transport vehicles in a passing queue of each roadway;
judging whether the number of the automatic guide transport vehicles in the passing queue is zero or not;
and if the number of the lanes is zero, releasing the lane direction of the lane corresponding to the passing queue.
3. The method of claim 1, further comprising, prior to determining a current lane direction of a lane to be traversed of the automated guided vehicle:
determining an initial running path of the automatic guided vehicle based on a preset path rule; the route rule is that the travel distance is shortest or the travel time is shortest;
and under the condition that the initial driving path contains the roadway to be passed, determining the initial position of the roadway to be passed where the automatic guided vehicle is located according to the initial driving path.
4. The method of claim 1, after determining whether the current lane direction is consistent with the driving direction of the automated guided vehicle, and before counting the automated guided vehicle into the passing queue of the lane to be passed, further comprising:
determining the picking points of other automatic guided vehicles in the passing queue under the condition that the picking points of the automatic guided vehicles are not positioned in the roadway to be passed;
judging whether the picking points of the other automatic guided vehicles exist in the picking points of the roadway to be passed through,
if the lane to be traversed exists, determining the lane to be traversed as a blocked lane, and replanning the driving path of the automatic guided vehicle based on the blocked lane and the entrance of the current lane; and otherwise, counting the automatic guided vehicle into the passing queue of the roadway to be passed.
5. An apparatus for automatically guiding a travel path of a transportation vehicle based on a roadway determination, comprising:
the current roadway direction determining module is used for determining the current roadway direction of the roadway to be traversed of the automatic guided transport vehicle;
the judging module is used for judging whether the current roadway direction is consistent with the driving direction of the automatic guided vehicle or not;
the recording module is used for recording the automatic guided vehicle into a passing queue of the roadway to be passed;
a path planning module for determining that a picking point of the automated guided vehicle is not located in the lane to be traversed, determining the lane to be traversed as a blocked lane, and planning a driving path of the automated guided vehicle based on the blocked lane and an entrance of a current lane;
the judging module is also used for determining the current specified entrance of the roadway to be passed through; judging whether the initial position of the tunnel to be passed where the automatic guided vehicle is located is the current specified entrance of the tunnel to be passed; if so, the current roadway direction is consistent with the driving direction of the automatic guided vehicle; otherwise it is not consistent.
6. The device of claim 5, further comprising a lane direction monitoring module for counting the number of automatic guided vehicles in the passing queue of each lane; judging whether the number of the automatic guide transport vehicles in the passing queue is zero or not; and if the number of the lanes is zero, releasing the lane direction of the lane corresponding to the passing queue.
7. The device of claim 5, further comprising a module for determining an initial position of the roadway, which is used for determining an initial travel path of the automatic guided vehicle based on a preset path rule; the route rule is that the travel distance is shortest or the travel time is shortest; and under the condition that the initial driving path contains the roadway to be passed, determining the initial position of the roadway to be passed where the automatic guided vehicle is located according to the initial driving path.
8. The apparatus according to claim 5, further comprising a pick point determining module for determining pick points of other automated guided vehicles in the passing queue if the pick point of the automated guided vehicle is not located in the lane to be passed; judging whether a picking point positioned in the roadway to be traversed exists in picking points of other automatic guided vehicles, if so, determining the roadway to be traversed as a blocked roadway, and replanning a running path of the automatic guided vehicle based on the blocked roadway and the entrance of the current roadway; and otherwise, counting the automatic guided vehicle into the passing queue of the roadway to be passed.
9. An electronic device, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-4.
10. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-4.
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| CN112749866A (en) * | 2019-10-31 | 2021-05-04 | 阿里巴巴集团控股有限公司 | Method, device and computer system for scheduling transport vehicle in physical restaurant |
| CN113627703A (en) * | 2020-05-08 | 2021-11-09 | 北京京东乾石科技有限公司 | Scheduling method and apparatus for mobile device, computer system, and storage medium |
| CN114089736A (en) * | 2021-02-08 | 2022-02-25 | 北京京东乾石科技有限公司 | Information acquisition method and device, electronic equipment and computer readable medium |
| CN113985880A (en) * | 2021-10-29 | 2022-01-28 | 深圳优地科技有限公司 | Multi-robot path planning method, multi-robot system and robot |
| CN116070872B (en) * | 2023-02-23 | 2023-09-15 | 机科发展科技股份有限公司 | AGV scheduling method based on narrow channel, electronic equipment and storage medium |
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| JP2004252631A (en) * | 2003-02-19 | 2004-09-09 | Mitsubishi Heavy Ind Ltd | Agv operation control method, its apparatus, and physical distribution system using agv |
| KR101155373B1 (en) * | 2008-05-22 | 2012-06-19 | 무라다기카이가부시끼가이샤 | Traveling vehicle system and method for controlling traveling by traveling vehicle system |
| JP5745920B2 (en) * | 2011-04-28 | 2015-07-08 | トヨタ自動車株式会社 | Conveying apparatus and conveying method |
| CN106652489A (en) * | 2015-11-03 | 2017-05-10 | 南京苏立机器人科技有限公司 | AGV traffic signal management system and AGV traffic signal management method |
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| CN108133608A (en) * | 2016-12-01 | 2018-06-08 | 江苏森蓝智能系统有限公司 | A kind of AGV path clustering modes using interaction mechanism |
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| CN107807640B (en) * | 2017-10-24 | 2021-02-02 | 杭州南江机器人股份有限公司 | AGV-based traffic management method, electronic device, storage medium and system |
| CN108304964A (en) * | 2018-01-08 | 2018-07-20 | 深圳市易成自动驾驶技术有限公司 | AGV shortest path planning methods, device and computer readable storage medium |
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