CN110889918B - Magnetic navigation deadlock unlocking control method and device and computer readable storage medium - Google Patents
Magnetic navigation deadlock unlocking control method and device and computer readable storage medium Download PDFInfo
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- CN110889918B CN110889918B CN201911219049.5A CN201911219049A CN110889918B CN 110889918 B CN110889918 B CN 110889918B CN 201911219049 A CN201911219049 A CN 201911219049A CN 110889918 B CN110889918 B CN 110889918B
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
- G07C9/00658—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated by passive electrical keys
- G07C9/00722—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated by passive electrical keys with magnetic components, e.g. magnets, magnetic strips, metallic inserts
Abstract
The invention discloses a magnetic navigation deadlock unlocking control method, which comprises the following steps: determining whether a first target vehicle is present at the deadlock tag location; when a deadlock first target vehicle exists, controlling the first target vehicle to continuously run to leave the deadlock tag position, and sending a running stopping instruction to a second target vehicle which does not run to the deadlock tag position; after the first target vehicle leaves the deadlock tag position, sending a command of continuing driving to the second target vehicle; and when the first target vehicle does not have the deadlock, the deadlock alarm is released. The invention also discloses a device and a computer readable storage medium. The method and the device confirm the deadlock vehicle by detecting the information of the deadlock vehicle, determine the position of the deadlock tag according to the running route of the deadlock vehicle, and control the deadlock vehicle to pass through the position of the deadlock tag in sequence in a mode of respectively sending running instructions so as to avoid detecting the deadlock information, thereby realizing the beneficial effect of improving the running efficiency of the AGV mobile robot.
Description
Technical Field
The invention relates to the technical field of mobile robot navigation positioning, in particular to a magnetic navigation deadlock unlocking control method and device and a computer readable storage medium.
Background
In the prior art, an AGV (mobile robot) car is an intelligent transportation tool with the widest application range, generally, AGVs all travel according to a specified route by magnetic navigation in a limited running route, and when a plurality of AGV vehicles exist in a transportation environment, a deadlock condition is easily generated due to route crossing or other problems when the AGVs travel. Because both sides are no longer operated, the obstacle avoidance modules of both sides can detect obstacles all the time, so that the problem that the operating error of the AGV affects the working efficiency can be caused.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a magnetic navigation deadlock unlocking control method, a magnetic navigation deadlock unlocking control device and a computer readable storage medium, and aims to solve the problems that an existing AGV (mobile robot) obstacle avoidance module can only identify whether an obstacle exists, and when the obstacle avoidance module cannot identify the obstacle, the obstacle avoidance modules of the AGV of two parties can always detect the obstacle, so that the operation error of the AGV affects the working efficiency.
In order to achieve the above object, the present invention provides a magnetic navigation deadlock unlocking control method, which includes the following steps:
when detecting the deadlock alarm of the current mobile robot scheduling system, determining whether a first target vehicle exists in the position of a deadlock label;
when a deadlock first target vehicle exists, controlling the first target vehicle to continuously run to leave the deadlock tag position, and sending a running stopping instruction to a second target vehicle which does not run to the deadlock tag position;
after the first target vehicle leaves the deadlock tag position, sending a command for continuing to run to the second target vehicle;
and when the first target vehicle does not have the deadlock, the deadlock alarm is released, and the vehicle in the dispatching system is controlled to continue running.
Alternatively, the number of vehicles of the first target vehicle and the second target vehicle may include one or more.
Optionally, before the step of determining whether the first target vehicle exists in the deadlock tag position when the deadlock alarm of the current mobile robot scheduling system is detected, the method further includes:
acquiring a running route of a mobile robot in the mobile robot scheduling system, and determining whether the mobile robot with the crossed running route exists according to the running route;
and when the mobile robot with the crossed running route is confirmed, a deadlock alarm is initiated.
Optionally, after the step of initiating a deadlock alarm when it is confirmed that there is a mobile robot with a crossed travel route, the method further includes:
and confirming the crossing position of the running route crossing, and confirming the position of the deadlock label by the crossing position.
Optionally, the step of initiating a deadlock alarm when it is confirmed that there is a mobile robot with a crossed operation route further includes:
registering the mobile robot to monitor a travel position of the mobile robot.
Optionally, before the step of obtaining the operation route of the mobile robot in the mobile robot scheduling system to determine whether there is a mobile robot with an operation route that intersects with the operation route according to the operation route, the method further includes:
counting the number of fault robots which stop running in the current mobile robot scheduling system;
and when the number of the fault robots is confirmed to be larger than the preset number, the step of checking the running route of the mobile robot in the mobile robot scheduling system is executed.
Optionally, the step of determining whether the first target vehicle exists in the deadlock tag position when the deadlock alarm of the current mobile robot scheduling system is detected includes:
dividing a deadlock label position range according to the confirmed deadlock label position, and confirming whether the deadlock label position range has the mobile robot or not;
and confirming that the first target vehicle exists in the deadlock tag position when the mobile robot exists in the deadlock tag position range.
Optionally, after the step of dividing the deadlock tag position range according to the confirmed deadlock tag position and confirming whether the deadlock tag position range has the mobile robot, the method further includes:
upon determining that the mobile robot is not present in the deadlock tag location range, determining that the first target vehicle is not present in the deadlock tag location range.
In addition, to achieve the above object, the present invention further provides a magnetic navigation deadlock unlocking control apparatus, including: the magnetic navigation deadlock unlocking control method comprises a memory, a processor and a magnetic navigation deadlock unlocking control program which is stored on the memory and can run on the processor, wherein when the magnetic navigation deadlock unlocking control program is executed by the processor, the steps of the magnetic navigation deadlock unlocking control method are realized.
The invention also provides a computer readable storage medium, on which a magnetic navigation deadlock unlocking control program is stored, which when executed by a processor implements the steps of the magnetic navigation deadlock unlocking control method as described above.
The invention provides a magnetic navigation deadlock unlocking control method, which comprises the steps of determining whether a first target vehicle exists in a deadlock label position when a deadlock alarm of a current mobile robot scheduling system is detected; when a deadlock first target vehicle exists, controlling the first target vehicle to continuously run to leave the deadlock tag position, and sending a running stopping instruction to a second target vehicle which does not run to the deadlock tag position; after the first target vehicle leaves the deadlock tag position, sending a command for continuing to run to the second target vehicle; and when the first target vehicle does not have the deadlock, the deadlock alarm is released, and the vehicle in the dispatching system is controlled to continue running. The method and the device confirm the deadlock vehicle by detecting the information of the deadlock vehicle, determine the position of the deadlock tag according to the running route of the deadlock vehicle, and control the deadlock vehicle to pass through the position of the deadlock tag in sequence in a mode of respectively sending running instructions so as to avoid detecting the deadlock information, thereby realizing the beneficial effect of improving the running efficiency of the AGV mobile robot.
Drawings
FIG. 1 is a schematic diagram of a terminal \ device structure of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a magnetic navigation deadlock unlocking control method according to a first embodiment of the present invention;
FIG. 3 is a flowchart illustrating a magnetic navigation deadlock unlocking control method according to a second embodiment of the present invention;
FIG. 4 is a schematic diagram of a deadlock tag location tag arrangement;
fig. 5 is a schematic diagram of the mobile robot in full load.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the embodiment of the invention is as follows: when detecting the deadlock alarm of the current mobile robot scheduling system, determining whether a first target vehicle exists in the position of a deadlock label; when a deadlock first target vehicle exists, controlling the first target vehicle to continuously run to leave the deadlock tag position, and sending a running stopping instruction to a second target vehicle which does not run to the deadlock tag position; after the first target vehicle leaves the deadlock tag position, sending a command for continuing to run to the second target vehicle; and when the first target vehicle does not have the deadlock, the deadlock alarm is released, and the vehicle in the dispatching system is controlled to continue running.
Because the obstacle avoidance module of the existing AGV (mobile robot) can only identify whether obstacles exist, the obstacle avoidance modules of the AGV of the two parties can always detect the obstacles when the obstacles cannot be identified, and the problem that the operation errors of the AGV affect the working efficiency is caused.
The invention provides a solution, which confirms the deadlock vehicle by detecting the information of the deadlock vehicle, determines the position of the deadlock label according to the running route of the deadlock vehicle, controls the deadlock vehicle to pass through the position of the deadlock label in sequence in a mode of respectively sending running instructions so as to avoid detecting the deadlock information, and further realizes the beneficial effect of improving the running efficiency of the AGV mobile robot.
As shown in fig. 1, fig. 1 is a schematic diagram of a terminal \ device structure of a hardware operating environment according to an embodiment of the present invention.
The terminal of the embodiment of the invention can be a PC, and can also be a mobile or non-mobile terminal device such as a smart phone, a tablet computer, an electronic book reader, a portable computer and the like.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, the memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a magnetic navigation deadlock unlocking control program.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call a magnetic navigation deadlock unlocking control program stored in the memory 1005, and perform the following operations:
when detecting the deadlock alarm of the current mobile robot scheduling system, determining whether a first target vehicle exists in the position of a deadlock label;
when a deadlock first target vehicle exists, controlling the first target vehicle to continuously run to leave the deadlock tag position, and sending a running stopping instruction to a second target vehicle which does not run to the deadlock tag position;
after the first target vehicle leaves the deadlock tag position, sending a command for continuing to run to the second target vehicle;
and when the first target vehicle does not have the deadlock, the deadlock alarm is released, and the vehicle in the dispatching system is controlled to continue running.
Further, the processor 1001 may call a magnetic navigation deadlock unlocking control program stored in the memory 1005, and also perform the following operations:
the number of vehicles of the first target vehicle and the second target vehicle may include one or more.
Further, the processor 1001 may call a magnetic navigation deadlock unlocking control program stored in the memory 1005, and also perform the following operations:
acquiring a running route of a mobile robot in the mobile robot scheduling system, and determining whether the mobile robot with the crossed running route exists according to the running route;
and when the mobile robot with the crossed running route is confirmed, a deadlock alarm is initiated.
Further, the processor 1001 may call a magnetic navigation deadlock unlocking control program stored in the memory 1005, and also perform the following operations:
and confirming the crossing position of the running route crossing, and confirming the position of the deadlock label by the crossing position.
Further, the processor 1001 may call a magnetic navigation deadlock unlocking control program stored in the memory 1005, and also perform the following operations:
registering the mobile robot to monitor a travel position of the mobile robot.
Further, the processor 1001 may call a magnetic navigation deadlock unlocking control program stored in the memory 1005, and also perform the following operations:
counting the number of fault robots which stop running in the current mobile robot scheduling system;
and when the number of the fault robots is confirmed to be larger than the preset number, the step of checking the running route of the mobile robot in the mobile robot scheduling system is executed.
Further, the processor 1001 may call a magnetic navigation deadlock unlocking control program stored in the memory 1005, and also perform the following operations:
dividing a deadlock label position range according to the confirmed deadlock label position, and confirming whether the deadlock label position range has the mobile robot or not;
and confirming that the first target vehicle exists in the deadlock tag position when the mobile robot exists in the deadlock tag position range.
Further, the processor 1001 may call a magnetic navigation deadlock unlocking control program stored in the memory 1005, and also perform the following operations:
upon determining that the mobile robot is not present in the deadlock tag location range, determining that the first target vehicle is not present in the deadlock tag location range.
Referring to fig. 2, fig. 2 is a schematic flow chart of a magnetic navigation deadlock unlocking control method according to a first embodiment of the present invention, where the magnetic navigation deadlock unlocking control method includes:
step S10, when detecting the deadlock alarm of the current mobile robot dispatching system, determining whether a first target vehicle exists in the deadlock label position;
based on the current mobile robot scheduling system, when a deadlock alarm of the mobile robot system is received, determining that a deadlock vehicle exists in the current mobile robot scheduling system, and thus determining a deadlock tag position based on the deadlock vehicle based on a running route of the deadlock vehicle, and determining whether a first target vehicle exists in the current mobile robot scheduling system based on the deadlock tag position. Further, the deadlock alarm is determined based on the number of the fault vehicles existing in the current mobile robot scheduling system, so that the current deadlock vehicle is determined when the number of the fault vehicles is larger than the preset number, and the corresponding deadlock tag position is determined based on the vehicle running route of the deadlock vehicle.
As described above, when determining the deadlock vehicle and the deadlock tag location according to the operation route of the mobile robot, since the mobile robot scheduling system includes a plurality of mobile robots, the mobile robot may share the same operation route, and thus, may include a plurality of mobile robots based on the number of deadlock vehicles, further, after determining the deadlock vehicle, the vehicle information of the deadlock vehicle is registered, and based on the vehicle information of the deadlock vehicle, the vehicle traveling location of the deadlock vehicle is determined to avoid vehicle deadlock, and based on this, the deadlock location of the deadlock vehicle is determined according to the traveling route of the deadlock vehicle, and in practical applications, since the traveling route of the vehicle is related to the volume of the mobile robot, the traveling route of the mobile robot is determined when determining the deadlock location of the mobile robot, namely, when a deadlock vehicle is detected in the current mobile robot scheduling system, the number of the first target vehicle and the second target vehicle is confirmed to be possibly one or more based on the traveling route. According to the confirmed deadlock tag position, defining a deadlock vehicle closest to the deadlock tag position as a first target vehicle, defining a deadlock vehicle far away from the deadlock tag position as a second target vehicle, wherein the deadlock tag position has a certain range due to the volume and the area of a traveling route of the mobile robot, so that when confirming whether the first target vehicle exercises to the deadlock tag position, confirming the deadlock tag position range with the confirmed deadlock tag position, and confirming whether the first target vehicle is in the deadlock tag position based on the deadlock tag position range, namely when detecting a deadlock alarm of the current mobile robot scheduling system, determining whether the first target vehicle exists in the deadlock tag position comprises the steps of:
dividing a deadlock label position range according to the confirmed deadlock label position, and confirming whether the deadlock label position range has the mobile robot or not;
and confirming that the first target vehicle exists in the deadlock tag position when the mobile robot exists in the deadlock tag position range.
According to the registered deadlock vehicle, whether the deadlock vehicle is in the deadlock tag position range or not is confirmed according to the vehicle running position of the deadlock vehicle, the deadlock tag position range is a tag range calculated by the vehicle volume of the first target vehicle based on the currently confirmed deadlock tag position, and therefore when the position of the first target vehicle is confirmed to be in the deadlock tag position range, the first target vehicle is confirmed to have run to the deadlock tag position. Fig. 4 is a view of an operation of determining a deadlock tag location range based on the deadlock tag location, where fig. 4 is a schematic diagram of a deadlock tag location tag arrangement. Based on the deadlock tag arrangement, a deadlock tag arrangement range is defined based on the full load state of the trolley of the mobile robot. The mobile robot is fully loaded as shown in FIG. 5. FIG. 5 is a schematic view of the mobile robot. Thus, according to the contents of fig. 4 and 5, Le is the width of the skip in the whole system, Lf is the length from the rear end of the skip which is the longest in transit to the RFID card reader mounted on the AGV, and Lg is the length from the card reader to the front end of the AGV. The arrangement scheme of the intersection labels is as follows: wherein the arrangement of the transverse direction and the longitudinal direction is consistent, namely: la ═ Lc, Ld ═ Le, and the length of La needs to be calibrated. Tag 2 and tag 3 are called deadlock boundary tags, and tag 4 and tag 5 are called unlock tags. The La length calibration method comprises the following steps: on the premise of ensuring that the value of the signal is not less than Lg + Le, the obstacle avoidance radar can detect the opposite side of the AGV in the horizontal direction and the AGV in the vertical direction under the no-load condition. The length calibration method of Lb comprises the following steps: not less than LF + Le.
Further, after the step of dividing the deadlock tag position range according to the confirmed deadlock tag position and confirming whether the deadlock tag position range has the mobile robot, the method further includes:
upon determining that the mobile robot is not present in the deadlock tag location range, determining that the first target vehicle is not present in the deadlock tag location range.
And confirming that the first target vehicle does not run to the deadlock tag position when the running position of the first target vehicle is confirmed to be not in the confirmed deadlock tag position range based on the currently confirmed running position of the first target vehicle and the confirmed deadlock tag position of the first target vehicle, namely confirming that the first target vehicle does not exist in the current mobile robot dispatching system. Based on this, an instruction to continue traveling is sent to the first target vehicle.
Step S20, when there is deadlock first target vehicle, controlling the first target vehicle to continue driving to leave the deadlock label position, and sending a driving stopping instruction to a second target vehicle which does not drive to the deadlock label position;
and controlling the first target vehicle to leave the deadlock label position in a continuous mode when the running position of the first target vehicle is confirmed to reach the deadlock label position according to the first target vehicle and the second target vehicle of which the current running positions are confirmed. And sending a running stopping instruction to the second target vehicle according to the confirmed second target vehicle, so that the first target vehicle continues to run through the position of the deadlock tag to avoid the deadlock situation between the first target vehicle and the second target vehicle. Further, since the deadlock tag location is determined by the travel route of the current deadlock vehicle, the second target vehicle may include one or more than one, and therefore, according to the confirmed second target vehicle, an instruction to stop traveling is sent to the confirmed one or more than one second target vehicles.
Step S30, after the first target vehicle leaves the deadlock tag position, sending a command of continuing to run to the second target vehicle;
and based on the current running position of the mobile robot, when the first target vehicle is confirmed to continuously run away from the position of the deadlock tag, sending a command in a continuous form to the second target vehicle. And when the first target vehicles are confirmed to comprise a plurality of target vehicles, sending a command of continuing to run to a plurality of second target vehicles. Further, when the number of the second target vehicles is confirmed to be multiple, the second target vehicle closest to the position of the deadlock tag is redefined as the first target vehicle based on the definition rule of the current first target vehicle, namely, a command for continuing to run is sent to the redefined first target vehicle, so that the second target vehicle which stops running currently continues to be in a stopped state until the redefined first target vehicle crosses the position of the deadlock tag, and when the old second target vehicle is confirmed, the operation is continued to be carried out, so that the occurrence of vehicle deadlock in the current mobile robot dispatching system influences the working efficiency.
And step S40, when the deadlock first target vehicle does not exist, the deadlock alarm is released, and the vehicle in the dispatching system is controlled to continue running.
And according to the application of the current mobile robot scheduling system, when a deadlock alarm is received, determining whether a first target vehicle exists based on the current deadlock tag position. And if the deadlock tag position does not have the mobile robot, confirming that the deadlock first target vehicle does not exist currently, and releasing the currently received deadlock alarm based on the operation of the current mobile robot scheduling system so as to enable the mobile robot vehicle in the mobile robot scheduling system to continue running.
In the embodiment, the deadlock vehicle is confirmed by detecting the information of the deadlock vehicle, the position of the deadlock tag is determined according to the running route of the deadlock vehicle, and the deadlock vehicle is controlled to pass through the positions of the deadlock tag in sequence in a mode of respectively sending the running instructions so as to avoid detecting the deadlock information, thereby further realizing the beneficial effect of improving the running efficiency of the AGV mobile robot.
Further, referring to fig. 3, fig. 3 is a flowchart illustrating a magnetic navigation deadlock unlocking control method according to a second embodiment of the present invention, and based on the first embodiment shown in fig. 2, before the step of determining whether the first target vehicle exists in the deadlock tag location when the deadlock alarm of the current mobile robot scheduling system is detected, the method further includes:
step S50, obtaining the running routes of the mobile robots in the mobile robot dispatching system, and confirming whether the mobile robots with crossed running routes exist according to the running routes;
and step S60, when the mobile robot with the crossed running route is confirmed, a deadlock alarm is initiated.
In this embodiment, based on a mobile robot in a current mobile robot scheduling system, an operation route of the mobile robot is checked, whether a mobile robot with an intersected operation route exists based on the operation route is determined, and when a mobile robot with an intersected operation route is determined, a deadlock vehicle is determined in the mobile robot scheduling system. When the running route of the mobile robot in the current mobile robot dispatching system is checked, the checking operation can be carried out by calling the running route of the mobile robot registered in the current dispatching system. In addition, the mobile robot operation route is a transportation route of the mobile robot based on the current transportation work, and the transportation route is a traveling route set by a relevant technician according to the transportation work of the mobile robot. In addition, considering the normal operation of the current mobile robot scheduling system, in practical application, the operation of checking the running route of the mobile robot can be performed only under the condition that a deadlock vehicle possibly exists in the current mobile robot scheduling system is determined, so that the background process of the mobile robot scheduling system is not influenced. In practical application, the number of mobile robots which stop running in the mobile robot scheduling system is generally used to determine that a deadlock vehicle may exist currently. Considering the nature of the work task of the mobile robot, the mobile robot stopping traveling in the mobile robot scheduling system is determined as a fault stop by default, and therefore, based on the current mobile robot scheduling system, the method for determining whether a deadlock vehicle exists in the mobile robot scheduling system according to the number of the stopped mobile robots in the mobile robot scheduling system, that is, the method for acquiring the running route of the mobile robot in the mobile robot scheduling system to determine whether a mobile robot with a crossed running route exists according to the running route further comprises the following steps:
counting the number of fault robots which stop running in the current mobile robot scheduling system;
and when the number of the fault robots is confirmed to be larger than the preset number, the step of checking the running route of the mobile robot in the mobile robot scheduling system is executed.
And counting the number of the mobile robots which stop running in the mobile robot scheduling system according to the currently applied mobile robot scheduling system. In practical applications, a mobile robot that stops operating in a mobile robot scheduling system is generally defined as a faulty device, i.e., a faulty robot that cannot perform the current traveling work. And counting the number of the fault robots which stop running, and determining whether deadlock vehicles exist in the mobile robot scheduling system according to the counted number of the fault robots. The confirmation operation can be confirmed by comparing the number of the faulty robots with a defined preset number, wherein the defined preset number is the upper limit number of the faults calculated according to the number of all the mobile robots in the current mobile robot scheduling system and the running route, for example, the preset number is set to be two. Therefore, according to the counted number of the fault robots which stop running, when the number of the fault robots is confirmed to be larger than the preset number, the fact that deadlock vehicles possibly exist in the current mobile robot scheduling system is confirmed. Based on the situation, the step of checking the running route of the mobile robot in the current mobile robot dispatching system is executed.
As described above, when it is determined that there is a deadlock vehicle in the current mobile robot scheduling system, the operation route of the mobile robot in the mobile robot scheduling system is checked, when it is determined that there is a mobile robot with an intersecting operation route, it is determined that there is a deadlock vehicle in the mobile robot scheduling system, and based on this, information of the deadlock vehicle is registered to detect an operation position of the deadlock vehicle to avoid a deadlock situation, that is, when it is determined that there is a mobile robot with an intersecting operation route, the step of initiating a deadlock alarm further includes:
registering the mobile robot to monitor a travel position of the mobile robot.
According to the confirmed deadlock vehicle, registering vehicle information of the deadlock vehicle, wherein the deadlock vehicle is registered as the position for monitoring the deadlock vehicle, and therefore when the vehicle information is registered, the content of the vehicle information comprises but is not limited to a vehicle number, a running route and the like, which is specifically related to the content to be registered by monitoring the vehicle in the current mobile robot scheduling system. In this way, the vehicle travel position of the deadlock vehicle is monitored according to the registered deadlock vehicle.
Further, based on the mobile robot with the currently confirmed operation route crossing, determining the position of a deadlock tag of the current mobile robot encountering a deadlock operation in the process of traveling by using the operation route crossing, namely after the step of initiating a deadlock alarm when the mobile robot with the operation route crossing is confirmed, the method further comprises the following steps:
and confirming the crossing position of the running route crossing, and confirming the position of the deadlock label by the crossing position.
According to the registered deadlock vehicle, because the number of the deadlock vehicles is multiple, when the deadlock tag position of the deadlock vehicle is confirmed, the deadlock tag position of the deadlock vehicle can be confirmed based on the traveling route, in practical application, the deadlock tag position can be defined based on the corner of the traveling route, and according to the confirmed deadlock tag position, the deadlock vehicle closest to the deadlock tag position is defined as a first target vehicle, and the deadlock vehicle far away from the deadlock tag position is defined as a second target vehicle,
furthermore, an embodiment of the present invention further provides a computer-readable storage medium, where a magnetic navigation deadlock unlocking control program is stored on the computer-readable storage medium, and when executed by a processor, the magnetic navigation deadlock unlocking control program implements the following operations:
when detecting the deadlock alarm of the current mobile robot scheduling system, determining whether a first target vehicle exists in the position of a deadlock label;
when a deadlock first target vehicle exists, controlling the first target vehicle to continuously run to leave the deadlock tag position, and sending a running stopping instruction to a second target vehicle which does not run to the deadlock tag position;
after the first target vehicle leaves the deadlock tag position, sending a command for continuing to run to the second target vehicle;
and when the first target vehicle does not have the deadlock, the deadlock alarm is released, and the vehicle in the dispatching system is controlled to continue running.
Further, when executed by the processor, the magnetic navigation deadlock unlocking control program further implements the following operations:
the number of vehicles of the first target vehicle and the second target vehicle may include one or more.
Further, when executed by the processor, the magnetic navigation deadlock unlocking control program further implements the following operations:
acquiring a running route of a mobile robot in the mobile robot scheduling system, and determining whether the mobile robot with the crossed running route exists according to the running route;
and when the mobile robot with the crossed running route is confirmed, a deadlock alarm is initiated.
Further, when executed by the processor, the magnetic navigation deadlock unlocking control program further implements the following operations:
and confirming the crossing position of the running route crossing, and confirming the position of the deadlock label by the crossing position.
Further, when executed by the processor, the magnetic navigation deadlock unlocking control program further implements the following operations:
registering the mobile robot to monitor a travel position of the mobile robot.
Further, when executed by the processor, the magnetic navigation deadlock unlocking control program further implements the following operations:
counting the number of fault robots which stop running in the current mobile robot scheduling system;
and when the number of the fault robots is confirmed to be larger than the preset number, the step of checking the running route of the mobile robot in the mobile robot scheduling system is executed.
Further, when executed by the processor, the magnetic navigation deadlock unlocking control program further implements the following operations:
dividing a deadlock label position range according to the confirmed deadlock label position, and confirming whether the deadlock label position range has the mobile robot or not;
and confirming that the first target vehicle exists in the deadlock tag position when the mobile robot exists in the deadlock tag position range.
Further, when executed by the processor, the magnetic navigation deadlock unlocking control program further implements the following operations:
upon determining that the mobile robot is not present in the deadlock tag location range, determining that the first target vehicle is not present in the deadlock tag location range.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention essentially or contributing to the prior art can be embodied in the form of a software product, which is stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A magnetic navigation deadlock unlocking control method is characterized by comprising the following steps:
when deadlock alarm of a current mobile robot scheduling system is detected, dividing a deadlock label position range according to a confirmed deadlock label position, and confirming whether a mobile robot exists in the deadlock label position range or not;
when the mobile robot is confirmed to exist in the deadlock tag position range, confirming that a first target vehicle exists in the deadlock tag position;
when a deadlock first target vehicle exists, controlling the first target vehicle to continuously run to leave the deadlock tag position, and sending a running stopping instruction to a second target vehicle which does not run to the deadlock tag position, wherein the number of vehicles of the first target vehicle and the second target vehicle may comprise one or more;
after the first target vehicle leaves the deadlock tag position, sending a command for continuing to run to the second target vehicle;
and when the first target vehicle does not have the deadlock, the deadlock alarm is released, and the vehicle in the dispatching system is controlled to continue running.
2. The magnetic navigation deadlock unlocking control method of claim 1, wherein before the step of determining whether the first target vehicle is present at the deadlock tag location when the deadlock alarm of the current mobile robot scheduling system is detected, further comprising:
acquiring a running route of a mobile robot in the mobile robot scheduling system, and determining whether the mobile robot with the crossed running route exists according to the running route;
and when the mobile robot with the crossed running route is confirmed, a deadlock alarm is initiated.
3. The magnetic navigation deadlock unlocking control method according to claim 2, wherein after the step of initiating a deadlock alarm when it is confirmed that there is a mobile robot with a crossing travel route, the method further comprises:
and confirming the crossing position of the running route crossing, and confirming the position of the deadlock label by the crossing position.
4. The magnetic navigation deadlock unlocking control method according to claim 2, wherein the step of initiating a deadlock alarm when it is confirmed that there is a mobile robot crossed by the travel route, further comprises:
registering the mobile robot to monitor a travel position of the mobile robot.
5. The magnetic navigation deadlock unlocking control method according to claim 2, wherein before the step of obtaining the operation route of the mobile robot in the mobile robot scheduling system to confirm whether there is a mobile robot with an operation route that intersects according to the operation route, the method further comprises:
counting the number of fault robots which stop running in the current mobile robot scheduling system;
and when the number of the fault robots is confirmed to be larger than the preset number, the step of checking the running route of the mobile robot in the mobile robot scheduling system is executed.
6. The magnetic navigation deadlock unlocking control method according to claim 5, wherein, after the step of dividing the deadlock tag position range according to the confirmed deadlock tag position and confirming whether the deadlock tag position range exists in the mobile robot, the method further comprises:
upon determining that the mobile robot is not present in the deadlock tag location range, determining that the first target vehicle is not present in the deadlock tag location range.
7. A magnetic navigation deadlock unlock control apparatus, characterized by comprising: memory, a processor and a magnetic navigation deadlock unlocking control program stored on the memory and executable on the processor, the magnetic navigation deadlock unlocking control program implementing the steps of the magnetic navigation deadlock unlocking control method according to any one of claims 1 to 6 when executed by the processor.
8. A computer-readable storage medium, having stored thereon a magnetic navigation deadlock unlocking control program which, when executed by a processor, implements the steps of the magnetic navigation deadlock unlocking control method according to any one of claims 1 to 6.
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