CN111061272A - AGV trolley control method and device, electronic equipment and storage medium - Google Patents
AGV trolley control method and device, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN111061272A CN111061272A CN201911346412.XA CN201911346412A CN111061272A CN 111061272 A CN111061272 A CN 111061272A CN 201911346412 A CN201911346412 A CN 201911346412A CN 111061272 A CN111061272 A CN 111061272A
- Authority
- CN
- China
- Prior art keywords
- agv
- target
- path
- trolley
- target agv
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 51
- 238000003860 storage Methods 0.000 title claims abstract description 19
- 238000004891 communication Methods 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 description 12
- 230000009471 action Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 230000001276 controlling effect Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 230000000903 blocking effect Effects 0.000 description 4
- 238000004422 calculation algorithm Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application provides an AGV trolley control method and device, electronic equipment and a storage medium, and relates to the technical field of automatic storage. Firstly, determining an idle AGV as a first target AGV according to a task to be executed, planning a walking path of the first target AGV, then acquiring remaining paths of other AGV except the first target AGV, judging whether the remaining paths of the other AGV and the walking path of the first target AGV form a second target AGV of an interference section, and if so, controlling the AGV which enters the interference section in advance in the first target AGV and the second target AGV to pass through. The AGV trolley control method, the AGV trolley control device, the electronic equipment and the storage medium have the advantages that the blockage on a walking path can not occur, and the AGV trolley is controlled more perfectly.
Description
Technical Field
The application relates to the technical field of automatic storage, in particular to an AGV trolley control method and device, electronic equipment and a storage medium.
Background
The automatic storage becomes an important application of industrial intelligent application, all equipment is connected through a control system through the idea of interconnection, and automatic control can be carried out, so that the conveying, storage and the like of materials are completed, the operation speed can be increased, the error rate is reduced, the production structure is optimized, and the labor cost is reduced.
However, in the existing traffic management algorithm, it is generally only determined whether the current position and the released path of another AGV (Automated Guided Vehicle) car will cause a jam to the AGV car to be released, but it is not determined that the AGV car is jammed during the reverse driving process with the other AGV car during the operation process.
In conclusion, the control of the AGV in the prior art is not perfect.
Disclosure of Invention
The application aims to provide an AGV trolley control method, an AGV trolley control device, electronic equipment and a storage medium, so as to solve the problem that in the prior art, the AGV trolley control is not perfect.
In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:
in a first aspect, an embodiment of the present application provides an AGV control method, which is applied to a server in an AGV control system, where the AGV control system further includes a plurality of AGV carts, the server is in communication connection with the plurality of AGV carts, and the method includes:
determining an idle AGV as a first target AGV according to the task to be executed, and planning a traveling path of the first target AGV;
acquiring the remaining paths of other AGV dollies except the first target AGV dolly;
judging whether a second target AGV trolley with an interference section formed by the residual path and the walking path of the first target AGV trolley exists in other AGV trolleys or not, wherein the interference section is a section which only allows any AGV trolley in the first target AGV trolley and the second target AGV trolley to pass through;
if so, controlling the AGV trolleys which enter the interference section in the first target AGV trolley and the second target AGV trolley to pass through.
In a second aspect, an embodiment of the present application provides an AGV dolly control device, is applied to the server among the AGV dolly control system, and AGV dolly control system still includes a plurality of AGV dollies, and the server all communication connection with a plurality of AGV dollies, and the device includes:
the path planning module is used for determining an idle AGV as a first target AGV according to the task to be executed and planning the traveling path of the first target AGV;
the data acquisition module is used for acquiring the remaining paths of other AGV dollies except the first target AGV dolly;
the judgment module is used for judging whether a second target AGV trolley with an interference section formed by the residual path and the walking path of the first target AGV trolley exists in other AGV trolleys or not, wherein the interference section is a section which only allows any AGV trolley in the first target AGV trolley and the second target AGV trolley to pass through;
and the control module is used for controlling the AGV which firstly enters the interference section to pass in the first target AGV and the second target AGV when the residual path exists in other AGV and forms the second target AGV of the interference section with the walking path of the first target AGV.
In a third aspect, an embodiment of the present application provides an electronic device, including: a memory for storing one or more programs; a processor; the above-described method is implemented when one or more programs are executed by a processor.
In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the method as described above.
Compared with the prior art, the method has the following beneficial effects:
the application provides an AGV control method, an apparatus, electronic equipment and a storage medium, the AGV control method is applied to a server in an AGV control system, the AGV control system further comprises a plurality of AGV trolleys, the server is in communication connection with the plurality of AGV trolleys, firstly, an idle AGV is determined to be a first target AGV according to a task to be executed, a walking path of the first target AGV is planned, then, remaining paths of other AGV trolleys except the first target AGV are obtained, and then, whether the remaining paths in the other AGV trolleys and the walking path of the first target AGV form a second target AGV of an interference section is judged, wherein the interference section is a section which only allows any AGV in the first target AGV and the second target AGV to pass through; if so, controlling the AGV trolleys which enter the interference section in the first target AGV trolley and the second target AGV trolley to pass through. Because this application can judge whether to have the interference route in AGV dolly walking route to when there is the second target AGV to cause the jam to the walking route of AGV dolly, can control the AGV dolly that enters into the interference highway section earlier and pass, and then the stifled dead circumstances can not appear, make the control to the AGV dolly more perfect.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and it will be apparent to those skilled in the art that other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic block diagram of a server according to an embodiment of the present disclosure.
FIG. 2 is a schematic flow chart of an AGV control method provided herein.
Fig. 3 provides a schematic flow chart of the sub-step of S102 in fig. 2 for the present application.
Fig. 4 is a schematic flow chart of a sub-step of S106 in fig. 2 provided in the present application.
FIG. 5 is a schematic diagram of the path of an AGV during travel according to the present application.
Fig. 6 provides a schematic flow chart of another sub-step of S106 in fig. 2.
FIG. 7 is a block diagram of an AGV control apparatus according to the present application.
In the figure: 100-a server; 101-a memory; 102-a processor; 103-a communication interface; 200-an AGV car control device; 210-a path planning module; 220-a data acquisition module; 230-a judgment module; 240-control module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. 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 apparatus that comprises the element.
In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally found in use of products of the application, and are used only for convenience in describing the present application and for simplification of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present application.
In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
First embodiment
As described in the background art, for an AGV, in the existing traffic management algorithm, it is generally only determined whether the current position and the released path of another AGV (Automated Guided Vehicle) will cause a jam to the AGV to be released, but it is not determined whether the AGV is jammed during the reverse driving process with another AGV during the operation process.
In view of this, the present application provides an AGV control method, which implements control of an AGV by determining whether the AGV has an interference section.
It should be noted that the AGV control method provided by the embodiment of the present application is applied to a server in an AGV control system, where the AGV control system further includes a plurality of AGV dollies, and the server is in communication connection with the plurality of AGV dollies. As can be appreciated, the server is capable of regulating the travel path of each AGV.
The following is an exemplary description of an AGV cart control method provided in the present application:
referring to fig. 1, the server 100 includes a memory 101, a processor 102 and a communication interface 103, wherein the memory 101, the processor 102 and the communication interface 103 are electrically connected to each other directly or indirectly to implement data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The memory 101 may be used to store software programs and modules, such as program instructions/modules for the AGV control device provided in the embodiments of the present application, and the processor 102 may execute various functional applications and data processing by executing the software programs and modules stored in the memory 101. The communication interface 103 may be used for communicating signaling or data with other node devices.
The Memory 101 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.
The processor 102 may be an integrated circuit chip having signal processing capabilities. The processor 102 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
It will be appreciated that the configuration shown in fig. 1 is merely illustrative and that server 100 may include more or fewer components than shown in fig. 1 or have a different configuration than shown in fig. 2. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
Referring to fig. 2, the AGV cart control method provided in the present application includes:
s102, determining an idle AGV as a first target AGV according to the task to be executed, and planning a traveling path of the first target AGV.
S104, acquiring the remaining paths of other AGV dollies except the first target AGV dolly.
And S106, judging whether a second target AGV with an interference section formed by the residual path and the walking path of the first target AGV exists in other AGV or not, wherein the interference section is a section which only allows any AGV in the first target AGV and the second target AGV to pass through. If so, S108 is performed.
And S108, controlling the AGV passing which enters the interference section in the first target AGV and the second target AGV.
As can be understood, the server 100 is connected to a plurality of AGV carts, and when the server 100 receives a task to be executed, the AGV carts in an idle state are controlled to execute the task, for example, when an article needs to be transported from point a to point B, the AGV carts in an idle state are controlled by the server 100 to transport goods. When the AGV carts execute the task, there may be an interference section between the remaining AGV carts and the AGV cart in charge of transporting the goods. And only one AGV can pass through the interference road section so as to avoid blockage.
In view of this, in the present application, after determining that there are interference sections in two AGV carts, the server 100 may control the AGV cart that enters the interference section first to pass through, optionally, another AGV cart stops in situ to wait until the AGV cart that enters the interference section first passes through, and another AGV cart that waits in situ can pass through, thereby ensuring that the situation that two AGV carts are blocked on the interference section does not occur.
Through the control mode, the control mode of the server 100 on the AGV can be optimized, and the condition that the two AGV trolleys which run reversely are blocked in the running process can be avoided, so that the control on the AGV trolleys is more perfect.
As a possible implementation manner, referring to fig. 3, S102 includes:
and S1021, determining the AGV trolley which is closest to the task position information from all the idle AGV trolleys as a first target AGV trolley.
That is, the task to be executed includes task position information, for example, the task to be executed is to transport goods from a to E, after receiving the task, the server 100 needs to perform preliminary processing on the task, find whether there is an idle AGV capable of executing the task, and determine a first target AGV according to the position relationship, so as to execute the task by the first target AGV. Meanwhile, the server 100 decomposes tasks according to different task types and sends action instructions to the AGV.
In addition, in order to more conveniently and quickly execute the task, the server 100 may determine the AGV closest to the task position information as the first target AGV. As can be appreciated, the AGV that is closest to the task position information is the AGV that is closest to the start of the task.
In an actual operation process, when the server 100 controls the AGV, part of the actions may be performed by the AGV itself, for example, the actions of rotating the vehicle body, raising the tray, lowering the tray, etc., but part of the actions may be further performed by the server 100 transmitting specific data to the AGV, for example, a walking action. After the AGV receives the travel command, it only knows that it is a travel action, but does not know how to travel specifically, and the server 100 needs to send path information and schedule a passable path. In the path where two AGV trolleys collide with each other when walking, only 1 AGV trolley can be allowed to pass through.
Therefore, when the server 100 plans the traveling path of the first target AGV, the remaining paths of other AGV carts other than the first target AGV are also obtained at the same time to determine whether there is an interference road section. For example, when the number of AGV carts that carry loads is 2, it is determined whether there is interference between the two carts during the travel.
As a possible implementation manner, referring to fig. 4, S106 may include:
and S1061, judging whether a second target AGV exists in other AGV or not, wherein the remaining path of the second target AGV is the same as the traveling path of the first target AGV and is in a reverse direction.
That is, when judging whether there is interference, the remaining paths of all AGVs may be calculated first, and the remaining paths of the first target AGV and the remaining paths of other AGVs are subjected to interference judgment one by one, so as to find whether there are identical and opposite road sections.
For example, referring to FIG. 5, A, B, C, D, E, F shows nodes through which an AGV may travel, and the nodes are connected by a bidirectional path, i.e., the AGV may travel along the same path in both directions.
If the first target AGV car is at the point A and the second target AGV car is at the point E, if the path of the first target AGV car is A- > B and the path of the second target AGV car is E- > D, the second target AGV car does not affect the road section A- > B, the first target AGV car does not affect the road section E- > D, no interference road section exists between the running path of the first target AGV car and the running path of the second target AGV car, and the two paths can be released.
However, if the path of the first target AGV car is A- > B- > C- > D- > E and the path of the second target AGV car is E- > D- > C- > B- > F, at this time, the first target AGV car needs to pass through the point A and the second target AGV car needs to pass through the point E, and because the first target AGV car needs to pass through the point D when going to the point E and the second target AGV car needs to pass through the point B when going to the point F, mutual jamming of the AGV cars on the paths can occur in the driving process, and the jamming is caused. At this time, the server 100 determines that the section B- > C- > D- > E is an interference section of the first target AGV car and the second target AGV car.
On the basis, the server 100 controls the first target AGV and the second target AGV to pass through the AGV that enters the interference section first. Taking the above example as an example, the road segment B- > C- > D- > E is a road segment through which two AGV dollies pass together, the traveling directions are opposite, and the second target AGV dolly is already located on the interference road segment, so the server 100 controls the second target AGV dolly to travel first, and controls the first target AGV dolly to wait in place at point a. And when the first target AGV car finishes walking the reverse road section to reach the point B, the remaining path is B- > F, at the moment, the position of the point A has no influence on the road sections B- > F, the second target AGV car can continue to reach the point F, and the task is completed. And the final position point F of the second target AGV has no influence on the road section A- > B- > C- > D- > E, the first target AGV can pass through all the road sections to reach the point E, and the task of the first target AGV is completed. In the whole process, the task is smoothly executed, and the condition of blocking does not occur.
As another possible implementation manner of the present application, after S102, please refer to fig. 6, where the method further includes:
s103, determining a section to be interfered of the first target AGV according to the traveling path of the first target AGV and the outline of the first target AGV.
S106 may include:
and S1062, judging whether a second target AGV with the residual path identical to the path to be interfered of the first target AGV and the reverse road section exists in other AGV.
The profile of the first target AGV car also has an effect on the road segment during actual operation. Wherein, the profile of this application indicates the occupation space size of AGV dolly. For example, when the first target AGV car has a large profile, if it is traveling in section A- > B, it may actually affect section B- > C. Therefore, after planning the travel path of the first target AGV, the server 100 determines the section to be interfered of the first target AGV according to the travel path of the first target AGV and the profile of the first target AGV. Moreover, as a possible implementation manner, the server 100 may also sequence the road sections to be interfered according to the traveling sequence of the second target AGV carts.
For example, if the travel path of the first target AGV car is a- > B- > C, the determined section to be interfered may be D- > C- > B- > F, where the D- > C section and the B- > F section are sections affected by the contour of the first target AGV car.
As can be appreciated, since the server 100 can determine the road section to be interfered in advance, real-time calculation is not required in the operation process, and the effect of improving the operation efficiency can be achieved.
By determining the section to be interfered, the server 100 can determine whether a second target AGV car with the same remaining path as the section to be interfered of the first target AGV car and the reverse section exists in other AGV cars, and then control each AGV car to operate.
In conclusion, the AGV trolley control method can effectively pre-judge the possible blocking situation and avoid the blocking situation, effectively prevents the blocking problem and improves the operation efficiency.
Second embodiment
On the basis of the above embodiment, please refer to fig. 7, the present application further provides an AGV cart control apparatus 200, which is applied to a server 100 in an AGV cart control system, the AGV cart control system further includes a plurality of AGV carts, and the server 100 is in communication connection with the plurality of AGV carts. The AGV car control apparatus 200 includes:
the path planning module 210 is configured to determine an idle AGV cart as a first target AGV cart according to the task to be executed, and plan a traveling path of the first target AGV cart.
As one implementation, the path planning module 210 is configured to determine, from all idle AGV carts, an AGV cart closest to the task position information as the first target AGV cart.
It is to be appreciated that the path planning module 210 may execute S102.
And the data acquisition module 220 is used for acquiring the remaining paths of other AGV carts except the first target AGV cart.
It is understood that the data acquisition module 220 may perform S104.
The determining module 230 is configured to determine whether there is a second target AGV in other AGV, where the remaining path and the traveling path of the first target AGV form an interference section, where the interference section is a section that only allows any one of the first target AGV and the second target AGV to pass through.
It is understood that the determining module 230 may perform S106.
And the control module 240 is used for controlling the pass of the AGV which enters the interference section in the first target AGV and the second target AGV when the residual path exists in other AGV and forms the second target AGV of the interference section with the walking path of the first target AGV.
It is understood that the control module 240 may perform S106.
The judgment module can be used for judging whether a second target AGV with a residual path which is the same as the traveling path of the first target AGV and is in a reverse direction exists in other AGV.
As another implementation, the apparatus further includes:
and the road section to be interfered determining module is used for determining the road section to be interfered of the first target AGV according to the walking path of the first target AGV and the outline of the first target AGV.
It is understood that the control module 240 may perform S103.
On this basis, the determining module 230 is configured to determine whether there is a second target AGV cart in the other AGV carts, which has the same remaining path as the path to be interfered of the first target AGV cart and is of a reverse road section.
Also, the present application provides an electronic device comprising a memory 101 for storing one or more programs; a processor; the above-described method is implemented when one or more programs are executed by a processor.
The electronic device may be a general purpose computer or a special purpose computer, both of which may be used to implement the AGV cart control method of embodiments of the present invention. Although only one computer is shown in embodiments of the invention, for convenience, the functions described herein may be implemented in a distributed fashion across multiple similar platforms to balance processing loads.
The embodiment of the invention also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the AGV car control method disclosed by the embodiment is realized.
In summary, the application provides an AGV control method, an apparatus, an electronic device and a storage medium, the AGV control method is applied to a server in an AGV control system, the AGV control system further comprises a plurality of AGV trolleys, the server is in communication connection with the plurality of AGV trolleys, firstly, an idle AGV is determined to be a first target AGV according to a task to be executed, a walking path of the first target AGV is planned, then, remaining paths of other AGV trolleys except the first target AGV are obtained, and then, whether the remaining paths of the other AGV trolleys and the walking path of the first target AGV form a second target AGV of an interference section is judged, wherein the interference section is a section which only allows any AGV trolley in the first target AGV and the second target AGV to pass through; if so, controlling the AGV trolleys which enter the interference section in the first target AGV trolley and the second target AGV trolley to pass through. Because this application can judge whether to have the interference route in AGV dolly walking route to when there is the second target AGV to cause the jam to the walking route of AGV dolly, can control the AGV dolly that enters into the interference highway section earlier and pass, and then the stifled dead circumstances can not appear, make the control to the AGV dolly more perfect.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. 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 and/or flowchart illustration, and combinations of blocks in the block diagrams and/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.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. The AGV trolley control method is applied to a server in an AGV trolley control system, the AGV trolley control system further comprises a plurality of AGV trolleys, the server is in communication connection with the AGV trolleys, and the method comprises the following steps:
determining an idle AGV as a first target AGV according to a task to be executed, and planning a traveling path of the first target AGV;
acquiring the remaining paths of other AGV dollies except the first target AGV dolly;
judging whether a second target AGV trolley with an interference section formed by a residual path and a walking path of the first target AGV trolley exists in the other AGV trolleys or not, wherein the interference section is a section which only allows any AGV trolley in the first target AGV trolley and the second target AGV trolley to pass through;
if yes, controlling the first target AGV and the second target AGV to enter the AGV passing through the interference road section firstly.
2. The AGV control method according to claim 1, wherein said step of determining whether there is a second target AGV that has a remaining path that forms an interference section with the travel path of the first target AGV comprises:
and judging whether a second target AGV with a residual path which is the same as the traveling path of the first target AGV and is in a reverse road section exists in the other AGV.
3. The AGV cart control method of claim 1, wherein before said step of determining whether there is a second target AGV cart in the other AGV carts having a remaining path that forms an interference section with the travel path of the first target AGV cart, the method further comprises:
determining a section to be interfered of the first target AGV according to the traveling path of the first target AGV and the outline of the first target AGV;
the step of judging whether a second target AGV trolley with a residual path and a traveling path of the first target AGV trolley forming an interference road section exists in the other AGV trolleys comprises the following steps:
and judging whether a second target AGV trolley which has the same residual path as the path to be interfered of the first target AGV trolley and is in a reverse road section exists in the other AGV trolleys.
4. The AGV cart control method of claim 1, wherein the task to be executed includes task location information, and wherein determining an idle AGV cart as the first target AGV cart based on the task to be executed includes:
and determining the AGV trolley which is closest to the task position information from all the idle AGV trolleys as a first target AGV trolley.
5. The utility model provides a AGV dolly control device which characterized in that is applied to the server among the AGV dolly control system, AGV dolly control system still includes a plurality of AGV dollies, the server with a plurality of AGV dollies all communication connection, the device includes:
the path planning module is used for determining an idle AGV as a first target AGV according to a task to be executed and planning a walking path of the first target AGV;
the data acquisition module is used for acquiring the remaining paths of other AGV dollies except the first target AGV dolly;
the judgment module is used for judging whether a second target AGV trolley exists in the other AGV trolleys, wherein the remaining path and the walking path of the first target AGV trolley form an interference section, and the interference section is a section which only allows any AGV trolley in the first target AGV trolley and the second target AGV trolley to pass through;
and the control module is used for controlling the first target AGV trolley and the second target AGV trolley which enters the interference road section in advance when the residual path exists in other AGV trolleys and the walking path of the first target AGV trolley forms the second target AGV trolley of the interference road section.
6. The AGV control apparatus of claim 5, wherein said determining module is configured to determine whether there is a second target AGV having a path left identical to and opposite to the traveling path of the first target AGV.
7. The AGV control arrangement of claim 5 further comprising:
the road section to be interfered determining module is used for determining a road section to be interfered of the first target AGV according to the walking path of the first target AGV and the outline of the first target AGV;
the step of judging whether a second target AGV trolley with a residual path and a traveling path of the first target AGV trolley forming an interference road section exists in the other AGV trolleys comprises the following steps:
the judgment module is used for judging whether a second target AGV trolley which has the same residual path as the path to be interfered of the first target AGV trolley and is in the reverse road section exists in other AGV trolleys.
8. The AGV control apparatus of claim 5, wherein said path planning module is configured to determine, from all empty AGV carts, the AGV that is closest to said task position information as the first target AGV.
9. An electronic device, comprising:
a memory for storing one or more programs;
a processor;
the one or more programs, when executed by the processor, implement the method of any of claims 1-4.
10. A computer-readable storage 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911346412.XA CN111061272A (en) | 2019-12-24 | 2019-12-24 | AGV trolley control method and device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911346412.XA CN111061272A (en) | 2019-12-24 | 2019-12-24 | AGV trolley control method and device, electronic equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111061272A true CN111061272A (en) | 2020-04-24 |
Family
ID=70303006
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911346412.XA Pending CN111061272A (en) | 2019-12-24 | 2019-12-24 | AGV trolley control method and device, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111061272A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111813104A (en) * | 2020-06-11 | 2020-10-23 | 浙江大华技术股份有限公司 | AGV control method, control device and storage device for fishbone-shaped area |
| CN112506198A (en) * | 2020-12-11 | 2021-03-16 | 京信智能科技(广州)有限公司 | Robot scheduling method, device, equipment and medium |
| CN112863214A (en) * | 2020-12-29 | 2021-05-28 | 广东嘉腾机器人自动化有限公司 | Traffic control method in multi-steering operation mode |
| CN113485259A (en) * | 2021-06-11 | 2021-10-08 | 广汽本田汽车有限公司 | Control method, system and device for battery assembly production line and storage medium |
| CN113733103A (en) * | 2021-10-09 | 2021-12-03 | 深圳优艾智合机器人科技有限公司 | Control method, control device and system of industrial robot and storage medium |
| CN114383615A (en) * | 2021-12-02 | 2022-04-22 | 广东嘉腾机器人自动化有限公司 | Path planning method, system, equipment and medium of AGV (automatic guided vehicle) system |
| CN116882719A (en) * | 2023-09-08 | 2023-10-13 | 浙江恒逸石化有限公司 | Method and device for dispatching doffing of silk spindle product, electronic equipment and storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004110286A (en) * | 2002-09-17 | 2004-04-08 | Mitsubishi Heavy Ind Ltd | Agv route searching method and its program |
| CN106547271A (en) * | 2016-10-20 | 2017-03-29 | 大族激光科技产业集团股份有限公司 | AGV traffic control method and apparatus |
| CN106556406A (en) * | 2016-11-14 | 2017-04-05 | 北京特种机械研究所 | Many AGV dispatching methods |
| CN107807640A (en) * | 2017-10-24 | 2018-03-16 | 杭州南江机器人股份有限公司 | Traffic management method, electronic equipment, storage medium and system based on AGV |
| CN108510799A (en) * | 2018-04-24 | 2018-09-07 | 骁越科技（青岛）有限公司 | A kind of outdoor version AGV traffic preventing collision method and device |
| CN109669456A (en) * | 2018-12-26 | 2019-04-23 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of AGV Dispatching Control System |
| CN109814580A (en) * | 2019-04-03 | 2019-05-28 | 深圳市佳顺智能机器人股份有限公司 | Barrier-avoiding method, system, host and the storage medium of automated guided vehicle |
| WO2019141218A1 (en) * | 2018-01-19 | 2019-07-25 | 库卡机器人(广东)有限公司 | Conflict management method and system for multiple mobile robots |
| CN110209485A (en) * | 2019-06-05 | 2019-09-06 | 青岛海通胜行智能科技有限公司 | The dynamic preventing collision method of multirobot when a kind of work compound |
-
2019
- 2019-12-24 CN CN201911346412.XA patent/CN111061272A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004110286A (en) * | 2002-09-17 | 2004-04-08 | Mitsubishi Heavy Ind Ltd | Agv route searching method and its program |
| CN106547271A (en) * | 2016-10-20 | 2017-03-29 | 大族激光科技产业集团股份有限公司 | AGV traffic control method and apparatus |
| CN106556406A (en) * | 2016-11-14 | 2017-04-05 | 北京特种机械研究所 | Many AGV dispatching methods |
| CN107807640A (en) * | 2017-10-24 | 2018-03-16 | 杭州南江机器人股份有限公司 | Traffic management method, electronic equipment, storage medium and system based on AGV |
| WO2019141218A1 (en) * | 2018-01-19 | 2019-07-25 | 库卡机器人(广东)有限公司 | Conflict management method and system for multiple mobile robots |
| CN108510799A (en) * | 2018-04-24 | 2018-09-07 | 骁越科技（青岛）有限公司 | A kind of outdoor version AGV traffic preventing collision method and device |
| CN109669456A (en) * | 2018-12-26 | 2019-04-23 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of AGV Dispatching Control System |
| CN109814580A (en) * | 2019-04-03 | 2019-05-28 | 深圳市佳顺智能机器人股份有限公司 | Barrier-avoiding method, system, host and the storage medium of automated guided vehicle |
| CN110209485A (en) * | 2019-06-05 | 2019-09-06 | 青岛海通胜行智能科技有限公司 | The dynamic preventing collision method of multirobot when a kind of work compound |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111813104A (en) * | 2020-06-11 | 2020-10-23 | 浙江大华技术股份有限公司 | AGV control method, control device and storage device for fishbone-shaped area |
| CN112506198A (en) * | 2020-12-11 | 2021-03-16 | 京信智能科技(广州)有限公司 | Robot scheduling method, device, equipment and medium |
| CN112863214A (en) * | 2020-12-29 | 2021-05-28 | 广东嘉腾机器人自动化有限公司 | Traffic control method in multi-steering operation mode |
| CN113485259A (en) * | 2021-06-11 | 2021-10-08 | 广汽本田汽车有限公司 | Control method, system and device for battery assembly production line and storage medium |
| CN113485259B (en) * | 2021-06-11 | 2022-05-06 | 广汽本田汽车有限公司 | Control method, system and device for battery assembly production line and storage medium |
| CN113733103A (en) * | 2021-10-09 | 2021-12-03 | 深圳优艾智合机器人科技有限公司 | Control method, control device and system of industrial robot and storage medium |
| CN114383615A (en) * | 2021-12-02 | 2022-04-22 | 广东嘉腾机器人自动化有限公司 | Path planning method, system, equipment and medium of AGV (automatic guided vehicle) system |
| CN116882719A (en) * | 2023-09-08 | 2023-10-13 | 浙江恒逸石化有限公司 | Method and device for dispatching doffing of silk spindle product, electronic equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111061272A (en) | AGV trolley control method and device, electronic equipment and storage medium | |
| CN109991977B (en) | Path planning method and device for robot | |
| US10466692B2 (en) | Automated guided vehicle system | |
| CN112833905B (en) | Distributed multi-AGV collision-free path planning method based on improved A-x algorithm | |
| WO2019154445A2 (en) | Warehouse entry/exit control method for shelf array, and transportation system | |
| CN110262471B (en) | Robot scheduling method and device, robot and robot scheduling system | |
| Guney et al. | Dynamic prioritized motion coordination of multi-AGV systems | |
| JP2024020457A (en) | Information processing device, information processing method, computer program, and information processing system | |
| KR20220059557A (en) | Unmanned guided vehicle control method and device | |
| CN114281080B (en) | Method for deadlock removal in AMR scheduling system | |
| TWI796017B (en) | Automated guided vehicle scheduling method, electronic device and computer-readable storage medium | |
| WO2023125076A1 (en) | Scheduling method, apparatus, system, control device, and readable storage medium | |
| JP7312728B2 (en) | Method, device, device and storage medium for controlling vehicle | |
| CN114407929A (en) | Unmanned obstacle-detouring processing method and device, electronic equipment and storage medium | |
| CN111123872B (en) | Task scheduling management method and device, electronic equipment and storage medium | |
| CN113532443A (en) | Path planning method, device, electronic equipment and medium | |
| CN113743747B (en) | Multi-AGV cooperative scheduling method and device in workshop environment | |
| Le et al. | Integrating both routing and scheduling into motion planner for multivehicle system | |
| CN116166029A (en) | Multi-AGV navigation method and system compatible with local obstacle avoidance function | |
| CN116940911A (en) | System and method for managing movement of a materials handling vehicle | |
| Alexovič et al. | Introduction into autonomous mobile robot research and multi cooperation | |
| US20240152148A1 (en) | System and method for optimized traffic flow through intersections with conditional convoying based on path network analysis | |
| JP2022045456A (en) | Travel time prediction device and travel time prediction method | |
| CN113848929B (en) | AGV carrier scheduling method and device | |
| Kim et al. | Deadlock Avoidance Dynamic Routing Algorithm for a Massive Bidirectional Automated Guided Vehicle System |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |