CN111309014B - AGV control method and device - Google Patents

AGV control method and device Download PDF

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CN111309014B
CN111309014B CN202010114197.7A CN202010114197A CN111309014B CN 111309014 B CN111309014 B CN 111309014B CN 202010114197 A CN202010114197 A CN 202010114197A CN 111309014 B CN111309014 B CN 111309014B
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agv
slave
agvs
queue
task
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CN111309014A (en
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余丽敏
张桐坡
马飞
马波力
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Xian Jiaotong Liverpool University
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Xian Jiaotong Liverpool University
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    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • 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
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
    • 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
    • G05D1/0291—Fleet control
    • G05D1/0293—Convoy travelling

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
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Abstract

The application relates to an AGV control method and device, belonging to the technical field of communication, wherein the method comprises the following steps: the control platform acquires task data; determining a main AGV; transmitting a data packet to the main AGV to trigger the main AGV to establish an AGV queue based on the task data, wherein a slave AGV in the AGV queue tracks a visual reference component on the main AGV to execute a running task; the problem that communication resources consumed by the control platform when each AGV is controlled respectively can be solved; because the control platform only needs to communicate with the main AGV, when the formation is required to be changed, the slave AGV only needs to track the visual reference equipment on the main AGV to execute the running task, so that the communication times can be reduced, and the communication resources are saved.

Description

AGV control method and device
Technical Field
The application relates to an AGV control method and device, and belongs to the technical field of communication.
Background
An automatic guided vehicle (Automated Guided Vehicle, AGV) is a vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a planned guide path and has safety protection and various transfer functions. AGV systems are widely used in industry, military, transportation, electronics, and other fields.
At present, control over the AGVs remains in the stage of controlling the AGVs individually, and control over the AGVs individually, and a control command needs to be sent to each AGV, which wastes communication resources.
Disclosure of Invention
The application provides an AGV control method, an AGV control device and a storage medium, which can solve the problem of larger consumed communication resources when a control platform controls each AGV respectively; the application provides the following technical scheme:
in a first aspect, an AGV control method is provided, for use in a control platform, the method including:
acquiring task data, wherein the task data is used for indicating a running task to be executed;
acquiring initial state data of each AGV controlled by the control platform, wherein the initial state data comprises initial positions of each AGV;
the AGV with the minimum distance between the initial position and the task starting point indicated by the task data is determined to be a main AGV;
establishing a communication connection with the primary AGV based on a first communication protocol;
and sending a data packet to the main AGV based on the communication connection, wherein the data packet comprises the task data so as to trigger the main AGV to establish an AGV queue based on the task data, and executing the driving task in the form of the AGV queue.
Optionally, after the sending the data packet to the primary AGV based on the communication connection, the method further includes:
and transmitting queue update data to the master AGV so as to trigger the master AGV to update the visual reference component according to the queue update data, so that the slave AGVs in the AGV queue update the queue position based on the updated visual reference component.
Optionally, the data packet further includes a topology and the initial state data; the topological structure is used for indicating a travelable path; the initial state data is used to indicate the initial position and initial speed of each AGV.
In a second aspect, an AGV control method is provided, which is used in a master AGV, where a visual reference assembly is installed on the master AVG, and the method includes:
establishing a communication connection with a control platform based on a first communication protocol;
receiving a data packet sent by the control platform; the data packet comprises task data, wherein the task data is used for indicating a running task to be executed;
determining a slave AGV which executes the driving task from other AGVs except the master AGV and controlled by the control platform;
planning a queue position of each slave AGV relative to the visual reference component;
establishing a communication connection with each slave AGV based on a second communication protocol;
transmitting each queue position to a corresponding slave AGV based on the communication connection so as to trigger the slave AGV to travel to the queue position according to the visual reference component to obtain an AGV queue;
and executing the running task to enable the slave AGV to track the visual reference component to run so as to simultaneously execute the running task.
Optionally, after the running task is executed according to the task data, the method further includes:
and when receiving the queue updating data of the AGV queue, updating the visual reference component according to the queue updating data so that the slave AGV updates the queue position according to the updated visual reference component.
Optionally, the determining, from among other AGVs controlled by the control platform and other than the master AGV, a slave AGV that performs the travel task includes:
broadcasting a detection signal to trigger an AGV receiving the detection signal to feed back working state information, wherein the working state information is used for indicating whether other AGV queues are added;
receiving information of each working state;
and determining the slave AGVs in the AGVs corresponding to the working state information for indicating that other AGVs are not added.
Optionally, the determining the slave AGV in the AGV corresponding to the working status information for indicating that no other AGV queue is added includes:
randomly selecting n AGVs from AGVs corresponding to the state information for indicating that other AGVs are not added into the queue, and determining the AGVs as the slave AGVs;
or alternatively, the process may be performed,
determining n slave AGVs closest to the initial distance between the master AGVs in the AGVs corresponding to the state information for indicating that other AGVs are not added;
or alternatively, the process may be performed,
determining n slave AGVs with the shortest arrival time of the master AGVs from AGVs corresponding to the state information for indicating that other AGVs are not added;
the initial distance between each AGV and the main AGV is determined based on the initial position of each AGV in the data packet and the initial position of the main AGV; the time length of each AGV reaching the main AGV is determined based on the initial position and the initial speed of each AGV in the data packet; the value of n is determined based on the number of AGVs carried in the task data.
In a third aspect, an AGV control method is provided for a slave AGV, on which an image acquisition assembly is mounted, the method including:
establishing communication connection with a main AGV based on a second communication protocol, wherein a visual reference component is installed on the main AGV;
receiving a queue position sent by the main AGV, wherein the queue position is relative to the position of the visual reference component;
controlling the image acquisition component to identify the visual reference component so as to drive to a queue position relative to the visual reference component;
and tracking the running of the visual reference component to execute the running task received by the main AGV.
Optionally, before the communication connection is established with the primary AGV based on the second communication protocol, the method further includes:
receiving a detection signal;
and feeding back working state information to the main AGVs according to the detection signals, wherein the working state information is used for indicating that other AGVs are not added.
In a second aspect, an AGV control apparatus is provided, the apparatus comprising a processor and a memory; the storage is stored with a program, and the program is loaded and executed by the processor to realize the AGV control method according to the first aspect; or, implementing the AGV control method according to the second aspect; or, the AGV control method according to the third aspect is implemented.
In a fourth aspect, a computer readable storage medium is provided, in which a program is stored, and the program is loaded and executed by the processor to implement the AGV control method according to the first aspect; or, implementing the AGV control method according to the second aspect; or, the AGV control method according to the third aspect is implemented.
The application has the beneficial effects that: acquiring task data through a control platform; determining a main AGV; transmitting a data packet to the main AGV to trigger the main AGV to establish an AGV queue based on the task data, wherein a slave AGV in the AGV queue tracks a visual reference component on the main AGV to execute a running task; the problem that communication resources consumed by the control platform when each AGV is controlled respectively can be solved; because the control platform only needs to communicate with the main AGV, when the formation is required to be changed, the slave AGV only needs to track the visual reference equipment on the main AGV to execute the running task, so that the communication times can be reduced, and the communication resources are saved.
In addition, in the conventional vision-based manner of AGV queue co-operation, the master AGV needs to resend the queue positions to the slave AGVs to change the queue shape when changing the AGV queue shape. In the AGV control mode provided by the application, when the shape of the AGV queue is changed, only the visual reference component on the main AGV is required to be changed, and the position of the corresponding pattern on the visual reference component can be identified by the slave AGV, so that the queue position can be changed along with the change of the visual reference component, and the communication resource can be saved.
The foregoing description is only an overview of the present application, and is intended to provide a better understanding of the present application, as it is embodied in the following description, with reference to the preferred embodiments of the present application and the accompanying drawings.
Drawings
FIG. 1 is a schematic diagram of an AGV control system according to one embodiment of the present application;
FIG. 2 is a flow chart of an AGV control method provided by one embodiment of the present application;
FIG. 3 is a graph comparing the time delay of a conventional AGV control method according to one embodiment of the present application with that of the present application;
FIG. 4 is a block diagram of an AGV control provided in one embodiment of the present application;
FIG. 5 is a block diagram of an AGV control provided in one embodiment of the present application;
FIG. 6 is a block diagram of an AGV control provided in one embodiment of the present application;
FIG. 7 is a block diagram of an AGV control device according to one embodiment of the present application.
Detailed Description
The following describes in further detail the embodiments of the present application with reference to the drawings and examples. The following examples are illustrative of the application and are not intended to limit the scope of the application.
FIG. 1 is a schematic diagram of an AGV control system according to one embodiment of the present application, as shown in FIG. 1, comprising at least: the control platform 110 and the plurality of AGVs 120 controlled by the control platform.
Alternatively, the control platform 110 may be implemented as a computer, a mobile phone, a tablet computer, or the like. The control platform 110 is configured to obtain task data, where the task data is used to indicate a running task to be executed; acquiring initial state data of each AGV controlled by a control platform, wherein the initial state data comprises initial positions of each AGV; the AGV with the minimum distance between the initial position and the task starting point indicated by the task data is determined to be a main AGV; establishing a communication connection with a primary AGV based on a first communication protocol; and sending a data packet to the main AGV based on the communication connection, wherein the data packet comprises task data so as to trigger the main AGV to establish an AGV queue based on the task data, and executing a driving task in the form of the AGV queue.
Of course, the control platform 110 may also acquire the topology structure based on a man-machine interaction manner; task data and the like are acquired based on a human-computer interaction mode.
The plurality of AGVs 120 includes master AGVs and slave AGVs that form an AGV queue. The main AGV is provided with a visual reference component, the AGV is provided with an image acquisition component, and the AGV controls the image acquisition component to acquire images to identify the corresponding visual reference component, so that the main AGV is tracked.
Specifically, the master AVG is configured to establish a communication connection with the control platform based on the first communication protocol;
receiving a data packet sent by the control platform; the data packet comprises task data, wherein the task data is used for indicating a running task to be executed; determining a slave AGV which executes the driving task from other AGVs except the master AGV and controlled by the control platform; planning a queue position of each slave AGV relative to the visual reference component; establishing a communication connection with each slave AGV based on a second communication protocol; transmitting each queue position to a corresponding slave AGV based on the communication connection so as to trigger the slave AGV to travel to the queue position according to the visual reference component to obtain an AGV queue; and executing the running task to enable the slave AGV to track the visual reference component to run so as to simultaneously execute the running task.
From AGV: establishing a communication connection with the primary AGV based on a second communication protocol; receiving the queue position sent by the main AGV; controlling the image acquisition component to identify the visual reference component so as to drive to a queue position relative to the visual reference component; and tracking the running of the visual reference component to execute the running task received by the main AGV.
FIG. 2 is a flowchart of an AGV control method according to an embodiment of the present application, and the embodiment is described by taking the application of the method to the AGV control system shown in FIG. 1 as an example. The method at least comprises the following steps:
in step 201, the control platform acquires task data, where the task data is used to indicate a running task to be executed.
The mission data includes a travel start point, a travel end point, and a required number of AGVs.
The method for the control platform to acquire the task data comprises the following steps: displaying a task input interface; receiving a starting point input operation and an ending point input operation which act on a task input interface; receiving the number input operation of the AGVs; and generating a running task according to the running starting point indicated by the starting point input operation, the running end point indicated by the end point input operation and the AGVs indicated by the quantity input operation, and obtaining task data.
Optionally, after determining the driving task, the control platform may also determine the AGV driving route according to the driving task. Illustratively, the control platform determines the AGV travel route based on a time minimization principle.
Optionally, after determining the running route of the AGV, the control platform displays the planned running route of the AGV, the waiting time of each AGV at each node in the corresponding running route, and the theoretical time for reaching each node.
Step 202, the control platform acquires initial state data of each AGV controlled by the control platform.
The initial status data includes the initial position of each AGV. Of course, the initial status data may also include the initial speed of each AGV.
Illustratively, the manner in which the control platform obtains the initial state data includes: initial state data input by a user is received.
In step 203, the control platform determines the AGV with the smallest distance between the initial position and the task start point indicated by the task data as the master AGV.
Optionally, when the number of the AGVs with the minimum distance between the initial position and the task starting point indicated by the task data is a plurality of AGVs, randomly selecting one AGV in an idle state (i.e. no running task exists) to determine the AGV as a main AGV; alternatively, an AGV having the largest initial speed in an idle state (i.e., no travel task) is selected and determined as the master AGV.
A visual reference assembly is provided on the primary AGV. Alternatively, the visual reference component may be a pattern. The pattern comprises lines of different colors, shapes and/or sizes. Each slave AGV corresponds to a portion of the visual reference assembly. That is, the corresponding partial travel is tracked from the AGV.
In step 204, the control platform and the master AGV establish a communication connection based on a first communication protocol.
The method comprises the steps that a main AGV establishes communication connection with a control platform based on a first communication protocol; the control platform establishes a communication connection with the primary AGV based on a first communication protocol.
In step 205, the control platform sends a data packet to the main AGV based on the communication connection, where the data packet includes task data to trigger the main AGV to establish an AGV queue based on the task data, and execute the driving task in the form of the AGV queue.
Optionally, the data packet further includes topology and initial state data; the topology is used for indicating a travelable path; the initial state data is used to indicate the initial position and initial speed of each AGV.
The topology structure is obtained by the control platform based on a man-machine interaction technology. Specifically, the control platform displays a topology input interface; and receiving topology input operation acted on a topology input interface to obtain a topology structure.
Optionally, after receiving the topology, the control platform also determines whether the topology is accurate; and displaying a topology correction prompt when the topology is inaccurate, wherein the topology correction prompt is used for prompting a user to correct the topology.
And 206, the main AGV receives the data packet sent by the control platform.
The data packet includes task data, and the task data is used for indicating a running task to be executed.
In step 207, the master AGV determines a slave AGV that performs the travel task from among other AGVs other than the master AGV controlled by the control platform.
Optionally, the master AGV determines that the slave AGV includes:
the main AGV broadcasts a detection signal to trigger the AGV which receives the detection signal to feed back working state information, wherein the working state information is used for indicating whether other AGV queues are added;
the AGV receives the detection signal;
the AGVs feed back working state information to the main AGVs according to the received detection signals, wherein the working state information is used for indicating whether other AGVs are added;
the main AGV receives the information of each working state;
and the master AGV determines the slave AGV from the AGVs corresponding to the working state information for indicating that other AGV queues are not added.
Illustratively, the master AGV randomly selects n AGVs from the AGVs corresponding to the state information for indicating that other AGV queues are not added, and determines the n AGVs as slave AGVs; or, determining n slave AGVs closest to the initial distance between the master AGVs in the AGVs corresponding to the state information for indicating that other AGVs are not added; or determining n slave AGVs with the shortest arrival time to the master AGV in the AGVs corresponding to the state information for indicating that other AGVs are not added.
The initial distance between each AGV and the main AGV is determined based on the initial position of each AGV in the data packet and the initial position of the main AGV; the time length of each AGV reaching the main AGV is determined based on the initial position and the initial speed of each AGV in the data packet; the value of n is determined based on the number of AGVs carried in the task data.
Specifically, the initial distance between each AGV and the master AGV is: the difference between the initial position of each AGV and the initial position of the primary AGV. The time length for each AGV to reach the main AGV is as follows: the distance between each AGV and the master AGV is a quotient of the initial speed of the corresponding AGV.
At step 208, the master AGV programs the queue position of each slave AGV relative to the visual reference component.
The master AGV determines the queue position of each slave AGV. In one example, the master AGV plans the queue positions of each slave AGV according to the queue requirements. Wherein, the queue demand can be sent by the control platform; alternatively, the master AGV may be generated from the topology. Such as: when the topological structure indicates that turning is needed, the queue requirement is a turning formation; when the topology indicates that the drivable path is narrow, the queue demand is a straight line queue or the like.
In step 209, the master AGV establishes a communication connection with the slave AGV based on the second communication protocol.
Optionally, the second communication protocol is different from the first communication protocol.
In step 210, the master AGV sends each queue position to the corresponding slave AGV based on the communication connection to trigger the slave AGV to travel to the queue position according to the visual reference component to obtain the AGV queue.
Optionally, the AGVs that did not receive the queue position are the AGVs that were not selected. Of course, the master AGV may also send an unselected notification to the unselected AGVs to notify that the corresponding AGVs are unselected.
In step 211, the queue position sent by the master AGV is received from the AGV, where the queue position is a position relative to the visual reference component.
Step 212, the image acquisition component is controlled from the AGV to identify the visual reference component to travel to a queue position relative to the visual reference component.
Alternatively, the slave AGVs set their own operating states to the joined AGVs queue after traveling to the queue position.
Optionally, visual reference components corresponding to different queue shapes are different.
In step 213, the master AGV performs the travel task to cause the slave AGV to track the visual reference component to travel to perform the travel task simultaneously.
Step 214, the slave AGVs track the visual reference component travel to perform the travel tasks received by the master AGVs.
Optionally, after step 214, the control platform may also send queue update data to the master AGV to trigger the master AGV to update the visual reference components according to the queue update data to cause the slave AGVs in the AGV queue to update the queue positions based on the updated visual reference components. And when the master AGV receives the queue updating data of the AGV queue, updating the visual reference component according to the queue updating data, so that the slave AGV updates the queue position according to the updated visual reference component.
It should be added that communication is maintained between the master AGV and the slave AGV during the period when the travel task is not completed.
Optionally, after the travel task is completed, the operating status of all AGVs in the AGV queue (including the master AGV and the slave AGVs) is modified to not join the AGV queue.
In summary, in the AGV control method provided by the embodiment, task data is obtained through the control platform; determining a main AGV; transmitting a data packet to the main AGV to trigger the main AGV to establish an AGV queue based on the task data, wherein a slave AGV in the AGV queue tracks a visual reference component on the main AGV to execute a running task; the problem that communication resources consumed by the control platform when each AGV is controlled respectively can be solved; because the control platform only needs to communicate with the main AGV, when the formation is required to be changed, the slave AGV only needs to track the visual reference equipment on the main AGV to execute the running task, so that the communication times can be reduced, and the communication resources are saved.
In addition, in the conventional vision-based manner of AGV queue co-operation, the master AGV needs to resend the queue positions to the slave AGVs to change the queue shape when changing the AGV queue shape. In the AGV control mode provided by the application, when the shape of the AGV queue is changed, only the visual reference component on the main AGV is required to be changed, and the position of the corresponding pattern on the visual reference component can be identified by the slave AGV, so that the queue position can be changed along with the change of the visual reference component, and the communication resource can be saved.
An example of the AGV control method provided in the application is described below.
Assume that the AGV cooperative constraint is:
wherein, the liquid crystal display device comprises a liquid crystal display device,and->Is the average speed of the master and slave AGVs. t is the run time. T (T) delay Is the coordinated time delay from the AGV.
Synergistic time delay T delay Can be defined as:
T delay ＝n 1 *T cpu1 +n 2 *T cpu2 +n 3 *T cpu3 +n 1 *T trans1 +n 2 *T trans2 +n 3 *T trans3
wherein T is cpu1 Time when device processes command; t (T) cpu2 Time at which the device processes state information; t (T) cpu3 Time when the device processes the image information; t (T) trans1 Time of transmission command; t (T) trans2 Time of transmission of state information; t (T) trans3 Time of transmission of image information. These delay factors are related to hardware selection, and for a certain system, the values are fixed, and can be defined as fixed parameters.
Parameter n 1 、n 2 And n 3 Is determined by the traveling path of the AGV and is a random parameter. The following table is used for example, and the flow states of the conventional AGV control method and the AGV control method provided by the present application are shown in the following table one:
table one:
/>
a rectangular travel path is adopted to travel one circle, and the rectangular travel path comprises 4 straight lines and 3 turns, and the required communication times are shown in the following table II on the assumption that the cooperative formation changes 2 times:
as shown in a second table, the AGV control mode based on the application can obviously reduce interactive communication between the master AGV and the slave AGV nodes, reduce time delay and save energy consumption. The advantages will be more pronounced for more complex network scenarios (more nodes and paths).
Defining the AGV travel path includes x straight lines and y turns, during which z dequeues are required. Parameter n 1 、n 2 And n 3 The definitions under conventional AGV control and the AGV control mode of the present application are shown in Table three below:
assuming that the travel path of the AGV includes K turns, each turn being dequeued twice, FIG. 3 compares the number of interactions with the corresponding delays in the conventional AGV control and the AGV control of the present application, where the horizontal axis represents the distance traveled, and the vertical axis represents the number of communication interactions (delays) required in units of turns. The traditional AGV control mode can generate delay when the line, the curve and the team change, and the data communication (delay) only can occur in the team change state by adopting the AGV control mode. It is assumed that both systems experience the same number of straight lines, turns, and also platoons. The conventional AGV control method generates delay during straight line, turning and team change, and has larger coefficient, so that parameters and slopes are larger than those of the dynamic visual reference cooperative system, as shown in fig. 3. And as the running track of the system becomes more and more complex, the running time becomes longer and the difference between the running track and the running track becomes larger and larger.
Fig. 4 is a block diagram of an AGV control apparatus according to an embodiment of the present application, which is described by taking the application of the apparatus to the control platform 110 in the AGV control system shown in fig. 1 as an example. The device at least comprises the following modules: the task acquisition module 410, the status acquisition module 420, the primary AGV determination module 430, the communication setup module 440, and the data transmission module 450.
A task obtaining module 410, configured to obtain task data, where the task data is used to indicate a running task to be executed;
the state acquisition module 420 is configured to acquire initial state data of each AGV controlled by the control platform, where the initial state data includes an initial position of each AGV;
the primary AGV determining module 430 is configured to determine, as a primary AGV, an AGV with a minimum distance between the initial position and a task start point indicated by the task data;
a communication establishment module 440 for establishing a communication connection with the primary AGV based on a first communication protocol;
and the data sending module 450 is configured to send a data packet to the master AGV based on the communication connection, where the data packet includes the task data, so as to trigger the master AGV to establish an AGV queue based on the task data, and execute the driving task in the form of the AGV queue.
For relevant details reference is made to the method embodiments described above.
Fig. 5 is a block diagram of an AGV control apparatus according to an embodiment of the present application, which is described by taking the application of the apparatus to a main AGV in the AGV control system shown in fig. 1 as an example. The device at least comprises the following modules: a first communication module 510, a data receiving module 520, a slave AGV determination module 530, a formation module 540, a second communication module 550, a data sending module 560, and a task execution module 570.
A first communication module 510 for establishing a communication connection with the control platform based on a first communication protocol;
the data receiving module 520 is configured to receive a data packet sent by the control platform; the data packet comprises task data, wherein the task data is used for indicating a running task to be executed;
a slave AGV determination module 530 for determining a slave AGV performing the travel task from among other AGVs controlled by the control platform other than the master AGV;
a queuing module 540 for planning a queue position of each slave AGV relative to the visual reference component;
a second communication module 550 for establishing a communication connection with each slave AGV based on a second communication protocol;
the data sending module 560 is configured to send each queue position to a corresponding slave AGV based on the communication connection, so as to trigger the slave AGV to travel to the queue position according to the visual reference component to obtain an AGV queue;
a task execution module 570 for executing the travel task to cause the slave AGV to track the visual reference assembly for simultaneous execution of the travel task.
For relevant details reference is made to the method embodiments described above.
Fig. 6 is a block diagram of an AGV control apparatus according to an embodiment of the present application, which is described by taking an example of an application of the apparatus to an AGV in the AGV control system shown in fig. 1. The device at least comprises the following modules: a communication setup module 610, a data receiving module 620, an image recognition module 630, and a task execution module 640.
A communication establishing module 610, configured to establish a communication connection with a primary AGV based on a second communication protocol, where the primary AGV is installed with a visual reference component;
a data receiving module 620, configured to receive a queue position sent by the primary AGV, where the queue position is a position relative to the visual reference component;
an image recognition module 630 for controlling the image acquisition component to recognize the visual reference component to travel to a queue position relative to the visual reference component;
and the task execution module 640 is used for tracking the running of the visual reference component so as to execute the running task received by the main AGV.
For relevant details reference is made to the method embodiments described above.
It should be noted that: the above-mentioned embodiment provides an AGV control device, in which the above-mentioned functional modules are only divided to illustrate when performing the AGV control, and in practical application, the above-mentioned functional allocation may be performed by different functional modules according to needs, that is, the internal structure of the AGV control device is divided into different functional modules, so as to complete all or part of the functions described above. In addition, the AGV control device provided in the foregoing embodiment and the embodiment of the AGV control method belong to the same concept, and detailed implementation processes of the AGV control device are shown in the method embodiment, and are not repeated herein.
FIG. 7 is a block diagram of an AGV control apparatus provided in one embodiment of the application, which may be the control platform 110, master AGV, or slave AGV in the AGV control system shown in FIG. 1. The apparatus comprises at least a processor 701 and a memory 702.
The processor 701 may include one or more processing cores, such as: 4 core processors, 8 core processors, etc. The processor 701 may be implemented in at least one hardware form of DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 701 may also include a main processor, which is a processor for processing data in an awake state, also referred to as a CPU (Central Processing Unit ); a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 701 may integrate a GPU (Graphics Processing Unit, image processor) for rendering and drawing of content required to be displayed by the display screen. In some embodiments, the processor 701 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.
Memory 702 may include one or more computer-readable storage media, which may be non-transitory. The memory 702 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 702 is used to store at least one instruction for execution by processor 701 to implement the AGV control method provided by the method embodiments of the present application.
In some embodiments, the AGV control may optionally further comprise: a peripheral interface and at least one peripheral. The processor 701, the memory 702, and the peripheral interfaces may be connected by buses or signal lines. The individual peripheral devices may be connected to the peripheral device interface via buses, signal lines or circuit boards. Illustratively, peripheral devices include, but are not limited to: radio frequency circuitry, touch display screens, audio circuitry, and power supplies, among others.
Of course, the AGV control may include fewer or more components, as the present embodiment is not limited in this regard.
Optionally, the present application further provides a computer readable storage medium, where a program is stored, where the program is loaded and executed by a processor to implement the AGV control method of the above-mentioned method embodiment.
Optionally, the present application further provides a computer product, where the computer product includes a computer readable storage medium, where a program is stored in the computer readable storage medium, and the program is loaded and executed by a processor to implement the AGV control method of the foregoing method embodiment.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims (8)

1. An AGV control method for use in a control platform, the method comprising:
acquiring task data, wherein the task data is used for indicating a running task to be executed;
acquiring initial state data of each AGV controlled by the control platform, wherein the initial state data comprises initial positions of each AGV;
the AGV with the minimum distance between the initial position and the task starting point indicated by the task data is determined to be a main AGV;
establishing a communication connection with the primary AGV based on a first communication protocol;
transmitting a data packet to the main AGV based on the communication connection, wherein the data packet comprises the task data so as to trigger the main AGV to establish an AGV queue based on the task data, and executing the driving task in the form of the AGV queue;
after the data packet is sent to the main AGV based on the communication connection established by the first communication protocol, the method further includes:
the method comprises the steps that queue updating data are sent to a main AGV, so that the main AGV is triggered to update a visual reference component according to the queue updating data, and a slave AGV in the AGV queue updates a queue position based on the updated visual reference component; the master AGV establishes communication connection with each slave AGV based on a second communication protocol, and the second communication protocol is different from the first communication protocol; the visual reference components are patterns, the patterns comprise lines with different colors, shapes and/or sizes, each slave AGV corresponds to one part of the visual reference components, and the slave AGVs track corresponding parts to run.
2. The method of claim 1, wherein the data packet further comprises a topology and the initial state data; the topological structure is used for indicating a travelable path; the initial state data is used to indicate the initial position and initial speed of each AGV.
3. An AGV control method for use in a primary AGV having a visual reference assembly mounted thereon, the method comprising:
establishing a communication connection with a control platform based on a first communication protocol;
receiving a data packet sent by the control platform; the data packet comprises task data, wherein the task data is used for indicating a running task to be executed;
determining a slave AGV which executes the driving task from other AGVs except the master AGV and controlled by the control platform;
planning a queue position of each slave AGV relative to the visual reference component; the visual reference component is a pattern, the pattern comprises lines with different colors, shapes and/or sizes, each slave AGV corresponds to one part of the visual reference component, and the slave AGV tracks the corresponding part to run;
establishing a communication connection with each slave AGV based on a second communication protocol; wherein the second communication protocol is different from the first communication protocol;
transmitting each queue position to a corresponding slave AGV based on the communication connection so as to trigger the slave AGV to travel to the queue position according to the visual reference component to obtain an AGV queue;
executing the travel task to cause the slave AGV to track the visual reference component for travel to simultaneously execute the travel task;
after executing the driving task according to the task data, the method further comprises: and when receiving the queue updating data of the AGV queue, updating the visual reference component according to the queue updating data so that the slave AGV updates the queue position according to the updated visual reference component.
4. The method of claim 3 wherein said determining a slave AGV that performs said travel task from among other AGVs controlled by said control platform other than said master AGV comprises:
broadcasting a detection signal to trigger an AGV receiving the detection signal to feed back working state information, wherein the working state information is used for indicating whether other AGV queues are added;
receiving information of each working state;
and determining the slave AGVs in the AGVs corresponding to the working state information for indicating that other AGVs are not added.
5. The method of claim 4 wherein the determining the slave AGV in the AGV corresponding to the operational status information indicating no other AGV queue includes:
randomly selecting n AGVs from AGVs corresponding to the state information for indicating that other AGVs are not added into the queue, and determining the AGVs as the slave AGVs;
or alternatively, the process may be performed,
determining n slave AGVs closest to the initial distance between the master AGVs in the AGVs corresponding to the state information for indicating that other AGVs are not added;
or alternatively, the process may be performed,
determining n slave AGVs with the shortest arrival time of the master AGVs from AGVs corresponding to the state information for indicating that other AGVs are not added;
the initial distance between each AGV and the main AGV is determined based on the initial position of each AGV in the data packet and the initial position of the main AGV; the time length of each AGV reaching the main AGV is determined based on the initial position and the initial speed of each AGV in the data packet; the value of n is determined based on the number of AGVs carried in the task data.
6. An AGV control method for a slave AGV having an image acquisition assembly mounted thereon, the method comprising:
establishing communication connection with a master AGV based on a second communication protocol, wherein a visual reference component is installed on the master AGV, the visual reference component is a pattern, the pattern comprises lines with different colors, shapes and/or sizes, each slave AGV corresponds to one part of the visual reference component, and the slave AGV tracks the corresponding part to run;
receiving a queue position sent by the main AGV, wherein the queue position is relative to the position of the visual reference component;
controlling the image acquisition component to identify the visual reference component so as to drive to the queue position;
tracking the visual reference component to run so as to execute the running task received by the main AGV;
under the condition that the control platform sends queue updating data to the master AGV, triggering the master AGV to update the visual reference component according to the queue updating data so that the slave AGV updates the queue position according to the updated visual reference component; the master AGV establishes communication connection with the control platform based on a first communication protocol, and the second communication protocol is different from the first communication protocol.
7. The method of claim 6, wherein prior to establishing a communication connection with the primary AGV based on the second communication protocol, further comprising:
receiving a detection signal;
and feeding back working state information to the main AGVs according to the detection signals, wherein the working state information is used for indicating that other AGVs are not added.
8. An AGV control device, characterized in that the AGV control device comprises a processor and a memory; the memory has stored therein a program that is loaded and executed by the processor to implement the AGV control method according to any one of claims 1 to 2; or implementing the AGV control method according to any one of claims 3 to 5; alternatively, the AGV control method according to claim 6 or 7 is implemented.
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