CN111353701A

CN111353701A - Restricted scheduling method and system for AGV (automatic guided vehicle) cross area

Info

Publication number: CN111353701A
Application number: CN202010125178.4A
Authority: CN
Inventors: 李同煦; 张虎; 张贻弓; 沈长鹏; 张小艺; 刘鹏
Original assignee: Lanjian Intelligent Technology Co ltd
Current assignee: Lanjian Intelligent Technology Co ltd
Priority date: 2020-02-27
Filing date: 2020-02-27
Publication date: 2020-06-30

Abstract

The invention provides a restricted traffic scheduling method for an AGV crossing area, which comprises the following steps: s1: judging whether an AGV which is about to enter the crossing area exists, if so, entering S2; s2: counting the number a of the AGV in the crossing area in real time; s3: comparing a with a limit value b set in the crossing area, and determining whether the AGV entering the crossing area is allowed or forbidden: if a is less than b, go to step S4; if a is larger than or equal to b, executing step S5; s4: releasing: the dispatching platform sends a release instruction to the AGV outside the cross area, and the AGV enters the cross area; s5: forbidding: the dispatching platform sends a controlled parking instruction and prohibits the AGV from entering the cross area; s6: steps S1-S5 are repeatedly performed. The method realizes the maximization of the operating efficiency of each AGV, and greatly improves the working efficiency of the AGV and the logistics carrying efficiency. Meanwhile, the invention also provides a scheduling system for realizing the scheduling method.

Description

Restricted scheduling method and system for AGV (automatic guided vehicle) cross area

Technical Field

The invention relates to the technical field of logistics goods handling, in particular to a restricted traffic scheduling method and system for an AGV cross area.

Background

Compared with the traditional forklift, the AGV (automated Guided vehicle) can realize unmanned driving and automatic carrying, has high working efficiency, saves the labor cost, and is popular in the logistics carrying industry.

Because of receiving the influence of goods and placing and area, AGV has the crossing and the overlap of many circuits when designing the operation circuit, and these regions are also "cross region", in cross region, often have many AGV operation at the same time, if untimely mediation and dispatch in advance, very easily appear the problem that the traffic jams, lead to all AGV stop work even, seriously influence AGV work efficiency, influence commodity circulation handling efficiency, bring inconvenience for the user.

In order to solve the above problems, the invention patent No. 201610292775 provides an AGV traffic scheduling management implementation method based on a traffic control area, which implements sequencing waiting for admission by setting a traffic control proximity identification node as a core of identification.

However, the principle of treatment in the comparison document is: the AGV has the advantages that the AGV only allows the AGV to run in the same direction, if the number of AGV vehicles on a certain line is large, a large number of AGV vehicles are in a waiting state, and the working efficiency is reduced.

Disclosure of Invention

The embodiment of the invention provides a restricted traffic scheduling method and a restricted traffic scheduling system for an AGV crossing area, which are used for scheduling based on the number of AGV vehicles in the crossing area instead of controlling a line, so that the passing efficiency of the AGV vehicles in the crossing area is improved.

In order to solve the technical problem, the embodiment of the invention discloses the following technical scheme:

the embodiment of the invention provides a restricted dispatching method for an AGV crossing area, which comprises the following steps:

s1: counting the number a of the AGV in the crossing area in real time;

s2: comparing a with a limit value b set in the crossing area, and determining whether the AGV entering the crossing area is allowed or forbidden:

if a is less than b, go to step S3;

if a is larger than or equal to b, executing step S4;

s3: releasing: the dispatching platform sends a release instruction to the AGV outside the cross area, and the AGV enters the cross area;

s4: forbidding: the dispatching platform sends a controlled parking instruction and prohibits the AGV from entering the cross area;

s5: steps S1-S4 are repeatedly performed.

Further, the method further comprises the following steps:

s0: it is determined whether there is an AGV about to enter the intersection area, and if so, the process proceeds to S1.

Further, as an achievable solution, the specific implementation procedure of step S0 is:

s01: setting a cross area on a scheduling platform;

s02: setting a first electronic boundary surrounding the intersection area on the operation site based on the set intersection area;

s03: proportionally enlarging the first electronic boundary to form a second electronic boundary;

s04: setting a deceleration zone and a stop zone between the first electron boundary and the second electron boundary;

s05: and detecting whether an AGV entering the second electronic boundary exists or not, and if so, determining that the AGV is about to enter the cross area.

Further, as another implementation scheme, the specific implementation process of step S0 is: and acquiring all coordinate points where the AGVs are located in a future time period T based on the preset running track of the AGVs, optionally selecting a plurality of coordinate points, judging whether the coordinate values of the selected coordinate points are in the range of the crossing area, and if so, judging that the AGVs entering the crossing area exist.

Further, in step S1, the specific implementation manner of counting the AGV number a in the crossing area is as follows:

every time an AGV enters the crossing area, counting the number of the AGVs in the area and adding 1; whenever an AGV leaves the crossing area, the dispatching unit counts the number a of AGVs in the area to be reduced by 1.

Further, in step S3, if there are a plurality of AGVs that need to be released, the AGVs are released in order of priority from high to low.

Furthermore, the priority is set in one of the following manners:

mode 1: according to the waiting time of the AGV, the AGV is from long to short;

mode 2: according to the AGV delivery priority, the goods are conveyed from high to low;

mode 3: according to the time of the AGV passing through the cross area, the AGV passes through the cross area from short to long;

mode 4: and selecting multiple modes 1-3 as parameter values, respectively giving different weights, and calculating the scores from high to low.

Further, in step S4, the parking control instruction includes the following implementation procedures:

the method comprises the steps that an AGV decelerates in a preset deceleration area, and enters a stopping area to run at a low speed after the deceleration is stopped; or

The AGV decelerates in the deceleration area, enters the stopping area after stopping deceleration, runs at a low speed and stops.

In order to implement the method, the present application further provides an AGV dispatching system, where the system includes:

the AGV comprises a plurality of AGVs, a dispatching platform and a control platform, wherein the AGVs are used for executing operation instructions of the dispatching platform;

the driving field comprises a cross area and is used for driving the AGV;

and the dispatching platform is used for judging whether the AGVs which are about to enter the crossing area exist or not, and sending a releasing or prohibiting instruction to the AGVs to be entered according to whether the number of the AGVs in the crossing area exceeds an upper limit value or not.

Furthermore, the driving field further comprises a first electronic boundary and a second electronic boundary, and a deceleration area and a stop area are arranged between the first electronic boundary and the second electronic boundary.

The beneficial effects of the above technical scheme are that:

the invention not only solves the problem that a plurality of AGV's operate simultaneously in the same area, the traffic jam and even shutdown of the AGV's can occur, realizes the highest operation efficiency of each AGV, and greatly improves the AGV working efficiency and the logistics transportation efficiency. And whole operation technique dispatch platform realizes moreover, compares in prior art and carries out the technical scheme who regulates and control based on each circuit, and this application regulates and control based on whole cross area, and current efficiency is higher.

Drawings

In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for a person skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic diagram illustrating a work flow of one embodiment of a scheduling method according to the present invention;

FIG. 2 is a schematic view of cross-zone AGV activity according to the present invention;

the method comprises the following steps that 1, a first AGV vehicle is used; 2. a stop zone; 3. a deceleration zone; 4. a crossover region; 5. a route trajectory; 6. a second AGV.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. 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 invention.

Referring to fig. 1 and 2, as an embodiment of the present invention, taking a certain crossing area as an example (each dispatching platform can simultaneously dispatch vehicles in multiple crossing areas) to develop a description, two AGVs are provided, which are named as a first AGV vehicle 1 and a second AGV vehicle 6, respectively, and have route tracks as shown in fig. 2.

The scheduling method comprises the following steps:

s1: counting the number a of the AGVs in the crossing area in real time, and counting the number of the AGVs in the crossing area plus 1 every time one AGV enters the crossing area; every time an AGV leaves the intersection area, the number a of AGVs in the area is counted to be reduced by 1.

In actual implementation, the process may be implemented cyclically, with a value selected from between 30ms and 70ms as a time interval, for example 50 ms.

S3: comparing a with a limit value b set in the crossing area, and determining whether the AGV entering the crossing area is allowed or forbidden: if a is less than b, go to step S4; if a ≧ b, step S5 is executed.

The fact that a is greater than b may occur because, when the operation has started, there is already an AGV in the crossing area that exceeds the upper threshold, which is a special case and generally does not occur in actual operation.

S4: releasing: the dispatching platform sends a release instruction to the AGVs outside the crossing area, the AGVs enter the crossing area, and it is noted that if a plurality of AGVs needing to be released exist, the AGVs are sequentially released from high priority to low priority.

For setting the priority, one of the following ways can be adopted:

mode 1: the pass can be made in the first time according to the waiting time of the AGV from long to short, that is, the vehicle waiting first has the highest priority.

Mode 2: according to the AGV delivering priority, the goods are delivered from high to low, which is determined according to the tasks executed by the AGV cars, and when a certain AGV car needs to deliver important goods, the AGV car is allowed to enter first.

Mode 3: according to the method, each dispatching platform generates the time for the AGV to finish the task based on the time prediction of the existing dispatching platforms according to the fact that the time for the AGV to pass through the crossing area is from short to long, when the passing time of the AGV in the crossing area is the shortest, the AGV can pass preferentially, and the waiting time of the other AGVs is reduced.

Mode 4: and selecting multiple modes 1-3 as parameter values, respectively giving different weights, and calculating the scores from high to low. The method is a comprehensive calculation method and can be applied in a complex environment.

S5: forbidding: and the dispatching platform sends a controlled parking instruction and prohibits the AGV from entering the cross area.

For step S5, two execution logics are respectively described by taking the first AGV as an example in conjunction with fig. 2:

one type of execution logic is: the dispatching platform sends a controlled parking instruction of a first AGV to the AGV management unit; the AGV management unit sends a deceleration instruction to the first AGV, and at the moment, the acceleration of the first AGV is a negative value, and the first AGV starts to decelerate; and when the speed of the first AGV vehicle is reduced to the low speed v1 set by the system, the acceleration of the first AGV vehicle is 0, the speed reduction is stopped, and the first AGV vehicle keeps running at the low speed.

The deceleration zone is a deceleration zone preset by the dispatching platform according to parameters of the first AGV, wherein the parameters comprise original speed v1 (speed of the AGV before deceleration), acceleration c and low speed v 2.

The specific calculation formula is as follows: the deceleration zone distance is a fixed distance + speed V x coefficient c. Wherein c is the optimized data of big data according to the counted AGV parking, preferably 0.8, and if other requirements exist, c can be additionally set by the background of the dispatching platform.

Due to control errors such as time delay and the like in the dispatching control and comprehensive consideration of the actual road surface condition, the preset deceleration area and the stop area are different from the theoretical area of data calculation. Specifically, the theoretical region calculated by the data is a theoretical region occupied by the AGV during the calculated deceleration process on the premise that data such as the original speed v1 (the speed of the AGV before deceleration), the acceleration c, the low speed v2, and the vehicle width are known.

The other execution logic is: on the basis of the first execution logic, the first AGV stops decelerating and then enters a stopping area to travel at a low speed until the stopping area is overlapped with the boundary of the cross area, at the moment, the dispatching platform sends a parking instruction to the AGV, and the first AGV stops.

S6: steps S1-S5 are repeatedly performed.

In order to avoid long-time invalid monitoring, a pre-step may be added as a trigger condition for the whole process, where the trigger condition is:

s0: the dispatching platform judges whether an AGV which is about to enter the crossing area exists, if so, the dispatching platform enters S2, and if not, the dispatching platform continues to judge until the AGV which is about to enter the crossing area is found.

In this step, for the judgment and identification of AGVs, the present application provides two realizable judgment logics, wherein one of the realizable judgment logics specifically comprises the following steps:

1) and setting a cross area on the dispatching platform. It should be noted that the setting of the crossing area may be performed manually or automatically by a program, for example, setting a judgment threshold value, which is the crossing number of the AGV running route, then identifying the whole dispatch map, and marking and selecting the position exceeding the threshold value as the crossing area.

2) Based on the set intersection region 4, a first electronic boundary surrounding the intersection region, for example, a black border of the intersection region 4 in fig. 2, is set at the operation site and can be regarded as the first electronic boundary.

As for the first electronic boundary, as an achievable mode, the electronic fence can be set on the driving field by setting the electronic fence, and the electronic fence can be set by combining a laser sensor, a displacement sensor, a pressure sensor and the like.

As another way to implement the method, an illumination lamp may be disposed above the intersection area, the illumination lamp has a brightness range substantially the same as that of the intersection area, and an illumination sensor is disposed on the AGV, and the illumination sensor is used for detection and identification based on the principle that the illumination intensity is high and the surroundings in the intersection area are high.

As a third realizable manner, the determination of the first electronic boundary may also be realized by a camera arranged in the driving field in combination with the existing image processing technology, specifically by: the boundary of the cross region is set on the image shot by the camera, and when the camera is sent to shoot the set boundary to be blocked, the AGV crosses the boundary.

3) The first electron boundary is scaled up to form a second electron boundary. Likewise, the second electronic boundary may be set with reference to the first electronic boundary.

4) A deceleration zone 3 and a stop zone 2 are provided between the first electron boundary and the second electron boundary.

5) And detecting whether the AGV entering the second electronic boundary exists or not based on the principle of the electronic boundary, and if so, determining that the AGV is about to enter the cross area.

Besides the above logic, the present application also provides another implementation principle, and the specific implementation process of the second principle is as follows: and acquiring all coordinate points where the AGVs are located in a future time period T based on the preset running track of the AGVs, optionally selecting a plurality of coordinate points, judging whether the coordinate values of the selected coordinate points are in the range of the crossing area, and if so, judging that the AGVs entering the crossing area exist. Wherein, the future time period T can be set to 10 seconds to 1 minute according to specific situations.

The principle is realized based on the existing scheduling, the motion trail of the AGV is set according to the object to be taken of the AGV, therefore, for the AGV at a certain moment, the motion trail of the AGV in a future time period is determined, the points forming the motion trail are extracted, a group of coordinate points are obtained, the coordinate points represent the specific position of the AGV in the future time, and if the coordinate points are found to be in the intersection area, the intersection area is represented by the fact that the AGV enters the intersection area in the future time.

In the process of implementing the method, the application also provides an AGV dispatching system, which comprises a plurality of AGVs, a dispatching platform and a dispatching system, wherein the AGVs are used for executing the operation instructions of the dispatching platform; the driving field comprises a cross area and is used for driving the AGV; and the dispatching platform is used for judging whether the AGVs which are about to enter the crossing area exist or not, and sending a releasing or prohibiting instruction to the AGVs to be entered according to whether the number of the AGVs in the crossing area exceeds an upper limit value or not.

The driving field further comprises a first electronic boundary and a second electronic boundary, and a deceleration area and a stopping area are arranged between the first electronic boundary and the second electronic boundary.

For the functions of each part in the system, the functions and the implementation steps of the method are repeated as they are for implementing the method of the present application, and thus are not described in detail.

The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for scheduling restricted rows of an AGV intersection area is characterized by comprising the following steps:

s1: counting the number a of the AGV in the crossing area in real time;

if a is less than b, go to step S3;

if a is larger than or equal to b, executing step S4;

s5: steps S1-S4 are repeatedly performed.

2. The method of claim 1, further comprising:

3. The method of claim 2, wherein step S0 is implemented as follows:

s01: setting a cross area on a scheduling platform;

4. The method of claim 2, wherein step S0 is implemented as follows:

and acquiring all coordinate points where the AGVs are located in a future time period T based on the preset running track of the AGVs, optionally selecting a plurality of coordinate points, judging whether the coordinate values of the selected coordinate points are in the range of the crossing area, and if so, judging that the AGVs entering the crossing area exist.

5. The restricted scheduling method for AGV crossing areas according to claim 1 or 2, wherein in step S1, the specific implementation manner of counting the AGV number a in the crossing area is as follows:

6. The method of claim 1 or 2, wherein in step S3, if there are a plurality of AGVs requiring release, the AGVs are released in order of priority from high to low.

7. The method of claim 5, wherein the priority is set in one of the following manners:

8. The method of claim 3, wherein said step S4, said step of controlling parking includes the following steps:

9. An AGV dispatching system for implementing the method of claim 1, the system comprising:

the driving field comprises a cross area and is used for driving the AGV;

10. The AGV dispatching system of claim 9, wherein the travel yard further comprises a first electronic boundary and a second electronic boundary, and wherein a deceleration zone and a stop zone are disposed between the first electronic boundary and the second electronic boundary.