CN111653098B - Intersection passing sequence optimization method for automatic guided vehicle with multiple loading capacity - Google Patents
Intersection passing sequence optimization method for automatic guided vehicle with multiple loading capacity Download PDFInfo
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Abstract
The invention relates to a method for optimizing the traffic sequence of a multi-load automatic guided vehicle intersection, and belongs to the field of intelligent manufacturing. Firstly, acquiring the information of an automatic guidance vehicle with a large load capacity at a certain intersection of a conveying system, generating a path vehicle queue of all input paths, and generating an intersection waiting queue; then, generating an intersection passing sequence according to an intersection bidding passing rule, and setting a vehicle to be permitted to pass; then, judging whether a vehicle to be allowed to pass through the intersection can cause loop deadlock; and finally, setting a vehicle allowing the vehicle to pass, and updating the intersection waiting queue and the path vehicle queue corresponding to the input path after the vehicle to pass through the intersection. The method considers the intersection passing sequence and the loop deadlock problem, optimizes the intersection passing sequence, avoids the loop deadlock caused by path conflict, and improves the efficiency and the punctuality rate of the conveying system.
Description
Technical Field
The invention relates to the field of intelligent control, in particular to a method for optimizing the traffic sequence of an intersection of a multi-load automatic guided vehicle.
Background
An Automated Guided Vehicle (AGV) is a common material handling device in a workshop, and can be divided into a single-load AGV and a multi-load AGV according to a rated load. Compare the single capacity volume AGV, many capacity volume AGV supports multitask simultaneous transport, reducible total transport distance of system, shortens the biggest completion time of system, has higher adaptability to material handling system high efficiency, low cost, punctual requirement.
However, in the AGV material handling system with multiple loads, there are situations that multiple AGVs wait for passing at the same intersection, and due to different deadlines of the handling tasks executed by each AGV, when there are multiple tasks with close deadlines or the number of AGVs with multiple loads in the system is large, the problems of delayed delivery of multiple tasks, blocked paths, etc. may be caused by the advanced passing principle. The conventional documents related to AGV material handling are consulted, the research on the problem of the AGV with the overload amount is less, the problem of deadlock caused by insufficient loading capacity of the AGV with the overload amount is mainly solved, for example, in the Chinese invention patent with the publication number of CN107544513A, and in the aspect of optimizing the vehicle passing sequence of the intersection in the AGV material handling system with the overload amount, the relevant research documents are not available.
Disclosure of Invention
In order to solve the technical defects in the prior art, the invention provides a method for optimizing the intersection passing sequence of a Multi-load automatic Guided Vehicle (Multi-load AGV), which solves the problem of intersection conflict in the prior art and simultaneously improves the punctuality rate of a material handling system by optimizing the intersection passing sequence of the Multi-load automatic Guided Vehicle.
The invention is realized by the following technical scheme:
the method for optimizing the traffic sequence of the intersection of the automatic guided vehicle with the multiple loads comprises the following steps:
step 1: the method comprises the steps of periodically obtaining the information of the automatic guidance vehicle with the overload capacity at a certain intersection of a conveying system, generating a path vehicle queue of all input paths, and generating an intersection waiting queue;
step 2: judging whether the intersection waiting queue is empty or not, if not, entering a step 3, and if so, entering a step 1;
and step 3: judging whether the intersection waiting queue changes or not, if so, entering a step 4, and if not, entering a step 1;
and 4, step 4: generating an intersection passing sequence according to an intersection bidding passing rule, and setting an automatic guidance vehicle with a high load capacity at the head of the sequence as a vehicle to be allowed to pass;
and 5: judging whether a vehicle which is to be allowed to pass through the intersection can cause loop deadlock, if so, entering step 6, and if not, entering step 9;
step 6: judging whether the vehicle to be admitted is an automatic guidance vehicle with a plurality of loads at the end of the sequence, if so, entering a step 7, and if not, entering a step 8;
and 7: processing the potential loop deadlock problem according to a loop deadlock solution, and entering a step 4;
and 8: setting the next automatic guidance vehicle with the overload capacity in the crossing traffic sequence as a vehicle to be allowed to pass, and entering the step 5;
and step 9: setting a vehicle to be permitted to pass as a vehicle to be permitted to pass, updating a path vehicle queue of an input path after the vehicle to be permitted to pass passes through the intersection, updating an intersection waiting queue, and entering the step 2;
further, the information of the automatic guided vehicles with the large capacity includes the length of each automatic guided vehicle with the large capacity on each input path and each output path of the intersection, the deadline of all tasks of each automatic guided vehicle with the large capacity and the planned path.
Further, the intersection bidding passing rule comprises the following steps:
step 1.1: determining the task urgency of all tasks of the automatic guidance vehicles with the overload capacity in the intersection waiting queue according to the task urgency calculation method, and determining the conveying urgency of the automatic guidance vehicles with the overload capacity in the intersection waiting queue according to the conveying urgency rule of the automatic guidance vehicles with the overload capacity;
step 1.2: determining the traffic load balance degree of the automatic guidance vehicle with the overload amount in the intersection waiting queue according to the traffic load balance degree calculation method;
step 1.3: determining the comprehensive bidding price of the automatic guidance vehicle with the overload capacity in the intersection waiting queue according to the comprehensive bidding price calculation method of the automatic guidance vehicle with the overload capacity;
step 1.4: and generating a crossing traffic sequence, and arranging the automatic guidance vehicles with the large load in the sequence according to the comprehensive bidding price descending order.
Further, the task urgency degree calculation method comprises the following steps:
in the formula, Eij(t)、TijRespectively the estimated finish time and the deadline time of the jth delivery task which is not yet executed of the ith vehicle with the heavy load automatic guided vehicle in the intersection waiting queue, and EijThe formula for calculation of (t) is:
Eij(t)＝Ei(j-1)(t)+Td(j)+αSi,(j-1),j/v (2)
in the formula, Td(j) The material unloading time of the distribution task, alpha is the influence coefficient of the traffic flow on the remaining journey time of the distribution task, Si,(j-1),jThe distance from the jth delivery task unloading point to the jth delivery task unloading point of the ith automatic guidance vehicle with the overload capacity in the intersection waiting queue is shown as v, the average speed of the automatic guidance vehicle with the overload capacity is shown as Ei(j-1)(t) is the estimated completion time of the j-1 delivery task of the ith vehicle with the overload capacity automatic guided vehicle in the intersection waiting queue. Assuming that the current time is t, and the ith vehicle with the overload capacity in the intersection waiting queue is executing the kth distribution task, the estimated completion time of the task is as follows:
Eik(t)＝t+Td(k)+αS'ik/v (3)
of formula (II) S'ikAnd (4) automatically guiding the distance between the current position of the ith vehicle with the overload amount in the intersection waiting queue and the unloading point of the delivery task currently executed by the ith vehicle.
Further, the value range of the influence coefficient of the traffic flow on the residual journey time of the distribution task is 1.2-1.5.
Further, the rule of the conveying urgency degree of the multi-load automatic guided vehicle is as follows:
conveying tightness U of automatic guidance vehicle with multiple load quantitiesi(t) is equal to the station overhead automaticTask urgency U of all delivery tasks of a guided vehicleijMaximum value in (t).
Further, the traffic load balance degree calculation method comprises the following steps:
in the formula etai,p、ηi,qThe traffic load of the path section where the ith vehicle with the heavy load is positioned in the intersection waiting queue and the traffic load of the path section to be entered are respectively, and eta isi,p、ηi,qThe calculation method comprises the following steps:
in the formula, Ni,pThe total number N of the automatic guidance vehicles with the overload capacity on the current path section of the ith automatic guidance vehicle in the intersection waiting queuei,qThe total number of the multi-load automatic guided vehicles on the section of the path to which the multi-load automatic guided vehicle is about to enter, LkIs the length L 'of the kth multi-load automatic guided vehicle on the path section where the multi-load automatic guided vehicle is currently located'kFor the length, L, of the kth multi-load automated guided vehicle on the section of the path that the multi-load automated guided vehicle is about to enteri,pThe total length L of the current path section of the automatic guidance vehicle with the overload capacityi,qThe total length of the path section to be entered by the automatic guided vehicle is the overloaded.
Further, the comprehensive bidding price calculation method of the automatic guided vehicle with the multiple loading capacity comprises the following steps:
Wi(t)＝w1Ui(t)+w2Ai(t) (7)
in the formula, w1And w2Respectively for conveyingWeight of degree and traffic load balance degree, wherein w1+w21, and w1、w2Are both positive.
Further, the loop deadlock solution is artificial interference.
Compared with the prior art, the invention has at least the following beneficial effects or advantages:
the invention provides a method for optimizing the intersection passing sequence of an automatic guided vehicle with multiple loads, which optimizes the AGV passing sequence of the intersection, considers the problem of possible loop deadlock, solves the problems of delayed delivery of multiple tasks, path blockage and the like possibly caused by the conventional advanced passing principle, and improves the carrying efficiency and the punctuality rate of a system.
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FIG. 1 is a flow chart of the method for optimizing the intersection traffic sequence of the automatic guided vehicle with multiple loads.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. 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.
Because the traffic control system of the automatic guided vehicle with the large carrying capacity is complex, the following assumptions are made for the conveying system:
1. the unloading time of the AGV with the large loading capacity is fixed, and if a plurality of AGVs are at the same loading and unloading point, queuing is needed;
2. once the AGV starts to carry and convey, the path cannot be automatically changed and the unloading sequence of tasks cannot be adjusted;
3. the idle AGV with the large load capacity stays at a specific task waiting point to wait for the next material distribution task, and the passing of other AGV with the large load capacity in the path network is not influenced;
4. the path network of the conveying system is a one-way single lane and does not support overtaking;
5. the intersection consists of 1 intersection and a plurality of input and output paths, wherein the number of the input paths is not less than 2, and the number of the output paths is not less than 1.
Fig. 1 is a flowchart of the method for optimizing the intersection traffic sequence of the automatic guided vehicle with multiple load quantities, and the method for optimizing the intersection traffic sequence of the automatic guided vehicle with multiple load quantities specifically comprises the following steps:
step 1: the method comprises the steps of periodically obtaining the information of the automatic guidance vehicle with the overload capacity at a certain intersection of a conveying system, generating a path vehicle queue of all input paths, and generating an intersection waiting queue.
When a crossing traffic sequence optimization method of the automatic guidance vehicles with the high carrying capacity is started at a certain crossing of the conveying system, the conveying system periodically acquires the information of the automatic guidance vehicles with the high carrying capacity of the crossing, wherein the information comprises the length of each input path and each automatic guidance vehicle with the high carrying capacity on an output path of the crossing, the deadline of all tasks of each automatic guidance vehicle with the high carrying capacity and a planned path. And generating a path vehicle queue of all input paths based on the acquired overload automatic guidance information of the intersection, wherein the path vehicle queue of the input paths consists of all overload automatic guidance vehicles which are currently positioned on the input paths, and sequencing from near to far according to the distance from the intersection. And acquiring the first excess capacity AGVs of the path vehicle queues of all input paths of the intersection, and generating an intersection waiting queue, wherein the intersection waiting queue is composed of the first excess capacity AGVs of all input paths of the intersection. The first-position overload AGV is an automatic overload guiding vehicle which is waiting for passing and is positioned at the first position of a vehicle queue of a path on each input path of the intersection.
Step 2: and (3) judging whether the intersection waiting queue is empty or not, if not, entering the step 3, and if so, entering the step 1.
Judging whether the intersection waiting queue is an empty set, if not, judging whether the intersection waiting queue has excess AGV, entering step 3, judging whether the intersection waiting queue changes, if so, judging whether the intersection waiting queue has no excess AGV, entering step 1, waiting for periodic triggering, and acquiring the excess AGV information of the intersection again.
And step 3: and (4) judging whether the intersection waiting queue changes, if so, entering the step 4, and if not, entering the step 1.
When the intersection starts the traffic sequence optimization method, an intersection waiting queue is generated, if the input path of the intersection has a plurality of AGV, the first AGV of the path vehicle queues of all the input paths of the intersection form the intersection waiting queue, therefore, the intersection waiting queue is no longer an empty set and changes, the step 4 is entered, if the input path of the intersection has no AGV, the intersection waiting queue is always an empty set and does not change, and the step 1 is entered.
And 4, step 4: and generating an intersection passing sequence according to the intersection bidding passing rule, and setting the overload automatic guided vehicle at the head of the sequence as a vehicle to be allowed to pass.
And determining an intersection passing sequence of the intersection according to the intersection bidding passing rule, and setting the high-capacity AGV positioned at the head of the intersection passing sequence as a vehicle to be permitted to pass.
And 5: and (4) judging whether the vehicle to be allowed to pass through the intersection causes loop deadlock, if so, entering the step 6, and if not, entering the step 9.
Firstly, judging whether a vehicle to be admitted to pass through the intersection and enter the next path in the planned path, if so, entering step 6, and if not, entering step 9.
It should be noted that the deadlock of the loop means that none of the AGVs with the excess capacity on the loop can move forward according to the planned path, and the condition for forming the loop is that the path that the first AGVs with the excess capacity on all the paths forming the loop will enter still belongs to the loop. Since the loop deadlock determination method is not a substantial feature of the present invention compared with the prior art, the loop deadlock determination method is not further explained in the embodiment of the present invention.
Step 6: and (4) judging whether the vehicle to be allowed to pass is the automatic guidance vehicle with the overload capacity at the end of the sequence, if so, entering a step 7, and if not, entering a step 8.
When the vehicle to be allowed to pass through the intersection causes loop deadlock, whether the vehicle to be allowed to pass through is the AGV with the capacity at the end of the crossing passing sequence needs to be judged, if yes, the step 7 is carried out, and if not, the step 8 is carried out.
And 7: and (4) processing the potential loop deadlock problem according to the loop deadlock solution, and entering the step 4.
And (4) when the vehicle to be allowed to pass enters the intersection to cause loop deadlock, and the vehicle to be allowed to pass is the AGV with the high load capacity at the end of the intersection passing sequence, processing the potential loop deadlock problem of the current transportation system according to a loop deadlock solution method, and then entering the step 4. In this embodiment, the loop deadlock method is artificial interference, that is, several AGVs with multiple loads in the loop are manually driven away from the original path temporarily.
It should be noted that another loop deadlock solution may be selected according to the actual situation, for example, a path re-planning method is used, that is, the paths of a plurality of AGVs with a large load in the loop are re-planned to leave the loop actively.
And 8: and (5) setting the next automatic guidance vehicle with the high load capacity in the crossing traffic sequence as the vehicle to be allowed to pass, and entering the step 5.
When the vehicle to be allowed to pass through enters the intersection to cause loop deadlock, and other AGV with large capacity exist after the vehicle to be allowed to pass through in the intersection passing sequence, the AGV with large capacity located one bit behind the current vehicle to be allowed to pass through in the intersection passing sequence is set as a new vehicle to be allowed to pass through, and then the step 5 is carried out to judge loop deadlock.
And step 9: and (3) setting the vehicles to be allowed to pass as the vehicles to be allowed to pass, updating the path vehicle queue of the input path after the vehicles to be allowed to pass through the intersection, updating the intersection waiting queue, and entering the step 2.
And when the vehicle to be allowed to pass does not cause loop deadlock when entering the intersection, setting the vehicle to be allowed to pass as the vehicle to be allowed to pass. When the vehicle to be permitted to pass through the intersection and enters the next path in the planned path, the path vehicle queue of the input path is updated, and the intersection waiting queue is updated. And deleting the permitted vehicles in the intersection waiting queue and the path vehicle queue of the input path where the permitted vehicles are located, and adding the first excess AGV of the updated path vehicle queue into the intersection waiting queue if the excess AGV still exists in the queue after the path vehicle queue of the corresponding input path is updated. And (3) after all the updates are finished, entering the step 2, judging whether the intersection waiting queue is empty or not, and continuously performing the traffic sequence optimization method.
If the intersection waiting queue changes or the potential loop deadlock problem is processed by the system calling loop deadlock solution, a new intersection passing sequence needs to be generated according to the intersection bidding passing rule. The bidding passing rule of the intersection considers the conveying urgency degree and the traffic load balance degree of the AGV with the overload amount at the same time, wherein the conveying urgency degree of the AGV with the overload amount is adopted to minimize the maximum completion time of the system, and the traffic load balance degree is adopted to adjust the path occupation conditions of all input and output paths of the intersection and reduce the path conflict probability.
The intersection bidding passing rule comprises the following steps:
step 1.1: according to the task urgency degree calculation method, determining the task urgency degrees of all tasks of the automatic guidance vehicles with the overload capacity in the intersection waiting queue, and according to the transportation urgency degree rule of the automatic guidance vehicles with the overload capacity, determining the transportation urgency degree of the automatic guidance vehicles with the overload capacity in the intersection waiting queue.
The conveying urgency of the AGV with the large loading capacity is affected by the task urgency of all tasks on the AGV with the large loading capacity, and is specifically determined by the conveying urgency rule of the AGV with the large loading capacity. In this embodiment, the transport urgency level rule of the AGVs with the multiple loads is set as the transport urgency level U of the AGVs with the multiple loadsi(t) the urgency of task U equal to all the tasks of the AGVijMaximum value in (t). Wherein, the ith automatic guidance vehicle (hereinafter referred to as AGV) with heavy load in the crossing waiting queuei) The calculation formula of the task urgency level of the jth delivery task (hereinafter, referred to as delivery task j) that has not yet started to be executed is as follows:
in the formula, Eij(t)、TijAre respectively AGViThe estimated completion time and deadline of task j, TijFor constant values, which are attributes of the task itself, in this embodiment, EijThe formula for calculation of (t) is:
Eij(t)＝Ei(j-1)(t)+Td(j)+αSi,(j-1),j/v (2)
in the formula, Td(j) For the material unloading time of the distribution task, alpha is the influence coefficient of the traffic flow on the remaining journey time of the distribution task (in the embodiment, the value range of alpha is 1.2-1.5), and Si,(j-1),jFor AGViThe distance from the unloading point of the distribution task j-1 to the unloading point of the distribution task j, v is the average speed of the automatic guided vehicle with multiple loading capacity, Ei(j-1)(t) is AGViThe estimated completion time of task j-1.
Assuming that the current time is t, the AGViIf the kth delivery task is being executed, the estimated completion time of the task is:
Eik(t)＝t+Td(k)+αS'ik/v (3)
of formula (II) S'ikWaiting for AGV in queue for intersectioniIs located a distance from the unloading point of the delivery task it is currently executing.
Step 1.2: and determining the related traffic load balance degree of the automatic guidance vehicle with the overload amount in the intersection waiting queue according to the traffic load balance degree calculation method.
The traffic load balance degree is affected by the path occupation conditions of the input path where the multiple-load AGV is currently located and the output path to enter, and is specifically obtained by a traffic load balance degree calculation method. In this embodiment, the traffic load balance calculation method includes:
in the formula (I), the compound is shown in the specification,ηi,p、ηi,qare respectively AGViTraffic load of the currently located path segment and traffic load, η, of the upcoming path segmenti,p、ηi,qThe calculation method comprises the following steps:
in the formula, Ni,pThe total number N of the automatic guidance vehicles with the overload capacity on the current path section of the ith automatic guidance vehicle in the intersection waiting queuei,qThe total number of the multi-load automatic guided vehicles on the section of the path to which the multi-load automatic guided vehicle is about to enter, LkIs the length L 'of the kth multi-load automatic guided vehicle on the path section where the multi-load automatic guided vehicle is currently located'kFor the length, L, of the kth multi-load automated guided vehicle on the section of the path that the multi-load automated guided vehicle is about to enteri,pThe total length L of the current path section of the automatic guidance vehicle with the overload capacityi,qThe total length of the path section to be entered by the automatic guided vehicle is the overloaded.
Step 1.3: and determining the comprehensive bidding price of the automatic guidance vehicle with the excess load in the intersection waiting queue according to the comprehensive bidding price calculation method of the automatic guidance vehicle with the excess load.
The comprehensive bidding price of the AGV with the large carrying capacity is influenced by the conveying urgency degree and the traffic load balance degree of the AGV with the large carrying capacity, and is specifically obtained by a comprehensive bidding price calculation method of the automatic guided vehicle with the large carrying capacity. In this embodiment, the method for calculating the comprehensive bidding price of the automatic guided vehicle with a large load comprises the following steps:
Wi(t)＝w1Ui(t)+w2Ai(t) (7)
in the formula, w1And w2Weight of transport urgency and traffic load balance, respectively, where w1+w21, and w1、w2Are both positive.
Step 1.4: and generating a crossing traffic sequence, and arranging the automatic guidance vehicles with the large load in the sequence according to the comprehensive bidding price descending order.
And after the comprehensive bidding prices of all the AGV with the excess capacity in the crossing waiting queue are obtained, a crossing passing sequence is generated, and the AGV with the excess capacity in the sequence is arranged in a descending order according to the comprehensive bidding prices. And ending the bidding passing rule call of the intersection.
The foregoing is only a preferred embodiment of this invention and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the invention and these modifications should also be considered as the protection scope of the invention.
Claims (5)
1. A method for optimizing the traffic sequence of an intersection of an automatic guided vehicle with multiple load quantities is characterized by comprising the following steps:
step 1: the method comprises the steps of periodically obtaining the information of the automatic guidance vehicle with the overload capacity at a certain intersection of a conveying system, generating a path vehicle queue of all input paths, and generating an intersection waiting queue;
step 2: judging whether the intersection waiting queue is empty or not, if not, entering a step 3, and if so, entering a step 1;
and step 3: judging whether the intersection waiting queue changes or not, if so, entering a step 4, and if not, entering a step 1;
and 4, step 4: generating an intersection passing sequence according to an intersection bidding passing rule, and setting an automatic guidance vehicle with a high load capacity at the head of the sequence as a vehicle to be allowed to pass;
and 5: judging whether a vehicle which is to be allowed to pass through the intersection can cause loop deadlock, if so, entering step 6, and if not, entering step 9;
step 6: judging whether the vehicle to be admitted is an automatic guidance vehicle with a plurality of loads at the end of the sequence, if so, entering a step 7, and if not, entering a step 8;
and 7: processing the potential loop deadlock problem according to a loop deadlock solution, and entering a step 4;
and 8: setting the next automatic guidance vehicle with the overload capacity in the crossing traffic sequence as a vehicle to be allowed to pass, and entering the step 5;
and step 9: setting a vehicle to be permitted to pass as a vehicle to be permitted to pass, updating a path vehicle queue of an input path after the vehicle to be permitted to pass passes through the intersection, updating an intersection waiting queue, and entering the step 2;
the intersection bidding passing rule comprises the following steps of:
step 1.1: determining the task urgency of all tasks of the automatic guidance vehicles with the overload capacity in the intersection waiting queue according to the task urgency calculation method, and determining the conveying urgency of the automatic guidance vehicles with the overload capacity in the intersection waiting queue according to the conveying urgency rule of the automatic guidance vehicles with the overload capacity;
step 1.2: determining the traffic load balance degree of the automatic guidance vehicle with the overload amount in the intersection waiting queue according to the traffic load balance degree calculation method;
step 1.3: determining the comprehensive bidding price of the automatic guidance vehicle with the overload capacity in the intersection waiting queue according to the comprehensive bidding price calculation method of the automatic guidance vehicle with the overload capacity;
step 1.4: generating a crossing traffic sequence, and arranging the automatic guidance vehicles with the multiple loads in the sequence according to the comprehensive bidding price descending order;
the task urgency degree calculation method comprises the following steps:
in the formula, Eij(t)、TijRespectively the estimated finish time and the deadline time of the jth delivery task which is not yet executed of the ith vehicle with the heavy load automatic guided vehicle in the intersection waiting queue, and EijThe formula for calculation of (t) is:
Eij(t)＝Ei(j-1)(t)+Td(j)+αSi,(j-1),j/v (2)
in the formula, Td(j) The material unloading time of the jth delivery task, and alpha is the time of the traffic flow to the remaining distance of the delivery taskCoefficient of influence, Si,(j-1),jThe distance from the jth delivery task unloading point to the jth delivery task unloading point of the ith automatic guidance vehicle with the overload capacity in the intersection waiting queue is shown as v, the average speed of the automatic guidance vehicle with the overload capacity is shown as Ei(j-1)(t) the estimated completion time of the j-1 delivery task of the ith vehicle with the overload capacity automatic guided vehicle in the intersection waiting queue; assuming that the current time is t, and the ith vehicle with the overload capacity in the intersection waiting queue is executing the kth distribution task, the estimated completion time of the task is as follows:
Eik(t)＝t+Td(k)+αS'ik/v (3)
of formula (II) S'ikThe distance between the current position of the ith vehicle with the overload capacity in the intersection waiting queue and the unloading point of the delivery task currently executed by the ith vehicle;
the conveying urgency rule of the multi-load automatic guided vehicle is as follows: conveying tightness U of automatic guidance vehicle with multiple load quantitiesi(t) task urgency equal to all tasks of the automatic guidance vehicle with multiple loads Uij(t) maximum value;
the traffic load balance degree calculation method comprises the following steps:
in the formula etai,p、ηi,qThe traffic load of the path section where the ith vehicle with the heavy load is positioned in the intersection waiting queue and the traffic load of the path section to be entered are respectively, and eta isi,p、ηi,qThe calculation method comprises the following steps:
in the formula, Ni,pThe total number N of the automatic guidance vehicles with the overload capacity on the current path section of the ith automatic guidance vehicle in the intersection waiting queuei,qThe total number of the multi-load automatic guided vehicles on the section of the path to which the multi-load automatic guided vehicle is about to enter, LkIs the length L 'of the kth multi-load automatic guided vehicle on the path section where the multi-load automatic guided vehicle is currently located'kFor the length, L, of the kth multi-load automated guided vehicle on the section of the path that the multi-load automated guided vehicle is about to enteri,pThe total length L of the current path section of the automatic guidance vehicle with the overload capacityi,qThe total length of the path section to be entered by the automatic guided vehicle is the overloaded.
2. The method of claim 1, wherein the information of the automated guided vehicle comprises a length of each of the automated guided vehicles with multiple loads on each of an input path and an output path of the intersection, an expiration time of all tasks of each of the automated guided vehicles with multiple loads, and a planned path.
3. The method of optimizing the intersection traffic sequence of an automated guided vehicle of claim 1, wherein the loop deadlock resolution is a human intervention.
4. The method for optimizing intersection traffic sequence of the automatic guided vehicle with multiple loads according to claim 1, wherein the comprehensive bidding calculation method of the automatic guided vehicle with multiple loads comprises the following steps:
Wi(t)＝w1Ui(t)+w2Ai(t) (7)
in the formula, w1And w2Weight of transport urgency and traffic load balance, respectively, where w1+w21, and w1、w2Are both positive.
5. The method of any of claims 1 to 4, wherein the unloading time of the automated guided vehicle with multiple loads of the conveying system is fixed, and if a plurality of automated guided vehicles with multiple loads are at the same loading and unloading point, the automated guided vehicles need to wait in line;
once the multi-load automatic guided vehicle starts carrying and conveying, the path cannot be changed automatically, and the task unloading sequence cannot be adjusted;
the idle automatic guidance vehicle with the large load capacity stays at a specific task waiting point to wait for the next material distribution task, and the passing of other automatic guidance vehicles with the large load capacity in the path network is not influenced;
the path network of the conveying system is a one-way single lane and does not support overtaking;
the intersection consists of 1 intersection and a plurality of input and output paths, wherein the number of the input paths is not less than 2, and the number of the output paths is not less than 1.
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| CN112652180A (en) * | 2020-11-20 | 2021-04-13 | 芜湖格陆博智能科技有限公司 | Distributed control method and system for efficient running of intelligent vehicle at intersection without signal lamp |
| CN113470407B (en) * | 2021-06-21 | 2023-03-24 | 上汽通用五菱汽车股份有限公司 | Vehicle speed guiding method for multi-intersection passing, server and readable storage medium |
| CN113256961B (en) * | 2021-06-25 | 2022-05-24 | 上海交通大学 | Crossing autonomous vehicle scheduling and control method based on vehicle formation |
| CN113899383B (en) * | 2021-11-22 | 2024-04-19 | 上海西井科技股份有限公司 | Multi-vehicle deadlock prevention method, system, equipment and storage medium based on short path |
| CN115457786B (en) * | 2022-09-05 | 2023-09-26 | 白犀牛智达(北京)科技有限公司 | Method for passing through intersection of unmanned low-speed vehicle |
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