CN112183833A - AGV multi-vehicle collision determination method, device and equipment based on time prediction - Google Patents
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Abstract
The invention discloses an AGV multi-vehicle collision judgment method, device and equipment based on time prediction, wherein the method comprises the following steps: calculating the predicted arrival time and the predicted departure time of all AGV vehicles; judging whether the situation that the AGV and other vehicles enter the area simultaneously exists in a certain area or not, or the situation that the AGV enters but does not leave and other vehicles enter the area within the time is existed; if the above situation exists, it is determined that the area is the collision point area at this time. The invention effectively avoids collision of two or more AGVs, and greatly improves the working efficiency of the AGVs for executing tasks. The invention provides the predicted arrival time and the predicted departure time data of the AGV reaching a certain area for the AGV dispatching system, and according to the priority passing principle close to the collision point, the collision of two or more AGVs reaching a certain area at the same time is avoided, thereby achieving the purpose of collision prevention.
Description
Technical Field
The invention relates to an AGV multi-vehicle collision judgment method, device and equipment based on time prediction, and belongs to the technical field of AGV scheduling.
Background
The path planning technology is a very interesting field in the research of AGV (Automated Guided Vehicle) car technology. The path planning is to plan the driving path of the AGV in advance according to the field environment of the AGV operation. Therefore, the AGV can reduce the risk of avoiding the obstacle, and the safety and accessibility of the AGV are ensured.
The method comprises the steps that the predicted arrival time and the predicted departure time of the AGV reaching a certain area position need to be calculated in advance by the AGV dispatching system, and the AGV dispatching system conducts decision analysis according to the obtained predicted arrival time and predicted departure time so as to avoid collision when two or more AGVs reach the certain area position at the same time.
The time prediction of the current AGV scheduling system has the optimized place: time prediction is time consuming. The time prediction is influenced by factors such as the length of a route, the complexity of the route (reciprocating and other routes exist), the number of vehicles and the like, and an increasing relation is presented, so that the resource overhead of the system is high, and the aspect is to be optimized.
Disclosure of Invention
In order to solve the problems, the invention provides an AGV multi-vehicle collision determination method, device and equipment based on time prediction, which can prevent two or more AGVs from reaching a certain area position simultaneously to generate collision.
The technical scheme adopted for solving the technical problems is as follows:
in a first aspect, an AGV multi-vehicle collision determination method based on time prediction provided in an embodiment of the present invention includes the following steps:
calculating the predicted arrival time and the predicted departure time of all AGV vehicles;
judging whether the situation that the AGV and other vehicles enter the area simultaneously exists in a certain area or not, or the situation that the AGV enters but does not leave and other vehicles enter the area within the time is existed;
if the above situation exists, it is determined that the area is the collision point area at this time.
As a possible implementation manner of this embodiment, the calculation process of the predicted arrival time includes the following steps:
calculating the current position X1 of the AGV to obtain an area index number K1 corresponding to the position, wherein the goods taking action time when the AGV passes through the station is T11, and the goods placing action time is T12;
calculating the expected arrival time of a certain region L1, and obtaining a first region which is not intersected with the left side of the region L1 through loop traversal and is used as a calculation region, wherein the index number of the calculation region is M;
and (5) collecting all index areas from K1 to M to obtain the vehicle arrival time as T13, and then predicting the total arrival time as T1.
As a possible implementation manner of this embodiment, the calculation process of the total expected arrival time T1 specifically includes:
if the set of regions does not contain a station task, T1 ═ T13;
if the regional collection contains a station task of picking or putting goods, T1 ═ T11+ T13 or T1 ═ T12+ T13;
if the area contains pick-and-place two station tasks, T1 is T11+ T12+ T13.
As a possible implementation manner of this embodiment, the calculation process of the predicted leaving time includes the following steps:
calculating the current position X2 of the AGV to obtain an area index number K2 corresponding to the position, wherein the goods taking action time when the AGV passes through the station is T21, and the goods placing action time is T22;
calculating the expected arrival time of a certain region L2, and obtaining a first region which is not intersected with the right side of the region L2 through loop traversal and is used as a calculation region, wherein the index number of the calculation region is N;
and (4) collecting all index areas from K2 to N to obtain the arrival time of the vehicle as T23, and then predicting the total departure time as T2.
As a possible implementation manner of this embodiment, the specific calculation process of the total leaving time T2 is as follows:
if the set of regions does not contain a station task, T2 ═ T23;
if the regional collection contains a station task that includes picking or putting, T2-T21 + T23 or T2-T22 + T23;
if the area contains pick-and-place two station tasks, T2 is T21+ T22+ T23.
As a possible implementation manner of this embodiment, before calculating the estimated arrival time and the estimated departure time of all AGV cars, the method further includes the following steps:
and splitting the AGV task route into a plurality of intersected areas, and performing multi-vehicle collision calculation in the areas.
In a second aspect, an AGV multi-vehicle collision determination apparatus based on time prediction according to an embodiment of the present invention includes:
the time calculation module is used for calculating the predicted arrival time and the predicted departure time of all AGV cars;
the system comprises a vehicle entering condition judging module, a vehicle entering condition judging module and a vehicle entering condition judging module, wherein the vehicle entering condition judging module is used for judging whether the condition that an AGV and other vehicles enter simultaneously exists in a certain area or whether the AGV enters but does not leave, and other vehicles enter the area in the period of time;
and the area judging module is used for judging that the area is the collision point area at the moment if the situation exists.
As a possible implementation manner of this embodiment, the AGV multi-vehicle collision determination apparatus based on time prediction further includes:
and the task route splitting module is used for splitting the AGV task route into a plurality of intersected areas.
In a third aspect, an embodiment of the present invention provides a computer device, including a processor, a memory and a bus, where the memory stores machine-readable instructions executable by the processor, and when the apparatus is operating, the processor and the memory communicate with each other via the bus, and the processor executes the machine-readable instructions to perform the steps of any of the above AGV multi-vehicle collision determination methods based on time prediction.
In a fourth aspect, embodiments of the present invention provide a storage medium having a computer program stored thereon, where the computer program is executed by a processor to perform the steps of any of the above-described AGV multi-vehicle collision determination methods based on time prediction.
The technical scheme of the embodiment of the invention has the following beneficial effects:
when the multi-vehicle collision is judged, whether the vehicle enters the certain area simultaneously with other vehicles or whether the vehicle enters the certain area but does not exit yet and other vehicles enter the certain area during the time is judged according to the calculated estimated arrival time and estimated departure time, and the certain area is the collision point area. The invention effectively avoids collision of two or more AGVs, and greatly improves the working efficiency of the AGVs for executing tasks.
The invention provides the predicted arrival time and the predicted departure time data of the AGV reaching a certain area for the AGV dispatching system, and the dispatching decision of the AGV system is based on the priority release principle close to the collision point, so that the two or more AGVs are prevented from reaching the position of the certain area at the same time to collide, and the purpose of collision prevention is achieved.
Description of the drawings:
FIG. 1 is a flow chart illustrating a method for AGV multiple car collision determination based on temporal prediction in accordance with an exemplary embodiment;
FIG. 2 is a block diagram of an AGV multiple vehicle collision determination device based on time prediction according to an exemplary embodiment;
FIG. 3 is a block diagram illustrating a computer device according to an example embodiment.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
in order to clearly explain the technical features of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings. The following disclosure provides many different embodiments, or examples, for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. It should be noted that the components illustrated in the figures are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and procedures are omitted so as to not unnecessarily limit the invention.
FIG. 1 is a flow chart illustrating a method for AGV multiple car collision determination based on temporal prediction according to an exemplary embodiment. As shown in fig. 1, an AGV multi-vehicle collision determination method based on time prediction according to an embodiment of the present invention includes the following steps:
calculating the predicted arrival time and the predicted departure time of all AGV vehicles;
judging whether the situation that the AGV and other vehicles enter the area simultaneously exists in a certain area or not, or the situation that the AGV enters but does not leave and other vehicles enter the area within the time is existed;
if the above situation exists, it is determined that the area is the collision point area at this time.
As a possible implementation manner of this embodiment, the calculation process of the predicted arrival time includes the following steps:
calculating the current position X1 of the AGV to obtain an area index number K1 corresponding to the position, wherein the goods taking action time when the AGV passes through the station is T11, and the goods placing action time is T12;
calculating the expected arrival time of a certain region L1, and obtaining a first region which is not intersected with the left side of the region L1 through loop traversal and is used as a calculation region, wherein the index number of the calculation region is M;
the total expected arrival time is T1 when the estimated arrival time without any station is T13 by calculating the set of all index regions from K1 to M.
As a possible implementation manner of this embodiment, the calculation process of the total predicted arrival time T1 is as follows:
calculating the predicted total arrival time by classifying according to whether the K1-M region set contains the station tasks or not, and recording the predicted total arrival time as T1;
if the set of regions does not contain a station task, T1 ═ T13;
if the regional collection contains a station task of picking or putting goods, T1 ═ T11+ T13 or T1 ═ T12+ T13;
if the area contains pick-and-place two station tasks, T1 is T11+ T12+ T13.
As a possible implementation manner of this embodiment, the calculation process of the predicted leaving time includes the following steps:
calculating the current position X2 of the AGV to obtain an area index number K2 corresponding to the position, wherein the goods taking action time when the AGV passes through the station is T21, and the goods placing action time is T22;
calculating the expected arrival time of a certain region L2, and obtaining a first region which is not intersected with the right side of the region L2 through loop traversal and is used as a calculation region, wherein the index number of the calculation region is N;
the total time of departure is T2 when the estimated time of departure without a station is T23 by calculating the set of all index regions K2 to N.
As a possible implementation manner of this embodiment, the specific calculation process of the total leaving time T2 is as follows:
calculating the predicted total leaving time T2 by classifying according to whether the K2-N region set contains the station tasks;
if the set of regions does not contain a station task, T2 ═ T23;
if the regional collection contains a station task that includes picking or putting, T2-T21 + T23 or T2-T22 + T23;
if the area contains pick-and-place two station tasks, T2 is T21+ T22+ T23.
As a possible implementation manner of this embodiment, before calculating the estimated arrival time and the estimated departure time of all AGV cars, the method further includes the following steps:
and splitting the AGV task route into a plurality of intersected areas, and performing multi-vehicle collision calculation in the areas.
After the tasks are distributed to the AGVs, the walking route of the tasks is known, the AGV route is divided into a plurality of intersecting areas, a model of the estimated time of the AGV reaching a certain area and the estimated leaving time is constructed, the model is converted into a mathematical formula to be solved, and the required time data can be obtained.
According to the embodiment of the invention, whether the situation that the vehicle and other vehicles enter simultaneously exists in a certain area or the situation that the vehicle already enters but does not leave and other vehicles enter in the same time is judged according to the calculated estimated arrival time and estimated departure time, and the area is the collision point area. The invention effectively avoids collision of two or more AGVs, and greatly improves the working efficiency of the AGVs for executing tasks.
FIG. 2 is a block diagram of an AGV multiple vehicle collision determination device based on time prediction according to an exemplary embodiment. As shown in fig. 2, an AGV multiple-vehicle collision determination apparatus based on time prediction according to an embodiment of the present invention includes:
the time calculation module is used for calculating the predicted arrival time and the predicted departure time of all AGV cars;
the system comprises a vehicle entering condition judging module, a vehicle entering condition judging module and a vehicle entering condition judging module, wherein the vehicle entering condition judging module is used for judging whether the condition that an AGV and other vehicles enter simultaneously exists in a certain area or whether the AGV enters but does not leave, and other vehicles enter the area in the period of time;
and the area judging module is used for judging that the area is the collision point area at the moment if the situation exists.
As a possible implementation manner of this embodiment, the AGV multi-vehicle collision determination apparatus based on time prediction further includes:
and the task route splitting module is used for splitting the AGV task route into a plurality of intersected areas.
As a possible implementation manner of this embodiment, the time calculation module includes an estimated arrival time calculation module and an estimated departure time calculation module.
The predicted arrival time calculation module is specifically configured to:
calculating the current position X1 of the AGV to obtain an area index number K1 corresponding to the position, wherein the goods taking action time when the AGV passes through the station is T11, and the goods placing action time is T12;
calculating the expected arrival time of a certain region L1, and obtaining a first region which is not intersected with the left side of the region L1 through loop traversal and is used as a calculation region, wherein the index number of the calculation region is M;
and (5) collecting all index areas from K1 to M to obtain the vehicle arrival time as T13, and then predicting the total arrival time as T1.
The calculation process of the estimated total arrival time T1 specifically includes:
calculating the predicted total arrival time by classifying according to whether the K1-M region set contains the station tasks or not, and recording the predicted total arrival time as T1;
if the area set does not contain station tasks, T1 ═ T13;
if the regional collection contains a platform task for picking or putting goods, T1-T11 + T13 or T1-T12 + T13;
if the area contains two station tasks, T1 is T11+ T12+ T13.
The predicted arrival time calculation module is specifically configured to:
calculating the current position X2 of the AGV to obtain an area index number K2 corresponding to the position, wherein the goods taking action time when the AGV passes through the station is T21, and the goods placing action time is T22;
calculating the expected arrival time of a certain region L2, and obtaining a first region which is not intersected with the right side of the region L2 through loop traversal and is used as a calculation region, wherein the index number of the calculation region is N;
acquiring the arrival time of the vehicle as T23 by collecting all index areas from K2 to N, and predicting the total departure time as T2;
the specific calculation process of the total leaving time T2 is as follows:
calculating the predicted total leaving time T2 by classifying according to whether the K2-N region set contains the station tasks;
if the set of regions does not contain a station task, T2 ═ T23;
if the regional collection contains a station task that includes picking or putting, T2-T21 + T23 or T2-T22 + T23;
if the area contains pick-and-place two station tasks, T2 is T21+ T22+ T23.
When the multi-vehicle collision is judged, whether the vehicle enters the certain area simultaneously with other vehicles or whether the vehicle enters the certain area but does not exit yet and other vehicles enter the certain area during the time is judged according to the calculated estimated arrival time and estimated departure time, and the certain area is the collision point area. The invention effectively avoids collision of two or more AGVs, and greatly improves the working efficiency of the AGVs for executing tasks.
The invention provides the predicted arrival time and the predicted departure time data of the AGV reaching a certain area for the AGV dispatching system, and the dispatching decision of the AGV system is based on the priority release principle close to the collision point, so that the two or more AGVs are prevented from reaching the position of the certain area at the same time to collide, and the purpose of collision prevention is achieved.
FIG. 3 is a block diagram illustrating a computer device according to an example embodiment. As shown in fig. 3, an embodiment of the present invention provides a computer device, which includes a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, when the apparatus is operating, the processor and the memory communicate with each other via the bus, and the processor executes the machine-readable instructions to perform the steps of any AGV multi-vehicle collision determination method based on time prediction as described above.
Specifically, the memory and the processor can be general-purpose memory and processor, which are not limited to specific embodiments, and the AGV multi-vehicle collision determination method based on the time prediction can be executed when the processor runs a computer program stored in the memory.
Those skilled in the art will appreciate that the configuration of the computer device shown in fig. 3 does not constitute a limitation of the computer device and may include more or fewer components than shown, or some components may be combined, or some components may be split, or a different arrangement of components.
In some embodiments, the computer device may further include a touch screen operable to display a graphical user interface (e.g., a launch interface for an application) and receive user operations with respect to the graphical user interface (e.g., launch operations with respect to the application). A particular touch screen may include a display panel and a touch panel. The Display panel may be configured in the form of an LCD (Liquid Crystal Display), an OLED (Organic Light-Emitting Diode), and the like. The touch panel may collect contact or non-contact operations on or near the touch panel by a user and generate preset operation instructions, for example, operations of the user on or near the touch panel using any suitable object or accessory such as a finger, a stylus, etc. In addition, the touch panel may include two parts of a touch detection device and a touch controller. The touch detection device detects the touch direction and gesture of a user, detects signals brought by touch operation and transmits the signals to the touch controller; the touch controller receives touch information from the touch detection device, converts the touch information into information capable of being processed by the processor, sends the information to the processor, and receives and executes commands sent by the processor. In addition, the touch panel may be implemented by various types such as a resistive type, a capacitive type, an infrared ray, a surface acoustic wave, and the like, and may also be implemented by any technology developed in the future. Further, the touch panel may overlay the display panel, a user may operate on or near the touch panel overlaid on the display panel according to a graphical user interface displayed by the display panel, the touch panel detects an operation thereon or nearby and transmits the operation to the processor to determine a user input, and the processor then provides a corresponding visual output on the display panel in response to the user input. In addition, the touch panel and the display panel can be realized as two independent components or can be integrated.
Corresponding to the starting method of the application program, the embodiment of the invention also provides a storage medium, wherein the storage medium is stored with a computer program, and the computer program is executed by a processor to execute the steps of the AGV multi-vehicle collision judgment method based on time prediction.
The starting device of the application program provided by the embodiment of the application program can be specific hardware on the device or software or firmware installed on the device. The device provided by the embodiment of the present application has the same implementation principle and technical effect as the foregoing method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the foregoing method embodiments where no part of the device embodiments is mentioned. It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the foregoing systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of modules is merely a division of logical functions, and an actual implementation may have another division, and for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or modules through some communication interfaces, and may be in an electrical, mechanical or other form.
Modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments provided in the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules are integrated into one module.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (10)
1. An AGV multi-vehicle collision judgment method based on time prediction is characterized by comprising the following steps:
calculating the predicted arrival time and the predicted departure time of all AGV vehicles;
judging whether the situation that the AGV and other vehicles enter the area simultaneously exists in a certain area or not, or the situation that the AGV enters but does not leave and other vehicles enter the area within the time is existed;
if the above situation exists, it is determined that the area is the collision point area at this time.
2. The AGV multi-vehicle collision determination method according to claim 1, wherein said estimated time of arrival calculation process includes the steps of:
calculating the current position X1 of the AGV to obtain an area index number K1 corresponding to the position, wherein the goods taking action time when the AGV passes through the station is T11, and the goods placing action time is T12;
calculating the expected arrival time of a certain region L1, and obtaining a first region which is not intersected with the left side of the region L1 through loop traversal and is used as a calculation region, wherein the index number of the calculation region is M;
the total expected arrival time is T1 when the estimated arrival time without any station is T13 by calculating the set of all index regions from K1 to M.
3. The AGV multi-vehicle collision determination method according to claim 2, wherein said total estimated arrival time T1 is calculated by:
if the set of regions does not contain a station task, T1 ═ T13;
if the regional collection contains a station task of picking or putting goods, T1 ═ T11+ T13 or T1 ═ T12+ T13;
if the area contains pick-and-place two station tasks, T1 is T11+ T12+ T13.
4. The AGV multi-vehicle collision determination method according to claim 1, wherein said estimated time-to-exit calculation process includes the steps of:
calculating the current position X2 of the AGV to obtain an area index number K2 corresponding to the position, wherein the goods taking action time when the AGV passes through the station is T21, and the goods placing action time is T22;
calculating the expected arrival time of a certain region L2, and obtaining a first region which is not intersected with the right side of the region L2 through loop traversal and is used as a calculation region, wherein the index number of the calculation region is N;
and (4) collecting all index areas from K2 to N to obtain the arrival time of the vehicle as T23, and then predicting the total departure time as T2.
5. The AGV multiple vehicle collision determination method based on time prediction of claim 4, wherein the specific calculation process for the total estimated departure time T2 is as follows:
if the set of regions does not contain a station task, T2 ═ T23;
if the regional collection contains a station task that includes picking or putting, T2-T21 + T23 or T2-T22 + T23;
if the area contains pick-and-place two station tasks, T2 is T21+ T22+ T23.
6. The AGV multiple vehicle collision determination method based on time prediction of any one of claims 1 to 5, further comprising the following steps before calculating the estimated arrival time and estimated departure time of all AGV vehicles:
and splitting the AGV task route into a plurality of intersected areas, and performing multi-vehicle collision calculation in the areas.
7. The utility model provides a many cars of AGV collision decision maker based on time prediction which characterized by includes:
the time calculation module is used for calculating the predicted arrival time and the predicted departure time of all AGV cars;
the system comprises a vehicle entering condition judging module, a vehicle entering condition judging module and a vehicle entering condition judging module, wherein the vehicle entering condition judging module is used for judging whether the condition that an AGV and other vehicles enter simultaneously exists in a certain area or whether the AGV enters but does not leave, and other vehicles enter the area in the period of time;
and the area judging module is used for judging that the area is the collision point area at the moment if the situation exists.
8. The AGV multiple-car collision determination device according to claim 7, further comprising:
and the task route splitting module is used for splitting the AGV task route into a plurality of intersected areas.
9. A computer device comprising a processor, a memory and a bus, said memory storing machine readable instructions executable by said processor, said processor and said memory communicating via said bus when said apparatus is operating, said processor executing said machine readable instructions to perform the steps of the method for AGV multi-vehicle collision determination based on temporal prediction according to any one of claims 1-6.
10. A storage medium having stored thereon a computer program for executing the steps of the AGV multiple car collision determination method based on time prediction according to any one of claims 1 to 6 when executed by a processor.
Priority Applications (1)
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| CN113963562A (en) * | 2021-12-21 | 2022-01-21 | 北京慧拓无限科技有限公司 | Avoidance method and device for multiple vehicles in working area |
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