CN112445217A - Method and device for controlling AGV to travel and storage medium - Google Patents
Method and device for controlling AGV to travel and storage medium Download PDFInfo
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- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
Abstract
The application discloses a method, a device and a storage medium for controlling AGV traveling, in particular to a method for obtaining a locked traveling point queue of each AGV, determining traveling points needing to be pre-locked in unlocked traveling point queues corresponding to the AGVs according to the locked traveling point queues of the AGVs, generating pre-locked traveling point queues, detecting whether the traveling points in the pre-locked traveling point queues of each AGV and the locked traveling point queues of other AGVs form a loop or not, determining the traveling points which do not form the loop as the traveling points with successful locking, recording the traveling points with successful locking, issuing the recorded traveling point queues formed by the traveling points with successful locking to the corresponding AGVs, and enabling the AGVs to travel along the traveling point queues formed by the traveling points with successful locking. According to the method and the device, whether the running route of the AGV possibly forms a loop is monitored in real time, and the priority of a locking point is adjusted according to whether the loop is formed, so that the loop is avoided.
Description
Technical Field
The application relates to the field of warehouse logistics, in particular to a method and a device for controlling AGV traveling and a storage medium.
Background
An Automatic Guided Vehicle (AGV) is widely used in an Automated logistics system due to its advantages of high working efficiency, simple structure, strong controllability, good safety, etc. In a scenario of controlling an AGV that walks based on code points, the travel planning of the AGV depends on a software lock point system. The existing software lock point system does not consider the problem of congestion which may occur when a plurality of AGVs run simultaneously. When the travel routes of a plurality of AGVs are as shown in the example 100 of fig. 1, the AGVs, which are specifically numbered 1, 2 and 3, have current points a, b and c, respectively, and the next travel points that need to be locked and traveled are b, c and d, respectively. At this point, AGV4 is at point e and the next travel points are d and a, respectively. If AGV4 enters point d at this time, then four AGVs form an interlocked loop. The phenomenon of multiple vehicles interlocking into a ring easily occurs in a busy route, so that the vehicles are jammed, and the solution efficiency is low.
Disclosure of Invention
The embodiment of the application provides a method for controlling AGV (automatic guided vehicle) running, and the method solves the problems that multiple vehicles are interlocked to form a ring and congestion occurs due to poor AGV running route selection.
The method comprises the following steps:
acquiring a locked walking point queue of each AGV;
determining walking points needing to be pre-locked in unlocked walking point queues corresponding to the AGVs according to the locked walking point queues of the AGVs, and generating pre-locked walking point queues;
detecting whether the walking point in the pre-locked walking point queue of each AGV and the locked walking point queues of other AGVs form a loop or not;
determining the walking points which do not form a loop as walking points with successful point locking, and recording the walking points with successful point locking;
and recording the walking point queue formed by the walking points with successful locking points, and issuing the walking point queue to the AGV so that the AGV runs along the walking point queue formed by the walking points with successful locking points.
Optionally, according to a first-in first-out principle, obtaining the number of continuous walking points meeting the preset number of locking points from the unlocked walking point queue corresponding to each AGV;
and judging whether the obtained quantity meets each continuous walking point with the preset number of the locking points is in other walking points which are locked by the AGV or not, and meeting the preset number of the locking points that the walking points are not in other walking point queues which are locked by the AGV and are continuous.
Optionally, detecting whether a first directed path formed by each AGV between the end-of-line walking point and the secondary end-of-line walking point in the pre-locked walking point queue constitutes a loop in a directed path network graph, wherein the directed path network graph consists of directed paths formed between the end-of-line walking point in the locked walking point queue and the head-of-line walking point in the unlocked walking point queue of other AGVs except the AGV which needs to perform looping detection.
Optionally, selecting a directed path formed between the queue tail walking point in the locked walking point queue and the queue head walking point in the unlocked walking point queue of the other AGVs to form the directed path network graph;
marking a first directed path formed between a queue tail walking point and a secondary queue tail walking point of each AGV in the pre-locked walking point queue in the directed path network graph;
detecting whether the first directed path forms a loop in the directed path network graph.
Optionally, when the first directed path forms a loop in the directed path network graph, determining other walking points in the pre-locked walking point queue of the AGV corresponding to the first directed path except the walking point at the tail of the queue as walking points at which point locking succeeds;
and when the first directed path does not form a loop in the directed path network graph, determining the travelling points in the pre-locked travelling point queue of the AGV corresponding to the first directed path as the travelling points with successful locking points.
Optionally, when detecting that the traveling point in the pre-locked traveling point queue of any AGV and the locked traveling point queue of another AGV form a loop, and when the AGV corresponding to the traveling point forming the loop is out of the loop, recording the tail-of-line traveling point in the pre-locked traveling point queue of the AGV corresponding to the first directed path as a traveling point where the locking point of the another AGV traveling on the loop succeeds.
In another embodiment of the present invention, an apparatus for controlling travel of an AGV is provided, the apparatus comprising:
the acquiring module is used for acquiring the locked walking point queue of each AGV;
the generation module is used for determining the walking points needing to be pre-locked in the unlocked walking point queues corresponding to the AGVs according to the locked walking point queues of the AGVs and generating the pre-locked walking point queues;
a detection module, configured to detect whether the walking point in the pre-locked walking point queue of each AGV and the locked walking point queues of other AGVs form a loop;
the recording module is used for determining the walking points which do not form a loop as the walking points with successful point locking and recording the walking points with successful point locking;
and the sending module is used for recording the walking point queue formed by the walking points with successful locking points and issuing the walking point queue to the AGV, so that the AGV can travel along the walking point queue formed by the walking points with successful locking points.
Optionally, the generating module includes:
the acquiring unit is used for acquiring continuous walking points of which the number meets the number of preset locking points in the unlocked walking point queue corresponding to each AGV according to a first-in first-out principle;
the first determining unit is used for judging whether the obtained quantity meets each continuous walking point with the preset number of the locking points is in the locked walking point queue of the AGV or not, and the quantity of the preset locking points meets the condition that the walking points are not in the locked walking point queue of the AGV and are continuous, and the walking points are determined as the walking points needing to be pre-locked.
In another embodiment of the present invention, a non-transitory computer readable storage medium is provided that stores instructions that, when executed by a processor, cause the processor to perform the steps of a method of controlling the travel of an AGV as described above.
In another embodiment of the present invention, a terminal device is provided that includes a processor for performing the steps of a method of controlling travel of an AGV described above.
As can be seen from the above description, based on the above embodiments, first, a locked walking point queue of each AGV is obtained, then, according to the locked walking point queue of each AGV, walking points that need to be pre-locked are determined in the unlocked walking point queues corresponding to each AGV, and a pre-locked walking point queue is generated, further, whether the walking points in the pre-locked walking point queue of each AGV and the locked walking point queues of other AGVs form a loop is detected, then, the walking points that do not form a loop are determined as walking points for which locking is successful, and the walking points for which locking is successful are recorded, and finally, the walking point queue formed by the recorded walking points for which locking is successful is issued to the corresponding AGV, so that the AGVs travel along the walking point queue formed by the walking points for which locking is successful. According to the embodiment of the application, whether the running route of each AGV possibly forms a loop is monitored in real time, and the priority of a locking point is adjusted according to whether the loop is formed, so that the appearance of the loop is avoided, the intelligence of the running route of the AGV is controlled, the optimal running route is selected for the AGV, and the production efficiency is improved accordingly.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a schematic diagram of a plurality of AGV interlocking loops as provided by an embodiment 100 of the present application;
FIG. 2 is a flow chart illustrating a method for controlling the travel of an AGV according to an embodiment 200 of the present application;
FIG. 3 is a diagram illustrating a specific flow of a method for controlling the travel of an AGV according to an embodiment 300 provided herein;
FIG. 4 is a schematic diagram illustrating an apparatus for controlling the travel of an AGV according to an embodiment 400 of the present application;
fig. 5 shows a schematic diagram of a terminal device provided in embodiment 500 of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the 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 application.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, method, article, or apparatus.
Based on the problems in the prior art, the embodiment of the application provides a method for controlling AGV traveling, and the method is mainly suitable for the field of warehouse logistics. The method comprises the steps of detecting whether a pre-locked walking point of each AGV possibly has a scene of interlocking and looping in real time, and adjusting the priority of the walking point when the scene of interlocking and looping possibly exists, so that the AGV outside the loop has lower priority relative to the AGV on the loop, and the scene of interlocking and looping is avoided.
The technical solution of the present invention will be described in detail with specific examples. Several of the following embodiments may be combined with each other and details of the same or similar concepts or processes may not be repeated in some embodiments. Fig. 2 is a schematic flow chart illustrating a method for controlling the travel of an AGV according to an embodiment 200 of the present application. The detailed steps are as follows:
s21, a locked queue of travel points for each AGV is obtained.
In this step, for the swift position of judgement AGV of higher efficiency, the scene of AGV walking in this application embodiment is generally for being provided with the ground of a plurality of walking points, and the interval of adjacent walking point is for predetermineeing the distance. The walking point can be an actual walking point marked on the ground or a virtual walking point marked on a map. The current position of the AGV is determined by which travel point the AGV travels.
Further, the walking point queue currently locked by each AGV is obtained in real time. The walking points in the locked walking point queue are that the corresponding AGV can run to the walking points and cannot be interlocked with the walking points locked by other AGVs to form a loop. That is, the walking points in the locked walking point queue corresponding to each AGV do not interlock to form a ring, and ring formation determination is not required.
And S22, determining the walking points needing to be pre-locked in the unlocked walking point queues corresponding to the AGVs according to the locked walking point queues of the AGVs, and generating the pre-locked walking point queues.
In this step, the locked walking point queue of each AGV and the corresponding unlocked walking point queue form a running route of each AGV as a whole. The unlocked travel point queue corresponding to each AGV is determined by the path planning system, which determines the travel route of each AGV. Wherein walking points in the unlocked walking point queue may appear to interlock with walking points already locked by other AGVs. Further, walking points needing to be pre-locked are determined in the unlocked walking point queue according to the first-in first-out sequence, and a walking queue consisting of the determined pre-locked walking points is generated.
S23, detecting whether the walking point in the pre-locking walking point queue of each AGV and the locked walking point queues of other AGVs form a loop or not.
In this step, it is detected whether each walking point in the pre-locked walking point queue of each AGV and the already locked walking point queues of other AGVs form a loop. Optionally, a directed path network graph is provided, and looping detection is performed on each AGV in the directed path network graph. The directed path network graph comprises directed paths formed between the queue tail walking points in the locked walking point queues and the queue head walking points in the unlocked walking point queues of other AGVs except the AGV which needs to carry out looping detection. Specifically, except for the current AGV which needs to perform looping judgment, the queue tail walking point in the locked walking point queue determined by other AGVs and the queue head walking point in the unlocked walking point queue of the corresponding AGV are connected, and a directed path from the queue tail walking point in the locked walking point queue to the queue head walking point in the unlocked walking point queue of the corresponding AGV is obtained. And forming a directed path network graph by the acquired directed paths of all the AGVs.
Further, in the pre-locked walking point queue generated by each AGV, a queue tail walking point and a secondary queue tail walking point in the walking point queue are obtained, and the queue tail walking point and the secondary queue tail walking point are connected into a first directed path. And setting the first directed path in the directed path network graph, and detecting whether the first directed path forms a loop in the directed path network graph.
And S24, determining the walking points which do not form the loop as the walking points with successful lock points, and recording the walking points with successful lock points.
In this step, it is detected in the directed path network graph whether the first directed path constitutes a loop. Specifically, whether the first directed path forms a loop in the directed path network graph can be detected through a tarjan algorithm. And when the loop is not formed, determining the walking point in the pre-locked walking point queue of the AGV corresponding to the first directed path which does not form the loop as the walking point which is successfully locked. And when the fact that the loop is formed is detected, determining other walking points except for the walking point at the tail of the queue in the pre-locked walking point queue of the AGV corresponding to the first directed path as walking points with successful locking points. Further, the walking points where the locking points are successful are recorded.
And S25, issuing the recorded walking point queue formed by the walking points with successful locking points to the corresponding AGV so that the AGV runs along the walking point queue formed by the walking points with successful locking points.
In this step, the travel point queue formed by the recorded travel points with successful locking points is determined as the locked travel point queue of the corresponding AGV, and the updated locked travel point queue is issued to the corresponding AGV, so that the AGV continues to travel along the travel point queue formed by the travel points with successful locking points.
Based on the above embodiment of the present application, firstly, a locked walking point queue of each AGV is obtained, secondly, according to the locked walking point queue of each AGV, walking points that need to be pre-locked are determined in the unlocked walking point queues corresponding to each AGV, and a pre-locked walking point queue is generated, further, whether the walking points in the pre-locked walking point queue of each AGV and the locked walking point queues of other AGVs form a loop is detected, then, the walking points that do not form a loop are determined as walking points that are successfully locked, and the walking points that are successfully locked are recorded, and finally, the walking point queue formed by the recorded walking points that are successfully locked is issued to the corresponding AGVs, so that the AGVs run along the walking point queue formed by the walking points that are successfully locked. According to the embodiment of the application, whether the running route of each AGV possibly forms a loop is monitored in real time, and the priority of a locking point is adjusted according to whether the loop is formed, so that the appearance of the loop is avoided, the intelligence of the running route of the AGV is controlled, the optimal running route is selected for the AGV, and the production efficiency is improved accordingly.
Fig. 3 is a schematic diagram illustrating a specific flow of a method for controlling the travel of an AGV according to an embodiment 300 of the present application. Wherein, the detailed process of the specific flow is as follows:
s301, obtaining a locked walking point queue of each AGV and an unlocked walking point queue corresponding to each AGV.
Here, the locked walking point queue of each AGV is an effective path where the AGV has successfully locked the point, that is, the AGV travels along the locked walking point queue without traveling to the same walking point simultaneously with other AGVs. The unlocked walking point queue corresponding to each AGV is a path which is planned by the path planning system in real time and is to be traveled by the AGV subsequently. And the walking points in the unlocked walking point queues corresponding to each AGV are determined by the path planning system after the locked walking point queues of each AGV and the destination positions of the AGVs are obtained. In the same way as the determination of unlocked walking point queues, the path planning system acquires the locked walking point queues of each AGV in real time.
Further, the end of line travel points of the locked travel point queue and the head of line travel points of the corresponding unlocked travel point queue for each AGV are generally continuous.
S302, acquiring the number of continuous walking points meeting the preset number of locking points in an unlocked walking point queue corresponding to each AGV.
Here, according to the first-in first-out principle, the number of the continuous walking points which meet the number of the preset locking points is obtained from the unlocked walking point queue corresponding to each AGV. Alternatively, if the current position of an AGV that needs to perform looping detection is point A, the queue of the locked travel points of the AGV is B, C, D, E points in sequence. The unlocked walking queue that the path planning system acquires in real time is point F, G, H, I, J, K, L, M, N. When the traveling points of the AGV which need to be pre-locked need to be determined, the number of the continuous traveling points which meet the number of the preset locking points is obtained from the F traveling points according to the first-in first-out principle. If the number of the preset locking points is 5, 5 continuous traveling points from the F traveling point to the J traveling point are acquired for the AGV.
And S303, judging whether the number of the continuous walking points which meet the number of the preset locking points meets the pre-locking limiting condition or not.
Here, it is determined whether each of the consecutive travel points, the number of which is obtained satisfying the preset number of lock points, is in the locked travel point queue of the other AGVs. Optionally, after selecting continuous traveling points, the number of which corresponds to each AGV and meets the preset number of locking points, locking the traveling points in sequence, that is, determining whether each traveling point meets the pre-locking limiting condition. The pre-locking limiting condition is mainly whether each continuous walking point with the acquired number meeting the preset number of locking points is in a locked walking point queue of other AGVs. The path planning system acquires the locked walking point queue of each AGV in real time, and sequentially judges whether each continuous walking point with the quantity corresponding to the AGV being the preset locking point number is in the locked walking queues of other AGVs.
According to the method and the device, each walking point can be acquiescent to be occupied by only one AGV to travel at the same time, namely, only one AGV can travel at the same walking point at the same time. In addition, the traveling speed of the AGVs is the same as a default, and the traveling time from one traveling point to the next successive traveling point is the same unit time. If the number corresponding to each AGV meets the number of the preset locking points, the continuous walking points do not meet the pre-locking limiting condition, namely, each walking point is already locked by other AGVs. At this time, the AGV continues to travel along the previously determined travel points in the locked travel point queue, and the path planning system determines the lock point condition in front of the AGV in real time to plan a new effective path for the AGV. If the path planning system still does not determine the walking points meeting the pre-locking limiting condition after all the walking points in the locked walking point queue determined before the AGV finishes running, the AGV waits at the walking points at the tail of the locked queue.
S304, determining the walking points meeting the pre-locking limiting conditions as the walking points needing pre-locking, and generating a pre-locked walking point queue.
In this step, the number of the preset locking points, which satisfies that the traveling points are not in the locked traveling point queues of other AGVs and the continuous traveling points are determined as the traveling points to be pre-locked. Optionally, if all the walking points with the preset number of the locking points meet the pre-locking limiting condition, determining all the walking points as the walking points needing pre-locking, and generating a pre-locked walking point queue. And if part of the walking points meet the preset locking limiting conditions, determining the continuous part of the walking points as the walking points needing to be pre-locked. And the queue tail walking point of the pre-locked walking queue is the previous walking point of the walking points which do not meet the pre-locking limiting condition.
Alternatively, for the example in step S303, the path planning system determines F, G, H, I, J walking points to perform pre-lock limiting condition starting from the F walking point. I.e., attempting to lock the F, G, H, I, J walk point, if the F, G, H walk point locking was successful and it is determined that the I walk point has been locked, the lock point is ended. At this time, the pre-lock travel point is composed of F, G, H travel points, and the travel point subsequent to the I travel point is not detected.
S305, judging whether the pre-locked walking point queue forms a loop or not.
And marking a first directed path formed by each AGV between the queue tail walking point in the pre-locked walking point queue and the next queue tail walking point in the directed path network graph, and detecting whether the first directed path forms a loop in the directed path network graph. The directed path network graph comprises directed paths formed between the queue tail walking points in the locked walking point queue and the queue head walking points in the unlocked walking point queue of other AGVs except the AGV which needs to perform looping detection. Optionally, a queue tail walking point T of a locked walking point queue and a queue head walking point H of an unlocked walking point queue of all AGVs (except the AGVs that need to perform looping detection) are obtained, and a directional path of < T, H > is formed, so as to form the directional path network graph. And simultaneously marking a first directed path formed by the queue tail walking point and the secondary queue tail walking point of the walking point queue pre-locked by the AGV which needs to be subjected to looping detection in a directed path network graph.
Further, whether a loop is included is searched in the directed path network graph by utilizing a tarjan algorithm, and the loop includes a queue tail walking point and a secondary queue tail walking point of a pre-locked walking point queue which need to be subjected to looping detection. It is determined whether the first directed path forms a loop in the directed path network graph.
S306, when a loop is formed, determining other walking points except the walking point at the tail of the queue in the pre-locked walking point queue as the walking points with successful locking points.
Here, if a loop is formed, all the traveling points on the first directed path of the AGV are locked, which may cause a problem of looping of lock points, and the queue tail traveling point of the pre-lock point should fail to lock the lock points. Therefore, when the first directed path forms a loop in the directed path network graph, other walking points except for the walking point at the tail of the queue in the pre-locked walking point queue of the AGV corresponding to the first directed path are determined as the walking points with successful locking points.
When it is detected that the travel point in the pre-locked travel point queue of any AGV and the locked travel point queues of other AGVs form a loop, and when the AGV corresponding to the travel point forming the loop is out of the loop, the queue tail travel point in the pre-locked travel point queue of the AGV corresponding to the first directed path is recorded as a successful travel point of the locking point of the other AGVs running on the loop. Alternatively, when a loop is formed, other AGVs on the loop formed by the travel point, i.e., the end-of-line travel point, at this time are determined to be of high priority, AGVs outside the loop are determined to be of lower priority, and the travel point is preferentially determined to be in the travel point queue where the AGVs forming the loop are successfully locked. As shown in the embodiment 100 of FIG. 1, the AGV's specific numbers 1, 2, and 3 have current points a, b, and c, respectively, and the next travel points that require locking and traveling are b, c, and d, respectively. At this point, AGV4 is at point e and the next travel points are d and a, respectively. If AGV4 enters point d at this time, then four AGVs form an interlocked loop. Point d is now determined to be in the walking point queue for which locking of AGV3 succeeded.
S307, when no loop is formed, all the points in the pre-locked walking point queue are determined as walking points with successful point locking.
In this step, if no loop is formed, the traveling point on the first directed path does not conflict with the locked point of another AGV, and all the traveling points in the pre-locked traveling point queue corresponding to the AGV should be successfully locked. And when the first directed path does not form a loop in the directed path network graph, determining the traveling point in the pre-locked traveling point queue of the AGV corresponding to the first directed path as a traveling point with a successful locking point.
And S308, recording the walking points with successful point locking.
S309, the walking point queue formed by the walking points with successful locking points is issued to the corresponding AGV, so that the AGV runs along the walking point queue formed by the walking points with successful locking points.
Here, for the example in step S303, the AGV is assigned with the valid path formed by point F, G, H where the locking point succeeds, and the AGV travels along the pre-locked travel point queue from point E. When the AGV leaves point F, G, H, point F, G, H is unlocked, respectively, so that other AGVs can lock the points. When the AGV reaches the point H, the path planning system re-acquires the unlocked travel point queue of the AGV, repeats the steps S301 to S309, locks the travel points, and determines whether a loop is formed, so as to acquire a new effective path for the AGV until the AGV reaches the destination.
According to the method for controlling the AGV to run based on the steps, whether a ring forming scene is about to form or not is monitored dynamically in real time when the locking point is mainly passed, and the scene is avoided, so that the running efficiency of the AGV is improved. Optionally, the path planning system updates the locked and unlocked travel point queues of the AGV in real time. Further, continuously acquiring unlocked walking points from an unlocked walking point queue according to a first-in first-out principle, pre-locking the walking points until reaching a pre-locking limiting condition (the pre-locking limiting condition is that the walking points in the preset number of the locking points meet the condition that the walking points are not in the locked walking point queues of other AGVs and are continuous), and performing looping detection on the pre-locked walking point queue. Optionally, a queue tail walking point T in the locked walking point queue and a queue head walking point H in the unlocked walking point queue of all AGVs (except the AGVs that need to perform looping detection) are obtained, and a directional path of < T, H > is formed, so as to form the directional path network graph. And simultaneously marking a first directed path formed by the queue tail walking point and the secondary queue tail walking point of the walking point queue pre-locked by the AGV which needs to be subjected to looping detection in a directed path network graph. And searching whether the directed path network graph contains a loop by using a tarjan algorithm, wherein the loop contains a queue tail walking point and a secondary queue tail walking point of a walking point queue which needs to be pre-locked for the AGV and needs to be subjected to looping detection. If the detection forms a loop, the locking point of the queue tail walking point in the pre-locked walking point queue fails, and other walking points in the pre-locked walking point queue are modified to be successful and registered to the locked walking point queue. (the locked walking point queue indicates that no other AGVs are congested when the AGV is traveling). If the monitoring is not looped, all the walking points in the pre-locked walking point queue are successfully locked and registered to the locked walking point queue. And finally, issuing a walking point queue consisting of walking points successfully locked to the AGV, and executing operation. Thus, the loop formation monitoring is continuously carried out when the lock point is continuously connected, and the condition is avoided by means of the locking priority of the walking point.
In this scheme, through the scene whether interlock cyclization will appear soon in dynamic detection when the lock point, if there is this scene then through the lock point priority of adjustment walking point for this walking point has higher priority to the AGV on the ring, and the AGV outside the ring has lower priority, thereby avoids the problem of really becoming the ring, improves AGV route operation control's intelligence, and borrows this improvement production efficiency.
Based on the same inventive concept, the embodiment 400 of the present application further provides an apparatus for controlling the travel of an AGV, wherein, as shown in fig. 4, the apparatus includes:
an obtaining module 41, configured to obtain a locked walking point queue of each AGV;
the generation module 42 is configured to determine, according to the locked walking point queue of each AGV, a walking point that needs to be pre-locked in the unlocked walking point queue corresponding to each AGV, and generate a pre-locked walking point queue;
the detection module 43 is configured to detect whether a walking point in the pre-locked walking point queue of each AGV and a locked walking point queue of another AGV form a loop;
the recording module 44 is configured to determine a walking point that does not form a loop as a walking point at which the lock point succeeds, and record the walking point at which the lock point succeeds;
and the sending module 45 is configured to issue the recorded walking point queue formed by the walking points with successful locking points to the corresponding AGV, so that the AGV runs along the walking point queue formed by the walking points with successful locking points.
Optionally, the generating module 42 includes:
the acquiring unit is used for acquiring continuous walking points of which the number meets the number of preset locking points in an unlocked walking point queue corresponding to each AGV according to a first-in first-out principle;
and the first determining unit is used for judging whether each continuous walking point with the acquired number meeting the preset locking point number is in the locked walking point queues of other AGVs, and determining the continuous walking points with the preset locking point number, which meet the condition that the walking points are not in the locked walking point queues of other AGVs, as the walking points needing to be pre-locked.
In this embodiment, specific functions and interaction manners of the obtaining module 41, the generating module 42, the detecting module 43, the recording module 44, and the sending module 45 may refer to the description of the embodiment corresponding to fig. 1, and are not described herein again.
As shown in FIG. 5, yet another embodiment 500 of the present application further provides a terminal device comprising a processor 501, wherein the processor 501 is configured to perform the steps of a method for controlling the travel of an AGV as described above. As can also be seen from fig. 5, the terminal device provided by the above-mentioned embodiment further includes a non-transitory computer-readable storage medium 502, the non-transitory computer-readable storage medium 502 having stored thereon a computer program, which when executed by the processor 501, performs the steps of the above-mentioned method of controlling the travel of an AGV. In practice, the terminal device may be one or more computers, as long as the computer-readable medium and the processor are included.
Specifically, the storage medium can be a general-purpose storage medium, such as a removable disk, a hard disk, a FLASH, and the like, and when the computer program on the storage medium is executed, the steps of the method for controlling the travel of the AGV can be executed. In practical applications, the computer readable medium may be included in the apparatus/device/system described in the above embodiments, or may exist alone without being assembled into the apparatus/device/system. The computer readable storage medium carries one or more programs which, when executed, perform the steps of a method for controlling the travel of an AGV as described above.
According to embodiments disclosed herein, the computer-readable storage medium may be a non-volatile computer-readable storage medium, which may include, for example and without limitation: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing, without limiting the scope of the present disclosure. In the embodiments disclosed herein, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The flowchart and block diagrams in the figures of the present application illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments disclosed herein. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Those skilled in the art will appreciate that various combinations and/or combinations of features recited in the various embodiments and/or claims of the present disclosure can be made, even if such combinations or combinations are not explicitly recited in the present application. In particular, the features recited in the various embodiments and/or claims of the present application may be combined and/or coupled in various ways, all of which fall within the scope of the present disclosure, without departing from the spirit and teachings of the present application.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the exemplary embodiments of the present application, and are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method of controlling travel of an AGV, comprising:
acquiring a locked walking point queue of each AGV;
determining walking points needing to be pre-locked in unlocked walking point queues corresponding to the AGVs according to the locked walking point queues of the AGVs, and generating pre-locked walking point queues;
detecting whether the walking point in the pre-locked walking point queue of each AGV and the locked walking point queues of other AGVs form a loop or not;
determining the walking points which do not form a loop as walking points with successful point locking, and recording the walking points with successful point locking;
and recording the walking point queue formed by the walking points with successful locking points, and issuing the walking point queue to the AGV so that the AGV runs along the walking point queue formed by the walking points with successful locking points.
2. The method of claim 1, wherein said step of determining the travel points to be pre-locked in the unlocked travel point queue for each AGV comprises:
according to a first-in first-out principle, acquiring continuous walking points of which the number meets the number of preset locking points from the unlocked walking point queue corresponding to each AGV;
and judging whether the obtained quantity meets each continuous walking point with the preset number of the locking points is in the locked walking point queues of other AGVs, and determining the walking points which need to be pre-locked as the walking points which are not in the locked walking point queues of the AGVs and are continuous according to the preset number of the locking points.
3. The method of claim 1 wherein said step of detecting whether said travel point in said pre-locked queue of travel points for each AGV loops with said locked queues of travel points for other AGVs comprises:
detecting whether a first directed path formed between a queue tail travelling point and a secondary queue tail travelling point in the pre-locked travelling point queue of each AGV forms a loop in a directed path network graph or not, wherein the directed path network graph consists of directed paths formed between the queue tail travelling point and a queue head travelling point in an unlocked travelling point queue of other AGVs except the AGV which needs to be subjected to looping detection.
4. The method of claim 3 wherein said step of detecting whether the directional path formed by each AGV between the end-of-line travel point and the secondary end-of-line travel point in the pre-locked queue of travel points forms a loop in the directed path network graph comprises:
selecting a directed path formed between the queue tail walking point in the locked walking point queue and the queue head walking point in the unlocked walking point queue of other AGVs to form the directed path network graph;
marking a first directed path formed between a queue tail walking point and a secondary queue tail walking point of each AGV in the pre-locked walking point queue in the directed path network graph;
detecting whether the first directed path forms a loop in the directed path network graph.
5. The method of claim 4, wherein the step of determining the walking points that do not form a loop as walking points for which lock points are successful comprises:
when the first directed path forms a loop in the directed path network graph, determining other walking points except the walking point at the tail of the queue in the pre-locked walking point queue of the AGV corresponding to the first directed path as walking points with successful point locking;
and when the first directed path does not form a loop in the directed path network graph, determining the travelling points in the pre-locked travelling point queue of the AGV corresponding to the first directed path as the travelling points with successful locking points.
6. The method of claim 3, wherein between said step of recording said travel points for which locking is successful and said step of issuing said travel point queue of recorded travel points for which locking is successful to said AGV, said method further comprises:
when any one of the AGVs is detected, the walking points in the pre-locked walking point queue form a loop with the locked walking point queues of the other AGVs, and when the walking points which form the loop correspond to the AGVs outside the loop, the queue tail walking points in the pre-locked walking point queue of the AGVs corresponding to the first directed path are recorded as the walking points which are successfully locked by the other AGVs and run on the loop.
7. An apparatus for controlling travel of an AGV, comprising:
the acquiring module is used for acquiring the locked walking point queue of each AGV;
the generation module is used for determining the walking points needing to be pre-locked in the unlocked walking point queues corresponding to the AGVs according to the locked walking point queues of the AGVs and generating the pre-locked walking point queues;
a detection module, configured to detect whether the walking point in the pre-locked walking point queue of each AGV and the locked walking point queues of other AGVs form a loop;
the recording module is used for determining the walking points which do not form a loop as the walking points with successful point locking and recording the walking points with successful point locking;
and the sending module is used for recording the walking point queue formed by the walking points with successful locking points and issuing the walking point queue to the AGV, so that the AGV can travel along the walking point queue formed by the walking points with successful locking points.
8. The apparatus of claim 7, wherein the generating module comprises:
the acquiring unit is used for acquiring continuous walking points of which the number meets the number of preset locking points in the unlocked walking point queue corresponding to each AGV according to a first-in first-out principle;
the first determining unit is used for judging whether the obtained quantity meets each continuous walking point with the preset number of the locking points is in the locked walking point queue of the AGV or not, and the quantity of the preset locking points meets the condition that the walking points are not in the locked walking point queue of the AGV and are continuous, and the walking points are determined as the walking points needing to be pre-locked.
9. A non-transitory computer readable storage medium storing instructions which, when executed by a processor, cause the processor to perform the steps of a method of controlling travel of an AGV according to any one of claims 1 to 6.
10. A terminal device characterized by comprising a processor for executing the steps of a method of controlling the travel of an AGV according to any one of claims 1 to 6.
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