CN114170844B - Anti-collision method under same-field operation condition of multiple AGVs - Google Patents
Anti-collision method under same-field operation condition of multiple AGVs Download PDFInfo
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- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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Abstract
The invention provides an anti-collision method under the condition that a plurality of AGVs run in the same field, wherein a dispatching system generates a vehicle contour curve of a vehicle moving on a path; generating a vehicle-path collision lookup table; the scheduling system loads tasks to obtain a corresponding task path list; generating a vehicle-path usage look-up table; the scheduling system selects a vehicle that receives the task; the dispatching system judges whether the vehicle receiving the task collides with other vehicles when the corresponding task path moves; if the vehicle receiving the task is judged not to collide with other vehicles, a task path of the task is dispatched; if the vehicle receiving the task is judged to collide with other vehicles, the task path of the task is not dispatched. According to the anti-collision method under the same-field running condition of a plurality of AGVs, the vehicle contour curves of the AGVs respectively running on a plurality of adjacent paths are increased, so that the AGVs in the whole system can safely complete tasks.
Description
Technical Field
The invention relates to the field of AGV control, in particular to an anti-collision method under the condition that a plurality of AGVs run in the same field.
Background
The existing AGV control method is that the AGVs are located on a certain site (an initial site or a site where tasks stop after completion), the scheduling system acquires the position of the AGVs according to site information fed back by the AGVs, the scheduling system distributes the tasks to the corresponding AGVs, the AGVs move to the corresponding sites according to task needs, the sites are connected through set paths, the AGVs move according to the path settings, in order to avoid collision of vehicles on the same path, traffic control is carried out on the AGVs in the whole system, so that the AGVs which need to execute the tasks on the same path are guaranteed not to collide, but as the AGVs are more widely applied, the number of path settings in a production site is increased, the distance between two adjacent paths is too small, so that a plurality of AGVs with adjacent paths in a certain area collide accidents occur.
Disclosure of Invention
The invention aims to solve the problem that AGVs respectively running on two adjacent paths can collide, and provides an anti-collision method under the condition that a plurality of AGVs run in the same field.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the anti-collision method under the condition that a plurality of AGVs run in the same field comprises the following steps:
the dispatching system loads a path map and vehicle information of the vehicle, wherein the vehicle information comprises a vehicle number and a vehicle size; generating a vehicle contour curve of the vehicle moving on the path;
the dispatching system generates a vehicle-path collision lookup table according to the vehicle contour curve and the path of the path map;
the scheduling system loads tasks to obtain a corresponding task path list;
the dispatching system loads the current position information and the residual task paths of all vehicles and generates a vehicle-path use lookup table;
the scheduling system selects a vehicle that receives the task;
the scheduling system judges whether the vehicle receiving the task collides with other vehicles when the corresponding task path moves according to the task path list, the vehicle-path collision lookup table and the vehicle-path use lookup table;
if the vehicle receiving the task is judged not to collide with other vehicles, a task path of the task is dispatched to enable the vehicle to complete the task;
if the vehicle receiving the task is judged to collide with other vehicles, the task path of the task is not dispatched.
Compared with the prior art, the anti-collision method for the same-field running condition of a plurality of AGVs has the advantages that the moving track of the vehicle is calculated in advance according to the path and the vehicle size which need to be moved when the vehicle executes the task, the vehicle profile curve is generated, the comparison result of the task path of the vehicle movement of the receiving task and the vehicle profile curve of the vehicle in the whole system is obtained according to the query result of the vehicle-path collision query table and the vehicle-path use query table, when the vehicle profile curves on different paths overlap each other, the possibility of collision exists when the corresponding vehicle moves on the two paths is indicated, and then the vehicle is only issued to the vehicle to realize that the vehicle size is considered in the safe running operation of the vehicle, so that the vehicle is ensured not to collide with the AGVs of the nearby paths in the task execution process, and the technical blank in the existing AGV traffic control system is filled.
Preferably, the scheduling system generates a vehicle profile curve in which the vehicle moves on the route at a set moving speed, based on the vehicle size and the route map.
The vehicle contour curve is calculated by vehicle size data, path data and set moving speed data of the vehicle, and accuracy is high, so that an actual track of the vehicle when the vehicle executes a task can be truly simulated.
Preferably, the dispatch system selects the vehicles receiving the tasks based on the remaining task paths and path maps of all vehicles.
In the above arrangement, the scheduling system can select vehicles according to the priority level, wherein the idle vehicle which can reach the task point fastest is selected as the vehicle receiving the task preferentially, the vehicle which can reach the task point fastest is selected as the vehicle receiving the task secondly, and the idle vehicle is selected as the vehicle receiving the task finally.
Preferably, the scheduling system queries the paths needed to be used by the vehicle to execute the tasks according to the path map to obtain a corresponding task path list.
Preferably, the scheduling system generates path scheduling information after sending a task to the vehicle;
the scheduling system generates a vehicle-path scheduling lookup table according to the path scheduling information;
the scheduling system judges whether the vehicle receiving the task collides with other vehicles when the corresponding task path moves according to the task path list, the vehicle-path collision lookup table, the vehicle-path use lookup table and the vehicle-path scheduling lookup table;
if the vehicle receiving the task is judged not to collide with other vehicles, a task path of the task is dispatched to enable the vehicle to complete the task;
if the vehicle receiving the task is judged to collide with other vehicles, the task path of the task is not dispatched.
In actual production, the communication between the vehicle and the vehicle dispatching system is interrupted (the dispatching system displays the vehicle is off-line) due to poor communication environment and equipment failure, and if the vehicle in the off-line state is not considered, the vehicle in normal operation is caused to collide with the vehicle in the off-line state; the invention records the path dispatching information of the vehicles in the off-line condition and generates the vehicle-path dispatching lookup table, thereby increasing the comparison with the vehicle profile curve of the vehicles displaying the off-line condition when judging the vehicle profile curves of other vehicles, ensuring that even if part of vehicles are interrupted in dispatching communication, the vehicles in normal operation can not collide with the vehicles in the off-line condition, further improving the running safety of the vehicles, and executing the normal judging step after the vehicles in the off-line condition meet the dispatching system and resume the normal communication.
Preferably, if it is determined that the vehicle receiving the task collides with another vehicle, it is determined whether the vehicle receiving the task collides with another vehicle at the starting point of the task path;
if the vehicle receiving the task is judged to collide with other vehicles at the starting point of the task path, the task path is not dispatched;
if the vehicle receiving the task is judged not to collide with other vehicles at the starting point of the task path, the starting point corresponding to the task is dispatched to the segmented path of the task path of the interference point corresponding to the overlapping starting part of the vehicle contour curve.
Setting a selected vehicle A to execute a task (task a), wherein the scheduling system only sends a task path of a non-interference part, and when judging whether a segmented path of the task path interferes with a similar path for a new round and selecting the vehicle to execute the task, the segmented path of the task path left in the previous round is necessarily distributed to the vehicle (vehicle A) close to a task point, and the setting mode can enable the vehicle (vehicle A) to enter a state of preparing to execute the task (task a) in advance, so that the working efficiency is improved; for a vehicle (vehicle A) moving to a position from a start point corresponding to a task to an interference point corresponding to a vehicle contour curve overlapping position start portion, as the task is continuously completed, the influence of other vehicle contour curves overlapping with the vehicle contour curve of a task path moving when the vehicle (vehicle A) executes the corresponding task (task a) is eliminated (the other vehicle executes part of the task and does not move to a path where interference occurs any more, so that the interference influence on the vehicle A is eliminated), thereby enabling the vehicle (vehicle A) to normally execute the task (task a); in addition, if the starting point corresponding to the task and the interference point corresponding to the overlapping starting portion of the vehicle profile curve overlap, it is indicated that the vehicle a cannot enter the task path in advance, so that in order to improve efficiency, the scheduling system directly does not issue the task path.
Preferably, the vehicle moves to a position from a starting point corresponding to the task to an interference point corresponding to the overlapping position starting part of the vehicle profile curve, and waits for the next instruction of the dispatching system.
Preferably, if it is determined that the vehicle receiving the task collides with another vehicle at the start point of the task path, the task is stored in the next processing.
Preferably, if the system is in the start state, the vehicle positions of all vehicles are located at the standby point, and the remaining task paths of all vehicles are empty.
Preferably, it is determined whether the vehicle receiving the task collides with another vehicle when moving along the corresponding task path, and the collision determination is performed by sequentially taking the segment paths included in the task path one by one.
The dispatching system inquires whether each section of the segmented paths in the task paths are interfered or not, the interfered segmented paths are sequentially sent out without interference, the latest road conditions are continuously inquired and are waited for being sent, in addition, no matter whether the task paths are interfered or not (even the whole task paths are not interfered), the dispatching system only sends a small number of segmented paths behind the current position of the selected vehicle each time, and therefore traffic management of the whole transportation system is facilitated.
Drawings
FIG. 1 is a schematic illustration of two vehicles moving on two similar paths, respectively;
FIG. 2 is a schematic illustration of vehicle profile curves for two vehicles moving on two similar paths, respectively;
FIG. 3 is a flow chart of a first embodiment;
fig. 4 is a flowchart of the second embodiment.
Detailed Description
Embodiments of the present invention are described below with reference to the accompanying drawings:
example 1
Referring to fig. 1 and 3, the anti-collision method under the condition that a plurality of AGVs run in the same field in the present embodiment includes the following steps:
A1. the dispatching system loads a path map and vehicle information of the vehicle, wherein the vehicle information comprises a vehicle number and a vehicle size; generating a vehicle contour curve of the vehicle moving on the path;
A2. the dispatching system generates a vehicle-path collision lookup table according to the vehicle contour curve and the path of the path map;
A3. the scheduling system loads tasks to obtain a corresponding task path list;
A4. the dispatching system loads the current position information and the residual task paths of all vehicles and generates a vehicle-path use lookup table;
A5. the scheduling system selects a vehicle that receives the task;
A6. the scheduling system judges whether the vehicle receiving the task collides with other vehicles when the corresponding task path moves according to the task path list, the vehicle-path collision lookup table and the vehicle-path use lookup table;
if the vehicle receiving the task is judged not to collide with other vehicles, a task path of the task is dispatched to enable the vehicle to complete the task;
if the vehicle receiving the task is judged to collide with other vehicles, a task path of the task is not dispatched;
and (3) circulating the steps A3 to A6 until all tasks are issued.
In step A6, it is determined whether the vehicle receiving the task collides with another vehicle when the corresponding task path moves, and the segment paths included in the task path are sequentially fetched one by one to perform collision determination.
The dispatching system inquires whether each section of the segmented paths in the task paths are interfered or not, the interfered segmented paths are sequentially sent out without interference, the latest road conditions are continuously inquired and are waited for being sent, in addition, no matter whether the task paths are interfered or not (even the whole task paths are not interfered), the dispatching system only sends a small number of segmented paths behind the current position of the selected vehicle each time, and therefore traffic management of the whole transportation system is facilitated.
Specifically, the current position information of the vehicle is a task path (including a station) where the vehicle is located, one task generated by the scheduling system includes a task path, and one task path includes a plurality of segment paths.
For ease of understanding, the starting point for the dispatch task is set to the location of the vehicle.
Preferably, the scheduling system generates a vehicle profile curve in which the vehicle moves on the route at a set moving speed, based on the vehicle size and the route map.
The vehicle contour curve is calculated by vehicle size data, path data and set moving speed data of the vehicle, and accuracy is high, so that an actual track of the vehicle when the vehicle executes a task can be truly simulated.
Preferably, the dispatch system selects the vehicles receiving the tasks based on the remaining task paths and path maps of all vehicles.
In the above arrangement, the scheduling system can select vehicles according to the priority level, wherein the idle vehicle which can reach the task point fastest is selected as the vehicle receiving the task preferentially, the vehicle which can reach the task point fastest is selected as the vehicle receiving the task secondly, and the idle vehicle is selected as the vehicle receiving the task finally.
In this embodiment, for easy understanding, the task path is a path with the shortest site distance to the task instruction; the vehicle selected to receive the task is the vehicle with the last station of the remaining task path on the task path and the shortest remaining task path.
Specifically, as the dispatching system dispatches the tasks in sequence, the judgment on whether the task paths of the vehicles executing the tasks collide or not also in sequence, and the vehicles in front of the judgment are not overlapped with the vehicle contour curves of other vehicles partially and are not likely to receive the tasks; in addition, in actual production, when the dispatching system dispatches the tasks for the first time, the vehicles can be shifted to different task paths by adjusting the dispatching sequence of the tasks, so that the situation that part of vehicles do not receive the tasks because the vehicle profile curves corresponding to the tasks are partially overlapped in the initial stage of system operation is avoided.
Preferably, the scheduling system queries the paths needed to be used by the vehicle to execute the tasks according to the path map to obtain a corresponding task path list.
Preferably, if it is determined that the vehicle receiving the task collides with another vehicle, it is determined whether the vehicle receiving the task collides with another vehicle at the starting point of the task path;
if the vehicle receiving the task is judged to collide with other vehicles at the starting point of the task path, the task path is not dispatched;
if the vehicle receiving the task is judged not to collide with other vehicles at the starting point of the task path, the starting point corresponding to the task is dispatched to the segmented path of the task path of the interference point corresponding to the overlapping starting part of the vehicle contour curve.
Setting a selected vehicle A to execute a task (task a), wherein the scheduling system only sends out a segmented path of a non-interference part of a task path, and when a new round of judgment is performed on whether the segmented path interferes with a similar path and the selected vehicle executes the task, the rest segmented path of the previous round is necessarily distributed to the vehicle (vehicle A) close to a task point, and the setting mode can enable the vehicle (vehicle A) to enter a state of preparing to execute the task (task a) in advance, so that the working efficiency is improved; for a vehicle (vehicle A) moving to a position from a start point corresponding to a task to an interference point corresponding to a vehicle contour curve overlapping position start portion, as the task is continuously completed, the influence of other vehicle contour curves overlapping with the vehicle contour curve of a task path moving when the vehicle (vehicle A) executes the corresponding task (task a) is eliminated (the other vehicle executes part of the task and does not move to a path where interference occurs any more, so that the interference influence on the vehicle A is eliminated), thereby enabling the vehicle (vehicle A) to normally execute the task (task a); in addition, if the starting point corresponding to the task and the interference point corresponding to the overlapping starting portion of the vehicle profile curve overlap, it is indicated that the vehicle a cannot enter the task path in advance, so that in order to improve efficiency, the scheduling system directly does not issue the task path. That is, after the vehicle A is selected to execute the task, the task path is always sent to the vehicle A, the scheduling system inquires whether each segment of the segment paths in the task path are interfered or not, the interfered segment paths are sent out in sequence without interference, and the interfered segment paths can continuously inquire the latest road condition and wait for sending.
Preferably, the vehicle moves to a position from a starting point corresponding to the task to an interference point corresponding to the overlapping position starting part of the vehicle profile curve, and waits for the next instruction of the dispatching system.
Preferably, if it is determined that the vehicle receiving the task collides with another vehicle at the start point of the task path, the task is stored in the next processing.
Preferably, if the system is in the start state, the vehicle positions of all vehicles are located at the standby point, and the remaining task paths of all vehicles are empty.
Path and site on path map
| Path numbering | Connection station |
| 1 | A-B，B-A |
| 2 | B-C，C-B |
| 3 | C-D，D-C |
| 4 | D-A，A-D |
| 5 | D-B，B-D |
| … | … |
The table uses the method: when a certain task requires the vehicle to move to the station A, the vehicle can move to the station A through the path 1 or the path 4, and then the path 1 or the path 4 can be selected as a task path.
Vehicle-path collision lookup table
The table uses the method: in the above table, "Y" indicates that interference occurs with the adjacent path, and "N" indicates that interference does not occur with the adjacent path; when the vehicle 001 moves on the path 1, if there is another vehicle in the adjacent path, the vehicle 001 collides with the other vehicle; when the vehicle 001 moves on the path 2, if there is another vehicle in the adjacent path, the vehicle 001 does not collide with the other vehicle.
Vehicle-path usage lookup table
| Vehicle numbering | Current location (path) | Residual task path |
| 001 | 1 | 3 |
| 002 | 2 | 1 |
| … | … | … |
The table uses the method: the current position of the vehicle 001 is located on the path 1, and the rest task path is the path 3, that is, the vehicle 001 moves to the station on the path 1 and completes the task, and then moves to the path 3.
The comprehensive use of a path map, a vehicle-path collision lookup table and a vehicle-path use lookup table is illustrated, a dispatching system is set to load a task a, a station included in the task a is a station A, and a task path capable of moving to the station A is known to have a path 1 and a path 4 according to the path map; .
Assuming that the route 1 is selected as a task route, it is known from the vehicle-route use lookup table that the vehicle 002 reaches the distance of the station a indicated by the task and the remaining task route is the shortest; selecting the vehicle 002 to execute task a; from the vehicle-path collision lookup table, it is known that the vehicle 002 is not interfered by the adjacent path when moving on the path 1, and therefore the task a is dispatched to the vehicle 002.
Assuming that the selected path 4 is taken as a task path, according to the vehicle-path using lookup table, the remaining task path of the vehicle 001 is taken as a path 3, and according to the path map, the path 3 can be accessed to the path 4, and the vehicle 001 is selected to execute the task a; from the vehicle-path collision lookup table, it is known that when the vehicle 001 moves on the path 4, if there is a vehicle on the adjacent path, the vehicle 001 will be interfered by the vehicles on the adjacent path; whether or not a vehicle is on the adjacent path of the path 4 is judged from the vehicle-path use lookup table (since the list does not list all data, there is a vehicle on the adjacent path of the path 4 set here), and since the vehicle 001 is interfered with by the vehicle on the adjacent path when moving on the path 4, the task a is not dispatched to the vehicle 001. If no vehicle is present on the adjacent route to the set route 4, the vehicle 001 does not interfere with the vehicle on the adjacent route when moving on the route 4, and the vehicle 001 needs to move from the route 3 to the route 4 before the task a is executed, and the moving route is longer than the case where the vehicle 002 moves directly from the route 1 to execute the task a, so that the scheduling system determines that the vehicle 002 executes the task a by determining the length of the moving route.
Because the management mode of multiple vehicles on the same path adopts the AGV traffic control method in the prior art, the AGV traffic control method belongs to the application of the conventional technology and is not described in detail herein.
Compared with the prior art, the anti-collision method for the same-field running condition of a plurality of AGVs has the advantages that the moving track of the vehicle is calculated in advance according to the path and the vehicle size which need to be moved when the vehicle executes the task, the vehicle profile curve is generated, the comparison result of the task path of the vehicle movement of the receiving task and the vehicle profile curve of the vehicle in the whole system is obtained according to the query result of the vehicle-path collision query table and the vehicle-path use query table, when the vehicle profile curves on different paths overlap each other, the possibility of collision exists when the corresponding vehicle moves on the two paths is indicated, and then the vehicle is only issued to the vehicle to realize that the vehicle size is considered in the safe running operation of the vehicle, so that the vehicle is ensured not to collide with the AGVs of the nearby paths in the task execution process, and the technical blank in the existing AGV traffic control system is filled.
Example two
In actual production, the communication between the vehicle and the vehicle dispatching system is interrupted (the dispatching system displays the vehicle is off-line) due to poor communication environment and equipment failure, and if the vehicle in the off-line state is not considered, the vehicle in normal operation is caused to collide with the vehicle in the off-line state; in order to solve the above technical problems, the present invention provides an improvement of the first embodiment.
Referring to fig. 4, in the present embodiment, after the system is operated for a period of time, it is added to consider whether or not there is a vehicle in an off-line state in the system.
The anti-collision method under the condition that a plurality of AGVs run in the same field of the embodiment comprises the following steps:
B1. the dispatching system loads a path map and vehicle information of the vehicle, wherein the vehicle information comprises a vehicle number and a vehicle size; generating a vehicle contour curve of the vehicle moving on the path;
B2. the dispatching system generates a vehicle-path collision lookup table according to the vehicle contour curve and the path of the path map;
B3. the scheduling system loads tasks to obtain a corresponding task path list;
B4. the dispatching system loads the current position information and the residual task paths of all vehicles and generates a vehicle-path use lookup table;
B5. the scheduling system selects a vehicle that receives the task;
B6. the dispatching system inquires whether a vehicle is in a offline state;
if the vehicle is in a down state, the scheduling system generates a vehicle-path scheduling lookup table according to the path scheduling information;
if no vehicle is in the down state, the scheduling system does not generate a vehicle-path scheduling lookup table;
B7. the scheduling system judges whether the vehicle receiving the task collides with other vehicles when the corresponding task path moves according to the task path list, the vehicle-path collision lookup table, the vehicle-path use lookup table and the vehicle-path scheduling lookup table;
if the vehicle receiving the task is judged not to collide with other vehicles, a task path of the task is dispatched to enable the vehicle to complete the task;
if the vehicle receiving the task is judged to collide with other vehicles, a task path of the task is not dispatched;
after the dispatching system sends the task to the vehicle, generating path dispatching information;
and (3) circulating the steps B3 to B7 until all tasks are issued.
Vehicle-path scheduling lookup table
| Vehicle numbering | Location of communication interruption | Task paths within path scheduling information |
| 003 | 3 | 2 |
| 004 | 4 | Without any means for |
| … | … | … |
The table uses the method: the communication between the vehicle 003 and the dispatching system is interrupted, the position of the vehicle 003 is the path 3 (the current position), and the task path (the rest task path) in the path dispatching information is the path 2, so that the vehicle which is selected to execute the task can be ensured to successfully complete the task only by ensuring that the path 3 and the path 2 do not interfere with the task path of the vehicle which is selected to execute the task. The method of use of the vehicle-path schedule lookup table is the same as the method of use of the vehicle-path schedule lookup table.
The invention records the path dispatching information of the vehicles in the off-line condition and generates the vehicle-path dispatching lookup table, thereby increasing the comparison with the vehicle profile curve of the vehicles displaying the off-line condition when judging the vehicle profile curves of other vehicles, ensuring that even if part of vehicles are interrupted in dispatching communication, the vehicles in normal operation can not collide with the vehicles in the off-line condition, further improving the running safety of the vehicles, and executing the normal judging step after the vehicles in the off-line condition meet the dispatching system and resume the normal communication.
Variations and modifications to the above would be obvious to persons skilled in the art to which the invention pertains from the foregoing description and teachings. Therefore, the invention is not limited to the specific embodiments disclosed and described above, but some modifications and changes of the invention should be also included in the scope of the claims of the invention. In addition, although specific terms are used in the present specification, these terms are for convenience of description only and do not limit the present invention in any way.
Claims (8)
1. The anti-collision method under the condition that a plurality of AGVs run in the same field comprises the following steps:
a transport system having a plurality of adjacent paths within an area;
the dispatching system loads a path map and vehicle information of the vehicle, wherein the vehicle information comprises a vehicle number and a vehicle size; generating a vehicle contour curve of the vehicle moving on all paths;
the dispatching system generates a vehicle-path collision lookup table according to the vehicle contour curve and the path of the path map;
the scheduling system loads tasks to obtain a corresponding task path list;
the dispatching system loads the current position information and the residual task paths of all vehicles and generates a vehicle-path use lookup table;
the scheduling system selects a vehicle that receives the task;
the scheduling system judges whether the vehicle receiving the task collides with other vehicles when the corresponding task path moves according to the task path list, the vehicle-path collision lookup table and the vehicle-path use lookup table;
after the dispatching system sends the task to the vehicle, generating path dispatching information;
the scheduling system generates a vehicle-path scheduling lookup table according to the path scheduling information, wherein the vehicle-path scheduling lookup table comprises a vehicle number, a position of the vehicle when the communication of the vehicle is interrupted and a task path in the vehicle path scheduling information;
for the situation that communication interruption occurs between the vehicle and the vehicle dispatching system;
the scheduling system judges whether the vehicle receiving the task collides with other vehicles when the corresponding task path moves according to the task path list, the vehicle-path collision lookup table, the vehicle-path use lookup table and the vehicle-path scheduling lookup table, wherein the other vehicles comprise AGVs in a communication interruption state;
if the vehicle receiving the task is judged not to collide with other vehicles, a task path of the task is dispatched to enable the vehicle to complete the task;
if the vehicle receiving the task is judged to collide with other vehicles, the next judgment is carried out;
for the situations of the occurrence of a mission vehicle and the occurrence of collision with other vehicles;
if the vehicle receiving the task is judged to collide with other vehicles, judging whether the vehicle receiving the task collides with other vehicles at the starting point of the task path or not;
if the vehicle receiving the task is judged to collide with other vehicles at the starting point of the task path, the task path is not dispatched;
if the vehicle receiving the task is judged not to collide with other vehicles at the starting point of the task path, the starting point corresponding to the task is dispatched to the segmented path of the task path of the interference point corresponding to the overlapping starting part of the vehicle profile curve;
the vehicle moves from the starting point to the starting point of the segmented path of the interference point corresponding to the overlapping starting portion of the vehicle profile curve.
2. The method of claim 1 wherein the scheduling system generates a profile of the vehicle moving along the path at a set travel speed based on the vehicle size and the path map.
3. The method of claim 1 wherein the scheduling system selects vehicles to receive tasks based on the remaining task paths and path maps of all vehicles.
4. The method of claim 1, wherein the scheduling system queries the paths that the vehicle needs to use to perform the tasks according to the path map to obtain the corresponding task path list.
5. The method of claim 1, wherein the vehicle is moved to a position from a start point corresponding to the task to an interference point corresponding to a start portion of the overlapping position of the profile curves of the vehicle, and the next instruction of the dispatch system is waited.
6. The method according to claim 1, wherein if it is determined that the vehicle receiving the task collides with another vehicle at the start point of the task path, the task is saved to the next process.
7. The method of claim 1, wherein if the system is in a start state, the vehicle positions of all vehicles are at standby, and the remaining mission paths of all vehicles are empty.
8. The method for preventing collision under the same-field operation of a plurality of AGVs according to claim 1, wherein the method is characterized in that when judging whether the vehicle receiving the task collides with other vehicles when the corresponding task path moves, the method sequentially fetches the segment paths included in the task path one by one to perform collision judgment.
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