CN114327966A

CN114327966A - Automatic deadlock detection algorithm and storage medium

Info

Publication number: CN114327966A
Application number: CN202111420726.7A
Authority: CN
Inventors: 刘珍; 周小和; 黄景利
Original assignee: Guangdong Jaten Robot and Automation Co Ltd
Current assignee: Guangdong Jaten Robot and Automation Co Ltd
Priority date: 2021-11-26
Filing date: 2021-11-26
Publication date: 2022-04-12

Abstract

The invention discloses an algorithm for automatically detecting deadlock and a storage medium, wherein the algorithm comprises the following steps: detecting a plurality of conditions which are pre-stored by a center and possibly generate deadlock, and detecting an AGV in a waiting state in a center registration field; and checking the stopping reasons of the AGV in the waiting state one by one, judging whether deadlock occurs according to the stopping reasons, and recording deadlock information. Compared with the prior art, the algorithm considers a plurality of conditions of deadlock in an AGV field, and detects the waiting state of the trolley more intelligently and comprehensively, so that the waiting condition can be rapidly monitored, a basis is provided for detour, deadlock can be prompted in advance, and blockage in a larger range is avoided. The wait state of the present invention refers to an AGV that has tasks that need to be performed, but is in a stalled state.

Description

Automatic deadlock detection algorithm and storage medium

Technical Field

The invention relates to the field of industrial robots, in particular to an algorithm and a storage medium for automatically detecting deadlock.

Background

The automatic trolley moves and carries by running along a specified navigation path, is characterized by no need of manual operation and large load, and is widely applied to the fields of e-commerce, machinery, manufacturing, automobiles and the like. But its movement requires the control system at the upper level to determine when the cart can be run, stopped, and bypassed. Agv mutual deadlock and other problems can be caused by faults, operation logics and other problems in the operation process, agv cannot move continuously after deadlock, and a set of effective detection algorithm is needed for judging whether agv belongs to the deadlock state currently.

The conventional deadlock detection method is generally determined based on the waiting state of agv during operation, and does not consider mutual blocking when multiple agv can be allowed to walk in a multi-directional operable place, such as agv idle, agv fault, blocked area, and in these cases, agv may not wait for each other, but cannot continue to move, and should also be treated as a deadlock.

Existing automatic deadlock detection methods require further adjustment.

Disclosure of Invention

The first purpose of the invention is to overcome the defect that the existing deadlock detection method has a single judgment mode, and provide an automatic deadlock detection algorithm which can judge a plurality of waiting conditions.

In order to realize the purpose, the invention adopts the following technical scheme:

an automatic deadlock detection algorithm, the algorithm comprising the steps of:

detecting a plurality of conditions which are pre-stored by a center and possibly generate deadlock, and detecting an AGV in a waiting state in a center registration field;

and checking the stopping reasons of the AGV in the waiting state one by one, judging whether deadlock occurs according to the stopping reasons, and recording deadlock information.

Compared with the prior art, the algorithm considers a plurality of conditions of deadlock in an AGV field, and detects the waiting state of the trolley more intelligently and comprehensively, so that the waiting condition can be rapidly monitored, a basis is provided for detour, deadlock can be prompted in advance, and blockage in a larger range is avoided. The wait state of the present invention refers to an AGV that has tasks that need to be performed, but is in a stalled state.

Preferably, the stop reasons include jam by another AGV2 and jam by an area, and when the AGV is jammed by an AGV2 or jam by an area, the detection center further determines whether deadlock occurs according to the area and the specific reason of the condition of the AGV 2. In this scenario, the stopping causes of AGVs are classified as blocked by other AGVs 2 or blocked by zones, so that the stopping causes are further examined to determine whether the stopping causes match the deadlock situation.

Preferably, the cause of the stop includes jamming by other AGVs 2, jamming by zones, and when an AGV is jammed by AGV2 or jammed by a zone, the detection center further determines whether a deadlock has occurred based on the specific cause of the jam formed by AGV 2.

Preferably, the AGV2 includes a movable state, a jammed state, and a fault state, and if the AGV2 is jammed, it is determined that deadlock occurs, if the AGV2 is jammed, it is determined whether the state of the AGV2 is recorded, and if not, deadlock information of the AGV2 is recorded. In this scenario, the AGV2 may be classified into three cases, wherein the movable state indicates that the cause of the jam is eliminated, and therefore, the AGV is not determined to be dead locked, and the two states cause the AGV2 to be unable to move within a short time, and therefore, the AGV is determined to be dead locked.

Preferably, the area condition includes that the area is paused to be opened and the area is occupied by another AGV, and if the area is paused to be opened, it is determined that deadlock has occurred, and if the area is occupied by another AGV, it is treated as a condition that AGV2 is jammed.

Preferably, the deadlock information includes coordinates of the deadlock position, a cause of deadlock, the number of AGVs in the deadlock area, and a position relationship between the AGVs. In the scheme, the coordinates of the deadlock position are recorded, so that the AGV can bypass the region, the deadlock reason and the number of the AGV in the deadlock region are recorded, and the unlocking scheme is designed according to the condition of the region.

Preferably, the stop reason includes that the AGV has a fault, and when the AGV has a fault, it is determined that the deadlock occurs.

It is a further object of the present invention to provide a storage medium having stored thereon a computer program which, when executed by a processor, implements the automatic deadlock detection algorithm of the above-described arrangement. Compared with the prior art, the storage medium of the invention has all the advantages of the scheme because the automatic deadlock detection algorithm of the scheme can be executed.

Drawings

FIG. 1 is a schematic flow diagram of the present invention.

Detailed Description

The technical scheme of the invention is further explained according to the attached drawings:

referring to fig. 1, the present invention discloses an algorithm for automatically detecting deadlock, which comprises the following steps:

The stop reasons include the AGVs 2 being blocked by other AGVs and the area being blocked, and when an AGV is blocked by AGV2 or by an area, the detection center further determines whether a deadlock occurs according to the area and the specific reason of the AGV 2. In this scenario, the stopping causes of AGVs are classified as blocked by other AGVs 2 or blocked by zones, so that the stopping causes are further examined to determine whether the stopping causes match the deadlock situation.

The stopping reasons comprise blockage by other AGVs 2 and blockage by areas, and when an AGV is blocked by an AGV2 or is blocked by an area, the detection center further judges whether deadlock occurs according to the specific reason that the AGV2 forms the blockage.

The AGV2 includes a movable state, a blocked state, and a fault state, and if the AGV2 is in the blocked state, it is determined that deadlock has occurred, if the AGV2 is in the blocked state, it is determined whether the state of the AGV2 has been recorded, and if not, deadlock information of the AGV2 is recorded. In this scenario, the AGV2 may be classified into three cases, wherein the movable state indicates that the cause of the jam is eliminated, and therefore, the AGV is not determined to be dead locked, and the two states cause the AGV2 to be unable to move within a short time, and therefore, the AGV is determined to be dead locked.

The above-described area conditions include an area pause open, an area occupied by another AGV, and if the area pause open, it is determined that a deadlock has occurred, and if the area is occupied by another AGV, it is treated as a situation in which AGV2 is jammed.

The deadlock information comprises coordinates of the deadlock position, deadlock reasons, the number of AGV in the deadlock area and the position relation among the AGV. In the scheme, the coordinates of the deadlock position are recorded, so that the AGV can bypass the region, the deadlock reason and the number of the AGV in the deadlock region are recorded, and the unlocking scheme is designed according to the condition of the region.

The stopping reason comprises that the AGV has a fault, and when the AGV has the fault, the deadlock is judged to occur.

The invention discloses a storage medium on which a computer program is stored, which, when executed by a processor, implements the automatic deadlock detection algorithm of the above scheme.

Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

1. An algorithm for automatic deadlock detection, characterized in that it comprises the following steps:

2. The algorithm of claim 1, wherein the cause of the stop includes AGVs 2 blocked by other AGVs, blocked by zones, and when an AGV is blocked by AGV2 or blocked by a zone, the detection center determines whether the deadlock occurs according to the specific cause of the zone, AGV 2.

3. The algorithm of claim 2, wherein the AGV2 status includes a movable status, a jammed status, and a fault status, and wherein if the AGV2 is jammed, it is determined that the deadlock has occurred, if the AGV2 is jammed, it is determined whether the status of the AGV2 has been recorded, and if not, the deadlock information of the AGV2 is recorded.

4. The algorithm of claim 3, wherein the region condition comprises a region pause open, a region occupied by another AGV, and if the region pause open, determining that the deadlock has occurred, and if the region is occupied by another AGV, processing the region as blocked by AGV 2.

5. The algorithm of claim 4, wherein the deadlock information comprises coordinates of the deadlock location, a cause of the deadlock, a number of AGVs in the deadlock area, and a positional relationship between the AGVs.

6. The algorithm of claim 2, wherein the cause of the stop includes a failure of the AGV, and the deadlock is determined to occur when the AGV fails.

7. Storage medium having stored thereon a computer program, characterized in that the computer program is stored thereon, which computer program, when being executed by a processor, implements the automatic deadlock detection algorithm according to any one of claims 1 to 6.