CN115646818A - AGV intelligence letter sorting system - Google Patents
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Abstract
The application discloses AGV intelligence letter sorting system, relate to article letter sorting technical field, the main letter sorting controller among this AGV intelligence letter sorting system plans in global letter sorting region and obtains global guide route, guide the direction of operation that target AGV accomplished the letter sorting task from global angle, the local letter sorting controller that each local area corresponds plans the local route in the local area according to the local environment in the local area and existing AGV, global coordination nature of global guide route is better, the real-time environment in the local area can fully be considered to the local route, provide more excellent local route, the better completion letter sorting task of target AGV is guided through the mode that global guide route combines local route, can be better avoid the conflict of crossing between the AGV and the waiting and the jam that arouse, improve letter sorting efficiency.
Description
Technical Field
The application relates to the technical field of article sorting, in particular to an AGV intelligent sorting system.
Background
An Automated Guided Vehicle (AGV) is a transport Vehicle equipped with an electromagnetic or optical automatic guide device, which can have safety protection and various transfer functions along a predetermined guide path, and is an important device for sorting goods in the field of intelligent storage and logistics distribution at present.
In a current common AGV intelligent sorting system, when the AGV needs to complete a sorting task, a path planning algorithm is used for planning a guiding path from a source position to a sorting target position of the AGV in advance and sending the guiding path to the AGV, and the AGV moves along the guiding path and can transport goods to a required sorting destination to complete the sorting task. However, with the continuous development of the fields of intelligent warehousing and logistics distribution, the number of AGVs simultaneously executing sorting tasks in the same application scene is more and more, the applicable environment corresponding to the scene is more and more complex, and when each AGV completes a sorting task according to a pre-planned guide path, the AGVs easily conflict with other AGVs, thereby seriously affecting the sorting efficiency.
Disclosure of Invention
The applicant provides an AGV intelligent sorting system aiming at the problems and the technical requirements, and the technical scheme of the AGV intelligent sorting system is as follows:
the AGV intelligent sorting system comprises a main sorting controller, a plurality of regional sorting controllers and a plurality of AGVs, wherein the main sorting controller is in wireless connection with each regional sorting controller; the intelligent sorting method executed by the AGV intelligent sorting system comprises the following steps:
the method comprises the steps that a main sorting controller utilizes a plurality of different path planning algorithms to carry out global path planning according to sorting tasks to be executed by target AGVs in a global sorting area to obtain a plurality of candidate paths, and the target AGVs are the AGVs which are not executing any sorting task and are in an idle state;
the main sorting controller determines a plurality of path evaluation indexes of each candidate path, the path evaluation indexes of each candidate path comprise path evaluation parameters of the candidate paths and local working parameters of each local area covered by the candidate paths, the path evaluation parameters of the candidate paths are used for reflecting the performance of the candidate paths, and the local working data of each local area are used for reflecting the crowding degree in the local area; the global sorting area is divided into a plurality of local areas with continuous and non-coincident boundaries, each local sorting controller corresponds to one local area, and local working data of each local area is acquired by the local sorting controller corresponding to the local area and is sent to the main sorting controller; the local work data of each local area comprises the work data of all AGVs currently located in the local area;
the master sorting controller is right
A candidate path of
Item path evaluation index
Is normalized into
Wherein when first
The greater the numerical value of the item route evaluation index is, the better the performance of the reflected candidate route is, or the smaller the degree of congestion in the reflected local area is, the first
The item path evaluation index is a forward index, for
After normalization
(ii) a When it comes to
The larger the numerical value of the item route evaluation index is, the worse the performance of the reflected candidate route is, or the larger the degree of congestion in the reflected local area is, the
The item path evaluation index is a negative index, pair
After normalization processing
(ii) a And determining the path evaluation index corresponding to the local working parameter of the local area not covered by each candidate path as 0,
、
are all parameters which are used as the raw materials,
，
，
、
are all parameters; calculate the first
Item path evaluation index
Specific gravity of bar candidate path
(ii) a Is calculated to obtain the first
Entropy of the term path evaluation index of
When is coming into contact with
When the utility model is used, the water is discharged,
(ii) a Is calculated to obtain the first
Weight of item Path evaluation index
(ii) a To obtain the first
The composite score of the candidate paths is
(ii) a The performance of the candidate path reflected by the path evaluation parameter of the candidate path is poorer, the crowdedness in the local area reflected by the local working parameter of each local area covered by the candidate path is higher, and the comprehensive score of the candidate path is higher;
the master sorting controller selects a candidate path with the lowest comprehensive score as a global guidance path and sends the global guidance path to the target AGV and each regional sorting controller;
when the target AGV moves to each local area covered by the global guide path, the area sorting controller corresponding to the local area performs local path planning according to the local environment in the local area and the AGV to determine the local path, the local path is sent to the target AGV, and the target AGV moves to the next local area covered by the global guide path in the local area along the local path until the sorting task is completed.
The beneficial technical effect of this application is:
the application discloses AGV intelligence letter sorting system, the master sorting controller in this AGV intelligence letter sorting system plans in global letter sorting region and obtains global guide route, guide target AGV to accomplish the traffic direction and the trend of letter sorting task from global angle, the local letter sorting controller that each local area corresponds plans the local route in the local area according to the local environment in the local area and existing AGV, global guide route can avoid the local that local route planning lacks global overall planning and considers, local route can fully consider the real-time environment in the local area, avoid global guide route too coarse and inaccurate phenomenon, provide more accurate local route, guide target AGV better completion letter sorting task through the mode of global guide route combination local route, can be better avoid the wait and the jam that cross conflict between the AGV arouses, improve letter sorting efficiency.
When the main sorting controller plans the obtained global guide path, the main sorting controller synthesizes results of a plurality of different path planning algorithms, not only considers path evaluation parameters of the candidate path, but also considers local working parameters of each local area covered by the candidate path, so that the influence brought by the AGV in each local area is considered when the global guide path is planned, and the obtained global guide path has better accuracy and performance.
Drawings
FIG. 1 is a system communication framework diagram of an AGV intelligent sorting system in one embodiment of the present application.
Fig. 2 is a schematic diagram of a plurality of local areas obtained by dividing a global sorting area, and a global guidance path obtained by planning and a local path in one local area according to an example of the present application.
FIG. 3 is an interactive flow diagram illustrating an AGV intelligence sorting method performed by the AGV intelligence sorting system according to one embodiment of the present application.
FIG. 4 is an interactive flow chart of a method for AGV intelligent sorting performed by the AGV intelligent sorting system in another example of the present application.
Detailed Description
The following description of the embodiments of the present application refers to the accompanying drawings.
The application discloses AGV intelligence letter sorting system please refer to the system communication frame diagram shown in fig. 1, and this AGV intelligence letter sorting system includes that the controller is sorted out to main, a plurality of regional letter sorting controller and a plurality of AGV, main each regional letter sorting controller of letter sorting controller wireless connection, main each AGV of letter sorting controller wireless connection, each AGV of regional letter sorting controller wireless connection. In one embodiment, the wireless connection employed between any two devices is implemented through WIFI or a mobile network. In the AGV intelligent sorting system, any two pieces of wirelessly connected equipment perform wireless data exchange in real time. And each AGV reports working data such as the running speed of the AGV and the like to the region sorting controller in the working process, and each AGV has a unique equipment identifier.
When the AGV intelligent sorting system executes the intelligent sorting method, the main sorting controller is combined with each area sorting controller to control each AGV to complete corresponding sorting tasks in the overall sorting area, and the area range and the internal environment of the overall sorting area are determined according to actual application scenes. Referring to fig. 2, in the present application, the global sorting area is divided into several local areas, the boundaries of the local areas are continuous and do not coincide, and all the local areas cover the whole global sorting area. When the global sorting area is divided into a plurality of local areas, the global sorting area is generally divided into a plurality of rows and a plurality of columns, and the specifications such as the shape and the area of each divided local area may be the same or different, and as shown in fig. 2, the global sorting area is divided into 24 local areas of 4 rows and 6 columns, and the local areas are respectively marked as local areas 1 to 24. The region sorting controllers correspond to the local regions one to one.
The intelligent sorting method executed by the AGV intelligent sorting system comprises the following processes, as shown in FIG. 3:
and the main sorting controller performs global path planning in the global sorting area according to the sorting tasks to be executed by the target AGV to obtain a global guide path. Wherein the target AGV is an AGV that is currently idle without performing any sort task. Not shown in fig. 1, the master sort controller also typically interfaces with the business system from which it obtains the sort tasks that need to be completed. When the main sorting controller receives a new sorting task to be completed, the main sorting controller allocates an AGV in an idle state as a target AGV. Each sorting assignment also has a corresponding assignment weight, a higher assignment weight of a sorting assignment indicating a higher importance of the sorting assignment. When the main sorting controller obtains a plurality of sorting tasks to be completed, the main sorting controller sequentially distributes and processes the sorting tasks according to the sequence of the task weights of the sorting tasks from high to low.
After a to-be-executed sorting task is distributed to a target AGV, the destination to which the target AGV finishes the sorting task and the necessary passing point to which the target AGV passes in the middle can be determined, a main sorting controller can perform global path planning according to the to-be-executed sorting task of the target AGV in a global sorting area by using a path planning algorithm to obtain a global guide path, and when the target AGV runs along the global guide path, the target AGV can pass through the necessary passing point to which the target AGV passes and finally reaches the destination.
In an embodiment, each of the regional sorting controllers periodically collects the local work data in the corresponding local region and reports the local work data to the master sorting controller, please refer to the flowchart shown in fig. 4, where the local work data in each local region includes the work data of all AGVs currently located in the local region, and the local work data in each local region is used to reflect the degree of congestion in the local region. Each regional letter sorting controller acquires local working data through wireless connection between each regional letter sorting controller and the inductor in the local region that this regional letter sorting controller corresponds, and the inductor includes equipment such as camera, can lay in local region as required.
In one embodiment, the local work data for each local area includes the number of AGVs located within the local area, the sum of the task weights of the sorting tasks performed by the AGVs located within the local area, and the average operating speed of the AGVs located within the local area. The number of AGVs located in the local area can be determined by combining the real-time image acquired by the camera with the image recognition technology, so that not only can how many AGVs are contained in the corresponding local area be determined, but also which AGVs are contained can be identified, which is an effect that can be realized by the existing image recognition technology, and the embodiment is not repeated. Each AGV reports the task weight of the executed sorting task and reports the working data such as the running speed of the AGV in real time to each regional sorting controller in the working process, and each AGV has a unique equipment identifier, so that after each regional sorting controller determines which AGVs are located in the corresponding local region at present, the regional sorting controller can extract and obtain the task weight, the running speed and other working data of the sorting task executed by the AGV located in the corresponding local region, and then the sum of the task weights and the average running speed of the sorting task can be calculated.
The larger the number of AGVs located in the local area, the higher the degree of congestion in the local area is reflected. When different AGVs execute respective sorting tasks and path conflict occurs, the conflict resolution is sequentially executed according to the sequence from high to low of the task weight of the sorting task executed by each AGV, and the AGV with the lower task weight of the executed sorting task needs to wait for other AGVs to finish the conflict. Therefore, when the sum of the task weights of the sorting tasks executed by the AGVs located in the local area is larger, it indicates that when the target AGV enters the local area and collides with other AGVs, the probability that the target AGV needs to wait for the other AGVs to execute after the execution is completed is larger, and therefore, the higher the congestion degree in the local area is reflected. The smaller the average running speed of each AGV located in the local area, the higher the congestion degree in the local area.
And then the main sorting controller synthesizes the local working data of each local area to carry out global path planning to obtain a global guide path of the target AGV. The method comprises the following steps:
firstly, global path planning is carried out in a global sorting area by utilizing various different path planning algorithms to obtain a plurality of candidate paths. The used path planning algorithms include a-algorithm, a D-algorithm, an LPA-algorithm and other existing various path planning algorithms, and the various path planning algorithms are executed according to respective algorithm requirements.
Due to different algorithm principles of different path planning algorithms, candidate paths obtained by using different path planning algorithms are often different, and after a plurality of candidate paths are obtained, a plurality of path evaluation indexes of each candidate path are determined. The path evaluation index of each candidate path comprises a path evaluation parameter of the candidate path and a local working parameter of each local area covered by the candidate path. The path evaluation parameters of the candidate paths are used for reflecting the performance of the candidate paths. In one embodiment, the path evaluation parameters of each candidate path include a path length of the candidate path, a sum of path steering angles, an algorithm running time of a path planning algorithm for obtaining the candidate path, a walking time consumed for running along the candidate path, and a path cost consumed for running the candidate path, and these path evaluation parameters may be generally obtained together with the candidate path when the path planning algorithm is executed. The longer the path length of one candidate path, the larger the sum of the path steering angles, the longer the algorithm running time, the longer the walking time and the larger the path cost, the worse the performance of the reflected candidate path.
The path evaluation parameters of the candidate paths are path evaluation indexes which are commonly used in the application process of the path planning algorithm and used for evaluating the performance of the candidate paths.
After obtaining each path evaluation index of each candidate path, determining the weight of each path evaluation index by using an entropy weight method, and performing weighting calculation on the path evaluation index of each candidate path according to the weight to obtain the comprehensive score of each candidate path. The method comprises the following steps:
(a) To the first
A candidate path of
Item path evaluation index
Is normalized into
The path evaluation index corresponding to the local working parameter of the local area not covered by each candidate path is 0,
、
are all parameters of the light-emitting diode array,
，
，
、
are all parameters.
The path evaluation index of each candidate path includes two types: the path evaluation index is a positive index when the larger the numerical value of the path evaluation index is, the better the performance of the reflected candidate path is or the smaller the congestion degree in the reflected local area is. When the larger the numerical value of a path evaluation index is, the worse the performance of a reflected candidate path is or the larger the degree of congestion in a reflected local area is, the path evaluation index is a negative index.
When it comes to
When the item path evaluation index is a forward index, the item path evaluation index is compared with the first item path evaluation index
First of candidate paths
Item path evaluation index
Is normalized into
. When it comes to
When the item path evaluation index is a negative index, the item path evaluation index is compared with the first path evaluation index
A candidate path of
Item path evaluation index
Is normalized into
. Wherein
Is the first
The minimum value of all candidate paths under the item path evaluation index,
is the first
And evaluating the maximum value of all candidate paths under the index.
(b) Calculate the first
Item path evaluation index
Specific gravity of bar candidate path
。
(c) Is calculated to obtain the first
Entropy of the term path evaluation index is
When is coming into contact with
When the temperature of the water is higher than the set temperature,
。
(d) Is calculated to obtain
Weight of item Path evaluation index
。
(e) Then obtain an arbitrary number
The composite score of the candidate paths is
。
The worse the performance of a candidate path reflected by the path evaluation parameter of the candidate path, the higher the crowdedness in the local area reflected by the local working parameter of each local area covered by the candidate path, and the higher the comprehensive score of the candidate path. And then selecting the candidate path with the lowest comprehensive score as the global guidance path of the target AGV.
The master sort controller then sends the global guidance path to the target AGVs and the respective zone sort controllers, and the target AGVs travel in accordance with the travel direction and trend indicated by the global guidance path, but do not travel directly and completely along the global guidance path. The global guiding path covers a plurality of local areas, each of which includes an entry link point and/or an exit link point, and after the global guiding path of the target AGV is transmitted to the area sorting controller, the area sorting controller can be directed to the entry link point and the exit link point of the local area, the entry link point of one local area is a position where the target AGV enters the local area from other local areas when moving along the global sorting path, and the exit link point of each local area is a position where the target AGV leaves the local area to enter other local areas when moving along the global sorting path, so that the entry link point of one local area is an exit link point of another local area connected to the boundary thereof. For example, a dotted line in fig. 2 shows a global guiding path, and the arrow direction shows the direction in which the target AGV travels according to the global guiding path, the global guiding path covers 6 local regions, which are a local region 19, a local region 20, a local region 21, a local region 15, a local region 16, and a local region 10, respectively, where the local region 19 only has an exit link point, the local region 10 only has an entrance link point, the remaining local regions simultaneously include an entrance link point and an exit link point, the exit link point a of the local region 19 is also the entrance link point of the local region 20, the exit link point B of the local region 20 is also the entrance link point of the local region 21, and the like.
When the target AGV moves to each local area covered by the global guide path, the local sorting controller corresponding to the local area performs local path planning according to the local environment in the local area and the AGV to determine the local path, the local path is sent to the target AGV, and the target AGV moves to the next local area covered by the global guide path in the local area along the local path until the sorting task is completed.
That is, when the target AGV moves to the entrance link point of each local area covered by the global guidance path, the area sorting controller corresponding to the local area performs local path planning according to the local environment in the local area and the AGV, and determines a local path from the entrance link point to the exit link point of the local area, or determines a local path from the entrance link point of the local area to the destination of the sorting task located in the local area. In one embodiment, the regional sorting controller uses exit link points of a local region as target points, uses positions of environmental obstacles in the corresponding local region and positions of AGVs in the local region as obstacle points, and performs local path planning by using an artificial potential field method according to a gravitational potential field generated by the target points and repulsive potential fields generated by the obstacle points to determine a local path. And establishing an artificial potential field by using a potential field function, wherein the potential field function is a differentiable function, the value of the potential field function at any position in a local area represents the potential field strength of the position, and the local path from the entrance link point to the exit link point can be planned and obtained by advancing according to the direction of the decrease of the potential field strength.
Position within local area
Value of the potential field function of (1)
Position of
Is subject to the gravitational potential field generated by the target point
Wherein, in the process,
is a gravity gain parameter that is a function of,
is the target point and position
The distance between them. Position of
Is made to be located at any position
Repulsive potential field generated by obstacle
，
Is a position
In the position of the obstacle
In between the distance between the first and second electrodes,
is the threshold for the range of the obstacle,
is the repulsive force gain.
Therefore, when the target AGV operates according to the global guidance path, the target AGV enters a local area from an entrance link point of each local area and then leaves the local area from an exit link point of the local area, or reaches the destination of the sorting task located in the local area, but the path in the local area does not necessarily completely coincide with the global guidance path. For example, in fig. 2, taking the local area 16 as an example, when the target AGV travels to the entrance link point D of the local area 16, the local route from the entrance link point D to the exit link point E of the local area 16 planned by the local sorting controller corresponding to the local area 16 in the local area 16 is shown by a straight arrow, but the global guide route from the entrance link point D to the exit link point E of the local area 16 is shown by a dotted line, and it is seen that the route in the local area does not necessarily completely coincide with the global guide route. When the target AGV reaches the destination of the sorting task and finishes the sorting task, the target AGV also sends task completion information to the main sorting controller to indicate that the sorting task is completed, and then the main sorting controller can feed back the task completion information to the service system.
In another embodiment, when the target AGV travels to a local area covered by the global guidance path, the area sorting controller corresponding to the local area directly plans the local path for the target AGV and allows the target AGV to enter the local area, but first determines whether the congestion degree of the local area reaches a congestion degree threshold, and since the local work data of the local area reflects the congestion degree of the local area, the congestion degree of the local area can be determined by performing quantitative calculation on the local work data of the local area according to a preset rule, which does not limit the specific calculation method.
When the crowding degree of the local area is determined to be lower than the crowding degree threshold, the existing AGVs in the local area are indicated to be not saturated, the area sorting controller corresponding to the local area can plan the local path according to the local environment in the local area and the AGVs through the method to determine the local path and send the local path to the target AGVs, and the target AGVs are enabled to move in the local area along the local path.
When the crowding degree of the local area reaches the crowding degree threshold value, the existing AGVs in the local area are saturated, the target AGVs cannot be allowed to enter the local area temporarily, otherwise, blockage easily occurs, the area sorting controller feeds back crowding indication information to the main sorting controller, and the main sorting controller controls the target AGVs to perform emergency operation according to the crowding indication information.
In one embodiment, the method for the master sort controller to control the target AGVs to perform emergency operations based on the congestion indication information includes the following two cases:
when the main sorting controller determines that the local area where the target AGV waits to enter is a key area, the main sorting controller controls the target AGV to wait until the crowdedness of the local area is reduced to a threshold value which does not reach the crowdedness, and then the target AGV enters the local area. When the congestion degree of the local area is reduced to a value which does not reach the threshold value of the congestion degree, the area sorting controller plans the local path to determine the local path and sends the local path to the target AGV, so that the target AGV enters the local area along the local path to move.
When a local area is a passing-only area for the target AGV to complete the corresponding sorting task, the local area is a key area of the target AGV, for example, when the local area includes a passing-only point for the target AGV to complete the sorting task, or there is no other optional global guide path passing through other local areas, otherwise, the local area is a non-key area of the target AGV.
When the main sorting controller determines that the local area, into which the target AGV waits to enter, is a non-key area, the main sorting controller performs global path planning again according to the current position of the target AGV and a sorting task to be executed by the target AGV in the global sorting area to correct the global guide path and sends the global guide path to the target AGV, and the target AGV enters other local areas according to the corrected global guide path. The process of revising the global guidance path by the global path planning is the same as the method of the global path planning described above, and details are not repeated in this embodiment. Therefore, the target AGV can be guided to timely bypass other local areas, and the waiting time in the local area is avoided being too long.
What has been described above is only a preferred embodiment of the present application, and the present application is not limited to the above examples. It is to be understood that other modifications and variations directly derived or suggested to those skilled in the art without departing from the spirit and concepts of the present application are to be considered as being within the scope of the present application.
Claims (7)
1. The AGV intelligent sorting system is characterized by comprising a main sorting controller, a plurality of regional sorting controllers and a plurality of AGVs, wherein the main sorting controller is in wireless connection with the regional sorting controllers, the main sorting controller is in wireless connection with the AGVs, and each regional sorting controller is in wireless connection with the AGVs; the intelligent sorting method executed by the AGV intelligent sorting system comprises the following steps:
the main sorting controller utilizes a plurality of different path planning algorithms to carry out global path planning according to the sorting tasks to be executed by the target AGV in the global sorting area to obtain a plurality of candidate paths, and the target AGV is the AGV which is not executing any sorting task and is in an idle state;
the main sorting controller determines a plurality of path evaluation indexes of each candidate path, wherein the path evaluation indexes of each candidate path comprise path evaluation parameters of the candidate paths and local working parameters of each local area covered by the candidate paths, the path evaluation parameters of the candidate paths are used for reflecting the performance of the candidate paths, and the local working data of each local area is used for reflecting the crowding degree in the local area; the global sorting area is divided into a plurality of local areas with continuous and non-coincident boundaries, each local sorting controller corresponds to one local area, and local working data of each local area is acquired by the local sorting controller corresponding to the local area and is sent to the main sorting controller; the local work data for each local region includes work data for all AGVs currently located within the local region;
the main sorting controller is right
A candidate path of
Item path evaluation index
Is normalized into
Wherein when first
The greater the numerical value of the item route evaluation index is, the better the performance of the reflected candidate route is, or the smaller the degree of congestion in the reflected local area is, the first
The item path evaluation index is a forward index, for
After normalization
(ii) a When it comes to
The greater the numerical value of the item route evaluation index, the worse the performance of the reflected candidate route, or the greater the degree of congestion in the reflected local area, the first
The item path evaluation index is a negative index, for
After normalization processing
(ii) a And determining the path evaluation index corresponding to the local working parameter of the local area not covered by each candidate path as 0,
、
are all parameters which are used as the raw materials,
，
，
、
are all parameters; calculate the first
Item path evaluation index
Specific gravity of candidate route
(ii) a Is calculated to obtain the first
Entropy of the term path evaluation index of
When it comes to
When the utility model is used, the water is discharged,
(ii) a Is calculated to obtainFirst, the
Weight of item Path evaluation index
(ii) a To obtain the first
The composite score of the candidate paths is
(ii) a The performance of the candidate path reflected by the path evaluation parameter of the candidate path is worse, the crowdedness in the local area reflected by the local working parameter of each local area covered by the candidate path is higher, and the comprehensive score of the candidate path is higher;
the master sorting controller selects a candidate path with the lowest comprehensive score as a global guidance path and sends the global guidance path to the target AGV and each regional sorting controller;
when the target AGV moves to each local area covered by the global guide path, the local sorting controller corresponding to the local area plans the local path according to the local environment in the local area and the AGV to determine the local path, and sends the local path to the target AGV, and the target AGV moves to the next local area covered by the global guide path in the local area along the local path until finishing the sorting task.
2. The AGV intelligent sorting system of claim 1, wherein when the target AGV moves to an entrance link point of each local area covered by the global guidance path, the local sorting controller corresponding to the local area performs local path planning according to local environment and AGV in the local area, determines a local path from the entrance link point of the local area to an exit link point of the local area, or determines a local path from the entrance link point of the local area to a destination of the sorting task located in the local area;
wherein the entry link point for each local zone is a location where the target AGV enters the local zone from other local zones as it moves along the global sort path, and the exit link point for each local zone is a location where the target AGV exits the local zone into other local zones as it moves along the global sort path.
3. The AGV intelligence sorting system of claim 2 wherein each of the zone sorting controllers performs local path planning within a corresponding local zone to determine a local path by:
taking the exit link point of the local area as a target point, and taking the position of the environmental barrier in the local area and the positions of all AGVs in the local area as barrier points; and planning a local path by using an artificial potential field method according to the attraction potential field generated by the target point and the repulsion potential field generated by each obstacle point to determine the local path.
4. The AGV intelligent sorting system of claim 1, wherein the local work data for each local area includes the number of AGVs located within the local area, the sum of the task weights of the sorting tasks performed by the AGVs located within the local area, the average operating speed of the AGVs located within the local area;
the higher the number of AGVs located in the local area is, the larger the sum of the task weights of the sorting tasks performed by the AGVs located in the local area is, and the lower the average running speed of the AGVs located in the local area is, the higher the degree of congestion in the local area is reflected.
5. The AGV intelligent sorting system of claim 1, wherein the path evaluation parameters for each candidate path include path length of the candidate path, sum of path turn angles, algorithm run time of a path planning algorithm to obtain the candidate path, travel duration taken to run along the candidate path, and path cost taken to run the candidate path;
the longer the path length of the candidate path, the larger the sum of the path steering angles, the longer the algorithm running time, the longer the walking time and the larger the path cost, the worse the performance of the candidate path is reflected.
6. The AGV intelligent sorting system of claim 1 wherein the intelligent sorting method performed by the AGV intelligent sorting system further comprises:
when the target AGV moves to a local area covered by the global guiding path and the area sorting controller corresponding to the local area determines that the crowding degree of the local area does not reach a crowding degree threshold value according to local working data of the local area, the area sorting controller corresponding to the local area plans a local path according to a local environment in the local area and the AGV to determine a local path and sends the local path to the target AGV, and the target AGV moves in the local area along the local path;
when the target AGV moves to a local area covered by the global guiding path and the area sorting controller corresponding to the local area determines that the crowding degree of the local area reaches the crowding degree threshold value according to the local working data of the local area, the area sorting controller feeds back crowding indication information to the main sorting controller, and the main sorting controller controls the target AGV to execute emergency operation according to the crowding indication information.
7. The AGV intelligent sorting system of claim 6 wherein the method for the master sorting controller to control the target AGVs to perform emergency operations based on the congestion indication information includes:
when the main sorting controller determines that a local area where the target AGV waits to enter is a key area, the main sorting controller controls the target AGV to wait until the crowdedness of the local area is reduced to a threshold value of the crowdedness, and then the target AGV enters the local area;
when the main sorting controller determines that a local area, into which the target AGV waits to enter, is a non-key area, the main sorting controller performs global path planning again in the global sorting area according to the current position of the target AGV and a sorting task to be executed by the target AGV to correct a global guide path and sends the global guide path to the target AGV, and the target AGV enters other local areas according to the corrected global guide path;
when one local area is a necessary area for the target AGV to complete the corresponding sorting task, the local area is a key area of the target AGV, otherwise, the local area is a non-key area of the target AGV.
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