CN116048095A - Cooperative scheduling control method applied to various AGVs - Google Patents
Cooperative scheduling control method applied to various AGVs Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Y02P90/60—Electric or hybrid propulsion means for production processes
Abstract
The invention provides a cooperative scheduling control method applied to various AGVs, which comprises the following specific steps: step one: adding nodes in the map, setting the attributes of the nodes, connecting paths and setting the attributes of the nodes; step two: setting specific node attributes and path attributes for each AGV; step three: performing conversion calculation on the position of the AGV according to different guiding modes of the AGV; step four: planning and analyzing the path according to different driving modes of the AGV; the invention is focused on a cooperative scheduling control method of AGVs of various types, can coordinate and control the AGVs of various types in the same map, improves the adaptability of the system, classifies the functions of the AGVs, provides a function of independently controlling the node attribute and the path attribute of each AGV, can realize the scheduling of single-vehicle AGVs of various driving modes and guiding modes, and can simultaneously flexibly schedule the mixed scene of the linkage of the single-vehicle and the multiple-vehicle.
Description
Technical Field
The invention belongs to the technical field of AGV control, and relates to a cooperative scheduling control method applied to various AGVs.
Background
The AGVs are provided with automatic guiding devices such as electromagnetic or optical devices, and the gesture and the path of the AGVs are calculated by using a navigation controller, so that the wheeled robot which runs along a fixed track or a free path to realize a transport task can be used for carrying out AGV clustering under the unified dispatching of a dispatching system, so that complex transport tasks can be realized, and the main functions of the AGV dispatching system comprise system management, map management, equipment management, task dispatching, path planning, traffic control and the like.
The AGV scheduling method provided in the general invention mostly pays attention to path planning and traffic control algorithm, has less research on the cooperative scheduling problem of a plurality of AGVs of different types in the system, the AGV scheduling situation in actual demand is more complex, the size, the guiding mode, the driving mode, the running mode and the loading mechanism mode of a plurality of AGVs controlled by the scheduling system are greatly different, the double-car and multi-car linkage situation possibly exists in the system, the complex demands are not considered in the traditional map drawing method, and the multi-car cooperative scheduling cannot be carried out in the multi-type AGV scene.
Disclosure of Invention
The invention aims to provide a cooperative scheduling control method applied to various AGVs so as to solve the problems in the background art.
The aim of the invention can be achieved by the following technical scheme:
the cooperative scheduling control method applied to the AGVs of various types comprises the following specific steps:
step one: adding nodes in the map, setting the attributes of the nodes, connecting paths and setting the attributes of the nodes;
step two: setting specific node attributes and path attributes for each AGV;
step three: performing conversion calculation on the position of the AGV according to different guiding modes of the AGV;
step four: planning and analyzing the path according to different driving modes of the AGV;
step five: traffic control setting is performed for the single car AGVs and the coordinated AGVs.
In the above collaborative scheduling control method applied to multiple types of AGVs, in step one, the nodes include laser nodes, two-dimensional code nodes and composite laser nodes, and the node attributes include node numbers, node types, names, code numbers and global coordinate information.
In the above-mentioned cooperative scheduling control method applied to multiple types of AGVs, in step one, the path attribute includes a path direction attribute, an attitude attribute of an AGV traveling on a path, an obstacle avoidance and forbidden setting attribute, and an arc path radius attribute, where,
path direction attribute: the path direction attribute is divided into a unidirectional attribute and a bidirectional attribute, and represents the direction of allowed running;
attitude attribute of AGV traveling on the path: the head direction angle of the AGV when the AGV runs on the path is defined;
obstacle avoidance and forbidden set up properties: defining the level of obstacle avoidance which the AGV should use when traveling along the path or prohibiting the AGV from passing through the path;
radius properties of circular arc path: the corresponding arc radius when the path is an arc is shown, and if the path is a straight path, the attribute is 0.
In the above-mentioned cooperative scheduling control method applied to various types of AGVs, in the third step, the guidance modes of the AGVs are mainly divided into fixed path guidance and global free path guidance, wherein,
fixed path guidance: when the AGVs are guided by a fixed path, the positions of the AGVs are represented by landmark card numbers at the path connecting points, and the calculation of AGV nodes is realized according to the current position code numbers fed back by the AGVs and the configuration of the nodes in a map aiming at the current AGVs;
global free path steering: when the AGV is in global free path guidance, the position of the AGV is determined by the current global coordinates, and the nodes of the AGV need to be calculated according to the global coordinates and the global coordinate configuration of the nodes in the map.
In the above-mentioned cooperative scheduling control method applied to various types of AGVs, in step four, according to different driving modes, the AGVs may be classified into an omni-directional AGV, a differential AGV and a traction-type AGV, wherein,
omnidirectional AGV: the omni-directional AGV refers to an AGV capable of moving in all directions and comprises double steering wheels and wheat wheels;
differential AGV: the differential AGV is an AGV which can rotate in situ and can travel in a front-back curve;
traction type AGV: a traction type AGV refers to an AGV that can travel only in a forward curve.
In the above-mentioned cooperative scheduling control method applied to various types of AGVs, in the fifth step, the traffic control setting operation is as follows:
and setting a traffic control area for each node, and setting different area radiuses according to the vehicle body sizes and obstacle avoidance ranges of different AGVs for a certain node, wherein all nodes of an inner circular area (including edge points) of the radius are traffic control areas of the node.
Compared with the prior art, the cooperative scheduling control method applied to the AGVs of various types has the advantages that:
(1) The invention is focused on a cooperative scheduling control method of AGVs of various types, and can perform cooperative control on the AGVs of various types in the same map, thereby improving the adaptability of the system.
(2) The invention classifies functions of AGVs and provides a function of independently controlling node attributes and path attributes of each AGV.
(3) The invention can realize the scheduling of the single-car AGVs with different driving modes and guiding modes, and can simultaneously and flexibly schedule the mixed scene of single-car and multi-car linkage.
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FIG. 1 is a schematic flow chart of the coordinated dispatch control method of the present invention applied to various types of AGVs.
Detailed Description
The following are specific embodiments of the present invention and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
The invention provides a cooperative scheduling control method applied to various AGVs, which comprises the steps of firstly adding nodes in a map, setting attributes of the nodes, connecting paths and setting the attributes of the nodes; then, setting certain node attributes and path attributes for each AGV; secondly, carrying out conversion calculation on the position of the AGV according to different guiding modes of the AGV; thirdly, planning and analyzing the path according to different driving modes of the AGV; and finally, setting traffic control aiming at the single AGVs and the coordinated AGVs.
In order to realize the functions, the invention provides a related technical scheme, which comprises the following steps:
1) Adding nodes in the map, setting the attributes of the nodes, connecting paths and setting the attributes of the nodes;
specifically, first, all nodes through which the AGVs may pass are drawn in a scene and node attributes are set, wherein the node attributes mainly comprise node numbers, node types, names, code numbers, global coordinate information and the like. All types of nodes need to be provided with node number attributes, other attributes which are needed to be set by different types of nodes are different, such as a laser point needs to be provided with global coordinate attributes, a two-dimensional code node needs to be provided with code number attributes, a composite laser point needs to be provided with global coordinate attributes and code number attributes at the same time, then a path is drawn between two nodes needing path communication, and the path attributes are set, wherein the path attributes mainly comprise a path direction, the gesture of an AGV running on the path, obstacle avoidance and forbidden settings, the radius of an arc path and the like, and the path direction attributes are divided into a unidirectional path and a bidirectional path, which represent directions allowing running; the attitude attribute of the AGV running on the path defines the direction angle of the head of the AGV when the AGV runs on the path; the obstacle avoidance and forbidden setting defines the obstacle avoidance grade which is required to be used by the AGV when the AGV runs along the path or forbids the AGV to pass through the path; the path radius represents the corresponding arc radius when the path is an arc, and if the path is a straight path, the attribute is 0.
2) Setting certain node attributes and path attributes for each AGV;
specifically, for different AGVs in the system, some node attributes and path attributes may be different, and related node attributes include code numbers, global coordinates, and the like. The code number refers to a code number used by an AGV positioned by a landmark Rfid card or a two-dimensional code, and aiming at the same map node, the positions of the codes read by different AGVs at the node on the ground are possibly inconsistent, so that the code number needs to be independently set for each AGV at the point; global coordinates refer to the global coordinate information of the laser guided AGV at the node, and may be different due to the inconsistent coordinate systems of the laser guided AGV map. The related path attributes include path direction, path AGV gesture, path obstacle avoidance and forbidden setting and the like. The path direction has the following: unidirectional pointing to the starting point, unidirectional pointing to the ending point and bidirectional; the path AGV gesture refers to the running gesture direction of the AGV on the path section; similarly, obstacle avoidance and forbidden refer to the level of obstacle avoidance and whether the AGV is forbidden to pass on the path.
3) Performing conversion calculation on the position of the AGV according to different guiding modes of the AGV;
specifically, the guiding mode of the AGV is mainly divided into fixed path guiding and global free path guiding, when the AGV is the fixed path guiding, the position of the AGV is represented by a landmark card number at a path connecting point, and the calculation of AGV nodes is realized according to the current position code number fed back by the AGV and the configuration of the node in a map aiming at the current AGV; when the AGV is in global free path guidance, the position of the AGV is determined by the current global coordinates, and the nodes of the AGV need to be calculated according to the global coordinates and the global coordinate configuration of the nodes in the map. The calculated node number of the AGV is the unique position identification of the AGV in the electronic map.
4) Planning and analyzing the path according to different driving modes of the AGV;
specifically, according to different driving modes, the AGVs can be divided into an omni-directional AGV, a differential AGV and a traction type AGV, wherein the omni-directional AGV refers to an AGV (double steering wheels, wheat wheels and the like) capable of moving in all directions, the differential AGV refers to an AGV capable of rotating in situ and traveling in a front-back curve, the traction type AGV refers to an AGV capable of traveling in a front-back curve, and for each AGV in different driving modes, path planning is performed between the position of the AGV and the path end point according to the calculation in 3), and then, according to the calculation in 2), the code number or the global coordinate of each node in the path planning result can be obtained for the node in the path planning result. Aiming at the path in the path planning result, the AGV gesture, obstacle avoidance and forbidden setting and path direction of each path can be obtained, and finally, the AGV gesture and path direction are forbidden to be checked, and the AGV gesture checking method comprises the steps of: and carrying out feasibility judgment on the gesture of each path AGV by combining with the AGV driving mode, if the calculated AGV of a certain path can cause the AGV to transversely move under the gesture of the AGV, but the driving mode of the AGV is differential, judging that the analysis is wrong, and the related configuration of the path is not matched with the AGV driving mode.
5) Traffic control setting is carried out aiming at a bicycle AGV and a coordinated linkage AGV;
specifically, when multiple AGVs run simultaneously in the map, the possible collision and deadlock of the paths are considered, the traffic control calculation is required to be performed on the AGVs, firstly, the traffic control area is set for each node, different area radiuses are set for a certain node according to the vehicle body sizes and obstacle avoidance ranges of different AGVs, all nodes in the radius inner circular area (including edge points) are the traffic control areas of the node, then, the optimal paths for avoiding the collision and the deadlock are calculated by utilizing the path planning results of the control areas of the nodes and the AGVs, the path tasks of the multiple AGVs of different types can be performed in the same map, and the control areas need to be expanded to the node control areas where two vehicles are located and the communication areas between the two areas according to the double-vehicle or multi-vehicle linkage condition, so that the control areas belonging to the multi-vehicle linkage cannot collide with paths of other AGVs.
What is not described in detail in this specification is prior art known to those skilled in the art. The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (6)
1. The cooperative scheduling control method applied to the AGVs of various types is characterized by comprising the following specific steps of:
step one: adding nodes in the map, setting the attributes of the nodes, connecting paths and setting the attributes of the nodes;
step two: setting specific node attributes and path attributes for each AGV;
step three: performing conversion calculation on the position of the AGV according to different guiding modes of the AGV;
step four: planning and analyzing the path according to different driving modes of the AGV;
step five: traffic control setting is performed for the single car AGVs and the coordinated AGVs.
2. The cooperative scheduling control method for multiple types of AGVs according to claim 1 wherein in step one, the nodes include laser nodes, two-dimensional code nodes and composite laser nodes, and the node attributes include node numbers, node types, names, code numbers and global coordinate information.
3. The cooperative scheduling control method for multiple types of AGVs according to claim 1 wherein in step one, the path attributes include a path direction attribute, a posture attribute of the traveling AGV on the path, an obstacle avoidance and forbidden setting attribute, and a radius of arc path attribute, wherein,
path direction attribute: the path direction attribute is divided into a unidirectional attribute and a bidirectional attribute, and represents the direction of allowed running;
attitude attribute of AGV traveling on the path: the head direction angle of the AGV when the AGV runs on the path is defined;
obstacle avoidance and forbidden set up properties: defining the level of obstacle avoidance which the AGV should use when traveling along the path or prohibiting the AGV from passing through the path;
radius properties of circular arc path: the corresponding arc radius when the path is an arc is shown, and if the path is a straight path, the attribute is 0.
4. The cooperative scheduling control method for multiple types of AGVs according to claim 1, wherein in the third step, the guidance modes of the AGVs are mainly divided into fixed path guidance and global free path guidance, wherein,
fixed path guidance: when the AGVs are guided by a fixed path, the positions of the AGVs are represented by landmark card numbers at the path connecting points, and the calculation of AGV nodes is realized according to the current position code numbers fed back by the AGVs and the configuration of the nodes in a map aiming at the current AGVs;
global free path steering: when the AGV is in global free path guidance, the position of the AGV is determined by the current global coordinates, and the nodes of the AGV need to be calculated according to the global coordinates and the global coordinate configuration of the nodes in the map.
5. The cooperative scheduling control method for multiple types of AGVs according to claim 1 wherein in step four, the AGVs can be classified into an omni-directional AGV, a differential AGV and a traction type AGV according to different driving modes, wherein,
omnidirectional AGV: the omni-directional AGV refers to an AGV capable of moving in all directions and comprises double steering wheels and wheat wheels;
differential AGV: the differential AGV is an AGV which can rotate in situ and can travel in a front-back curve;
traction type AGV: a traction type AGV refers to an AGV that can travel only in a forward curve.
6. The cooperative scheduling control method for various types of AGVs as claimed in claim 1, wherein in the fifth step, the traffic control setting operation is as follows:
and setting a traffic control area for each node, and setting different area radiuses according to the vehicle body sizes and obstacle avoidance ranges of different AGVs for a certain node, wherein all nodes of an inner circular area (including edge points) of the radius are traffic control areas of the node.
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| CN116360378A (en) * | 2023-06-02 | 2023-06-30 | 北京中鼎昊硕科技有限责任公司 | AGV trolley safety scheduling method based on data analysis |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116360378A (en) * | 2023-06-02 | 2023-06-30 | 北京中鼎昊硕科技有限责任公司 | AGV trolley safety scheduling method based on data analysis |
| CN116360378B (en) * | 2023-06-02 | 2023-09-19 | 北京中鼎昊硕科技有限责任公司 | AGV trolley safety scheduling method based on data analysis |
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