CN116339300A

CN116339300A - AGV operation control method, electronic equipment and computer readable storage medium

Info

Publication number: CN116339300A
Application number: CN202111592449.8A
Authority: CN
Inventors: 甘涛
Original assignee: Shenzhen Fulian Fugui Precision Industry Co Ltd
Current assignee: Shenzhen Fulian Fugui Precision Industry Co Ltd
Priority date: 2021-12-23
Filing date: 2021-12-23
Publication date: 2023-06-27
Also published as: TW202326328A; TWI820594B

Abstract

The application provides an AGV operation management and control method, electronic equipment and a computer readable storage medium, wherein the method is applied to an AGV system, the AGV system comprises a first AGV and a second AGV which are positioned in the same local area network, and the method comprises the following steps: acquiring first path information of a first AGV and second path information of a second AGV; judging whether the first path information and the second path information are overlapped or not; if the first path information and the second path information are overlapped, acquiring first transport information of the first AGV and second transport information of the second AGV, and determining a conflict type of the first AGV and the second AGV according to the first transport information and the second transport information; and adopting a conflict control mechanism corresponding to the determined conflict type to control the first AGV or the second AGV. According to the method and the device, the conflict type is determined by acquiring the path information of the AGV, different conflict management and control mechanisms are formulated according to different conflict types, and the operation efficiency of the AGV is improved.

Description

AGV operation control method, electronic equipment and computer readable storage medium

Technical Field

The application relates to the field of automatic guided vehicles (Automated Guided Vehicle, AGVs), and in particular to an AGV operation management and control method, electronic equipment and a computer-readable storage medium.

Background

An AGV is a transport vehicle equipped with an automatic guidance device such as electromagnetic or optical, capable of moving along a predetermined guidance route and having safety protection.

In a factory workshop, due to material specificity or cost management, an AGV with various navigation modes may be arranged to transport materials, such as magnetic stripe navigation and two-dimensional code navigation. Different traffic control modes exist for different AGVs, for example, in a magnetic stripe navigation mode, collision is avoided by enabling different AGVs to occupy different magnetic stripes; in the two-dimensional code navigation mode, two-dimensional codes are attached to the ground at intervals, and collision is avoided by enabling different AGVs to occupy different two-dimensional code points. In a hybrid AGV operating system in which multiple navigation modes are mixed, it is difficult for an AGV scheduling system to operate efficiently because the navigation and collision avoidance modes are not uniform.

Disclosure of Invention

In view of this, the application provides an AGV operation control method, electronic equipment and a computer readable storage medium, which determine conflict types by acquiring path information of an AGV, and formulate different conflict control mechanisms according to different conflict types, so as to improve the operation efficiency of the AGV.

In a first aspect, an embodiment of the present application provides an AGV operation control method, which is applied to an AGV system, the AGV system includes a first AGV and a second AGV, the first AGV and the second AGV are in the same local area network, and the method includes:

acquiring first path information of the first AGV and second path information of the second AGV;

judging whether the first path information and the second path information are overlapped or not;

if the first path information and the second path information are overlapped, acquiring first transport information of the first AGV and second transport information of the second AGV, and determining a collision type of the first AGV and the second AGV according to the first transport information and the second transport information;

and adopting a conflict control mechanism corresponding to the determined conflict type to control the first AGV or the second AGV.

In some embodiments, the first transportation information and the second transportation information each include at least one of an initiation time of transportation, a status of a transportation task, a transportation speed, a track path length.

In some embodiments, the managing the first AGV or the second AGV by using a collision management mechanism corresponding to the determined collision type includes, when the collision type is a collision, obtaining a position where the first AGV meets the second AGV based on the first transport information and the second transport information; when the meeting position is at a preset track node, setting the first AGV to stop for a first preset time before reaching the meeting position according to a preset priority level principle, and then continuing to run; wherein, the priority level of the first AGV is lower than the priority level of the second AGV.

In some embodiments, the meeting position is determined to be at the preset track node when the difference in the moments of the first AGV and the second AGV reaching the meeting position is within a preset range.

In some embodiments, the method for controlling the operation of the AGV further includes: when the meeting position is not at the preset track node, setting an avoidance point according to the meeting position, and setting the first AGV to enter the avoidance point to stop for a second preset time according to the preset priority level principle, and then continuing to run.

In some embodiments, the preset priority level criteria includes at least one of: the more important the transport task of the AGV, the higher the priority level; the priority level of the loaded AGVs is higher than that of the unloaded AGVs; AGVs with short transport paths have a higher priority than AGVs with long transport paths.

In some embodiments, the controlling the first AGV or the second AGV by using a collision control mechanism corresponding to the determined collision type further includes setting a transport speed of the first AGV and a transport speed of the second AGV to be the same speed when the collision type is overtaking collision.

In some embodiments, the controlling the first AGV or the second AGV by using a collision control mechanism corresponding to the determined collision type further includes outputting preset manual processing early warning information when the collision type is a blocking collision.

In a second aspect, the present application provides an electronic device, where the electronic device includes a processor and a memory, where the memory is configured to store instructions, and the processor is configured to invoke the instructions in the memory, so that the electronic device executes the AGV operation management method according to the first aspect.

In a third aspect, the present application provides a computer readable storage medium storing computer instructions that, when executed on an electronic device, cause the electronic device to perform the AGV operation control method of the first aspect.

According to the AGV operation control method, the electronic equipment and the computer readable storage medium, the conflict type is determined by acquiring the path information of the AGV, different conflict control mechanisms are formulated according to different conflict types, and the operation efficiency of the AGV is improved.

Drawings

FIG. 1 is a flow chart of an AGV operation control method according to an embodiment of the present application.

FIG. 2 is a schematic illustration of a sub-division of a step flow of the AGV operation control method of FIG. 1.

Fig. 3 (a) - (f) are schematic application scenarios of the AGV operation control method of fig. 1.

Description of the main reference signs

First AGV10

Second AGV20

The following detailed description will further illustrate the application in conjunction with the above-described figures.

The specific embodiment is as follows:

the following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application.

In the embodiments of the present application, the term "at least one" refers to one or more, and the term "a plurality" refers to two or more. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

It should be noted that, in the embodiments of the present application, the terms "first," "second," and the like are used for distinguishing between the descriptions and not necessarily for indicating or implying a relative importance, or for indicating or implying a sequence. Features defining "first", "second" may include one or more of the stated features, either explicitly or implicitly. In the description of embodiments of the present application, words such as "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.

Referring to fig. 1, a flow chart of an AGV operation control method according to an embodiment of the present application is shown.

The AGV operation control method shown in FIG. 1 is applied to an AGV system, the AGV system comprises a plurality of AGVs, and the number of the AGVs can be set according to actual requirements, which is not limited in the application. A plurality of AGVs can be in same LAN for can send and receive information each other between a plurality of AGVs, a plurality of AGVs can have multiple navigation, for example magnetic stripe navigation, navigation such as two-dimensional code navigation.

In this embodiment, taking a plurality of AGVs including the first AGV10 and the second AGV20 as an example for illustration, the first AGV10 and the second AGV20 are in the same local area network, for example, a wireless environment based on 5G can be built by using a wireless product, the first AGV10 and the second AGV20 are both matched with a wireless module, so as to ensure that the first AGV10 and the second AGV can be in the same local area network, and the communication protocol can be a UDP mode under WIFI or a broadcast mode under zigbee. The first AGV10 and the second AGV20 may be magnetic stripe type AGVs, two-dimensional code type AGVs, and the like.

Specifically, the AGV operation control method may include:

s100, acquiring first path information of the first AGV10 and second path information of the second AGV 20.

Specifically, an AGV traffic control system may first be established to manage the logistics of transporting the first AGV10 with the second AGV 20. The AGV traffic control system may include a task central control system, a material handling system, and an AGV scheduling system. The automatic transmission system comprises a task central control system, an Automatic Guided Vehicle (AGV) scheduling system, a material conveying system, an AGV scheduling system, a material conveying system and an AGV scheduling system.

In this embodiment, the task central control system may include a central control host, and may acquire the first path information of the first AGV10 and the second path information of the second AGV20 by calling a management interface of the central control host.

S200, judging whether the first path information and the second path information are overlapped or not.

Specifically, a variation method of a KMP algorithm can be used to determine whether the first path information and the second path information have coincident points or coincident road segments, wherein the KMP algorithm is an improved character string matching algorithm, and is proposed by D.E.Knuth, J.H.Morri s and v.r.pratt, and the kernel of the KMP algorithm is to utilize information after matching failure to reduce the matching times of the pattern string and the main string as much as possible, so as to achieve the purpose of rapid matching. The specific implementation is realized by a next () function, and the function itself contains the local matching information of the pattern string.

S300, if the first path information and the second path information are overlapped, the first transport information of the first AGV10 and the second transport information of the second AGV20 are obtained.

Specifically, when there is a coincidence point or a coincidence road segment between the first path information and the second path information, it is indicated that the first AGV10 and the second AGV20 will collide, i.e., the first AGV10 and the second AGV20 will collide. At this time, the first transport information of the first AGV10 and the second transport information of the second AGV20 may be acquired by calling the management interface of the central control host. For example, the first transportation information and the second transportation information may each include at least one of a start time of transportation, a status of a transportation task (the status includes whether there is a transportation task and a material, a name, etc. of the transportation task), a transportation speed, and a track path length.

In some embodiments, if there is no overlap of the first path information and the second path information, there is no need to govern the first AGV10 and the second AGV 20. Specifically, when the first path information and the second path information do not have the overlapping point or the overlapping road section, the first AGV10 and the second AGV20 do not collide, that is, the first AGV10 and the second AGV20 do not collide, and then the subsequent management and control operation is not required.

S400, determining the conflict type of the first AGV10 and the second AGV20 according to the first transportation information and the second transportation information.

Specifically, detailed information such as the transport paths and the transport directions of the first AGV10 and the second AGV20 can be obtained from the first transport information and the second transport information. In the present embodiment, the conflict type includes at least one of meeting conflict, overtaking conflict, blocking conflict. If the first AGV10 and the second AGV20 have transport paths in opposite directions but the same road segments, then the first AGV and the second AGV collide with each other as shown in (a) and (b) of FIG. 3; if the first AGV10 and the second AGV20 have the same transport paths with the same direction and the same road section, the collision may be overtaking, as shown in fig. 3 (c) and (d); if the first AGV10 blocks the travel of the second AGV20 during transport, then this is a blocking conflict, as shown in FIGS. 3 (e) and (f).

S500, a conflict control mechanism corresponding to the determined conflict type is adopted to control the first AGV10 or the second AGV 20.

Specifically, the task central control system executes a conflict control mechanism corresponding to the determined conflict type according to the path information and the transport information fed back by the first AGV scheduling system and the second AGV scheduling system, and controls the first AGV10 or the second AGV 20.

In some embodiments, as shown in fig. 2, step S500 may further include:

s510: when the collision type is an encounter collision, the encounter position of the first AGV10 and the second AGV20 is obtained based on the first transport information and the second transport information.

Specifically, track nodes are preset on the running maps of the first AGV10 and the second AGV20, and relevant information of the track nodes is recorded into the first AGV10 and the second AGV 20. The position where the first AGV10 meets the second AGV20 is calculated based on the time of initiation of the transport of the first AGV10 and the second AGV20, the transport speed, and the track path length.

In this embodiment, the encounter conflict may include a facing encounter conflict and a node encounter conflict, and the location where the first AGV10 encounters the second AGV20 may be used to determine whether the first AGV10 encounters the second AGV20 is specifically a facing encounter conflict (e.g. fig. 3 (a)) or a node encounter conflict (e.g. fig. 3 (b)).

S511: when the meeting position is at the preset track node, the first AGV10 is set to stop waiting for a first preset time before reaching the meeting position according to a preset priority level principle and then continues to run;

specifically, the preset priority level principle includes at least one of the following: (1) the more important the transport task of the AGV, the higher the priority; (2) a higher priority level for a loaded AGV than an unloaded AGV; (3) AGVs with short transport paths have a higher priority than AGVs with long transport paths.

Sequentially executing, if the transport task level is set, executing (1) the transport task of the AGV is more important, and if the transport task of the second AGV20 is more important than the transport task of the first AGV10, the second AGV20 preferentially passes; if the transport task level is not set, performing (2) a higher priority for the loaded AGVs than the unloaded AGV rules, such as the second AGV20 carrying the load, and the first AGV10 not carrying the load, the second AGV20 passing the priority; if both the first AGV10 and the second AGV20 are loaded or unloaded and no transport level is set, then the (3) principle of a shorter transport path AGV having a higher priority than a longer transport path AGV is performed; if the transport path of the second AGV20 is longer than the transport path of the first AGV10, then the second AGV20 will pass preferentially; if the transport path lengths are also the same, a random priority principle is set.

In this embodiment, the first AGV10 has a lower priority than the second AGV 20. When the difference between the moments when the first AGV10 and the second AGV20 reach the meeting position is within the preset range, then it is determined that the meeting position is at the preset track node, indicating that the first AGV10 and the second AGV20 collide for the node meeting, as in (b) of fig. 3. At this time, the task central control system or the AGV scheduling system can send traffic control signals to the first AGV10 with low priority according to the preset priority principle, set that the first AGV10 stops waiting for the first preset time before reaching the preset track node where the first AGV meets, so as to avoid the second AGV20, make the second AGV20 continue to operate according to the original transport path, until the task central control system or the AGV scheduling system sends traffic control release signals to the first AGV10 again, and the first AGV10 can continue to operate again.

Wherein, the first preset time for the first AGV10 to stop waiting needs to ensure that the second AGV20 can pass through the preset track node where the first AGV10 and the second AGV20 will meet in the first preset time. For example, the first preset time may be 3 seconds, i.e., the first AGV10 is set to stop waiting 3 seconds before reaching the preset track node and then continue to run, while the second AGV20 passes through the preset track node that the first AGV10 will encounter with the second AGV20 within 3 seconds.

In some embodiments, the first AGV10 may also signal the second AGV20 to de-regulate traffic. For example, after the second AGV20 passes through the preset track node that meets the first AGV10, an out-of-traffic-control signal is sent to the first AGV 10.

S512: when the meeting position is not at the preset track node, setting an avoidance point according to the meeting position.

Specifically, when the meeting position is not at the preset track node, it indicates that the meeting position of the first AGV10 and the second AGV20 is at a non-track node on the common rail route, that is, the first AGV10 and the second AGV20 have a coincident road section, which indicates that the first AGV10 and the second AGV20 collide for facing each other, as shown in fig. 3 (a). At this time, dodge the point on the screens of common rail route, the accuse system or AGV dispatch system in the task can be according to predetermineeing the priority principle and send traffic control signal to the first AGV10 that the priority is low, set up first AGV10 and backtrack to the last track node department of travel path, track node gets into dodge the point and parks and wait for the second default time from this, with dodging second AGV20, make second AGV20 continue to operate according to original travel path, until the accuse system in the task or AGV dispatch system sends the traffic control signal that releases again to first AGV10, first AGV10 just can drive out dodge the point and resume operation.

The second preset time for the first AGV10 to stop waiting needs to ensure that the second AGV20 can pass through the overlapping road section where the first AGV10 and the second AGV20 will meet in the second preset time. For example, the second preset time may be 4 seconds, i.e., the first AGV10 is set to stop at the point of avoidance and wait for 4 seconds before continuing to run, while the second AGV20 passes through the overlap section where the first AGV10 and the second AGV20 will meet in 4 seconds.

In some embodiments, the first AGV10 may also send out an out-of-traffic-control signal by the second AGV20, for example, to the first AGV10 after the second AGV20 passes through the overlap road segment with the first AGV 10.

S520: when the collision type is a overtaking collision, the transport speeds of the first AGV10 and the second AGV20 are set to the same speed.

Specifically, when the collision type of the first AGV10 and the second AGV20 is overtaking collision, as in fig. 3 (c) and (d), the transport speeds of the first AGV10 and the second AGV20 are set to the same speed to avoid overtaking collision of the first AGV10 and the second AGV 20.

S530: and when the conflict type is blocking conflict, outputting preset manual processing early warning information.

Specifically, when the collision type of the first AGV10 and the second AGV20 is a blocking collision, as in (e) and (f) of fig. 3, a preset manual processing early warning message is output, and the blocking collision is processed manually.

The application also discloses electronic equipment, the electronic equipment comprises a processor and a memory, wherein the memory is used for storing instructions, and the processor is used for calling the instructions in the memory, so that the electronic equipment executes the AGV operation management and control method. The electronic equipment can be computing equipment such as a desktop computer, a notebook computer, a palm computer and a cloud server, and can perform man-machine interaction with a user through a keyboard, a mouse, a remote controller, a touch pad or a sound control device.

The application also discloses a computer readable storage medium which stores computer instructions, when the computer instructions run on the electronic device, the electronic device is caused to execute the AGV running control method. The storage medium may be a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk, etc. which may store the program code.

It will be appreciated by persons skilled in the art that the above embodiments have been provided for the purpose of illustration only and not as a definition of the limits of the present application, and that appropriate modifications and variations of the above embodiments are within the scope of the invention as claimed.

Claims

1. The utility model provides an AGV operation management and control method is applied to AGV system, AGV system includes first AGV and second AGV, first AGV with the second AGV is in same LAN, its characterized in that, the method includes:

2. The AGV operation control method according to claim 1 wherein,

the first transportation information and the second transportation information each include at least one of an initiation time of transportation, a status of a transportation task, a transportation speed, and a track path length.

3. The method of controlling operation of an AGV according to claim 2, wherein said employing a collision control mechanism corresponding to the determined collision type to control the first AGV or the second AGV comprises:

when the collision type is an encounter collision, obtaining an encounter position of the first AGV and the second AGV based on the first transport information and the second transport information;

when the meeting position is at a preset track node, setting the first AGV to stop for a first preset time before reaching the meeting position according to a preset priority level principle, and then continuing to run;

wherein, the priority level of the first AGV is lower than the priority level of the second AGV.

4. The AGV operation control method according to claim 3, further comprising:

and when the difference value of the moment when the first AGV and the second AGV reach the meeting position is in a preset range, determining that the meeting position is at the preset track node.

5. The AGV operation control method according to claim 3, further comprising:

when the meeting position is not at the preset track node, setting an avoidance point according to the meeting position, and setting the first AGV to enter the avoidance point to stop for a second preset time according to the preset priority level principle, and then continuing to run.

6. The AGV operation control method according to claim 3 wherein,

the preset priority level principle comprises at least one of the following: the more important the transport task of the AGV, the higher the priority level; the priority level of the loaded AGVs is higher than that of the unloaded AGVs; AGVs with short transport paths have a higher priority than AGVs with long transport paths.

7. The method of controlling operation of an AGV according to claim 2, wherein said employing a collision control mechanism corresponding to the determined collision type to control the first AGV or the second AGV comprises:

and when the collision type is overtaking collision, setting the transport speeds of the first AGV and the second AGV to be the same speed.

8. The method of controlling operation of an AGV according to claim 2, wherein said employing a collision control mechanism corresponding to the determined collision type to control the first AGV or the second AGV comprises:

and when the conflict type is blocking conflict, outputting preset manual processing early warning information.

9. An electronic device comprising a processor and a memory, the memory for storing instructions, the processor for invoking the instructions in the memory to cause the electronic device to perform the AGV operation control method of any of claims 1-8.

10. A computer readable storage medium storing computer instructions that, when executed on an electronic device, cause the electronic device to perform the AGV operation control method of any of claims 1-8.