TWI820594B - Operation control method of agv, electronic equipment and computer readable storage media - Google Patents

Abstract

This application proposes an operation control method of AGV, an electronic equipment, and a computer readable storage medium. The method is applied to an AGV system, which includes a first AGV and a second AGV in the same LAN. The method includes: obtaining first path information of the first AGV and second path information of the second AGV; determining whether the first path information is overlapped with the second path information; obtaining first transport information of the first AGV and second transport information of the second AGV if the first route information is overlapped with the second route information; determining conflict types of the first AGV and the second AGV according to the first transport information and the second transport information; and using a conflict management mechanism corresponding to the conflict types to manage the first AGV or the second AGV.

Description

AGV operation control methods, electronic equipment and computer-readable storage media

This application relates to the field of automated guided vehicles (AGV), and in particular to an AGV operation management and control method, electronic equipment and computer-readable storage media.

AGV refers to a transport vehicle equipped with electromagnetic or optical automatic guidance devices that can move along prescribed guidance routes and has safety protection for loading goods.

In factory workshops, due to the particularity of materials or cost control reasons, AGVs with multiple navigation methods may be set up to transport materials, such as magnetic stripe navigation and QR code navigation. AGVs with different navigation methods have different traffic control methods. For example, in the magnetic stripe navigation method, different AGVs occupy different magnetic strips to avoid collisions; in the QR code navigation method, stickers are posted at a certain distance on the ground. Set up QR codes to avoid collisions by letting different AGVs occupy different QR code points. In a hybrid AGV operating system that uses multiple navigation methods, it is difficult for the AGV dispatching system to operate efficiently due to inconsistent navigation and collision avoidance methods.

In view of this, this application proposes an AGV operation management and control method, electronic equipment, and computer-readable storage media. It determines the conflict type by obtaining the path information of the AGV, and formulates different conflict management and control mechanisms according to different conflict types to improve AGV operation efficiency.

In the first aspect, an embodiment of the present application provides an AGV operation management and control method, which is applied to an AGV system. The AGV system includes a first AGV and a second AGV, and the first AGV and the second AGV are in the same local area network. The method includes: obtaining the first path information of the first AGV and the second path information of the second AGV; determining whether the first path information and the second path information overlap; if the first path information overlaps; There is overlap between a path information and the second path information, obtaining the first transportation information of the first AGV and the second transportation information of the second AGV, and based on the first transportation information and the second transportation The information determines the conflict type between the first AGV and the second AGV; a conflict management and control mechanism corresponding to the determined conflict type is used to manage and control the first AGV or the second AGV.

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

In some embodiments, using a conflict management and control mechanism corresponding to the determined conflict type to manage and control the first AGV or the second AGV includes, when the conflict type is an encounter conflict, based on the first AGV A transportation information and the second transportation information obtain the meeting position of the first AGV and the second AGV; when the meeting position is at a preset track node, the first AGV is set according to the preset priority principle. The AGV stops and waits for a first preset time before reaching the meeting position before continuing to run; wherein the priority level of the first AGV is lower than the priority level of the second AGV.

In some embodiments, when the difference between the time when the first AGV and the second AGV arrive at the meeting position is within a preset range, it is determined that the meeting position is at the preset track node.

In some embodiments, the AGV operation management and control method further includes: when the encounter position is not at the preset track node, setting an avoidance point according to the encounter position, and setting an avoidance point according to the preset priority principle The first AGV enters the avoidance point and stops and waits for a second preset time before continuing to run.

In some embodiments, the preset priority principles include at least one of the following: the more important the AGV's transportation task, the higher the priority; AGVs carrying cargo have a higher priority than AGVs not carrying cargo; AGVs with short transportation paths has a higher priority than AGVs with long transportation paths.

In some embodiments, the use of a conflict management and control mechanism corresponding to the determined conflict type to manage and control the first AGV or the second AGV also includes, when the conflict type is a catch-up conflict, all The transport speeds of the first AGV and the second AGV are set to the same speed.

In some embodiments, using a conflict management and control mechanism corresponding to the determined conflict type to manage and control the first AGV or the second AGV also includes, when the conflict type is a blocking conflict, outputting a preset Manual processing of early warning information.

In a second aspect, this application provides an electronic device. The electronic device includes a processor and a memory. The memory is used to store instructions. The processor is used to call instructions in the memory so that the electronic device Implement the AGV operation control method described in the first aspect.

The present application provides a computer-readable storage medium that stores computer instructions. When the computer instructions are run on an electronic device, the electronic device causes the electronic device to execute the AGV operation management and control method described in the first aspect.

The AGV operation management and control method, electronic device, and computer-readable storage medium provided by the embodiment of this application determine the conflict type by obtaining the path information of the AGV, and develop different conflict management and control mechanisms according to different conflict types to improve AGV operation efficiency.

10:The first AGV

20:Second AGV

S100, S200, S300, S400, S500: steps

S510, S520, S530, S511, S512: steps

Figure 1 is a schematic flow chart of an AGV operation management and control method according to an embodiment of the present application.

Figure 2 is a schematic flowchart of a subdivision of the one-step process of the AGV operation control method in Figure 1.

Figure 3(a)~(f) is a schematic diagram of the application scenario of the AGV operation control method in Figure 1.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of them.

It should be noted that “at least one” in the embodiments of this application refers to one or more, and multiple refers to two or more. Unless otherwise defined, all technical and scientific terms and The meanings generally understood by those skilled in the technical field in this application are the same. The terms used in the description of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application.

It should be noted that in the embodiments of this application, words such as "first" and "second" are only used for the purpose of distinguishing descriptions, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order. . Features defined as "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the embodiments of this application, words such as “exemplary” or “for example” are used to represent examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "such as" in the embodiments of the present application is not to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the words "exemplary" or "such as" is intended to present the concept in a concrete manner.

Please refer to Figure 1, which is a schematic flow chart of an AGV operation management and control method provided by an embodiment of the present application.

The AGV operation control method shown in Figure 1 is applied to the AGV system. The AGV system includes multiple AGVs. The number of AGVs can be set according to actual needs. This application does not limit this. Multiple AGVs can be in the same local area network, so that multiple AGVs can send and receive information to each other. Multiple AGVs can have multiple navigation methods, such as magnetic stripe navigation, QR code navigation and other navigation methods.

In this embodiment, multiple AGVs including the first AGV10 and the second AGV20 are taken as an example. The first AGV10 and the second AGV20 are in the same local area network. For example, wireless products can be used to build a wireless environment based on 5G. The first AGV10 and the second AGV20 are equipped with wireless modules to ensure that they can be in the same LAN. The communication protocol can be UDP mode under WIFI or broadcast mode under ZigBee. The first AGV 10 and the second AGV 20 may be AGVs of different navigation types such as magnetic stripe AGVs and QR code AGVs.

Specifically, the AGV operation management and control method may include:

S100: Obtain the first path information of the first AGV10 and the second path information of the second AGV20.

Specifically, an AGV traffic control system can first be established to manage the logistics transportation of the first AGV10 and the second AGV20. The AGV traffic control system can include a task central control system, a material transport system and an AGV dispatching system. The task central control system connects the material transport system and the AGV dispatching system. The task central control system After receiving the transportation task from the transportation system, the transportation task is sent to the AGV dispatching system respectively. The AGV dispatching system assigns the AGV to perform the transportation task. The AGV scheduling system can perform AGV path planning based on the transportation task. Good path information can be sent to the assigned AGV, and the AGV dispatching system can also feed back the planned path information and assigned AGV transportation information to the task central control system.

In this embodiment, the task central control system may include a central control host, and the first path information of the first AGV 10 and the second path information of the second AGV 20 may be obtained by calling the management interface of the central control host.

S200: Determine whether the first path information and the second path information overlap.

Specifically, a variant method of the KMP algorithm can be used to determine whether the first path information and the second path information have overlapping points or overlapping road sections. The KMP algorithm is an improved string matching algorithm developed by D.E. Knuth and J.H. Morris. and V.R.Pratt proposed that the core of the KMP algorithm is to use the information after the matching fails to minimize the number of matches between the pattern string and the main string to achieve the purpose of fast matching. The specific implementation is through a next() function, which itself contains the local matching information of the pattern string.

S300: If the first path information and the second path information overlap, obtain the first transportation information of the first AGV 10 and the second transportation information of the second AGV 20.

Specifically, when the first path information and the second path information have an overlapping point or overlapping road section, it indicates that the first AGV 10 and the second AGV 20 will have a path conflict, that is, the first AGV 10 and the second AGV 20 will collide. At this time, the first transportation information of the first AGV 10 and the second transportation information of the second AGV 20 can be obtained by calling the management interface of the central control host. For example, both the first transportation information and the second transportation information may include at least one of the initiation time of transportation, the status of the transportation task (the status includes whether there is a transportation task and the material and name of the transportation task, etc.), transportation speed, and track path length. By.

In some embodiments, if the first path information and the second path information do not overlap, there is no need to control the first AGV 10 and the second AGV 20 . Specifically, when there is no overlapping point or overlapping road section between the first path information and the second path information, the first AGV 10 and the second AGV 20 will not conflict, that is, the first AGV 10 and the second AGV 20 will not collide, so there is no need to Carry out subsequent control operations.

S400: Determine the conflict type between the first AGV10 and the second AGV20 based on the first transportation information and the second transportation information.

Specifically, detailed information such as the transportation path and transportation direction of the first AGV 10 and the second AGV 20 can be obtained according to the first transportation information and the second transportation information. In this embodiment, the conflict type includes at least one of an encounter conflict, an overtaking conflict, and a blocking conflict. If the first AGV10 and the second AGV20 have transportation paths with opposite directions but the same road section, it is an encounter conflict, as shown in (a) and (b) of Figure 3; if the first AGV10 and the second AGV20 have the same direction with the same road section, it is an encounter conflict. If the same transportation path is used, it may be an example of a catch-up conflict, as shown in (c) and (d) of Figure 3; if the first AGV10 blocks the operation of the second AGV20 during transportation, it is a blocking conflict, as shown in Figure 3 shown in (e) and (f).

S500: Use the conflict management and control mechanism corresponding to the determined conflict type to control the first AGV10 or the second AGV20.

Specifically, the task central control system executes the conflict management and control mechanism corresponding to the determined conflict type based on the path information and transportation information fed back by the first AGV dispatching system and the second AGV dispatching system, and controls the first AGV10 or the second AGV20.

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

S510: When the conflict type is an encounter conflict, obtain the encounter position of the first AGV 10 and the second AGV 20 based on the first transportation information and the second transportation information.

Specifically, track nodes are preset on the operation maps of the first AGV 10 and the second AGV 20 , and the relevant information of the track nodes is entered into the first AGV 10 and the second AGV 20 . The position where the first AGV 10 and the second AGV 20 meet is calculated based on the initiation time, transportation speed and track path length of the transportation of the first AGV 10 and the second AGV 20.

In this embodiment, the encounter conflict may include an opposite encounter conflict and a node encounter conflict. The encounter conflict between the first AGV 10 and the second AGV 20 may be determined to be an opposite encounter conflict according to the location where the first AGV 10 and the second AGV 20 meet (as shown in Figure 3 (a)) or node encounter conflict ((b) in Figure 3).

S511: When the encounter position is at the preset track node, the first AGV 10 is set according to the preset priority principle to stop and wait for the first preset time before continuing to run before arriving at the encounter position.

Specifically, the preset priority principle includes at least one of the following: (1) The more important the AGV's transportation task is, the higher the priority; (2) The priority of AGVs carrying cargo is higher than that of AGVs not carrying cargo; (3) Transportation AGVs with short transportation paths have a higher priority than AGVs with long transportation paths.

Execute in sequence. If the transportation task level is set, execute the principle of (1) The more important the transportation task of the AGV, the higher the priority. For example, the transportation task of the second AGV20 is more important than the transportation task of the first AGV10, then the transportation task of the second AGV20 Priority passes; if the transport task level is not set, the principle of (2) The priority of AGVs carrying cargo is higher than that of AGVs not carrying cargo. For example, if the second AGV20 carries cargo and the first AGV10 does not carry cargo, the second AGV20 will pass first; if the If the first AGV10 and the second AGV20 are both carrying cargo or not, and there is no transportation task level set, the principle of (3) The priority of the AGV with a short transportation path is higher than that of the AGV with a long transportation path; such as the transportation path of the second AGV20 If the transportation path is longer than that of the first AGV10, the second AGV20 will pass first; if the transportation path lengths are also the same, a random priority principle will be set.

In this embodiment, the priority level of the first AGV10 is lower than the priority level of the second AGV20. When the difference in time when the first AGV 10 and the second AGV 20 arrive at the encounter position is within the preset range, the encounter position is determined to be at the preset track node, indicating that the first AGV 10 and the second AGV 20 are in node encounter conflict, as shown in Figure 3 of(b). At this time, the task central control system or the AGV dispatching system can send a traffic control signal to the first AGV 10 with a low priority according to the preset priority principle, and set the first AGV 10 to stop and wait for the first preset before reaching the preset track node where it meets. time to avoid the second AGV20 and allow the second AGV20 to continue operating according to the original transportation path. The first AGV10 will not continue to operate until the task central control system or the AGV dispatching system sends a traffic control release signal to the first AGV10 again.

Among them, the first preset time for the first AGV 10 to stop and wait needs to ensure that the second AGV 20 can pass the preset track node where the first AGV 10 and the second AGV 20 will meet within the first preset time. For example, the first preset time can be 3 seconds, that is, the first AGV 10 is set to stop and wait for 3 seconds before reaching the preset track node before continuing to run. At the same time, the second AGV 20 passes the first AGV 10 and the second AGV 20 within 3 seconds. Preset track nodes that will be encountered.

In some embodiments, the first AGV 10 may also send a traffic release signal from the second AGV 20 . For example, after the second AGV 20 passes the preset track node that meets the first AGV 10 , the traffic control release signal is sent to the first AGV 10 .

S512: When the encounter position is not at the preset track node, set an avoidance point according to the encounter position.

Specifically, when the meeting position is not at the preset track node, it means 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, there is an overlapping road section between the first AGV10 and the second AGV20, indicating that The first AGV10 and the second AGV20 encounter and conflict with each other, as shown in (a) of Figure 3 . At this time, an avoidance point is set at the common rail route, and the task central control system or AGV dispatching system can send a traffic control signal to the first AGV10 with a low priority according to the preset priority principle, and set the first AGV10 to backtrack to the operation At the previous track node of the path, the track node enters the avoidance point and stops to wait for the second preset time to avoid the second AGV20, so that the second AGV20 continues to run according to the original transportation path until the task central control system or AGV scheduling The system sends the traffic control lifting signal to the first AGV10 again, and then the first AGV10 will drive out of the avoidance point and continue running.

Among them, the second preset time for the first AGV 10 to stop and wait needs to ensure that the second AGV 20 can pass the overlapping road section where the first AGV 10 and the second AGV 20 will meet within the second preset time. For example, the second preset time can be 4 seconds, that is, the first AGV10 is set to stop at the avoidance point and wait for 4 seconds before continuing to run. At the same time, the second AGV20 will meet the second AGV20 after passing the first AGV10 within 4 seconds. Overlapping road sections.

In some embodiments, the first AGV 10 can also send a traffic control release signal from the second AGV 20. For example, after the second AGV 20 passes the overlapping road section with the first AGV 10, it sends a traffic control release signal to the first AGV 10.

S520: When the conflict type is a catch-up conflict, set the transportation speeds of the first AGV10 and the second AGV20 to the same speed.

Specifically, when the conflict type between the first AGV 10 and the second AGV 20 is a catch-up conflict, as shown in (c) and (d) of Figure 3 , the transportation speeds of the first AGV 10 and the second AGV 20 are set to the same speed to avoid The first AGV10 and the second AGV20 have a catch-up conflict.

S530: When the conflict type is a blocking conflict, output the preset manual processing warning information.

Specifically, when the conflict type between the first AGV 10 and the second AGV 20 is a blocking conflict, as shown in (e) and (f) of Figure 3 , preset manual processing warning information is output, and the blocking conflict is manually processed.

This application also discloses an electronic device. The electronic device includes a processor and a memory. The memory is used to store instructions. The processor is used to call instructions in the memory so that the electronic device executes the application. AGV operation management and control method described in the embodiment. The electronic device can be a computing device such as a desktop computer, a notebook, a handheld computer, a cloud server, etc. The electronic device can communicate with the user through a keyboard, mouse, remote control, touch pad, or voice control device. Human-computer interaction.

This application also discloses a computer-readable storage medium. The computer-readable storage medium stores computer instructions. When the computer instructions are run on an electronic device, the electronic device causes the electronic device to perform the AGV operation management and control described in the embodiments of the application. method. The storage medium can be a U disk, a mobile hard disk, a memory-only ROM, a random access memory RAM, a magnetic disk or an optical disk, and other media that can store program codes.

The AGV operation management and control method, electronic device, and computer-readable storage medium provided by the embodiment of this application determine the conflict type by obtaining the path information of the AGV, and develop different conflict management and control mechanisms according to different conflict types to improve AGV operation efficiency.

Those of ordinary skill in the art should realize that the above embodiments are only used to illustrate the present application and are not used to limit the present application. As long as the above embodiments are appropriately modified within the scope of the essential spirit of the present application, Changes and variations are within the scope of protection claimed by this application.

S100, S200, S300, S400, S500: steps

Claims (10)

An AGV operation management and control method 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. The improvement is that the method includes: obtaining The first path information of the first AGV and the second path information of the second AGV; predicting whether the first AGV and the second AGV will occur based on the first path information and the second path information Conflict; if it is predicted that the first AGV and the second AGV will conflict, obtain the first transportation information of the first AGV and the second transportation information of the second AGV, and according to the first transportation information and The second transportation information determines a conflict type between the first AGV and the second AGV, where the conflict type includes at least one of an encounter conflict, an overtaking conflict, and a blocking conflict. The AGV operation management and control method according to claim 1, wherein the first transportation information and the second transportation information each include at least one of the initiation time of transportation, the status of the transportation task, transportation speed, and track path length. . The AGV operation management and control method as described in claim 2, wherein the use of a conflict management and control mechanism corresponding to the determined conflict type to control the first AGV or the second AGV includes: when the conflict type is When encountering a conflict, the meeting position of the first AGV and the second AGV is obtained based on the first transportation information and the second transportation information; when the meeting position is at a preset track node, the meeting position of the first AGV and the second AGV is obtained based on the preset The priority principle sets the first AGV to stop and wait for a first preset time before reaching the meeting position before continuing to run; wherein the priority level of the first AGV is lower than the priority level of the second AGV. The AGV operation management and control method according to claim 3, wherein when the difference between the time when the first AGV and the second AGV arrive at the encounter position is within a preset range, it is determined that the encounter position is at the meeting position. The preset track node. The AGV operation control method as described in request item 3 also includes: When the encounter position is not at the preset track node, an avoidance point is set according to the encounter position, and the first AGV is set according to the preset priority principle to enter the avoidance point and stop to wait for the second preset time and then continue running. The AGV operation control method as described in claim 3, wherein the preset priority principle includes at least one of the following: the more important the transportation task of the AGV, the higher the priority; the priority of an AGV carrying cargo is higher than that of an AGV not carrying cargo. AGV; an AGV with a short transportation path has a higher priority than an AGV with a long transportation path. The AGV operation management and control method as described in claim 2, wherein the use of a conflict management and control mechanism corresponding to the determined conflict type to control the first AGV or the second AGV includes: when the conflict type is In case of overtaking conflict, the transportation speeds of the first AGV and the second AGV are set to the same speed. The AGV operation management and control method as described in claim 2, wherein the use of a conflict management and control mechanism corresponding to the determined conflict type to control the first AGV or the second AGV includes: when the conflict type is When blocking conflicts occur, the preset manual processing warning information is output. An electronic device, wherein the electronic device includes a processor and a memory, the memory is used to store instructions, and the processor is used to call instructions in the memory, so that the electronic device executes request item 1- The AGV operation control method described in any one of 8. A computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, which when the computer instructions are run on an electronic device, cause the electronic device to execute as described in any one of claims 1-8 AGV operation control method.

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