WO2024066072A1

WO2024066072A1 - Agv deadlock problem processing method and apparatus, device, and storage medium

Info

Publication number: WO2024066072A1
Application number: PCT/CN2022/139523
Authority: WO
Inventors: 陈文成; 吕朝顺; 张倩玉
Original assignee: 劢微机器人科技(深圳)有限公司
Priority date: 2022-09-28
Filing date: 2022-12-16
Publication date: 2024-04-04
Also published as: CN115658333A

Abstract

The present application discloses an AGV deadlock problem processing method and apparatus, a device, and a storage medium, and belongs to the field of AGV intelligent control. The method comprises: if it is determined that at the present moment there is an AGV waiting to allocate resources, obtaining a preset resource set, and based on the resource set, determining whether a deadlock problem exists, wherein the resource set is a global resource set; if it is determined that a deadlock problem exists, determining a policy solution for the deadlock problem; and based on the policy solution, unlocking the AGV.

Description

AGV deadlock problem processing method, device, equipment and storage medium

Related Applications

This application claims priority to Chinese patent application No. 202211194507.6 filed on September 28, 2022, the entire contents of which are incorporated by reference into this application.

Technical Field

The present application relates to the field of AGV intelligent control, and in particular to a method, device, equipment and storage medium for processing an AGV deadlock problem.

Background technique

At present, when transporting goods, AGV vehicles will avoid obstacles in the surrounding environment, and AGV vehicles will avoid other AGV vehicles as obstacles to avoid collisions. When the AGV vehicle actually has a deadlock phenomenon, it is necessary to determine whether the deadlock occurs according to the real-time environment and deal with the deadlock problem.

Deadlock detection based on time windows is highly complex. When dealing with deadlock problems, in order to avoid collisions, the scheduling system's scheduling resources will be sacrificed and the execution efficiency of the system will be reduced, which may even cause more AGV vehicles to deadlock. Based on the local deadlock solution method, multi-AGV collaboration cannot be achieved. In other words, the existing technology has the problem of low efficiency in dealing with AGV deadlock problems.

The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art.

Summary of the invention

The main purpose of this application is to provide a method for processing the AGV deadlock problem, aiming to solve the problem of low efficiency in processing the AGV deadlock problem in the prior art.

To achieve the above-mentioned purpose, the present application provides a method for processing an AGV deadlock problem, which is applied to a device for processing an AGV deadlock problem. The method for processing an AGV deadlock problem includes:

If it is determined that there is an AGV waiting for resource allocation at the current moment, a preset resource set is obtained, and based on the resource set, it is determined whether there is a deadlock problem, wherein the resource set is a global resource set;

If it is determined to exist, determine a strategic solution to the deadlock problem;

Based on the policy solution, the AGV is unlocked.

In one embodiment, the step of unlocking the AGV based on the strategy solution includes:

Acquire a deadlocked AGV set, and acquire a blocked AGV set, wherein the AGVs in the blocked AGV set are blocked by the AGVs in the deadlocked AGV set;

Determine the union of the deadlocked AGV set and the blocked AGV set as the first AGV set to be scheduled at the current moment;

If a corresponding second set of AGVs to be scheduled is determined at a future time of the current time, determining whether the first set of AGVs to be scheduled and the second set of AGVs to be scheduled have an intersection;

If it is determined that there is no intersection, it is determined that there are multiple independent AGV deadlock loops;

The AGVs in the first set of AGVs to be scheduled and the AGVs in the second set of AGVs to be scheduled are unlocked respectively in chronological order.

In one embodiment, the step of obtaining a preset resource set and determining whether a deadlock problem exists based on the resource set includes:

Get the preset resource set;

Based on the resource set, determining the resource set corresponding to the AGV to which the resources are to be allocated, wherein the resource set corresponding to the AGV to which the resources are to be allocated includes an occupied resource set and an applied resource set;

If the occupied resource set and the applied resource set corresponding to each AGV to which the resources are to be allocated have an intersection, it is determined that a deadlock problem exists.

In one embodiment, if it is determined that there is a deadlock problem, the step of determining a strategic solution to the deadlock problem includes:

After initialization, the set of AGVs to be scheduled is determined, as well as the set of available resources;

For each AGV in the set of AGVs to be scheduled, search in the set of available resources to obtain a corresponding set of strategies to be solved;

If the strategy set to be solved is not empty, determining the heuristic function corresponding to the strategy set to be solved, and selecting the strategy element corresponding to the minimum value in the heuristic function to obtain the strategy solution;

If it is determined that the deadlock problem has a solution, the strategic solution is determined to be the strategic solution to the deadlock problem.

In one embodiment, the strategic solution carries a depth parameter, and before the step of determining that the strategic solution is the strategic solution to the deadlock problem if it is determined that the deadlock problem has a solution, the step includes:

Determine whether the deadlock problem has a solution, wherein when the depth parameter reaches the depth threshold, if at least one of the following conditions is met: at least one AGV in the set of AGVs to be scheduled reaches a preset end point, or the sum of the distances between all AGVs in the set of AGVs to be scheduled and the corresponding end point is less than the sum of the distances when the depth parameter is 0, then it is determined that there is a solution;

If it is determined that there is no solution, the strategy solution is deleted from the strategy set to be solved, and the queue of the strategy set to be solved corresponding to the depth parameter and the available resource set are updated;

Return to the step of searching for each AGV in the set of AGVs to be scheduled in the set of available resources to obtain a corresponding set of strategies to be solved, and obtain the strategy solution until it is determined that the strategy solution is a strategy solution to the deadlock problem.

In one embodiment, after the step of searching the available resource set for each AGV in the set of AGVs to be scheduled to obtain a corresponding set of strategies to be solved, the following steps are included:

If the strategy set to be solved is empty, determining whether the strategy set queue to be solved is empty;

If it is determined to be empty, it is determined that the deadlock problem has no solution, and the step of deleting the strategy solution from the strategy set to be solved if it is determined that there is no solution is returned until it is determined that the strategy solution is the strategy solution to the deadlock problem;

If it is determined that it is not empty, return to the step of determining the heuristic function corresponding to the strategy set to be solved, until it is determined that the strategy solution is the strategy solution to the deadlock problem.

In one embodiment, the step of determining the available resource set includes:

Determine a first occupied resource set of the AGV set to be scheduled;

Determine that, among the resource sets, resource sets other than the to-be-scheduled AGV set are non-deadlock running AGV sets;

Determine a second occupied resource set of the non-deadlocked running AGV set;

Determine, in the resource set, a resource set other than the first occupied resource set and the second occupied resource set as the available resource set.

In addition, to achieve the above purpose, the present application also provides a device for processing the AGV deadlock problem, the device comprising:

A first determination module is used to obtain a preset resource set if it is determined that there is an AGV waiting for resource allocation at the current moment, and determine whether there is a deadlock problem based on the resource set;

A second determination module is used to determine a strategic solution to the deadlock problem if it is determined to exist;

An unlocking module is used to unlock the AGV based on the strategy solution.

In addition, to achieve the above-mentioned purpose, the present application also provides a processing device for an AGV deadlock problem, which is a physical node device, and the processing device for the AGV deadlock problem includes: a memory, a processor, and an AGV deadlock problem processing program stored on the memory and executable on the processor, and the processor executes the AGV deadlock problem processing program to implement the steps of the AGV deadlock problem processing method.

In addition, to achieve the above-mentioned purpose, the present application also provides a storage medium, on which is stored a program for implementing a method for processing an AGV deadlock problem. When the program for processing the AGV deadlock problem is executed by a processor, the steps of the method for processing the AGV deadlock problem described above are implemented.

The present application provides a method, device, equipment and storage medium for processing AGV deadlock problems. Compared with the problem of low efficiency in processing AGV deadlock problems in the prior art, in the present application, if it is determined that there is an AGV waiting for resource allocation at the current moment, a preset resource set is obtained, and based on the resource set, it is determined whether there is a deadlock problem, wherein the resource set is a global resource set; if it is determined that there is, a policy solution to the deadlock problem is determined; based on the policy solution, the AGV is unlocked. In the present application, from the perspective of the resource set, it is determined whether there is a deadlock problem, and when it is determined that there is a deadlock problem, the corresponding policy solution is determined. The judgment and processing of the deadlock problem is based on the perspective of the global resource set, which avoids the solution of the locally deadlocked AGV, achieves multi-AGV collaboration, and avoids more AGVs from falling into deadlock problems when unlocking, that is, improves the processing efficiency of the AGV deadlock problem.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a flow chart of a first embodiment of a method for processing an AGV deadlock problem of the present application;

FIG2 is a schematic diagram of a deadlock problem in a first embodiment of a method for processing an AGV deadlock problem of the present application;

3 is a schematic diagram of a device for processing an AGV deadlock problem in a fourth embodiment of a method for processing an AGV deadlock problem of the present application;

FIG. 4 is a schematic diagram of the device structure of the hardware operating environment involved in the fifth embodiment of the method for processing the AGV deadlock problem of the present application.

Detailed ways

Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

It should be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element. In addition, components, features, and elements with the same name in different embodiments of the present application may have the same meaning or different meanings, and their specific meanings need to be determined by their explanation in the specific embodiment or further combined with the context of the specific embodiment.

It should be understood that, although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this article, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determination". Furthermore, as used herein, the singular forms "one", "one" and "the" are intended to also include plural forms, unless there is an opposite indication in the context. It should be further understood that the terms "comprising" and "including" indicate the presence of the described features, steps, operations, elements, components, projects, kinds, and/or groups, but do not exclude the presence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and/or groups. The terms "or", "and/or", "including at least one of the following" etc. used in this application may be interpreted as inclusive, or mean any one or any combination. For example, “comprising at least one of the following: A, B, C” means “any of the following: A; B; C; A and B; A and C; B and C; A and B and C”, and for another example, “A, B or C” or “A, B and/or C” means “any of the following: A; B; C; A and B; A and C; B and C; A and B and C”. An exception to this definition will only occur when a combination of elements, functions, steps or operations are inherently mutually exclusive in some manner.

It should be understood that, although the various steps in the flowchart in the embodiment of the present application are displayed in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and it can be performed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

It should be noted that in this article, step codes such as S10 and S20 are used for the purpose of expressing the corresponding content more clearly and concisely, and do not constitute a substantial limitation on the sequence. When implementing the step, those skilled in the art may execute S20 first and then S10, etc., but these should all be within the scope of protection of this application.

It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present application, and have no specific meanings. Therefore, "module", "component" or "unit" can be used in a mixed manner.

In order to make the above-mentioned purposes, features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of this application.

Embodiment 1

The present application provides a method for processing an AGV deadlock problem. In a first embodiment of the method for processing an AGV deadlock problem of the present application, referring to FIG. 1 , a device for processing an AGV deadlock problem is applied. The method for processing an AGV deadlock problem includes:

Step S10, if it is determined that there is an AGV waiting for resource allocation at the current moment, a preset resource set is obtained, and based on the resource set, it is determined whether there is a deadlock problem, wherein the resource set is a global resource set;

Step S20, if it is determined to exist, determine a strategic solution to the deadlock problem;

Step S30: unlocking the AGV based on the strategy solution.

In this embodiment, the application scenarios are:

AGV vehicles will avoid other AGV vehicles as obstacles to avoid collision. When the AGV vehicle actually deadlocks, it is necessary to determine whether the deadlock occurs according to the real-time environment and deal with the deadlock problem. The existing technology has the problem of low efficiency in dealing with the AGV deadlock problem.

This embodiment aims to improve the processing efficiency of AGV deadlock problem.

In this embodiment, the resource set is any vertex or any edge, and can be allocated for scheduling the travel of the AGV. The resource set is the union of the edge set and the vertex set. As an example, the resource set is represented by A.

In this embodiment, from the perspective of resource sets, the scheduling system needs to ensure that there is no collision between AGVs in the system, that is, to ensure the exclusivity of each AGV on resources. A resource can only be occupied by one AGV at a time.

In this embodiment, if it is determined that there is an AGV waiting for resource allocation at the current moment, a preset resource set is obtained, and based on the resource set, it is determined whether there is a deadlock problem, wherein the resource set is a global resource set. If it is determined that there is, a policy solution to the deadlock problem is determined, and based on the policy solution, the AGV is unlocked.

Specific steps are as follows:

In this embodiment, if the processing device for the AGV deadlock problem determines that there is an AGV waiting for resource allocation at the current moment, it obtains the preset resource A and determines whether there is a deadlock problem based on the resource set A, wherein the resource set is a global resource set.

Among them, in step S10, the step of obtaining a preset resource set and determining whether there is a deadlock problem based on the resource set includes the following steps S11-S13:

Step S11, obtaining a preset resource set;

As an example, the preset resource set is A.

Step S12, based on the resource set, determining the resource set corresponding to the AGV to which the resources are to be allocated, wherein the resource set corresponding to the AGV to which the resources are to be allocated includes an occupied resource set and an applied resource set;

As an example, the state x _k (t) of AGV k∈A is defined as the combination of the geometric center position p _k (t) and velocity v _k (t) of AGV k at time t, x _k (t) = {p _k (t), v _k (t)}.

As an example, the occupied state space X ^o _k (t, p _k (t)) of AGV k is defined as the outline of AGV k and the set of all corresponding state spaces within the outline at time t.

As an example, based on the resource set, the resource set corresponding to the AGV to which the resources are to be allocated is determined, and the resource set corresponding to the AGV to which the resources are to be allocated includes an occupied resource set and an applied resource set.

As an example, the occupied resource set O _k (t) of AGV k is the set of path resources corresponding to the occupied state space Xok(t, pk(t)) of AGV k at time t.

As an example, the resource set R _k (t) requested by AGV k includes the designated path resources requested by AGV k at time t, and resources requested by other AGVs that have contour collisions with the designated path resources requested by AGV k.

Step S13: If the occupied resource set and the applied resource set corresponding to each AGV to which the resources are to be allocated have an intersection, it is determined that a deadlock problem exists.

As an example, if among the AGVs to be allocated resources, the occupied resource set and the applied resource set of each AGV have an intersection, it is determined that a deadlock problem exists.

As an example, as shown in Fig. 2, there are three AGVs, namely AGV1, AGV2 and AGV3. Fig. 2 also includes five vertices, namely v1 to v5, and three edges, namely e1 to e4.

As an example, AGV1 and AGV2 in FIG2 together form the AGV set to be scheduled A _RE (t1) at time t1, where A _RE (t1) = {AGV1, AGV2}. Correspondingly, the resource sets corresponding to the AGVs to be allocated resources include O ₁ (t1), R ₁ (t1), O ₂ (t1) and R ₂ (t1), where O ₁ (t1) is the occupied resource set of AGV1, R ₁ (t1) is the requested resource set of AGV1, O ₂ (t1) is the occupied resource set of AGV2, and R ₂ (t1) is the requested resource set of AGV2.

As an example, O ₁ (t1) = {v1, e1, e2, e4}, R ₁ (t1) = {e4, e2}, O ₂ (t1) = {e2}, R ₂ (t1) = {v1, e1, e4}. Since O ₁ (t1) ∩ R ₂ (t1) = {v1, e1, e4}, O ₂ (t1) ∩ R ₁ (t1) = {e2}, O ₁ (t1) and R ₂ (t1) have an intersection, and O ₂ (t1) and R ₁ (t1) have an intersection. Therefore, AGV1 and AGV2 are deadlocked at time t1, that is, there is a deadlock problem.

In this embodiment, the strategic solution is the solution to the deadlock problem.

As an example, if it is determined that a deadlock problem exists, a strategic solution to the deadlock problem is determined.

Wherein, step S20, if it is determined to exist, the step of determining the strategic solution to the deadlock problem includes the following steps S21-S24:

Step S21, after initialization, determining the set of AGVs to be scheduled and the set of available resources;

As an example, the strategy solution is initialized, and after initialization, a set of AGVs to be scheduled is determined, wherein the set of AGVs to be scheduled includes a set of AGVs constituting a deadlock problem and a set of AGVs blocked by the deadlock problem.

In this embodiment, after the set of AGVs to be scheduled is determined, the corresponding available resource set is determined based on the set of AGVs to be scheduled. When a deadlock problem occurs, some AGVs are deadlocked, and the remaining non-deadlocked AGVs are running. The available resource set reflects the state of the non-deadlocked running AGVs. Based on the available resource set, the globality is enhanced, the state of the deadlocked AGV and the state of the non-deadlocked AGV are combined, and the accuracy of unlocking the AGV deadlock problem is improved.

As an example, the available resource set is a resource set other than the occupied resource set of the deadlocked running AGV set and the occupied resource set of the to-be-scheduled AGV set.

In step S21, the step of determining an available resource set includes the following steps A1 to A4:

Step A1, determining a first occupied resource set of the AGV set to be scheduled;

As an example, it is determined that the occupied resource set of the to-be-scheduled AGV set is the first occupied resource set.

Step A2, determining that the resource sets other than the to-be-scheduled AGV set in the resource set are non-deadlock running AGV sets;

As an example, in resource set A, resource sets other than the AGV set to be scheduled are non-deadlock running AGV sets.

Step A3, determining a second occupied resource set of the non-deadlock running AGV set;

As an example, based on the non-deadlock running AGV set, the occupied resource set of the non-deadlock running AGV set is determined, and the occupied resource set of the non-deadlock running AGV set is the second occupied resource set.

Step A4: Determine, in the resource set, a resource set other than the first occupied resource set and the second occupied resource set as the available resource set.

As an example, the first occupied resource set and the second occupied resource set are removed from the resource set A, and the remaining resource set obtained is the available resource set.

Step S22, for each AGV in the AGV set to be scheduled, searching in the available resource set to obtain a corresponding strategy set to be solved;

As an example, the set of AGVs to be scheduled includes multiple AGVs, and a strategy set is searched for each AGV therein, and the searched strategy set is obtained from available resources.

Step S23, if the strategy set to be solved is not empty, determining the heuristic function corresponding to the strategy set to be solved, and selecting the strategy element corresponding to the minimum value in the heuristic function to obtain the strategy solution;

As an example, after obtaining the strategy set to be solved, it is determined whether the strategy set to be solved is empty. If the strategy set to be solved is not empty, it means that there are strategy elements in the strategy set to be solved.

As an example, the strategy set to be solved includes multiple strategy elements. Based on multiple reference factors, the heuristic function corresponding to the strategy set to be solved is determined, wherein each strategy element corresponds to a heuristic function, and different strategy elements correspond to different heuristic functions.

As an example, the heuristic function H is the path length between the path points approximated by the straight-line distance between the AGV path points.

Since the heuristic function represents the path length, and the shorter the path, the better the strategy effect, the minimum value in the heuristic function should be selected, and the strategy element corresponding to the heuristic function of the minimum value should be used as the strategy solution.

Step S24: If it is determined that the deadlock problem has a solution, then the strategic solution is determined to be the strategic solution to the deadlock problem.

As an example, after obtaining a strategic solution, if it is determined that the deadlock problem has a solution, the obtained strategic solution is used as the strategic solution to the deadlock problem.

Step S30: unlocking the AGV based on the strategy solution.

As an example, based on the strategy solution, the AGV with deadlock problem is unlocked.

The present application provides a method, device, equipment and storage medium for processing AGV deadlock problems. Compared with the problem of low efficiency in processing AGV deadlock problems in the prior art, in the present application, if it is determined that there is an AGV waiting for resource allocation at the current moment, a preset resource set is obtained, and based on the resource set, it is determined whether there is a deadlock problem, wherein the resource set is a global resource set; if it is determined that there is, a policy solution to the deadlock problem is determined; based on the policy solution, the AGV is unlocked. In the present application, from the perspective of the resource set, it is determined whether there is a deadlock problem, and when it is determined that there is a deadlock problem, the corresponding policy solution is determined. The judgment and processing of the deadlock problem is based on the perspective of the global resource set, which avoids the solution of the local deadlock AGV, achieves multi-AGV collaboration, and avoids more AGVs from falling into deadlock problems when unlocking, that is, improves the processing efficiency of the AGV deadlock problem.

Embodiment 2

Further, based on the first embodiment of the present application, another embodiment of the present application is provided. In this embodiment, step S30, based on the strategy solution, the step of unlocking the AGV includes the following steps S31-S35:

Step S31, obtaining a deadlocked AGV set and a blocked AGV set, wherein the AGVs in the blocked AGV set are blocked by the AGVs in the deadlocked AGV set;

Step S32, determining the union of the deadlocked AGV set and the blocked AGV set as the first AGV set to be scheduled at the current moment;

Step S33, if a corresponding second set of AGVs to be scheduled is determined at a future time of the current time, determine whether the first set of AGVs to be scheduled and the second set of AGVs to be scheduled have an intersection;

Step S34, if it is determined that there is no intersection, it is determined that there are multiple independent AGV deadlock loops;

Step S35 , unlocking the AGVs in the first set of AGVs to be scheduled and the AGVs in the second set of AGVs to be scheduled respectively in chronological order.

In this embodiment, if it is determined that there are multiple independent AGV deadlock loops, then based on the policy solution, when the AGV is unlocked, it should be unlocked separately in chronological order. As an example, there are multiple independent AGV deadlock loops, which means that at any time t1, a set of AGVs to be scheduled that have a deadlock loop is detected, and at a certain time t2 after time t1, a set of AGVs to be scheduled that have a deadlock loop is detected again.

As an example, a method for determining whether there are multiple independent AGV deadlock loops is specifically to obtain a deadlock AGV set and a blocked AGV set at time t1, wherein the AGVs in the blocked AGV set are blocked by the AGVs in the deadlock AGV set, and the union of the deadlock AGV set and the blocked AGV set is used as the AGV set to be scheduled at time t1, referred to as the first AGV set to be scheduled. If at a time t2 after time t1, another AGV set to be scheduled is confirmed, referred to as the second AGV set to be scheduled. If the first AGV set to be scheduled and the second AGV set to be scheduled have no intersection, it is determined that there are multiple independent AGV deadlock loops, and the AGVs in the first AGV set to be scheduled are first unlocked in chronological order, and then the AGVs in the second AGV set to be scheduled are unlocked.

In this embodiment, if multiple independent AGV deadlock loops are detected, then based on the policy solution, when the AGV is unlocked, it should be unlocked separately in chronological order. The step of detecting whether there are multiple independent AGV deadlock loops is added, and if there are multiple, they are unlocked in chronological order, which reduces the granularity of deadlock identification and improves the accuracy of deadlock identification, that is, further improves the efficiency of handling AGV deadlock problems.

Embodiment 3

Further, based on all the above embodiments of the present application, another embodiment of the present application is provided. In this embodiment, in step S24, the strategy solution carries a depth parameter. If it is determined that the deadlock problem has a solution, before the step of determining that the strategy solution is the strategy solution to the deadlock problem, steps B1 to B3 are included:

Step B1, determining whether the deadlock problem has a solution, wherein when the depth parameter reaches the depth threshold, if at least one of the following conditions is met: at least one AGV in the set of AGVs to be scheduled reaches a preset end point, or the sum of the distances between all AGVs in the set of AGVs to be scheduled and the corresponding end point is less than the sum of the distances when the depth parameter is 0, then it is determined that there is a solution;

Step B2: if it is determined that there is no solution, the strategy solution is deleted from the strategy set to be solved, and the strategy set queue to be solved corresponding to the depth parameter and the available resource set are updated;

Step B3, returning to the step of searching for each AGV in the set of AGVs to be scheduled in the set of available resources to obtain the corresponding set of strategies to be solved, and obtaining the strategy solution until it is determined that the strategy solution is the strategy solution to the deadlock problem.

In this embodiment, if it is determined that the deadlock problem has a solution, before the step of determining that the strategic solution is the strategic solution to the deadlock problem, it is determined whether the deadlock problem has a solution.

In this embodiment, the judgment method is as follows: the strategy solution carries a depth parameter. As an example, the depth parameter is n, and the preset depth threshold is N. When the depth parameter n is equal to N, if at least one AGV in the set of AGVs to be scheduled reaches the preset end point, it is determined that the deadlock problem has a solution. Alternatively, when the depth parameter n is equal to N, the sum of the distances between all AGVs in the set of AGVs to be scheduled and the corresponding end point is less than the sum of the distances when n is 0, it is determined that the deadlock problem has a solution.

As an example, when the depth parameter n is equal to N, no AGV reaches the preset end point, and the sum of the distances between all AGVs and the corresponding end points is greater than the sum of the distances when n is 0, then it is determined that the deadlock problem has no solution.

If it is determined that there is no solution, the strategy solution is deleted from the strategy set to be solved, and the queue of the strategy set to be solved corresponding to the depth parameter and the available resource set are updated. Return to the step of searching for each AGV in the AGV set to be scheduled, obtaining the corresponding strategy set to be solved, and obtaining the strategy solution until it is determined that the strategy solution is the strategy solution to the deadlock problem.

In addition, in this embodiment, after step S22, for each AGV in the set of AGVs to be scheduled, searches in the set of available resources to obtain a corresponding set of strategies to be solved, steps C1 to C3 are included:

Step C1, if the strategy set to be solved is empty, determine whether the strategy set queue to be solved is empty;

Step C2, if it is determined to be empty, then it is determined that the deadlock problem has no solution, and the step of deleting the strategy solution from the strategy set to be solved if it is determined that there is no solution, is returned until it is determined that the strategy solution is the strategy solution to the deadlock problem;

Step C3: if it is determined that it is not empty, return to the step of determining the heuristic function corresponding to the strategy set to be solved, until it is determined that the strategy solution is the strategy solution to the deadlock problem.

In this embodiment, for each AGV in the AGV set to be scheduled, after searching in the available resource set to obtain the corresponding strategy set to be solved, if it is determined that the strategy set to be solved is empty, continue to check whether the strategy set queue to be solved is empty. If it is determined to be empty, it is determined that the deadlock problem has no solution, and it is processed according to the no-solution method, and returns to the step of deleting the strategy solution from the strategy set to be solved if it is determined that there is no solution, until it is determined that the strategy solution is the strategy solution to the deadlock problem. If it is determined that it is not empty, return to the step of determining the heuristic function corresponding to the strategy set to be solved, until it is determined that the strategy solution is the strategy solution to the deadlock problem.

In this embodiment, a step of determining whether the deadlock problem has a solution is added, wherein when the depth parameter reaches the depth threshold, it is determined whether the deadlock problem has a solution. If it is determined that the deadlock problem has no solution, the step of searching for a strategy solution is returned until a strategy solution is obtained. After multiple iterative searches, a strategy solution to the deadlock problem is finally obtained, which further improves the processing efficiency of the AGV deadlock problem.

Embodiment 4

Further, based on all the above embodiments, another embodiment of the present application is provided. In this embodiment, as shown in FIG3 , a device for processing an AGV deadlock problem is provided, and the device includes:

A first determination module is used to obtain a preset resource set if it is determined that there is an AGV waiting for resource allocation at the current moment, and determine whether there is a deadlock problem based on the resource set, wherein the resource set is a global resource set;

An unlocking module is used to unlock the AGV based on the strategy solution.

In one embodiment, the step of unlocking the AGV based on the policy solution, the device includes:

A first acquisition module is used to acquire a deadlock AGV set and a blocked AGV set, wherein the AGVs in the blocked AGV set are blocked by the AGVs in the deadlock AGV set;

A third determination module is used to determine the union of the deadlocked AGV set and the blocked AGV set as the first AGV set to be scheduled at the current moment;

A fourth determination module, configured to determine whether the first set of AGVs to be scheduled and the second set of AGVs to be scheduled have an intersection if a corresponding second set of AGVs to be scheduled is determined at a future time of the current time;

A fifth determination module, configured to determine the existence of multiple independent AGV deadlock loops if it is determined that there is no intersection;

The first unlocking module is used to unlock the AGVs in the first set of AGVs to be scheduled and the AGVs in the second set of AGVs to be scheduled respectively in chronological order.

In one embodiment, the step of obtaining a preset resource set and determining whether a deadlock problem exists based on the resource set comprises:

A second acquisition module is used to acquire a preset resource set;

A sixth determination module, configured to determine, based on the resource set, a resource set corresponding to the AGV to which the resources are to be allocated, wherein the resource set corresponding to the AGV to which the resources are to be allocated includes an occupied resource set and an applied resource set;

The seventh determination module is used to determine that a deadlock problem exists if the occupied resource set and the applied resource set corresponding to each AGV to which the resources are to be allocated have an intersection.

In one embodiment, if it is determined that there is a deadlock problem, the step of determining a strategic solution to the deadlock problem, the apparatus comprises:

An eighth determination module, used to determine the set of AGVs to be scheduled and the set of available resources after initialization;

A search module, configured to search the available resource set for each AGV in the AGV set to be scheduled, and obtain a corresponding strategy set to be solved;

an eighth determination module, configured to determine a heuristic function corresponding to the strategy set to be solved if the strategy set to be solved is not empty, and select a strategy element corresponding to a minimum value in the heuristic function to obtain the strategy solution;

The ninth determination module is used to determine that the strategic solution is the strategic solution to the deadlock problem if it is determined that the deadlock problem has a solution.

In one embodiment, the strategic solution carries a depth parameter, and before the step of determining that the strategic solution is the strategic solution to the deadlock problem if it is determined that the deadlock problem has a solution, the device includes:

A first judgment module is used to judge whether the deadlock problem has a solution, wherein when the depth parameter reaches the depth threshold, if at least one of the following conditions is met: at least one AGV in the set of AGVs to be scheduled reaches a preset end point, or the sum of the distances between all AGVs in the set of AGVs to be scheduled and the corresponding end point is less than the sum of the distances when the depth parameter is 0, then it is judged that there is a solution;

An updating module, configured to delete the strategy solution from the strategy set to be solved if it is determined that there is no solution, and update the queue of the strategy set to be solved corresponding to the depth parameter and the available resource set;

The first return module is used to return to each AGV in the AGV set to be scheduled, search in the available resource set, obtain the corresponding strategy set to be solved, and obtain the strategy solution until it is determined that the strategy solution is the strategy solution to the deadlock problem.

In one embodiment, after the step of searching the available resource set for each AGV in the set of AGVs to be scheduled to obtain a corresponding set of strategies to be solved, the device includes:

a tenth determination module, configured to determine whether the queue of strategy sets to be solved is empty if the strategy set to be solved is empty;

A second judgment module is used to judge that the deadlock problem has no solution if it is determined to be empty, and return to the step of deleting the strategy solution from the strategy set to be solved if it is determined that there is no solution, until it is determined that the strategy solution is the strategy solution to the deadlock problem;

The second returning module is used to return to the step of determining the heuristic function corresponding to the strategy set to be solved if it is determined that it is not empty, until it is determined that the strategy solution is the strategy solution to the deadlock problem.

In one embodiment, the step of determining the available resource set, the apparatus comprises:

An eleventh determination module is used to determine a first occupied resource set of the AGV set to be scheduled;

A twelfth determination module, used to determine that the resource set other than the to-be-scheduled AGV set in the resource set is a non-deadlock running AGV set;

A thirteenth determination module, used to determine a second occupied resource set of the non-deadlock running AGV set;

A fourteenth determining module is used to determine that the resource sets other than the first occupied resource set and the second occupied resource set in the resource set are the available resource sets.

The specific implementation of the device for processing the AGV deadlock problem of the present application is basically the same as the embodiments of the method for processing the AGV deadlock problem described above, and will not be repeated here.

Embodiment 5

Furthermore, based on all the above embodiments, another embodiment of the present application is provided. In this embodiment, a device for processing an AGV deadlock problem is provided. The device for processing the AGV deadlock problem is a physical node device. The device for processing the AGV deadlock problem comprises: a memory, a processor, and a program for implementing a method for processing the AGV deadlock problem stored in the memory. The memory is used to store the program for implementing the method for processing the AGV deadlock problem; the processor is used to execute the program for implementing the method for processing the AGV deadlock problem, so as to implement the steps of the method for processing the AGV deadlock problem in the above embodiments.

Refer to Figure 4, which is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present application.

As shown in FIG4 , the processing device for the AGV deadlock problem may include: a processor 1001, such as a CPU, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to realize the connection and communication between the processor 1001 and the memory 1005. The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may optionally be a storage device independent of the aforementioned processor 1001.

In one embodiment, the processing device for the AGV deadlock problem may also include a network interface, an audio circuit, a display, a connecting line, a sensor, an input module, etc. The network interface may optionally include a standard wired interface, a wireless interface (such as a WI-FI interface, a Bluetooth interface), and the input module may optionally include a keyboard, a system soft keyboard, voice input, wireless receiving input, etc.

Those skilled in the art will appreciate that the structure of the device for processing the AGV deadlock problem does not constitute a limitation on the device for processing the AGV deadlock problem, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

The memory as a computer storage medium may include an operating system, an information exchange module, and a program for processing AGV deadlock problems. The operating system is a program that manages and controls the hardware and software resources of the processing equipment for AGV deadlock problems, and supports the operation of the program for processing AGV deadlock problems and other software and/or programs. The information exchange module is used to realize communication between the components inside the memory, and to communicate with other hardware and software in the management system.

In the processing device for the AGV deadlock problem, the processor is used to execute the processing program for the AGV deadlock problem stored in the memory to implement the above-mentioned steps for processing the AGV deadlock problem.

The specific implementation of the device for processing the AGV deadlock problem of the present application is basically the same as the various embodiments of the method for processing the AGV deadlock problem described above, and will not be repeated here.

Embodiment 6

An embodiment of the present application provides a storage medium, and the storage medium stores one or more programs, and the one or more programs can also be executed by one or more processors to implement the steps of the method for handling the AGV deadlock problem in the above embodiment.

The specific implementation method of the storage medium of the present application is basically the same as the embodiments of the method for handling the AGV deadlock problem mentioned above, and will not be repeated here.

It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

The serial numbers of the embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM or RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.

The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

A method for processing an AGV deadlock problem, wherein the method for processing an AGV deadlock problem comprises:

If it is determined that there is an AGV waiting for resource allocation at the current moment, a preset resource set is obtained, and based on the resource set, it is determined whether there is a deadlock problem, wherein the resource set is a global resource set;

If it is determined to exist, determine a strategic solution to the deadlock problem;

Based on the policy solution, the AGV is unlocked.
According to the method for processing the AGV deadlock problem of claim 1, the step of unlocking the AGV based on the strategy solution comprises:

Acquire a deadlocked AGV set, and acquire a blocked AGV set, wherein the AGVs in the blocked AGV set are blocked by the AGVs in the deadlocked AGV set;

Determine the union of the deadlocked AGV set and the blocked AGV set as the first AGV set to be scheduled at the current moment;

If a corresponding second set of AGVs to be scheduled is determined at a future time of the current time, determining whether the first set of AGVs to be scheduled and the second set of AGVs to be scheduled have an intersection;

If it is determined that there is no intersection, it is determined that there are multiple independent AGV deadlock loops;

The AGVs in the first set of AGVs to be scheduled and the AGVs in the second set of AGVs to be scheduled are unlocked respectively in chronological order.
According to the method for handling the AGV deadlock problem of claim 1, the step of obtaining a preset resource set and determining whether a deadlock problem exists based on the resource set comprises:

Get the preset resource set;

Based on the resource set, determining the resource set corresponding to the AGV to which the resources are to be allocated, wherein the resource set corresponding to the AGV to which the resources are to be allocated includes an occupied resource set and an applied resource set;

If the occupied resource set and the applied resource set corresponding to each AGV to which the resources are to be allocated have an intersection, it is determined that a deadlock problem exists.
According to the method for processing the AGV deadlock problem of claim 1, wherein the step of determining a strategic solution to the deadlock problem if it is determined to exist comprises:

After initialization, the set of AGVs to be scheduled is determined, as well as the set of available resources;

For each AGV in the set of AGVs to be scheduled, search in the set of available resources to obtain a corresponding set of strategies to be solved;

If the strategy set to be solved is not empty, determining the heuristic function corresponding to the strategy set to be solved, and selecting the strategy element corresponding to the minimum value in the heuristic function to obtain the strategy solution;

If it is determined that the deadlock problem has a solution, the strategic solution is determined to be the strategic solution to the deadlock problem.
According to the method for processing the AGV deadlock problem of claim 4, wherein the strategy solution carries a depth parameter, before the step of determining that the strategy solution is the strategy solution to the deadlock problem if it is determined that the deadlock problem has a solution, the method comprises:

Determine whether the deadlock problem has a solution, wherein when the depth parameter reaches the depth threshold, if at least one of the following conditions is met: at least one AGV in the set of AGVs to be scheduled reaches a preset end point, or the sum of the distances between all AGVs in the set of AGVs to be scheduled and the corresponding end point is less than the sum of the distances when the depth parameter is 0, then determine that there is a solution;

If it is determined that there is no solution, the strategy solution is deleted from the strategy set to be solved, and the queue of the strategy set to be solved corresponding to the depth parameter and the available resource set are updated;

Return to the step of searching for each AGV in the set of AGVs to be scheduled in the set of available resources to obtain a corresponding set of strategies to be solved, and obtain the strategy solution until it is determined that the strategy solution is a strategy solution to the deadlock problem.
According to the method for processing the AGV deadlock problem of claim 5, after the step of searching the available resource set for each AGV in the set of AGVs to be scheduled to obtain a corresponding set of strategies to be solved, the method further comprises:

If the strategy set to be solved is empty, determining whether the strategy set queue to be solved is empty;

If it is determined to be empty, it is determined that the deadlock problem has no solution, and the step of deleting the strategy solution from the strategy set to be solved if it is determined that there is no solution is returned until it is determined that the strategy solution is the strategy solution to the deadlock problem;

If it is determined that it is not empty, return to the step of determining the heuristic function corresponding to the strategy set to be solved, until it is determined that the strategy solution is the strategy solution to the deadlock problem.
According to the method for processing the AGV deadlock problem according to claim 4, the step of determining the available resource set comprises:

Determine a first occupied resource set of the AGV set to be scheduled;

Determine that, among the resource sets, resource sets other than the to-be-scheduled AGV set are non-deadlock running AGV sets;

Determine a second occupied resource set of the non-deadlocked running AGV set;

Determine, in the resource set, a resource set other than the first occupied resource set and the second occupied resource set as the available resource set.
A device for processing an AGV deadlock problem, wherein the device for processing an AGV deadlock problem comprises:

A first determination module is used to obtain a preset resource set if it is determined that there is an AGV waiting for resource allocation at the current moment, and determine whether there is a deadlock problem based on the resource set;

A second determination module is used to determine a strategic solution to the deadlock problem if it is determined to exist;

An unlocking module is used to unlock the AGV based on the strategy solution.
A device for processing an AGV deadlock problem, comprising a memory, a processor, and a program for processing the AGV deadlock problem stored in the memory and executable on the processor, wherein the processor executes the program for processing the AGV deadlock problem to implement the steps of the method for processing the AGV deadlock problem described in any one of claims 1 to 7.
A storage medium, wherein a program for implementing a method for processing an AGV deadlock problem is stored on the storage medium, and the program for implementing a method for processing an AGV deadlock problem is executed by a processor to implement the steps of the method for processing an AGV deadlock problem as described in any one of claims 1 to 7.