CN103488176A - Automatic guided vehicle scheduling method and system - Google Patents
Automatic guided vehicle scheduling method and system Download PDFInfo
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Abstract
The invention provides an automatic guided vehicle scheduling method. The automatic guided vehicle scheduling method includes the steps of obtaining driving position information of an automatic guided vehicle, obtaining signal parameter information according to the driving position information, obtaining semaphore information according to the signal parameter information, and conducting scheduling according to a counter value, wherein the signal parameter information includes binary signal parameter information which is used for enabling the automatic guided vehicle to be controlled to visit a crossing and counting signal parameter information which is used for enabling the automatic guided vehicle to be controlled to visit a two-way road, and the semaphore information at least includes the counter value. In addition, the invention further provides an automatic guided vehicle scheduling system. According to the automatic guided vehicle scheduling method, the collision problem and the deadlock problem can be effectively solved, and meanwhile efficiency is improved.
Description
Technical field
The present invention relates to the vehicle technology field, particularly relate to a kind of automatic guided vehicle dispatching method and system.Background technology
Automatic guided vehicle (Automated Guided Vehicle, AGV) refers to and can travel along programme path to have the intelligent carriage of carrying and driving power.In actual utilization, the material robotization transport system formed by many automatic guided vehicles, the order of sending according to dispatching center, along the path of having planned, arrive delivery location from current location, freight handling, to discharge location, is completed to the overall process of freight transportation, possess very high flexibility.Automatic guided vehicle has applied to all trades and professions, medicine, food, automobile industry, electrical equipment assembling industry, and tobacco business, container wharfs etc., can see the figure of automatic guided vehicle everywhere.
Yet Automatic Guided Vehicles System can only be carried out simple traffic administration in utilization.When system has a large amount of automatic guided vehicles or driving path when intricate, system is easy to clash and Deadlock.
Summary of the invention
Based on this, be necessary to provide a kind of automatic guided vehicle dispatching method that can solve Automatic Guided Vehicles System conflict and Deadlock.
A kind of automatic guided vehicle dispatching method comprises:
Obtain the traveling-position information of automatic guided vehicle;
According to described traveling-position acquisition of information signal parameter information, described signal parameter information comprises the binary signal parameter information of controlling automatic guided vehicle access crossing and the count signal parameter information of controlling automatic guided vehicle access two-way street;
According to described signal parameter acquisition of information semaphore information, described semaphore information at least comprises Counter Value;
According to described Counter Value, dispatched.
In embodiment, described semaphore information also comprises owner's list and/or wait person's list therein;
The described step according to described signal parameter acquisition of information semaphore information comprises:
Obtain binary signal amount information according to described binary signal parameter information, according to the Counter Value of described binary signal amount acquisition of information binary signal amount information;
Described step of being dispatched according to described Counter Value comprises:
Whether the binary counter value that judges described binary signal amount information is 1, if, the ID of automatic guided vehicle is added to owner's list of described binary signal amount information, the binary counter value of described binary signal amount information subtracts 1, controls described automatic guided vehicle and travels;
If not, the ID of automatic guided vehicle is added to wait person's list of described binary signal amount information, control described automatic guided vehicle and wait for.
In embodiment, the step that the described automatic guided vehicle of described control travels comprises therein:
Obtain the positional information of described automatic guided vehicle, judge according to described positional information whether described automatic guided vehicle leaves crossing, if, the binary counter value of described binary signal amount information adds 1, and the ID of described automatic guided vehicle is deleted from owner's list of described binary signal amount information.
Therein in embodiment, described count signal parameter information also comprises entrance count signal parameter information and outlet count signal parameter information, described semaphore information also comprises maximum resource quantity, and described maximum resource quantity is the maximum quantity that two-way street can hold the automatic guided vehicle that travels in the same way at one time;
The described step according to described signal parameter acquisition of information semaphore information also comprises:
Obtain entrance and outlet counting semaphore information according to entrance and outlet count signal parameter information, according to the Counter Value of described entrance and outlet counting semaphore acquisition of information entrance and outlet semaphore information;
Described step of being dispatched according to described Counter Value also comprises:
Whether the Counter Value whether Counter Value that judges described entrance counting semaphore information is not equal to maximum resource quantity or described outlet counting semaphore information equals 0, if the ID of automatic guided vehicle is added to wait person's list of outlet counting semaphore information;
If not, the ID of automatic guided vehicle is added to owner's list of described outlet counting semaphore information, the Counter Value of described outlet counting semaphore information subtracts 1.
Therein in embodiment, whether the described Counter Value that judges described outlet counting semaphore information equals 0 or before whether the Counter Value of described entrance counting semaphore information be not equal to the step of maximum resource quantity, also comprises:
Whether the owner's list or the wait person's list that judge described outlet counting semaphore information are empty, if carry out the Counter Value whether described Counter Value that judges entrance counting semaphore information be not equal to maximum resource quantity or described outlet counting semaphore information and whether equal 0 step;
If not, controlling automatic guided vehicle waits for.
Therein in embodiment, whether the described owner's list that judges described outlet counting semaphore information or wait person's list are before empty step, also comprise:
Whether whether the Counter Value that judges described entrance counting semaphore information equals maximum resource quantity and owner's list and wait person's list is sky, if carry out and describedly judge whether owner's list of described outlet counting semaphore information or wait person's list are empty step;
If not, controlling automatic guided vehicle waits for.
In embodiment, described method also comprises therein:
Obtain the entry position information of automatic guided vehicle positional information and shared driving path, calculate described automatic guided vehicle and arrive the entry position required time of described shared driving path from current location, the automatic guided vehicle of controlling described required time minimum preferentially travels.
In addition, also be necessary to provide a kind of automatic guided vehicle dispatching system that can solve Automatic Guided Vehicles System conflict and Deadlock.
A kind of automatic guided vehicle dispatching system comprises:
Traveling-position acquisition of information module, for obtaining the traveling-position information of automatic guided vehicle;
Signal parameter acquisition of information module, be used for according to described traveling-position acquisition of information signal parameter information, described signal parameter information comprises the binary signal parameter information of controlling automatic guided vehicle access crossing and the count signal parameter information of controlling automatic guided vehicle access two-way street;
Semaphore acquisition of information module, for according to described signal parameter acquisition of information semaphore information, described semaphore information at least comprises Counter Value;
Scheduler module, for being dispatched according to described Counter Value.
In embodiment, described semaphore information also comprises owner's list and/or wait person's list therein;
Described semaphore acquisition of information module is also for according to described binary signal parameter information, obtaining binary signal amount information, according to the Counter Value of described binary signal amount acquisition of information binary signal amount information;
Whether described scheduler module is also 1 for the binary counter value that judges described binary signal amount information.
In embodiment, described scheduler module, also for obtaining the positional information of described automatic guided vehicle, judges according to described positional information whether described automatic guided vehicle leaves crossing therein.
Therein in embodiment, described count signal parameter information comprises entrance count signal parameter information and outlet count signal parameter information, described semaphore information also comprises maximum resource quantity, and described maximum resource quantity is the maximum quantity that two-way street can hold the automatic guided vehicle that travels in the same way at one time;
Described semaphore acquisition of information module is also for obtaining entrance and outlet counting semaphore information according to entrance and outlet count signal parameter information, according to the Counter Value of described entrance and outlet counting semaphore acquisition of information entrance and outlet semaphore information;
Whether the Counter Value whether described scheduler module also is not equal to maximum resource quantity or described outlet counting semaphore information for the Counter Value that judges described entrance counting semaphore information equals 0.
In embodiment, it is characterized in that therein, whether described scheduler module is also empty for owner's list or the wait person's list that judges described outlet counting semaphore information.
In embodiment, whether whether described scheduler module also equals maximum resource quantity and owner's list and wait person's list for the Counter Value that judges described entrance counting semaphore information is sky therein.
In embodiment, described system also comprises therein:
The required time computing module, for obtaining the entry position information of automatic guided vehicle positional information and shared driving path, calculate described automatic guided vehicle and arrive the entry position required time of described shared driving path from current location, the automatic guided vehicle of controlling described required time minimum preferentially travels.
Above-mentioned automatic guided vehicle dispatching method and system, the signal parameter information of the traveling-position information by the Real-time Obtaining automatic guided vehicle, and then obtain semaphore information corresponding to signal parameter information, whether the driving path that can learn automatic guided vehicle according to the Counter Value of semaphore information is occupied, system is carried out Real-Time Scheduling according to Counter Value, thereby solved conflict and the Deadlock of system, improved efficiency simultaneously.
The accompanying drawing explanation
The schematic flow sheet that Fig. 1 is automatic guided vehicle dispatching method in an embodiment;
The application scenarios figure that Fig. 2 is automatic guided vehicle dispatching method in an embodiment;
The application scenarios figure that Fig. 3 is automatic guided vehicle dispatching method in another embodiment;
The application scenarios figure that Fig. 4 is automatic guided vehicle dispatching method in another embodiment;
Fig. 5 is the application scenarios figure of automatic guided vehicle dispatching method in another embodiment;
The structural representation that Fig. 6 is automatic guided vehicle dispatching system in an embodiment.
Embodiment
Technical scheme below in conjunction with specific embodiment and accompanying drawing to automatic guided vehicle dispatching method and system is described in detail, so that it is clearer.
As described in Figure 1, in one embodiment, a kind of automatic guided vehicle dispatching method, comprise the steps:
Step S102, obtain the traveling-position information of automatic guided vehicle.
In the present embodiment, traveling-position information is the real time running positional information of automatic guided vehicle.Concrete, server receives and responds task requests, and the task of task requests is according to priority arranged, and task is dispensed to idle automatic guided vehicle, according to A-Star algorithm assigns driving path, and the shortest path that this driving path is corresponding task.Server is sent to automatic guided vehicle corresponding to task by this driving path, and automatic guided vehicle travels according to the driving path distributed, and sends other information such as traveling-position information, information about power to server in the process of moving.
Step S104, according to traveling-position acquisition of information signal parameter information, signal parameter information comprises the binary signal parameter information of controlling automatic guided vehicle access crossing and the count signal parameter information of controlling automatic guided vehicle access two-way street.
In the present embodiment, server obtains the current traveling-position information of automatic guided vehicle, according to the signal parameter information at this this traveling-position place of traveling-position acquisition of information.Further, this signal parameter information comprises the binary signal parameter information of controlling automatic guided vehicle access crossing and the count signal parameter information of controlling automatic guided vehicle access two-way street.
Step S106, according to signal parameter acquisition of information semaphore information, semaphore information at least comprises Counter Value.
In the present embodiment, server is according to the semaphore information of this signal parameter information of signal parameter acquisition of information, and this semaphore information is for meaning the situation that takies in current driving path.Further, this semaphore information at least comprises Counter Value.
Step S108, dispatched according to Counter Value.
In the present embodiment, server obtains the signal parameter information at the real time running positional information place of automatic guided vehicle, according to signal parameter acquisition of information semaphore information, according to the Counter Value scheduling automatic guided vehicle of semaphore information.
In one embodiment, semaphore information also can comprise owner's list and/or wait person's list.Owner's list takies the ID of the automatic guided vehicle of crossing and/or two-way street for storage, wait person's list is for storing the ID that needs to wait for the automatic guided vehicle that takies crossing and/or two-way street.
Concrete, step S106 comprises: obtain binary signal amount information according to the binary signal parameter information, according to the Counter Value of binary signal amount acquisition of information binary signal amount information.
Concrete, step S108 comprises: whether the binary counter value that judges binary signal amount information is 1, if, the ID of automatic guided vehicle is added to owner's list of binary signal amount information, the binary counter value of binary signal amount information subtracts 1, controls automatic guided vehicle and travels; If not, the ID of automatic guided vehicle is added to wait person's list of binary signal amount information, control automatic guided vehicle and wait for.
In another embodiment, if the automatic guided vehicle more than two arrives crossing simultaneously, by the task priority of automatic guided vehicle, travel.
For example, as shown in Figure 2, automatic guided vehicle 202 arrives crossing 204 from two-way street L4, and server obtains the binary counter value of the binary signal amount information of crossing 204.If this Counter Value is 1, mean that this crossing is unoccupied, send and travel order to automatic guided vehicle 202, the ID that is about to automatic guided vehicle 202 adds owner's list of this binary signal amount information to, Counter Value is subtracted to 1 simultaneously.If this Counter Value is not 1, mean that this crossing 204 is taken by automatic guided vehicle 206, server sends wait command to automatic guided vehicle 202, and the ID that is about to automatic guided vehicle 202 adds wait person's list of this binary signal amount information to, Counter Value is added to 1 simultaneously.
Further, obtain the positional information of automatic guided vehicle, judge according to positional information whether this automatic guided vehicle leaves crossing, if, the binary counter value of binary signal amount information adds 1, and the ID of this automatic guided vehicle is deleted from owner's list of binary signal amount information.
For example, as shown in Figure 2, automatic guided vehicle 206 rolls crossing 204 away from and enters two-way street L3, and server adds 1 by the binary counter value of the binary signal amount information of crossing 204, and the ID of automatic guided vehicle 206 is deleted from owner's list of binary signal amount information.Now, server sends and travels order to automatic guided vehicle 202, and the ID that is about to automatic guided vehicle 202 adds owner person's list of this binary signal amount information to, Counter Value is added to 1 simultaneously.
In one embodiment, the count signal parameter information comprises entrance count signal parameter information and outlet count signal parameter information, semaphore information also comprises maximum resource quantity, and maximum resource quantity is the maximum quantity that two-way street can hold the automatic guided vehicle that travels in the same way at one time.
Concrete, step S106 also comprises: obtain entrance and outlet counting semaphore information according to entrance and outlet count signal parameter information, according to the Counter Value of entrance and outlet counting semaphore acquisition of information entrance and outlet semaphore information.
Concrete, step 108 also comprises: whether the Counter Value whether Counter Value that judges entrance counting semaphore information is not equal to maximum resource quantity or outlet counting semaphore information equals 0, if the ID of automatic guided vehicle is added to wait person's list of outlet counting semaphore information; If not, the ID of automatic guided vehicle is added to owner's list of outlet counting semaphore information, the Counter Value of outlet counting semaphore information subtracts 1.
For example, as shown in Figure 3, automatic guided vehicle 302 arrives the entrance 304 of L3 from L5, and server is according to the traveling-position acquisition of information two-way street L3 entrance 304 of automatic guided vehicle 302 and the Counter Value of the counting semaphore information of outlet 306.If the Counter Value of entrance 304 counting semaphore information is not equal to maximum resource quantity, mean that two-way street L3 is taken from exporting the automatic guided vehicle 308 that 306 directions sail into, if the Counter Value of outlet counting 306 semaphore information equals 0, mean that this two-way street L3 is taken and takes by the automatic guided vehicle sailed into from entrance 304 directions, can't sail automatic guided vehicle again into.Now, server sends wait command to automatic guided vehicle 302, and the ID that is about to automatic guided vehicle 302 adds wait person's list of outlet 306 counting semaphore information to.
Otherwise, if the Counter Value of entrance 304 counting semaphore information equals maximum resource quantity, mean that L3 is unoccupied, server sends and travels order to automatic guided vehicle 302, the ID that is about to automatic guided vehicle 302 adds owner's list of outlet 306 counting semaphore information to, and the Counter Value that exports 306 counting semaphore information subtracts 1.
Further, in one embodiment, before step S108, also comprise step S208: whether owner's list or wait person's list of judgement outlet counting semaphore information are empty.If perform step S108: whether the Counter Value whether Counter Value that judges entrance counting semaphore information is not equal to maximum resource quantity or outlet counting semaphore information equals 0 step; If not, controlling automatic guided vehicle waits for.
For example, as shown in Figure 4, automatic guided vehicle 402 is attempted travelling and entering two-way street L4 from two-way street L2, owner's list or wait person's list of the outlet counting semaphore information of server judgement L4 outlet 406 are empty, there do not is automatic guided vehicle to sail L4 into from exporting 406, server sends and travels order to automatic guided vehicle 402, and the ID of automatic guided vehicle 402 is added to owner's list of the outlet counting semaphore information of L4 outlet 406.
Further, after automatic guided vehicle enters L4, server judges that owner's list or wait person's list of the outlet counting semaphore information of next two-way street L6 are sky, if the ID of automatic guided vehicle 402 is added to owner's list of the outlet counting semaphore information of L6 outlet 408.
Now, if automatic guided vehicle 404 is attempted entering two-way street L6 from two-way street L8, server execution step S108, first judge that L6 entrance 408(entrance is a relative concept, the port that automatic guided vehicle sails two-way street into is entrance) the Counter Value of entrance counting semaphore information be not equal to maximum resource quantity, and now owner's list this comprise the ID of automatic guided vehicle 402, server sends wait command to automatic guided vehicle 404.
Further, in one embodiment, before step S208, also comprise step S308: whether whether the Counter Value that judges entrance counting semaphore information equals maximum resource quantity and owner's list and wait person's list is sky.If perform step S208: whether owner's list or wait person's list of judgement outlet counting semaphore information are empty; If not, controlling automatic guided vehicle waits for.
For example, as shown in Figure 5, automatic guided vehicle 502 is attempted entering two-way street L4 from L1, and automatic guided vehicle 506 is attempted, from L5 process L4, finally entering L6.The Counter Value of the counting semaphore information of server judgement L4 entrance 508 equals maximum resource quantity, and wait person and/or owner's list are empty, the ID of automatic guided vehicle 502 is added to owner's list of the outlet counting semaphore information of L4 outlet 508 and L6 outlet 510.Automatic guided vehicle 506 is attempted entering the L4 failure from L5, because owner's list of now L4 outlet 508 has the ID of automatic guided vehicle 502, automatic guided vehicle 502 has taken L4.And, before automatic guided vehicle 502 sails L4 into, automatic guided vehicle 504 has entered L4 from L3, attempt entering L5 from L4, now automatic guided vehicle 504 and 506 has taken the other side's road mutually.
Therefore, when automatic guided vehicle 504 is attempted entering L4 from L3, server first judges whether the Counter Value of the entrance counting semaphore information of L4 entrance 504 equals maximum resource quantity and owner's list and wait person's list and whether be sky, if, meaning on two-way street L4 not to be exported from L4 the automatic guided vehicle that 508 directions sail into takies, and do not have and attempt exporting from L4 the automatic guided vehicle that 508 directions are sailed L4 into, server further performs step S208; If not, send wait command to automatic guided vehicle 504.
In one embodiment, also can obtain entrance and exit position information that automatic guided vehicle shares driving path, calculate automatic guided vehicle and arrive entrance and/or the exit position required time that shares two-way street from current location, the automatic guided vehicle of controlling the required time minimum preferentially travels.
Concrete, automatic guided vehicle arrives from current location the entrance and/or the exit position required time that share driving path and can calculate according to following formula,
Wherein, the current location that u is automatic guided vehicle, the target location that i is automatic guided vehicle, arc is crossing apart from length, l is two-way street apart from length, the average velocity that V is automatic guided vehicle.
For example, the shared driving path of automatic guided vehicle 1 and automatic guided vehicle 2 is { L
i..., L
j.Server obtains automatic guided vehicle 2 and arrives L
jentrance, obtain two-way street L
jthe Counter Value of entrance counting semaphore information is not equal to the ID that maximum resource quantity and owner's list comprise automatic guided vehicle 1, and automatic guided vehicle 1 has taken shared driving path { L
i..., L
j.If automatic guided vehicle 1 is at shared driving path { L
i..., L
jon travel, server sends wait command to automatic guided vehicle 2; If automatic guided vehicle 1 is not also at shared driving path { L
i..., L
jon travel, server calculates automatic guided vehicle 2 from L
jentrance rolls L away from
ithe required time T of outlet
2, and automatic guided vehicle 1 travels to L from current location
ithe required time T of entrance
1.If T
1be greater than T
2, server sends and travels order to automatic guided vehicle 2, controls automatic guided vehicle 2 and travels, by L
jthe Counter Value of outlet counting semaphore information subtracts 1, and the ID of automatic guided vehicle 2 is added in owner's list.
As shown in Figure 6, in one embodiment, a kind of automatic guided vehicle dispatching system comprises: traveling-position acquisition of information module 102, signal parameter acquisition of information module 104, semaphore acquisition of information module 106 and scheduler module 108, wherein:
Traveling-position acquisition of information module 102, for obtaining the traveling-position information of automatic guided vehicle.
In the present embodiment, traveling-position information is the real time running positional information of automatic guided vehicle.Concrete, system receives and responds task requests, and the task of task requests is according to priority arranged, and task is dispensed to idle automatic guided vehicle, according to A-Star algorithm assigns driving path, and the shortest path that this driving path is corresponding task.System is sent to automatic guided vehicle corresponding to task by this driving path, automatic guided vehicle travels according to the driving path distributed, and traveling-position acquisition of information module 102 is for obtaining other information such as traveling-position information, information about power at the automatic guided vehicle driving process.
Signal parameter acquisition of information module 104, be used for according to traveling-position acquisition of information signal parameter information, signal parameter information comprises the binary signal parameter information of controlling automatic guided vehicle access crossing and the count signal parameter information of controlling automatic guided vehicle access two-way street.
In the present embodiment, signal parameter acquisition of information module 104 is for obtaining the current traveling-position information of automatic guided vehicle, according to the signal parameter information at this this traveling-position place of traveling-position acquisition of information.Further, this signal parameter information comprises the binary signal parameter information of controlling automatic guided vehicle access crossing and the count signal parameter information of controlling automatic guided vehicle access two-way street.
Semaphore acquisition of information module 106, for according to signal parameter acquisition of information semaphore information, semaphore information at least comprises Counter Value.
In the present embodiment, semaphore acquisition of information module 106 is for the semaphore information according to this signal parameter information of signal parameter acquisition of information, and this semaphore information is for meaning the situation that takies in current driving path.Further, this semaphore information at least comprises Counter Value.
In the present embodiment, obtain the signal parameter information at the real time running positional information place of automatic guided vehicle, according to signal parameter acquisition of information semaphore information, scheduler module 108 is for the scheduling of the Counter Value according to semaphore information automatic guided vehicle.
In one embodiment, semaphore information also comprises owner's list and/or wait person's list; Owner's list takies the ID of the automatic guided vehicle of crossing and/or two-way street for storage, wait person's list is for storing the ID that needs to wait for the automatic guided vehicle that takies crossing and/or two-way street.
Semaphore acquisition of information module 106 is also for obtaining binary signal amount information, according to the Counter Value of binary signal amount acquisition of information binary signal amount information according to the binary signal parameter information.
Whether scheduler module 108 is also 1 for the binary counter value that judges binary signal amount information.
Concrete, if automatic guided vehicle arrives crossing, scheduler module 108 is for obtaining the binary signal parameter information, whether the binary counter value that judges binary signal amount information is 1, if, the ID of automatic guided vehicle is added to owner's list of binary signal amount information, the binary counter value of binary signal amount information subtracts 1, controls automatic guided vehicle and travels; If not, the ID of automatic guided vehicle is added to wait person's list of binary signal amount information, control automatic guided vehicle and wait for.
In one embodiment, scheduler module 108, also for obtaining the positional information of automatic guided vehicle, judges according to positional information whether automatic guided vehicle leaves crossing.
Concrete, scheduler module 108 is for obtaining the positional information of automatic guided vehicle, judge according to positional information whether this automatic guided vehicle leaves crossing, if, the binary counter value of binary signal amount information adds 1, and the ID of this automatic guided vehicle is deleted from owner's list of binary signal amount information.
In one embodiment, the count signal parameter information comprises entrance count signal parameter information and outlet count signal parameter information, semaphore information also comprises maximum resource quantity, and maximum resource quantity is the maximum quantity that two-way street can hold the automatic guided vehicle that travels in the same way at one time;
Concrete, semaphore acquisition of information module is also 106 for obtaining entrance and outlet counting semaphore information according to entrance and outlet count signal parameter information, according to the Counter Value of entrance and outlet counting semaphore acquisition of information entrance and outlet semaphore information;
Concrete, whether the Counter Value whether scheduler module 108 also is not equal to maximum resource quantity or outlet counting semaphore information for the Counter Value that judges entrance counting semaphore information equals 0.
In one embodiment, whether the Counter Value whether scheduler module 108 also is not equal to maximum resource quantity or outlet counting semaphore information for the Counter Value that judges entrance counting semaphore information equals 0, if the ID of automatic guided vehicle is added to wait person's list of outlet counting semaphore information; If not, the ID of automatic guided vehicle is added to owner's list of outlet counting semaphore information, the Counter Value of outlet counting semaphore information subtracts 1.
In one embodiment, whether scheduler module 108 is also empty for owner's list or the wait person's list that judges outlet counting semaphore information.
Concrete, whether scheduler module 108 is empty for owner's list or the wait person's list that judges outlet counting semaphore information, if carry out the Counter Value whether Counter Value judge entrance counting semaphore information be not equal to maximum resource quantity or export counting semaphore information and whether equal 0 step; If not, controlling automatic guided vehicle waits for.
In one embodiment, whether scheduler module 108 also equals maximum resource quantity and owner's list and wait person's list for the Counter Value that judges entrance counting semaphore information and whether is sky.
Concrete, whether whether scheduler module 108 equals maximum resource quantity and owner's list and wait person's list for the Counter Value that judges entrance counting semaphore information is sky, if whether owner's list or the wait person's list of carrying out judgement outlet counting semaphore information are empty step; If not, controlling automatic guided vehicle waits for.
In one embodiment, a kind of automatic guided vehicle dispatching system also comprises:
The required time computing module, for obtaining the entry position information of automatic guided vehicle positional information and shared driving path, calculate automatic guided vehicle and arrive the entry position required time that shares driving path from current location, the automatic guided vehicle of controlling the required time minimum preferentially travels.
Concrete, automatic guided vehicle arrives from current location the entrance and/or the exit position required time that share driving path and can calculate according to following formula,
Wherein, the current location that u is automatic guided vehicle, the target location that i is automatic guided vehicle, arc is crossing apart from length, l is two-way street apart from length, the average velocity that V is automatic guided vehicle.
Above-mentioned automatic guided vehicle dispatching method and system, the signal parameter information of the traveling-position information by the Real-time Obtaining automatic guided vehicle, and then obtain semaphore information corresponding to signal parameter information, whether the driving path that can learn automatic guided vehicle according to the Counter Value of semaphore information is occupied, system is carried out Real-Time Scheduling according to Counter Value, thereby solved conflict and the Deadlock of system, improved efficiency simultaneously.
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (14)
1. an automatic guided vehicle dispatching method comprises:
Obtain the traveling-position information of automatic guided vehicle;
According to described traveling-position acquisition of information signal parameter information, described signal parameter information comprises the binary signal parameter information of controlling automatic guided vehicle access crossing and the count signal parameter information of controlling automatic guided vehicle access two-way street;
According to described signal parameter acquisition of information semaphore information, described semaphore information at least comprises Counter Value;
According to described Counter Value, dispatched.
2. method according to claim 1, is characterized in that, described semaphore information also comprises owner's list and/or wait person's list;
The described step according to described signal parameter acquisition of information semaphore information comprises:
Obtain binary signal amount information according to described binary signal parameter information, according to the Counter Value of described binary signal amount acquisition of information binary signal amount information;
Described step of being dispatched according to described Counter Value comprises:
Whether the binary counter value that judges described binary signal amount information is 1, if, the ID of automatic guided vehicle is added to owner's list of described binary signal amount information, the binary counter value of described binary signal amount information subtracts 1, controls described automatic guided vehicle and travels;
If not, the ID of automatic guided vehicle is added to wait person's list of described binary signal amount information, control described automatic guided vehicle and wait for.
3. method according to claim 2, is characterized in that, the step that the described automatic guided vehicle of described control travels comprises:
Obtain the positional information of described automatic guided vehicle, judge according to described positional information whether described automatic guided vehicle leaves crossing, if, the binary counter value of described binary signal amount information adds 1, and the ID of described automatic guided vehicle is deleted from owner's list of described binary signal amount information.
4. method according to claim 1, it is characterized in that, described count signal parameter information also comprises entrance count signal parameter information and outlet count signal parameter information, described semaphore information also comprises maximum resource quantity, and described maximum resource quantity is the maximum quantity that two-way street can hold the automatic guided vehicle that travels in the same way at one time;
The described step according to described signal parameter acquisition of information semaphore information also comprises:
Obtain entrance and outlet counting semaphore information according to entrance and outlet count signal parameter information, according to the Counter Value of described entrance and outlet counting semaphore acquisition of information entrance and outlet semaphore information;
Described step of being dispatched according to described Counter Value also comprises:
Whether the Counter Value whether Counter Value that judges described entrance counting semaphore information is not equal to maximum resource quantity or described outlet counting semaphore information equals 0, if the ID of automatic guided vehicle is added to wait person's list of outlet counting semaphore information;
If not, the ID of automatic guided vehicle is added to owner's list of described outlet counting semaphore information, the Counter Value of described outlet counting semaphore information subtracts 1.
5. method according to claim 4, it is characterized in that, whether the described Counter Value that judges described outlet counting semaphore information equals 0 or before whether the Counter Value of described entrance counting semaphore information be not equal to the step of maximum resource quantity, also comprises:
Whether the owner's list or the wait person's list that judge described outlet counting semaphore information are empty, if carry out the Counter Value whether described Counter Value that judges entrance counting semaphore information be not equal to maximum resource quantity or described outlet counting semaphore information and whether equal 0 step;
If not, controlling automatic guided vehicle waits for.
6. method according to claim 5, is characterized in that, whether the described owner's list that judges described outlet counting semaphore information or wait person's list are before empty step, also comprise:
Whether whether the Counter Value that judges described entrance counting semaphore information equals maximum resource quantity and owner's list and wait person's list is sky, if carry out and describedly judge whether owner's list of described outlet counting semaphore information or wait person's list are empty step;
If not, controlling automatic guided vehicle waits for.
7. according to the described method of claim 1 to 6 any one, it is characterized in that, described method also comprises:
Obtain the entry position information of automatic guided vehicle positional information and shared driving path, calculate described automatic guided vehicle and arrive the entry position required time of described shared driving path from current location, the automatic guided vehicle of controlling described required time minimum preferentially travels.
8. an automatic guided vehicle dispatching system comprises:
Traveling-position acquisition of information module, for obtaining the traveling-position information of automatic guided vehicle;
Signal parameter acquisition of information module, be used for according to described traveling-position acquisition of information signal parameter information, described signal parameter information comprises the binary signal parameter information of controlling automatic guided vehicle access crossing and the count signal parameter information of controlling automatic guided vehicle access two-way street;
Semaphore acquisition of information module, for according to described signal parameter acquisition of information semaphore information, described semaphore information at least comprises Counter Value;
Scheduler module, for being dispatched according to described Counter Value.
9. system according to claim 8, is characterized in that, described semaphore information also comprises owner's list and/or wait person's list;
Described semaphore acquisition of information module is also for according to described binary signal parameter information, obtaining binary signal amount information, according to the Counter Value of described binary signal amount acquisition of information binary signal amount information;
Whether described scheduler module is also 1 for the binary counter value that judges described binary signal amount information.
10. system according to claim 8, is characterized in that, described scheduler module, also for obtaining the positional information of described automatic guided vehicle, judges according to described positional information whether described automatic guided vehicle leaves crossing.
11. system according to claim 7, it is characterized in that, described count signal parameter information comprises entrance count signal parameter information and outlet count signal parameter information, described semaphore information also comprises maximum resource quantity, and described maximum resource quantity is the maximum quantity that two-way street can hold the automatic guided vehicle that travels in the same way at one time;
Described semaphore acquisition of information module is also for obtaining entrance and outlet counting semaphore information according to entrance and outlet count signal parameter information, according to the Counter Value of described entrance and outlet counting semaphore acquisition of information entrance and outlet semaphore information;
Whether the Counter Value whether described scheduler module also is not equal to maximum resource quantity or described outlet counting semaphore information for the Counter Value that judges described entrance counting semaphore information equals 0.
12. system according to claim 11, is characterized in that, whether described scheduler module is also empty for owner's list or the wait person's list that judges described outlet counting semaphore information.
13. system according to claim 12, is characterized in that, whether whether described scheduler module also equals maximum resource quantity and owner's list and wait person's list for the Counter Value that judges described entrance counting semaphore information is sky.
14. the described system of according to Claim 8 to 13 any one, is characterized in that, described system also comprises:
The required time computing module, for obtaining the entry position information of automatic guided vehicle positional information and shared driving path, calculate described automatic guided vehicle and arrive the entry position required time of described shared driving path from current location, the automatic guided vehicle of controlling described required time minimum preferentially travels.
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