CN104331079A - AGV traffic control system and control method - Google Patents
AGV traffic control system and control method Download PDFInfo
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- CN104331079A CN104331079A CN201410651318.6A CN201410651318A CN104331079A CN 104331079 A CN104331079 A CN 104331079A CN 201410651318 A CN201410651318 A CN 201410651318A CN 104331079 A CN104331079 A CN 104331079A
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Abstract
The invention discloses an AGV traffic control system and a control method, and the system comprises a plurality of AGVs and navigation orbit, the system further comprises a plurality of traffic control landmarks, the traffic control landmark comprises A class landmark, B class landmark and C class landmark, the A class landmark is the priority passage landmark, B class landmark is avoiding control landmark, C class landmark is deregulation control landmark, the control landmark is formed in the traffic control region of the navigation orbit; the AGV comprises the landmark recognition unit, AGV controller and AGV drive unit, the landmark recognition unit receives the traffic control frame sent by the traffic control landmark, the output of the landmark recognition unit is connected to one input of the AGV controller, the output of the AGV controller is connected to the input of the AGV drive unit, the AGV controller gives the corresponding passage occupation right to the AGV according to the traffic control information. The system and the method can effectively solve the competition problem for the AGV while entering into the traffic control region; the impact to the AGV independent traffic control caused by the communication time delay can be reduced.
Description
Technical field
The present invention relates to automatical pilot transportation vehicle traffic control field, particularly relate to a kind of for AGV automatic traffic control system, and AGV is carried out to the method for traffic control.
Background technology
Automatical pilot transportation vehicle (Automated Guided Vehicle is called for short AGV), at manufacturing digital plant management, is applied in line production workshop widely, main to AGV traffic control at present:
1) have by travel switch, photoelectric sensor collection AGV signal, then sent instructions to sensor transmission signal by control system, control AGV realizes traffic control;
2) use the processor such as PC or industrial computer to form special AGV controller, run by wireless network control AGV, realize traffic control;
3) AGV is directly communicated each other by wireless network and carries out traffic control.
In method 1 quantities of the method large, be realize controlling by wired mode, can not realize between each AGV intercoming mutually; Further, there is requirement the region of the method to traffic control, and hardware cost is also higher;
Method 2 it be by dispatching system, the ruuning situation of AGV is dispatched; The drawback of the method goes wrong when dispatching system, and dispatching system is paralysed; To traffic hazard be there is in AGV when crossing intersection; And the hardware cost setting up dispatching system is quite high.
Method 3 is a kind of efficient methods with low cost, but on AGV enter law region or because the impact of communication delay on traffic control is entirely inconsiderate simultaneously in the traffic control form generally adopted at present.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, a kind of AGV traffic control system and method for control are provided, employing has priority terrestrial reference control system, and a set of rational method of control, realize the control to polytype traffic control area, and circuit priority level has washability, eliminate the race problem of AGV enter law region generation simultaneously, decrease the impact that communication delay causes.
The object of the invention is to be achieved through the following technical solutions: a kind of AGV traffic control system, it comprises multiple automatic guided vehicle and navigation track, it also comprises multiple traffic control terrestrial reference, described traffic control terrestrial reference comprises one or more the combination in category-A terrestrial reference, category-B terrestrial reference and C class terrestrial reference, be designated as priority pass terrestrial reference described category-A, be designated as described category-B and dodge control terrestrial reference, be designated as terrestrial reference of decontroling to described C class, traffic control terrestrial reference is arranged in the traffic control area of navigation track.
Described automatic guided vehicle comprises terrestrial reference recognition unit, AGV controller and AGV driver element, described terrestrial reference recognition unit receives the traffic control frame that traffic control terrestrial reference sends, the output of terrestrial reference recognition unit inputs be connected with one of AGV controller, an output of AGV controller is connected with the input of AGV driver element, and AGV controller gives this automatic guided vehicle current right of possession corporeal right accordingly according to this control traffic message.
Described navigation track comprises priority pass section, dodges current section and normal pass section.
Described normal pass section is the section in a bar navigation track between two adjacent C class terrestrial references.
Described current section of dodging is the section be made up of C class terrestrial reference, category-B terrestrial reference and category-A terrestrial reference successively in a bar navigation track.
Described priority pass section is the section be made up of C class terrestrial reference, category-A terrestrial reference and category-A terrestrial reference successively in a bar navigation track.
One or more the combination that described traffic control area is divided into traffic areas by traffic control terrestrial reference, dodges region and remove in control zone.
Described traffic control frame comprises terrestrial reference ID frame, control zone type frame and current road segment classification frame.
Described automatic guided vehicle also comprises wireless communication module, and described wireless communication module is connected with AGV controller, for intercoming mutually with adjacent automatic guided vehicle, receives or send the current right of possession corporeal right information that it is current.
The described current right of possession corporeal right comprises one or more the combination forced the right of possession corporeal right, the interim right of possession corporeal right and wait in the right of possession corporeal right.
A kind of AGV traffic control method, it comprises following multiple step:
S01: distribute unique terrestrial reference ID to each traffic control terrestrial reference, and traffic control area is divided into traffic areas by traffic control terrestrial reference, dodges region or region of decontroling, the control zone type number of traffic control terrestrial reference and current road segment classification numbering are set, are used for reminding the position of automatic guided vehicle;
S02: automatic guided vehicle detects traffic control terrestrial reference by terrestrial reference recognition unit, if this automatic guided vehicle does not detect traffic control terrestrial reference, when namely this automatic guided vehicle is in normal pass section, it is current that this automatic guided vehicle keeps original state to continue;
S03: if this automatic guided vehicle detects traffic control terrestrial reference, and in reception with after identifying its traffic control frame sent, obtain the current wait right of possession corporeal right, when namely this automatic guided vehicle is in and dodges current section, this automatic guided vehicle is closed to traffic;
S04: if this automatic guided vehicle detects traffic control terrestrial reference, and obtain the current pressure right of possession corporeal right, when being namely in priority pass section, this automatic guided vehicle priority pass;
S05: if this automatic guided vehicle detects traffic control terrestrial reference, and when obtaining the current interim right of possession corporeal right, whether the traffic control area then detecting its place has the neighbours' automatic guided vehicle forcing right of possession corporeal right request, if when wireless communication module does not receive the pressure right of possession corporeal right request broadcast singal that neighbours' automatic guided vehicle sends, this automatic guided vehicle continues current.
It comprises one or more the combination in category-A terrestrial reference control sub-step, category-B terrestrial reference control sub-step and C class terrestrial reference control sub-step;
Described category-A terrestrial reference control sub-step comprises following multiple sub-step:
S11: when automatic guided vehicle reads category-A terrestrial reference and priority pass terrestrial reference by terrestrial reference recognition unit, its AGV controller judges whether this automatic guided vehicle has obtained the current pressure right of possession corporeal right, if this automatic guided vehicle has obtained the pressure right of possession corporeal right, then this automatic guided vehicle has continued to run;
S12: if this automatic guided vehicle does not obtain the pressure right of possession corporeal right, then its AGV controller judges whether this automatic guided vehicle has obtained the interim right of possession corporeal right, if this automatic guided vehicle has obtained the interim right of possession corporeal right, then this automatic guided vehicle obtains the pressure right of possession corporeal right, and AGV controller controls this automatic guided vehicle and continues current;
S13: if this automatic guided vehicle does not obtain the interim right of possession corporeal right, then detect its wireless communication module and whether receive the pressure right of possession corporeal right request broadcast singal that neighbours' automatic guided vehicle in this traffic control area sends;
S14: if this wireless communication module receives force right of possession corporeal right request broadcast singal, namely this traffic control area has been forced to occupy, then this automatic guided vehicle obtains the interim right of possession corporeal right, and AGV controller controls this automatic guided vehicle parking waiting;
S15: if this wireless communication module does not receive force right of possession corporeal right request broadcast singal, namely this traffic control area is not forced to occupy, then detect its wireless communication module and whether receive the interim right of possession corporeal right request broadcast singal that neighbours' automatic guided vehicle in this traffic control area sends;
S16: if this wireless communication module does not receive interim right of possession corporeal right request broadcast singal, namely this traffic control area is not occupied by neighbours' automatic guided vehicle temporarily, then this automatic guided vehicle obtains the pressure right of possession corporeal right, and AGV controller controls this automatic guided vehicle and continues current;
S17: if this wireless communication module receives interim right of possession corporeal right request broadcast singal, namely this traffic control area has been forced to occupy, then this automatic guided vehicle forces right of possession corporeal right request signal by wireless communication module to the broadcast of neighbours' automatic guided vehicle;
S18: if within a certain period of time, wireless communication module does not receive the pressure right of possession corporeal right request signal that neighbours' automatic guided vehicle sends, then this automatic guided vehicle obtains the pressure right of possession corporeal right, and AGV controller controls this automatic guided vehicle and continues current;
S19: if within a certain period of time, wireless communication module receives the pressure right of possession corporeal right request signal that neighbours' automatic guided vehicle sends, and this automatic guided vehicle obtains the interim right of possession corporeal right, and AGV controller controls this automatic guided vehicle parking waiting;
Described category-B terrestrial reference control step comprises following multiple sub-step:
S21: when namely automatic guided vehicle dodges control terrestrial reference by terrestrial reference recognition unit reading category-B terrestrial reference, AGV controller judges whether this automatic guided vehicle has obtained the current pressure right of possession corporeal right, if this automatic guided vehicle has obtained the pressure right of possession corporeal right, then this automatic guided vehicle has continued current;
S22: if this automatic guided vehicle does not obtain the pressure right of possession corporeal right, then judge whether it has obtained the current interim right of possession corporeal right, if this automatic guided vehicle has obtained the interim right of possession corporeal right, then this automatic guided vehicle continues current;
S23: if this automatic guided vehicle does not obtain the interim right of possession corporeal right, then detect its wireless communication module and whether receive pressure right of possession corporeal right request broadcast singal;
S24: if wireless communication module receives force right of possession corporeal right request broadcast singal, namely this traffic control area is forced to occupy by neighbours' automatic guided vehicle, then this automatic guided vehicle obtains the interim right of possession corporeal right, and parking waiting;
S25: if wireless communication module does not receive force right of possession corporeal right request broadcast singal, namely this traffic control area is not forced to occupy by neighbours' automatic guided vehicle, then detect its wireless communication module and whether receive interim right of possession corporeal right request broadcast singal;
S26: if wireless communication module receives interim right of possession corporeal right request broadcast singal, namely this traffic control area is occupied by neighbours' automatic guided vehicle temporarily, then this automatic guided vehicle obtains and waits for the right of possession corporeal right, and parking waiting;
S27: if wireless communication module does not receive interim right of possession corporeal right request broadcast singal, namely this traffic control area is not occupied by neighbours' automatic guided vehicle temporarily, then this automatic guided vehicle obtains the interim right of possession corporeal right, and continue current;
Described C class terrestrial reference control step comprises following multiple sub-step:
S31: when namely automatic guided vehicle decontrols terrestrial reference by terrestrial reference recognition unit reading C class terrestrial reference, this automatic guided vehicle discharges its current right of possession corporeal right, removes right of possession corporeal right signal, and continue current to the neighbours' automatic guided vehicle broadcast in this traffic control area.
It also comprises radio request signal process sub-step, and described broadcast treatment step comprises following multiple sub-step:
S41: after automatic guided vehicle enters traffic control area, when this automatic guided vehicle is in operational process, when receiving the broadcast singal that neighbours' automatic guided vehicle sends, first identifies and judges whether this broadcast singal is wait right of possession corporeal right request signal;
S42: if this broadcast singal waits for right of possession corporeal right request signal, then this automatic guided vehicle preserves original state continuation operation;
S43: if this broadcast singal is not wait for right of possession corporeal right request signal, then identifies and judge whether this broadcast singal is interim right of possession corporeal right request signal;
S44: if this broadcast singal is interim right of possession corporeal right request signal, then this automatic guided vehicle preserves original state continuation operation;
S45: if this broadcast singal is not interim right of possession corporeal right request signal, then identify and judge whether this broadcast singal is force right of possession corporeal right request signal;
S46: if this broadcast singal forces right of possession corporeal right request signal, then judge whether this automatic guided vehicle has obtained the pressure right of possession corporeal right;
If this automatic guided vehicle has obtained the pressure right of possession corporeal right, then this automatic guided vehicle has occupied information to neighbours' automatic guided vehicle broadcast pressure, and preserves original state continuation operation;
If this automatic guided vehicle does not obtain the pressure right of possession corporeal right, then judge whether this automatic guided vehicle has obtained the interim right of possession corporeal right;
If this automatic guided vehicle has obtained the interim right of possession corporeal right, then this automatic guided vehicle parking waiting;
If this automatic guided vehicle does not obtain the interim right of possession corporeal right, then this automatic guided vehicle preserves original state continuation operation;
S47: if this broadcast singal is not force right of possession corporeal right request signal, then identify and judge whether this broadcast singal is remove right of possession corporeal right request signal;
If this broadcast singal removes right of possession corporeal right request signal, then judge whether this automatic guided vehicle has obtained the pressure right of possession corporeal right;
If this automatic guided vehicle has obtained the pressure right of possession corporeal right, then this automatic guided vehicle has occupied information to neighbours' automatic guided vehicle broadcast pressure, and preserves original state continuation operation;
If this automatic guided vehicle does not obtain the pressure right of possession corporeal right, then judge whether this automatic guided vehicle has obtained the interim right of possession corporeal right;
If this automatic guided vehicle has obtained the interim right of possession corporeal right, then this automatic guided vehicle has obtained the pressure right of possession corporeal right, and starts to pass through;
If this automatic guided vehicle does not obtain the interim right of possession corporeal right, then judge whether this automatic guided vehicle has obtained the wait right of possession corporeal right;
If this automatic guided vehicle has obtained the wait right of possession corporeal right, then this automatic guided vehicle has obtained the interim right of possession corporeal right, and starts to pass through;
If this automatic guided vehicle does not obtain the wait right of possession corporeal right, then this automatic guided vehicle keeps original state to continue to run.
The invention has the beneficial effects as follows:
(1) race problem produced when AGV enters traffic control area at the same time is effectively solved;
(2) impact on the autonomous traffic control of AGV caused because of communication delay is reduced.
The present invention is intended to allow multiple AGV when there being broadcast communication mechanism, reads traffic control landmark information by terrestrial reference identification module, mutual by wireless communication module broadcast data between multiple AGV, realizes autonomous traffic control.The inventive method is run at multiple AGV simultaneously, on same circuit and in the control zone of intersection, can realize traffic control fast and effectively.The present invention without the need to just ensureing that by other dispatching systems AGV's is current smoothly, and can use at the many AGV environment without dispatching system, also can use in conjunction with many AGV control system, have considerable application prospect.
Accompanying drawing explanation
Fig. 1 is AGV traffic control system theory diagram of the present invention;
Fig. 2 is the control schematic diagram of right-angled intersection area control pattern of the present invention;
Fig. 3 is the control schematic diagram of herringbone intersection region of the present invention regulatory model;
Fig. 4 is the control schematic diagram of straight line intersection region of the present invention regulatory model;
Fig. 5 is category-A terrestrial reference control flow chart of steps of the present invention;
Fig. 6 is category-B terrestrial reference control flow chart of steps of the present invention;
Fig. 7 is radio request signal treatment step process flow diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail, but protection scope of the present invention is not limited to the following stated.
As shown in Figure 1, a kind of AGV traffic control system, it comprises multiple automatic guided vehicle and navigation track, it also comprises multiple traffic control terrestrial reference, described traffic control terrestrial reference comprises one or more the combination in category-A terrestrial reference, category-B terrestrial reference and C class terrestrial reference, is designated as priority pass terrestrial reference described category-A, is designated as described category-B and dodges control terrestrial reference, be designated as terrestrial reference of decontroling to described C class, traffic control terrestrial reference is arranged in the traffic control area of navigation track.
Described automatic guided vehicle comprises terrestrial reference recognition unit, AGV controller and AGV driver element, described terrestrial reference recognition unit receives the traffic control frame that traffic control terrestrial reference sends, the output of terrestrial reference recognition unit inputs be connected with one of AGV controller, an output of AGV controller is connected with the input of AGV driver element, and AGV controller gives this automatic guided vehicle current right of possession corporeal right accordingly according to this control traffic message.
Described traffic control terrestrial reference can adopt RFID terrestrial reference.Described terrestrial reference recognition unit can adopt RFID card reader.
Described navigation track comprises priority pass section, dodges current section and normal pass section.
Described normal pass section is the section in a bar navigation track between two adjacent C class terrestrial references.
Described current section of dodging is the section be made up of C class terrestrial reference, category-B terrestrial reference and category-A terrestrial reference successively in a bar navigation track.
Described priority pass section is the section be made up of C class terrestrial reference, category-A terrestrial reference and category-A terrestrial reference successively in a bar navigation track.
One or more the combination that described traffic control area is divided into traffic areas by traffic control terrestrial reference, dodges region and remove in control zone.
Described traffic control frame comprises terrestrial reference ID frame, control zone type frame and current road segment classification frame.
Described automatic guided vehicle also comprises wireless communication module, and described wireless communication module is connected with AGV controller, for intercoming mutually with adjacent automatic guided vehicle, receives or send the current right of possession corporeal right information that it is current.
Described wireless communication module can be Zigbee wireless communication module, can certainly adopt other communications.
The described current right of possession corporeal right comprises one or more the combination forced the right of possession corporeal right, the interim right of possession corporeal right and wait in the right of possession corporeal right.
There are right-angled intersection area control, the control of herringbone intersection region and linearity region control Three models in traffic control area.
As shown in Figure 2, Fig. 2 is right-angled intersection area control pattern schematic diagram.Right-angled intersection area control pattern comprises region of decontroling, dodges region and traffic control area, three kinds, traffic areas, comprises priority pass section, dodges the current section in current section and three kinds, normal pass section.
In Fig. 2, the path of horizontal direction is preferential path, comprise two priority pass sections and two normal pass sections, be followed successively by the first normal pass section, the first priority pass section, the second priority pass section and the second normal pass section, the distribution of its traffic control terrestrial reference is followed successively by a C class terrestrial reference, the first category-A terrestrial reference, the second category-A terrestrial reference, the 3rd category-A terrestrial reference, the 4th category-A terrestrial reference and the 2nd C class terrestrial reference.
In Fig. 2, the path of vertical direction is for dodging path, comprise two and dodge current section and two normal pass sections, be followed successively by the 3rd normal pass section, first to dodge current section, second and dodge current section and the 4th normal pass section, the distribution of its traffic control terrestrial reference is followed successively by the 3rd C class terrestrial reference, the first category-B terrestrial reference, the 5th category-A terrestrial reference, the 6th category-A terrestrial reference, the second category-B terrestrial reference and the 4th C class terrestrial reference.
The region that in Fig. 2, the second category-A terrestrial reference, the 3rd category-A terrestrial reference, the 5th category-A terrestrial reference and the 6th category-A terrestrial reference surround is traffic areas, also can indicate by green, the automatic guided vehicle entering this traffic areas has obtained the current pressure right of possession corporeal right, and other AGV dollies can not enter this region.The control zone different by Color pair indicates, and automatic guided vehicle can be made to judge the area type residing for self by color.
What in Fig. 2, the first category-A terrestrial reference, the first category-B terrestrial reference, the 4th category-A terrestrial reference and the second category-B terrestrial reference surrounded does not contain the region of traffic areas for dodging region, also can indicate by yellow, enter this automatic guided vehicle of dodging region and need detect the AGV dolly whether having priority pass in this right-angled intersection control zone, if have, then this automatic guided vehicle needs parking waiting.
What in Fig. 2, a C class terrestrial reference, the 3rd C class terrestrial reference, the 2nd C class terrestrial reference and the 4th C class terrestrial reference surrounded does not contain traffic areas and dodges the region in region for region of decontroling, also can indicate by redness, the automatic guided vehicle entering this region of decontroling discharges its current right of possession corporeal right, and continues current to roll this right-angled intersection control zone away from.
The traffic control terrestrial reference of the right-angled intersection control zone shown in Fig. 2 adopts symmetrical structure mode, can ensure that automatic guided vehicle is in current process, can successfully pass through completely, avoids clashing in current process.Wherein, the distance between adjacent two traffic control terrestrial references determined by the length of automatic guided vehicle.
As shown in Figure 3, Fig. 3 is herringbone intersection region regulatory model schematic diagram.Herringbone intersection region regulatory model comprises region of decontroling, dodges region and traffic control area, three kinds, traffic areas, comprises priority pass section, dodges the current section in current section and three kinds, normal pass section.Herringbone intersects control zone and comprises left channel, right channel vertical passage, and left channel and right channel are all and vertical passage.
In Fig. 3, left channel is for dodging path, is followed successively by the first normal pass section and first and dodges current section, and the distribution of dodging traffic control terrestrial reference in path is followed successively by a C class terrestrial reference, the first category-B terrestrial reference and the first category-A terrestrial reference.Right channel is preferential path, is followed successively by the second normal pass section and the first priority pass section, and in preferential path, the distribution of traffic control terrestrial reference is followed successively by the 2nd C class terrestrial reference, the second category-A terrestrial reference and the 3rd category-A terrestrial reference.Vertical passage is a Tiao He road, comprises the 3rd normal pass section, is provided with the 3rd C class terrestrial reference.
The rectangular area that in Fig. 3, the first category-A terrestrial reference and the 3rd category-A terrestrial reference are formed is traffic areas, what the first category-B terrestrial reference and the second category-A terrestrial reference were formed does not contain the region of traffic areas for dodging region, and what a C class terrestrial reference, the 2nd C class terrestrial reference and the 3rd C class terrestrial reference surrounded does not contain traffic areas and dodge the region in region for region of decontroling.In herringbone intersection regulatory model, the color marking in each region is identical with right-angled intersection regulatory model.
As shown in Figure 4, Fig. 4 is linearity region regulatory model schematic diagram.This control zone comprises traffic areas and removes control zone, is made up of successively a C class terrestrial reference, the first category-A terrestrial reference, the second category-A terrestrial reference and the 2nd C class terrestrial reference.
First the present invention needs to carry out mark to the region of carrying out traffic control and divides, and distributes unique ID, then carries out terrestrial reference mark to traffic control area, be used for reminding AGV position.When multiple stage AGV enters same traffic control area, sample a set of preferential by logic method of control, allow AGV according to the priority of oneself by this control zone.All AGV carry out corresponding data operational processes according to the content of traffic control frame when receiving traffic control frame.
The preferential primitive rule by logic method of control that the present invention proposes is:
1) traffic control area has the interim right of possession corporeal right, forces the right of possession corporeal right and wait for the right of possession corporeal right three kinds of rights state;
2) traffic control terrestrial reference is divided into A, B, C tri-class, and category-A is priority pass terrestrial reference, and category-B is for dodging control terrestrial reference, and C class is terrestrial reference of decontroling;
3) each terrestrial reference relevant to traffic control comprises " terrestrial reference ID ", " control zone numbering " and " circuit " three information.
A kind of AGV traffic control method, it comprises following multiple step, i.e. basic passing rules:
S01: distribute unique terrestrial reference ID to each traffic control terrestrial reference, and traffic control area is divided into traffic areas by traffic control terrestrial reference, dodges region or region of decontroling, the control zone type number of traffic control terrestrial reference and current road segment classification numbering are set, are used for reminding the position of automatic guided vehicle;
S02: automatic guided vehicle detects traffic control terrestrial reference by terrestrial reference recognition unit, if this automatic guided vehicle does not detect traffic control terrestrial reference, when namely this automatic guided vehicle is in normal pass section, it is current that this automatic guided vehicle keeps original state to continue;
S03: if this automatic guided vehicle detects traffic control terrestrial reference, and in reception with after identifying its traffic control frame sent, obtain the current wait right of possession corporeal right, when namely this automatic guided vehicle is in and dodges current section, this automatic guided vehicle is closed to traffic;
S04: if this automatic guided vehicle detects traffic control terrestrial reference, and obtain the current pressure right of possession corporeal right, when being namely in priority pass section, this automatic guided vehicle priority pass;
S05: if this automatic guided vehicle detects traffic control terrestrial reference, and when obtaining the current interim right of possession corporeal right, whether the traffic control area then detecting its place has the neighbours' automatic guided vehicle forcing right of possession corporeal right request, if when wireless communication module does not receive the pressure right of possession corporeal right request broadcast singal that neighbours' automatic guided vehicle sends, this automatic guided vehicle continues current.
It comprises one or more the combination in category-A terrestrial reference control sub-step, category-B terrestrial reference control sub-step and C class terrestrial reference control sub-step.
(1) category-A terrestrial reference control
As shown in Figure 5, described category-A terrestrial reference control sub-step comprises following multiple sub-step:
S11: when automatic guided vehicle reads category-A terrestrial reference and priority pass terrestrial reference by terrestrial reference recognition unit, its AGV controller judges whether this automatic guided vehicle has obtained the current pressure right of possession corporeal right, if this automatic guided vehicle has obtained the pressure right of possession corporeal right, then this automatic guided vehicle has continued to run;
S12: if this automatic guided vehicle does not obtain the pressure right of possession corporeal right, then its AGV controller judges whether this automatic guided vehicle has obtained the interim right of possession corporeal right, if this automatic guided vehicle has obtained the interim right of possession corporeal right, then this automatic guided vehicle obtains the pressure right of possession corporeal right, and AGV controller controls this automatic guided vehicle and continues current;
S13: if this automatic guided vehicle does not obtain the interim right of possession corporeal right, then detect its wireless communication module and whether receive the pressure right of possession corporeal right request broadcast singal that neighbours' automatic guided vehicle in this traffic control area sends;
S14: if this wireless communication module receives force right of possession corporeal right request broadcast singal, namely this traffic control area has been forced to occupy, then this automatic guided vehicle obtains the interim right of possession corporeal right, and AGV controller controls this automatic guided vehicle parking waiting;
S15: if this wireless communication module does not receive force right of possession corporeal right request broadcast singal, namely this traffic control area is not forced to occupy, then detect its wireless communication module and whether receive the interim right of possession corporeal right request broadcast singal that neighbours' automatic guided vehicle in this traffic control area sends;
S16: if this wireless communication module does not receive interim right of possession corporeal right request broadcast singal, namely this traffic control area is not occupied by neighbours' automatic guided vehicle temporarily, then this automatic guided vehicle obtains the pressure right of possession corporeal right, and AGV controller controls this automatic guided vehicle and continues current;
S17: if this wireless communication module receives interim right of possession corporeal right request broadcast singal, namely this traffic control area has been forced to occupy, then this automatic guided vehicle forces right of possession corporeal right request signal by wireless communication module to the broadcast of neighbours' automatic guided vehicle;
S18: if within a certain period of time, wireless communication module does not receive the pressure right of possession corporeal right request signal that neighbours' automatic guided vehicle sends, then this automatic guided vehicle obtains the pressure right of possession corporeal right, and AGV controller controls this automatic guided vehicle and continues current;
S19: if within a certain period of time, wireless communication module receives the pressure right of possession corporeal right request signal that neighbours' automatic guided vehicle sends, and this automatic guided vehicle obtains the interim right of possession corporeal right, and AGV controller controls this automatic guided vehicle parking waiting.
Category-A terrestrial reference control sub-step can be understood as:
1) this car has obtained the pressure right of possession corporeal right: then this car continues to run;
2) this car has obtained the interim right of possession corporeal right: then this car obtains the pressure right of possession corporeal right;
3) this region is not forced or occupies temporarily: then this car obtains the pressure right of possession corporeal right;
4) other cars have obtained the interim right of possession corporeal right: then this car obtains the pressure right of possession corporeal right temporarily:
A) within a certain period of time, as being set in 1 second for reducing communication delay impact, Lothrus apterus mandatory requirement, this car obtains the pressure right of possession corporeal right, continues to run;
B) within a certain period of time, as being set to, in 1 second, have collision enforcement request for reducing communication delay impact, this car obtains the interim right of possession corporeal right, parking waiting;
5) other cars have obtained the pressure right of possession corporeal right: this car obtains the interim right of possession corporeal right.
(2) category-B terrestrial reference control
As shown in Figure 6, described category-B terrestrial reference control step comprises following multiple sub-step:
S21: when namely automatic guided vehicle dodges control terrestrial reference by terrestrial reference recognition unit reading category-B terrestrial reference, AGV controller judges whether this automatic guided vehicle has obtained the current pressure right of possession corporeal right, if this automatic guided vehicle has obtained the pressure right of possession corporeal right, then this automatic guided vehicle has continued current;
S22: if this automatic guided vehicle does not obtain the pressure right of possession corporeal right, then judge whether it has obtained the current interim right of possession corporeal right, if this automatic guided vehicle has obtained the interim right of possession corporeal right, then this automatic guided vehicle continues current;
S23: if this automatic guided vehicle does not obtain the interim right of possession corporeal right, then detect its wireless communication module and whether receive pressure right of possession corporeal right request broadcast singal;
S24: if wireless communication module receives force right of possession corporeal right request broadcast singal, namely this traffic control area is forced to occupy by neighbours' automatic guided vehicle, then this automatic guided vehicle obtains the interim right of possession corporeal right, and parking waiting;
S25: if wireless communication module does not receive force right of possession corporeal right request broadcast singal, namely this traffic control area is not forced to occupy by neighbours' automatic guided vehicle, then detect its wireless communication module and whether receive interim right of possession corporeal right request broadcast singal;
S26: if wireless communication module receives interim right of possession corporeal right request broadcast singal, namely this traffic control area is occupied by neighbours' automatic guided vehicle temporarily, then this automatic guided vehicle obtains and waits for the right of possession corporeal right, and parking waiting;
S27: if wireless communication module does not receive interim right of possession corporeal right request broadcast singal, namely this traffic control area is not occupied by neighbours' automatic guided vehicle temporarily, then this automatic guided vehicle obtains the interim right of possession corporeal right, and continue current;
Category-B terrestrial reference control sub-step can be understood as:
1) AGV car reads category-B terrestrial reference;
2) this car has obtained and has forced the right of possession corporeal right or the interim right of possession corporeal right, and this car continues current;
3) this car does not obtain and forces the right of possession corporeal right or the interim right of possession corporeal right:
A) this control zone is not occupied, and this car obtains the interim right of possession corporeal right in regulatory area, and current;
B) this control zone is occupied temporarily, and this car obtains regulatory area and waits for the right of possession corporeal right, parking waiting;
C) now control zone is forced to occupy, and this car obtains the interim right of possession corporeal right in regulatory area, parking waiting.
(3) C class terrestrial reference control
Described C class terrestrial reference control step comprises following multiple sub-step:
S31: when namely automatic guided vehicle decontrols terrestrial reference by terrestrial reference recognition unit reading C class terrestrial reference, this automatic guided vehicle discharges its current right of possession corporeal right, removes right of possession corporeal right signal, and continue current to the neighbours' automatic guided vehicle broadcast in this traffic control area.
(4) radio request signal process
As shown in Figure 7, it also comprises radio request signal process sub-step, and described broadcast treatment step comprises following multiple sub-step:
S41: after automatic guided vehicle enters traffic control area, when this automatic guided vehicle is in operational process, when receiving the broadcast singal that neighbours' automatic guided vehicle sends, first identifies and judges whether this broadcast singal is wait right of possession corporeal right request signal;
S42: if this broadcast singal waits for right of possession corporeal right request signal, then this automatic guided vehicle preserves original state continuation operation;
S43: if this broadcast singal is not wait for right of possession corporeal right request signal, then identifies and judge whether this broadcast singal is interim right of possession corporeal right request signal;
S44: if this broadcast singal is interim right of possession corporeal right request signal, then this automatic guided vehicle preserves original state continuation operation;
S45: if this broadcast singal is not interim right of possession corporeal right request signal, then identify and judge whether this broadcast singal is force right of possession corporeal right request signal;
S46: if this broadcast singal forces right of possession corporeal right request signal, then judge whether this automatic guided vehicle has obtained the pressure right of possession corporeal right;
If this automatic guided vehicle has obtained the pressure right of possession corporeal right, then this automatic guided vehicle has occupied information to neighbours' automatic guided vehicle broadcast pressure, and preserves original state continuation operation;
If this automatic guided vehicle does not obtain the pressure right of possession corporeal right, then judge whether this automatic guided vehicle has obtained the interim right of possession corporeal right;
If this automatic guided vehicle has obtained the interim right of possession corporeal right, then this automatic guided vehicle parking waiting;
If this automatic guided vehicle does not obtain the interim right of possession corporeal right, then this automatic guided vehicle preserves original state continuation operation;
S47: if this broadcast singal is not force right of possession corporeal right request signal, then identify and judge whether this broadcast singal is remove right of possession corporeal right request signal;
If this broadcast singal removes right of possession corporeal right request signal, then judge whether this automatic guided vehicle has obtained the pressure right of possession corporeal right;
If this automatic guided vehicle has obtained the pressure right of possession corporeal right, then this automatic guided vehicle has occupied information to neighbours' automatic guided vehicle broadcast pressure, and preserves original state continuation operation;
If this automatic guided vehicle does not obtain the pressure right of possession corporeal right, then judge whether this automatic guided vehicle has obtained the interim right of possession corporeal right;
If this automatic guided vehicle has obtained the interim right of possession corporeal right, then this automatic guided vehicle has obtained the pressure right of possession corporeal right, and starts to pass through;
If this automatic guided vehicle does not obtain the interim right of possession corporeal right, then judge whether this automatic guided vehicle has obtained the wait right of possession corporeal right;
If this automatic guided vehicle has obtained the wait right of possession corporeal right, then this automatic guided vehicle has obtained the interim right of possession corporeal right, and starts to pass through;
If this automatic guided vehicle does not obtain the wait right of possession corporeal right, then this automatic guided vehicle keeps original state to continue to run.
Radio request signal process sub-step can be regarded as:
1) AGV car receives in running and waits for right of possession corporeal right request: then this car keeps original state;
2) AGV car receives interim right of possession corporeal right request in running: if this car has obtained interim or forced to occupy authority, then this car keeps original state to move on:
A) this car has obtained the wait right of possession corporeal right: then this car continues parking waiting;
B) this car has obtained the interim right of possession corporeal right: then this car moves on, and broadcasts the interim right of possession corporeal right towards periphery;
C) this car has obtained the pressure right of possession corporeal right: then this car moves on;
3) AGV car receives in running and forces right of possession corporeal right request:
A) this car has obtained the interim right of possession corporeal right: then this car parking waiting;
B) this car has obtained the pressure right of possession corporeal right: then this car moves on, and the right of possession corporeal right is forced in broadcast towards periphery;
4) the AGV car of parking waiting, when receiving pressure right of possession corporeal right release signal:
If a) this car has obtained the interim right of possession corporeal right, then the broadcast immediately of this car has obtained and has forced the right of possession corporeal right and continue to run;
If b) this car has obtained the wait right of possession corporeal right, then the broadcast immediately of this car has obtained the interim right of possession corporeal right and has continued to run.
The present invention is intended to allow multiple AGV when there being broadcast communication mechanism, reads traffic control landmark information by terrestrial reference identification module, mutual by wireless communication module broadcast data between multiple AGV, realizes autonomous traffic control.The inventive method is run at multiple AGV simultaneously, on same circuit and in the control zone of intersection, can realize traffic control fast and effectively.The present invention without the need to just ensureing that by other dispatching systems AGV's is current smoothly, and can use at the many AGV environment without dispatching system, also can use in conjunction with many AGV control system, have considerable application prospect.
Claims (9)
1. an AGV traffic control system, it comprises multiple automatic guided vehicle and navigation track, it is characterized in that: it also comprises multiple traffic control terrestrial reference, described traffic control terrestrial reference comprises one or more the combination in category-A terrestrial reference, category-B terrestrial reference and C class terrestrial reference, be designated as priority pass terrestrial reference described category-A, be designated as described category-B and dodge control terrestrial reference, be designated as terrestrial reference of decontroling to described C class, traffic control terrestrial reference is arranged in the traffic control area of navigation track;
Described automatic guided vehicle comprises terrestrial reference recognition unit, AGV controller and AGV driver element, described terrestrial reference recognition unit receives the traffic control frame that traffic control terrestrial reference sends, the output of terrestrial reference recognition unit inputs be connected with one of AGV controller, an output of AGV controller is connected with the input of AGV driver element, and AGV controller gives this automatic guided vehicle current right of possession corporeal right accordingly according to this control traffic message.
2. a kind of AGV traffic control system according to claim 1, is characterized in that: described navigation track comprises priority pass section, dodges current section and normal pass section;
Described normal pass section is the section in a bar navigation track between two adjacent C class terrestrial references;
Described current section of dodging is the section be made up of C class terrestrial reference, category-B terrestrial reference and category-A terrestrial reference successively in a bar navigation track;
Described priority pass section is the section be made up of C class terrestrial reference, category-A terrestrial reference and category-A terrestrial reference successively in a bar navigation track.
3. a kind of AGV traffic control system according to claim 1, is characterized in that: one or more the combination that described traffic control area is divided into traffic areas by traffic control terrestrial reference, dodges region and remove in control zone.
4. a kind of AGV traffic control system according to claim 1, is characterized in that: described traffic control frame comprises terrestrial reference ID frame, control zone type frame and current road segment classification frame.
5. a kind of AGV traffic control system according to claim 1, it is characterized in that: described automatic guided vehicle also comprises wireless communication module, described wireless communication module is connected with AGV controller, for intercoming mutually with adjacent automatic guided vehicle, receive or send the current right of possession corporeal right information that it is current.
6. a kind of AGV traffic control system according to claim 1 or 5, is characterized in that: the described current right of possession corporeal right comprises one or more the combination forced the right of possession corporeal right, the interim right of possession corporeal right and wait in the right of possession corporeal right.
7. an AGV traffic control method, is characterized in that: it comprises following multiple step:
S01: distribute unique terrestrial reference ID to each traffic control terrestrial reference, and traffic control area is divided into traffic areas by traffic control terrestrial reference, dodges region or region of decontroling, the control zone type number of traffic control terrestrial reference and current road segment classification numbering are set, are used for reminding the position of automatic guided vehicle;
S02: automatic guided vehicle detects traffic control terrestrial reference by terrestrial reference recognition unit, if this automatic guided vehicle does not detect traffic control terrestrial reference, when namely this automatic guided vehicle is in normal pass section, it is current that this automatic guided vehicle keeps original state to continue;
S03: if this automatic guided vehicle detects traffic control terrestrial reference, and in reception with after identifying its traffic control frame sent, obtain the current wait right of possession corporeal right, when namely this automatic guided vehicle is in and dodges current section, this automatic guided vehicle is closed to traffic;
S04: if this automatic guided vehicle detects traffic control terrestrial reference, and obtain the current pressure right of possession corporeal right, when being namely in priority pass section, this automatic guided vehicle priority pass;
S05: if this automatic guided vehicle detects traffic control terrestrial reference, and when obtaining the current interim right of possession corporeal right, whether the traffic control area then detecting its place has the neighbours' automatic guided vehicle forcing right of possession corporeal right request, if when wireless communication module does not receive the pressure right of possession corporeal right request broadcast singal that neighbours' automatic guided vehicle sends, this automatic guided vehicle continues current.
8. a kind of AGV traffic control method according to claim 1, is characterized in that: it comprises one or more the combination in category-A terrestrial reference control sub-step, category-B terrestrial reference control sub-step and C class terrestrial reference control sub-step;
Described category-A terrestrial reference control sub-step comprises following multiple sub-step:
S11: when automatic guided vehicle reads category-A terrestrial reference and priority pass terrestrial reference by terrestrial reference recognition unit, its AGV controller judges whether this automatic guided vehicle has obtained the current pressure right of possession corporeal right, if this automatic guided vehicle has obtained the pressure right of possession corporeal right, then this automatic guided vehicle has continued to run;
S12: if this automatic guided vehicle does not obtain the pressure right of possession corporeal right, then its AGV controller judges whether this automatic guided vehicle has obtained the interim right of possession corporeal right, if this automatic guided vehicle has obtained the interim right of possession corporeal right, then this automatic guided vehicle obtains the pressure right of possession corporeal right, and AGV controller controls this automatic guided vehicle and continues current;
S13: if this automatic guided vehicle does not obtain the interim right of possession corporeal right, then detect its wireless communication module and whether receive the pressure right of possession corporeal right request broadcast singal that neighbours' automatic guided vehicle in this traffic control area sends;
S14: if this wireless communication module receives force right of possession corporeal right request broadcast singal, namely this traffic control area has been forced to occupy, then this automatic guided vehicle obtains the interim right of possession corporeal right, and AGV controller controls this automatic guided vehicle parking waiting;
S15: if this wireless communication module does not receive force right of possession corporeal right request broadcast singal, namely this traffic control area is not forced to occupy, then detect its wireless communication module and whether receive the interim right of possession corporeal right request broadcast singal that neighbours' automatic guided vehicle in this traffic control area sends;
S16: if this wireless communication module does not receive interim right of possession corporeal right request broadcast singal, namely this traffic control area is not occupied by neighbours' automatic guided vehicle temporarily, then this automatic guided vehicle obtains the pressure right of possession corporeal right, and AGV controller controls this automatic guided vehicle and continues current;
S17: if this wireless communication module receives interim right of possession corporeal right request broadcast singal, namely this traffic control area has been forced to occupy, then this automatic guided vehicle forces right of possession corporeal right request signal by wireless communication module to the broadcast of neighbours' automatic guided vehicle;
S18: if within a certain period of time, wireless communication module does not receive the pressure right of possession corporeal right request signal that neighbours' automatic guided vehicle sends, then this automatic guided vehicle obtains the pressure right of possession corporeal right, and AGV controller controls this automatic guided vehicle and continues current;
S19: if within a certain period of time, wireless communication module receives the pressure right of possession corporeal right request signal that neighbours' automatic guided vehicle sends, and this automatic guided vehicle obtains the interim right of possession corporeal right, and AGV controller controls this automatic guided vehicle parking waiting;
Described category-B terrestrial reference control step comprises following multiple sub-step:
S21: when namely automatic guided vehicle dodges control terrestrial reference by terrestrial reference recognition unit reading category-B terrestrial reference, AGV controller judges whether this automatic guided vehicle has obtained the current pressure right of possession corporeal right, if this automatic guided vehicle has obtained the pressure right of possession corporeal right, then this automatic guided vehicle has continued current;
S22: if this automatic guided vehicle does not obtain the pressure right of possession corporeal right, then judge whether it has obtained the current interim right of possession corporeal right, if this automatic guided vehicle has obtained the interim right of possession corporeal right, then this automatic guided vehicle continues current;
S23: if this automatic guided vehicle does not obtain the interim right of possession corporeal right, then detect its wireless communication module and whether receive pressure right of possession corporeal right request broadcast singal;
S24: if wireless communication module receives force right of possession corporeal right request broadcast singal, namely this traffic control area is forced to occupy by neighbours' automatic guided vehicle, then this automatic guided vehicle obtains the interim right of possession corporeal right, and parking waiting;
S25: if wireless communication module does not receive force right of possession corporeal right request broadcast singal, namely this traffic control area is not forced to occupy by neighbours' automatic guided vehicle, then detect its wireless communication module and whether receive interim right of possession corporeal right request broadcast singal;
S26: if wireless communication module receives interim right of possession corporeal right request broadcast singal, namely this traffic control area is occupied by neighbours' automatic guided vehicle temporarily, then this automatic guided vehicle obtains and waits for the right of possession corporeal right, and parking waiting;
S27: if wireless communication module does not receive interim right of possession corporeal right request broadcast singal, namely this traffic control area is not occupied by neighbours' automatic guided vehicle temporarily, then this automatic guided vehicle obtains the interim right of possession corporeal right, and continue current;
Described C class terrestrial reference control step comprises following multiple sub-step:
S31: when namely automatic guided vehicle decontrols terrestrial reference by terrestrial reference recognition unit reading C class terrestrial reference, this automatic guided vehicle discharges its current right of possession corporeal right, removes right of possession corporeal right signal, and continue current to the neighbours' automatic guided vehicle broadcast in this traffic control area.
9. a kind of AGV traffic control method according to claim 1, it is characterized in that: it also comprises radio request signal process sub-step, described broadcast treatment step comprises following multiple sub-step:
S41: after automatic guided vehicle enters traffic control area, when this automatic guided vehicle is in operational process, when receiving the broadcast singal that neighbours' automatic guided vehicle sends, first identifies and judges whether this broadcast singal is wait right of possession corporeal right request signal;
S42: if this broadcast singal waits for right of possession corporeal right request signal, then this automatic guided vehicle preserves original state continuation operation;
S43: if this broadcast singal is not wait for right of possession corporeal right request signal, then identifies and judge whether this broadcast singal is interim right of possession corporeal right request signal;
S44: if this broadcast singal is interim right of possession corporeal right request signal, then this automatic guided vehicle preserves original state continuation operation;
S45: if this broadcast singal is not interim right of possession corporeal right request signal, then identify and judge whether this broadcast singal is force right of possession corporeal right request signal;
S46: if this broadcast singal forces right of possession corporeal right request signal, then judge whether this automatic guided vehicle has obtained the pressure right of possession corporeal right;
If this automatic guided vehicle has obtained the pressure right of possession corporeal right, then this automatic guided vehicle has occupied information to neighbours' automatic guided vehicle broadcast pressure, and preserves original state continuation operation;
If this automatic guided vehicle does not obtain the pressure right of possession corporeal right, then judge whether this automatic guided vehicle has obtained the interim right of possession corporeal right;
If this automatic guided vehicle has obtained the interim right of possession corporeal right, then this automatic guided vehicle parking waiting;
If this automatic guided vehicle does not obtain the interim right of possession corporeal right, then this automatic guided vehicle preserves original state continuation operation;
S47: if this broadcast singal is not force right of possession corporeal right request signal, then identify and judge whether this broadcast singal is remove right of possession corporeal right request signal;
If this broadcast singal removes right of possession corporeal right request signal, then judge whether this automatic guided vehicle has obtained the pressure right of possession corporeal right;
If this automatic guided vehicle has obtained the pressure right of possession corporeal right, then this automatic guided vehicle has occupied information to neighbours' automatic guided vehicle broadcast pressure, and preserves original state continuation operation;
If this automatic guided vehicle does not obtain the pressure right of possession corporeal right, then judge whether this automatic guided vehicle has obtained the interim right of possession corporeal right;
If this automatic guided vehicle has obtained the interim right of possession corporeal right, then this automatic guided vehicle has obtained the pressure right of possession corporeal right, and starts to pass through;
If this automatic guided vehicle does not obtain the interim right of possession corporeal right, then judge whether this automatic guided vehicle has obtained the wait right of possession corporeal right;
If this automatic guided vehicle has obtained the wait right of possession corporeal right, then this automatic guided vehicle has obtained the interim right of possession corporeal right, and starts to pass through;
If this automatic guided vehicle does not obtain the wait right of possession corporeal right, then this automatic guided vehicle keeps original state to continue to run.
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