CN107807640A - Traffic management method, electronic equipment, storage medium and system based on AGV - Google Patents
Traffic management method, electronic equipment, storage medium and system based on AGV Download PDFInfo
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- CN107807640A CN107807640A CN201711003555.1A CN201711003555A CN107807640A CN 107807640 A CN107807640 A CN 107807640A CN 201711003555 A CN201711003555 A CN 201711003555A CN 107807640 A CN107807640 A CN 107807640A
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- 238000007726 management method Methods 0.000 title claims abstract description 32
- 230000009184 walking Effects 0.000 claims abstract description 83
- 238000000034 method Methods 0.000 claims description 13
- 238000005457 optimization Methods 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 17
- 238000005516 engineering process Methods 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000009304 pastoral farming Methods 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses the traffic management method based on AGV, and it comprises the following steps：Assignment instructions are received, and cook up the walking path for performing assignment instructions；Request instruction is sent according to walking path, request instruction request takes the identification point position on walking path, and identification point position only allows an AGV to take；Successfully instructed if receiving and taking, run to identification point position；If receiving occupancy failure command, continue to send request instruction.The invention also discloses a kind of electronic equipment, computer-readable recording medium and traffic control system based on AGV.The present invention controls AGV walking by a position, improves the traffic efficiency of road, realizes the traffic administration to AGV.
Description
Technical field
The present invention relates to a kind of AGV traffic management technologies field, more particularly to the traffic management method based on AGV, electronics
Equipment, storage medium and system.
Background technology
AGV means automatical pilot transportation vehicle, is commonly called as automatic guided vehicle.AGV refers to magnetically or optically wait equipped with electricity to be led automatically
Leading-in device, it can be travelled along defined guide path, have the transport vehicle of safeguard protection and various transfer functions, AGV category
In the category of wheeled mobile robot.
Now more and more using AGV occasion, the type of dolly is also more and more, and path is also by original simple path
Develop into the staggered complicated planning driving path in various crossroads.It is complicated plus path due to increasing for dolly type and quantity
The increase of degree, there is various traffic control methods at this stage.
Traffic control method relatively common at present has following two, one：Pass through installation such as travel switch, photoelectric sensing
The various equipment collection AGV such as device, magnetic stripe terrestrial reference, magnetic pole sensor signal, then sensor is issued a command to by control system and sent out
The number of delivering letters, AGV is controlled to realize traffic control.But the quantities of such a method installation equipment is big, is realized and controlled by wired mode
System, the wear intensity of region and equipment to traffic control also have certain requirement, can not realize and be in communication with each other between AGV, firmly
Part cost is also of a relatively high.
Secondly：Traffic control is carried out by the mutual direct communication of wireless network between AGV.Such a method cost is cheap,
But in the case that AGV causes communication delay into control zone or network error simultaneously, whole AGV friendship can be caused
Way system produces mistake and even paralysed.
The content of the invention
For overcome the deficiencies in the prior art, an object of the present invention is to provide the traffic management method based on AGV,
AGV walking is controlled by a position, improves the traffic efficiency of road, realizes the traffic administration to AGV.
The second object of the present invention is to provide a kind of electronic equipment, AGV walking is controlled by a position, is improved
The traffic efficiency on road, realize the traffic administration to AGV.
The third object of the present invention is to provide a kind of computer-readable recording medium, and AGV row is controlled by a position
Walk, improve the traffic efficiency of road, realize the traffic administration to AGV.
The fourth object of the present invention is to provide the traffic control system based on AGV, and AGV row is controlled by a position
Walk, improve the traffic efficiency of road, realize the traffic administration to AGV.
An object of the present invention adopts the following technical scheme that realization：
Traffic management method based on AGV, comprises the following steps：
Instruction is received, receives assignment instructions, and cooks up the walking path for performing assignment instructions；
Identification point position is asked, request instruction is sent according to walking path, request instruction request takes the mark on walking path
Know point position, identification point position only allows an AGV to take；
Identification point position is taken, is successfully instructed if receiving and taking, runs to identification point position.
Further, it is further comprising the steps of：
Continue to ask, if receiving occupancy failure command, continue to send request instruction.
Further, it is further comprising the steps of：
Path optimizing, according to arrival time information, send path optimization request instruction, RX path optimization instruction, path
Optimization instruction is used to generate the order for taking track, and track is taken successively according to the order for taking track.
Further, it is further comprising the steps of：
Track is asked, track is sent and takes request instruction, track takes the car on request instruction request occupancy walking path
Road；
Direction is asked, if receiving occupancy failure command, sends travel direction request instruction, the request of travel direction request instruction
Take AGV travel direction；
AGV is controlled, if receiving travel direction contrary instructions, is waited on former identification point position.
Further, track includes the first identification point position, the second identification point position, and track, which takes request instruction, includes the first mark
Know point bit occupancy request instruction；
Step control AGV be specially：If receiving travel direction contrary instructions, waited on former identification point position, continue to send out
Go out track and take request instruction, takes until receiving track and successfully instruct, if receiving travel direction same instructions and first identifies
Point bit occupancy successfully instructs, then runs to the first identification point position, and send the second identification point bit occupancy request instruction.
Further, identification point position includes that a position, unavailable point position can be taken, and unavailable point position is not taken by AGV, AGV
Request takes unavailable point position, and control system sends the unavailable instruction in a position.
Further, it is further comprising the steps of：
Again plan：If receiving the unavailable instruction in a position, the second walking path for performing assignment instructions is cooked up again,
Second walking path avoids unavailable point position.
The second object of the present invention adopts the following technical scheme that realization：
A kind of electronic equipment, including：Processor；
Memory；And program, its Program are stored in memory, and it is configured to by computing device, journey
Sequence includes being used to perform the above-mentioned traffic management method based on AGV.
The third object of the present invention adopts the following technical scheme that realization：
A kind of computer-readable recording medium, is stored thereon with computer program, and computer program is executed by processor
The traffic management method based on AGV stated.
The fourth object of the present invention adopts the following technical scheme that realization：
Traffic control system based on AGV, including：Control system, AGV；Control system includes control map, controls map
Including virtual identification point position；AGV sends request to control system, receives the instruction that simultaneously executive control system is sent.
Compared with prior art, the beneficial effects of the present invention are：
The invention provides the traffic management method based on AGV, and it is computer-readable to have further related to a kind of electronic equipment, one kind
Storage medium and the traffic control system based on AGV；AGV is to the identification point position to be walked of control system application, control system
Different AGV is given come allocation identification point position according to the AGV identification point position situations applied, so as to reach control AGV purpose, due to
Identification point position can only be taken by an AGV, accordingly even when AGV obstacle awareness apparatus, which goes out exception, also can guarantee that AGV will not bump against,
And it is avoided that adjacent goods causes the risk of grazing by two cars while when carrying；At the place that only permission bicycle passes through, carry
Take and judge for track, so as to avoid AGV from being blocked on arrow path, also can maximumlly lift the traffic efficiency of road.
Brief description of the drawings
Fig. 1 is the main flow schematic diagram of the traffic management method based on AGV of the present invention；
Fig. 2 is AGV of the present invention by schematic flow sheet during crossing；
Fig. 3 is the identification point position schematic diagram of the first embodiment of the present invention；
Fig. 4 is the walking path schematic diagram of the first embodiment of the present invention；
Fig. 5 is the identification point position schematic diagram that AGV takes track in the first embodiment of the present invention；
Fig. 6 is the identification point position schematic diagram that AGV walks in Fig. 5；
Fig. 7 is the identification point position schematic diagram of the second embodiment of the present invention；
Fig. 8 is the schematic diagram that AGV takes identification point position in the second embodiment of the present invention；
Fig. 9 is the identification point position schematic diagram that AGV walks in Fig. 8；
Figure 10 is the identification point position schematic diagram of the third embodiment of the present invention；
Figure 11 is the walking path schematic diagram of the third embodiment of the present invention；
Figure 12 is the schematic diagram that AGV takes identification point position in the third embodiment of the present invention；
Figure 13 is the identification point position schematic diagram of the fourth embodiment of the present invention；
Figure 14 is the walking path schematic diagram of the original planning of AGV in the fourth embodiment of the present invention；
Figure 15 is the walking path schematic diagram that an AGV is planned again in the fourth embodiment of the present invention；
Figure 16 increases the schematic diagram of a walking path newly on the basis of being Figure 15；
The schematic diagram that Figure 17 plans increasing walking path newly again on the basis of being Figure 16；
Figure 18 is the identification point position schematic diagram of the fifth embodiment of the present invention.
In accompanying drawing：A-p, identification point position；L1-L9, walking path；L8 '-L9 ', the second walking path.
Embodiment
Below, with reference to accompanying drawing and embodiment, the present invention is described further, it is necessary to which explanation is, not
Under the premise of afoul, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
Traffic management method based on AGV, as shown in figure 1, comprising the following steps：
Instruction is received, receives assignment instructions, and cooks up the walking path for performing assignment instructions；
Identification point position is asked, request instruction is sent according to walking path, request instruction request takes the mark on walking path
Know point position, identification point position only allows an AGV to take；
Identification point position is taken, is successfully instructed if receiving and taking, runs to identification point position；
Continue to ask, if receiving occupancy failure command, continue to send request instruction.
For step receives instruction, the target point of execution task can be obtained by receiving assignment instructions, plan follow
Point, specifically, walking path is free path, obtains to the walking path of target point according to path planning algorithm.
For steps request identification point position, the map of AGV working regions, the AGV on map are included in control system
The region that can be walked sets identification point position, some identification point positions is included on walking path, synchronization, any identification point position is only
Allow an AGV to take, send the identification point position on request occupancy walking path, and successfully after occupancy, AGV can be according to walking
Walk in path.
It can include taking successful identification point position for step takes identification point position, on walking path and/or account for
With the identification point position of failure, when AGV takes the success of identification point position, receive the occupancy that control system is sent and successfully instruct, AGV roots
Walk and pass through according to the walking path of planning and take successful identification point position.
For step continues request, due in a plurality of request instruction, the identification point on more AGV walking path
Position may overlap, and identification point position only allows an AGV to take, and remaining AGV then takes the failure of identification point position；When an AGV takes
It when identification point position fails, can continue to send request instruction to control system, until taking the success of identification point position, such as work as occupancy
Successful AGV walks behind identification point position according to walking path, discharges the identification point position, i.e., no longer takes the identification point position
Afterwards, control system receives other AGV request instruction, then other AGV can take the success of identification point position.
Wherein, identification point position only allows an AGV to take, and AGV can be avoided to bump against.
Meanwhile identification point position includes that a position, unavailable point position can be taken, unavailable point position is not taken by AGV, AGV requests
Unavailable point position is taken, control system sends the unavailable instruction in a position, i.e., further comprising the steps of：
Again plan, if receiving the unavailable instruction in a position, cook up the second walking path for performing assignment instructions again,
Second walking path avoids unavailable point position.
Situation on above-mentioned unavailable point position is as follows：Occur on the identification point position equipment fault, identification point position by
Take, or other fortuitous events cause the identification point position to use immediately, manually set the identification point position occupied, i.e.,
It can not be used；Or AGV sends request instruction and exceedes setting time, then it is assumed that the identification point position is unavailable point position, is most
It is fast to perform task, walking path i.e. the second walking path is planned according to current starting point and target point again.
Wherein, walking path includes some tracks, and walking path is connected with track by track and formed, the friendship in track and track
Meeting point is AGV traveling crossing, and AGV is further comprising the steps of when travelling crossing：
Path optimizing, collection driving speed information, request identification point position information, is identified according to driving speed information, request
Point position information obtains reaching traveling crossing temporal information, sends path optimization request instruction, and RX path optimizes instruction, and path is excellent
Change instruction to be used to generate the order for taking track, track is taken according to the order for taking track successively, prevents AGV from blocking.
It is described as follows for AGV path optimization:Reach traveling crossing time shorter the first AGV and take track in advance,
After reaching traveling crossing time longer the 2nd AGV and needing to wait the first AGV to take track and discharge track, then take the car
Road, the first AGV, the 2nd AGV is avoided to be blocked on the track.
AGV is when travelling crossing, as shown in Fig. 2 further comprising the steps of：
Track is asked, track is sent and takes request instruction, track takes the car on request instruction request occupancy walking path
Road；
Direction is asked, if receiving occupancy failure command, sends travel direction request instruction, AGV directions request instruction judges
Take AGV travel direction；
AGV is controlled, if receiving travel direction contrary instructions, is waited in former identification point position.
For steps request direction, if the track on walking path clashes, send travel direction request and refer to
Order, request judge the AGV in the identical track of occupancy travel direction, and the travel direction includes identical and opposite.
Meanwhile track includes the first identification point position, the second identification point position, track, which takes request instruction, includes the first identification point
Bit occupancy request instruction.
I.e. step control AGV is specially：If receiving travel direction contrary instructions, waited at the crossing in track, continue to send out
Go out track and take request instruction, if receiving travel direction same instructions and the first identification point bit occupancy successfully instructs, run to
First identification point position, and send the second identification point bit occupancy request instruction.
It is necessary explanation, as in Fig. 3-18, it is unoccupied that soft dot represents the identification point position, complete solid stain,
It is occupied that right semisolid stain, the solid stain of lower half represent the identification point position respectively, and band fork round dot is identification point position appearance
Failure, it is impossible to occupied；Wherein, it is different only for distinguishing on complete solid stain, right semisolid stain, the solid stain of lower half
AGV, full filled arrows straight line, grid arrow straight line, hollow arrow straight line are only for the different walking path of differentiation.
As seen in figures 3-6, it is AGV AGV1, AGV2 in the first embodiment of the present invention, as shown in figure 3, a-h is mark
Point position, as shown in figure 4, AGV1 walking path L1 is identification point position a-b-e-f-g-h, AGV2 walking path L2 is identification point
Position c-d-e-f-g-h, AGV1 and AGV2 travel in the same direction, then to AGV1 traffic management method the step of it is as follows：
Instruction is received, AGV1 receives the assignment instructions of control system, and cooks up the walking path L1 for performing assignment instructions；
Identification point position is asked, AGV1 sends request instruction according to walking path L1, and request instruction request takes walking path
Identification point position a on L1；
Identification point position is taken, is successfully instructed if receiving and taking, runs to identification point position a.
As shown in figure 5, by the above method, when AGV1 is taken to identification point position e successively, AGV2 is taken to identification point position d,
Now, AGV2 is in crossing, it is necessary to take the track for including identification point position e, f, g, h, wherein, the first identification point position in the track
It is now, as follows the step of AGV2 traffic management method for identification point position e：
Track is asked, AGV2 sends track and takes request instruction, and track takes request instruction request occupancy and includes identification point
Position e, f, g, h track；
Direction is asked, AGV2 receives occupancy failure command, sends travel direction request instruction, and AGV directions request instruction is sentenced
Disconnected AGV1 travel direction；
AGV, AGV2 is controlled to receive travel direction same instructions and identification point position e occupancy failure commands, then in identification point position d
Waiting, continue to send identification point position e and take request instruction, take until receiving identification point position e and successfully instruct.
As shown in fig. 6, AGV1 runs to identification point position f from identification point position e, now identification point position e is released, AGV2
Continuing to send identification point position e and take request instruction, receive identification point position e and take and successfully instruct, AGV2 runs to identification point position e,
Send identification point position f and take request instruction, by that analogy, AGV2 followed by AGV1 and pass sequentially through identification point position f, g, h, so as to complete
Into walking path, assignment instructions are completed.
As Figure 7-9, it is AGV AGV3, AGV4 in the second embodiment of the present invention, as shown in fig. 7, a-k is mark
Point position, as shown in figure 8, AGV3 walking path L3 is identification point position a-b-e-f-g-h-i-j, AGV4 walking path L4 is mark
It is backward going to know point position k-i-h-g-f-e-b-c, AGV3 and AGV4, the car that identification point position b, e, f, g, h, i are formed in figure
Road is two-way approach, but the track only provides row's identification point position, as two-way bicycle road, then to AGV3 traffic management method
The step of it is as follows：
Instruction is received, AGV3 receives the assignment instructions of control system, and cooks up the walking path L3 for performing assignment instructions；
Identification point position is asked, AGV3 sends request instruction according to walking path L3, and request instruction request takes walking path
Identification point position a on L3；
Identification point position is taken, is successfully instructed if receiving and taking, runs to identification point position a.
By the above method, when AGV3 is taken to identification point position b successively, AGV4 is taken to identification point position k, due to identification point
Position b is occupied, then track comprising identification point position b, e, f, g, h, i is occupied, now, to AGV4 traffic management method
Step is as follows：
Track is asked, AGV4 sends track and takes request instruction, and track takes request instruction request occupancy and includes identification point
Position b, e, f, g, h, i track；
Direction is asked, AGV4 receives occupancy failure command, sends travel direction request instruction, and AGV directions request instruction is sentenced
Disconnected AGV3 travel direction；
Control AGV, AGV4 receives travel direction contrary instructions, then is waited in identification point position k, continue to send track takes please
Instruction is asked, takes until receiving track and successfully instructs.
As shown in figure 9, AGV3 runs to identification point position j, now identification point position b, e, f, g, h, i are released, that is, are wrapped
The b of position containing identification point, e, f, g, h, i track are released, and AGV4, which receives track and taken, successfully to be instructed, and AGV4 runs to mark
Point position i, and identification point position h, g, f, e, b, c are taken successively, so as to complete walking path, complete assignment instructions.
As shown in figs. 10-12, be the third embodiment of the present invention in, AGV AGV5, AGV6, AGV7, as shown in Figure 10,
A-k is identification point position, and as shown in figure 11, AGV5 walking path L5 is identification point position k-i-h-g-f-e-c-d, AGV6 walking
The walking path L7 that path L6 is identification point position a-c-e-f-g-h-i-j, AGV7 is identification point position b-c-e-f-g-h-i-j, i.e.
AGV5 is backward going with AGV6, AGV7, and AGV6 and AGV7 is traveling in the same direction；Identification point position c, e, f, g, h, i are formed in figure
Track be two-way approach, but the track only provides row's identification point position, as two-way bicycle road, then to AGV6 traffic administration
The step of method, is as follows：
Instruction is received, AGV6 receives the assignment instructions of control system, and cooks up the walking path L6 for performing assignment instructions；
Identification point position is asked, AGV6 sends request instruction according to walking path L6, and request instruction request takes walking path
Identification point position a on L6；
Identification point position is taken, is successfully instructed if receiving and taking, runs to identification point position a.
As shown in figure 12, by the above method, when AGV6 is taken to identification point position c successively, AGV5 is taken to identification point position
K, AGV7 are taken to identification point position b, and because identification point position c is occupied, then the track comprising identification point position c, e, f, g, h, i is quilt
Take, it is now, as follows the step of AGV5 traffic management method：
Track is asked, AGV5 sends track and takes request instruction, and track takes request instruction request occupancy and includes identification point
Position c, e, f, g, h, i track；
Direction is asked, AGV5 receives occupancy failure command, sends travel direction request instruction, and AGV directions request instruction is sentenced
Disconnected AGV6 travel direction；
AGV is controlled, AGV5 receives AGV6 travel direction same instructions, then is waited in identification point position k, continues to send track accounting for
With request instruction, take until receiving track and successfully instruct.
And the step of to AGV7 traffic management method, is as follows：
Track is asked, AGV7 sends track and takes request instruction, and track takes request instruction request occupancy and includes identification point
Position c, e, f, g, h, i track；
Direction is asked, AGV7 receives occupancy failure command, sends travel direction request instruction, and AGV directions request instruction is sentenced
Disconnected AGV6 travel direction；
AGV, AGV7 is controlled to receive travel direction same instructions and identification point position c occupancy failure commands, then in identification point position b
Waiting, continue to send identification point position c and take request instruction, take until receiving identification point position c and successfully instruct.
That is, AGV6 takes the track in advance, successively take track in identification point position c, e, f, g, h, i, j, AGV7 with
AGV6 takes identification point position c, e, f, g, h, i, j in track successively, and AGV5 then needs to wait on the k of identification point position, until
AGV7 takes identification point position j, and so as to discharge the track for including identification point position c, e, f, g, h, i, AGV7 receives track and taken successfully
Instruction, AGV7 run to identification point position i, and take identification point position h, g, f, e, c, d successively, so as to complete walking path, complete
Assignment instructions.
As shown in figs. 13-17, it is that AGV AGV8, AGV9, as shown in figure 13, a-p is in the fourth embodiment of the present invention
Identification point position, as shown in figure 14, AGV8 walking path L8 is identification point position d-c-b-a-i-h-j, as shown in figure 15, AGV8's
Second walking path L8 ' is identification point position b-c-e-f-g-h-j, and as shown in figure 16, AGV9 walking path L9 is identification point position
J-h-i-a-b-c-d, as shown in figure 16, AGV9 the second walking path L9 ' is i-h-k-l-m-n-o-p-d, in AGV8, AGV9
During walking, identification point position a something unexpected happened causes can not be occupied, then identification point position a track can not use,
In figure, identification point position c, e, f, g, h composition track be unidirectional path, then to AGV8 traffic management method the step of such as
Under：
Instruction is received, AGV8 receives the assignment instructions of control system, and cooks up the walking path L8 for performing assignment instructions；
Identification point position is asked, AGV8 sends request instruction according to walking path L8, and request instruction request takes walking path
Identification point position d on L8；
Identification point position is taken, is successfully instructed if receiving and taking, runs to identification point position d.
By the above method, when AGV8 is taken to identification point position b successively, request takes identification point position a, due to identification point position
A can not be occupied, and control system can send the unavailable instruction in a position, then to AGV8 traffic management method the step of it is as follows：
Again plan：If receiving the unavailable instruction in a position, the second walking path for performing assignment instructions is cooked up again
L8’；
Identification point position is asked, AGV8 sends request instruction according to the second walking path L8 ', and request instruction request takes second
Identification point position c on walking path L8 '；
Identification point position is taken, is successfully instructed if receiving and taking, runs to identification point position c.
As shown in figure 15, according to the method described above, AGV8 takes identification point position c, e, f, g, h, j successively, completes the second walking
Path, complete assignment instructions.
Be equal to the traffic management method to AGV8 to AGV9 traffic management method, it is otherwise varied be identification point position c,
E, the track of f, g, h composition is unidirectional path, and for AGV9, it needs to reach identification point position d, and its walking path L9 is
Identification point position j-h-i-a-b-c-d, and the path that can not be made up of identification point position j-h-g-f-e-c-d, i.e., can not mark in j
Know waiting AGV8 on point position and discharge the track, and be in the non-serviceable situations of identification point position a, its second walking path L9 '
i-h-k-l-m-n-o-p-d。
If Figure 18 is the fifth embodiment of the present invention, wherein a-m is identification point position, and identification point position k, l, m identify for charging
Point position, the charging identification point position only allow an AGV charging, i.e., only allow three AGV to charge simultaneously in the map, now, if
The AGV to be charged into the 4th needs, then need to wait in crossing identification point position c, treat any one AGV charging complete and exit
During to identification point position a, the 4th AGV for needing to charge can just enter charging identification point position, so as to carry out charging tasks.
In above-mentioned, the 4th needs the AGV to charge to be waited in crossing identification point position a, treats any one AGV charging
When completing and exiting to identification point position c, the 4th AGV for needing to charge can just enter charging identification point position, so as to be charged
Task.
A kind of electronic equipment, processor；Memory；And program, its Program are stored in memory, and by with
It is set to by computing device, program includes being used to perform the above-mentioned traffic management method based on AGV；One kind is computer-readable to deposit
Storage media, it is stored thereon with computer program, it is characterised in that：Computer program is executed by processor above-mentioned based on AGV's
Traffic management method.
Traffic control system based on AGV, including：Control system, AGV；Control system includes control map, controls map
Including virtual identification point position；AGV sends request to control system, receives the instruction that simultaneously executive control system is sent；Due to mark
It is different to know the definition information of point position, AGV is expert at until then first to the identification point position to be walked of control system application, control system
System gives different AGV according to the AGV identification point position situations applied come allocation identification point position, so as to reach control AGV purpose.
On AGV walking, SLAM technologies are make use of, SLAM English full name is simultaneous
Localization and mapping, positioning and map structuring immediately are meant, or concurrently build figure and positioning；AGV walkings are made
Map is corresponding with the control map of control system, and AGV positions acquisition positioning letter immediately using SLAM technologies when walking
Breath, and control system is fed back to, so as to reach the technique effect that control system control AGV runs to identification point position.
The invention provides the traffic management method based on AGV, and it is computer-readable to have further related to a kind of electronic equipment, one kind
Storage medium and the traffic control system based on AGV；AGV is to the identification point position to be walked of control system application, control system
Different AGV is given come allocation identification point position according to the AGV identification point position situations applied, so as to reach control AGV purpose, due to
Identification point position can only be taken by an AGV, accordingly even when AGV obstacle awareness apparatus, which goes out exception, also can guarantee that AGV will not bump against,
And it is avoided that adjacent goods causes the risk of grazing by two cars while when carrying；At the place that only permission bicycle passes through, carry
Take and judge for track, so as to avoid AGV from being blocked on arrow path, also can maximumlly lift the traffic efficiency of road.
Above-mentioned embodiment is only the preferred embodiment of the present invention, it is impossible to the scope of protection of the invention is limited with this,
The change and replacement for any unsubstantiality that those skilled in the art is done on the basis of the present invention belong to institute of the present invention
Claimed scope.
Claims (10)
1. the traffic management method based on AGV, it is characterised in that comprise the following steps：
Instruction is received, receives assignment instructions, and cooks up the walking path for performing assignment instructions；
Identification point position is asked, request instruction is sent according to the walking path, the request instruction request takes the walking road
Identification point position on footpath, the identification point position only allow an AGV to take；
Identification point position is taken, is successfully instructed if receiving and taking, runs to the identification point position.
2. the traffic management method based on AGV as claimed in claim 1, it is characterised in that further comprising the steps of：
Continue to ask, if receiving occupancy failure command, continue to send request instruction.
3. the traffic management method based on AGV as claimed in claim 1, it is characterised in that further comprising the steps of：
Path optimizing, according to arrival time information, send path optimization request instruction, RX path optimization instruction, the path
Optimization instruction is used to generate the order for taking track, and the track is taken successively according to the order for taking track.
4. the traffic management method based on AGV as claimed in claim 1, it is characterised in that further comprising the steps of：
Track is asked, track is sent and takes request instruction, the track takes request instruction request and taken on the walking path
Track；
Direction is asked, if receiving occupancy failure command, sends travel direction request instruction, the travel direction request instruction request
Take AGV travel direction；
AGV is controlled, if receiving travel direction contrary instructions, is waited on former identification point position.
5. the traffic management method based on AGV as claimed in claim 4, it is characterised in that：The track includes the first mark
Point position, the second identification point position, the track, which takes request instruction, includes the first identification point bit occupancy request instruction；
Step control AGV is specially：If receiving travel direction contrary instructions, waited on former identification point position, continue to send out
Go out track and take request instruction, take until receiving track and successfully instruct, if receiving travel direction same instructions and described first
Identification point bit occupancy successfully instructs, then runs to the first identification point position, and sends the second identification point bit occupancy request instruction.
6. the traffic management method based on AGV as claimed in claim 1, it is characterised in that：The identification point position includes accounting for
With a position, unavailable point position, the unavailable point position is not taken by AGV, and the AGV requests take unavailable point position, control system
System sends the unavailable instruction in a position.
7. the traffic management method based on AGV as claimed in claim 6, it is characterised in that further comprising the steps of：
Again plan：If receiving the unavailable instruction in a position, the second walking path for performing assignment instructions is cooked up again, it is described
Second walking path avoids unavailable point position.
8. a kind of electronic equipment, it is characterised in that including：Processor；
Memory；And program, wherein described program is stored in the memory, and is configured to be held by processor
OK, described program includes being used for the method described in perform claim requirement 1-7 any one.
9. a kind of computer-readable recording medium, is stored thereon with computer program, it is characterised in that：The computer program quilt
Method of the computing device as described in claim 1-7 any one.
10. the traffic control system based on AGV, it is characterised in that including：Control system, AGV；
The control system, including control map, the control map include virtual identification point position；
The AGV, request is sent to control system, receives the instruction that simultaneously executive control system is sent.
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