CN108829108B - AGV trolley running traffic control and control method based on information normalization - Google Patents
AGV trolley running traffic control and control method based on information normalization Download PDFInfo
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Abstract
The invention discloses an AGV trolley running traffic control regulation and control method based on information normalization, which comprises the following steps: s1, dividing the working area into m detection areas and setting a plurality of stop points; s2, associating and storing each transportation task of each AGV in the working area with the real-time position of the corresponding AGV; s3, acquiring the length and the transportation weight of the transportation path of each AGV, and counting the total number of transportation tasks of the AGV in each detection area; and S4, setting a weight coefficient according to the length of the transport path of the AGV, the transport weight and the total number of the transport tasks in the detection area where the AGV is located, and selecting the pass priority coefficient calculated according to the weight coefficient to enable the AGV to enter the nearest stop point. The invention combines the self state of the AGV trolleys and the external environment to regulate and control the traffic order in the working area, and maintains the stable passing environment in the working area and the smooth passing state of each AGV trolley.
Description
Technical Field
The invention relates to the technical field of AGV trolley traffic control, in particular to an AGV trolley running traffic control and control method based on information normalization.
Background
AGVs refer to transport vehicles equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide path, having safety protection and various transfer functions, and transport vehicles that do not require a driver in industrial applications. Typically, the travel of the AGV is controlled by a computer and the travel route is set using electromagnetic tracks that are affixed to the floor. Compared with walking, crawling or other non-wheeled mobile robots, the AGV has the advantages of being fast in action, high in working efficiency, simple in structure, strong in controllability, good in safety and the like. Therefore, in the automatic logistics system, the automation and the flexibility can be fully embodied, and the efficient, economical and flexible unmanned production is realized. However, while there are a number of AGV control methods known in the art, these methods are complex and inefficient.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides an AGV trolley running traffic control and control method based on information normalization.
The invention provides an AGV trolley running traffic control regulation and control method based on information normalization, which comprises the following steps:
s1, dividing the working area into m detection areas, and setting a plurality of stop points in each detection area;
s2, receiving the transportation tasks sent to each AGV in the working area, and associating and storing each transportation task with the real-time position of the corresponding AGV;
s3, acquiring the length and the transportation weight of the transportation path of each AGV based on the transportation tasks of the AGV in each detection area, and respectively counting the total number of the transportation tasks of the AGV in each detection area;
s4, when the linear distance between any two AGV dollies is less than the preset distance value, the pass priority coefficient of the two AGV dollies is calculated based on the transportation path length and the transportation weight of the two AGV dollies and the total number of transportation tasks in the detection area of the two AGV dollies respectively, and the AGV dollies needing to be given way are selected according to the pass priority coefficient to enter the nearest stop point in the detection area of the AGV dollies.
Preferably, in step S2, the transportation task sent to each AGV in the working area specifically includes: origin of transportation, destination of transportation and weight of transported goods.
Preferably, in step S2, the real-time position of each AGV is the actual position of the detection area where the AGV is currently located.
Preferably, step S3 specifically includes:
calculating the length of the transportation path of each AGV according to the transportation starting place and the transportation destination in the transportation task of the AGV in each detection area;
determining the transport weight of each AGV according to the transport weight in the transport tasks of the AGV in each detection area;
and respectively acquiring the total number of the transportation tasks of all AGV trolleys in each detection area, and associating and storing the total number of the transportation tasks and the number of each detection area.
Preferably, step S4 specifically includes:
setting weight coefficients a, b and c;
the p AGV car and the q AGV car are smallWhen the linear distance between the vehicles is smaller than a preset distance value, the length of the transport path of the p-th AGV is obtained and recorded as SpAnd the transport weight of the p-th AGV is marked as WpThe total number of the transportation tasks in the detection area where the p-th AGV car is located is recorded as TpAnd the length of the transport path of the qth AGV is marked as SqAnd the transport weight of the qth AGV is marked as WqAnd the total number of the transportation tasks in the detection area where the qth AGV car is located is recorded as Tq；
Respectively calculating the passing priority coefficient of the p-th AGV according to a formula, and marking as FpAnd the passing priority coefficient of the qth AGV is marked as Fq；
Fp＝aSp+bWp+cTp，Fq＝aSq+bWq+cTq；
Comparison FpAnd FqAnd selecting an AGV entering a stopping point according to the comparison result:
if Fp>FqRegulating and controlling a qth AGV to enter a nearest stop point in a detection area where the AGV is located;
if Fp<FqRegulating and controlling the p-th AGV to enter the nearest stop point in the detection area where the p-th AGV is located;
if Fp＝FqFurther comparing the transport weight W of the p AGVpTransport weight W of the qth AGVqThe size of (2):
if Wp>WqRegulating and controlling the q-th AGV to enter the nearest stop point in the detection area where the q-th AGV is located, and if W isp<WqRegulating and controlling the p-th AGV to enter the nearest stop point in the detection area where the Pth AGV is located, and if W isp＝WqFurther comparing the transport path length S of the p AGVpTransport path length S of the qth AGVqThe size of (2):
if Sp>SqRegulating and controlling the q-th AGV to enter the nearest stop point in the detection area where the q-th AGV is located, and if S is judgedp<SqRegulating and controlling the p-th AGVEntering the nearest stop point in the detection area where the detection area is located, if S isp＝SqRegulating and controlling the No. p AGV and the No. q AGV to enter the stopping point;
wherein 0< a <1, 0< b <1, 0< c < 1.
The invention provides an AGV trolley running traffic control regulation and control method based on information normalization, which comprises the steps of dividing a working area into a plurality of small areas, and expanding the precision of detecting the actual state of the AGV trolley in each small area by reducing the size of a detection area; then acquiring the length and the transportation weight of a transportation path of each AGV based on the transportation task of each AGV in each detection area and the total number of the transportation tasks of all the AGV in each detection area, wherein the transportation path length and the transportation weight of each AGV are acquired to determine the transportation state of each AGV, and the total number of the transportation tasks in each detection area is acquired to preliminarily judge the continuous operation time and the task urgency of the AGV in each detection area; finally, the running urgency and efficiency of each AGV trolley and the traffic jam probability in the area are further judged by combining the length of the transport path of each AGV trolley, the transport weight and the total number of the transport tasks in the detection area, and the AGV trolley needing to stop for the way is selected based on the judgment result, so that the waiting time of the AGV trolley with a longer transport path can be reduced, the running efficiency of the AGV trolley is improved, but also can avoid the waiting time of transporting the AGV with larger weight, ensure the circulating transportation efficiency, and can prevent the waiting time of the AGV in a detection area with a plurality of transportation tasks from increasing, with shorten its operating cycle, this AGV dolly leaves the time of the various detection area of above-mentioned transportation task with higher speed, avoids causing the jam of traffic in this detection area, guarantees the stability of traffic order in the workspace and improves the operating efficiency of AGV dolly in the workspace comprehensively. The invention considers the characteristics of the transportation task of each AGV trolley and the traffic complexity in the area, and combines the self state of the AGV trolley and the external environment to regulate and control the traffic order in the working area, thereby maintaining the stable traffic environment in the working area and the smooth traffic state of each AGV trolley.
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FIG. 1 is a schematic diagram illustrating steps of an AGV trolley operation traffic control regulation method based on information normalization.
Detailed Description
As shown in fig. 1, fig. 1 is a method for regulating and controlling AGV car running traffic control based on information normalization according to the present invention.
Referring to fig. 1, the method for regulating and controlling the AGV trolley running traffic control based on information normalization provided by the invention comprises the following steps:
s1, dividing the working area into m detection areas, and setting a plurality of stop points in each detection area;
s2, receiving the transportation tasks sent to each AGV in the working area, and associating and storing each transportation task with the real-time position of the corresponding AGV;
in this embodiment, the transportation task sent to each AGV in the working area specifically includes: a transport origin, a transport destination, and a transport item weight;
the acquisition of the three parameters is beneficial to directly and accurately determining the transport path length and the transport weight of each AGV in the subsequent steps.
The real-time position of each AGV is the actual position of the current detection area of the AGV, and the actual position of the detection area where each AGV is located is used as the real-time position of the detection area, so that the total number of the transportation tasks contained in all the AGV in each detection area can be conveniently determined in the subsequent steps.
S3, acquiring the length and the transportation weight of the transportation path of each AGV based on the transportation tasks of the AGV in each detection area, and respectively counting the total number of the transportation tasks of the AGV in each detection area;
in this embodiment, step S3 specifically includes:
calculating the length of the transportation path of each AGV according to the transportation starting place and the transportation destination in the transportation task of the AGV in each detection area; the length of the transportation path of each AGV is directly and accurately determined, so that the effectiveness of the subsequent analysis process is improved;
determining the transport weight of each AGV according to the transport weight in the transport tasks of the AGV in each detection area; so as to improve the accuracy of determining the transport weight of each AGV;
respectively acquiring the total number of the transportation tasks of all AGV trolleys in each detection area, associating and storing the total number of the transportation tasks with the number of each detection area, counting the number of the transportation tasks of all AGV trolleys in each detection area, and preliminarily judging the congestion probability of the traffic in the detection area, namely when the number of the transportation tasks in the detection area is large, the number of times of cyclic reciprocating of the AGV trolleys in the detection area on a transportation track is large, and under the condition, the traffic in the detection area possibly causes congestion; the total number of the transportation tasks in each detection area is collected, so that a stable reference basis can be provided for making a stop and yield strategy in the subsequent steps, and the deterioration of the traffic order in any detection area is prevented.
S4, when the linear distance between any two AGV dollies is less than the preset distance value, the pass priority coefficient of the two AGV dollies is calculated based on the transportation path length and the transportation weight of the two AGV dollies and the total number of transportation tasks in the detection area of the two AGV dollies respectively, and the AGV dollies needing to be given way are selected according to the pass priority coefficient to enter the nearest stop point in the detection area of the AGV dollies.
In this embodiment, step S4 specifically includes:
setting weight coefficients a, b and c;
when the linear distance between the p AGV trolley and the q AGV trolley is smaller than a preset distance value, in order to prevent the possibility that the p AGV trolley and the q AGV trolley collide or scratch, a stopping and yielding strategy is formulated based on the self transportation states of the two AGV trolleys and the external environment, namely the transportation path length of the p AGV trolley is obtained and is recorded as SpAnd the transport weight of the p-th AGV is marked as WpThe total number of the transportation tasks in the detection area where the p-th AGV car is located is recorded as TpAnd the length of the transport path of the qth AGV is marked as SqAnd the transport weight of the qth AGV is marked as WqAnd the total number of the transportation tasks in the detection area where the qth AGV car is located is recorded as Tq；
Respectively calculating the passing priority coefficient of the p-th AGV according to a formula, and marking as FpAnd the passing priority coefficient of the qth AGV is marked as Fq；
Fp＝aSp+bWp+cTp，Fq＝aSq+bWq+cTq；
The traffic priority coefficient of each AGV is formulated by utilizing the length of the transport path, the transport weight and the total number of transport tasks in the detection area where the AGV is located, so that the AGV needing to be stopped and yield can be selected before any two AGV meet, the unsafe condition is avoided, and the stability of the traffic order in the working area is ensured;
then compare FpAnd FqAnd selecting an AGV entering a stopping point according to the comparison result:
if Fp>FqIf the result shows that the p AGV has a higher passing priority coefficient, regulating and controlling the q AGV to enter the nearest stop point in the detection area where the AGV is located;
if Fp<FqIf the result shows that the qth AGV has a higher passing priority coefficient, regulating and controlling the pth AGV to enter the nearest stop point in the detection area where the pth AGV is located;
if Fp＝FqAt the moment, the AGV car needing to stop and give way can not be selected through the passing priority coefficient, and the transportation weight W of the p-th AGV car is further comparedpTransport weight W of the qth AGVqThe size of (2):
if Wp>WqFor avoiding the increase of the running time of the p-th AGV, the q-th AGV enters the nearest stop point in the detection area where the q-th AGV is located, so that the p-th AGV canContinue to run along the original orbit if Wp<WqIn order to avoid prolonging the running time of the q-th AGV carrying a heavy load, the p-th AGV is regulated and controlled to enter the nearest stop point in the detection area where the p-th AGV is located, and if W is the minimum value of the load, the load is controlled to be higher than the loadp＝WqThe result shows that the AGV cars needing to stop and give way can not be selected by comparing the transport weight of the p-th AGV car and the transport weight of the q-th AGV car, and the transport path length S of the p-th AGV car is further comparedpTransport path length S of the qth AGVqThe size of (2):
if Sp>SqIf the running time of the pth AGV with longer transport path length is further increased, the pth AGV is regulated and controlled to enter the nearest stop point in the detection area where the pth AGV is located, and if the pth AGV is located, the operation is stoppedp<SqThe method has the advantages that the transport task can be completed by the qth AGV in a longer time than the pth AGV, the pth AGV is regulated and controlled to enter the nearest stop point in the detection area where the pth AGV is located, the running time of the qth AGV is prevented from being continuously increased, and if the process is Sp＝SqThe probability that safety accidents occur when the p-th AGV car and the q-th AGV car continuously run on the current speed distribution and current track is low, and in order to ensure the running efficiency of the two AGV cars, the p-th AGV car and the q-th AGV car are regulated and controlled not to enter a stopping point;
wherein 0< a <1, 0< b <1, 0< c < 1.
According to the AGV trolley running traffic control regulation and control method based on information normalization, firstly, a working area is divided into a plurality of small areas, and the accuracy of detecting the actual state of the AGV trolley in each small area is expanded by reducing the size of a detection area; then acquiring the length and the transportation weight of a transportation path of each AGV based on the transportation task of each AGV in each detection area and the total number of the transportation tasks of all the AGV in each detection area, wherein the transportation path length and the transportation weight of each AGV are acquired to determine the transportation state of each AGV, and the total number of the transportation tasks in each detection area is acquired to preliminarily judge the continuous operation time and the task urgency of the AGV in each detection area; finally, the running urgency and efficiency of each AGV trolley and the traffic jam probability in the area are further judged by combining the length of the transport path of each AGV trolley, the transport weight and the total number of the transport tasks in the detection area, and the AGV trolley needing to stop for the way is selected based on the judgment result, so that the waiting time of the AGV trolley with a longer transport path can be reduced, the running efficiency of the AGV trolley is improved, but also can avoid the waiting time of transporting the AGV with larger weight, ensure the circulating transportation efficiency, and can prevent the waiting time of the AGV in a detection area with a plurality of transportation tasks from increasing, with shorten its operating cycle, this AGV dolly leaves the time of the various detection area of above-mentioned transportation task with higher speed, avoids causing the jam of traffic in this detection area, guarantees the stability of traffic order in the workspace and improves the operating efficiency of AGV dolly in the workspace comprehensively. The method considers the characteristics of the transport task of each AGV trolley and the traffic complexity in the area where the AGV trolley is located, regulates and controls the traffic order in the working area by combining the self state of the AGV trolley and the external environment, and maintains the stable passing environment in the working area and the smooth passing state of each AGV trolley.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (3)
1. An AGV trolley running traffic control regulation and control method based on information normalization is characterized by comprising the following steps:
s1, dividing the working area into m detection areas, and setting a plurality of stop points in each detection area;
s2, receiving the transportation tasks sent to each AGV in the working area, and associating and storing each transportation task with the real-time position of the corresponding AGV;
s3, acquiring the length and the transportation weight of the transportation path of each AGV based on the transportation tasks of the AGV in each detection area, and respectively counting the total number of the transportation tasks of the AGV in each detection area;
s4, when the linear distance between any two AGV dollies is smaller than a preset distance value, setting weight coefficients respectively based on the length and the transportation weight of the two AGV dollies and the total number of transportation tasks in the detection area where the two AGV dollies to calculate the passing priority coefficients of the two AGV dollies, and selecting the AGV dollies needing to give way to enter the nearest stop points in the detection area where the AGV dollies according to the passing priority coefficients;
in step S2, the transportation task sent to each AGV in the work area specifically includes: a transport origin, a transport destination, and a transport item weight;
step S4 specifically includes:
setting weight coefficients a, b and c;
when the linear distance between the p AGV car and the q AGV car is smaller than a preset distance value, the length of the transportation path of the p AGV car is obtained and is marked as SpAnd the transport weight of the p-th AGV is marked as WpThe total number of the transportation tasks in the detection area where the p-th AGV car is located is recorded as TpAnd the length of the transport path of the qth AGV is marked as SqAnd the transport weight of the qth AGV is marked as WqAnd the total number of the transportation tasks in the detection area where the qth AGV car is located is recorded as Tq；
Respectively calculating the passing priority coefficient of the p-th AGV according to a formula, and marking as FpAnd the passing priority coefficient of the qth AGV is marked as Fq；
Fp＝aSp+bWp+cTp，Fq＝aSq+bWq+cTq；
Comparison FpAnd FqAnd selecting an AGV entering a stopping point according to the comparison result:
if Fp>FqRegulating and controlling the q AGV to enter the AGVA nearest docking point within the detection area;
if Fp<FqRegulating and controlling the p-th AGV to enter the nearest stop point in the detection area where the p-th AGV is located;
if Fp＝FqFurther comparing the transport weight W of the p AGVpTransport weight W of the qth AGVqThe size of (2):
if Wp>WqRegulating and controlling the q-th AGV to enter the nearest stop point in the detection area where the q-th AGV is located, and if W isp<WqRegulating and controlling the p-th AGV to enter the nearest stop point in the detection area where the Pth AGV is located, and if W isp＝WqFurther comparing the transport path length S of the p AGVpTransport path length S of the qth AGVqThe size of (2):
if Sp>SqRegulating and controlling the q-th AGV to enter the nearest stop point in the detection area where the q-th AGV is located, and if S is judgedp<SqRegulating and controlling the p-th AGV to enter the nearest stop point in the detection area where the Pth AGV is located, and if S is detectedp＝SqRegulating and controlling the No. p AGV and the No. q AGV to enter the stopping point;
wherein 0< a <1, 0< b <1, 0< c < 1.
2. The AGV trolley running traffic control and control method based on information warping of claim 1, wherein in step S2, the real-time position of each AGV trolley is the actual position of the detection area where the AGV trolley is currently located.
3. The AGV trolley running traffic control and regulation method based on information warping according to claim 1, wherein step S3 specifically includes:
calculating the length of the transportation path of each AGV according to the transportation starting place and the transportation destination in the transportation task of the AGV in each detection area;
determining the transport weight of each AGV according to the transport weight in the transport tasks of the AGV in each detection area;
and respectively acquiring the total number of the transportation tasks of all AGV trolleys in each detection area, and associating and storing the total number of the transportation tasks and the number of each detection area.
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Address after: 230000 room 218, building 1, area a, intelligent equipment science and Technology Park, 3963 Susong Road, Hefei Economic and Technological Development Zone, Anhui Province Applicant after: Anhui kuxun Intelligent Technology Co.,Ltd. Address before: 230000 room 2301, block a, jinzhonghuan Plaza, Wangjiang East Road, Baohe District, Hefei City, Anhui Province Applicant before: ANHUI KUXUN AUTOMATION EQUIPMENT Co.,Ltd. Address after: 230000 room 218, building 1, area a, intelligent equipment science and Technology Park, 3963 Susong Road, Hefei Economic and Technological Development Zone, Anhui Province Applicant after: Hefei Hagong kuxun Intelligent Technology Co.,Ltd. Address before: 230000 room 218, building 1, area a, intelligent equipment science and Technology Park, 3963 Susong Road, Hefei Economic and Technological Development Zone, Anhui Province Applicant before: Anhui kuxun Intelligent Technology Co.,Ltd. |
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