CN108983779B - AGV trolley traffic control regulation and control method based on path analysis - Google Patents
AGV trolley traffic control regulation and control method based on path analysis Download PDFInfo
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Abstract
The invention discloses an AGV trolley traffic control regulation and control method based on path analysis, which comprises the following steps: s1, dividing the working area into x detection areas and setting a plurality of stop points; s2, associating and storing the transportation tasks issued to the AGV with the real-time positions of the corresponding AGV; s3, acquiring the number of transportation tasks, the types of running paths and the path length of each running AGV; and S4, adjusting whether the running AGV enters the nearest stop point in the corresponding detection area or not according to the number of the transportation tasks, the type of the running path and the path length of each running AGV. According to the method, the AGV trolleys stopped and giving way are dynamically selected by analyzing the urgency of tasks of each AGV trolley and the type and length of a return path of each AGV trolley, so that the problem of potential traffic hazards caused by overlapping paths among a plurality of AGV trolleys is avoided, and smooth passing of the AGV trolleys in a working area is guaranteed.
Description
Technical Field
The invention relates to the technical field of AGV path regulation, in particular to an AGV trolley traffic control regulation and control method based on path analysis.
Background
An Automated Guided Vehicle, also called AGV cart generally, is a transportation cart equipped with an electromagnetic or optical automatic guiding device, capable of traveling along a predetermined guiding path, having safety protection and various transfer functions, and requiring no driver's transportation cart in industrial application, and using a rechargeable battery as its power source. The planning strategy of the traveling path of the conventional AGV trolley is single, when a plurality of AGV trolleys run in a working area, the planning strategy of the traveling path is single, so that the production and life needs cannot be met, and the high-efficiency running of the AGV trolleys in the working area cannot be guaranteed.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides an AGV trolley traffic control regulation and control method based on path analysis.
The AGV trolley traffic control regulation and control method based on the path analysis comprises the following steps:
s1, dividing the working area into x detection areas, and setting a plurality of stop points for each detection area;
s2, receiving transportation tasks issued to the AGV in the x detection areas, and associating and storing each transportation task with the real-time position of the corresponding AGV;
s3, acquiring the number of transportation tasks, the types of running paths and the path length of the AGV running in each detection area;
and S4, adjusting whether the running AGV enters the nearest stop point in the corresponding detection area or not according to the number of the transportation tasks, the type of the running path and the path length of the AGV running in each detection area.
Preferably, in step S2, the real-time position of the AGV is the actual position of the AGV within the detection area.
Preferably, in step S3, the types of the travel paths of the running AGV includes:
when the number of the transportation tasks of the running AGV trolley is zero, the running path type is a first path type of the AGV trolley returning to the departure place from the current position;
and when the number of the transportation tasks of the running AGV is more than zero, the running path type is a second path type of the AGV running from the current position to the destination.
Preferably, in step S3, the path length of the running AGV includes:
when the number of the transport tasks of the running AGV trolley is zero, the path length is the distance between the current position of the AGV trolley and the departure place;
and when the number of the transportation tasks of the running AGV is more than zero, the path length is the distance between the current position of the AGV and the destination.
Preferably, step S4 specifically includes:
obtaining the A-th linear distance in the ith detection area which is less than the preset distancemAGV and AnThe travel path types of the AGV trolleys are analyzed:
when it is in the first placemThe AGV is of the first path typeAnWhen the AGV is of the second path type, the A-th path is adjustedmEnabling each AGV to enter the nearest stop point in the ith detection area;
when it is in the first placemThe AGV is of the second path type, AnWhen the AGV is of the first path type, the A-th path is adjustednEnabling each AGV to enter the nearest stop point in the ith detection area;
when it is in the first placemAGV and AnWhen the AGV trolleys are of the first path type, respectively acquiring the A-th pathmAGV and AnThe path length of an AGV Car, denoted BAm、BAnIf B isAm>BAnAdjusting the firstnThe AGV enters the nearest stop point in the ith detection area if BAn>BAmWhile adjusting the firstmEnabling each AGV to enter the nearest stop point in the ith detection area;
when it is in the first placemAGV and AnRespectively acquiring A-th path when all AGV trolleys are of the second path typemAGV and AnThe number of the transportation tasks of the AGV is marked as CAm、CAnIf C isAm>CAnAdjusting the firstnThe AGV enters the nearest stop point in the ith detection area, and if the AGV enters the nearest stop point in the ith detection area, the AGV enters the ith detection areaAn>CAmWhile adjusting the firstmEnabling each AGV to enter the nearest stop point in the ith detection area;
wherein i is more than or equal to 1 and less than or equal to x, A1≤Am≤Ai，A1≤An≤Ai。
The AGV traffic control and regulation method based on the path analysis mainly solves the problem that a plurality of AGV dollies in a working area are blocked in traffic when running on the same planned path, and the AGV dollies stopped and yielding are dynamically selected by analyzing the urgency of tasks of each AGV dolly and the type and length of a return path of each AGV dolly, so that the problem of traffic hidden trouble caused by overlapping paths among the AGV dollies is avoided, and smooth passing of the AGV dollies in the working area is ensured. Specifically, the method comprises the following steps: according to the invention, the working area is divided, and the traffic condition in each small area is collected, analyzed and regulated, so that the pertinence and the effectiveness of a traffic regulation strategy are ensured; then analyzing the path types of two AGV dollies which are relatively close to each other, formulating a strategy that the AGV dollies returning to the starting point stop and give way to the AGV dollies executing the task, and improving the working efficiency of the AGV dollies of the type by shortening the running time of the AGV dollies executing the task; furthermore, when the two AGV dollies are of the path type returning to the starting point, a scheme that the AGV dollies with shorter returning path length give way for the AGV dollies with longer returning path is established, so that the two AGV dollies can both return to the starting point in relatively shorter time, and the running efficiency of the AGV dollies is improved; when the two AGV dollies are of the path type for executing the tasks, the number of the transportation tasks of the two AGV dollies is further analyzed, and a scheme that the AGV dollies with the smaller number of the transportation tasks stop and give way for the AGV dollies with the larger number of the transportation tasks is formulated, so that the running time of the AGV dollies with the larger number of the transportation tasks is prevented from being prolonged, and the transportation efficiency of the AGV dollies during executing the tasks is improved. Therefore, the method and the system dynamically adjust the stopping yielding and running states of all the AGV trolleys in the working area based on the task executing state of the AGV trolleys and the characteristics of the running route, and realize intelligent regulation and control on the traffic stability of the AGV trolleys in the working area on the basis of ensuring the stable and ordered working state of the AGV trolleys in the working area.
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FIG. 1 is a schematic diagram illustrating steps of an AGV car traffic control regulation method based on path analysis.
Detailed Description
As shown in fig. 1, fig. 1 is a method for controlling and controlling AGV car traffic based on path analysis according to the present invention.
Referring to fig. 1, the AGV car traffic control and regulation method based on path analysis provided by the present invention includes the following steps:
s1, dividing the working area into x detection areas, and setting a plurality of stop points for each detection area;
the working area is divided into a plurality of small detection areas in a refining mode, so that the pertinence and the effectiveness of detection on the actual running state of the AGV in each detection area are improved.
The arrangement of the plurality of stopping points is beneficial to reducing the time for the AGV in operation to move to the stopping points, and the improvement of the operation efficiency of the AGV is facilitated.
S2, receiving transportation tasks issued to the AGV in the x detection areas, and associating and storing each transportation task with the real-time position of the corresponding AGV;
in the embodiment, the real-time position of the AGV trolley is the actual position of the AGV trolley in the detection area; through making high accuracy location to the AGV dolly, can improve the precision to AGV dolly path planning.
S3, acquiring the number of transportation tasks, the types of running paths and the path length of the AGV running in each detection area;
in this embodiment, the types of the travel paths of the running AGV include:
when the number of the transport tasks of the running AGV trolley is zero, the AGV trolley is indicated to finish the transport tasks and is going to return to the departure place, and the running path type is the first path type of the AGV trolley returning to the departure place from the current position;
when the number of the transportation tasks of the running AGV is larger than zero, the AGV is in a state of executing the transportation tasks, and the running path type is a second path type of the AGV running from the current position to the destination.
The path length of the running AGV includes:
when the number of the transport tasks of the running AGV trolley is zero, the AGV trolley is indicated to finish the transport tasks and is going to return to the starting place, and the path length is the distance between the current position of the AGV trolley and the starting place;
when the number of the transportation tasks of the running AGV is larger than zero, the AGV is indicated to be in a state of executing the transportation tasks, and the path length is the distance between the current position of the AGV and the destination.
And S4, adjusting whether the running AGV enters the nearest stop point in the corresponding detection area or not according to the number of the transportation tasks, the type of the running path and the path length of the AGV running in each detection area.
In this embodiment, step S4 specifically includes:
obtaining the A-th linear distance in the ith detection area which is less than the preset distancemAGV and AnThe type of the running path of each AGV is analyzed, and the fact that the straight line distance is smaller than the preset distance indicates that the A thmAGV and AnThe distance of this AGV dolly is nearer, adjusts the berth and the running state of these two AGV dollies this moment, can avoid the emergence of potential safety hazard effectively:
when it is in the first placemThe AGV is of the first path type, AnWhen the AGV is of the second path type, the AGV indicates the A th pathmAn AGV is about to return to the originnThe AGV is in a transport state, then the A th position is adjustedmThe AGV enters the nearest stop point in the ith detection area so as to save the AnThe running time of each AGV;
when it is in the first placemThe AGV is of the second path type, AnWhen the AGV is of the first path type, the A-th path is indicatedmThe AGV is in transport modenAn AGV is about to return to the departure place, in order to reduce the AmAdjusting the running time of the AGVnThe AGV enters the nearest stop point in the ith detection area to improve the AmThe transport efficiency of each AGV;
when it is in the first placemAGV and AnWhen all the AGV trolleys are of the first path type, the A-th path is indicatedmAGV and AnAll AGV trolleys want to return to the departure place, at the moment, the path lengths of the two AGV trolleys need to be analyzed, and the A thmAGV and AnThe path length of an AGV Car, denoted BAm、BAnIf B isAm>BAnIndicates thatAmThe return distance of each AGV is larger than the AnThe return distance of the AGV car for avoiding the AmFurther prolonging the running time of the AGV car, adjusting the A thnThe AGV enters the nearest stop point in the ith detection area if BAn>BAmWhen it is indicated as AnThe return distance of each AGV is larger than the AmThe return distance of each AGV car is adjusted to the AmThe AGV enters the nearest stop point in the ith detection area to avoid the A-th detection areanContinuously prolonging the running time of each AGV;
when it is in the first placemAGV and AnWhen all AGV carts are of the second path type, the A th path is indicatedmAGV and AnAll be in under the transport state for individual AGV dolly, for discerning the urgency of two AGV dolly haulage tasks this moment, then acquire respectively AmAGV and AnThe number of the transportation tasks of the AGV is marked as CAm、CAnIf C isAm>CAnIndicates the firstmTransport duty ratio of AGVnThe AGV has multiple transportation tasks, and the A thmThe transport efficiency of each AGV car is adjusted to the AnThe AGV enters the nearest stop point in the ith detection area, and if the AGV enters the nearest stop point in the ith detection area, the AGV enters the ith detection areaAn>CAmWhen it is indicated as AnTransport duty ratio of AGVmThe transport task of each AGV car is multiple, and the A-th delay is avoided during stoppingnThe transport efficiency of each AGV car is adjusted to the AmEnabling each AGV to enter the nearest stop point in the ith detection area;
wherein i is more than or equal to 1 and less than or equal to x, A1≤Am≤Ai，A1≤An≤Ai。
The AGV trolley traffic control regulation and control method based on the path analysis mainly solves the problem that traffic is blocked when a plurality of AGV trolleys run on the same planning path in a working area, and through analyzing the urgency of each AGV trolley task and the type and length of each AGV trolley return path, the AGV trolleys which stop and give way are dynamically selected, so that the problem that potential traffic hazards are caused due to path overlapping among the AGV trolleys is avoided, and smooth passing of the AGV trolleys in the working area is guaranteed. Specifically, the method comprises the following steps: according to the embodiment, the working area is divided, and the traffic condition in each small area is collected, analyzed and regulated, so that the pertinence and the effectiveness of a traffic regulation strategy are guaranteed; then analyzing the path types of two AGV dollies which are relatively close to each other, formulating a strategy that the AGV dollies returning to the starting point stop and give way to the AGV dollies executing the task, and improving the working efficiency of the AGV dollies of the type by shortening the running time of the AGV dollies executing the task; furthermore, when the two AGV dollies are of the path type returning to the starting point, a scheme that the AGV dollies with shorter returning path length give way for the AGV dollies with longer returning path is established, so that the two AGV dollies can both return to the starting point in relatively shorter time, and the running efficiency of the AGV dollies is improved; when two AGV dollies are the path type of executive task, the number of the transportation task of two AGV dollies of further analysis of this embodiment, and formulate the little AGV dolly of transportation task number and berth the scheme of giving way for the AGV dolly that the transportation task number is more, avoid prolonging the operating duration of the many AGV dolly of transportation task number, be favorable to improving its conveying efficiency when carrying out the task. Therefore, the AGV trolley control system and the AGV trolley control method are based on the characteristics of the AGV trolley self executing tasks and the running route, the stopping yielding and running states of all the AGV trolleys in the working area are dynamically adjusted, and the intelligent control of the traffic stability of the AGV trolleys in the working area is realized on the basis of ensuring the stable and orderly working states of the AGV trolleys in the working area.
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 (2)
1. An AGV trolley traffic control regulation and control method based on path analysis is characterized by comprising the following steps:
s1, dividing the working area into x detection areas, and setting a plurality of stop points for each detection area;
s2, receiving transportation tasks issued to the AGV in the x detection areas, and associating and storing each transportation task with the real-time position of the corresponding AGV;
s3, acquiring the number of transportation tasks, the types of running paths and the path length of the AGV running in each detection area;
s4, adjusting whether the running AGV enters the nearest stop point in the corresponding detection area or not according to the number of the transportation tasks, the running path type and the path length of the AGV running in each detection area;
in step S3, the types of the travel paths of the running AGV include:
when the number of the transportation tasks of the running AGV trolley is zero, the running path type is a first path type of the AGV trolley returning to the departure place from the current position;
when the number of the transportation tasks of the running AGV is larger than zero, the running path type is a second path type of the AGV running from the current position to the destination;
in step S3, the path length of the running AGV includes:
when the number of the transport tasks of the running AGV trolley is zero, the path length is the distance between the current position of the AGV trolley and the departure place;
when the number of the transportation tasks of the running AGV is more than zero, the path length is the distance between the current position and the destination of the AGV;
step S4 specifically includes:
obtaining the A-th linear distance in the ith detection area which is less than the preset distancemAGV and AnThe travel path types of the AGV trolleys are analyzed:
when it is in the first placemThe AGV is of the first path type, AnWhen the AGV is of the second path type, the A-th path is adjustedmAGV smallThe vehicle enters the nearest stop point in the ith detection area;
when it is in the first placemThe AGV is of the second path type, AnWhen the AGV is of the first path type, the A-th path is adjustednEnabling each AGV to enter the nearest stop point in the ith detection area;
when it is in the first placemAGV and AnWhen the AGV trolleys are of the first path type, respectively acquiring the A-th pathmAGV and AnThe path length of an AGV Car, denoted BAm、BAnIf B isAm>BAnAdjusting the firstnThe AGV enters the nearest stop point in the ith detection area if BAn>BAmWhile adjusting the firstmEnabling each AGV to enter the nearest stop point in the ith detection area;
when it is in the first placemAGV and AnRespectively acquiring A-th path when all AGV trolleys are of the second path typemAGV and AnThe number of the transportation tasks of the AGV is marked as CAm、CAnIf C isAm>CAnAdjusting the firstnThe AGV enters the nearest stop point in the ith detection area, and if the AGV enters the nearest stop point in the ith detection area, the AGV enters the ith detection areaAn>CAmWhile adjusting the firstmEnabling each AGV to enter the nearest stop point in the ith detection area;
wherein i is more than or equal to 1 and less than or equal to x, A1≤Am≤Ai，A1≤An≤Ai。
2. The AGV car traffic control and control method according to claim 1, wherein in step S2, the real-time position of the AGV car is the actual position of the AGV car within the detection area.
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| CN112631209A (en) * | 2019-10-08 | 2021-04-09 | 北京京东乾石科技有限公司 | Method and apparatus for controlling an automated guided vehicle |
| CN110969870B (en) * | 2019-12-02 | 2023-05-12 | 天津阿备默机器人科技有限公司 | AGV control system with multiple host frameworks and implementation method thereof |
| CN112863214A (en) * | 2020-12-29 | 2021-05-28 | 广东嘉腾机器人自动化有限公司 | Traffic control method in multi-steering operation mode |
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