CN112882462A - Cloud traffic management device and method thereof - Google Patents
Cloud traffic management device and method thereof Download PDFInfo
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- CN112882462A CN112882462A CN202011579366.0A CN202011579366A CN112882462A CN 112882462 A CN112882462 A CN 112882462A CN 202011579366 A CN202011579366 A CN 202011579366A CN 112882462 A CN112882462 A CN 112882462A
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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
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Abstract
The utility model provides a cloud traffic management device, includes cloud traffic management system, a plurality of AGV dispatch system and traffic management map, it manages the region to be equipped with a plurality of traffic in the traffic management map, AGV dispatch system is used for dispatching a plurality of AGVs, and is a plurality of AGV dispatch system with cloud traffic management system communication is connected, when being affiliated to AGV dispatch system's AGV gets into when handing over the management region, AGV dispatch system to cloud traffic management sends the request and passes through the instruction, cloud traffic management system is according to the condition in traffic management region, to sending the AGV dispatch system feedback operating instruction that the request passes through the instruction. Compared with the prior art, the cloud traffic system and the cloud traffic method can effectively unify the control of traffic areas of all running routes, so that the AGVs of different dispatching systems can be dispatched uniformly, the phenomena of deadlock, even scraping and collision of the AGVs waiting for each other at the intersection area of the running routes of the AGVs of different dispatching systems are avoided, and the problem of coordinated operation of the AGVs of different dispatching systems in the unified area is effectively solved.
Description
Technical Field
The invention relates to the field of AGV traffic control, in particular to a cloud traffic control device and a cloud traffic control method.
Background
Industrial automation is the direction of contemporary development, and AGV transport plays an extremely important role in industrial automation. However, the higher the automation level of a company, the more AGVs are required, and it is very important for these AGVs to easily collide with each other or wait for each other if they lack effective traffic control.
Many current AGV dispatch systems all have the function that AGV handed over, but this handed over can only be effective to the AGV on this dispatch system, and the object of control is single, if these AGVs come from different suppliers, then all can use different dispatch systems to control respective AGV between each supplier, if have a plurality of dispatch systems in an area, then how to let orderly efficient operation of AGV of different dispatch systems just become the biggest problem.
In order to solve the problem, the invention provides a novel AGV traffic management method, which can enable AGVs of different scheduling systems to pass through a cloud traffic management area in order and avoid the condition of traffic jam.
Disclosure of Invention
A first object of the present invention is to provide:
the utility model provides a cloud traffic management device, includes cloud traffic management system, a plurality of AGV dispatch system and traffic management map, it manages the region to be equipped with a plurality of traffic in the traffic management map, AGV dispatch system is used for dispatching a plurality of AGVs, and is a plurality of AGV dispatch system with cloud traffic management system communication is connected, when being affiliated to AGV dispatch system's AGV gets into when handing over the management region, AGV dispatch system to cloud traffic management sends the request and passes through the instruction, cloud traffic management system is according to the condition in traffic management region, to sending the AGV dispatch system feedback operating instruction that the request passes through the instruction.
Preferably, the cloud traffic management system comprises a communication module, a storage module and a traffic management area management module, wherein the communication module is used for communicating with each AGV dispatching system and feeding back to the traffic management area management module according to a received request instruction, the storage module is used for storing serial numbers and state information of a plurality of traffic management areas, and the traffic management area management module makes dispatching instructions according to the request instruction and the storage information of the storage module.
A second object of the present invention is to provide:
an AGV cloud traffic management method is characterized in that a cloud traffic management system applying a first purpose of the invention comprises the following steps:
the method comprises the following steps that an AGV travels to a traffic management area and stops, and an AGV dispatching system of the AGV sends a request passing instruction to a cloud traffic management system;
b. after receiving the request passing instruction, the cloud traffic management system judges whether a traffic management area corresponding to the request passing instruction is occupied;
if yes, the cloud traffic management system feeds back a no-pass instruction and enters step c 1;
if not, the cloud traffic management system feeds back a traffic permission instruction, locks and occupies the traffic management area, and enters step c 2;
after receiving the no-pass instruction, the AGV dispatching system sends a standby instruction to the AGV;
after receiving the pass permission instruction, the AGV dispatching system sends the pass instruction to the AGV so that the AGV passes through the traffic management area;
d. the dispatching system monitors the allowing condition of the AGV, and when the AGV is received to exit the traffic management area, the AGV dispatching system sends a driving-off signal to the cloud traffic management system;
e. and c, after the cloud traffic control system receives the driving-off signal, releasing the locking occupation state of the traffic control area, and repeating the step b.
Preferably, in the step b, the cloud traffic management system queries the state of the traffic management area with the number according to the traffic management area number of the request passing instruction.
Preferably, in step c1, the AGV dispatching system sends the pass request command to the cloud traffic management system again every 10 to 20 seconds until the pass permission command is received.
Compared with the prior art, the cloud traffic system and the cloud traffic method can effectively unify the control of traffic areas of all running routes, so that the AGVs of different dispatching systems can be dispatched uniformly, the phenomena of deadlock, even scraping and collision of the AGVs waiting for each other at the intersection area of the running routes of the AGVs of different dispatching systems are avoided, and the problem of coordinated operation of the AGVs of different dispatching systems in the unified area is effectively solved.
Drawings
Fig. 1 is a block diagram of the cloud traffic management apparatus according to the present invention;
FIG. 2 is a block diagram of the cloud traffic management system of the present invention;
FIG. 3 is a block flow diagram of an AGV cloud management method of the present invention;
FIG. 4 is a schematic diagram illustrating a control state of the AGV cloud traffic management method according to the present invention;
FIG. 5 is a diagram illustrating a second control state of the AGV cloud traffic management method according to the present invention;
FIG. 6 is a schematic diagram of a control state III of the AGV cloud traffic management method of the present invention;
FIG. 7 is a fourth schematic diagram of the control state of the AGV cloud traffic management method of the present invention
Detailed Description
Referring to fig. 1 to 2, a cloud traffic control device, including cloud traffic control system, a plurality of AGV dispatch system and traffic control map, it is regional to be equipped with a plurality of traffic control in the traffic control map, AGV dispatch system is used for dispatching a plurality of AGVs, and is a plurality of AGV dispatch system with cloud traffic control system communication is connected, when being affiliated to AGV dispatch system's AGV gets into when handing over the control region, AGV dispatch system to cloud traffic control sends the request and passes through the instruction, cloud traffic control system is according to the regional condition of traffic control, to sending the AGV dispatch system feedback operating instruction that the request passes through the instruction.
As a preferred scheme, the cloud traffic management system comprises a communication module, a storage module and a traffic management area management module, wherein the communication module is used for communicating with each AGV dispatching system and feeding back to the traffic management area management module according to a received request instruction, the storage module is used for storing serial numbers and state information of a plurality of traffic management areas, and the traffic management area management module makes dispatching instructions according to the request instruction and the storage information of the storage module.
Referring to fig. 3, the present invention further provides an AGV cloud traffic management method, which applies the cloud traffic management system of the first invention, and includes the following steps:
the method comprises the following steps that an AGV travels to a traffic management area and stops, and an AGV dispatching system of the AGV sends a request passing instruction to a cloud traffic management system;
b. after receiving the request passing instruction, the cloud traffic management system judges whether a traffic management area corresponding to the request passing instruction is occupied; specifically, the cloud traffic management system queries the state of the traffic management area with the serial number according to the traffic management area serial number of the request passing instruction;
if yes, the cloud traffic management system feeds back a no-pass instruction and enters step c 1;
if not, the cloud traffic management system feeds back a traffic permission instruction, locks and occupies the traffic management area, and enters step c 2;
after receiving the no-pass instruction, the AGV dispatching system sends a standby instruction to the AGV; when the AGV is in a standby state, the AGV dispatching system sends a passing request instruction to the cloud traffic management system again every 10-20 seconds until receiving a passing permission instruction.
After receiving the pass permission instruction, the AGV dispatching system sends the pass instruction to the AGV so that the AGV passes through the traffic management area;
d. the dispatching system monitors the allowing condition of the AGV, and when the AGV is received to exit the traffic management area, the AGV dispatching system sends a driving-off signal to the cloud traffic management system;
e. and c, after the cloud traffic control system receives the driving-off signal, releasing the locking occupation state of the traffic control area, and repeating the step b.
Referring now to fig. 4-7, a scheduling example will be described in detail, wherein the cloud management system is in communication with AGV scheduling system 1 and AGV scheduling system 2, AGV scheduling system 1 schedules AGVs 1 and 3, AGV scheduling system 2 schedules AGVs 2 and 4, when the AGV1 reaches the edge of the traffic control area, the AGV1 sends an instruction to the AGV dispatching system 1 to reach the traffic control area, and after the AGV dispatching system 1 receives the instruction, sending a request passing instruction to the cloud traffic management system, after receiving the request passing instruction, inquiring the state of the traffic control area under the number according to the request through the number of the traffic control area in the command, wherein the state of the traffic control area is idle, feeding back a traffic permission command to the AGV dispatching system 1 by the cloud traffic control dispatching system, and adjusts the traffic control zone status to lock occupancy while AGV dispatch system 1 monitors the traffic status of AGVs 1. At this time, when the AGV2 arrives at the traffic management area, the AGV dispatching system 2 sends a pass request instruction to the cloud traffic management system after receiving the arrival instruction of the AGV2, at this time, the cloud traffic management system also queries the state of the traffic management area, because the traffic management area is locked at this time, the cloud traffic management system feeds back a pass prohibition instruction, after receiving the instruction, the AGV dispatching system 2 sends an in-place standby instruction to the AGV2, and the AGV dispatching system 2 sends the pass request instruction to the cloud traffic management system again every 10 to 20 seconds until receiving the pass permission instruction.
When the AGV1 passes through the traffic control area, the AGV dispatching system 1 sends a driving away signal to the cloud traffic control system to request to release the locking occupation state of the area, after receiving the driving away signal, the cloud traffic control system updates the state of the traffic control area to idle, and simultaneously sends a passage allowing instruction to the AGV dispatching system 2, and the AGV dispatching system 2 sends a passage instruction to the AGV2, monitors the passage of the AGV2, and so on.
Compared with the prior art, the cloud traffic system and the cloud traffic method can effectively unify the control of traffic areas of all running routes, so that the AGVs of different dispatching systems can be dispatched uniformly, the phenomena of deadlock, even scraping and collision of the AGVs waiting for each other at the intersection area of the running routes of the AGVs of different dispatching systems are avoided, and the problem of coordinated operation of the AGVs of different dispatching systems in the unified area is effectively solved.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (5)
1. The utility model provides a cloud traffic management device, a serial communication port, including cloud traffic management system, a plurality of AGV dispatch system and traffic management map, it manages the area to be equipped with a plurality of traffic management in the map to traffic, AGV dispatch system is used for dispatching a plurality of AGVs, and is a plurality of AGV dispatch system with cloud traffic management system communication is connected, when being affiliated to AGV dispatch system's AGV gets into when handing over the management area, AGV dispatch system to cloud traffic management sends the request and passes through the instruction, cloud traffic management system feeds back operating instruction to the AGV dispatch system who sends the request and passes through the instruction according to the condition of traffic management area.
2. The cloud traffic management device according to claim 1, wherein the cloud traffic management system comprises a communication module, a storage module and a traffic management area management module, the communication module is used for communicating with each AGV scheduling system and feeding back to the traffic management area management module according to a received request instruction, the storage module is used for storing serial numbers of a plurality of traffic management areas and state information of the traffic management areas, and the traffic management area management module makes a scheduling instruction according to the request instruction and the storage information of the storage module.
3. An AGV cloud traffic management method, characterized in that the cloud traffic management system of claims 1 to 2 is applied, which comprises the following steps:
the method comprises the following steps that an AGV travels to a traffic management area and stops, and an AGV dispatching system of the AGV sends a request passing instruction to a cloud traffic management system;
b. after receiving the request passing instruction, the cloud traffic management system judges whether a traffic management area corresponding to the request passing instruction is occupied;
if yes, the cloud traffic management system feeds back a no-pass instruction and enters step c 1;
if not, the cloud traffic management system feeds back a traffic permission instruction, locks and occupies the traffic management area, and enters step c 2;
after receiving the no-pass instruction, the AGV dispatching system sends a standby instruction to the AGV;
after receiving the pass permission instruction, the AGV dispatching system sends the pass instruction to the AGV so that the AGV passes through the traffic management area;
d. the dispatching system monitors the allowing condition of the AGV, and when the AGV is received to exit the traffic management area, the AGV dispatching system sends a driving-off signal to the cloud traffic management system;
e. and c, after the cloud traffic control system receives the driving-off signal, releasing the locking occupation state of the traffic control area, and repeating the step b.
4. The cloud traffic management device according to claim 3, wherein in the step b, the cloud traffic management system queries the state of the traffic management area with the number according to the traffic management area number of the request through the command.
5. The cloud traffic management device of claim 3, wherein in step c1, the AGV dispatching system sends the request passing command to the cloud traffic management system again every 10-20 seconds until the passing permission command is received.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011579366.0A CN112882462A (en) | 2020-12-28 | 2020-12-28 | Cloud traffic management device and method thereof |
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| CN202011579366.0A CN112882462A (en) | 2020-12-28 | 2020-12-28 | Cloud traffic management device and method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114141034A (en) * | 2021-11-10 | 2022-03-04 | 上海木蚁机器人科技有限公司 | Traffic control method, system and electronic equipment |
| CN114415696A (en) * | 2022-03-29 | 2022-04-29 | 杭州蓝芯科技有限公司 | Control method for traffic control dangerous area |
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| CN107608351A (en) * | 2017-09-18 | 2018-01-19 | 华南理工大学 | A kind of autonomous traffic control device and methods of AGV |
| CN107705045A (en) * | 2017-11-01 | 2018-02-16 | 山东大学 | A kind of production logistics intelligent distribution AGV system and its application based on cloud website framework |
| CN109634187A (en) * | 2018-12-26 | 2019-04-16 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of AGV remote monitoring system |
| CN111880540A (en) * | 2020-07-31 | 2020-11-03 | 杭州海康机器人技术有限公司 | AGV traffic control method, system, device and storage medium |
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2020
- 2020-12-28 CN CN202011579366.0A patent/CN112882462A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107608351A (en) * | 2017-09-18 | 2018-01-19 | 华南理工大学 | A kind of autonomous traffic control device and methods of AGV |
| CN107705045A (en) * | 2017-11-01 | 2018-02-16 | 山东大学 | A kind of production logistics intelligent distribution AGV system and its application based on cloud website framework |
| CN109634187A (en) * | 2018-12-26 | 2019-04-16 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of AGV remote monitoring system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114141034A (en) * | 2021-11-10 | 2022-03-04 | 上海木蚁机器人科技有限公司 | Traffic control method, system and electronic equipment |
| CN114141034B (en) * | 2021-11-10 | 2024-04-09 | 上海木蚁机器人科技有限公司 | Traffic control method, system and electronic equipment |
| CN114415696A (en) * | 2022-03-29 | 2022-04-29 | 杭州蓝芯科技有限公司 | Control method for traffic control dangerous area |
| CN114415696B (en) * | 2022-03-29 | 2022-07-08 | 杭州蓝芯科技有限公司 | Control method for traffic control dangerous area |
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Application publication date: 20210601 |