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AGV dynamic traffic control method and system in control area containing avoidance points

A technology for traffic control and control areas, applied in control/regulation systems, two-dimensional position/channel control, motor vehicles, etc., can solve problems such as reduced operating efficiency, long avoidance time, and inability to determine vehicle movement conditions, so as to avoid Optimum effect on collision and traffic efficiency

Pending Publication Date: 2020-12-18
CHENGDU SIWI HIGH TECH IND GARDEN
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Patent literature [CN104331079A] controls the right of way of vehicles in the control area through a centralized dispatching system, but the right of way must be determined by landmarks with specific functions, which cannot be determined according to the actual movement of the vehicle, and the efficiency is not high
Although the patent document [CN107179773B] provides the avoidance judgment time calculation method and avoidance process of conflicting AGVs, when two AGVs have conflicts, the method of selecting which AGV to avoid another AGV is only through the task execution status of the AGV (that is, whether the local path is empty) to determine, there is no calculation of the time and waiting time for the AGV to reach the avoidance point based on the global path of the two AGVs, which may lead to a longer avoidance time for the AGV, rather than avoiding the AGV for a long time. Phenomenon, reduce operating efficiency

Method used

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  • AGV dynamic traffic control method and system in control area containing avoidance points
  • AGV dynamic traffic control method and system in control area containing avoidance points
  • AGV dynamic traffic control method and system in control area containing avoidance points

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0052] This embodiment provides an AGV dynamic traffic control method and system in a control area containing avoidance points, such as figure 2 As shown, the control method includes the following steps:

[0053] Obtain path data: Obtain the path and path data from the starting point to the end point on the raster map through path planning algorithm, such as image 3 Shown is an example of grid map planning route. The route data includes route point number, route point running direction and travel mileage between route points; then the route data is preprocessed to obtain the running time t of the vehicle at each route point i ;

[0054] Calculation of path intersection: According to the path data and the running time t of each path point i Calculate path crossing, the necessary and sufficient condition of path crossing is coincidence in time and space, such as Figure 4 Shown is a schematic diagram of path crossing; when processing the time of each path point, a time wind...

Embodiment 2

[0063] In this embodiment, on the basis of Embodiment 1, when acquiring path data:

[0064] The running time of each path point t i The calculation method is as follows:

[0065]

[0066] Among them, t i-1 is the running time of the vehicle at the last waypoint, s i and v i Respectively, the running mileage and running average speed of the vehicle from the i-1th point to the i-th point, t turn_i is the turning time of the vehicle at the i-th point, or 0 if there is no need to turn.

[0067] Specifically, calculate the running time t of each path point i , increase the acceleration time and deceleration time of the vehicle on the path according to the scene including the start point, end point and turn.

[0068] More specifically, the path planning algorithm may use graph algorithms such as Dijkstra or A*.

Embodiment 3

[0070] In this embodiment, on the basis of Embodiment 1, when calculating path intersections:

[0071] If the running time window of vehicle 1 at waypoint i is T 11 ~T 12 , the running time window of vehicle 2 at waypoint i is T 21 ~T 22 , when one of the following relations is satisfied, it means that vehicle 1 and vehicle 2 will meet at path point i, and a path intersection will occur:

[0072] T 21 ≤T 11 ≤T 22

[0073] T 21 ≤ T 12 ≤T 22

[0074] T 11 ≤T 21 ≤T 12

[0075] T 11 ≤ T 22 ≤ T 12 .

[0076] Specifically, the selection of the time window adopts the time between one path point before and after the current path point.

[0077] More specifically, when the vehicle is running, along with the update of the current location of the vehicle, the time information of the waypoints that the vehicle has not passed also needs to be dynamically updated.

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Abstract

The invention relates to the field of automatic guided vehicles, and discloses an AGV dynamic traffic control method and system in a control area containing avoidance points. The method comprises thesteps of obtaining a path from a starting point to an end point on a grid map and path data through a path planning algorithm, and obtaining the operation time of a vehicle at each path point; calculating path intersection according to the path data and the running time of each path point, and adopting a time window mode when the time of each path point is processed; selecting a control strategy which enables the sum of waiting time generated by avoiding of the vehicle to be the shortest as an optimal control strategy; and issuing the optimal control strategy to each vehicle. According to themethod, the problem that the AGV passes through a bidirectional one-way path containing the avoidance point can be solved, collision among multiple vehicles is avoided, the passing efficiency of the AGV on the bidirectional one-way path containing the avoidance point is improved, and the waiting time of the AGV is shortened.

Description

technical field [0001] The invention relates to the technical field of automatic guided vehicles, in particular to an AGV dynamic traffic control method and system in a control area including avoidance points. Background technique [0002] In the field of AGV (Automated Guided Vehicle, automatic guided vehicle), when multiple vehicles are running on the same map, problems such as collisions or deadlocks between vehicles may occur. In order to solve such problems, in addition to relying on the AGV's own sensors to In addition to detection, more methods are controlled by introducing a centralized dispatching system. [0003] The patent document [CN110603181A] discloses a method, device, and vehicle-mounted equipment for an intelligent driving vehicle. By introducing a road monitoring unit, it is determined whether there is a vehicle that needs to avoid other vehicles in a specific area, so that the vehicle is controlled by the dispatching system. to prevent collisions in the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221G05D1/0276
Inventor 段昭包壁祯黄英勃
Owner CHENGDU SIWI HIGH TECH IND GARDEN