Linear reciprocating type multi-RGV deadlock avoidance and conflict real-time control method and system, medium and terminal

A real-time control system and deadlock avoidance technology, applied in control/regulation systems, vehicle position/route/altitude control, non-electric variable control, etc. problem, to achieve the effect of strong practicability, high real-time performance, and guaranteed operation efficiency

Pending Publication Date: 2021-01-12
SHANGHAI HI TECH CONTROL SYST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this method is not suitable for solving the deadlock and conflict problems of multiple RGVs on the linear reciprocating track, and the real-time performance is not high.

Method used

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  • Linear reciprocating type multi-RGV deadlock avoidance and conflict real-time control method and system, medium and terminal
  • Linear reciprocating type multi-RGV deadlock avoidance and conflict real-time control method and system, medium and terminal
  • Linear reciprocating type multi-RGV deadlock avoidance and conflict real-time control method and system, medium and terminal

Examples

Experimental program
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Embodiment 1

[0076] Such as image 3 Shown is the process of potential deadlock detection and deadlock avoidance performed by the ground industrial computer. It can be seen from the figure that the path given by the job scheduling layer to the RGV_control as the target RGV is: Path=(Location_Start, Location_End), where Location_Start and Location_End are the starting point and the ending point respectively. The RGV_neighbor adjacent to RGV_control is regarded as an adjacent RGV, and its execution path is Path_existing=(Location_Now,Location_Next), and the forward direction of RGV_control is negative, the forward direction of RGV_neighbour is positive, and the length of the safety distance is Distance_safety. It can be seen that RGV_control and RGV_neighbor are facing each other, and the paths of Path and Path_existing have no intersection, but the distance between the endpoints Location_End and Location_Next is smaller than the safety distance Distance_safety, so there is a potential deadl...

Embodiment 2

[0078] Such as Figure 4Shown is the process of conflict detection and conflict control of RGV vehicle-mounted PLC. It can be seen from the figure that the current position of RGV_control is Location_Start, the current position of its adjacent RGV_neighbor is Location_Now, and the length of the safety distance is Distance_safety. The current speed of RGV_control is v, the maximum acceleration value is a, and its braking distance is Distance_braking=v2 / (2×a). It can be seen from the figure that abs(Location_Start-Location)=Distance_safety, therefore, RGV_control executes the deceleration and braking command.

[0079] Such as Figure 5 As shown, in one embodiment, the linear reciprocating multi-RGV deadlock avoidance and conflict real-time control system of the present invention includes an acquisition module 51 , a deadlock processing module 52 and a conflict processing module 53 .

[0080] The obtaining module 51 is used to obtain the planned path of the target RGV and the ...

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Abstract

The invention provides a linear reciprocating type multi-RGV deadlock avoidance and conflict real-time control method and system, a medium and a terminal. The method comprises the following steps: obtaining a planned path of a target RGV and an execution path of an adjacent RGV; judging whether the target RGV and the adjacent RGV have potential deadlocks or not based on the planned path and the execution path; if so, outputting a deadlock avoidance path of the target RGV; if not, outputting the planned path; and judging whether a conflict exists between the target RGV and the adjacent RGV based on the current position of the target RGV and the current position of the adjacent RGV, and outputting a conflict control instruction of the target RGV when the conflict exists. According to the linear reciprocating type multi-RGV deadlock avoiding and conflict real-time control method and system, the medium and the terminal, the problems of deadlock and conflict of multiple RGVs on a linear reciprocating type rail are effectively avoided by detecting and controlling potential deadlocks and conflicts of RGVs, and the running efficiency of the RGVs is guaranteed to the maximum extent.

Description

technical field [0001] The present invention relates to the technical field of automatic control, in particular to a linear reciprocating multi-track automatic guided vehicle (Rail Guided Vehicle, RGV) deadlock avoidance and conflict real-time control method, system, medium, and terminal. Background technique [0002] At present, developed countries regard intelligent manufacturing as the core technology to enhance the overall competitiveness of the manufacturing industry. The American Intelligent Manufacturing Leadership Alliance proposed the technical framework and route for implementing "intelligent process manufacturing" in the 21st century, Germany proposed the development strategy of the fourth industrial revolution led by intelligent manufacturing, the United Kingdom announced the "British Industry 2050 Strategy", Japan and South Korea also The "I-Japan Strategy" and "Manufacturing Innovation 3.0 Strategy" were proposed respectively. Facing the global industrial comp...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0289G05D1/0223
Inventor 祝军付耕圃朱清愉张兆伟孙丽娜
Owner SHANGHAI HI TECH CONTROL SYST
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