Automatic deadlock detection algorithm and storage medium

Abstract

The invention discloses an automatic deadlock detection algorithm and a storage medium, and the algorithm comprises the following steps: a detection center prestores a plurality of conditions in which deadlock may occur, and the detection center registers an AGV in a waiting state in a site; stopping reasons of the AGVs in the waiting state are checked one by one, whether deadlock occurs or not is judged according to the stopping reasons, and deadlock information is recorded. Compared with the prior art, the algorithm provided by the invention considers a plurality of conditions that the AGV site has deadlock, and detects the waiting state of the trolley more intelligently and more comprehensively, so that the waiting condition can be monitored quickly, a basis is provided for bypassing, deadlock can be prompted in advance, and blockage in a larger range is avoided. The waiting state refers to the AGV which has a task needing to be executed and is in a stagnant state.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to an automatic deadlock detection algorithm and a storage medium. Background technique [0002] The automated trolley moves and carries by driving along the prescribed navigation path. It is characterized by no manual operation and heavy load. It is widely used in e-commerce, machinery, manufacturing, automobiles and other fields. However, its movement needs to be determined by the upper control system when the car can run, when it needs to stop, and when it needs to go around. During the running process, problems such as faults and operating logic may cause problems such as mutual deadlock of the agv. After the agv is deadlocked, it cannot continue to move. It is necessary to have a set of effective detection algorithms to judge whether the agv is currently in a deadlocked state. . [0003] The existing deadlock detection methods are generally based on the mutual waiting state j...

AI Technical Summary

Problems solved by technology

During the running process, problems such as faults and operating logic may cause problems such as mutual deadlock of the agv. After the agv is deadlocked, it cannot continue to move. It is necessary to have a set of effective detection algorithms to judge whether the agv is currently in a deadlocked state.

[0003] The existing deadlock detection methods are generally based on the mutual waiting state judgment of AGVs during operation, without considering the multi-directional operation of the site at the same time, such as AGV idle, AGV failure, area congestion, and multiple AGVs can be allowed to walk in the area In these cases, the agv may not wait for each other, but it cannot move forward, and it should also be treated as a deadlock

[0004] Existing methods for automatically detecting deadlocks need further tweaking

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