An automatic deadlock detection algorithm and storage medium

Abstract

The application discloses an automatic deadlock detection algorithm and a storage medium, and the algorithm comprises the following steps: a center pre-stores a plurality of situations in which a deadlock may occur, and the center registers AGVs in a waiting state in a site; the stopping reasons of the AGVs in the waiting state are checked one by one, whether a deadlock occurs is judged according to the stopping reasons, and deadlock information is recorded. Compared with the prior art, the algorithm considers a plurality of situations in which the AGV site appears a deadlock, and more intelligently and comprehensively detects the waiting state of the trolley, so that the waiting situation can be quickly monitored, a basis for detouring is provided, a deadlock can be early prompted, and a larger range of congestion can be avoided. The waiting state of the application refers to an AGV which has a task to be executed but is in a stagnation state.

Description

Technical Field

[0001] This invention relates to the field of industrial robots, and specifically to an automatic deadlock detection algorithm and storage medium. Background Technology

[0002] Automated guided vehicles (AGVs) move and transport goods along predetermined navigation paths. Their advantages include no need for manual operation and high load capacity, making them widely used in e-commerce, machinery, manufacturing, and automotive industries. However, their movement relies on a higher-level control system to determine when the AGV can move, stop, or detour. During operation, malfunctions and operational logic issues can lead to AGV deadlocks. Once deadlocked, an AGV can no longer move, requiring an effective detection algorithm to determine if an AGV is in a deadlock state.

[0003] Existing deadlock detection methods are generally based on judging the mutual waiting state of AGVs during operation, without simultaneously considering multi-directional operation in the field, such as when AGVs are idle, AGVs are malfunctioning, area is blocked, or when multiple AGVs in an area are allowed to move and are mutually blocked. In these cases, AGVs may not be waiting for each other, but they still cannot move forward, and should also be treated as deadlock.

[0004] The existing methods for automatically detecting deadlocks need further adjustments. Summary of the Invention

[0005] The first objective of this invention is to overcome the limitations of existing deadlock detection methods, which rely on a single judgment method, and to provide an automatic deadlock detection algorithm that can judge several waiting conditions.

[0006] To achieve the above-mentioned objectives, the present invention adopts the following technical solution:

[0007] An automatic deadlock detection algorithm, the algorithm comprising the following steps:

[0008] The testing center has pre-stored several possible deadlock scenarios, and the testing center registers AGVs in a waiting state within the testing center's registration area;

[0009] Investigate the reasons for the stop of each AGV in the waiting state, determine whether a deadlock has occurred based on the stop reasons, and record the deadlock information.

[0010] Compared with existing technologies, the algorithm of this invention considers several scenarios of deadlock in the AGV area, and more intelligently and comprehensively detects the waiting status of the AGV. This allows for rapid monitoring of waiting conditions, providing a basis for detours, and also provides early warnings of deadlocks to avoid wider congestion. The waiting status in this invention refers to an AGV that has a task to perform but is in a stationary state.

[0011] Preferably, the reasons for stopping include being blocked by other AGV2s or being blocked by a region. When an AGV is blocked by another AGV2 or by a region, the detection center further determines whether a deadlock has occurred based on the specific reasons for the blockage of the region or the AGV2. In this solution, the reasons for AGV stopping are divided into being blocked by other AGV2s and being blocked by a region, so as to facilitate further inspection of the reasons for stopping and thus determine whether the reasons for stopping are consistent with the deadlock situation.

[0012] Preferably, the reasons for stopping include being blocked by other AGV2s or being blocked by a region. When an AGV is blocked by another AGV2 or by a region, the detection center further determines whether a deadlock has occurred based on the specific reasons for the blockage of the AGV2.

[0013] Preferably, the AGV2's states include a movable state, a blocked state, and a fault state. If the AGV2 is in a blocked state, it is determined that a deadlock has occurred. If the AGV2 is in a blocked state, it is determined whether the AGV2's state has been recorded. If not, the deadlock information of the AGV2 is recorded. In this scheme, the AGV2's states can be divided into three types. The movable state proves that the cause of the blockage can be eliminated, therefore, it is not determined to be a deadlock. In addition, the other two states cause the AGV2 to be unable to move for a short period of time, therefore, it is determined to be a deadlock.

[0014] Preferably, the area situation includes the area being temporarily closed or the area being occupied by other AGVs. If the area is temporarily closed, it is judged as a deadlock. If the area is occupied by other AGVs, it is treated as a blockage by AGV2.

[0015] Preferably, the deadlock information includes the coordinates of the deadlock location, the cause of the deadlock, the number of AGVs in the deadlock area, and the positional relationship between the AGVs. In this scheme, recording the coordinates of the deadlock location helps the AGVs to bypass the area, and recording the cause of the deadlock and the number of AGVs in the deadlock area facilitates the design of an unlocking scheme based on the situation in that area.

[0016] Preferably, the reason for stopping includes AGV malfunction, and when AGV malfunctions, it is determined that deadlock has occurred.

[0017] Another objective of this invention is to provide a storage medium storing a computer program that, when executed by a processor, implements the automatic deadlock detection algorithm described above. Compared to the prior art, the storage medium of this invention, because it can execute the automatic deadlock detection algorithm described above, possesses all the advantages of the aforementioned solution. Attached Figure Description

[0018] Figure 1 This is a simplified flowchart of the present invention. Detailed Implementation

[0019] The technical solution of the present invention will be further described below with reference to the accompanying drawings:

[0020] See Figure 1 As shown, this invention discloses an automatic deadlock detection algorithm, which includes the following steps:

[0021] The testing center has pre-stored several possible deadlock scenarios, and the testing center registers AGVs in a waiting state within the testing center's registration area;

[0022] Investigate the reasons for the stop of each AGV in the waiting state, determine whether a deadlock has occurred based on the stop reasons, and record the deadlock information.

[0023] The reasons for stopping mentioned above include being blocked by other AGV2s or being blocked by a specific area. When an AGV is blocked by another AGV2 or by a specific area, the detection center further determines whether a deadlock has occurred based on the specific reasons for the blockage in the area or by the AGV2. In this solution, the reasons for AGV stopping are categorized as being blocked by other AGV2s or being blocked by a specific area, in order to further examine the reasons for stopping and determine whether the reasons for stopping are consistent with a deadlock.

[0024] The reasons for stopping include being blocked by other AGV2s or being blocked by a region. When an AGV is blocked by another AGV2 or by a region, the testing center will further determine whether a deadlock has occurred based on the specific reasons for the blockage.

[0025] The aforementioned AGV2 states include movable, blocked, and faulty states. If AGV2 is blocked, it is considered deadlocked. If AGV2 is blocked, it is checked whether its state has been recorded; if not, the deadlock information is recorded. In this scheme, AGV2 states can be divided into three types. The movable state indicates that the blockage can be eliminated, therefore it is not considered deadlocked. The other two states prevent AGV2 from moving for a short period, therefore they are considered deadlocked.

[0026] The above-mentioned regional situations include areas that are temporarily closed or areas that are occupied by other AGVs. If an area is temporarily closed, it is considered a deadlock. If an area is occupied by other AGVs, it is treated as a blockage by AGV2.

[0027] The aforementioned deadlock information includes the coordinates of the deadlock location, the cause of the deadlock, the number of AGVs in the deadlock area, and the positional relationships between the AGVs. In this solution, recording the coordinates of the deadlock location helps the AGVs to bypass the area, and recording the cause of the deadlock and the number of AGVs in the deadlock area facilitates the design of an unlocking scheme based on the situation in that area.

[0028] The reasons for the above-mentioned stop include AGV malfunction. When an AGV malfunctions, it is determined that a deadlock has occurred.

[0029] Compared with existing technologies, the algorithm of this invention considers several scenarios of deadlock in the AGV area, and more intelligently and comprehensively detects the waiting status of the AGV. This allows for rapid monitoring of waiting conditions, providing a basis for detours, and also provides early warnings of deadlocks to avoid wider congestion. The waiting status in this invention refers to an AGV that has a task to perform but is in a stationary state.

[0030] This invention discloses a storage medium storing a computer program that, when executed by a processor, implements the automatic deadlock detection algorithm of the above-mentioned scheme.

[0031] Based on the disclosure and teachings of the foregoing specification, those skilled in the art can make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the protection scope of the claims of the present invention. Furthermore, although some specific terms are used in this specification, these terms are only for convenience of explanation and do not constitute any limitation on the present invention.

Claims

1. An automatic deadlock detection algorithm, characterized in that, The algorithm comprises the following steps: S1, detecting a plurality of pre-stored deadlock scenarios in a center; S2, the center registers AGVs in a waiting state in a site; S3, checking the stop reasons of the AGVs in the waiting state one by one, the stop reasons including being blocked by other AGVs, being blocked by a region, and AGV self-failure; S4, judging whether a deadlock occurs according to the stop reasons, specifically comprising: if the stop reason is being blocked by other AGVs, checking the state of the blocking AGVs; if the blocking AGVs are in a blocked state or a failure state, it is judged that a deadlock occurs; if the stop reason is being blocked by a region, checking the situation of the region; if the region is in a temporary open state, it is judged that a deadlock occurs; if the stop reason is AGV self-failure, it is judged that a deadlock occurs; S5, when it is judged that a deadlock occurs, recording deadlock information, the deadlock information including the coordinates of a deadlock position, a deadlock reason, the number of AGVs in a deadlock region, and the positional relationship between the AGVs.

2. The automatic deadlock detection algorithm of claim 1, wherein When an AGV is blocked by AGV2 or blocked by a region, the center judges whether a deadlock occurs according to the specific reasons of the region and the state of AGV2.

3. The automatic deadlock detection algorithm of claim 2, wherein, If AGV2 is in a blocked state, it is judged whether the state of AGV2 has been recorded, if not, the deadlock information of AGV2 is recorded.

4. The automatic deadlock detection algorithm of claim 3, wherein, If the region is temporarily open, it is judged that a deadlock occurs, if the region is occupied by other AGVs, it is treated as being blocked by AGV2.

5. A storage medium having stored thereon a computer program, characterized in that A computer program is stored thereon, which is executed by a processor to realize the automatic deadlock detection algorithm according to any one of claims 1-3.

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