A method and storage medium for multiple AGVs to collaboratively transport the same cargo

Abstract

The present invention discloses an operation method and storage medium for multiple AGVs to collaboratively transport the same cargo, wherein the method comprises: step S1, forming a collaborative operation task group; step S2: the upper scheduling system sends the collaborative operation task to the leading AGV; step S3: the leading AGV sends an asynchronous instruction to schedule each collaborative AGV to move to the starting point of the collaborative task by itself; step S4: after all members of the collaborative operation group are in place, the leading AGV uniformly sends a synchronous instruction to the collaborative AGV, and each collaborative AGV synchronously performs the loading action until the action is completed; step S5: the leading AGV sends a synchronous instruction to schedule each collaborative AGV to the target point of the collaborative task; step S6: the collaborative operation group arrives at the target point synchronously, and the leading AGV uniformly sends a synchronous instruction to the collaborative AGV, and each collaborative AGV synchronously performs the unloading action until the action is completed. Multiple relatively small, flexible, safer and more reliable AGVs are used to form a team to complete the transportation of the same cargo, thereby solving the problems of difficulty in transporting heavy cargo and the large size and dangerous operation of existing large AGVs.

Description

Technical Field

[0001] The present invention relates to the field of AGV control technology, and in particular to an operation method and a storage medium for multiple AGVs to collaboratively transport the same cargo. Background Art

[0002] In the field of industrial logistics, the Automated Guided Vehicle (AGV) is a highly efficient unmanned handling equipment that can travel along a pre-defined trajectory, has a certain cargo transportation capacity, and can shuttle back and forth in various workshops to complete the operation process.

[0003] In recent years, with the continuous development of logistics systems and the continuous iteration of technologies in related fields, AGVs have been applied in more and more fields. However, with the increasing demand for the handling of large goods, it is difficult for a single AGV to handle the large goods. Although AGVs are also developing in the direction of large and heavy AGVs, this is a helpless move because large and heavy AGVs are large in size and inertia, have a high risk factor in operation, occupy a large space, are clumsy, and bring huge psychological pressure to operators and maintenance personnel.

[0004] In the Chinese patent "A multi-robot collaborative control method and device in a multi-robot local area network" with application number CN201911284529.X, it is disclosed that the master robot determines the slave robot, and then sends the task coordination instruction to the slave robot with the corresponding ID based on the local area network. The slave robot with the corresponding ID responds to the task control instruction to complete the multi-robot collaborative control. However, it uses the task volume to determine the number of slave robots that need to assist and the corresponding ID, which cannot meet the needs of multiple robots to carry the same goods at the same time. Therefore, there is an urgent need for a collaborative handling method that jointly completes the handling of the same goods, and safely and reliably realizes the handling of large and heavy goods. Summary of the invention

[0005] In order to solve the deficiencies in the prior art, the present invention provides a method and storage medium for multiple AGVs to collaboratively transport the same cargo. Multiple AGVs work collaboratively to jointly complete the transport of the same cargo, thereby completing the task of transporting large cargo more flexibly and safely.

[0006] According to a first aspect, the present invention provides a method for multiple AGVs to collaboratively transport the same cargo, characterized in that it includes:

[0007] Step S1: forming a collaborative task force;

[0008] Step S2: The upper scheduling system sends the collaborative task to the leading AGV;

[0009] Step S3: The leading AGV issues an asynchronous command to schedule each collaborative AGV to move to the starting point of the collaborative task;

[0010] Step S4: After all members of the collaborative work team are in place, the leading AGV sends a synchronization command to the collaborative AGVs, and each collaborative AGV performs the loading action synchronously until the action is completed;

[0011] Step S5: The leading AGV issues a synchronization instruction to dispatch each collaborative AGV to the target point of the collaborative task;

[0012] Step S6: The collaborative working group arrives at the target point synchronously, the leading AGV sends a synchronization instruction to the collaborative AGVs, and each collaborative AGV performs the unloading action synchronously until the action is completed;

[0013] The asynchronous instructions include asynchronous movement instructions and asynchronous operation instructions; the asynchronous movement instructions include: the starting point to be reached; the asynchronous operation instructions include: operation code, operation attributes;

[0014] The synchronization instructions include synchronization movement instructions and synchronization operation instructions; the synchronization movement instructions include: AGV walking distance, walking speed and heading angle;

[0015] The synchronous operation instructions include: the operating speed of the actuator and the lifting height.

[0016] The dispatching system is in communication connection with the AGV, and the AGVs are in communication connection with each other;

[0017] Furthermore, the step S1 comprises:

[0018] The upper scheduling system issues a bidding notice with collaborative task attributes in the form of task bidding. The upper scheduling system specifies the number of collaborative AGV members N in the task. After N AGVs that meet the number requirements of the bid are awarded, the upper scheduling system designates the lead AGV and the collaborative AGV, or:

[0019] The upper-level scheduling system issues a bidding notice with collaborative task attributes in the form of task bidding. The upper-level scheduling system specifies the number N of collaborative AGV members in the task. The winning AGV serves as the leading AGV, and the leading AGV is responsible for forming a collaborative work team.

[0020] 3. The operation method according to claim 1, characterized in that in steps S4, S5 and S6, the step of issuing synchronization instructions comprises:

[0021] Differentiate the synchronization command into multiple unit time commands in units of time, and the leading AGV sends the unit time commands to the cooperative AGVs in turn;

[0022] Each collaborative AGV reports its own status and the status of the actuator to the leading AGV in real time, and executes actions strictly according to the unit time instruction; if the status of a collaborative AGV is not synchronized with the status of other AGVs, the other collaborative AGVs enter the waiting state until the last AGV completes the unit time instruction, and then all AGVs start the next unit time instruction.

[0023] Furthermore, the leading AGV calculates the driving trajectory of each collaborative AGV based on the path planning algorithm, generates corresponding synchronous movement instructions based on the driving trajectory, and issues respective synchronous movement instructions to each collaborative AGV.

[0024] Furthermore, the leading AGV generates synchronous operation instructions for the actuators on the corresponding AGVs based on the collaborative task.

[0025] Furthermore, the steps of the leading AGV being responsible for forming a collaborative working group include:

[0026] The leading AGV generates N-1 tasks based on the number of AGVs N required for the collaborative task;

[0027] The leading AGV uses task bidding to summon the required number of collaborative AGVs to complete the formation.

[0028] According to a second aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, wherein the program can be executed by a processor to implement the steps of the method described above.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0030] (1) The method provided by the present invention for multiple AGVs to collaboratively transport the same heavy cargo uses multiple relatively small, flexible, safer and more reliable AGVs to form a team to complete the transportation of the same cargo, solving the problems of the difficulty in transporting heavy cargo and the large size and dangerous operation of existing large AGVs.

[0031] (2) Multiple AGVs use segmented instructions to perform synchronous operations to ensure the synchronization and smoothness of the collaborative task handling process, thereby ensuring the safety of the large-scale cargo handling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A flowchart of a method for cooperating multiple AGVs to transport the same cargo provided by the present invention;

[0033] Figure 2 A schematic diagram of a synchronous movement instruction for collaborative movement of a collaborative working group in Example 1;

[0034] Figure 3This is a schematic diagram of synchronous operation instructions for collaborative operations of the collaborative work group in Example 1. DETAILED DESCRIPTION

[0035] The present invention will be further described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0036] The present invention aims to provide a method for multiple AGVs to collaboratively transport the same cargo, so as to solve the problems of difficulty in transporting heavy cargo, large size of existing large AGVs, and dangerous operation. Specifically, multiple relatively small and flexible AGVs are used to collaboratively transport the same cargo.

[0037] Example 1

[0038] like Figure 1 As shown, the present invention provides a method for multiple AGVs to collaboratively transport the same cargo, comprising the following steps:

[0039] Step S1: Establish a collaborative task force; specifically:

[0040] The upper scheduling system issues a bidding notice with collaborative task attributes in the form of task bidding. The upper scheduling system specifies the number of collaborative AGV members N in the task. After N AGVs that meet the number requirements of the bid are awarded, the upper scheduling system designates the leading AGV and the collaborative AGV, and the upper scheduling system completes the formation of the collaborative work team; the upper system communicates with each AGV; or:

[0041] The upper scheduling system issues a bidding notice with collaborative task attributes in the form of task bidding. The upper scheduling system specifies the number N of collaborative AGV members in the task. The winning AGV serves as the lead AGV and is responsible for forming a collaborative work group. The lead AGV and the collaborative AGVs in the same group communicate with each other as follows:

[0042] The leading AGV generates N-1 tasks based on the number of AGVs N required for the collaborative task.

[0043] The leading AGV uses task bidding to recruit N-1 collaborative AGVs to complete the formation.

[0044] The leading AGV adopts the bidding method of forming a work team by broadcasting a bidding notice, which includes: task number, task attributes, task priority, required number of AGVs, task start time, and operation list; the operation list includes multiple operations, each operation includes: operation platform, operation code, operation code attributes; the operation code attributes include: operation code type, lifting height and speed of the actuator; the operation code types include: asynchronous operation and synchronous operation.

[0045] Step S2: The upper-level scheduling system sends the collaborative task to the leading AGV (team leader).

[0046] Step S3: The leading AGV issues an asynchronous command to dispatch each collaborative AGV (team member) to move to the starting point of the collaborative task;

[0047] Specifically: the leading AGV sends asynchronous movement instructions to each collaborative AGV. The asynchronous movement instructions include the starting point position to which it needs to move. Each collaborative AGV moves to the starting point on its own according to the asynchronous movement instructions it receives. That is, each collaborative AGV plans a path based on its current position and target position, and then moves to the target point along the path. There is no need to maintain motion synchronization between the AGVs during the movement.

[0048] Step S4: After all members of the collaborative work team are in place, the leading AGV sends a synchronization command to the collaborative AGVs, and each collaborative AGV performs the loading action synchronously until the action is completed;

[0049] The synchronization instructions include synchronization movement instructions and synchronization operation instructions.

[0050] Synchronous operation instructions are generated by the leading AGV based on collaborative tasks.

[0051] The leading AGV calculates the driving trajectory of each collaborative AGV based on the path planning algorithm, and generates corresponding synchronous movement instructions based on the driving trajectory.

[0052] The path planning algorithm adopts the current mainstream path planning algorithms, such as Dijkstra algorithm, A* algorithm, best first search algorithm, etc.

[0053] The synchronous movement instructions include AGV walking distance, walking speed and heading angle, which are used to control the AGV travel.

[0054] The synchronous operation instructions include the operating speed and lifting height of the actuator, which are used to control the operation of the actuator on the AGV (i.e. lifting goods).

[0055] Specifically, Figure 2-3 As shown, the steps of issuing synchronization instructions include:

[0056] Differentiate the synchronization command into multiple unit time commands in units of time, and the leading AGV sends the unit time commands to the cooperative AGVs in turn;

[0057] Each collaborative AGV reports its own status and the status of its actuator to the leading AGV in real time, and executes actions strictly according to the unit time instruction; if the status of a collaborative AGV is not synchronized with the status of other AGVs and exceeds the set threshold, the other collaborative AGVs enter a waiting state until the last AGV completes the unit time instruction, and the leading AGV then issues the next unit time instruction, and all AGVs start executing the next unit time instruction again until the last unit time instruction is completed, thus realizing the collaborative loading operation of the AGV.

[0058] Step S5: The leading AGV issues a synchronization instruction to dispatch each collaborative AGV to the target point of the collaborative task.

[0059] Step S6: The collaborative work group arrives at the target point synchronously, the leading AGV sends a synchronization command to the collaborative AGVs, and each collaborative AGV performs the unloading action synchronously until the action is completed. The collaborative task ends, and each AGV returns to the idle queue by itself.

Claims

1. A method for multiple AGVs to collaboratively transport the same cargo, characterized in that: include: Step S1: forming a collaborative task force; Step S2: The upper scheduling system sends the collaborative task to the leading AGV; Step S3: The leading AGV issues an asynchronous command to schedule each collaborative AGV to move to the starting point of the collaborative task; Step S4: After all members of the collaborative work team are in place, the leading AGV sends a synchronization command to the collaborative AGVs, and each collaborative AGV performs the loading action synchronously until the action is completed; Step S5: The leading AGV issues a synchronization instruction to dispatch each collaborative AGV to the target point of the collaborative task; Step S6: The collaborative working group arrives at the target point synchronously, the leading AGV sends a synchronization instruction to the collaborative AGVs, and each collaborative AGV performs the unloading action synchronously until the action is completed; The asynchronous instructions include asynchronous movement instructions and asynchronous operation instructions; the asynchronous movement instructions include: the starting point to be reached; the asynchronous operation instructions include: operation code, operation attributes; The synchronization instructions include synchronization movement instructions and synchronization operation instructions; the synchronization movement instructions include: AGV walking distance, walking speed and heading angle; The synchronous operation instructions include: the operating speed and lifting height of the actuator; The dispatching system is in communication connection with the AGV, and the AGVs are in communication connection with each other; The step S1 comprises: The upper scheduling system issues a bidding notice with collaborative task attributes in the form of task bidding. The upper scheduling system specifies the number of collaborative AGV members N in the task. After N AGVs that meet the number requirements of the bid are awarded, the upper scheduling system designates the lead AGV and the collaborative AGV, or: The upper scheduling system issues a bidding notice with collaborative task attributes in the form of task bidding. The upper scheduling system specifies the number N of collaborative AGV members in the task. The winning AGV serves as the lead AGV and is responsible for forming a collaborative work team. In steps S4, S5 and S6, the step of issuing a synchronization instruction includes: Differentiate the synchronization command into multiple unit time commands in units of time, and the leading AGV sends the unit time commands to the cooperative AGVs in turn; Each collaborative AGV reports its own status and the status of the actuator to the leading AGV in real time, and executes actions strictly according to the unit time instruction; if the status of a collaborative AGV is not synchronized with the status of other AGVs, the other collaborative AGVs enter the waiting state until the last AGV completes the unit time instruction, and then all AGVs start the next unit time instruction.

2. The operation method according to claim 1, characterized in that: The leading AGV calculates the driving trajectory of each collaborative AGV based on the path planning algorithm, generates corresponding synchronous movement instructions based on the driving trajectory, and issues respective synchronous movement instructions to each collaborative AGV.

3. The operation method according to claim 1 or 2, characterized in that: The leading AGV generates synchronous operation instructions for the actuators on the corresponding AGVs based on the collaborative tasks.

4. The operation method according to claim 1, characterized in that: The steps for the leading AGV to form a collaborative working group include: The leading AGV generates N-1 tasks based on the number of AGVs N required for the collaborative task; The leading AGV uses task bidding to summon the required number of collaborative AGVs to complete the formation.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program can be executed by a processor to implement the steps of the working method according to any one of claims 1 to 4.

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