AGV forklift control method and system
By generating and updating the feasible moving path of the AGV forklift and optimizing according to the encounter points, the problem of frequent avoidance of forklifts in the handling space is solved, and the overall transportation effect and efficiency are improved.
Patent Information
- Application Number
- CN202411574260.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-06
- Publication Date
- 2025-03-14
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
When AGV forklifts are transporting goods, fixed path planning causes the forklifts to frequently avoid other forklifts in the handling space, affecting transportation efficiency and overall transportation effect.
By obtaining the current forklift movement start position, movement destination position, and movement execution information of the remaining forklifts, a feasible movement path is generated, and path updates and preferred parameters are calculated based on the encounter point, and the required execution path is determined to optimize the movement path of the forklift.
It reduces the avoidance treatment when forklifts meet, improves the smoothness of cargo transportation and overall transportation effect, and reduces the impact on the transportation efficiency of other forklifts.
Smart Images
Figure CN119620696A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of forklift intelligent control technology, and in particular to a control method and system for an AGV forklift. Background Art
[0002] AGV forklift is an unmanned vehicle that automatically transports materials. It is widely used in scenes such as workshop material distribution and factory warehouse palletizing. It can reduce the number of operators and improve space utilization and transportation efficiency.
[0003] In the related technology, when using an AGV forklift to transport goods, the path planning of the forklift is generally implemented based on the starting position of the forklift, the position of the goods to be transported, and the destination position to which the goods need to be moved. At this time, the path planning is generally achieved by inputting the corresponding starting point and end point into the path database for path matching, and then controlling the forklift to move according to the matched path and comprehensively perceive and avoid the surrounding environment to achieve effective transportation of the goods by the forklift.
[0004] In the above-mentioned related technologies, as long as the starting point and the end point of the cargo transportation are the same, the matching moving path for the AGV forklift to move is fixed. At this time, there may be a large number of AGV forklifts in the transportation space. During the movement, the forklift may need to constantly avoid other forklifts, which will not only affect its own transportation efficiency, but may also affect the transportation efficiency of other forklifts, resulting in poor overall transportation effect. There is still room for improvement. Summary of the invention
[0005] In order to improve the overall transportation effect of an AGV forklift, the present application provides a control method and system for an AGV forklift.
[0006] In a first aspect, the present application provides a control method for an AGV forklift, which adopts the following technical solution: A control method for an AGV forklift, comprising: Get the moving start position, moving destination position of the current forklift and the moving execution information of other forklifts; Generate a feasible moving path in a preset transport space diagram according to the moving starting position and the moving destination position, and determine a feasible moving distance according to the feasible moving path; Determine the analysis execution information of the current forklift according to the feasible moving path and the preset moving rules; The meeting point is determined by comparing the analysis execution information and the movement execution information, and the analysis execution information of the path after the meeting point is updated on the feasible movement path according to the previously determined meeting point, until the analysis execution information of each position point on the feasible movement path is completely updated and determined; After all the analysis execution information is updated, the number of encounter avoidances is determined by counting the encounter points; Calculate and determine the optimal parameters based on the number of encounters and avoidances and the feasible movement distance; The preferred parameter with the largest value is determined according to a preset sorting rule, and the feasible moving path corresponding to the preferred parameter with the largest value is determined as the required execution path, and the current forklift is controlled to move according to the required execution path.
[0007] Optionally, after the feasible moving path is determined, the control method of the AGV forklift further includes: Determine the feasible moving distance with the smallest value according to the sorting rule, and define the feasible moving distance with the smallest value as the shortest moving distance; The difference between the shortest moving distance and the remaining feasible moving distances is calculated to determine the difference moving distance; Eliminate the feasible movement paths corresponding to the difference movement distance when the difference movement distance is greater than the preset allowable difference movement distance, and count the remaining feasible movement paths after the feasible movement paths are eliminated to determine the number of feasible selections; Determine whether the feasible selection quantity is greater than the preset excess quantity; If the number of feasible options is not greater than the excess number, the remaining feasible movement paths are maintained; If the number of feasible selections is greater than the excess number, the permitted difference distance is updated according to the preset adjustment distance to re-eliminate the feasible movement paths until the number of feasible selections is no greater than the excess number.
[0008] Optionally, after the encounter avoidance quantity is determined, the control method of the AGV forklift further includes: On the preset time axis, a historical interval with a width of a preset historical duration is established with the current time point as the rear end point; Obtain the external obstacle point when the forklift meets the external obstacle in the historical interval; The number of movement passes and the number of obstacle encounters are determined based on a single external obstacle point, and the obstacle encounter ratio is determined by calculation based on the number of movement passes and the number of obstacle encounters; The number of single compensations corresponding to the obstacle encounter ratio is determined according to a preset quantity matching relationship, and the number of single compensations at each position point on the feasible moving path is summed up to determine the overall compensation number; The encounter avoidance quantity is updated by calculation based on the overall compensation quantity and the encounter avoidance quantity.
[0009] Optionally, after the optimal parameters are determined, the control method of the AGV forklift further includes: Determine whether there are at least two feasible moving paths with the same and maximum preferred parameters; If there are not at least two feasible moving paths with the same preferred parameters and the largest possible value, the feasible moving path corresponding to the largest preferred parameter is determined as the required execution path; If there are at least two feasible moving paths with the same preferred parameters and the largest possible value, the feasible moving path corresponding to the largest preferred parameter is defined as the candidate execution path; In the alternative execution path, the remaining forklifts that meet the current forklift at the meeting point are defined as the influencing forklifts, and the number of original encounters is determined by counting the meeting points determined by a single influencing forklift under its own demand execution path; The difference calculation is performed according to the original number of encounters and the preset benchmark number of encounters to determine the number of encounter differences, and the influence parameters corresponding to each number of encounter differences are determined according to the preset influence matching relationship; Under the same alternative execution path, the disturbance parameter is determined by summing up all the influencing parameters corresponding to the forklift, and the disturbance parameter with the smallest value is determined according to the sorting rule, and the alternative execution path corresponding to the disturbance parameter with the smallest value is determined as the required execution path.
[0010] Optionally, after the disturbance parameters are determined, the control method of the AGV forklift further includes: Determine whether there are at least two alternative execution paths with the same and minimum disturbance parameters; If there are not at least two candidate execution paths with the same and smallest disturbance parameters, the candidate execution path corresponding to the smallest disturbance parameter is determined as the required execution path; If there are at least two candidate execution paths with the same and smallest disturbance parameters, the candidate execution path corresponding to the smallest disturbance parameter is defined as the disturbance execution path; In the disturbance execution path, the mean value is calculated according to all the influencing parameters to determine the mean parameter, and the mean parameter with the smallest value is determined according to the sorting rule, and the disturbance execution path corresponding to the mean parameter with the smallest value is determined as the demand execution path.
[0011] Optionally, after the mean parameter is determined, the control method of the AGV forklift further includes: Determine whether there are at least two disturbance execution paths with the same and minimum mean parameters; If there are not at least two disturbance execution paths with the same and smallest mean parameters, the disturbance execution path corresponding to the smallest mean parameter is determined as the required execution path; If there are at least two disturbance execution paths with the same and smallest mean parameters, the disturbance execution path corresponding to the smallest mean parameter is defined as the waiting execution path; The waiting execution path is divided into several waiting sections according to the transport space graph, and the number of moving vehicles in each waiting section is obtained in the historical interval; Determine the road section heat value corresponding to the number of moving vehicles according to a preset heat matching relationship; Under the same waiting execution path, the average heat value of all road sections is calculated to determine the overall heat of the path, and the overall heat of the path with the smallest value is determined according to the sorting rules, and the waiting execution path corresponding to the overall heat of the path with the smallest value is determined as the demand execution path.
[0012] In the second aspect, the present application provides a control system for an AGV forklift, which adopts the following technical solution: A control system for an AGV forklift, comprising: The acquisition module is used to obtain the moving starting position and moving destination position of the current forklift and the moving execution information of the remaining forklifts; A processing module, connected to the acquisition module, for storing and processing information; The processing module generates a feasible moving path in a preset transport space diagram according to the moving starting position and the moving destination position, and determines a feasible moving distance according to the feasible moving path; The processing module determines the analysis execution information of the current forklift according to the feasible moving path and the preset moving rules; The processing module compares the analysis execution information and the movement execution information to determine the meeting point, and updates the analysis execution information of the path after the meeting point on the feasible movement path according to the previously determined meeting point, until the analysis execution information of each position point on the feasible movement path is completely updated and determined; The processing module counts the encounter points after all the analysis execution information is updated to determine the number of encounter avoidances; The processing module calculates and determines the optimal parameters according to the number of encounters and avoidances and the feasible moving distance; The processing module determines the preferred parameter with the largest value according to a preset sorting rule, determines the feasible moving path corresponding to the preferred parameter with the largest value as the required execution path, and controls the current forklift to move according to the required execution path.
[0013] In a third aspect, the present application provides a computer storage medium capable of storing corresponding programs, which has the characteristics of improving the overall transportation effect of AGV forklifts, and adopts the following technical solutions: A computer-readable storage medium stores a computer program that can be loaded by a processor and execute any of the above-mentioned control methods for AGV forklifts.
[0014] In summary, the present application includes at least one of the following beneficial technical effects: 1. Before controlling the movement of forklifts, the driving paths of other forklifts can be comprehensively analyzed to reduce the need for forklifts to avoid each other, so as to make the cargo transportation smoother and improve the overall transportation effect of AGV forklifts; 2. When analyzing the encounter situation, the obstacles to the forklift caused by external obstacles in the past can be comprehensively analyzed to determine a more appropriate demand execution path for the forklift to move; 3. When there are identical paths that meet certain conditions, select the path that is less likely to affect the travel of other forklifts to reduce the impact of the current forklift on other forklifts and ensure the overall transportation efficiency under the transportation space. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 It is a flow chart of the control method of the AGV forklift.
[0016] Figure 2 It is a module flow chart of the control method of the AGV forklift. DETAILED DESCRIPTION
[0017] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-Figure 2 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.
[0018] The embodiments of the present application are further described in detail below in conjunction with the drawings in the specification.
[0019] The present application embodiment discloses a control method for an AGV forklift, referring to Figure 1 The control method of the AGV forklift includes the following steps: Step S100: Acquire the moving start position and moving destination position of the current forklift and the moving execution information of other forklifts.
[0020] The moving starting position is the position where the AGV forklift is when it receives the handling task. The moving destination is the position where the AGV forklift needs to move to for the handling task. The moving execution information is the movement information of the other forklifts that are performing the task, including the position of each forklift at each time point.
[0021] Step S101: generating a feasible moving path in a preset transport space map according to a moving start position and a moving destination position, and determining a feasible moving distance according to the feasible moving path.
[0022] The handling space map is a distribution map of the space that currently requires a forklift to carry out handling, such as a warehouse distribution map, etc. The feasible moving path is the path that the forklift can move from the starting position to the destination position in the space corresponding to the handling space map. There are many feasible moving paths, and the feasible moving distance is the distance the forklift needs to move when moving according to the feasible moving path.
[0023] Step S102: determining the analysis execution information of the current forklift according to the feasible moving path and the preset moving rules.
[0024] The movement rules are the rules set by the staff to control the AGV to perform mobile operations, such as at what speed to move in a straight line, at what speed to change direction, how to perform avoidance, etc. The movement rules can be used to know the time corresponding to each position point of the current forklift on the feasible moving path, and thus the analysis and execution information can be generated according to the correspondence between time and position points.
[0025] Step S103: Determine the meeting point by comparing the analysis execution information and the movement execution information, and update the analysis execution information of the path after the meeting point on the feasible movement path according to the previously determined meeting point, until the analysis execution information of each position point on the feasible movement path is completely updated and determined.
[0026] The meeting point is a position point where the current forklift will meet other forklifts that are performing tasks and need to avoid the forklift while moving along the feasible moving path according to the moving rules. It can be determined by the position of each forklift at the same time point; at the same time, when a situation that requires avoidance occurs, the moving speed of the forklift will be affected, so the analysis execution information on the path after the meeting point will change. Therefore, the subsequent analysis execution information is updated through the first determined meeting point so that the specific movement situation of the current forklift on the feasible moving path can be analyzed.
[0027] Step S104: After all the analysis execution information is updated, counting is performed according to the encounter points to determine the number of encounter avoidances.
[0028] The number of encounter avoidances is the total number of encounter points that will occur when the forklift moves.
[0029] Step S105: Calculate and determine the optimal parameters based on the number of encounter avoidances and the feasible moving distance.
[0030] The optimal parameter is a parameter that reflects the moving efficiency of the forklift when it moves. The larger the value, the better the overall handling effect. The calculation formula is \delta =\frac {S} {\left [ {T*V*\left ( {1-N*r} \right )} \right ]}-\sqrt[{\alpha}] {S} ,in is the preferred parameter, For the feasible moving distance, The time required for the forklift to move completely on the feasible moving path, which is recorded in the analysis execution information. The speed at which the forklift moves in an ideal situation without any avoidance. The ratio at which the movement speed will decrease after the avoidance process is performed. and are all recorded in the movement rules. is the number of encounter avoidances, These are preset fixed parameters used for calculation.
[0031] Step S106: determining the preferred parameter with the largest value according to a preset sorting rule, determining the feasible moving path corresponding to the preferred parameter with the largest value as the required execution path, and controlling the current forklift to move according to the required execution path.
[0032] The sorting rule is a method set by the staff to sort the size of values, such as the bubble method. The sorting rule can be used to determine the preferred parameter with the largest value, that is, the feasible moving path corresponding to the preferred parameter that enables the forklift to transport the goods best. At this time, it can be determined as the required execution path to control the forklift to move, so as to improve the overall transportation effect of the forklift.
[0033] After the feasible moving path is determined, the control method of the AGV forklift also includes: Step S200: determining a feasible moving distance with the smallest value according to a sorting rule, and defining the feasible moving distance with the smallest value as the shortest moving distance.
[0034] The shortest moving distance is defined to distinguish different feasible moving distances for subsequent analysis.
[0035] Step S201: performing difference calculation based on the shortest moving distance and the remaining feasible moving distances to determine the difference moving distance.
[0036] The difference moving distance is the distance required to move more than the shortest moving distance, and is determined by subtracting the shortest moving distance from the feasible moving distance.
[0037] Step S202: Eliminate the feasible movement paths corresponding to the difference movement distances greater than the preset allowable difference movement distances, and count the remaining feasible movement paths after the feasible movement paths are eliminated to determine the number of feasible selections.
[0038] The permitted difference distance is the minimum difference moving distance that needs to be reached when the recognized distance exceeds the distance set by the staff and no longer needs to be considered for analysis. When the difference moving distance is greater than the permitted difference distance, it means that the added distance is too much, and even if the number of encounters is reduced, it cannot achieve a better transportation effect. At this time, the corresponding feasible moving paths will be eliminated to reduce the number of paths that need to be analyzed, thereby improving the overall data processing efficiency; the feasible selection number is the total number of feasible moving paths remaining after the feasible moving paths are eliminated.
[0039] Step S203: Determine whether the feasible selection quantity is greater than the preset excess quantity.
[0040] The excess number is the minimum feasible number of selections set by the staff to determine that the number of paths to be analyzed is still large. The purpose of the judgment is to find out whether there are too many remaining paths.
[0041] Step S2031: If the number of feasible options is not greater than the excess number, the currently remaining feasible moving paths are maintained.
[0042] When the number of feasible selections is not greater than the excess number, it means that the number of remaining paths is not too large and data analysis can be performed normally.
[0043] Step S2032: If the number of feasible options is greater than the excess number, the permitted difference distance is updated according to the preset adjustment distance to re-eliminate the feasible moving paths until the number of feasible options is not greater than the excess number.
[0044] When the number of feasible selections is greater than the excess number, it means that a large number of paths still need to be analyzed. At this time, the permitted difference distance can be updated by subtracting the adjusted distance from the permitted difference distance, so that some feasible movement paths can continue to be eliminated to ensure that the number of paths that need to be analyzed is not large, thereby improving the overall data processing efficiency; among them, the adjusted distance is a fixed distance set by the staff.
[0045] After the number of encounter avoidances is determined, the control method of the AGV forklift also includes: Step S300: establishing a history interval with a width of a preset history length on a preset time axis with the current time point as the rear end point.
[0046] The time axis is a coordinate axis formed by the combination of various time points. The time points that have passed in the coordinate axis are on the left, and the time points that have not yet arrived are on the right. The front is on the left by default, that is, the back is on the right; the historical duration is the duration set by the staff to obtain the historical handling data of the next forklift in the handling space. The historical interval is established to facilitate the acquisition and analysis of the data of the historical duration.
[0047] Step S301: Obtaining external obstacle points when a forklift encounters an external obstacle in a historical interval.
[0048] The external obstacle point is the position point corresponding to when the forklift encounters an obstacle other than the forklift (such as walking personnel, scattered goods, etc.) in the historical interval, and can be obtained through the driving conditions of each forklift in the historical interval.
[0049] Step S302: determining the number of movement passes and the number of obstacle encounters according to a single external obstacle point, and performing calculations based on the number of movement passes and the number of obstacle encounters to determine the obstacle encounter ratio.
[0050] The number of moves passing is the number of forklifts that passed through the external obstacle point in the historical interval; the number of obstacle encounters is the number of times a single external obstacle point is repeatedly determined as an external obstacle point in the historical interval, that is, the number of obstacles other than forklifts encountered at the same location point; the obstacle encounter ratio is the proportion of external obstacles appearing at the location point, which is determined by dividing the number of obstacle encounters by the number of moves passing.
[0051] Step S303: determining the number of single compensations corresponding to the obstacle encounter ratio according to a preset quantity matching relationship, and summing up the number of single compensations at each position point on the feasible moving path to determine the overall compensation number.
[0052] The number of single compensations is a value set by the staff to adjust the current number of encounters and avoidances. Different obstacle encounter ratios indicate different possibilities for the location point to be blocked by external obstacles. At this time, the corresponding number of single compensations is also different. The quantity matching relationship between the two is determined and recorded by the staff through multiple tests in advance. It is only necessary to ensure that the larger the obstacle encounter ratio in the quantity matching relationship, the larger the corresponding number of single compensations. The overall compensation number is the sum of the number of single compensations for each location point on the feasible moving path.
[0053] Step S304: Calculate according to the overall compensation quantity and the encounter avoidance quantity to update the encounter avoidance quantity.
[0054] The encounter avoidance quantity is updated by adding the overall compensation quantity to the encounter avoidance quantity to comprehensively consider possible external obstacles, so that the selected path is better for subsequent use by the forklift.
[0055] After the optimal parameters are determined, the control method of the AGV forklift also includes: Step S400: Determine whether there are at least two feasible moving paths with the same and maximum preferred parameters.
[0056] The purpose of the judgment is to find out whether there are multiple feasible movement paths that meet the requirements, so as to determine the only required execution path.
[0057] Step S4001: If there are not at least two feasible moving paths with the same preferred parameters and the largest one, then the feasible moving path corresponding to the largest preferred parameter is determined as the required execution path.
[0058] When there are not at least two feasible moving paths with the same and maximum preferred parameters, it means that there is only one feasible moving path that can be used as the required execution path, and the definition control can be performed normally.
[0059] Step S4002: If there are at least two feasible moving paths with the same preferred parameters and the largest possible value, the feasible moving path corresponding to the largest possible preferred parameter is defined as an alternative execution path.
[0060] When there are at least two feasible moving paths with the same and maximum preferred parameters, it means that there are multiple feasible moving paths that meet the requirements. At this time, they are defined as alternative execution paths to distinguish different feasible moving paths and facilitate subsequent analysis.
[0061] Step S401: defining other forklifts that meet the current forklift at a meeting point in the candidate execution path as influencing forklifts, and counting the meeting points determined by a single influencing forklift under its own required execution path to determine the original number of encounters.
[0062] The influencing forklift is defined to identify the forklift that will be affected by the current forklift, so as to distinguish different forklifts and facilitate subsequent analysis and control; the original number of encounters is the number of encounter points that the influencing forklift will obtain when moving under the demand execution path determined by itself.
[0063] Step S402: performing difference calculation according to the original encounter quantity and the preset benchmark encounter quantity to determine the encounter difference quantity, and determining the influence parameter corresponding to each encounter difference quantity according to the preset influence matching relationship.
[0064] The benchmark encounter number is the maximum original encounter number allowed when the forklift is set by the staff to maintain a good transportation level. The encounter difference number is the value obtained by subtracting the benchmark encounter number from the original encounter number; the impact parameter is a value reflecting the impact of the influencing forklift on the current forklift. When the encounter difference number is larger, it means that the influencing forklift will encounter more obstacles. At this time, the transportation efficiency of the influencing forklift has been affected. If the impact of the current forklift on the influencing forklift is increased at this time, the impact on the transportation efficiency will increase. Therefore, different encounter difference numbers have different impact parameters. The impact matching relationship between the two is determined in advance by the staff. It only needs to ensure that the larger the encounter difference number, the larger the corresponding impact parameter.
[0065] Step S403: Under the same alternative execution path, summing up all the influencing parameters corresponding to the forklift is performed to determine the disturbance parameter, and the disturbance parameter with the smallest value is determined according to the sorting rule, and the alternative execution path corresponding to the disturbance parameter with the smallest value is determined as the required execution path.
[0066] The disturbance parameter is the sum of the influencing parameters of the forklift determined under the same alternative execution path. The parameter reflects the interference that the current forklift will cause to the other forklifts when moving under the alternative execution path. The disturbance parameter with the smallest value can be determined according to the sorting rule, that is, the current forklift has a smaller impact on the other forklifts at this time. At this time, the corresponding alternative execution path can be determined as the required execution path for the current forklift to use, thereby ensuring the overall handling efficiency of all forklifts in the handling space as a whole.
[0067] After the disturbance parameters are determined, the control method of the AGV forklift also includes: Step S500: Determine whether there are at least two candidate execution paths with the same and smallest disturbance parameters.
[0068] The purpose of the judgment is to find out whether there are multiple alternative execution paths that meet the requirements, so as to determine the only required execution path.
[0069] Step S5001: If there are not at least two candidate execution paths with the same and smallest disturbance parameters, the candidate execution path corresponding to the smallest disturbance parameter is determined as the required execution path.
[0070] When there are not at least two alternative execution paths with the same and smallest disturbance parameters, it means that there is only one alternative execution path that meets the requirements, and it can be determined as the required execution path.
[0071] Step S5002: If there are at least two candidate execution paths with the same and smallest disturbance parameters, the candidate execution path corresponding to the smallest disturbance parameter is defined as the disturbance execution path.
[0072] When there are at least two alternative execution paths with the same and smallest disturbance parameters, it means that there are multiple alternative execution paths that meet the requirements. In this case, they are defined as alternative execution paths to distinguish different alternative execution paths for subsequent analysis.
[0073] Step S501: performing mean calculation according to all influencing parameters in the disturbance execution path to determine the mean parameter, and determining the mean parameter with the smallest value according to the sorting rule, and determining the disturbance execution path corresponding to the mean parameter with the smallest value as the demand execution path.
[0074] The mean parameter is the average value of all influencing parameters. The smaller the value, the smaller the average impact of the current forklift on the influencing forklifts. At this time, the overall transportation effect is better. Therefore, the mean parameter with the smallest value can be determined through the sorting rules, and the disturbance execution path corresponding to the mean parameter can be determined as the demand execution path.
[0075] After the mean parameter is determined, the control method of the AGV forklift also includes: Step S600: Determine whether there are at least two disturbance execution paths with the same and minimum mean parameters.
[0076] The purpose of the judgment is to find out whether there are multiple disturbance execution paths that meet the requirements, so as to determine the only required execution path.
[0077] Step S6001: If there are not at least two disturbance execution paths with the same and minimum mean parameters, the disturbance execution path corresponding to the minimum mean parameter is determined as the required execution path.
[0078] When there are not at least two disturbance execution paths with the same and smallest mean parameters, it means that there is only one disturbance execution path that meets the requirements, and it can be determined as the required execution path.
[0079] Step S6002: If there are at least two disturbance execution paths with the same and smallest mean value parameters, the disturbance execution path corresponding to the smallest mean value parameter is defined as the waiting execution path.
[0080] When there are at least two disturbance execution paths with the same and smallest mean parameters, it means that there are multiple disturbance execution paths that meet the requirements. At this time, they are defined as waiting execution paths to distinguish different disturbance execution paths for subsequent analysis.
[0081] Step S601: split the waiting execution path into a number of waiting sections according to the transport space graph, and obtain the number of moving vehicles in each waiting section in the historical interval.
[0082] The waiting section is a part of the waiting execution path, wherein the splitting method is to identify the location points where the turning points (i.e., the location points where there are forks) appear on the waiting execution path, and determine a section of the path through two adjacent turning points on the waiting execution path, which is the waiting section; the number of moving vehicles is the number of forklifts that passed through the waiting section in the historical interval.
[0083] Step S602: Determine the road section heat value corresponding to the number of moving vehicles according to a preset heat matching relationship.
[0084] The road section heat value is a value that reflects the frequency of use of the road section. The larger the value, the more frequently the road section is used, which means that more forklifts will be arranged on the road section in the future. Different numbers of mobile vehicles correspond to different road section heat values, and the heat matching relationship between the two is determined by the staff in advance.
[0085] Step S603: Under the same waiting execution path, the average heat value of all road sections is calculated to determine the overall heat of the path, and the overall heat of the path with the smallest value is determined according to the sorting rules, and the waiting execution path corresponding to the overall heat of the path with the smallest value is determined as the required execution path.
[0086] The overall heat of the path is the average of the heat values of all road sections, that is, it reflects the parameter value that may be used in the subsequent waiting execution path. The larger the value, the more likely it is to be called when the forklift is subsequently scheduled to perform the task. At this time, the overall heat of the path with the smallest value can be determined through the sorting rules, and the waiting execution path corresponding to the overall heat of the path is determined as the demand execution path, so that the movement of the current forklift is not likely to affect the arrangement of subsequent forklifts, thereby facilitating the subsequent forklifts to perform corresponding tasks.
[0087] Reference Figure 2 Based on the same inventive concept, an embodiment of the present invention provides a control system for an AGV forklift, including: The acquisition module is used to obtain the moving starting position and moving destination position of the current forklift and the moving execution information of the remaining forklifts; A processing module, connected to the acquisition module, for storing and processing information; The processing module generates a feasible moving path in a preset transport space diagram according to the moving starting position and the moving destination position, and determines a feasible moving distance according to the feasible moving path; The processing module determines the analysis execution information of the current forklift according to the feasible moving path and the preset moving rules; The processing module compares the analysis execution information and the movement execution information to determine the meeting point, and updates the analysis execution information of the path after the meeting point on the feasible movement path according to the previously determined meeting point, until the analysis execution information of each position point on the feasible movement path is completely updated and determined; The processing module counts the encounter points after all the analysis execution information is updated to determine the number of encounter avoidances; The processing module calculates and determines the optimal parameters according to the number of encounters and avoidances and the feasible moving distance; The processing module determines the preferred parameter with the largest value according to a preset sorting rule, determines the feasible moving path corresponding to the preferred parameter with the largest value as the required execution path, and controls the current forklift to move according to the required execution path; The feasible moving path elimination module eliminates feasible moving paths, reduces the amount of useless paths that need to be analyzed, and improves data processing efficiency; External obstacle analysis module, used to analyze and process the possible obstruction caused by external obstacle points; A feasible moving path screening module is used to screen multiple feasible moving paths that meet the requirements of the optimal parameters; An alternative execution path screening module is used to screen multiple alternative execution paths that meet the disturbance parameter requirements; The disturbance execution path screening module is used to screen multiple disturbance execution paths that meet the mean parameter requirements.
[0088] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.
[0089] An embodiment of the present invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed by a control method of an AGV forklift.
[0090] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.
Claims
1. A control method for an AGV forklift, characterized in that: include: Get the moving start position, moving destination position of the current forklift and the moving execution information of other forklifts; Generate a feasible moving path in a preset transport space diagram according to the moving starting position and the moving destination position, and determine a feasible moving distance according to the feasible moving path; Determine the analysis execution information of the current forklift according to the feasible moving path and the preset moving rules; The meeting point is determined by comparing the analysis execution information and the movement execution information, and the analysis execution information of the path after the meeting point is updated on the feasible movement path according to the previously determined meeting point, until the analysis execution information of each position point on the feasible movement path is completely updated and determined; After all the analysis execution information is updated, the number of encounter avoidances is determined by counting the encounter points; Calculate and determine the optimal parameters based on the number of encounters and avoidances and the feasible movement distance; The preferred parameter with the largest value is determined according to a preset sorting rule, and the feasible moving path corresponding to the preferred parameter with the largest value is determined as the required execution path, and the current forklift is controlled to move according to the required execution path.
2. The control method of the AGV forklift according to claim 1, characterized in that: After the feasible moving path is determined, the control method of the AGV forklift also includes: Determine the feasible moving distance with the smallest value according to the sorting rule, and define the feasible moving distance with the smallest value as the shortest moving distance; The difference between the shortest moving distance and the remaining feasible moving distances is calculated to determine the difference moving distance; Eliminate the feasible movement paths corresponding to the difference movement distance when the difference movement distance is greater than the preset allowable difference movement distance, and count the remaining feasible movement paths after the feasible movement paths are eliminated to determine the number of feasible selections; Determine whether the feasible selection quantity is greater than the preset excess quantity; If the number of feasible options is not greater than the excess number, the remaining feasible movement paths are maintained; If the number of feasible selections is greater than the excess number, the permitted difference distance is updated according to the preset adjustment distance to re-eliminate the feasible movement paths until the number of feasible selections is no greater than the excess number.
3. The control method of the AGV forklift according to claim 1, characterized in that: After the number of encounter avoidances is determined, the control method of the AGV forklift also includes: On the preset time axis, a historical interval with a width of a preset historical duration is established with the current time point as the rear end point; Obtain the external obstacle point when the forklift meets the external obstacle in the historical interval; Determine the number of movement passes and the number of obstacle encounters based on a single external obstacle point, and calculate the obstacle encounter ratio based on the number of movement passes and the number of obstacle encounters; The number of single compensations corresponding to the obstacle encounter ratio is determined according to a preset quantity matching relationship, and the number of single compensations at each position point on the feasible moving path is summed up to determine the overall compensation number; The encounter avoidance quantity is updated by calculation based on the overall compensation quantity and the encounter avoidance quantity.
4. The control method of the AGV forklift according to claim 3, characterized in that: After the optimal parameters are determined, the control method of the AGV forklift also includes: Determine whether there are at least two feasible moving paths with the same and maximum preferred parameters; If there are not at least two feasible moving paths with the same preferred parameters and the largest possible value, the feasible moving path corresponding to the largest preferred parameter is determined as the required execution path; If there are at least two feasible moving paths with the same preferred parameters and the largest possible value, the feasible moving path corresponding to the largest preferred parameter is defined as the alternative execution path; In the alternative execution path, the remaining forklifts that meet the current forklift at the meeting point are defined as the influencing forklifts, and the number of original encounters is determined by counting the meeting points determined by a single influencing forklift under its own demand execution path; The difference calculation is performed according to the original number of encounters and the preset benchmark number of encounters to determine the number of encounter differences, and the influence parameters corresponding to each number of encounter differences are determined according to the preset influence matching relationship; Under the same alternative execution path, the disturbance parameter is determined by summing up all the influencing parameters corresponding to the forklift, and the disturbance parameter with the smallest value is determined according to the sorting rule, and the alternative execution path corresponding to the disturbance parameter with the smallest value is determined as the required execution path.
5. The control method of the AGV forklift according to claim 4, characterized in that: After the disturbance parameters are determined, the control method of the AGV forklift also includes: Determine whether there are at least two alternative execution paths with the same and smallest disturbance parameters; If there are not at least two candidate execution paths with the same and smallest disturbance parameters, the candidate execution path corresponding to the smallest disturbance parameter is determined as the required execution path; If there are at least two candidate execution paths with the same and smallest disturbance parameters, the candidate execution path corresponding to the smallest disturbance parameter is defined as the disturbance execution path; In the disturbance execution path, the mean value is calculated according to all the influencing parameters to determine the mean parameter, and the mean parameter with the smallest value is determined according to the sorting rule, and the disturbance execution path corresponding to the mean parameter with the smallest value is determined as the demand execution path.
6. The control method of the AGV forklift according to claim 5, characterized in that: After the mean parameter is determined, the control method of the AGV forklift also includes: Determine whether there are at least two disturbance execution paths with the same and minimum mean parameters; If there are not at least two disturbance execution paths with the same and smallest mean parameters, the disturbance execution path corresponding to the smallest mean parameter is determined as the required execution path; If there are at least two disturbance execution paths with the same and smallest mean parameters, the disturbance execution path corresponding to the smallest mean parameter is defined as the waiting execution path; The waiting execution path is divided into several waiting sections according to the transport space graph, and the number of moving vehicles in each waiting section is obtained in the historical interval; Determine the road section heat value corresponding to the number of moving vehicles according to a preset heat matching relationship; Under the same waiting execution path, the average heat value of all road sections is calculated to determine the overall heat of the path, and the overall heat of the path with the smallest value is determined according to the sorting rules, and the waiting execution path corresponding to the overall heat of the path with the smallest value is determined as the demand execution path.
7. A control system for an AGV forklift, characterized in that: include: The acquisition module is used to obtain the moving starting position and moving destination position of the current forklift and the moving execution information of the remaining forklifts; A processing module, connected to the acquisition module, for storing and processing information; The processing module generates a feasible moving path in a preset transport space diagram according to the moving starting position and the moving destination position, and determines a feasible moving distance according to the feasible moving path; The processing module determines the analysis execution information of the current forklift according to the feasible moving path and the preset moving rules; The processing module compares the analysis execution information and the movement execution information to determine the meeting point, and updates the analysis execution information of the path after the meeting point on the feasible movement path according to the previously determined meeting point, until the analysis execution information of each position point on the feasible movement path is completely updated and determined; The processing module counts the encounter points after all the analysis execution information is updated to determine the number of encounter avoidances; The processing module calculates and determines the optimal parameters according to the number of encounters and avoidances and the feasible moving distance; The processing module determines the preferred parameter with the largest value according to a preset sorting rule, determines the feasible moving path corresponding to the preferred parameter with the largest value as the required execution path, and controls the current forklift to move according to the required execution path.
8. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute the method according to any one of claims 1 to 6.
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Intelligent integrated logistics operation management system
CN120782076A